WO2021142676A1

WO2021142676A1 - Battery abnormality detection method, system, battery, and movable platform

Info

Publication number: WO2021142676A1
Application number: PCT/CN2020/072328
Authority: WO
Inventors: 唐阳洋; 张彩辉; 龚如; 陈禧昌
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-01-15
Filing date: 2020-01-15
Publication date: 2021-07-22
Also published as: CN113711069A

Abstract

Provided are a battery abnormality detection method, system, battery, and movable platform; said method comprises: detecting that the remaining power of a battery is inaccurate (S1001); if it is detected again that the remaining battery power is inaccurate, then determining that the battery is abnormal (S1002). Therefore, by means of repeatedly detecting that the remaining battery power is inaccurate so as to determine that the battery is abnormal, misjudgment that the battery is abnormal is prevented, improving the accuracy of detecting battery abnormality, avoiding unnecessary battery repair situations, and improving user experience.

Description

Battery abnormality detection method, system, battery and movable platform

Technical field

The embodiments of the present application relate to the battery field, and in particular, to a battery abnormality detection method, system, battery, and movable platform.

Background technique

In the mobile platform industry, as the mobile platform enters more industries (such as agriculture, electric power, and many special scene applications), the use of the mobile platform becomes more frequent. The structure of movable platforms (such as drones, robots, unmanned vehicles, etc.) is becoming more and more complex, and newly developed functions are continuously integrated. Due to the increase of new functions, the requirements of various industries for the power quality and power management of mobile platforms have also increased. Take the drone as an example. The drone uses battery power, and the electrical energy output by the battery is used as the power supply and power source for the drone's flight control. If the remaining power of the battery is falsely high, for example, the calculated remaining power is greater than the actual remaining power, the actual remaining power of the battery cannot be used for the drone to return home in time, causing problems such as power failure and crash. At present, once the remaining power of the battery is detected to be falsely high, it is considered that the battery is abnormal and the battery needs to be repaired, but there may be misdetection.

Summary of the invention

The embodiments of the present application provide a battery abnormality detection method, system, battery, and movable platform, which are used to avoid misjudgment that the battery is abnormal.

In a first aspect, an embodiment of the present application provides a battery abnormality detection method, the method includes: detecting that the remaining power of the battery is inaccurate; if the remaining power of the battery is detected again inaccurate, determining that the battery is abnormal.

In a second aspect, an embodiment of the present application provides a battery abnormality detection system, which is characterized in that it includes: at least one processor. The at least one processor is configured to detect that the remaining power of the battery is inaccurate; if the remaining power of the battery is detected again to be inaccurate, it is determined that the battery is abnormal.

In a third aspect, an embodiment of the present application provides a battery, including: a plurality of battery cells and the battery abnormality detection system according to the embodiment of the present application in the second aspect, the battery abnormality detection system is electrically connected to the plurality of batteries core.

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

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

In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes at least one piece of code, the at least one piece of code can be executed by a computer to control the The computer executes the battery abnormality detection method described in the embodiment of the present application in the eighth aspect.

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

The battery abnormality detection method, system, battery, and movable platform provided in the embodiments of the present application can improve the accuracy of detecting battery abnormality.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

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

2 is a flowchart of a method for calculating battery power provided by an embodiment of the application;

FIG. 3 is a schematic diagram of a battery power calculation method provided by an embodiment of the application;

4 is a schematic diagram of the calculation structure of the total available capacity of the battery provided by an embodiment of the application;

5 is a schematic diagram of the correspondence between the open circuit voltage and the discharge capacity and the correspondence between the discharge voltage and the discharge capacity provided by an embodiment of the application;

6 is a schematic structural diagram of a battery power calculation system provided by an embodiment of the application;

FIG. 7 is a schematic structural diagram of a battery provided by an embodiment of the application;

FIG. 8 is a schematic structural diagram of a movable platform provided by an embodiment of this application;

FIG. 9 is a schematic structural diagram of a movable platform provided by another embodiment of this application;

FIG. 10 is a flowchart of a battery abnormality detection method provided by an embodiment of the application;

FIG. 11 is a flowchart of a battery abnormality detection method provided by another embodiment of the application;

FIG. 12 is a schematic structural diagram of a battery abnormality detection system provided by an embodiment of the application;

FIG. 13 is a schematic structural diagram of a battery provided by another embodiment of the application;

FIG. 14 is a schematic structural diagram of a movable platform provided by another embodiment of this application;

FIG. 15 is a schematic structural diagram of a movable platform provided by another embodiment of the application.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

The embodiments of the present application provide a battery power calculation method, system, battery, and movable platform. The embodiments of the present application provide a battery abnormality detection method, system, battery, and movable platform. Among them, the movable platform can be a handheld phone, a handheld PTZ, unmanned aerial vehicle, unmanned vehicle, unmanned boat, robot, or self-driving car, etc. The following description of the mobile platform of this application uses drones as an example. It will be obvious to those skilled in the art that other types of drones can be used without restriction. In other words, the embodiments of the present application can be applied to various types of drones. For example, the drone can be a small or large drone. In some embodiments, the drone may be a rotorcraft, for example, a multi-rotor drone that is propelled through the air by a plurality of propulsion devices. The embodiments of the present application are not limited to this, and the drone It can also be other types of drones.

Fig. 1 is a schematic architecture diagram of an unmanned aerial system according to an embodiment of the present application. In this embodiment, a rotary wing drone is taken as an example for description.

The unmanned aerial system 100 may include a drone 110, a display device 130, and a remote control device 140. Among them, the UAV 110 may include a power system 150, a flight control system 160, a frame, and a pan/tilt 120 carried on the frame. The drone 110 can wirelessly communicate with the remote control device 140 and the display device 130. Among them, the drone 110 further includes a battery (not shown in the figure), and the battery provides electrical energy for the power system 150.

The frame may include a fuselage and a tripod (also called a landing gear). The fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame. The tripod is connected with the fuselage and used for supporting the UAV 110 when it is landed.

The power system 150 may include one or more electronic governors (referred to as ESCs) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motors 152 are connected to Between the electronic governor 151 and the propeller 153, the motor 152 and the propeller 153 are arranged on the arm of the UAV 110; the electronic governor 151 is used to receive the driving signal generated by the flight control system 160 and provide driving according to the driving signal Current is supplied to the motor 152 to control the speed of the motor 152. The motor 152 is used to drive the propeller to rotate, thereby providing power for the flight of the drone 110, and the power enables the drone 110 to realize one or more degrees of freedom of movement. In some embodiments, the drone 110 may rotate about one or more rotation axes. For example, the aforementioned rotation axis may include a roll axis (Roll), a yaw axis (Yaw), and a pitch axis (pitch). It should be understood that the motor 152 may be a DC motor or an AC motor. In addition, the motor 152 may be a brushless motor or a brushed motor.

The flight control system 160 may include a flight controller 161 and a sensing system 162. The sensing system 162 is used to measure the attitude information of the drone, that is, the position information and state information of the drone 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, and three-dimensional angular velocity. The sensing system 162 may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the global navigation satellite system may be the Global Positioning System (GPS). The flight controller 161 is used to control the flight of the drone 110, for example, it can control the flight of the drone 110 according to the attitude information measured by the sensor system 162. It should be understood that the flight controller 161 can control the drone 110 according to pre-programmed program instructions, and can also control the drone 110 by responding to one or more remote control signals from the remote control device 140.

The pan/tilt head 120 may include a motor 122. The pan/tilt is used to carry the camera 123. The flight controller 161 can control the movement of the pan/tilt 120 through the motor 122. Optionally, as another embodiment, the pan/tilt head 120 may further include a controller for controlling the movement of the pan/tilt head 120 by controlling the motor 122. It should be understood that the pan-tilt 120 may be independent of the drone 110 or a part of the drone 110. It should be understood that the motor 122 may be a DC motor or an AC motor. In addition, the motor 122 may be a brushless motor or a brushed motor. It should also be understood that the pan/tilt can be located on the top of the drone or on the bottom of the drone.

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

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

The remote control device 140 is located at the ground end of the unmanned aerial system 100, and can communicate with the drone 110 in a wireless manner for remote control of the drone 110.

It should be understood that the aforementioned naming of the components of the unmanned aerial system is only for identification purposes, and should not be construed as a limitation to the embodiments of the present application.

The remaining power of the battery can be calculated by the ampere-hour integration method (Ah integration). The ampere-hour integration method has a simple mechanism and reliable operation. However, this method currently has the problem of inaccurate calculation of the remaining power. The basic formula of the ampere-hour integral method is:

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

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

Several embodiments are used below to describe the solution of the present application in detail.

FIG. 2 is a flowchart of a method for calculating battery power provided by an embodiment of the application. As shown in FIG. 2, the battery includes a plurality of battery cells. The method in this embodiment may include:

Step S201: Under different preset conditions, obtain the current discharge voltage of each of the multiple cells.

In this embodiment, it can be determined whether any one of the at least one preset condition is satisfied at the current moment, and if any one of the at least one preset condition is satisfied, obtain information about each of the battery cells. The discharge voltage at the current moment. If the at least one preset condition is not satisfied, the current discharge voltage of each cell among the plurality of cells of the battery is not obtained.

Step S202: Obtain the remaining power information of each battery cell according to the current discharge voltage of each battery cell.

In this embodiment, after the current discharge voltage of each battery cell is acquired, the remaining power information of each battery cell is acquired according to the current discharge voltage of each battery cell. For example, there is a mapping relationship between the discharge voltage and the remaining power information. Therefore, according to the mapping relationship between the discharge voltage and the remaining power information and the current discharge voltage of the battery cell, the remaining power information corresponding to the current discharge voltage can be determined and determined It is the remaining power information of the battery.

Step S203: Obtain the current total available capacity of the battery according to the current available capacity of each battery cell in the plurality of battery cells and the remaining power information of each battery cell.

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

Step S204: Acquire the remaining power information of the battery at the current time according to the total available capacity of the battery at the current time.

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

This is because the total available capacity of the battery at the current moment is mainly affected by three aspects. The first aspect is the available capacity of each cell in the battery, which can also be called the maximum chemical capacity of the cell. The second aspect is the charging temperature and internal resistance. If the battery is a consumer battery, it is usually charged by constant current charging (CC) + constant voltage charging (CV). The current at the end of the charge is small, and the temperature and internal resistance affect the total available capacity. Can be ignored. The third aspect is the degree of battery imbalance, which can be represented by the remaining power information of the battery cell. Therefore, according to the current remaining power information of the battery cell and the current available capacity of the battery cell, the accurate total current available capacity of the battery can be obtained.

The battery power calculation method provided in this embodiment obtains the current discharge voltage of each battery cell in the plurality of battery cells under different preset conditions. According to the current discharge voltage of each battery cell, the remaining power information of each battery cell is obtained. According to the current available capacity of each battery cell in the plurality of battery cells and the remaining power information of each battery cell, the current available total capacity of the battery is acquired. According to the total available capacity of the battery at the current moment, the remaining power information of the battery at the current moment is obtained. Since the current available capacity of each battery cell in the multiple batteries and the remaining power information of each battery cell can be used to accurately obtain the current total available capacity of the battery, the current available capacity can be obtained according to the accurate current available capacity. The remaining power information at all times is more accurate.

The specific implementation process of the above step S203 will be described below. For example, see the related description _{of the Q bat update module shown in Figure 3.}

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

Step S2031, according to the current available capacity of each battery cell and the remaining power information of each battery cell, obtain the first amount of electricity required for each battery cell to be charged to the fully charged state and the amount of electricity required for each battery cell to discharge to the fully discharged state. Put the second battery.

Step S2032, according to the first power of each cell and the second power of each cell in the plurality of cells, obtain the total available capacity of the battery at the current moment.

In an embodiment, the battery cell i is any one of the multiple cells in the battery, which can be based on the current available capacity (Q _max [i]) of the battery cell i and the remaining power information of the battery cell i (SOC[ i]), get the power required to charge the battery cell i to the fully charged state, which is called the first power (ToTopCap[i], TTC[i] for short), such as TTC[i]=Q _max [i] *(100%-SOC[i]), the remaining power information is a percentage. In this embodiment, the amount of power discharged by the battery cell i discharged to the fully discharged state is further obtained, and this amount of power is called the second power (RemCap[i], referred to as RC[i] for short), for example, RC[i]=Q _max [i]*SOC[i]. The fully charged state of the battery cell i indicates a state in which the battery cell i cannot continue to be charged, or a state in which the battery cell i is not continuously charged due to limitations of the actual environment or preset conditions. The discharge of the cell i to the fully discharged state indicates the state where the cell i can no longer continue to discharge, or the state where the continuous discharge of the cell i is stopped due to limitations of the actual environment or preset conditions. After obtaining the first power and the second power of each cell, the total available capacity of the battery at the current moment is obtained according to the first power and the second power of each cell in the battery.

Taking the battery including 3 electric cores as an example, this embodiment is not limited to 3 electric cores. As shown in Figure 4, according to the current available capacity of cell 1 (Q _max [1]) and the remaining power information of cell 1 (SOC[1]), the first step required for cell 1 to be charged to the fully charged state is obtained. An electric quantity (TTC[1]) and a second electric quantity (RC[1]) discharged by the battery cell 1 when discharged to a fully discharged state. According to the current available capacity of cell 2 (Q _max [2]) and the remaining power information of cell 2 (SOC[2]), the first power required to charge cell 2 to a fully charged state (TTC[2] ]) and the second amount of electricity (RC[2]) that the battery cell 2 discharges to the fully discharged state. According to the current available capacity of the cell 3 (Q _max [3]) and the remaining power information of the cell 3 (SOC[3]), the first power required to charge the cell 3 to the fully charged state (TTC[3] ]) and the second amount of electricity (RC[3]) that the battery cell 3 discharges to the fully discharged state.

Then according to cell 1’s TTC[1], RC[1], cell 2’s TTC[2], RC[2], cell 3’s TTC[3], RC[3], get the battery’s current time available Total capacity (Q _bat ).

In some embodiments, a possible implementation of the above step S2032 is: determining the minimum first power amount (min(TTC)) according to the first power amount of each cell in the plurality of cells; Determine the minimum second power (min(RC)) of the second power of each cell in the plurality of cells; obtain the minimum second power of the battery according to the minimum first power and the minimum second power The total available capacity at the current moment.

Taking Figure 4 as an example, according to the TTC[1] of cell 1, TTC[2] of cell 2, and TTC[3] of cell 3, determine the TTC[1], TTC[2], and TTC[3] The minimum value of is the minimum first power, for example, TTC[1]. And according to RC[1] of cell 1, RC[2] of cell 2, and RC[3] of cell 3, determine the minimum value of RC[1], RC[2], and RC[3] to be the smallest The second power is, for example, RC[3]. Then, according to TTC[1] and RC[3], the total available capacity (Q _bat ) of the battery at the current moment is obtained.

Optionally, the sum of the minimum first power and the minimum second power may be used as the total available capacity of the battery at the current moment. For example: Q _bat = TTC[1]+RC[3].

The following describes how to obtain the current available capacity (Q _max [i]) of each cell. For example, you may refer to the related description _{of the Q max update module as shown in FIG. 3.}

_{In some embodiments, a possible implementation of obtaining the total available capacity (Q max} [i]) of each cell at the current moment is: obtaining the first remaining power information and the second remaining power information of each cell , Wherein the first remaining power information is the remaining power information of each battery cell at the first moment, and the second remaining power information is the remaining power information of each battery cell at the second moment. And acquiring the power charge and discharge information of each cell in the time period from the first time to the second time. Then, according to the power charge and discharge information of each cell, the first remaining power information, and the second remaining power information, the current available capacity of each cell is obtained.

Take any cell i as an example, obtain the remaining power information of cell i at the first moment, called the first remaining power information (SOC1[i]), and the remaining power information of cell i at the second moment, called Is the second remaining power information (SOC2[i]). _{The battery charge and discharge information (Q passed} [i]) of the battery cell i from the first moment to the second moment can also be obtained. Then according to Q _passed [i], SOC1[i], SOC2[i], the current available capacity of cell i (Q _max [i]) is obtained.

Optionally, according to the power charge and discharge information of each cell, the first remaining power information, and the second remaining power information, a possible implementation manner for obtaining the current available capacity of each cell is: Obtain the difference between the first remaining power information of each battery cell and the remaining power information of the second remaining power information; then, the difference between the power charging and discharging information of each battery cell and the remaining power information The ratio of the value is determined as the available capacity of each battery cell at the current moment. For example: get SOC2[i]-SOC1[i], then get Q _max [i]=Q _passed [i]/(SOC2[i]-SOC1[i]). Among them, Q _passed [i] has the same sign as SOC2[i]-SOC1[i], for example, both are positive signs, or both are negative signs.

Optionally, an implementation manner of obtaining the first remaining power information of cell i is: taking the open circuit voltage of cell i at the first moment as the first open circuit voltage (OCV1[i]); The corresponding relationship between the voltage and the remaining power information, the remaining power information corresponding to the first open circuit voltage (OCV1[i]) is obtained, and the remaining power information corresponding to the first open circuit voltage (OCV1[i]) is used as The first remaining power information (SOC1[i]). Optionally, the above-mentioned corresponding relationship may be stored in a display look-up table (Look-Up-Table, LUT).

One way of obtaining the second remaining power information of cell i is to use the open circuit voltage of cell i at the second moment as the second open circuit voltage (OCV2[i]); according to the preset open circuit voltage and remaining power The corresponding relationship between the information, obtain the remaining power information corresponding to the second open circuit voltage (OCV2[i]), and use the remaining power information corresponding to the second open circuit voltage (OCV2[i]) as the second Remaining battery information (SOC2[i]).

Optionally, the open circuit voltage of the battery cell can be obtained, for example, by the discharge voltage of the battery cell.

Optionally, an implementation manner of obtaining the first remaining capacity information of the cell i is: taking the discharge voltage of the cell i at the first moment as the first discharge voltage (V1[i]); according to a preset discharge The corresponding relationship between the voltage and the remaining power information, the remaining power information corresponding to the first discharge voltage (V1[i]) is acquired, and the remaining power information corresponding to the first discharge voltage (V1[i]) is used as The first remaining power information (SOC1[i]). Obtaining the second remaining power information of the battery cell i is similar to acquiring the first remaining power information of the battery i, and will not be repeated here.

Optionally, the charging voltage may be used to obtain the remaining power information (for example, the above-mentioned first remaining power information and the second remaining power information). For brevity, details are not repeated here.

As shown in FIG 3, Q _max acquired update module Q _max [i] may be output to the Q _bat updating module.

The specific implementation process of the above step S204 will be described below.

In some embodiments, such as the related description of the SOC correction module in FIG. 3, _{the Q bat} and min(RC) obtained by the Q _max update module are output to the SOC correction module. A possible implementation manner of the foregoing step S204 is: obtaining the remaining power of the battery at the current moment according to the minimum second power and the total available capacity of the battery at the current moment.

In this embodiment, after obtaining the total available capacity of the battery at the current moment, according to the total available capacity of the battery at the current moment (Q _bat ) and the aforementioned minimum second power (min(RC)), the remaining power at the current moment of the battery is obtained (SOC). For example: the ratio of the minimum second power (min(RC)) and the total available capacity (Q _bat ) of the battery at the current moment can be obtained as the remaining power information (SOC) of the battery at the current moment, that is, SOC =min(RC)/Q _bat .

Since the current remaining power information of the battery can be determined by the current total available capacity of the battery and the minimum power discharged to the fully discharged state in all cells, the current remaining power information of the battery obtained is closer to the actual remaining power of the battery. Power information.

In some embodiments, a possible implementation of the above step S204 is to obtain the current remaining power information of the battery according to the ampere-hour integration method, where the total available capacity of the battery is the total available capacity of the battery at the current time (Q _bat ).

In this embodiment, according to the ampere-hour integration method, the acquired battery remaining power information at the current time (ie, time j) is:

The above-mentioned SOC _init is the remaining power information of the battery at time 0, I represents the discharge current, and t represents the time.

In some embodiments, after performing the above step S204, the following solutions may also be performed:

Acquire the remaining power information of the battery at the next time according to the ampere-hour integration method, wherein the initial remaining power information at the next time is the current remaining power information of the battery.

In this embodiment, according to the ampere-hour integration method, the acquired battery remaining power information at the next time (ie, time j+1) is:

Among them, SOC _j+1 is the remaining power information of the battery at time j+1, SOC _j is the remaining power information of the battery at time j, ΔCC _j,j+1 represents the current versus time period from time j to time j+1 Integral, Q is the total available capacity of the battery. In an embodiment, the Q corresponding to the SOC at each moment is calculated to be the same value.

Optionally, if at time j+h, the total available capacity of the battery at time j+h is obtained in the above-mentioned similar manner, the remaining capacity information at time j+h of the battery is obtained from the total available capacity at time j+h of the battery, for example ：According to the total available capacity of the battery at time j+h and the amount of power discharged by the battery cell at the time j+h is discharged to the fully-discharged state. If at time j+h, the total available capacity of the battery at time j+h is not obtained through the above-mentioned similar method, and the total available capacity at time j+h of the battery is not obtained according to the remaining power information of the battery at time j+h, then the battery The remaining power information at time j+h is obtained according to the ampere-hour integration method and the remaining power information at time j+h-1.

According to the ampere-hour integration method, the remaining power information of the battery at the next time is acquired, wherein the initial remaining power information at the next time is the current remaining power information of the battery.

Among them, SOC _j+1 is the remaining power information of the battery at time j+1, SOC _j is the remaining power information of the battery at time j, ΔCC _j,j+1 represents the current and time period from time j to time j+1 Integral, Q _{bat, j} is the total available capacity of the battery at time j.

For example, as shown in the related description of the SOC update module in FIG. 3, the SOC correction module outputs the SOC and Q _bat to the SOC update module. Among them, ΔCC _{j, j+1} is obtained, for example, by the ΔCC module in FIG. 3 and output to the SOC update module.

Optionally, if at time j+h, the total available capacity of the battery at time j+h is obtained in the above-mentioned similar manner, the remaining capacity information at time j+h of the battery is obtained from the total available capacity at time j+h of the battery, for example ：According to the total available capacity of the battery at time j+h and the amount of power discharged by the battery cell at the time j+h is discharged to the fully-discharged state. If at time j+h, the total available capacity of the battery at time j+h is not obtained through the above-mentioned similar method, and the total available capacity at time j+h of the battery is not obtained according to the remaining power information of the battery at time j+h, then the battery The remaining power information at time j+h is obtained according to the ampere-hour integration method, the remaining power information at time j+h-1, and the total available capacity at time j.

Therefore, through the above solution, the obtained battery remaining power information is more accurate.

Optionally, after obtaining the current remaining power information of the battery through any of the foregoing embodiments, the actual total available capacity of the battery may be obtained according to the current remaining power information of the battery.

The following describes the implementation scheme for obtaining the actual total available capacity of the battery according to the remaining power information of the battery at the current moment.

In some embodiments, according to the remaining power information of the battery at the current moment, a possible implementation of obtaining the actual total available capacity of the battery is: according to the remaining power information of the battery at the current moment, the battery The remaining power information at the previous time and the power charging and discharging information of the battery in the time period from the previous time to the current time are used to obtain the actual total available capacity of the battery. For example: obtain the difference between the remaining power information of the battery at the current time and the remaining power information of the battery at the previous time, and then charge the battery according to the power of the battery in the time period from the previous time to the current time. Release information and the difference between the remaining power information to obtain the actual total available capacity of the battery. The actual available total capacity of the battery is, for example, the ratio of the difference between the charge and discharge information of the battery and the remaining power information in the time period from the last moment to the current moment.

Taking the current time as time j as an example, the current time remaining power information of the battery is SOC _j , the last time remaining power information of the battery is SOC _j-1 , the battery power in the time period from the last time to the current time The charge and discharge information is Q _j-1,j , so the actual total available capacity of the battery is FCC, where FCC=Q _j-1,j /SOC _j -SOC _j-1 .

Optionally, the charge and discharge information of the battery in the time period from the last time to the current time may be based on the discharge current of the battery in the time period from the last time to the current time and the duration of the time period Of points earned. such as:

In some embodiments, another possible implementation manner for obtaining the actual available total capacity of the battery according to the remaining power information of the battery at the current moment is: according to the open circuit voltage of the battery and the battery's The mapping relationship between the remaining power information is that the current time remaining power information of the battery determines the current time open circuit voltage of the battery; according to the current time discharge voltage of the battery and the current time open circuit voltage, the current time open circuit voltage is determined. The current time voltage of the internal resistance of the battery; according to the corresponding relationship between the open circuit voltage of the battery and the discharge capacity of the battery, the current time voltage of the internal resistance of the battery is used to determine the discharge voltage of the battery and that of the battery Correspondence relationship of discharge capacity; according to the corresponding relationship between the discharge voltage of the battery and the discharge capacity of the battery, the discharge capacity of the battery corresponding to the discharge cut-off voltage of the battery is determined to be the actual available total capacity. The actual total available capacity obtained accordingly is closer to the actual total available capacity of the battery.

In this embodiment, there is a mapping relationship between the open circuit voltage of the battery and the remaining power information, and the current remaining power information (SOC _j ) of the battery has been obtained. Therefore, according to the mapping relationship between the open circuit voltage of the battery and the remaining power information _{according to SOC j} _{, the open circuit voltage corresponding to SOC j} can be determined, and the open circuit voltage can be determined as the current open circuit voltage (OCV _j ) of the battery.

The current discharge voltage (V _j ) of the battery can be obtained, and how to obtain the current discharge voltage of the battery can be referred to the description in the related art, which will not be repeated here. Since the battery is also equivalent to a resistor, the resistor also has internal resistance, and the internal resistance will produce a voltage drop. Therefore, the current discharge voltage (V _j ) of the battery and the current open circuit voltage (OCV _j ) of the battery are not equal, and the difference can be It is considered that this voltage drop is equal to the current voltage of the battery's internal resistance (ΔV=I*Res, I is the discharge voltage of the battery, and Res is the battery's internal resistance), that is, ΔV=OCV _j -V _j .

For the current voltage of the same battery internal resistance, there will also be a corresponding relationship between the different discharge voltages of the battery and the discharge capacity of the battery, and because ΔV=OCV-V, and the open circuit voltage of the battery corresponds to the discharge capacity of the battery Relation, the discharge capacity corresponding to each open circuit voltage is the discharge capacity corresponding to the discharge voltage of the battery obtained by subtracting the current voltage of the internal resistance of the battery from each open circuit voltage, that is, the discharge capacity corresponding to _{OCV j is equal to V} The discharge capacity corresponding to _j. Thereby, the corresponding relationship between the discharge voltage of the battery and the discharge capacity of the battery is determined.

As shown in Figure 5, the corresponding relationship between the open circuit voltage of the battery and the discharge capacity of the battery can be represented by a dashed curve, and the corresponding relationship between the discharge voltage of the battery and the discharge capacity of the battery thus determined can be represented by It is represented by a solid line. It should be noted that, since the total available capacity of the battery in this embodiment is updated in time, correspondingly, the remaining capacity of the battery is updated in time according to the total available capacity of the battery. Correspondingly, the battery internal resistance corresponding to the remaining capacity of the battery The voltage will also change with charging and discharging. In other words, the voltage of the internal resistance of the battery will always remain at the same value during the charging and discharging process. In practical applications, the corresponding relationship between the discharge voltage of the battery and the discharge capacity of the battery during the discharge process (solid line) and the corresponding relationship between the open circuit voltage of the battery and the discharge capacity of the battery (dashed line) are thus obtained. ) Does not translate the same ΔV.

Moreover, in an ideal state, when the open circuit voltage of the battery is equal to the discharge cut-off voltage of the battery, the discharge capacity corresponding to the open circuit voltage is the total usable capacity of the battery. However, due to various factors, the actual total available capacity of the battery is not equal to the discharge capacity corresponding to the open circuit voltage. Therefore, after obtaining the correspondence between the discharge voltage of the battery and the discharge capacity of the battery, according to the correspondence between the discharge voltage of the battery and the discharge capacity of the battery, determine the discharge of the battery corresponding to the discharge cut-off voltage (V _T ) of the battery _{Capacity (that is, the value of the abscissa when the ordinate is equal to V T} in the solid curve shown in Fig. 5), and it is determined that the discharge capacity of the battery is equal to the actual total available capacity of the battery.

The above solution can be referred to, for example, the FCC correction in the voltage correction module shown in FIG. 3, where the SOC correction module outputs the current remaining power information of the battery obtained to the voltage correction module.

In some embodiments, the discharge cut-off voltage of the battery can also be dynamically adjusted according to the current discharge power of the battery or the current discharge current of the battery.

Determine whether the current discharge power of the battery is greater than the preset power, and whether the current discharge voltage of the battery is greater than the discharge cut-off voltage of the battery. If the current discharge power of the battery is less than or equal to the preset power and the current discharge voltage of the battery is less than or equal to the discharge cut-off voltage of the battery, the discharge cut-off voltage of the battery is adjusted. Alternatively, it is determined whether the current discharge current of the battery is greater than the preset current, and whether the current discharge voltage of the battery is greater than the discharge cut-off voltage of the battery. If the current discharge current of the battery is less than or equal to the preset current and the current discharge voltage of the battery is less than or equal to the discharge cut-off voltage of the battery, the discharge cut-off voltage of the battery is adjusted. Adjusting the discharge cut-off voltage of the battery can, for example, increase the discharge cut-off voltage of the battery or lower the discharge cut-off voltage of the battery.

In some examples, when the current discharge power of the battery is less than the preset electric power, or the current discharge current of the battery is less than the preset current, if the current discharge voltage of the battery is less than or equal to the discharge cut-off voltage of the battery, it means sudden A pulse is generated, which causes the current discharge voltage of the battery to suddenly decrease, and the discharge cut-off voltage of the battery needs to be lowered in time. Therefore, the battery discharge capacity can be prevented from being reduced without damaging the battery.

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

Optionally, if the current discharge power of the battery is less than or equal to the preset power and the current discharge voltage of the battery is less than or equal to the discharge cut-off voltage of the battery, then the current remaining power of the battery is updated to the preset power. Set the remaining battery information. Or, if the current time discharge current of the battery is less than or equal to the preset current and the current time discharge voltage of the battery is less than or equal to the discharge cut-off voltage of the battery, then the current time remaining power of the battery is updated to the preset remaining power The power information, for example, updates the current remaining power of the battery from 10% to 0%. This is because, when the battery power is less than the preset electric power, or the current discharge current of the battery is less than the preset current, if the current discharge voltage of the battery is less than or equal to the discharge cut-off voltage of the battery, it indicates that the remaining power of the battery is very high. Very low, almost no remaining power, so you can directly update the current remaining power of the battery to 0%.

Optionally, if the current discharge power of the battery is less than or equal to the preset power and the current discharge voltage of the battery is less than or equal to the discharge cut-off voltage of the battery, or if the current discharge power of the battery is less than or equal to If the power is preset and the current discharge voltage of the battery is less than or equal to the discharge cut-off voltage of the battery, the current time open circuit voltage of the battery is also obtained according to the current remaining power information of the battery; The corresponding relationship between the open circuit voltage at the current time and the discharge capacity of the battery to obtain the total available capacity corresponding to the open circuit voltage at the current time; update the actual total available capacity of the battery to the total available capacity corresponding to the open circuit voltage at the current time .

In this embodiment, if the current discharge power of the battery is less than or equal to the preset power and the current discharge voltage of the battery is less than or equal to the discharge cut-off voltage of the battery, or if the current discharge power of the battery is less than In the case where the current discharge voltage of the battery is equal to the preset power and the discharge cut-off voltage of the battery is less than or equal to the discharge cut-off voltage of the battery, the current remaining power information of the battery calculated by the above-mentioned fuel gauge is, for example, 10%, but in fact the battery The remaining power information of the current moment may be 0%, and this 10% difference is caused by the false high of the remaining power of the battery. Since the remaining power information of the battery at the current moment may actually be 0%, the available power of the battery has been discharged, and it can be considered that the total power discharged at present is equal to the actual total available capacity of the battery. The total power discharged so far can be obtained from the discharge capacity corresponding to the open circuit voltage of the battery at the current moment. Since the current remaining power information of the battery calculated by the fuel gauge is 10%, the current remaining power information of the battery 10% and the mapping relationship between the remaining power information of the battery and the open circuit voltage of the battery can be obtained according to the current remaining power information of the battery 10%. The open circuit voltage corresponding to 10% of the remaining power information at the moment, the open circuit voltage is the current open circuit voltage of the battery (OCV _SOC=10% ). Then, according to the corresponding relationship between the open circuit voltage of the battery and the discharge capacity of the battery, the discharge capacity corresponding to the current open circuit voltage (OCV _SOC=10% ) of the battery is obtained, and the discharge capacity is taken as the actual total available capacity of the battery.

Optionally, if the current discharge power of the battery is greater than the preset power and the current discharge voltage of the battery is less than the discharge cut-off voltage of the battery, or the current discharge current of the battery is greater than the preset current and If the current discharge voltage of the battery is less than the discharge cut-off voltage of the battery, the discharge power of the battery is adjusted. Taking the drone as an example, when the current discharge power of the battery is greater than the preset power and the current discharge voltage of the battery is less than the discharge cut-off voltage of the battery, or the current discharge current of the battery is greater than the preset power When the current and the current discharge voltage of the battery are less than the discharge cut-off voltage of the battery, the drone may fly violently, which will make the current discharge power of the battery larger and the current discharge current larger . In order to ease the flight of the drone, the discharge power of the battery can be lowered. Optionally, in this case, the discharge cut-off voltage of the battery does not need to be adjusted, and the practical usable total capacity of the battery does not need to be updated.

Optionally, after obtaining the available capacity of the battery at the current moment, according to the available capacity of the battery at the current moment, the current discharging power of the battery or the current discharging current of the battery is obtained, which can then be used in the above judgment process. Because the current available capacity of the battery and the previous available capacity of the battery can reflect the change trend of the available capacity of the battery, which can reflect the change trend of the discharge power or discharge current of the battery, and then the current discharge power or discharge power of the battery can be determined. The current discharge current of the battery.

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

In some embodiments, on the basis of obtaining or updating the actual total available capacity of the battery, the current remaining capacity information of the battery may also be updated according to the actual total available capacity of the battery. For example, it is possible to update the remaining power information of the battery at the current moment based on the actual total available capacity of the battery by means of smoothing filtering. For example, the actual available total capacity of the battery can be used as the total available capacity of the battery in the above-mentioned ampere-hour integral formula to update the remaining power information of the battery at the current moment. For this process, for example, refer to the related description of the RSOC update module in FIG. 3, where the SOC obtained by the SOC update module is output to the RSOC update module, and the voltage correction module obtains the FCC and outputs it to the RSOC update module.

In some embodiments, after obtaining the current remaining power information of the battery through any of the foregoing embodiments, the current remaining power information of the battery may also be output. For example, the current remaining power information of the battery may be sent to a battery-powered external device, and the external device may display the current remaining power information of the battery through a display device, such as the related description of the SOC display module in FIG. 3.

It should be noted that, it should be noted that any of the foregoing embodiments can be implemented separately, or can be implemented in any combination of at least two of the foregoing embodiments, which is not limited.

The embodiment of the present application also provides a computer storage medium, the computer storage medium stores program instructions, and the program execution may include some or all of the steps of the battery power calculation method in any of the above corresponding embodiments.

FIG. 6 is a schematic structural diagram of a battery power calculation system provided by an embodiment of the application. As shown in FIG. 6, the battery power calculation system 600 of this embodiment may include: at least one processor 601 (a processor is taken as an example in the figure) out). Optionally, the battery power calculation system 600 of this embodiment may further include: an output device 602. The output device 602 is connected to at least one processor 601. Among them, the output device 602 may be, for example, a communication interface or a communication circuit.

The at least one processor 601 is configured to obtain the current discharge voltage of each cell among the multiple cells of the battery under different preset conditions; and obtain the current discharge voltage of each cell according to the current discharge voltage of each cell Information about the remaining power of each battery cell; obtaining the total available capacity of the battery at the current time according to the current available capacity of each battery cell in the plurality of battery cells and the remaining power information of each battery cell; The total available capacity at the current time is obtained, and the remaining power information of the battery at the current time is acquired.

In some embodiments, the at least one processor 601 is specifically configured to: obtain the information required for each battery cell to be charged to a fully charged state according to the current available capacity of each battery cell and the remaining power information of each battery cell According to the first power of each cell and the second power of each cell in the plurality of cells To obtain the total available capacity of the battery at the current moment.

In some embodiments, the at least one processor 601 is specifically configured to: determine the minimum first electric quantity according to the first electric quantity of each of the plurality of electric cores; The second power of each cell in the battery cell determines the minimum second power; and the total available capacity of the battery at the current moment is obtained according to the minimum first power and the minimum second power.

In some embodiments, the at least one processor 601 is specifically configured to obtain the sum of the minimum first power and the minimum second power as the total available capacity of the battery at the current moment.

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

In some embodiments, the at least one processor 601 is specifically configured to obtain a ratio of the minimum second power amount to the total available capacity of the battery at the current moment as the remaining power information of the battery at the current moment.

In some embodiments, the at least one processor 601 is further configured to: obtain the first remaining power information and the second remaining power information of each battery cell, where the first remaining power information is for each battery cell. The remaining power information at the first moment and the second remaining power information are the remaining power information of each cell at the second moment; acquiring each cell in the time period from the first moment to the second moment The power charging and discharging information of each cell; according to the power charging and discharging information of each cell, the first remaining power information and the second remaining power information, the current available capacity of each cell is obtained.

In some embodiments, the at least one processor 601 is specifically configured to: obtain the difference between the first remaining power information and the second remaining power information of each battery cell; The ratio of the difference between the power charge and discharge information of each battery cell and the remaining power information is determined as the available capacity of each battery cell at the current moment.

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

In some embodiments, the at least one processor 601 is further configured to: obtain the remaining power information of the battery at the next time according to the ampere-hour integration method, where the initial remaining power information at the next time is the battery The remaining power information at the current moment.

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

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

In some embodiments, the at least one processor 601 is specifically configured to: according to the remaining power information of the battery at the current time, the remaining power information of the battery at the previous time, and the time period from the previous time to the current time And obtain the actual available total capacity of the battery in the charge and discharge information of the battery.

In some embodiments, the at least one processor 601 is further configured to: obtain from the above according to the integral of the discharge current of the battery and the duration of the time period in the time period from the previous time to the current time The charge and discharge information of the battery power in the time period from a moment to the current moment.

In some embodiments, the at least one processor 601 is specifically configured to: determine the current time of the battery according to the mapping relationship between the open circuit voltage of the battery and the remaining power information of the battery The remaining power information determines the current open circuit voltage of the battery; determines the current voltage of the internal resistance of the battery according to the current discharge voltage of the battery and the current open circuit voltage; according to the open circuit voltage of the battery and the current open circuit voltage The corresponding relationship between the discharge capacity of the battery, the current time voltage of the internal resistance of the battery is used to determine the corresponding relationship between the discharge voltage of the battery and the discharge capacity of the battery; according to the discharge voltage of the battery and the battery The discharge capacity corresponding to the discharge capacity of the battery, and the discharge capacity of the battery corresponding to the discharge cut-off voltage of the battery is determined to be the actual available total capacity.

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

In some embodiments, the at least one processor 601 is further configured to update the actual total available capacity of the battery according to the adjusted discharge cut-off voltage of the battery.

In some embodiments, the at least one processor 601 is further configured to: if the current discharge power of the battery is less than or equal to the preset power and the current discharge voltage of the battery is less than or equal to the discharge cut-off voltage of the battery Or, if the current time discharge current of the battery is less than or equal to the preset current and the current time discharge voltage of the battery is less than or equal to the discharge cut-off voltage of the battery, then the current time remaining power of the battery is updated to the preset remaining power Power information.

In some embodiments, the at least one processor 601 is further configured to: obtain the current open circuit voltage of the battery according to the current remaining power information of the battery; and obtain the current open circuit voltage of the battery according to the open circuit voltage of the battery and the battery To obtain the total available capacity corresponding to the open circuit voltage at the current moment; update the actual total available capacity of the battery to the total available capacity corresponding to the open circuit voltage at the current moment.

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

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

The output device 602 is used to output the actual total available capacity of the battery.

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

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

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

The battery power calculation system of this embodiment can be used to implement the technical solutions in the foregoing method embodiments of the present application, and its implementation principles and technical effects are similar, and will not be repeated here.

FIG. 7 is a schematic structural diagram of a battery provided by an embodiment of this application. As shown in FIG. 7, the battery 700 of this embodiment may include: a plurality of battery cells 710 and a battery power calculation system 720. The battery power calculation system 720 may include at least one processor 721 (a processor is used as an example in the figure). Optionally, the battery power calculation system 720 may further include: an output device 722. The output device 722 is connected to at least one processor 721. Among them, the output device 722 may be, for example, a communication interface or a communication circuit.

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

In some embodiments, the at least one processor 721 is specifically configured to: obtain each battery cell 710 charged to full charge according to the current available capacity of each battery cell 710 and the remaining power information of each battery cell 710 The first power required by the state and the second power discharged by each cell 710 to the fully discharged state; according to the first power of each cell 710 in the plurality of cells 710 and each cell The second electric quantity of 710 obtains the total available capacity of the battery 700 at the current moment.

In some embodiments, the at least one processor 721 is specifically configured to: determine the minimum first power amount according to the first power amount of each cell 710 in the plurality of cells 710; The second power of each cell 710 in the battery cell 710 determines the minimum second power; according to the minimum first power and the minimum second power, the current total available capacity of the battery 700 is obtained .

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

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

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

In some embodiments, the at least one processor 721 is further configured to: obtain the first remaining power information and the second remaining power information of each battery cell 710, where the first remaining power information is for each battery cell 710. The remaining power information of the core 710 at the first moment and the second remaining power information are the remaining power information of each cell 710 at the second moment; acquiring every time period from the first moment to the second moment Electricity charging and discharging information of each cell 710; according to the electric charging and discharging information of each cell 710, the first remaining power information and the second remaining power information, the current available capacity of each cell 710 is obtained.

In some embodiments, the at least one processor 721 is specifically configured to: obtain the difference between the first remaining power information and the second remaining power information of each battery cell 710; The ratio of the difference between the power charge and discharge information of each cell 710 and the remaining power information is determined as the available capacity of each cell 710 at the current moment.

In some embodiments, the at least one processor 721 is specifically configured to: use the open circuit voltage of each cell 710 at the first moment as the first open circuit voltage and determine the open circuit voltage of each cell 710 at the second moment. The voltage is used as the second open circuit voltage; according to the preset correspondence between the open circuit voltage and the remaining power information, the remaining power information corresponding to the first open circuit voltage is used as the first remaining power information and the second Second, the remaining power information corresponding to the open circuit voltage is used as the second remaining power information.

In some embodiments, the at least one processor 721 is further configured to: obtain the remaining power information of the battery 700 at the next time according to the ampere-hour integration method, where the initial remaining power information at the next time is the The remaining power information of the battery 700 at the current moment.

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

In some embodiments, the at least one processor 721 is further configured to obtain the actual total available capacity of the battery 700 according to the current remaining power information of the battery 700.

In some embodiments, the at least one processor 721 is specifically configured to: according to the remaining power information of the battery 700 at the current time, the remaining power information of the battery at the previous time, and the time from the previous time to the current time The charge and discharge information of the battery 700 in the paragraph is used to obtain the actual total available capacity of the battery 700.

In some embodiments, the at least one processor 721 is further configured to: obtain from the integral of the discharge current of the battery 700 and the duration of the time period in the time period from the previous time to the current time The charge and discharge information of the battery 700 in the time period from the last time to the current time.

In some embodiments, the at least one processor 721 is specifically configured to: according to the mapping relationship between the open circuit voltage of the battery 700 and the remaining power information of the battery 700, The current time remaining power information determines the current time open circuit voltage of the battery 700; according to the current time discharge voltage of the battery 700 and the current time open circuit voltage, the current time voltage of the internal resistance of the battery is determined; The corresponding relationship between the open circuit voltage of 700 and the discharge capacity of the battery, and the current time voltage of the internal resistance of the battery is used to determine the corresponding relationship between the discharge voltage of the battery 700 and the discharge capacity of the battery 700; The corresponding relationship between the discharge voltage of the battery 700 and the discharge capacity of the battery 700, and the discharge capacity of the battery 700 corresponding to the discharge cut-off voltage of the battery 700 is determined to be the actual available total capacity.

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

In some embodiments, the at least one processor 721 is further configured to update the actual available total capacity of the battery 700 according to the adjusted discharge cut-off voltage of the battery 700.

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

In some embodiments, the at least one processor 721 is further configured to: obtain the current open circuit voltage of the battery 700 according to the current remaining power information of the battery 700; according to the open circuit voltage of the battery 700 and The corresponding relationship of the discharge capacity of the battery 700 obtains the total available capacity corresponding to the open circuit voltage at the current moment; the actual total available capacity of the battery 700 is updated to the total available capacity corresponding to the open circuit voltage at the current moment.

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

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

The output device 722 is used to output the actual total available capacity of the battery 700.

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

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

Optionally, the battery power calculation system 720 of this embodiment may further include a memory (not shown in the figure) for storing program codes. The at least one processor 721 calls the program code to implement the foregoing solutions.

The battery in this embodiment can be used to implement the technical solutions in the foregoing method embodiments of the present application, and its implementation principles and technical effects are similar, and will not be repeated here.

FIG. 8 is a schematic structural diagram of a movable platform provided by an embodiment of the application. As shown in FIG. 8, the movable platform 800 of this embodiment includes: a body 801 and a battery 802; the body 801 is provided with a battery power calculation system 803 The battery 802 is arranged in the battery compartment of the body 801; the battery power calculation system 803 is used to obtain the remaining power of the battery 802.

The battery power calculation system 803 may adopt the structural schematic diagram shown in FIG. 6 to implement the technical solutions in the foregoing method embodiments of the present application. The implementation principles and technical effects are similar, and will not be repeated here.

FIG. 9 is a schematic structural diagram of a movable platform provided by another embodiment of this application. As shown in FIG. 9, the movable platform 900 of this embodiment includes a body 901 and a battery 902. The battery 902 is arranged in the battery compartment of the body 901.

Wherein, the battery 902 may adopt the structural schematic diagram shown in FIG. 7 to implement the technical solutions in the foregoing method embodiments of the present application. The implementation principles and technical effects are similar, and details are not described herein again.

Optionally, on the basis of the movable platform shown in FIG. 8 or FIG. 9, a display device may also be included. The display device is used to display the above-mentioned battery current remaining power information or the actual available total capacity of the battery. It can be a component in a control terminal of a movable platform.

Taking the mobile platform as the UAV as an example, the detection of the false high of the remaining power of the UAV is a safety detection mechanism. Among the measurable physical information (voltage, current, temperature, etc.), the voltage that can best characterize the true state of the battery's current power is the voltage. It can be seen from the battery mechanism that when the remaining power of the battery is low, that is, at the end of discharge, the battery output voltage decreases rapidly as the depth of discharge increases, and continuous use will not be able to provide a stable and reliable power source for the drone. The SOC obtained by the fuel gauge is usually used to estimate the dischargeable energy (endurance) of the battery. When the SOC is not accurate, how to make the UAV recognize it in preparation for a safe landing. The solutions are as follows:

The first point is to add a redundant scheme for voltage detection to trigger a forced landing.

The second point is to add a set of redundant fuel gauges, that is, two fuel gauges and the comparison of the power levels of the two fuel gauges. When the power of one of the fuel gauges is detected to be falsely high, the corresponding strategy can be triggered, for example, as follows:

When the SOC of the fuel gauge is detected to be falsely high before takeoff, takeoff is prohibited and the user is prompted to maintain it.

When the SOC of the fuel gauge is detected to be falsely high during the flight, the user will be prompted to return home/landing forcefully.

When the SOC of the fuel gauge is detected to be falsely high multiple times, the battery management system (battery management system, BMS) is marked as abnormal and its use is prohibited.

Based on the foregoing, according to the embodiments of the present application, in order to avoid false detection of the false high of the remaining power, the determination can be made through multiple detections.

FIG. 10 is a flowchart of a battery abnormality detection method provided by an embodiment of this application. As shown in FIG. 10, the method of this embodiment may include:

Step S1001: It is detected that the remaining power of the battery is inaccurate.

Step S1002, if it is detected that the remaining power of the battery is inaccurate again, it is determined that the battery is abnormal.

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

For example: if it is detected that the remaining power of the battery is inaccurate for two consecutive times, it is determined that the battery is abnormal.

For example, when it is determined that the battery is normal, the remaining power of the battery is detected to be inaccurate for the first time, and then the remaining power of the battery is detected to be inaccurate again, it is determined that the battery is abnormal.

For example, if the remaining power of the battery is detected to be inaccurate for the first time, and then the remaining power of the battery is detected to be inaccurate one or more times, it is determined that the battery is abnormal. Among them, the specific numerical value of multiple times is not limited in this embodiment.

For another example, the inaccuracy of the remaining power of the battery detected in step S1001 can be the first detection, or the second, third, or fourth time, etc. Correspondingly, it is detected again that the remaining power of the battery is not accurate in step S1002. Accurately, it is detected that the remaining power of the battery is inaccurate after step S1001.

Optionally, detecting that the remaining power of the battery is inaccurate includes detecting that the remaining power of the battery is falsely high. The false high remaining power indicates that the calculated remaining power of the battery is higher than the actual remaining power of the battery.

In this embodiment, by detecting that the remaining power of the battery is inaccurate, and then if it is detected that the remaining power of the battery is inaccurate again, it is determined that the battery is abnormal. Therefore, in this embodiment, it is determined that the battery is abnormal when it is detected that the remaining power of the battery is inaccurate multiple times. To avoid misjudgment that the battery is abnormal, this embodiment can improve the accuracy of detecting the abnormality of the battery, avoid unnecessary battery maintenance, and improve the user experience.

FIG. 11 is a flowchart of a battery abnormality detection method provided by another embodiment of this application. As shown in FIG. 11, the method in this embodiment may include:

In step S1101, it is detected that the remaining power of the battery is inaccurate.

In this embodiment, the specific implementation process of step S1101 can refer to the related description in the embodiment shown in FIG. 10, which will not be repeated here.

Step S1102, the state of the battery is set to the first state.

In this embodiment, after performing the above step S1101, the state of the battery is set to the first state. This also means that the state of the battery is not the first state before step S1101 is executed.

Step S1103: If it is detected that the remaining power of the battery is inaccurate again, it is determined that the battery is abnormal.

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

Therefore, in this embodiment, after detecting that the remaining power of the battery is inaccurate, the state of the battery is set to the first state. It should be noted that the first state is a state marked when the remaining power of the battery is inaccurate, and this The status of this flag can be cleared. And when the state of the battery is the first state, if it is detected that the remaining power of the battery is inaccurate, it is determined that the battery is abnormal. The first state indicates that if the remaining power of the battery is detected to be inaccurate, it can be determined that the battery is abnormal.

Optionally, the state of the battery is set by changing the state flag bit of the battery. Different battery status flags can indicate different battery status. If the first state is indicated by the first state flag bit of the battery, correspondingly, a possible implementation manner of the foregoing step S1102 is: setting the state flag bit of the battery as the first state flag bit. The first state flag bit is used to indicate that the state of the battery is the first state, and the first state flag bit is 2, for example. Correspondingly, after performing the above step S1101, the status flag bit of the battery is not the first status flag bit.

Optionally, if the remaining power of the battery is detected to be inaccurate again in step S1102, a possible implementation manner for determining that the battery is abnormal is: if the remaining power of the battery is detected to be inaccurate at a preset time In the segment, if it is detected again that the remaining power of the battery is inaccurate, it is determined that the battery is abnormal.

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

Among them, a possible implementation manner for determining that the condition for clearing the inaccurate state of the remaining power of the battery is satisfied is: detecting that the remaining power of the battery is accurate. That is, after detecting that the remaining power of the battery is inaccurate, and detecting that the remaining power of the battery is accurate, it can be determined that the condition for clearing the inaccurate state of the remaining power of the battery is satisfied.

Optionally, the aforementioned first state indicates that the remaining power of the battery was once inaccurate but the inaccurate state has been cleared.

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

Step S11011: Set the state of the battery to the second state.

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

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

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

Step S1104: Set the state of the battery to the third state.

In this embodiment, after step S1103 is performed, that is, after it is determined that the battery is abnormal, since the state of the battery is currently set to the first state, the state of the battery is set to the third state, that is, the state of the battery is changed from the first state. The state is changed to a third state, and the third state indicates that the remaining power of the battery is inaccurate but cannot be cleared. It should be noted that the third state is a state marked when the remaining battery power is inaccurate, and this marked state cannot be cleared.

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

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

Optionally, a possible implementation manner of performing step S1103 is: within a preset period of time after detecting that the remaining power of the battery is inaccurate, if the remaining power of the battery is again detected to be inaccurate, it is determined that the battery is abnormal. In this embodiment, after step S1101 is executed, the timing is started. If the timing duration is less than or equal to the preset duration, the remaining battery power is detected to be inaccurate again, indicating that the battery’s remaining battery power is inaccurate within a period of time. If there is a problem with the battery, it is determined that the battery is abnormal. If the remaining power of the battery is not detected to be inaccurate in the time when the time is less than or equal to the preset time, it means that the battery has not been inaccurate in the remaining power of the battery for a period of time, indicating that the battery is normal, that is, go to step S1105 .

Step S1105: If the inaccuracy of the remaining power of the battery is not detected within a preset period of time after the inaccuracy of the remaining power of the battery is detected, it is determined that the battery is normal.

Optionally, after step S1105 is performed, step S1106 may be performed.

Step S1106: Set the state of the battery to the fourth state.

In this embodiment, after determining that the battery is normal, the state of the battery can also be set to the fourth state, that is, the state of the battery is changed from the first state to the fourth state. Optionally, the state of the battery can be set to the fourth state by setting the state flag bit of the battery to the fourth state flag bit.

Several possible implementations for detecting the inaccurate remaining power of the battery will be described below.

In some embodiments, a possible implementation of detecting the inaccurate remaining power of the battery is: obtaining the first remaining power of the battery calculated by the first fuel gauge, and the calculation of the second fuel gauge. The second remaining power of the battery, the time length between the time when the first remaining power is acquired and the time when the first remaining power is acquired is less than or equal to the first preset time; the time between acquiring the first remaining power and the second remaining power When the remaining power difference is greater than the preset difference, it is detected that the remaining power of the battery is inaccurate.

In this embodiment, two fuel gauges are used, namely the first fuel gauge and the second fuel gauge. The remaining power of the battery calculated by the first fuel gauge is called the first remaining power, and the remaining power of the battery calculated by the second fuel gauge is The power is called the second remaining power. In this embodiment, the first remaining power of the battery calculated by the first fuel gauge and the second remaining power of the battery calculated by the second fuel gauge are acquired. Wherein, the time length between the time when the first remaining power is acquired and the time when the second remaining power is acquired is less than or equal to the first preset time length, which means that the time interval for acquiring the first remaining power and the second remaining power is short, so that the two power meters The calculated remaining power is only comparable. In some examples, the first preset duration may be 0, that is, the first remaining power of the battery calculated by the first fuel gauge and the second remaining power of the battery calculated by the second fuel gauge are acquired at the same time.

Then obtain the remaining power difference between the first remaining power and the second remaining power, and then determine whether the remaining power difference is greater than the preset difference, and if the remaining power difference is greater than the preset difference, it means two If the remaining power calculated by the fuel gauge is far apart, it indicates that the remaining power of the battery is detected to be inaccurate (for example, falsely high). If the difference in the remaining power is greater than the preset difference, it means that the remaining power calculated by the two fuel gauges are relatively close, and it means that the detection of the remaining power of the battery is accurate (for example, it is not falsely high).

Optionally, the method of calculating the remaining power of the first electricity meter may be the same as the method of calculating the remaining electricity of the second electricity meter.

Optionally, the method of calculating the remaining power of the first electricity meter and the method of calculating the remaining electricity of the second electricity meter may be different, so that errors caused by the calculation method can be avoided. The first fuel gauge may, for example, use Kalman filtering to calculate the remaining power of the battery, and the second fuel gauge may use, for example, the least square method to calculate the remaining power of the battery.

Optionally, this embodiment is not limited to two power meters, but can also be three or more power meters. At this time, the remaining power difference may be among multiple remaining power levels obtained from multiple power meters. The difference in the remaining power between the maximum remaining power and the minimum remaining power.

In some embodiments, a possible implementation manner for detecting the inaccurate remaining power of the battery is to obtain the third remaining power of the battery obtained by the first calculation method by the fuel gauge at the first moment, and the third remaining power of the battery is obtained at the first time. Obtain the second remaining power of the battery obtained by the fuel gauge through the second calculation method at the second time, and the time length between the first time and the second time is less than or equal to a second preset time length; and the first remaining power is obtained The remaining power difference between the power and the second remaining power; when the remaining power difference is greater than the preset difference, it is detected that the remaining power of the battery is inaccurate.

In this embodiment, a fuel gauge is used. The fuel gauge obtains the remaining power of the battery through the first calculation method at the first moment, which is called the third remaining power, and then this embodiment obtains the third remaining power obtained by the fuel gauge at the first moment. . Then the fuel gauge obtains the remaining power of the battery through the second calculation method at the second time, which is called the fourth remaining power, and then this embodiment acquires the fourth remaining power obtained by the fuel gauge at the second time. Among them, the time between the first time and the second time is less than or equal to the second preset time, and the first time is close to the second time. At this time, the remaining power of the battery actually does not change much, so that it can be used for more accurate judgment. Whether the remaining battery power is accurate. Optionally, the first moment and the second moment may be two adjacent moments when the fuel gauge calculates the remaining power of the battery.

Then obtain the remaining power difference between the third remaining power and the fourth remaining power, and then determine whether the remaining power difference is greater than the preset difference, and if the remaining power difference is greater than the preset difference, it means the same power If the remaining power obtained by calculating the similar time is far away, it means that the remaining power of the battery is detected to be inaccurate (for example, false high). If the remaining power difference is less than or equal to the preset difference, it means that the remaining power calculated by the same fuel gauge is relatively close, and it means that the detected remaining power of the battery is accurate (for example, it is not falsely high).

Optionally, the above-mentioned first calculation method is different from the second calculation method, so that errors caused by the calculation method can be eliminated, and the accuracy of the difference of the remaining power can be improved. The first calculation method is, for example, a Kalman filter method, and the second calculation method is, for example, a least square method.

Optionally, the manner in which the fuel gauge in any of the foregoing embodiments obtains the remaining power of the battery may adopt related descriptions in the embodiment shown in FIG. 2 or related embodiments, and details are not described herein again.

In some embodiments, a possible implementation of detecting the inaccurate remaining power of the battery is to obtain the discharge voltage of the battery; if the discharge voltage of the battery is less than the first preset voltage, determine the battery The remaining battery power is not accurate. In this embodiment, after the discharge voltage of the battery is obtained, it is determined whether the discharge voltage of the battery is less than the first preset voltage. If the discharge voltage of the battery is less than the first preset voltage, it indicates that the discharge voltage is too small, which may cause the remaining battery If the power calculation is not accurate, it is determined that the remaining power of the battery is not accurate.

In some embodiments, a possible implementation for detecting the inaccuracy of the remaining battery capacity of the battery is: obtaining the discharge voltage of each cell in the battery; and determining the minimum value of the cell according to the discharge voltage of each cell. Discharge voltage; if the minimum discharge voltage is less than the second preset voltage, it indicates that the discharge voltage of the battery cell is too small, which may cause the calculation of the remaining power of the battery to be inaccurate, and the remaining power of the battery is determined to be inaccurate.

In this embodiment, the battery includes a plurality of cells, the discharge voltage of each cell in the battery can be obtained, and then the discharge voltage of each cell is compared to determine the minimum discharge voltage. Then it is determined whether the minimum discharge voltage is less than the second preset voltage, and if the minimum discharge voltage is less than the second preset voltage, it is determined that the remaining power of the battery is inaccurate.

Optionally, on the basis of determining whether the remaining power of the battery is accurate based on the discharge voltage of the battery or the minimum discharge voltage of each cell in the battery, the remaining power of the battery is also obtained. Then determine whether the remaining power of the battery is less than the preset remaining power. If the remaining power of the battery is greater than the preset remaining power, and the discharge voltage of the battery is less than the first preset voltage or the minimum discharge voltage is less than the second preset voltage, it means discharging The voltage is already very small but the battery has a large remaining power, indicating that the remaining power of the battery does not match the discharge voltage, and the remaining power of the battery is determined to be inaccurate.

Optionally, on the basis of determining whether the remaining power of the battery is accurate based on the discharge voltage of the battery or the minimum discharge voltage of each cell in the battery, the discharge power of the battery is also obtained. Then it is judged whether the discharge power of the battery is greater than the preset power. If the discharge power of the battery is less than or equal to the preset power, and the discharge voltage of the battery is less than the first preset voltage or the minimum discharge voltage is less than the second preset voltage, it means the discharge voltage It is already very small and the discharge power of the battery is also very low, indicating that the remaining power of the battery may be inaccurate, so it is determined that the remaining power of the battery is not accurate.

Optionally, on the basis of determining whether the remaining power of the battery is accurate based on the discharge voltage of the battery or the minimum discharge voltage of each cell in the battery, the temperature of the battery is also obtained. Then it is determined whether the temperature of the battery is greater than the first preset temperature. If the temperature of the battery is less than or equal to the first preset temperature, and the discharge voltage of the battery is less than the first preset voltage or the minimum discharge voltage is less than the second preset voltage, it means The discharge voltage is already very small and the battery is currently in a low temperature environment, indicating that the remaining power of the battery may be inaccurate, so it is determined that the remaining power of the battery is not accurate. Alternatively, it can also be determined whether the temperature of the battery is less than the second preset temperature, if the temperature of the battery is greater than or equal to the second preset temperature, and the discharge voltage of the battery is less than the first preset voltage or the minimum discharge voltage is less than the second preset Voltage means that the discharge voltage is already very small and the battery is currently in a high temperature environment, indicating that the remaining power of the battery may be inaccurate, and the remaining power of the battery is determined to be inaccurate.

In some embodiments, on the basis of determining whether the remaining power of the battery is accurate based on the discharge voltage of the battery or the minimum discharge voltage of each cell in the battery, it is also determined whether the preset trigger condition is satisfied. If the preset trigger condition is met, and the discharge voltage of the battery is less than the first preset voltage or the minimum discharge voltage is less than the second preset voltage, it indicates that the remaining power of the battery may be inaccurate, and the remaining power of the battery is determined to be inaccurate.

Among them, the aforementioned preset trigger condition is related to the type of battery. Alternatively, the aforementioned preset trigger condition is related to the type of battery-powered external device. For example, the preset trigger condition can be related to whether the battery-powered external device is an unmanned aerial vehicle, a robot, or an unmanned vehicle, etc. The preset trigger condition can also be related to Different types of drones (such as agricultural drones or surveying drones, etc.) are related. The above-mentioned preset trigger condition is related to the predetermined working state of the battery-powered external device.

In some embodiments, after detecting that the remaining power of the battery is inaccurate, that is, after performing step S1001 or step S1101, the first information may be output. The first information is used to indicate that the remaining power of the battery is not accurate. Accurate first treatment strategy. Wherein, outputting the first information may be, for example, sending the first information to an external device powered by a battery. The external device determines that the remaining power of the battery is inaccurate according to the first information, determines the first processing strategy and outputs the instruction information of the first processing strategy. Optionally, the external device indicates the first processing strategy through an indicator light, or indicates the first processing strategy through sound or voice, or displays the first processing strategy through a display device.

Optionally, the first treatment strategy may include maintaining the battery. After the user obtains the first treatment strategy, the battery can be maintained to eliminate the problem of inaccurate remaining battery power. Optionally, in this embodiment, when it is detected that the battery is maintained, it can be determined that the condition for clearing the inaccurate state of the remaining power of the battery is satisfied.

If the battery-powered external device is a movable platform, after the movable platform receives the first information, if the movable platform is currently in motion, the movable platform also outputs information indicating that the movable platform returns to the starting position. If the mobile platform is not currently in motion, the movable platform also outputs information indicating that the movable platform is prohibited from moving.

Take the mobile platform as the drone as an example. If the drone has not taken off yet, after receiving the first message, the drone will output a message prohibiting takeoff and maintaining the battery, such as "The battery level is not correct. Please be in time for prohibiting takeoff. Maintain". If the drone has taken off, after receiving the first message, the drone will output a message to return to home and maintain the battery, such as "The actual remaining battery power is low, please return to home and charge for maintenance as soon as possible".

In some embodiments, after detecting that the remaining power of the battery is inaccurate, that is, after performing step S1002 or step S1103, second information may be output, and the second information may be used to indicate the second abnormality of the battery. Processing strategy. Wherein, outputting the second information may be, for example, sending the second information to an external device powered by a battery. The external device determines that the remaining power of the battery is inaccurate for many times and that the battery is abnormal according to the second information, and determines the second processing strategy and outputs the second processing. The instructions for the strategy. Optionally, the external device indicates the second processing strategy through an indicator light, or indicates the second processing strategy through sound or voice, or displays the second processing strategy through a display device.

Optionally, the second treatment strategy may include replacing the battery or repairing the battery. After the user obtains the first processing strategy, the battery can be replaced or repaired, so as to eliminate the problem of inaccurate remaining battery power.

If the battery-powered external device is a movable platform, after the movable platform receives the second information, if the movable platform is currently in motion, the movable platform also outputs information indicating that the movable platform returns to the starting position. If the mobile platform is not currently in motion, the movable platform also outputs information indicating that the movable platform is prohibited from moving.

Take the mobile platform as the drone as an example. If the drone has not taken off yet, after receiving the second message, the drone will output a message prohibiting takeoff and changing the battery, such as "The battery level is abnormal. Please replace the battery if it is forbidden to take off. Use and contact after-sales." If the drone has already taken off, after receiving the second message, the drone will output a message to return to home and replace the battery, such as "The battery is not accurate, and the actual remaining power is low. Please return as soon as possible, replace the battery, and contact after-sales service."

An embodiment of the present application also provides a computer storage medium in which program instructions are stored, and the program execution may include some or all of the steps of the battery abnormality detection method in any of the above corresponding embodiments.

FIG. 12 is a schematic structural diagram of a battery abnormality detection system provided by an embodiment of the application. As shown in FIG. 12, the battery abnormality detection system 1200 of this embodiment may include: at least one processor 1201 (a processor is taken as an example in the figure) out). Optionally, the battery abnormality detection system 1200 of this embodiment may further include: an output device 1202. The output device 1202 is connected to at least one processor 1201. Among them, the output device 1202 may be, for example, a communication interface or a communication circuit.

The at least one processor 1201 is configured to detect that the remaining power of the battery is inaccurate; if the remaining power of the battery is detected again to be inaccurate, it is determined that the battery is abnormal.

In some embodiments, the at least one processor 1201 is further configured to set the state of the battery to the first state after detecting that the remaining power of the battery is inaccurate. When the at least one processor 1201 detects that the remaining power of the battery is inaccurate again, when determining that the battery is abnormal, it is specifically configured to: after detecting that the state of the battery is the first state, if the state of the battery is detected again If the remaining power of the battery is not accurate, it is determined that the battery is abnormal.

In some embodiments, the state of the battery is set by changing the state flag bit of the battery.

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

In some embodiments, the first state indicates that the remaining power of the battery was once inaccurate but the inaccurate state has been cleared.

In some embodiments, the at least one processor 1201 is further configured to: before setting the state of the battery to the first state, and after detecting that the remaining power of the battery is inaccurate, change the state of the battery Set to the second state;

The second state indicates that the remaining power of the battery is inaccurate but the inaccurate state can be cleared.

In some embodiments, the at least one processor 1201 is further configured to, after determining that the battery is abnormal, set the state of the battery to a third state, and the third state indicates that the state of the battery remains The battery is inaccurate but cannot be cleared.

In some embodiments, the at least one processor 1201 is specifically configured to: if the remaining power of the battery is detected to be inaccurate within a preset period of time after detecting that the remaining power of the battery is inaccurate, determine that the remaining power of the battery is inaccurate. There is an exception.

In some embodiments, the at least one processor 1201 is further configured to: if within a preset period of time after detecting that the remaining power of the battery is inaccurate, it is determined that the remaining power of the battery is not accurate. normal.

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

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

In some embodiments, the at least one processor 1201 is specifically configured to: detect that the remaining power of the battery is falsely high.

In some embodiments, the at least one processor 1201 is specifically configured to: obtain the first remaining power of the battery calculated by the first fuel gauge, and the second remaining power of the battery calculated by the second fuel gauge Electricity, the time length between the time when the first remaining electric power is acquired and the time when the first remaining electric power is acquired is less than or equal to the first preset duration; the difference between the remaining electric power between the first remaining electric power and the second remaining electric power is obtained; if If the difference in the remaining power is greater than the preset difference, it is detected that the remaining power of the battery is inaccurate.

In some embodiments, the manner in which the first power meter calculates the remaining power is different from the manner in which the second power meter calculates the remaining power.

In some embodiments, the at least one processor 1201 is specifically configured to: obtain the third remaining power of the battery obtained by the fuel gauge through the first calculation method at the first time, and obtain the fuel gauge at the second time For the second remaining power of the battery obtained by the second calculation method, the time length between the first time and the second time is less than or equal to a second preset time length. Obtain the remaining power difference between the first remaining power and the second remaining power. When the remaining power difference is greater than the preset difference, it is detected that the remaining power of the battery is inaccurate.

In some embodiments, the at least one processor 1201 is specifically configured to: obtain the discharge voltage of the battery. If the discharge voltage of the battery is less than the first preset voltage, it is determined that the remaining power of the battery is inaccurate.

In some embodiments, the at least one processor 1201 is specifically configured to: obtain the discharge voltage of each cell in the battery; determine the minimum discharge voltage of the cell according to the discharge voltage of each cell; If the discharge voltage is less than the second preset voltage, it is determined that the remaining power of the battery is inaccurate.

In some embodiments, the at least one processor 1201 is specifically configured to: if the remaining power of the battery is greater than or equal to a preset remaining power, determine that the remaining power of the battery is inaccurate; or, if the discharge power of the battery is If the power is less than or equal to the preset power, the remaining power of the battery is determined to be inaccurate; or, if the temperature of the battery is less than or equal to the first preset temperature or the temperature of the battery is greater than or equal to the second preset temperature, then the remaining power of the battery is determined Inaccurate.

In some embodiments, the at least one processor 1201 is specifically configured to: if a preset trigger condition is met, determine that the remaining power of the battery is inaccurate. The preset trigger condition is related to the type of the battery, or the type of the external device powered by the battery, or the predetermined working state of the device powered by the battery.

In some embodiments, the output device 1202 is configured to output first information after the at least one processor 1201 detects that the remaining power of the battery is inaccurate, and the first information is used to indicate the remaining power of the battery Inaccurate first treatment strategy.

In some embodiments, the first treatment strategy includes maintaining the battery.

In some embodiments, the output device 1202 is configured to output second information after the at least one processor 1201 determines that the battery is abnormal, and the second information is used to indicate a second treatment for the battery abnormality Strategy.

In some embodiments, the second treatment strategy includes battery replacement or battery repair.

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

The battery abnormality detection system of this embodiment can be used to implement the technical solutions in FIG. 10 or FIG. 11 and related embodiments of the present application. The implementation principles and technical effects are similar and will not be repeated here.

FIG. 13 is a schematic structural diagram of a battery provided by another embodiment of this application. As shown in FIG. 13, the battery 1300 of this embodiment may include: a plurality of battery cells 1310 and a battery abnormality detection system 1320. The battery abnormality detection system 1320 may include at least one processor 1321 (a processor is taken as an example in the figure). Optionally, the battery abnormality detection system 1320 may further include: an output device 1322. The output device 1322 is connected to at least one processor 1321. Among them, the output device 1322 may be, for example, a communication interface or a communication circuit.

The at least one processor 1321 is configured to detect that the remaining power of the battery 1300 is inaccurate; if the remaining power of the battery 1300 is detected again to be inaccurate, it is determined that the battery 1300 is abnormal.

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

In some embodiments, the state of the battery 1300 is set by changing the state flag bit of the battery 1300.

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

In some embodiments, the first state indicates that the remaining power of the battery 1300 was once inaccurate but the inaccurate state has been cleared.

In some embodiments, the at least one processor 1321 is further configured to: before setting the state of the battery 1300 to the first state, after detecting that the remaining power of the battery 1300 is inaccurate, reset the battery 1300 The state of 1300 is set to the second state;

The second state indicates that the remaining power of the battery 1300 is inaccurate but the inaccurate state can be cleared.

In some embodiments, the at least one processor 1321 is further configured to, after determining that the battery 1300 is abnormal, set the state of the battery 1300 to a third state, where the third state represents the battery 1300 The remaining power in the status is inaccurate but cannot be cleared.

In some embodiments, the at least one processor 1321 is specifically configured to: if within a preset period of time after detecting that the remaining power of the battery 1300 is inaccurate, the remaining power of the battery 1300 is detected again to be inaccurate, then determining that the remaining power of the battery 1300 is inaccurate. The battery 1300 is abnormal.

In some embodiments, the at least one processor 1321 is further configured to: if within a preset period of time after detecting that the remaining power of the battery 1300 is inaccurate, the remaining power of the battery 1300 is not detected to be inaccurate, then determining that the remaining power of the battery 1300 is inaccurate. The battery 1300 is normal.

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

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

In some embodiments, the at least one processor 1321 is specifically configured to: detect that the remaining power of the battery 1300 is falsely high.

In some embodiments, the at least one processor 1321 is specifically configured to: obtain the first remaining power of the battery 1300 calculated by the first fuel gauge, and the first remaining power of the battery 1300 calculated by the second fuel gauge. 2. Remaining power, the time length between the time when the first remaining power is acquired and the time when the first remaining power is acquired is less than or equal to the first preset time; the remaining power difference between the first remaining power and the second remaining power is obtained ; If the remaining power difference is greater than the preset difference, it is detected that the remaining power of the battery 1300 is not accurate.

Optionally, the first fuel gauge and the second fuel gauge may also be components of the battery 1300.

In some embodiments, the at least one processor 1321 is specifically configured to: obtain the third remaining power of the battery 1300 obtained by the fuel gauge through the first calculation method at the first time, and obtain the power at the second time The second remaining power of the battery 1300 obtained by the second calculation method is calculated, and the time length between the first time and the second time is less than or equal to a second preset time length. Obtain the remaining power difference between the first remaining power and the second remaining power. When the remaining power difference is greater than the preset difference, it is detected that the remaining power of the battery 1300 is inaccurate. Optionally, the fuel gauge may be a component belonging to the battery 1300.

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

In some embodiments, the at least one processor 1321 is specifically configured to: obtain the discharge voltage of each cell 1310 in the battery 1300; determine the minimum discharge voltage of the cell 1310 according to the discharge voltage of each cell 1310; If the minimum discharge voltage is less than the second preset voltage, it is determined that the remaining power of the battery 1300 is inaccurate.

In some embodiments, the at least one processor 1321 is specifically configured to: if the remaining power of the battery 1300 is greater than or equal to a preset remaining power, determine that the remaining power of the battery 1300 is inaccurate; or, if the remaining power of the battery 1300 is If the discharge power of the battery 1300 is less than or equal to the preset power, it is determined that the remaining power of the battery 1300 is inaccurate; or, if the temperature of the battery 1300 is less than or equal to the first preset temperature or the temperature of the battery 1300 is greater than or equal to the second preset temperature, It is determined that the remaining power of the battery 1300 is not accurate.

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

In some embodiments, the output device 1322 is configured to output first information after the at least one processor 1321 detects that the remaining power of the battery 1300 is inaccurate, and the first information is used to indicate information about the battery 1300 The first treatment strategy for inaccurate remaining power.

In some embodiments, the output device 1322 is configured to output second information after the at least one processor 1321 determines that the battery 1300 is abnormal. The second information is used to indicate the abnormality of the battery 1300. 2. Treatment strategy.

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

The battery of this embodiment can be used to implement the technical solutions in FIG. 10 or FIG. 11 and related embodiments of the present application. The implementation principles and technical effects are similar, and will not be repeated here.

14 is a schematic structural diagram of a movable platform provided by another embodiment of the application. As shown in FIG. 14, the movable platform 1400 of this embodiment includes: a body 1401 and a battery 1402; the body 1401 is provided with a battery abnormality detection system 1403; The battery 1402 is arranged in the battery compartment of the body 1401; The battery abnormality detection system 1403 is used to obtain the remaining power of the battery 1402.

Among them, the battery abnormality detection system 1403 may adopt the structure shown in FIG. 12 to implement the technical solutions in the above-mentioned FIG. 10 or FIG. 11 and related embodiments of the present application. The implementation principles and technical effects are similar, and will not be repeated here. .

FIG. 15 is a schematic structural diagram of a movable platform provided by another embodiment of the application. As shown in FIG. 15, the movable platform 1500 of this embodiment includes: a body 1501 and a battery 1502. The battery 1502 is arranged in the battery compartment of the body 1501.

Wherein, the battery 1502 may adopt the structure shown in FIG. 13 to implement the technical solutions in FIG. 10 or FIG. 11 and related embodiments of the present application. The implementation principles and technical effects are similar and will not be repeated here.

Optionally, on the basis of the movable platform shown in FIG. 14 or FIG. 15, it may also include a display device. The display device is used to display the above-mentioned first processing strategy or the above-mentioned second processing strategy. The components in the control terminal of the mobile platform.

The battery power calculation method, system, battery, and movable platform provided in the embodiments of the present application obtain the current discharge voltage of each battery cell in the plurality of battery cells under different preset conditions. According to the current discharge voltage of each battery cell, the remaining power information of each battery cell is obtained. According to the current available capacity of each battery cell in the plurality of battery cells and the remaining power information of each battery cell, the current available total capacity of the battery is acquired. According to the total available capacity of the battery at the current moment, the remaining power information of the battery at the current moment is obtained. Since the current available capacity of each battery cell in the multiple batteries and the remaining power information of each battery cell can be used to accurately obtain the current total available capacity of the battery, the current available capacity can be obtained according to the accurate current available capacity. The remaining power information at all times is more accurate.

According to the battery abnormality detection method, system, battery, and mobile platform provided in the embodiments of the present application, if the remaining battery capacity of the battery is inaccurate through detection under certain conditions, then if the remaining battery capacity is detected to be inaccurate again, it is determined The battery is abnormal. Therefore, in this embodiment, it is determined that the battery is abnormal when it is detected that the remaining power of the battery is inaccurate multiple times. To avoid misjudgment that the battery is abnormal, this embodiment can improve the accuracy of detecting battery abnormality, avoid unnecessary battery maintenance, and improve the user experience.

A person of ordinary skill in the art can understand that all or part of the steps in the above method embodiments can be implemented by a program instructing relevant hardware. The foregoing program can be stored in a computer readable storage medium. When the program is executed, it is executed. Including the steps of the foregoing method embodiment; and the foregoing storage medium includes: read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disks or optical disks, etc., which can store program codes Medium.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the application, not to limit them; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application. scope.

Claims

A battery abnormality detection method, characterized in that the method includes:

It is detected that the remaining battery power is inaccurate;

If it is detected again that the remaining power of the battery is inaccurate, it is determined that the battery is abnormal.
The method according to claim 1, wherein after detecting that the remaining power of the battery is inaccurate, the method further comprises:

Setting the state of the battery to the first state;

If it is detected that the remaining power of the battery is inaccurate again, determining that the battery is abnormal includes:

After detecting that the state of the battery is the first state, if it is detected that the remaining power of the battery is inaccurate again, it is determined that the battery is abnormal.
The method according to claim 2, wherein the state of the battery is set by changing the state flag bit of the battery.
The method according to claim 2 or 3, wherein the setting the state of the battery to the first state comprises:

When it is determined that the condition for clearing the inaccurate state of remaining power of the battery is satisfied, the state of the battery is set to the first state.
The method according to claim 4, wherein the first state indicates that the remaining power of the battery was once inaccurate but the inaccurate state has been cleared.
The method according to claim 4 or 5, wherein before the setting the state of the battery to the first state, the method further comprises:

Setting the state of the battery to the second state after detecting that the remaining power of the battery is inaccurate;

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

The state of the battery is set to a third state, and the third state indicates that the state of the battery has an inaccurate remaining power but cannot be cleared.
The method according to any one of claims 1-7, wherein if it is detected that the remaining power of the battery is inaccurate again, determining that the battery is abnormal, comprising:

If it is detected that the remaining power of the battery is inaccurate within a preset period of time after detecting that the remaining power of the battery is inaccurate, it is determined that the battery is abnormal.
The method according to claim 8, further comprising:

If the inaccuracy of the remaining power of the battery is not detected within a preset period of time after the inaccuracy of the remaining power of the battery is detected, it is determined that the battery is normal.
The method according to claim 9, wherein after determining that the battery is normal, the method further comprises:

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

It is detected that the remaining power of the battery is falsely high.
The method according to any one of claims 1-12, wherein the detecting that the remaining power of the battery is inaccurate comprises:

Obtain the first remaining power of the battery calculated by the first fuel gauge, and the second remaining power of the battery calculated by the second fuel gauge, between the time when the first remaining power is acquired and the time when the first remaining power is acquired The duration of time is less than or equal to the first preset duration;

Obtaining the difference in the remaining power between the first remaining power and the second remaining power;

If the remaining power difference is greater than the preset difference, it is detected that the remaining power of the battery is inaccurate.
The method according to claim 13, wherein the manner in which the first electricity meter calculates the remaining electricity is different from the manner in which the second electricity meter calculates the remaining electricity.
The method according to any one of claims 1-12, wherein the detecting that the remaining power of the battery is inaccurate comprises:

Obtain the third remaining power of the battery obtained by the fuel gauge through the first calculation method at the first time, and obtain the second remaining power of the battery obtained by the fuel gauge through the second calculation method at the second time, the The time length between the first time and the second time is less than or equal to a second preset time;

Obtaining the difference in the remaining power between the first remaining power and the second remaining power;

When the remaining power difference is greater than the preset difference, it is detected that the remaining power of the battery is inaccurate.
The method according to any one of claims 1-12, wherein the detecting that the remaining power of the battery is inaccurate comprises:

Obtaining the discharge voltage of the battery;

If the discharge voltage of the battery is less than the first preset voltage, it is determined that the remaining power of the battery is inaccurate.
The method according to any one of claims 1-12, wherein the detecting that the remaining power of the battery is inaccurate comprises:

Obtaining the discharge voltage of each cell in the battery;

According to the discharge voltage of each cell, determine the minimum discharge voltage of the cell;

If the minimum discharge voltage is less than the second preset voltage, it is determined that the remaining power of the battery is inaccurate.
The method according to claim 16 or 17, wherein the determining that the remaining power of the battery is inaccurate comprises:

If the remaining power of the battery is greater than or equal to the preset remaining power, it is determined that the remaining power of the battery is inaccurate; or,

If the discharge power of the battery is less than or equal to the preset power, it is determined that the remaining power of the battery is inaccurate; or,

If the temperature of the battery is less than or equal to the first preset temperature or the temperature of the battery is greater than or equal to the second preset temperature, it is determined that the remaining power of the battery is inaccurate.
The method according to claim 16 or 17, wherein the determining that the remaining power of the battery is inaccurate comprises:

If the preset trigger condition is met, it is determined that the remaining power of the battery is not accurate;

The preset trigger condition is related to the type of the battery, or the type of the external device powered by the battery, or the predetermined working state of the device powered by the battery.
The method according to any one of claims 1-19, wherein after detecting that the remaining power of the battery is inaccurate, the method further comprises:

Output first information, where the first information is used to indicate a first processing strategy for the inaccurate remaining power of the battery.
The method of claim 20, wherein the first treatment strategy includes maintaining a battery.
The method according to any one of claims 1-21, wherein after determining that the battery is abnormal, the method further comprises:

Output second information, where the second information is used to indicate a second processing strategy for the battery abnormality.
The method according to claim 22, wherein the second processing strategy includes replacing the battery or repairing the battery.
A battery abnormality detection system, characterized by comprising: at least one processor;

The at least one processor is configured to detect that the remaining power of the battery is inaccurate; if the remaining power of the battery is detected again to be inaccurate, it is determined that the battery is abnormal.
The system according to claim 24, wherein the at least one processor is further configured to set the state of the battery to the first state after detecting that the remaining power of the battery is inaccurate;

If the at least one processor detects that the remaining power of the battery is inaccurate again, when determining that the battery is abnormal, it is specifically configured to: after detecting that the state of the battery is the first state, if the battery is detected again If the remaining power of is not accurate, it is determined that the battery is abnormal.
The system according to claim 25, wherein the state of the battery is set by changing the state flag bit of the battery.
The system according to claim 25 or 26, wherein the at least one processor is specifically configured to: when it is determined that the condition for clearing the inaccurate state of the remaining battery power of the battery is satisfied, set the state of the battery to the first state.
The system according to claim 27, wherein the first state indicates that the remaining power of the battery was once inaccurate but the inaccurate state has been cleared.
The system according to claim 27 or 28, wherein the at least one processor is further configured to: before setting the state of the battery to the first state, when the remaining power of the battery is detected to be inaccurate Afterwards, the state of the battery is set to the second state;

The second state indicates that the remaining power of the battery is inaccurate but the inaccurate state can be cleared.
The system according to any one of claims 25-29, wherein the at least one processor is further configured to, after determining that the battery is abnormal, set the state of the battery to a third state, so The third state indicates that the remaining power of the battery is inaccurate but cannot be cleared.
The system according to any one of claims 24-30, wherein the at least one processor is specifically configured to: if the remaining battery power is detected inaccurately within a preset period of time, the battery is detected again If the remaining power of is not accurate, it is determined that the battery is abnormal.
The system according to claim 31, wherein the at least one processor is further configured to:

If the inaccuracy of the remaining power of the battery is not detected within a preset period of time after the inaccuracy of the remaining power of the battery is detected, it is determined that the battery is normal.
The system according to claim 32, wherein the at least one processor is further configured to set the state of the battery to a fourth state after determining that the battery is normal, and the fourth state represents the battery normal.
The system according to any one of claims 24-33, wherein before the at least one processor detects that the remaining power of the battery is inaccurate, the state of the battery is a fourth state, and the fourth state Indicates that the battery is normal.
The system according to any one of claims 24-34, wherein the at least one processor is specifically configured to: detect that the remaining power of the battery is falsely high.
The system according to any one of claims 24-35, wherein the at least one processor is specifically configured to:

Obtain the first remaining power of the battery calculated by the first fuel gauge, and the second remaining power of the battery calculated by the second fuel gauge, between the time when the first remaining power is acquired and the time when the first remaining power is acquired The duration of time is less than or equal to the first preset duration;

Obtaining the difference in the remaining power between the first remaining power and the second remaining power;

If the remaining power difference is greater than the preset difference, it is detected that the remaining power of the battery is inaccurate.
36. The system according to claim 36, wherein the method of calculating the remaining power by the first power meter is different from the method of calculating the remaining power by the second power meter.
The system according to any one of claims 24-35, wherein the at least one processor is specifically configured to:

Obtain the third remaining power of the battery obtained by the fuel gauge through the first calculation method at the first time, and obtain the second remaining power of the battery obtained by the fuel gauge through the second calculation method at the second time, the The time length between the first time and the second time is less than or equal to a second preset time;

Obtaining the difference in the remaining power between the first remaining power and the second remaining power;

When the remaining power difference is greater than the preset difference, it is detected that the remaining power of the battery is inaccurate.
The system according to any one of claims 24-35, wherein the at least one processor is specifically configured to:

Obtaining the discharge voltage of the battery;

If the discharge voltage of the battery is less than the first preset voltage, it is determined that the remaining power of the battery is inaccurate.
The system according to any one of claims 24-35, wherein the at least one processor is specifically configured to:

Obtaining the discharge voltage of each cell in the battery;

According to the discharge voltage of each cell, determine the minimum discharge voltage of the cell;

If the minimum discharge voltage is less than the second preset voltage, it is determined that the remaining power of the battery is inaccurate.
The system according to claim 39 or 40, wherein the at least one processor is specifically configured to:

If the remaining power of the battery is greater than or equal to the preset remaining power, it is determined that the remaining power of the battery is inaccurate; or,

If the discharge power of the battery is less than or equal to the preset power, it is determined that the remaining power of the battery is inaccurate; or,

If the temperature of the battery is less than or equal to the first preset temperature or the temperature of the battery is greater than or equal to the second preset temperature, it is determined that the remaining power of the battery is inaccurate.
The system according to claim 39 or 40, wherein the at least one processor is specifically configured to:

If the preset trigger condition is met, it is determined that the remaining power of the battery is not accurate;

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

The output device is configured to output first information after the at least one processor detects that the remaining power of the battery is inaccurate, where the first information is used to indicate a first processing strategy for the inaccurate remaining power of the battery.
The system of claim 43, wherein the first treatment strategy includes maintaining a battery.
The system according to any one of claims 24-42, further comprising:

The output device is configured to output second information after the at least one processor determines that the battery is abnormal, where the second information is used to indicate a second processing strategy for the battery abnormality.
The system according to claim 45, wherein the second processing strategy includes replacing the battery or repairing the battery.
A battery, characterized by comprising: a plurality of battery cells and the battery abnormality detection system according to any one of claims 24-46, the battery abnormality detection system being electrically connected to the plurality of battery cells.
A movable platform, characterized in that it comprises:

Body and battery;

The body is provided with the battery anomaly detection system according to any one of claims 24-46; the battery is arranged in the battery compartment of the body; the battery anomaly detection system is used to detect the battery Whether the remaining power is accurate to determine whether the battery is abnormal.
A movable platform, characterized by comprising: a body and the battery according to claim 47;

The battery is arranged in the battery compartment of the body.
A readable storage medium, wherein a computer program is stored on the readable storage medium; when the computer program is executed, the battery abnormality detection method according to any one of claims 1-23 is realized.