WO2021217315A1

WO2021217315A1 - Charging control method, charger, charging system, and storage medium

Info

Publication number: WO2021217315A1
Application number: PCT/CN2020/087087
Authority: WO
Inventors: 林宋荣; 李鹏
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-04-26
Filing date: 2020-04-26
Publication date: 2021-11-04
Also published as: CN112913106A

Abstract

A charging control method, a charger, a charging system, and a storage medium. The method comprises: obtaining request current of batteries (S101); determining a current adjustment amount according to the request current (S102); adjusting charge current of a plurality of channels according to the current adjustment amount (S103), wherein the determining a current adjustment amount according to the request current comprises: determining a minimum current difference from the difference between the charge current of each channel and the request current, and determining the current adjustment amount according to the minimum current difference. When a plurality of batteries are charged in parallel, the parallel charging policy can be optimized, thereby enhancing the safety and improving the user experience.

Description

Charging control method, charger, charging system and storage medium

Technical field

This application relates to the field of charging technology, and in particular to a charging control method, a charger, a charging system, and a storage medium.

Background technique

Due to the limitation of the charging rate of the battery, the charging time of the battery is fixed. For high-power batteries used on drones, in order to reduce the weight of the drone, the weight of the battery needs to be considered. When reducing the weight of the battery, the discharge time of the battery is usually designed to be only about 30 minutes. Therefore, for drones working on site, the charging speed must be increased to ensure that the drones can work for a long time without gaps. Since the charging time of the battery cannot be reduced, the method of increasing the charging speed can only be realized by the solution of charging multiple batteries in parallel. Due to the parallel charging of multiple batteries, the total charging time can be reduced by multiples.

However, the current parallel charging scheme has many shortcomings, resulting in battery damage during the charging process, such as loss of charging time caused by batteries of different power levels, failure to notify users of fault information in time, etc., resulting in serious consequences such as battery burning.

Summary of the invention

Based on this, the present application provides a charging control method, a charger, a charging system, and a storage medium to improve the safety of battery charging.

In the first aspect, this application provides a charger, which includes:

Main control circuit

A charging circuit, the charging circuit is connected to the main control circuit, and charging is performed under the control of the main control circuit;

A channel control circuit, the channel control circuit includes a plurality of channels, the plurality of channels are connected to the charging circuit, and are used to charge a plurality of batteries in parallel;

Wherein, the main control circuit is also communicatively connected with the battery, and is used to obtain the requested current of the battery; and determine the current adjustment amount according to the requested current, and adjust a plurality of channels according to the current adjustment amount. Charging current; wherein the determining the current adjustment amount includes: determining a minimum current difference from the difference between the charging current of each channel and the requested current, and determining the current adjustment amount according to the minimum current difference .

In addition, this application also provides another charger, which includes:

Main control circuit

Wherein, the main control circuit is also communicatively connected with the battery to obtain the requested current of the battery; and gradually adjust the charging current of the channel until the difference between the charging current of the channel and the requested current is The minimum current difference among the values is smaller than the preset current threshold to avoid inrush current.

In addition, this application also provides another charger, which includes:

Main control circuit

Wherein, the main control circuit is also communicatively connected with the battery, and the main control circuit is used to: obtain the current battery voltage of the battery, determine the output voltage of the charger channel according to the current battery voltage, and according to The output voltage charges the battery;

Wherein, the output voltage is equal to the current battery voltage of the battery, or the output voltage is slightly greater than the current battery voltage, so as to reduce the surge current when charging is started.

In addition, this application also provides another charger, which includes:

Main control circuit

Wherein, the main control circuit is used to: control a plurality of the channels to charge a plurality of the batteries, and when it is determined that the battery is pulled out, stop charging the battery in the online state; and,

The charging current of the channel is gradually adjusted to continue to charge the battery.

In a second aspect, the present application also provides a charging control method, which is applied to a charger, the charger includes multiple channels for charging multiple batteries, and the method includes:

Obtain the requested current of the battery;

Determining the current adjustment amount according to the requested current; and

Adjusting the charging currents of the multiple channels according to the current adjustment amount;

Wherein, the determining the current adjustment amount according to the requested current includes: determining a minimum current difference from the difference between the charging current of each channel and the requested current, and determining the minimum current difference according to the minimum current difference. Current adjustment amount.

In addition, this application also provides another charging control method, which is applied to a charger, the charger includes multiple channels for charging multiple batteries, and the method includes:

Acquiring the requested current of the battery;

The charging current of the channel is gradually adjusted until the smallest current difference in the difference between the charging current of the channel and the requested current is less than a preset current threshold, so as to avoid generating an inrush current.

In addition, the present application also provides another charging control method applied to a charger, characterized in that the charger includes multiple channels for charging multiple batteries, and the method includes:

Obtaining the current battery voltage of the battery;

Determining the output voltage of the charger channel according to the current battery voltage; and

Charging the battery according to the output voltage;

Controlling a plurality of the channels to charge a plurality of the batteries;

Check if the battery is unplugged; and

When it is determined that the battery is unplugged, stop charging the battery in the online state; and,

In a third aspect, the present application also provides a charging control system. The charging control system includes: one or more processors, working individually or together, and the processors are used to implement the charging described in any one of the foregoing. Control Method.

In a fourth aspect, the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes the charging control method described above.

The charging control method, charger, charging system, and storage medium disclosed in the embodiments of the present application can optimize the parallel charging strategy when multiple batteries are charged in parallel, thereby improving safety and improving user experience.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following will briefly introduce the drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. Ordinary technicians can obtain other drawings based on these drawings without creative work.

FIG. 1 is a schematic diagram of a circuit structure of a charger provided by an embodiment of the present application;

2 is a schematic diagram of the circuit structure of another charger provided by an embodiment of the present application;

FIG. 3 is a schematic diagram of a circuit structure of an in-position detection circuit provided by an embodiment of the present application;

FIG. 4 is a schematic diagram of the effect of the occurrence of a drain voltage provided by an embodiment of the present application;

FIG. 5 is a schematic diagram of the circuit structure of another in-position detection circuit provided by an embodiment of the present application;

6 is a schematic diagram of the circuit structure of a second switch circuit provided by an embodiment of the present application;

FIG. 7 is a schematic diagram of the circuit structure of another in-position detection circuit provided by an embodiment of the present application;

FIG. 8 is a schematic diagram of the circuit structure of yet another in-position detection circuit provided by an embodiment of the present application;

FIG. 9 is a schematic diagram of the circuit structure of another charger provided by an embodiment of the present application;

FIG. 10 is a schematic diagram of the circuit structure of an anti-reverse irrigation circuit provided by an embodiment of the present application;

FIG. 11 is a schematic diagram of the circuit structure of another charger provided by an embodiment of the present application;

FIG. 12 is a schematic diagram of the circuit structure of another charger provided by an embodiment of the present application;

FIG. 13 is a schematic diagram of the circuit structure of another charger provided by an embodiment of the present application;

14 is a schematic diagram of the circuit structure of another charger provided by an embodiment of the present application;

15 is a schematic flowchart of steps of a charging control method provided by an embodiment of the present application;

FIG. 16 is a schematic diagram of a scenario where four batteries are charged in parallel according to an embodiment of the present application;

FIG. 17 is a schematic diagram of the effect of charging current adjustment provided by an embodiment of the present application;

FIG. 18a is a schematic diagram of the effect of providing a charging current waveform corresponding to an existing charging method according to an embodiment of the present application; FIG.

FIG. 18b is a schematic diagram of the effect of providing the charging current waveform corresponding to the improved charging method according to the embodiment of the present application; FIG.

19 is a schematic flowchart of steps of another charging control method provided by an embodiment of the present application;

20 is a schematic flowchart of steps of another charging control method provided by an embodiment of the present application;

FIG. 21 is a schematic flowchart of steps of another charging control method provided by an embodiment of the present application; FIG.

FIG. 22 is a schematic block diagram of a charger provided by an embodiment of the present application;

FIG. 23 is a schematic block diagram of a charging control system provided by an embodiment of the present application.

Detailed ways

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 are part of the embodiments of the present application, rather than all of them. 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.

It should also be understood that the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in the specification of this application and the appended claims, unless the context clearly indicates other circumstances, the singular forms "a", "an" and "the" are intended to include plural forms.

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

The flowchart shown in the drawings is only an example, and does not necessarily include all contents and operations/steps, nor does it have to be executed in the described order. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to actual conditions.

The inventor found that at present, due to the limitation of the charging rate of the battery, the charging time of the battery is fixed. At the same time, for high-power batteries used on drones, in order to reduce the weight of the drone, the weight of the battery needs to be considered. When reducing the weight of the battery, the discharge time of the battery is usually designed to be only about 30 minutes. Therefore, for drones working in the field, the charging speed must be increased to ensure that the drone can work for a long time without gaps. Since the battery charging time cannot be reduced, the method to increase the charging speed can only be through multiple batteries in parallel. The charging scheme is realized. Due to the parallel charging of multiple batteries, the total charging time can be reduced by multiples, and it becomes the main solution for fast charging.

However, the current parallel charging scheme for batteries has many disadvantages, such as the problem of unreliable battery charging caused by the current distribution of multiple batteries, inrush current when the battery is turned on, and current in other batteries when the battery is unplugged. Impact, etc., these shortcomings may cause safety problems in the battery charging process, or cause safety hazards to the subsequent use of the battery. When the battery is used in a movable platform, such as a drone, it will pose a threat to the user's safety. In addition, the current parallel charging scheme for batteries also has the problem of low charging efficiency, which is not conducive to the continuous operation of the mobile platform.

Among them, movable platforms include aircraft, robots, electric vehicles or autonomous unmanned vehicles.

For example, the battery is connected to the motor of the aircraft to control the rotation of the propeller, so as to realize the flight of the aircraft; for another example, the battery provides power to the camera of the aircraft to achieve aerial photography and so on.

Aircraft include drones, which include rotary-wing drones, such as quadrotor drones, hexarotor drones, and octo-rotor drones. It can also be a fixed-wing drone or a rotary-wing drone. The combination with fixed-wing UAV is not limited here.

The robots include educational robots, which use a Mecanum wheel omnidirectional chassis, and are equipped with multiple pieces of intelligent armor. Each intelligent armor has a built-in impact detection module that can quickly detect physical attacks. At the same time, it also includes a two-axis pan/tilt, which can be flexibly rotated, matched with the transmitter to accurately, stably and continuously fire crystal bombs or infrared beams, and matched with ballistic light effects, giving users a more realistic shooting experience.

To this end, the embodiments of the present application provide a charging control method, a charger, a charging control system, and a storage medium. The charging control method is applied to a charger to improve the safety of battery charging.

Hereinafter, some embodiments of the present application will be described in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

Please refer to FIG. 1. FIG. 1 is a schematic block diagram of a charger provided by an embodiment of the present application. The charger 100 includes a main control circuit 11, a charging circuit 12, and a channel control circuit 13. The channel control circuit 13 includes a plurality of channels, and each channel includes a channel switch. When the channel switch is turned on, the channel is used to connect to Charge the battery on this channel.

Exemplarily, as shown in FIG. 1, the channel control circuit 13 includes n channels, and each channel is provided with a channel switch, so that a maximum of n batteries can be simultaneously charged in parallel at the same time. In this way, the charging efficiency can be improved.

Among them, the charging circuit 12 is connected to the main control circuit 11 and is charged under the control of the main control circuit 11. For example, make adjustments to the charging process. AC power can be converted into DC power, charging current and voltage can be adjusted, power balance can be controlled, and so on. The multiple channels of the channel control circuit 13 are all connected to the charging circuit 12 for charging multiple batteries in parallel.

In some embodiments, the channel switch is also connected to the main control circuit 11, and is turned on or off under the control of the main control circuit 11 to charge the battery or stop charging. For example, if the channel switch is a field effect tube, the gate of the field effect tube is connected to the main control circuit 11, and the main control circuit 11 sends a high and low level signal to the gate of the field effect tube to control the conduction of the field effect tube. On or off.

In some embodiments, the main control circuit 11 is also communicatively connected with batteries connected to various channels to obtain corresponding battery information, and perform corresponding actions according to the obtained battery information. So as to effectively manage the battery power.

Specifically, the charger 100 is used to connect an external power source to charge the battery. The external power source is alternating current, such as commercial power, and the battery is used to power electronic devices, such as to power a mobile platform and a load carried on the mobile platform. .

Wherein, the main control circuit 11 includes a Microcontroller Unit (MCU). Specifically, the micro control unit executes the steps of the charging control method provided in the embodiments of the present application to optimize parallel charging of multiple batteries, thereby improving battery charging. Security.

The main control circuit 11 can also obtain the presence information of the battery on the channel, and specifically obtain the presence information of the battery on the channel through the presence detection circuit. The presence information includes: online status, unplugged status, or full status. Therefore, when the battery is not installed in place, the battery electrical connection interface is aging, and/or the interface between the charging device and the battery is aging, it can be recognized in time that the battery is not in place and effective charging cannot be obtained.

In some embodiments, as shown in FIG. 2, the charger 100 includes an in-position detection circuit 130, which is connected to the main control circuit and is used to detect the in-position information of the battery.

Specifically, the presence detection circuit 130 is connected to the channel of the channel control circuit for detecting the presence information of the battery connected to the channel. The port corresponding to the channel can insert or remove the battery, according to the status of the battery insertion and removal. In some embodiments, when the presence detection circuit 130 fails to obtain the presence information of the battery on the channel, the charger 100 can prompt to inform the user in time, save the user waiting time for the battery to be fully charged, and improve the overall operation efficient.

It should be noted that in order to detect the presence information of the battery on each channel, the presence detection circuit 130 needs to be provided on each channel of the channel control circuit.

In some embodiments, specifically as shown in FIG. 3, FIG. 3 is a schematic diagram of a circuit structure of an in-position detection circuit provided by an embodiment of the present application. The presence detection circuit 130 includes: a first voltage divider circuit 131, a second voltage divider circuit 132, a charge storage circuit 133, a discharge circuit 134, and a first switch circuit 135.

The first voltage divider circuit 131 is connected in parallel with the channel in the channel control circuit. Specifically, for example, the first voltage divider circuit 131 is connected in parallel with the control switch k1 on the channel, or the first voltage divider circuit 131 is connected with other components or components on the channel. Combinations of devices are connected in parallel.

The second voltage divider circuit 132 is connected in series with the first voltage divider circuit 131 to achieve common voltage division with the first voltage divider circuit 131, for example, to divide the voltage Vm. Wherein, the voltage dividing capacity of the second voltage dividing circuit 132 is greater than the voltage dividing capacity of the first voltage dividing circuit 131, so the voltage dividing of the second voltage dividing circuit 132 is greater than the voltage dividing of the first voltage dividing circuit 131.

In some embodiments, the voltage dividing capacity of the second voltage dividing circuit 132 may be set to be much larger than the voltage dividing capacity of the first voltage dividing circuit 131, and the purpose is to make the voltage dividing capacity of the first voltage dividing circuit 131 relatively The voltage division of the second voltage divider circuit 132 is negligible, that is, the voltage of the second voltage divider circuit 132 may be approximately equal to the voltage Vm. For example, the voltage division capability of the second voltage divider circuit 132 is the voltage division of the first voltage divider circuit 131 100 times the capacity, or other multiples, so the voltage division of the first voltage divider circuit can be ignored.

The charge storage circuit 133 is connected in parallel with the second voltage divider circuit 132 to store energy in the second voltage divider circuit 132; the first switch circuit 135 is connected in series between the discharge circuit 134 and the charge storage circuit 133 and is used to charge the charge storage circuit 133 to discharge.

Specifically, one end of the second voltage divider circuit 132 is connected to the first voltage divider circuit 131, and the other end of the second voltage divider circuit 132 is grounded. One end of the first switch circuit 135 is connected to the side near the port in the channel through the discharge circuit 134, the other end of the first switch circuit 135 is connected to the ground end (the other end) of the second voltage divider circuit 132, and the first switch circuit 135 receives Controlled by the main control unit of the electronic device.

It should be noted that the voltage division capability of the second voltage divider circuit 132 is much greater than that of the first voltage divider circuit 131, which can ensure that the energy storage voltage of the charge storage circuit 133 is much greater than the voltage division of the first voltage divider circuit 131. In order to ensure that the voltage of the second voltage divider circuit 132 is detected to be close to Vm, the battery can be protected to prevent the current of the battery from being reversed.

By using the presence detection circuit 130 connected to the channel, the main control unit of the electronic device can change the voltage of the second voltage divider circuit 132 according to the voltage of the second voltage divider circuit 132 and/or control the discharge circuit 134 to determine the battery's current Bit information.

Take the electronic device as the charger as an example. After the charger is turned on, the control switch K1 on the charger’s channel is off and its front end is connected to the voltage Vm. Because the battery has not been charged yet, the control switch K1 is at In the disconnected state, the first voltage dividing circuit 131 and the second voltage dividing circuit 132 divide Vm, the charge storage circuit 133 stores energy, and the voltage across the charge storage circuit 133 is the voltage of the second voltage divider 132 Since the voltage dividing capacity of the second voltage dividing circuit 132 is greater than the voltage dividing capacity of the first voltage dividing circuit 131, for example, the voltage at both ends of the charge storage circuit 133 can be approximately Vm. Under the control of the main control unit of the charger, the first switch circuit 135 is turned on at a timing (for example, 500ms). Since the first switch circuit 135 is turned on, the electric energy stored in the charge storage circuit 133 will be discharged through the discharge circuit 134, thereby forming a drain. The voltage and the depth of the drain voltage are determined by the conduction time of the first switch circuit 135. If the conduction time of the first switch circuit 135 is long enough, the voltage of the second voltage divider circuit 132 will be pulled to 0V, forming a square Wave.

Wherein, the voltage gap occurs. As shown in FIG. 4, the conduction time of the first switch circuit 135 is from t1 to t2. From t1 to t2, the electric energy stored in the charge storage circuit 133 is discharged through the discharge circuit 134. , And then the voltage ditch phenomenon appears.

Among them, determine the presence information of the battery, specifically:

1) When the battery is inserted, since the battery is connected in parallel to both ends of the charge storage circuit 133, the voltage of the second voltage divider circuit 132 will not change regardless of whether the first switch circuit 135 is on or off. Therefore, when the voltage of the second voltage divider circuit 132 detected by the main control unit of the charger does not change, it can be determined that the battery presence information is "inserted", which can also be referred to as "online".

2). When the voltage of the second voltage divider circuit 132 is a preset voltage (for example, approximately Vm), there are two situations in which the battery is fully charged or the battery is unplugged. The main control unit of the charger controls the channel to disconnect. Charge the battery, and detect the voltage of the second voltage divider circuit 132 again. If the detected voltage does not change, it means that the battery is fully charged. If the detected voltage is out of groove, it means that the battery's presence information is unplugged.

The in-position detection circuit provided in this application can determine other information such as "short circuit" and "battery saturation" in addition to the in-position information such as battery insertion or removal. The details are shown in Table 1.

Table 1 shows the battery information

It can be seen that, by using the above-mentioned presence detection circuit, an electronic device can quickly and accurately detect the presence information of an external device connected to the electronic device. Since there is no need to charge the battery through the first switch circuit, there is no need to use a high-priced, low-on-resistance MOS switch, thereby reducing the cost of the circuit. At the same time, the presence detection circuit can also determine the battery's "unplugged" information, so it is suitable for multi-channel chargers.

In some embodiments, as shown in FIG. 5, the channel includes a second switch circuit 136, and the second switch circuit 136 is controlled by the main control unit of the electronic device, that is, the second switch circuit 136 is controlled by the main control unit. Turn on and off, control to charge the battery or stop charging. Among them, the first voltage divider circuit 131 and the second switch circuit 136 are connected in parallel.

Wherein, the second switch circuit 136 may be a switch circuit, or include a transistor, such as a MOS tube or a triode.

Exemplarily, as shown in FIG. 6, in order to improve the safety of the circuit, the second switch circuit 136 includes a first field effect transistor Q11, a second field effect transistor Q12, and a third field effect transistor Q13. The first field effect transistor Q11 and The second field effect transistor Q12 is connected to each other. The connection means that the drain of the field effect transistor is connected. The gates of the first field effect transistor Q11 and the second field effect transistor Q12 are both connected to the drain or source of the third field effect transistor Q13. Correspondingly, the source or drain of the third field effect transistor is grounded, and the gate of the third field effect transistor Q13 is connected to the main control unit for receiving the control signal of the main control unit to realize the second switch circuit 136 is turned on or off.

In order to improve the safety of the circuit, as shown in FIG. 6, the second switch circuit 136 further includes a resistor R11, a resistor R12, a resistor R13, and a resistor R14. The resistor R11 is connected between the drain and the gate of the first field effect transistor Q11, or it can be said that the resistor R11 is connected between the drain and the gate of the second field effect transistor Q12. The resistor R12 is connected between the gate of the first field effect transistor Q11 and the drain of the third field effect transistor Q13. The gate of the third field effect transistor Q13 is connected to the main control unit through a resistor R13 for receiving the Charge signal. The resistor R14 is connected between the gate and the source of the third field effect transistor Q13. The second switch circuit 136 also includes a capacitor C11, and the capacitor C11 is connected in parallel with the resistor R11 for filtering protection.

In some embodiments, as shown in FIG. 7, the first voltage divider circuit 131 includes at least one resistor, specifically the resistor R4 in FIG. 5. Of course, multiple resistors can also be included, and the multiple resistors can be connected in series or in parallel. Of course, other voltage divider components can also be included.

In some embodiments, as shown in FIG. 7, the first voltage divider circuit 131 further includes a diode D1. The diode D1 is connected in series with the resistor R4 of the first voltage divider circuit 131, and the conduction direction of the diode D1 is the same as when working on the channel. The current direction is the same. The diode D1 prevents current backflow, plays a role in protecting the circuit, and further improves the safety of the circuit.

Specifically, as shown in FIG. 7, the anode of the diode D1 is connected to the end (Vm input end) of the second switch circuit 136 away from the port, the cathode of the diode D2 is connected to one end of the resistor R4 of the first voltage divider circuit 131, and the first The other end of the resistor R4 of a voltage divider circuit 131 is connected to the end of the second switch circuit 136 close to the port.

In some embodiments, as shown in FIG. 7, the charge storage circuit 133 includes at least one capacitor C1, and the capacitor C1 is connected in parallel with the second voltage divider circuit 132 for storing energy in the second voltage divider circuit 132. Of course, the charge storage circuit 133 may also include multiple capacitors or other energy storage elements, which are not limited herein.

In some embodiments, as shown in FIG. 7, the second voltage divider circuit 132 includes at least two resistors, and the two resistors are connected in series. Specifically, the resistors R5 and R6 are respectively connected in series, and one end of the resistor R5 is connected to the first voltage divider circuit 131. Specifically, it may be connected to the resistor R4, and one end of the resistor R6 is grounded.

It should be noted that the voltage dividing capacity of the second voltage dividing circuit 132 is greater than the voltage dividing capacity of the first voltage dividing circuit 131, which can be specifically achieved by selecting the resistance values of the resistor R4, the resistor R5, and the resistor R6.

In some embodiments, as shown in FIG. 7, the second voltage divider circuit 132 includes a voltage detection circuit 121. One end of the voltage detection circuit 121 is connected between two resistors of the second voltage divider circuit 132. The other end is connected to the main control unit for detecting the voltage of the second voltage divider circuit 132.

In some embodiments, as shown in FIG. 7, in order to improve the detection accuracy of the voltage of the second voltage divider circuit 132, the in-position detection circuit 130 further includes a filter capacitor C2. One end of the filter capacitor C2 is connected to the voltage detection circuit 121 to filter The other end of the capacitor C2 is grounded for filtering.

In some embodiments, as shown in FIG. 7, the first switch circuit 135 includes a field effect transistor Q2, one end (source or drain) of the field effect transistor Q2 of the first switch circuit 135 is connected to the discharge circuit 134, and the first The other end (drain or source) of the field effect transistor Q2 of the switch circuit 135 is connected to the ground end of the second voltage divider circuit 132. Specifically, the gate of the field effect transistor Q2 receives the control signal of the main control unit through a resistor R8, and protects the field effect transistor Q2. A resistor R9 is connected between the source and the gate of the field effect transistor Q2.

In some embodiments, as shown in FIG. 7, the discharge circuit 134 includes at least one resistor R7, and the resistance R7 of the discharge circuit 134 is smaller than the resistance of the second voltage divider circuit 132, such as smaller than the resistance of the resistors R5 and R6. The sum of, or less than any resistance value of the resistors R5 and R6, realizes the discharge of the charge storage circuit 133.

In some other embodiments, specifically as shown in FIG. 8, FIG. 8 is a schematic diagram of the circuit structure of another in-position detection circuit provided by an embodiment of the present application. The in-position detection circuit includes: a field effect tube U50, the gate G of the field effect tube U50 is used to connect to the battery, the specific gate G of the field effect tube U50 can be connected to the channel, and the drain D of the field effect tube U50 Connected to the preset voltage VCC_3V3_MCU through the resistor R331, the source S of the field effect transistor U50 is grounded; the drain D of the field effect transistor U50 is also connected to the main control circuit 11, so that the main control circuit 11 detects the battery through the presence detection circuit The presence information.

Specifically, in order to improve the safety of the circuit, the gate G of the FET U50 is connected to the battery through a resistor R276, and is connected to the source S of the FET U50 through a resistor R40.

Therefore, when the main control circuit 11 detects that the drain D of the field effect transistor U50 is a low level signal, it can determine that the battery presence information is online; when it detects that the drain D of the field effect transistor U50 is high level When the signal is signaled, it is determined that the battery presence information is in the unplugged state.

In some embodiments, the charger 100 includes an anti-backflow circuit connected to the channel to prevent batteries charged in parallel from charging each other, thereby improving the safety of charging multiple batteries. .

Exemplarily, as shown in FIG. 9, the anti-reverse irrigation circuit 17 of the charger 100 is connected in parallel with the channel switch of the channel to prevent the batteries charged in parallel from charging each other.

In some embodiments, as shown in FIG. 10, the anti-irrigation circuit includes a comparator U1, wherein the channel switch includes a field effect tube Q171 and a field effect tube Q172, and specifically, the comparator U1 is connected in parallel with the field effect tube Q172.

Specifically, the non-inverting terminal (the fourth terminal of U1) of the comparator U1 is connected to the input side of the channel switch, and the inverting terminal of the comparator U1 (the sixth terminal of U1) is connected to the output side of the channel switch. The output terminal of U1 is connected to the control terminal (the fifth terminal of U1) of the channel switch.

Among them, the working principle of the anti-reverse irrigation circuit in Figure 10 is: when the field effect transistor Q171 is turned on to charge the battery, the voltage at the fourth terminal of the comparator U1 is higher than the voltage at the sixth terminal, so that the output terminal of the comparator U1 outputs a high voltage. When the FET Q172 receives the high level, it turns on, and then charges the battery. If the battery voltage is high, the current may be reversed to charge other batteries. At this time, the voltage at the 6th terminal of the comparator U1 is higher than the voltage at the 4th terminal, so that the output terminal of the comparator U1 outputs a low level, and the FET Q172 It turns off after receiving the low level, which can effectively prevent the current from back-sinking.

In some embodiments, the anti-backflow circuit includes an ideal diode, and the ideal diode is connected in parallel with the channel switch. Specifically, an ideal diode can be used to replace the comparator in FIG.

In some embodiments, in order that the main control circuit can still work normally when the charging circuit is damaged, it is convenient to record and save charging records and on-site information. As shown in FIG. 11, the charger 100 further includes a main control power supply circuit 18. The main control power supply circuit 18 is connected between the external power supply and the main control circuit 11, and is used to convert alternating current into direct current to supply power to the main control circuit 11, thereby forming an independent power supply solution.

Specifically, the main control power supply circuit 18 includes at least one AC-DC conversion module for converting alternating current into direct current with a corresponding voltage amplitude to supply power to the main control circuit 11. For example, the AC power is converted into 3.3V to supply power to the micro control unit of the main control circuit 11.

In some embodiments, in order to facilitate user operations, as shown in FIG. 12, the charger 100 includes a system switch 19, which is connected to the main control power supply circuit 18, and is used to control the main control power supply circuit 18 to turn on the main control circuit. 11. Specifically, for example, when the user operates the system switch, the main control power supply circuit 18 is controlled to supply power to the main control circuit 11 to turn on the main control circuit 11; or, for example, when the user operates the system switch again, the main control power supply circuit 18 is controlled Stop supplying power to the main control circuit 11 to turn off the main control circuit 11.

In some embodiments, in order to facilitate the user to understand the battery charging status, and thereby improve the user's experience. As shown in FIG. 13, the charger 100 includes an indicator light control circuit. The indicator light control circuit includes a communication conversion circuit 201 and an indicator light 202. The indicator light 202 is connected to the main control circuit 11 through the communication conversion circuit 201. The communication conversion circuit 201 may be a serial-to-parallel communication circuit, so that the main control circuit 11 controls the indicator light 202 to display according to corresponding information.

Exemplarily, the main control circuit 11 can display according to the battery power control indicator light 202 of the battery to inform the user of the battery power of the battery. Specifically, it can display the power of the battery on each channel, so that the user can display the battery power according to different power levels. Prioritize charging of the battery, that is, you can select high-power batteries for priority charging, which relatively shortens the charging time and meets the requirements of fast operation.

In some embodiments, in order to facilitate the user to subsequently understand the abnormal condition or working information of the charger, as shown in FIG. 13, the charger 100 includes a communication interface circuit 21. The communication interface circuit 21 is connected to the main control circuit 11 so that external devices can The battery information stored in the main control circuit 11 is obtained through the communication interface circuit 21. Wherein, the battery information includes charging information and/or battery failure information. Specifically, the communication interface circuit 21 may be, for example, a USB interface.

In some embodiments, to enrich the charging function of the charger, thereby improving the user experience. As shown in FIG. 14, the charger 100 includes a DC-DC conversion circuit 22. The DC-DC conversion circuit 22 is connected to the AC-DC charging module of the charging circuit 12 for voltage conversion to charge the terminal device, such as conversion 5.0 The voltage of V; wherein, the terminal device includes a smart phone, a tablet computer, a smart wearable device or a remote control.

In some embodiments, in order to enrich the alarm function of the charger, thereby improving the user experience. As shown in FIG. 14, the charger 100 includes a buzzer 23, and the buzzer 23 is connected to the main control circuit 11, and the main control circuit 11 can give an alarm through the buzzer 23. For example, it prompts the user that the battery is fully charged, or that the battery is abnormal.

The main control circuit 11 of the charger provided in the foregoing embodiments is also used to implement the charging control method provided in the embodiments of the present application to optimize the parallel charging of multiple batteries, thereby improving the reliability and safety of battery charging.

Exemplarily, the main control circuit is used to: obtain the requested current of the battery; determine a current adjustment amount according to the requested current, and adjust the charging currents of a plurality of the channels according to the current adjustment amount; wherein, the Determining the current adjustment amount includes: determining a minimum current difference value from the difference between the charging current of each channel and the requested current, and determining the current adjustment amount according to the minimum current difference value. Therefore, it can be ensured that the battery in the charging process of each battery is less than the requested current, so that each battery is within a safe range, thereby improving the safety of battery charging.

Exemplarily, the main control circuit is used to: obtain the requested current of the battery; and gradually adjust the charging current of the channel until the minimum current difference in the difference between the charging current of the channel and the requested current Less than the preset current threshold to avoid inrush current. The inrush current can be prevented or the generation of the inrush current can be reduced, and the inductance effect and voltage vibration between the cables of the charger can be avoided, thereby improving the stability and reliability of battery charging.

Exemplarily, the main control circuit is used to obtain the current battery voltage of the battery, determine the output voltage of the charger channel according to the current battery voltage, and charge the battery according to the output voltage; The output voltage is equal to the current battery voltage of the battery, or the output voltage is slightly greater than the current battery voltage, so as to reduce the surge current when charging is started. As a result, zero-voltage charging can be realized, thereby effectively preventing the influence of inrush current and improving the charging effect.

Exemplarily, the main control circuit is used to: control a plurality of the channels to charge a plurality of the batteries, and when it is determined that the battery is unplugged, stop charging the batteries in the online state; and gradually adjust the charging of the channels Current to continue to charge the battery. As a result, during the battery hot-plugging process, it is possible to avoid the damage to the battery caused by the sudden increase in the charging current of the battery in the online state, and at the same time, the safety of the battery can be improved.

Hereinafter, the charging control method provided in the embodiment of the present application will be introduced in detail in conjunction with the charger provided in the foregoing embodiment. It should be understood that the charger provided in the foregoing embodiment does not constitute a limitation on the application object of the charging control method provided in the embodiment of the present application.

Please refer to FIG. 15, which is a schematic flowchart of steps of a charging control method provided by an embodiment of the present application. The charging control method is applied to a charger, and the charger includes multiple channels for parallel charging and optimization of multiple batteries, thereby improving the reliability and safety of the batteries.

The following takes the charger including 4 channels as an example for description. Of course, the charger may include other numbers of channels, which is not limited here.

As shown in FIG. 15, the charging control method includes steps S101 to S103.

S101. Obtain the requested current of the battery;

S102: Determine a current adjustment amount according to the requested current; and

S103: Adjust the charging currents of the multiple channels according to the current adjustment amount;

The requested current of the battery is related to the battery type. Generally, the charger charges multiple batteries of the same type at the same time, and the requested currents of multiple batteries of the same type are generally the same. Therefore, the charger can communicate with the battery connected to the channel, can obtain the requested target current of a battery, and use the requested target current as the requested current of the battery; it can also obtain the requested target current of each battery and determine the requested target current of each battery. Whether the requested target current is the same or substantially the same, if the requested target current of each battery is the same or substantially the same, the requested target current is taken as the requested current of the battery.

Wherein, it is approximately the same, such as within a preset range, for example, the difference between the requested target current of each battery does not exceed 0.1A.

Of course, the charger can also charge multiple batteries of different types. The requested currents of multiple batteries of different types may be different. Therefore, it is necessary to obtain the requested target current of the battery connected on each channel. Determine a minimum requested target current, and use the minimum requested target current as the requested current of the battery.

After obtaining the requested current of the battery, the current adjustment amount may be determined according to the requested current, specifically: determining the minimum current difference from the difference between the charging current of each channel and the requested current, and according to the The minimum current difference determines the current adjustment amount.

Exemplarily, as shown in Figure 16, the charger includes four channels, channel 1, channel 2, channel 3, and channel 4, which can charge four batteries at the same time, namely battery 1, battery 2, battery 3, The same type of battery as battery 4, four batteries, and confirm that the requested current of the battery is 10A, and the charging currents of the four channels of the charger (channel 1, channel 2, channel 3, and channel 4) are 3A, 4A, 2A and 1A. The difference between the charging current of the channel and the requested current is 7A, 6A, 8A, and 9A, respectively, and the minimum current difference is determined from the difference between the charging current of each channel and the requested current 6A, the current adjustment amount is determined according to the minimum current difference of 6A. Specifically, the minimum current difference is used as the current adjustment amount, for example, the minimum current difference of 6A is used as the current adjustment amount, that is, the current adjustment amount is 6A.

After the current adjustment is determined, the charging currents of multiple channels may be adjusted according to the current adjustment amount, specifically: determining the adjustment current of each channel according to the current adjustment amount; The adjustment current adjusts the charging current of the channel.

In some embodiments, an adjustment current may be randomly allocated to each of the channels according to the current adjustment amount, wherein the sum of the adjustment currents of a plurality of the channels is equal to the current adjustment amount.

Exemplarily, the current adjustment amount is 6A, and the adjustment currents are randomly assigned to the four channels as 1A, 2A, 1A, and 2A. The charging currents of the four channels of the charger (channel 1, channel 2, channel 3, and channel 4) are respectively 3A, 4A, 2A, and 1A, and the charging current of the channel is adjusted according to the adjustment current of each channel, The adjusted charging currents of the four channels are divided into 4A, 6A, 3A and 3A.

In some embodiments, in order to better optimize the battery charging scheme, and to improve the reliability and safety of battery charging. The adjustment current of each channel is related to the charging parameters of the channel; wherein, the charging parameters include battery capacity, battery charging current, battery charging voltage, battery temperature, channel wire impedance, and terminal insertion depth. At least one.

Exemplarily, the adjustment current of each channel may have a positive correlation with certain battery parameters. For example, the larger the battery capacity, the corresponding adjustment current is relatively large; for example, the greater the battery charging current, the corresponding adjustment current is relatively large; for example, the greater the battery charging voltage, the corresponding adjustment current is relatively large; For another example, the greater the impedance of the channel wire, the greater the corresponding adjustment current.

Exemplarily, the adjustment current of each channel may have a negative correlation with certain battery parameters. For example, the higher the battery temperature, the corresponding adjustment current is relatively small.

In some embodiments, in order to better optimize the multi-battery parallel charging scheme to improve charging reliability and safety, the channel charging current may be continuously adjusted. Specifically, after adjusting the charging current of the channel according to the current adjustment amount, it may also be performed in a loop: determining a current adjustment amount according to the requested current, and adjusting the charging currents of a plurality of the channels according to the current adjustment amount , Until the charging current of at least one channel of the plurality of channels reaches the requested current. Please refer to Table 2 for the specific cycle process.

Table 2 is the adjustment result based on the minimum current difference

In Table 2, the current difference is determined based on the current charging current of the channel and the requested current of the battery, that is, the difference between the requested current and the current charging current of the channel. It should be noted that in Table 1, a random allocation method is adopted. Of course, the adjustment current of the channel can also be adjusted in a manner related to the charging parameters of the channel.

In Table 2, the current is adjusted through multiple cycles until the charging current of battery 1 on channel 1 reaches the requested current of 10A.

The charging control method disclosed in the above embodiment adjusts the charging current of each battery according to the minimum current difference, which can ensure that the battery during the charging process of each battery is less than the requested current, so each battery is within a safe range. This improves the safety of battery charging.

In the process of charging multiple batteries, the charging current of the battery during the initial charging stage may be the maximum charging current (for example, the requested current), even if the minimum current difference is used to adjust the charging current of each battery, it may be possible This will happen. The maximum charging current will generate an impulse current, which will cause an inductance effect between the cables of the charger, cause voltage vibration, and thereby reduce the stability and reliability of battery charging.

Therefore, before adjusting the charging currents of the multiple channels according to the current adjustment amount, the charging currents of the channels may also be adjusted based on a soft-start strategy until the difference between the charging currents of the channels and the requested current The minimum current difference among the values is less than a preset current threshold; wherein, the soft-start strategy is used to gradually increase the charging current to prevent or reduce the inrush current.

Exemplarily, for example, it is related to the requested current of the battery. Assuming that the requested current of the battery is 10A, the preset current threshold can be set to 5A, which can effectively prevent the generation of inrush current.

In some embodiments, the adjusting the charging current of the channel based on the soft-start strategy is specifically: determining the minimum current difference from the difference between the charging current of each channel and the requested current; determining Whether the minimum current difference is greater than a preset current threshold; if the minimum current difference is greater than the preset current threshold, the preset current threshold is used as the minimum current difference to determine the current adjustment If the minimum current difference is less than or equal to the preset current threshold, the current adjustment amount is determined according to the minimum current difference.

Exemplarily, the charging currents of the four channels (channel 1, channel 2, channel 3, and channel 4) of the charger are 3A, 4A, 2A, and 1A, respectively. The difference between the charging current of the channel and the requested current is 7A, 6A, 8A, and 9A, respectively, and the minimum current difference is determined from the difference between the charging current of each channel and the requested current 6A, because the minimum current difference of 6A is greater than the preset current threshold of 5A, the preset current threshold is used as the minimum current difference to determine the current adjustment amount, that is, the current adjustment is determined based on the 5A current quantity.

In some embodiments, in order to improve battery charging stability, the stepwise adjustment of the charging current of the channel may specifically increase the charging current of the channel gradually. For example, to increase the charging current of the channel according to a certain step current, the step current can be set to 0.5A or 1A.

In some embodiments, if it is determined that the charging current of a certain channel is relatively large, for example, when the requested current is 10A, the charging current of the channel can be reduced to the target current, and then the charging of the channel can be adjusted based on the soft-start strategy. Current. As a result, current impact can be avoided to improve the reliability of battery charging.

Exemplarily, as shown in FIG. 17, FIG. 17 shows the current waveform changes of channel 1 and channel 4 after being adjusted according to the soft start strategy. Since the charging current of channel 1 is 10A, that is, in the first stage, channel 1 is turned on and charging is the maximum current. Therefore, the charging current of channel 1 needs to be reduced, and the charging current of channel 4 is 0A. The third stage and the fourth stage gradually adjust the charging current of the channel through a soft-start strategy.

Adjusting the charging current of the channel through the soft-start strategy can prevent inrush current or reduce the generation of inrush current, thereby avoiding the inductance effect and voltage vibration between the charger cables, thereby improving the stability and reliability of battery charging sex.

In addition, in the process of charging multiple batteries, at the moment when the battery is turned on for charging, excessive charging voltage may cause inrush current. This inrush current is an inrush current, and it will also cause a generation between the cables of the charger. The inductance effect even leads to voltage vibration, thereby reducing the stability and reliability of battery charging.

Exemplarily, as specifically shown in FIG. 18a, the surge current phenomenon that exists when multiple batteries are charged is actually measured, and the maximum level of the surge current is 155.74A.

For this reason, in some embodiments, in order to reduce the surge current and improve the stability of battery charging, the charging control method can also obtain the current battery voltage of the battery, and determine the charger according to the current battery voltage. The output voltage of the channel. The current battery voltage of the battery is used to determine the output voltage of the charger channel, which can effectively prevent the occurrence of inrush current.

In some embodiments, the output voltage of the charger channel is determined according to the current battery voltage. Specifically, the current battery voltage may be used as the output voltage of the charging circuit. In this way, zero-voltage charging is realized, thereby effectively preventing the occurrence of inrush current.

In some embodiments, determining the output voltage of the charger channel according to the current battery voltage is specifically: obtaining a preset voltage value; determining the output voltage of the charging circuit according to the current battery voltage and the preset voltage value . Wherein, the preset voltage value is related to the line loss and voltage drop of the charging circuit.

Exemplarily, determining the output voltage of the charging circuit according to the current battery voltage and the preset voltage value is specifically: calculating the sum of the current battery voltage and the preset voltage value, and calculating the current battery voltage The sum of the voltage and the preset voltage value is used as the output voltage of the charging circuit.

Among them, the calculation process refers to the following expression:

V _out ＝V _bat +ΔV (1)

In the expression (1), V _out represents the output voltage, V _bat represents the current battery voltage, and ΔV is a preset voltage value, which is related to the line loss and voltage drop of the charging circuit.

For example, if the line loss and voltage drop of the charging circuit are relatively large, the preset voltage value is set to be relatively large. The preset voltage value is, for example, 2V.

It is understandable that ΔV can be 0V, and when ΔV is 0V, the current battery voltage is used as the output voltage of the charging circuit.

In some embodiments, since the current battery voltages of the batteries of the multiple channels may be different, in order to effectively avoid that each of them does not generate inrush current. The current battery voltage of the battery of each channel can be obtained, and the minimum battery voltage can be determined from a plurality of the current battery voltages; and the output voltage of the charger channel can be determined according to the minimum battery voltage. By determining the minimum battery voltage among a plurality of the current battery voltages, it is possible to avoid that each of them does not generate a surge current, or to minimize the peak value of the surge current.

It is understandable that the average battery voltage can also be determined according to a plurality of the current battery voltages, and the output voltage of the charger channel can be determined according to the average battery voltage. To a certain extent, it can also avoid the surge current on the channel or reduce the peak value of the surge current.

Exemplarily, as shown in Figure 18b, if the preset voltage value is set to 2V, the output voltage of the charging circuit V _out =V _bat +2, and the output voltage of the control charging circuit is V _out =V _bat +2. The waveform of the surge current, as can be seen from Figure 18b, the peak value of the surge current is 19.4A, and the peak value is significantly reduced.

At present, with the needs of application scenarios, the number of batteries charged in parallel is increasing, so the output current of the charger will increase. At this time, if the user pulls out a battery, the total output current of the charger will be in the current Distributed among charged batteries. For example, the charger has 10 batteries for parallel charging. If the user pulls out 9 batteries, the remaining battery will be charged with 10 times the current charging current, which will cause serious damage to the battery, or even cause the battery in severe cases. Accidents such as explosion or fire.

For this reason, in some embodiments, in order to solve the above-mentioned problems, the safety of charging the battery is improved. In the charging control method, in the process of charging multiple batteries, it can also detect whether a battery is unplugged, and when it is detected that the battery is unplugged, it stops charging the battery in an online state. As a result, a sudden increase in the charging current of the battery in the online state can be avoided, thereby improving the safety of battery charging.

In some embodiments, in order to better improve the safety of battery charging, after the charging of the online battery is stopped, the charging current of the channel may be adjusted based on the soft start strategy to charge the battery; or, After the preset time period, the charging current of the channel is adjusted based on the soft-start strategy to charge the battery; or, if it is detected that no other batteries are unplugged within the preset time period, the channel's charging current is adjusted based on the soft-start strategy. The charging current charges the battery. Wherein, the soft start strategy includes: gradually increasing the charging current.

Among them, the size of the preset duration is not limited here, such as 3 seconds; of course, it can also be set by the user or set according to actual applications.

When it is detected that the battery is pulled out, stop charging the battery in the online state, and adjust the charging current of the channel based on the soft start strategy to charge the battery after stopping the charging, which not only prevents the sudden increase of the charging current In this case, the inrush current can also be prevented or reduced, thereby improving the reliability and safety of battery charging.

Wherein, to stop charging the battery in the online state, specifically, the channel switch of the channel corresponding to the battery in the online state can be closed, so as to stop charging the battery in the online state.

Among them, the battery in the online state also needs to detect the presence information of the battery through the in-position detection circuit to determine the online state of the battery. The in-position detection circuit can use the circuit diagram in FIG. 3, and of course the circuit diagram in FIG. 8 can also be used.

For the in-position detection circuit in FIG. 3, the in-position information of the battery is detected by the in-position detection circuit to determine the online state of the battery, which is specifically based on the voltage and/or control of the second voltage divider circuit. The discharging circuit changes the voltage of the second voltage divider circuit to determine the presence information of the battery. Wherein, the presence information includes: online status, full status and unplugged status.

Specifically, said determining the presence information of the battery according to the voltage of the second voltage dividing circuit and/or controlling the discharging circuit to change the voltage of the second voltage dividing circuit, specifically: when it is determined that the When the voltage of the second voltage divider circuit is unchanged, it is determined that the presence information of the battery is online; when it is determined that the voltage of the second voltage divider circuit is the preset voltage, the channel switch that controls the channel is turned off. Charge the battery, and detect the voltage of the second voltage divider again; if it is detected that the voltage of the battery remains unchanged, it is determined that the battery presence information is in a fully charged state; if it is detected that the voltage of the battery fails Phenomenon, it is determined that the presence information of the battery is in the unplugged state.

The in-position detection circuit in Figure 3 can not only detect the online status and unplugged status of the battery, but also detect the full status, as well as the short-circuit of the charger's port.

For the in-position detection circuit in FIG. 8, the in-position information of the battery is detected by the in-position detection circuit, specifically: when the drain of the field effect transistor is detected as a low-level signal, it is determined that the battery in-position information is Online state; when it is detected that the drain of the field effect transistor is a high-level signal, it is determined that the battery presence information is in the unplugged state.

The charging control method disclosed in the above embodiments can avoid the sudden increase in the charging current of the battery in the online state during the battery hot plugging process, which may cause damage to the battery, and at the same time, the safety of the battery can be improved.

In some application scenarios, for example, industrial drones and agricultural drones need to perform operational tasks and need to provide battery charging efficiency. UAVs urgently need fully charged batteries to operate as soon as possible. In addition to charging multiple batteries in parallel, you can choose to charge high-voltage batteries first.

Specifically, the charging control method includes: obtaining the battery voltages of a plurality of the batteries, and charging the batteries according to the magnitude of the battery voltages, so as to ensure that the batteries with larger battery voltages are charged preferentially.

Specifically, in the charging of the battery according to the size of the battery voltage, the plurality of batteries may be sorted in descending order according to the battery voltage, and the plurality of batteries may be charged according to the sorting result.

In some embodiments, since the charger can charge multiple batteries in parallel at the same time, the battery is charged according to the size of the battery voltage. Specifically, the multiple batteries can be charged according to the size of the battery voltage. Grouping, and charging a plurality of the batteries according to the grouping result. Details are shown in Table 3.

Table 3 shows the grouping results of batteries

In Table 3, battery A, battery B, battery C, and battery D with relatively large voltages are divided into the first group, and battery E, battery F, battery G, and battery H with relatively small voltages can be given priority to the first group. The batteries in the group are charged, which can relatively shorten the charging time, and it is convenient for the drone using the battery to quickly enter the working state.

For example, when using four plant protection drones to prepare for spraying operations, the user can send a priority charging instruction to the charger in order to save time. The priority charging instruction is used to instruct the charger to select charging according to the battery voltage, such as the charger The first group of batteries is selected for charging. Since the voltages of the four batteries in the first group are relatively high, the charging efficiency can be relatively improved and the charging time can be shortened.

It should be noted that, to send a priority charging instruction to the charger, you can specifically set a button on the charger box. When the user presses the button, the generation of the first charge instruction is triggered and sent to the main control circuit of the charger; or , The charger includes a touch screen, the user selects the priority charging mode through the touch screen, and when the user selects the priority charging mode, it triggers the generation of a first charge instruction and sends it to the main control circuit of the charger.

In some embodiments, in order to facilitate the user to understand the charging status of each battery. The charging control method further includes: controlling the indicator light display according to the battery level of the battery to inform the user of the battery level of the battery.

In some embodiments, in order to facilitate the user to understand the charging status of each battery, and to trace the accident after an abnormality occurs. The charging control method includes: saving battery information of the battery, the battery information including charging information and/or battery failure information, so that the user can subsequently read the battery information through a communication interface circuit.

In order to enrich the alarm function of the charger, and then improve the user experience. In the charging control method, the buzzer 23 can also be used to give an alarm. For example, it prompts the user that the battery is fully charged, or that the battery is abnormal.

At present, in order to increase the charging rate, in the process of charging multiple batteries in parallel, the charging current of the battery may be a larger charging current during the initial charging stage of the battery, such as the requested current, the larger charging current will have an impact The current, the rush current causes an inductance effect between the cables of the charger, which in turn causes voltage vibration, thereby reducing the stability and reliability of battery charging.

In order to solve the above-mentioned problem, the embodiment of the present application provides another charging control method.

Please refer to FIG. 19, which is a schematic flowchart of steps of another charging control method provided by an embodiment of the present application. The charging control method can be applied to a charger, where the charger includes multiple channels for parallel charging and optimization of multiple batteries to avoid inrush current, thereby improving the reliability of the battery.

As shown in FIG. 19, the charging control method includes step S201 and step S202.

S201: Obtain the requested current of the battery;

S202: Adjust the charging current of the channel step by step until the smallest current difference in the difference between the charging current of the channel and the requested current is less than a preset current threshold.

Among them, the requested current of the battery is related to the battery type. Generally, the charger charges multiple batteries of the same type at the same time.

In this embodiment, it is described as an example that the charger is charging multiple batteries of the same type, that is, the requested currents of the multiple batteries are the same.

Wherein, the preset current threshold is related to the type of battery, or the preset current threshold is related to battery parameters. Different types of batteries have different corresponding preset current thresholds, which can effectively prevent the generation of inrush current, which is caused by excessive charging current.

By gradually adjusting the charging current of each channel of the charger, until the minimum current difference between the charging current of the channel and the requested current is less than the preset current threshold, the inrush current can be avoided and the battery charging can be improved. The stability.

In some embodiments, in order to improve battery charging stability, the stepwise adjustment of the charging current of the channel may specifically increase the charging current of the channel gradually. For example, to increase the charging current of the channel according to a certain step current, the step current can be set to 0.5A or 1A, etc., of course, can also be other values, which are not limited here.

In some embodiments, adjusting the charging current of the channel step by step is specifically: determining a minimum current difference from the difference between the charging current of each channel and the requested current; determining whether the minimum current difference is Greater than the preset current threshold; if the minimum current difference is greater than the preset current threshold, adjust the charging current of the channel according to the preset current threshold; if the minimum current difference is less than or equal to the preset The current threshold is used to adjust the charging current of the channel according to the preset current threshold.

Specifically, when the minimum current difference is greater than the preset current threshold, the charging current of the channel is increased according to the preset current threshold to increase the minimum current difference so that the minimum current difference is less than Or equal to the preset current threshold; when the minimum current difference is less than or equal to the preset current threshold and equal to or equal to the preset current threshold, adjust the charging current of the channel according to the preset current threshold .

Wherein, the charging current of the channel is adjusted according to the preset current threshold, specifically the adjustment current of each channel may be determined according to the preset current threshold; the channel is adjusted according to the adjustment current of each channel The charging current.

In some embodiments, an adjustment current may be randomly allocated to each of the channels according to the preset current threshold, wherein the sum of the adjustment currents of a plurality of the channels is equal to the preset current threshold.

In some embodiments, the magnitude of the adjustment current of each channel is related to the charging parameter of the channel, but the sum of the adjustment current of each channel is equal to a preset current threshold; wherein, the charging parameter includes a battery At least one of capacity, battery charging current, battery charging voltage, battery temperature, channel wire impedance, and terminal insertion depth.

In some embodiments, in order to avoid the inrush current at the moment when the battery is turned on and charged. The charging control method can also obtain the current battery voltage of the battery, and determine the output voltage of the charger channel according to the current battery voltage.

It should be noted that obtaining the current battery voltage of the battery and determining the output voltage of the charger channel according to the current battery voltage may be performed before or after the charging current of the channel is gradually adjusted. limited.

In some embodiments, since the current battery voltages of the batteries of the multiple channels may be different, in order to effectively avoid that each of them does not generate inrush current. The current battery voltage of the battery of each channel can be obtained, and the minimum battery voltage can be determined from a plurality of the current battery voltages; and the output voltage of the charger channel can be determined according to the minimum battery voltage. By determining the minimum battery voltage among a plurality of the current battery voltages, it is possible to avoid that each of the current battery voltages does not generate a surge current, or to minimize the peak value of the surge current.

In some embodiments, in order to solve the problem of a hot plugging phenomenon when multiple batteries are charged and charged, the charging current of individual batteries increases sharply, which may cause serious damage to the batteries. The charging control method can also detect whether the charger has the battery unplugged, and when it is detected that the battery is unplugged, stop charging the battery in the online state. As a result, when hot plugging occurs, the charging current of individual batteries can be prevented from increasing sharply, thereby improving the safety of battery charging.

In some embodiments, in order to better improve the safety of battery charging, after the charging of the battery in the online state is stopped, the charging current of the channel may be adjusted based on the soft start strategy to charge the battery; or, After the preset time period, the charging current of the channel is adjusted based on the soft-start strategy to charge the battery; or, if it is detected that no other batteries are unplugged within the preset time period, the channel's charging current is adjusted based on the soft-start strategy. The charging current charges the battery. Wherein, the soft start strategy includes: gradually increasing the charging current.

Wherein, to stop charging the battery in the online state, specifically, the channel switch of the channel corresponding to the battery in the online state may be closed, so as to stop charging the battery in the online state.

It should be noted that the in-position information of the battery needs to be detected by the in-position detection circuit provided in the foregoing embodiment to determine the online state of the battery.

For example, using the presence detection circuit in FIG. 3, it is specifically possible to change the voltage of the second voltage divider circuit according to the voltage of the second voltage divider circuit and/or control the discharging circuit to determine the presence of the battery. information. Wherein, the presence information includes: online status, full status and unplugged status.

More specifically, when it is determined that the voltage of the second voltage divider circuit is unchanged, it is determined that the presence information of the battery is in an online state; when it is determined that the voltage of the second voltage divider circuit is a preset voltage, control all The channel switch of the channel is turned off and the battery is not charged, and the voltage of the second voltage divider circuit is detected again; if it is detected that the voltage of the battery remains unchanged, it is determined that the battery presence information is in a fully charged state; if it is detected The voltage of the battery has a ditch phenomenon, and it is determined that the presence information of the battery is in the unplugged state.

For another example, the presence detection circuit in FIG. 8 is used to detect the presence information of the battery through the presence detection circuit, specifically: when the drain of the field effect transistor is detected as a low-level signal, it is determined that the battery is The bit information is in the online state; when it is detected that the drain of the field effect transistor is a high-level signal, it is determined that the battery presence information is in the unplugged state.

The charging control method disclosed in the above embodiments can avoid the sudden increase in the charging current of the battery in the online state during the battery hot plugging process, which may cause damage to the battery, and at the same time, it can also improve the safety of the battery.

In some application scenarios, the charging efficiency of the battery needs to be provided. For example, when the drone is operating in a cycle, sometimes the drone needs a fully charged battery for operation. In addition to charging multiple batteries in parallel, you can choose to charge high-voltage batteries first.

Specifically, the charging control method includes: obtaining battery voltages of a plurality of the batteries, and charging the batteries according to the size of the battery voltages, so as to ensure that the batteries with a larger battery voltage are charged preferentially.

In some embodiments, since the charger can charge multiple batteries in parallel at the same time, the battery is charged according to the size of the battery voltage. Specifically, the multiple batteries can be charged according to the size of the battery voltage. Grouping, and charging a plurality of the batteries according to the grouping result. By giving priority to charging the battery in the battery pack with a larger voltage, the charging time can be relatively shortened, and it is convenient for the drone using the battery to quickly enter the working state.

In the solution of multi-battery charging in parallel, at the moment when the battery is turned on for charging, excessive charging voltage may cause inrush current. This inrush current is the inrush current and will also cause inductance between the cables of the charger. , Even lead to voltage vibration, thereby reducing the stability and reliability of battery charging.

For this reason, the embodiment of the present application provides another charging control method to solve the above-mentioned problem.

Please refer to FIG. 20, which is a schematic flowchart of steps of another charging control method provided by an embodiment of the present application. The charging control method is applied to a charger, where the charger includes multiple channels for parallel charging and optimization of multiple batteries, so as to avoid surge current due to excessive voltage at the start of charging, thereby improving the reliability of the battery Sex and safety.

As shown in FIG. 20, the charging control method includes steps S301 to S303.

S301. Obtain the current battery voltage of the battery.

S302: Determine the output voltage of the charger channel according to the current battery voltage; and

S303. Charge the battery according to the output voltage.

The function of the preset threshold is to ensure that the output voltage is slightly greater than the current battery voltage, the slightly greater is greater than the current voltage, and the difference with the current voltage is less than a preset threshold, the preset threshold is, for example, 0.1V , Or 0.2V and so on.

In some embodiments, in order to solve the problem of a hot plugging phenomenon when multiple batteries are charged and charged, the charging current of individual batteries increases sharply, which may cause serious damage to the batteries. The charging control method can also detect whether the charger has the battery unplugged, and when detecting that the battery is unplugged, stop charging the battery in the online state. As a result, when hot plugging occurs, the charging current of individual batteries can be prevented from increasing sharply, thereby improving the safety of battery charging.

In some application scenarios, the charging efficiency of the battery needs to be provided. For example, when the drone is performing cyclic operations, sometimes the drone needs a fully charged battery for operation. In addition to charging multiple batteries in parallel, you can choose to charge high-voltage batteries first.

At present, with the requirements of application scenarios, the number of batteries charged in parallel is increasing, so the output current of the charger will increase. At this time, if the user pulls out a battery, the total output current of the charger will be in the current Distributed among charged batteries. For example, the charger has 10 batteries for parallel charging. If the user pulls out 9 batteries, the remaining battery will be charged with 10 times the current charging current, which will cause serious damage to the battery, or even cause the battery in severe cases. Accidents such as explosion or fire.

Please refer to FIG. 21. FIG. 21 is a schematic flowchart of the steps of another charging control method according to an embodiment of the present application. The charging control method is applied to a charger, and the charger includes multiple channels for parallel charging and optimization of multiple batteries, which can avoid a sharp increase in the charging current of the battery during hot plugging, thereby improving the reliability of the battery Sex and safety.

As shown in FIG. 21, the charging control method includes steps S401 to S404.

S401: Control a plurality of the channels to charge a plurality of the batteries;

S402: Detect whether the battery is unplugged;

S403: When it is determined that the battery is unplugged, stop charging the battery in the online state;

S404: Adjust the charging current of the channel step by step, so as to continue to charge the battery.

Specifically, an in-position detection circuit can be used to detect whether a battery is connected to each channel, and when it is detected that a battery is connected to the channel, the channel is controlled to charge the battery connected to the channel.

The detection of whether the battery is unplugged in each channel in the charging state is also specifically detected by the in-position detection circuit. When it is determined that the battery is not pulled out, continue to control the multiple channels to charge the plurality of batteries; when it is determined that the battery is pulled out, stop charging the battery in the online state.

After stopping the charging of the battery in the online state, the battery can be charged when the battery is turned on, that is, the charging current of the channel is gradually adjusted, so as to continue to charge the battery.

When it is determined that the battery is unplugged, stop charging the battery in the online state, and gradually adjust the charging current of the channel, so as to continue to charge the battery, which can effectively avoid the rapid increase of the battery charging current during hot plugging , Thereby improving the reliability and safety of battery charging.

In some embodiments, in order to improve the reliability and safety of battery charging, the stepwise adjustment of the charging current of the channel so as to continue to charge the battery specifically includes any one of the following adjustment methods.

The first adjustment method is to adjust the charging current of the channel step by step immediately, so as to continue to charge the battery.

The second adjustment method is to gradually adjust the charging current of the channel to charge the battery after a preset period of time.

The third adjustment method is to gradually adjust the charging current of the channel to charge the battery when it is determined that no other batteries are unplugged within the preset time period.

Wherein, the charging current of the channel is gradually adjusted, and the charging current of the channel may be gradually increased according to a certain current step.

In some embodiments, in order to facilitate the user to understand the charging status of each battery. The charging control method further includes: controlling the display of the indicator light according to the battery level of the battery to inform the user of the battery level of the battery.

Please refer to FIG. 22, which is a schematic block diagram of a charger provided by an embodiment of the present application. The charger 100 includes a main control circuit 11, a charging circuit 12, and a channel control circuit 13. The channel control circuit 13 includes a plurality of channels, and each channel includes a channel switch. When the channel switch is turned on, the channel is used to connect to Charge the battery on this channel.

The main control circuit 11 includes a processor 111 and a memory 112, and the processor 111 and the memory 112 are connected by a communication bus, such as an I2C bus.

Specifically, the processor 111 may be a micro-controller unit (MCU), a central processing unit (Central Processing Unit, CPU), a digital signal processor (Digital Signal Processor, DSP), or the like.

Specifically, the memory 112 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.

Wherein, the processor is configured to run a computer program stored in a memory, and when executing the computer program, implement any one of the charging control methods provided in the embodiments of the present application.

In addition, an embodiment of the present application also provides a charging control system. The charging control system includes: one or more processors, working individually or together, and the processors are used to implement any of the A described charging control method.

Specifically, the charging control system may include a charger and a plurality of batteries. The charger includes any one of the chargers provided in the foregoing embodiments. The charger includes multiple channels and can simultaneously charge multiple batteries in parallel.

The battery may also include a processor, and the processor may be a micro-controller unit (MCU), a central processing unit (CPU), or a digital signal processor (Digital Signal Processor, DSP).

The charger communicates with the battery to obtain relevant information of the battery to cooperate to complete any one of the charging control methods provided in the embodiments of the present application, so as to improve the reliability and safety of battery charging.

The embodiments of the present application also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the foregoing implementation Examples provide any of the steps of the charging control method.

The computer-readable storage medium may be the internal storage unit of the charger described in any of the foregoing embodiments, for example, the memory or memory of the charger. The computer-readable storage medium may also be an external storage device of the charger, such as a plug-in hard disk equipped on the charger, a smart memory card (SMC), or a secure digital (SD) ) Card, Flash Card, etc.

The above are only specific implementations of this application, but the protection scope of this application is not limited to this. Any person skilled in the art can easily think of various equivalents within the technical scope disclosed in this application. Modifications or replacements, these modifications or replacements shall be covered within the protection scope of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims.

Claims

A charger, characterized in that it comprises:

Main control circuit

A charging circuit, the charging circuit is connected to the main control circuit, and charging is performed under the control of the main control circuit;

A channel control circuit, the channel control circuit includes a plurality of channels, the plurality of channels are connected to the charging circuit, and are used to charge a plurality of batteries in parallel;

Wherein, the main control circuit is also communicatively connected with the battery, and is used to obtain the requested current of the battery; and determine the current adjustment amount according to the requested current, and adjust a plurality of channels according to the current adjustment amount. Charging current; wherein the determining the current adjustment amount includes: determining a minimum current difference from the difference between the charging current of each channel and the requested current, and determining the current adjustment amount according to the minimum current difference .
The charger according to claim 1, wherein the main control circuit is further configured to: cyclically execute: determine a current adjustment amount according to the requested current, and adjust a plurality of channels according to the current adjustment amount. Charging current until the charging current of at least one channel of the plurality of channels reaches the requested current.
The charger according to claim 2, wherein the adjusting the charging currents of the multiple channels according to the current adjustment amount comprises:

Determining the adjustment current of each channel according to the current adjustment amount;

The charging current of the channel is adjusted according to the adjustment current of each channel.
The charger according to claim 3, wherein the determining the adjustment current of each channel according to the current adjustment amount comprises:

According to the current adjustment amount, an adjustment current is randomly allocated to each of the channels, wherein the sum of the adjustment currents of a plurality of the channels is equal to the current adjustment amount.
The charger according to claim 3, wherein the adjustment current of each channel is related to the charging parameters of the channel;

Wherein, the charging parameters include at least one of battery capacity, battery charging current, battery charging voltage, battery temperature, channel wire impedance, and terminal insertion depth.
The charger according to claim 1, wherein the main control circuit is further used for:

Adjusting the charging current of the channel based on a soft-start strategy until the smallest current difference in the difference between the charging current of the channel and the requested current is less than a preset current threshold;

Wherein, the soft start strategy is used to gradually increase the charging current to prevent or reduce the inrush current.
The charger according to claim 6, wherein the adjusting the charging current of the channel based on the soft-start strategy comprises:

Determining a minimum current difference from the difference between the charging current of each channel and the requested current;

Determining whether the minimum current difference is greater than a preset current threshold;

If the minimum current difference is greater than the preset current threshold, the preset current threshold is used as the minimum current difference to determine the current adjustment amount.
The charger according to claim 7, wherein the main control circuit is further used for:

If the minimum current difference is less than or equal to the preset current threshold, the current adjustment amount is determined according to the minimum current difference.
The charger according to claim 1, wherein the determining the current adjustment amount according to the minimum current difference value comprises:

The minimum current difference is used as the current adjustment amount.
The charger according to claim 1, wherein the main control circuit is used for:

Obtain the current battery voltage of the battery, and determine the output voltage of the charger channel according to the current battery voltage.
The charger according to claim 10, wherein the determining the output voltage of the charger channel according to the current battery voltage comprises:

The current battery voltage is used as the output voltage of the charging circuit.
The charger according to claim 10, wherein the determining the output voltage of the charger channel according to the current battery voltage comprises:

Obtain the preset voltage value;

The output voltage of the charging circuit is determined according to the current battery voltage and a preset voltage value.
The charger according to claim 12, wherein the preset voltage value is related to line loss and voltage drop of the charging circuit.
The charger according to claim 13, wherein the determining the output voltage of the charging circuit according to the current battery voltage and the preset voltage value comprises:

The sum of the current battery voltage and the preset voltage value is calculated, and the sum of the current battery voltage and the preset voltage value is used as the output voltage of the charging circuit.
The charger according to claim 10, wherein said obtaining the current battery voltage of the battery and determining the output voltage of the charger channel according to the current battery voltage comprises:

Acquiring the current battery voltage of the battery of each channel, and determining the minimum battery voltage from a plurality of the current battery voltages;

According to the minimum battery voltage, the output voltage of the charger channel is determined.
The charger according to claim 1, wherein the main control circuit is used for:

When detecting that the battery is unplugged, stop charging the battery in the online state.
The charger according to claim 16, wherein the main control circuit is used to: after stopping charging the battery in the online state, it is also used to:

Adjust the charging current of the channel based on the soft-start strategy to charge the battery; or,

After the preset time period, adjust the charging current of the channel based on the soft-start strategy to charge the battery; or,

If it is detected that no other battery is unplugged within the preset time period, adjust the charging current of the channel based on the soft start strategy to charge the battery;

The soft start strategy includes: gradually increasing the charging current.
The charger according to claim 16, wherein the stopping charging the battery in an online state comprises:

Turn off the channel switch of the channel corresponding to the battery in the online state.
The charger according to claim 16, wherein the charger comprises:

An in-position detection circuit, which is connected to the main control circuit, and is used to detect the in-position information of the battery.
The charger according to claim 19, wherein the presence detection circuit comprises:

A first voltage divider circuit, the first voltage divider circuit is connected in parallel with the channel in the channel control circuit;

A second voltage divider circuit, the second voltage divider circuit is connected in series with the first voltage divider circuit;

A charge storage circuit, the charge storage circuit is connected in parallel with the second voltage divider circuit;

A discharge circuit and a first switch circuit, the first switch circuit is connected in series between the discharge circuit and the charge storage circuit, and is used to discharge the charge storage circuit;

Wherein, the main control circuit can determine the presence information of the battery according to the voltage of the second voltage divider circuit and/or control the discharge circuit to change the voltage of the second voltage divider circuit.
The charger according to claim 20, wherein one end of the second voltage divider circuit is connected to the first voltage divider circuit, and the other end of the second voltage divider circuit is grounded;

One end of the first switch circuit is connected to the near port side of the charging circuit through the discharging circuit, the other end of the first switch circuit is connected to the ground terminal of the second voltage divider circuit, and the first The switch circuit is controlled by the main control circuit.
The charger according to claim 20, wherein the charging circuit comprises a second switch circuit, the second switch circuit is controlled by the main control circuit, the first voltage divider circuit and the first The two switch circuits are connected in parallel.
The charger according to claim 20, wherein the first voltage divider circuit includes at least one resistor; and/or, the second voltage divider circuit includes at least two resistors, and the two resistors are connected in series.
The charger according to claim 23, wherein the first voltage divider circuit further comprises a diode, the diode is connected in series with the resistance of the first voltage divider circuit, and the conduction direction of the diode is the same as the resistance of the first voltage divider circuit. The direction of current when the charging circuit is working is the same.
The charger according to claim 24, wherein the anode of the diode is connected to an end of the second switch circuit away from the port, and the cathode of the diode is connected to one end of the resistor of the first voltage divider circuit. Connected, the other end of the resistor of the first voltage divider circuit is connected to the end of the second switch circuit that is close to the port.
The charger according to claim 23, wherein the second voltage divider circuit comprises a voltage detection circuit, one end of the voltage detection circuit is connected between two resistors of the second voltage divider circuit, so The other end of the voltage detection circuit is connected to the main control unit, and is used to detect the voltage of the second voltage divider circuit.
The charger according to claim 26, wherein the presence detection circuit further comprises a filter capacitor, one end of the filter capacitor is connected to the voltage detection circuit, and the other end of the filter capacitor is grounded.
The charger according to claim 20, wherein the voltage dividing capacity of the second voltage dividing circuit is greater than the voltage dividing capacity of the first voltage dividing circuit.
The charger of claim 20, wherein the charge storage circuit includes at least one capacitor.
The charger according to claim 20, wherein the discharge circuit comprises at least one resistor, and the resistance of the discharge circuit is smaller than the resistance of the second voltage divider circuit.
The charger according to claim 20, wherein the first switch circuit comprises a field effect tube, one end of the field effect tube of the first switch circuit is connected to the discharge circuit, and the first switch circuit The other end of the FET is connected to the ground terminal of the second voltage divider circuit.
The charger according to any one of claims 20 to 31, wherein the main control circuit is used for:

When it is determined that the voltage of the second voltage divider circuit does not change, it is determined that the presence information of the battery is in an online state;

When it is determined that the voltage of the second voltage divider circuit is the preset voltage, the channel switch of the control channel is turned off to not charge the battery, and the voltage of the second voltage divider circuit is detected again; if the battery is detected If the voltage of the battery remains unchanged, it is determined that the battery in-position information is in a fully charged state; if it is detected that the voltage of the battery is out of groove, it is determined that the battery in-position information is in the unplugged state.
The charger according to claim 19, wherein the presence detection circuit comprises:

A field effect tube, the gate of the field effect tube of the in-position detection circuit is used to connect to the battery, the drain is connected to a preset voltage through a resistor, and the source is grounded; the drain of the field effect tube of the in-position detection circuit is also Connected with the main control circuit;

Wherein, when it is detected that the drain of the field effect transistor is a low-level signal, it is determined that the battery presence information is online; when it is detected that the drain of the field-effect transistor is a high-level signal, it is determined that the The battery presence information is in the unplugged state.
The charger according to claim 1, wherein the charger comprises:

An anti-reverse irrigation circuit, which is connected to the channel, and is used to prevent the batteries charged in parallel from charging each other.
The charger according to claim 34, wherein the anti-reverse irrigation circuit comprises:

A comparator, the non-inverting terminal of the comparator is connected to the input side of the channel switch of the channel, the inverting terminal of the comparator is connected to the output side of the channel switch, and the output terminal of the comparator is connected to the input side of the channel switch. The control terminal of the channel switch is connected; and/or,

The anti-reverse irrigation circuit includes an ideal diode, and the ideal diode is connected in parallel with the channel switch.
The charger according to claim 34, wherein the anti-reverse irrigation circuit is connected in parallel with the channel switch of the channel.
The charger according to claim 1, wherein the main control circuit is used for:

Obtain the battery voltages of a plurality of the batteries, and charge the batteries according to the size of the battery voltages, so as to ensure that the batteries with a larger battery voltage are charged preferentially.
The charger according to claim 37, wherein the charging the battery according to the size of the battery voltage comprises

The plurality of batteries are sorted in descending order according to the battery voltage, and the plurality of batteries are charged according to the sorting result.
The charger according to claim 37, wherein the charging the battery according to the size of the battery voltage comprises:

The multiple batteries are grouped according to the size of the battery voltage, and the multiple batteries are charged according to the grouping result.
The charger according to claim 1, wherein the charger comprises:

The main control power supply circuit is connected to the main control circuit and is used to convert alternating current into direct current to supply power to the main control circuit.
The charger according to claim 40, wherein the charger comprises:

A system switch, which is connected to the main control power supply circuit, and is used to turn on the main control circuit by controlling the main control power supply circuit.
The charger according to claim 1, wherein the charger comprises:

An indicator light control circuit, the indicator light control circuit includes an indicator light and a communication conversion circuit, and the indicator light is connected to the main control circuit through the communication conversion circuit;

Wherein, the main control circuit can control the indicator light display according to the battery power of the battery to inform the user of the battery power of the battery.
The charger according to claim 1, wherein the charger comprises:

A communication interface circuit, the communication interface circuit is connected to the main control circuit, so that an external device can obtain the battery information saved by the main control circuit through the communication interface circuit.
The charger according to claim 43, wherein the battery information includes charging information and/or battery failure information.
The charger according to claim 1, wherein the charger comprises:

A DC-DC conversion circuit, where the DC-DC conversion circuit is connected to the charging circuit and is used to charge the terminal device;

Wherein, the terminal device includes a smart phone, a tablet computer, a smart wearable device or a remote control;

and / or,

The charger includes a buzzer, the buzzer is connected to the main control circuit, and the main control circuit can give an alarm prompt through the buzzer.
The charger according to claim 1, wherein the charging circuit is used to convert alternating current into direct current, so as to supply power to the battery.
A charging control method applied to a charger, characterized in that the charger includes multiple channels for charging multiple batteries, and the method includes:

Obtain the requested current of the battery;

Determining the current adjustment amount according to the requested current; and

Adjusting the charging currents of the multiple channels according to the current adjustment amount;

Wherein, the determining the current adjustment amount according to the requested current includes: determining a minimum current difference from the difference between the charging current of each channel and the requested current, and determining the minimum current difference according to the minimum current difference. Current adjustment amount.
The method according to claim 47, wherein after adjusting the charging current of the channel according to the current adjustment amount, the method further comprises:

Cyclic execution: determining a current adjustment amount according to the requested current, and adjusting the charging current of a plurality of the channels according to the current adjustment amount, until the charging current of at least one channel of the plurality of channels reaches the requested current.
The charger according to claim 48, wherein said adjusting the charging currents of a plurality of said channels according to said current adjustment amount comprises:

Determining the adjustment current of each channel according to the current adjustment amount;

The charging current of the channel is adjusted according to the adjustment current of each channel.
The charger according to claim 49, wherein the determining the adjustment current of each channel according to the current adjustment amount comprises:

According to the current adjustment amount, an adjustment current is randomly allocated to each of the channels, wherein the sum of the adjustment currents of a plurality of the channels is equal to the current adjustment amount.
The charger according to claim 49, wherein the adjustment current of each channel is related to the charging parameters of the channel;

Wherein, the charging parameter includes at least one of battery capacity, battery charging current, battery charging voltage, battery temperature, channel wire impedance, and terminal insertion depth.
The method according to claim 47, wherein before the adjusting the charging currents of the multiple channels according to the current adjustment amount, the method further comprises:

Adjusting the charging current of the channel based on a soft-start strategy until the smallest current difference in the difference between the charging current of the channel and the requested current is less than a preset current threshold;

Wherein, the soft start strategy is used to gradually increase the charging current to prevent or reduce the inrush current.
The method of claim 52, wherein the adjusting the charging current of the channel based on the soft-start strategy comprises:

Determining a minimum current difference from the difference between the charging current of each channel and the requested current;

Determining whether the minimum current difference is greater than a preset current threshold;

If the minimum current difference is greater than the preset current threshold, the preset current threshold is used as the minimum current difference to determine the current adjustment amount.
The method according to claim 53, wherein the method further comprises:

If the minimum current difference is less than or equal to the preset current threshold, the current adjustment amount is determined according to the minimum current difference.
The method according to claim 47, wherein the determining the current adjustment amount according to the minimum current difference value comprises:

The minimum current difference is used as the current adjustment amount.
The method of claim 47, wherein the method comprises:

Obtain the current battery voltage of the battery, and determine the output voltage of the charger channel according to the current battery voltage.
The method of claim 56, wherein the determining the output voltage of the charger channel according to the current battery voltage comprises:

The current battery voltage is used as the output voltage of the charging circuit.
The method of claim 56, wherein the determining the output voltage of the charger channel according to the current battery voltage comprises:

Obtain the preset voltage value;

The output voltage of the charging circuit is determined according to the current battery voltage and a preset voltage value.
The method according to claim 58, wherein the preset voltage value is related to the line loss and voltage drop of the charging circuit.
The method of claim 58, wherein the determining the output voltage of the charging circuit according to the current battery voltage and the preset voltage value comprises:

The sum of the current battery voltage and the preset voltage value is calculated, and the sum of the current battery voltage and the preset voltage value is used as the output voltage of the charging circuit.
The method of claim 56, wherein the obtaining the current battery voltage of the battery and determining the output voltage of the charger channel according to the current battery voltage comprises:

Acquiring the current battery voltage of the battery of each channel, and determining the minimum battery voltage from a plurality of the current battery voltages;

According to the minimum battery voltage, the output voltage of the charger channel is determined.
The method of claim 47, wherein the method comprises:

When detecting that the battery is unplugged, stop charging the battery in the online state.
The method according to claim 62, wherein after the charging of the battery in the online state is stopped, the method comprises:

Adjust the charging current of the channel based on the soft-start strategy to charge the battery; or,

After the preset time period, adjust the charging current of the channel based on the soft-start strategy to charge the battery; or,

If it is detected that no other battery is unplugged within the preset time period, adjust the charging current of the channel based on the soft start strategy to charge the battery;

The soft start strategy includes: gradually increasing the charging current.
The method according to claim 63, wherein the stopping charging the battery in an online state comprises:

Turn off the channel switch of the channel corresponding to the battery in the online state.
The method according to claim 63, wherein the method further comprises:

The presence information of the battery is detected by the presence detection circuit to determine the online status of the battery.
The method of claim 65, wherein the presence detection circuit comprises:

A first voltage divider circuit, the first voltage divider circuit and the channel in the channel control circuit are connected in parallel;

A second voltage divider circuit, the second voltage divider circuit is connected in series with the first voltage divider circuit;

A charge storage circuit, the charge storage circuit is connected in parallel with the second voltage divider circuit;

A discharge circuit and a first switch circuit, the first switch circuit is connected in series between the discharge circuit and the charge storage circuit, and is used to discharge the charge storage circuit;

The detecting the presence information of the battery through the presence detection circuit to determine the online status of the battery includes:

According to the voltage of the second voltage dividing circuit and/or controlling the discharging circuit to change the voltage of the second voltage dividing circuit, the presence information of the battery is determined.
The method according to claim 66, wherein the presence information includes: online status, full status, and unplugged status.
The method according to claim 66, wherein the voltage of the second voltage divider circuit is changed according to the voltage of the second voltage divider circuit and/or the discharging circuit is controlled to determine the battery current Bit information, including:

When it is determined that the voltage of the second voltage divider circuit does not change, it is determined that the presence information of the battery is in an online state;

When it is determined that the voltage of the second voltage divider circuit is the preset voltage, the channel switch of the control channel is turned off to not charge the battery, and the voltage of the second voltage divider circuit is detected again; if the battery is detected If the voltage of the battery remains unchanged, it is determined that the battery presence information is in a fully charged state; if it is detected that the voltage of the battery has a ditch phenomenon, it is determined that the battery presence information is in the unplugged state.
The method of claim 65, wherein the presence detection circuit comprises:

A field effect tube, the gate of the field effect tube is used to connect to the battery, the drain is connected to a preset voltage through a resistor, and the source is grounded. The drain of the field effect tube of the in-position detection circuit is also connected to the charger The main control circuit connection;

The detection of the presence information of the battery through the presence detection circuit includes:

When detecting that the drain of the field effect transistor is a low-level signal, determining that the battery presence information is in an online state;

When it is detected that the drain of the field effect transistor is a high-level signal, it is determined that the battery presence information is in the unplugged state.
The method of claim 47, wherein the method comprises:

Obtain the battery voltages of a plurality of the batteries, and charge the batteries according to the size of the battery voltages, so as to ensure that the batteries with a larger battery voltage are charged preferentially.
The method of claim 70, wherein the charging the battery according to the size of the battery voltage comprises

The plurality of batteries are sorted in descending order according to the battery voltage, and the plurality of batteries are charged according to the sorting result.
The method of claim 70, wherein the charging the battery according to the size of the battery voltage comprises:

The multiple batteries are grouped according to the size of the battery voltage, and the multiple batteries are charged according to the grouping result.
The method of claim 47, wherein the method comprises:

The indicator light is controlled according to the battery capacity of the battery to inform the user of the battery capacity of the battery.
The method of claim 47, wherein the method comprises:

The battery information of the battery is saved, and the battery information includes charging information and/or battery failure information.
The method of claim 47, wherein the method comprises:

Alarm notification via buzzer.
A charger, characterized in that the charger includes:

Main control circuit

A charging circuit, the charging circuit is connected to the main control circuit, and charging is performed under the control of the main control circuit;

A channel control circuit, the channel control circuit includes a plurality of channels, the plurality of channels are connected to the charging circuit, and are used to charge a plurality of batteries in parallel;

Wherein, the main control circuit is also communicatively connected with the battery to obtain the requested current of the battery; and gradually adjust the charging current of the channel until the difference between the charging current of the channel and the requested current is The minimum current difference among the values is smaller than the preset current threshold to avoid inrush current.
The charger according to claim 76, wherein the stepwise adjustment of the charging current of the channel comprises:

Determining a minimum current difference from the difference between the charging current of each channel and the requested current;

Determining whether the minimum current difference is greater than a preset current threshold;

If the minimum current difference is greater than the preset current threshold, the charging current of the channel is adjusted according to the preset current threshold.
The charger according to claim 77, wherein the main control circuit is further used for:

If the minimum current difference is less than or equal to the preset current threshold, the charging current of the channel is adjusted according to the preset current threshold.
The charger according to claim 76, wherein the main control circuit is used for:

Obtain the current battery voltage of the battery, and determine the output voltage of the charger channel according to the current battery voltage.
The charger according to claim 79, wherein the determining the output voltage of the charger channel according to the current battery voltage comprises:

The current battery voltage is used as the output voltage of the charging circuit.
The charger according to claim 79, wherein the determining the output voltage of the charger channel according to the current battery voltage comprises:

Obtain the preset voltage value;

The output voltage of the charging circuit is determined according to the current battery voltage and a preset voltage value.
The charger according to claim 81, wherein the preset voltage value is related to line loss and voltage drop of the charging circuit.
The charger according to claim 81, wherein the determining the output voltage of the charging circuit according to the current battery voltage and the preset voltage value comprises:

The sum of the current battery voltage and the preset voltage value is calculated, and the sum of the current battery voltage and the preset voltage value is used as the output voltage of the charging circuit.
The charger according to claim 79, wherein said obtaining the current battery voltage of the battery and determining the output voltage of the charger channel according to the current battery voltage comprises:

Acquiring the current battery voltage of the battery of each channel, and determining the minimum battery voltage from a plurality of the current battery voltages;

According to the minimum battery voltage, the output voltage of the charger channel is determined.
The charger according to claim 76, wherein the main control circuit is used for:

When detecting that the battery is unplugged, stop charging the battery in the online state.
The charger according to claim 85, wherein the main control circuit is used to: after stopping charging the battery in an online state, it is also used to:

Adjust the charging current of the channel based on the soft-start strategy to charge the battery; or,

After the preset time period, adjust the charging current of the channel based on the soft-start strategy to charge the battery; or,

If it is detected that no other battery is unplugged within the preset time period, adjust the charging current of the channel based on the soft start strategy to charge the battery;

The soft start strategy includes: gradually increasing the charging current.
The charger according to claim 85, wherein said stopping charging the battery in an online state comprises:

Turn off the channel switch of the channel corresponding to the battery in the online state.
The charger according to claim 85, wherein the charger comprises:

An in-position detection circuit, which is connected to the main control circuit, and is used to detect the in-position information of the battery.
The charger according to claim 88, wherein the presence detection circuit comprises:

A first voltage divider circuit, the first voltage divider circuit is connected in parallel with the channel in the channel control circuit;

A second voltage divider circuit, the second voltage divider circuit is connected in series with the first voltage divider circuit;

A charge storage circuit, the charge storage circuit is connected in parallel with the second voltage divider circuit;

A discharge circuit and a first switch circuit, the first switch circuit is connected in series between the discharge circuit and the charge storage circuit, and is used to discharge the charge storage circuit;

Wherein, the main control circuit can determine the presence information of the battery according to the voltage of the second voltage divider circuit and/or control the discharge circuit to change the voltage of the second voltage divider circuit.
The charger according to claim 89, wherein one end of the second voltage divider circuit is connected to the first voltage divider circuit, and the other end of the second voltage divider circuit is grounded;

One end of the first switch circuit is connected to the near port side of the charging circuit through the discharging circuit, the other end of the first switch circuit is connected to the ground terminal of the second voltage divider circuit, and the first The switch circuit is controlled by the main control circuit.
The charger according to claim 89, wherein the charging circuit comprises a second switch circuit, the second switch circuit is controlled by the main control circuit, the first voltage divider circuit and the first The two switch circuits are connected in parallel.
The charger according to any one of claims 89 to 91, wherein the main control circuit is used for:

When it is determined that the voltage of the second voltage divider circuit does not change, it is determined that the presence information of the battery is in an online state;

When it is determined that the voltage of the second voltage divider circuit is the preset voltage, the channel switch of the control channel is turned off to not charge the battery, and the voltage of the second voltage divider circuit is detected again; if the battery is detected If the voltage of the battery remains unchanged, it is determined that the battery in-position information is in a fully charged state; if it is detected that the voltage of the battery is out of groove, it is determined that the battery in-position information is in the unplugged state.
The charger according to claim 88, wherein the presence detection circuit comprises:

A field effect tube, the gate of the field effect tube of the in-position detection circuit is used to connect to the battery, the drain is connected to a preset voltage through a resistor, and the source is grounded; the drain of the field effect tube of the in-position detection circuit is also Connected with the main control circuit;

Wherein, when it is detected that the drain of the field effect transistor is a low-level signal, it is determined that the battery presence information is online; when it is detected that the drain of the field-effect transistor is a high-level signal, it is determined that the The battery presence information is in the unplugged state.
The charger according to claim 76, wherein the charger comprises:

An anti-reverse irrigation circuit, which is connected to the channel, and is used to prevent the batteries charged in parallel from charging each other.
The charger according to claim 94, wherein the anti-reverse irrigation circuit comprises:

A comparator, the non-inverting terminal of the comparator is connected to the input side of the channel switch of the channel, the inverting terminal of the comparator is connected to the output side of the channel switch, and the output terminal of the comparator is connected to the input side of the channel switch. The control terminal of the channel switch is connected; and/or,

The anti-reverse irrigation circuit includes an ideal diode, and the ideal diode is connected in parallel with the channel switch.
The charger according to claim 94, wherein the anti-reverse irrigation circuit is connected in parallel with the channel switch of the channel.
The charger according to claim 76, wherein the main control circuit is used for:

Obtain the battery voltages of a plurality of the batteries, and charge the batteries according to the size of the battery voltages, so as to ensure that the batteries with a larger battery voltage are charged preferentially.
The charger according to claim 97, wherein said charging said battery according to the size of said battery voltage comprises:

The plurality of batteries are sorted in descending order according to the battery voltage, and the plurality of batteries are charged according to the sorting result.
The charger according to claim 97, wherein the charging the battery according to the size of the battery voltage comprises:

The multiple batteries are grouped according to the size of the battery voltage, and the multiple batteries are charged according to the grouping result.
The charger according to claim 76, wherein the charger comprises:

The main control power supply circuit is connected to the main control circuit and is used to convert alternating current into direct current to supply power to the main control circuit.
The charger according to claim 100, wherein the charger comprises:

A system switch, which is connected to the main control power supply circuit, and is used to turn on the main control circuit by controlling the main control power supply circuit.
The charger according to claim 76, wherein the charger comprises:

An indicator light control circuit, the indicator light control circuit includes an indicator light and a communication conversion circuit, and the indicator light is connected to the main control circuit through the communication conversion circuit;

Wherein, the main control circuit can control the indicator light display according to the battery power of the battery to inform the user of the battery power of the battery.
The charger according to claim 76, wherein the charger comprises:

A communication interface circuit, the communication interface circuit is connected to the main control circuit, so that an external device can obtain the battery information saved by the main control circuit through the communication interface circuit.
The charger according to claim 103, wherein the battery information includes charging information and/or battery failure information.
The charger according to claim 76, wherein the charger comprises:

A DC-DC conversion circuit, where the DC-DC conversion circuit is connected to the charging circuit and is used to charge the terminal device;

Wherein, the terminal device includes a smart phone, a tablet computer, a smart wearable device or a remote control; and/or,

The charger includes:

A buzzer, the buzzer is connected to the main control circuit, and the main control circuit can give an alarm prompt through the buzzer.
The charger according to claim 76, wherein the stepwise adjustment of the charging current of the channel comprises:

Gradually increase the charging current of the channel.
The charger according to claim 76, wherein the charging circuit is used to convert alternating current to direct current to charge the battery.
A charging control method applied to a charger, characterized in that the charger includes multiple channels for charging multiple batteries, and the method includes:

Acquiring the requested current of the battery;

The charging current of the channel is gradually adjusted until the smallest current difference in the difference between the charging current of the channel and the requested current is less than a preset current threshold, so as to avoid generating an inrush current.
The method of claim 108, wherein the stepwise adjustment of the charging current of the channel comprises:

Determining a minimum current difference from the difference between the charging current of each channel and the requested current;

Determining whether the minimum current difference is greater than a preset current threshold;

If the minimum current difference is greater than the preset current threshold, the charging current of the channel is adjusted according to the preset current threshold.
The method of claim 109, wherein the method further comprises:

If the minimum current difference is less than or equal to the preset current threshold, the charging current of the channel is adjusted according to the preset current threshold.
The method of claim 108, wherein the method comprises:

Obtain the current battery voltage of the battery, and determine the output voltage of the charger channel according to the current battery voltage.
The method of claim 111, wherein the determining the output voltage of the charger channel according to the current battery voltage comprises:

The current battery voltage is used as the output voltage of the charging circuit.
The method of claim 111, wherein the determining the output voltage of the charger channel according to the current battery voltage comprises:

Obtain the preset voltage value;

The output voltage of the charging circuit is determined according to the current battery voltage and a preset voltage value.
The method of claim 113, wherein the preset voltage value is related to line loss and voltage drop of the charging circuit.
The method of claim 113, wherein the determining the output voltage of the charging circuit according to the current battery voltage and the preset voltage value comprises:

The sum of the current battery voltage and the preset voltage value is calculated, and the sum of the current battery voltage and the preset voltage value is used as the output voltage of the charging circuit.
The method of claim 111, wherein the obtaining the current battery voltage of the battery and determining the output voltage of the charger channel according to the current battery voltage comprises:

Acquiring the current battery voltage of the battery of each channel, and determining the minimum battery voltage from a plurality of the current battery voltages;

According to the minimum battery voltage, the output voltage of the charger channel is determined.
The method of claim 108, wherein the method comprises:

When detecting that the battery is unplugged, stop charging the battery in the online state.
The method according to claim 117, characterized in that, after the charging of the battery in the online state is stopped, the method comprises:

Adjust the charging current of the channel based on the soft-start strategy to charge the battery; or,

After the preset time period, adjust the charging current of the channel based on the soft-start strategy to charge the battery; or,

If it is detected that no other battery is unplugged within the preset time period, adjust the charging current of the channel based on the soft start strategy to charge the battery;

The soft start strategy includes: gradually increasing the charging current.
The method of claim 117, wherein the stopping charging the battery in an online state comprises:

Turn off the channel switch of the channel corresponding to the battery in the online state.
The method of claim 117, wherein the method further comprises:

The presence information of the battery is detected by the presence detection circuit to determine the online status of the battery.
The method of claim 120, wherein the presence detection circuit comprises:

A first voltage divider circuit, the first voltage divider circuit and the channel in the channel control circuit are connected in parallel;

A second voltage divider circuit, the second voltage divider circuit is connected in series with the first voltage divider circuit;

A charge storage circuit, the charge storage circuit is connected in parallel with the second voltage divider circuit;

A discharge circuit and a first switch circuit, the first switch circuit is connected in series between the discharge circuit and the charge storage circuit, and is used to discharge the charge storage circuit;

The detecting the presence information of the battery through the presence detection circuit to determine the online status of the battery includes:

According to the voltage of the second voltage dividing circuit and/or controlling the discharging circuit to change the voltage of the second voltage dividing circuit, the presence information of the battery is determined.
The method according to claim 121, wherein the presence information includes: online status, full status, and unplugged status.
The method according to claim 122, wherein the voltage of the second voltage divider circuit is changed according to the voltage of the second voltage divider circuit and/or the discharging circuit is controlled to determine the battery current Bit information, including:

When it is determined that the voltage of the second voltage divider circuit does not change, it is determined that the presence information of the battery is in an online state;

When it is determined that the voltage of the second voltage divider circuit is the preset voltage, the channel switch of the control channel is turned off to not charge the battery, and the voltage of the second voltage divider circuit is detected again; if the battery is detected If the voltage of the battery remains unchanged, it is determined that the battery in-position information is in a fully charged state; if it is detected that the voltage of the battery is out of groove, it is determined that the battery in-position information is in the unplugged state.
The method of claim 120, wherein the presence detection circuit comprises:

A field effect tube, the gate of the field effect tube is used to connect to the battery, the drain is connected to a preset voltage through a resistor, and the source is grounded. The drain of the field effect tube of the in-position detection circuit is also connected to the charger The main control circuit connection;

The detection of the presence information of the battery through the presence detection circuit includes:

When detecting that the drain of the field effect transistor is a low-level signal, determining that the battery presence information is in an online state;

When it is detected that the drain of the field effect transistor is a high-level signal, it is determined that the battery presence information is in the unplugged state.
The method of claim 108, wherein the method comprises:

Obtain the battery voltages of a plurality of the batteries, and charge the batteries according to the size of the battery voltages, so as to ensure that the batteries with a larger battery voltage are charged preferentially.
The method of claim 125, wherein the charging the battery according to the size of the battery voltage comprises

The plurality of batteries are sorted in descending order according to the battery voltage, and the plurality of batteries are charged according to the sorting result.
The method of claim 125, wherein the charging the battery according to the size of the battery voltage comprises:

The multiple batteries are grouped according to the size of the battery voltage, and the multiple batteries are charged according to the grouping result.
The method of claim 108, wherein the method comprises:

The display of the indicator light is controlled according to the battery power of the battery to inform the user of the battery power of the battery.
The method of claim 108, wherein the method comprises:

The battery information of the battery is saved, and the battery information includes charging information and/or battery failure information.
The method of claim 108, wherein the method comprises:

Alarm notification via buzzer.
The method of claim 108, wherein the stepwise adjustment of the charging current of the channel comprises:

Gradually increase the charging current of the channel.
A charger, characterized in that the charger includes:

Main control circuit

A charging circuit, the charging circuit is connected to the main control circuit, and charging is performed under the control of the main control circuit;

A channel control circuit, the channel control circuit includes a plurality of channels, the plurality of channels are connected to the charging circuit, and are used to charge a plurality of batteries in parallel;

Wherein, the main control circuit is also communicatively connected with the battery, and the main control circuit is used to: obtain the current battery voltage of the battery, determine the output voltage of the charger channel according to the current battery voltage, and according to The output voltage charges the battery;

Wherein, the output voltage is equal to the current battery voltage of the battery, or the output voltage is slightly greater than the current battery voltage, so as to reduce the surge current when charging is started.
The charger according to claim 132, wherein the determining the output voltage of the charger channel according to the current battery voltage comprises:

The current battery voltage is used as the output voltage of the charging circuit.
The charger according to claim 133, wherein the determining the output voltage of the charger channel according to the current battery voltage comprises:

Obtain the preset voltage value;

The output voltage of the charging circuit is determined according to the current battery voltage and a preset voltage value.
The charger according to claim 134, wherein the preset voltage value is related to the line loss and voltage drop of the charging circuit.
The charger according to claim 134, wherein the determining the output voltage of the charging circuit according to the current battery voltage and the preset voltage value comprises:

The sum of the current battery voltage and the preset voltage value is calculated, and the sum of the current battery voltage and the preset voltage value is used as the output voltage of the charging circuit.
The charger according to claim 134, wherein said obtaining the current battery voltage of the battery and determining the output voltage of the charger channel according to the current battery voltage comprises:

Acquiring the current battery voltage of the battery of each channel, and determining the minimum battery voltage from a plurality of the current battery voltages;

According to the minimum battery voltage, the output voltage of the charger channel is determined.
The charger according to claim 132, wherein the main control circuit is used for:

When detecting that the battery is unplugged, stop charging the battery in the online state.
The charger according to claim 138, wherein the main control circuit is used to: after stopping charging the battery in the online state, it is also used to:

Adjust the charging current of the channel based on the soft-start strategy to charge the battery; or,

After the preset time period, adjust the charging current of the channel based on the soft-start strategy to charge the battery; or,

If it is detected that no other battery is unplugged within the preset time period, adjust the charging current of the channel based on the soft start strategy to charge the battery;

The soft start strategy includes: gradually increasing the charging current.
The charger according to claim 138, wherein said stopping charging of the battery in an online state comprises:

Turn off the channel switch of the channel corresponding to the battery in the online state.
The charger according to claim 138, wherein the charger comprises:

An in-position detection circuit, which is connected to the main control circuit, and is used to detect the in-position information of the battery.
The charger according to claim 141, wherein the presence detection circuit comprises:

A first voltage divider circuit, the first voltage divider circuit is connected in parallel with the channel in the channel control circuit;

A second voltage divider circuit, the second voltage divider circuit is connected in series with the first voltage divider circuit;

A charge storage circuit, the charge storage circuit is connected in parallel with the second voltage divider circuit;

A discharge circuit and a first switch circuit, the first switch circuit is connected in series between the discharge circuit and the charge storage circuit, and is used to discharge the charge storage circuit;

Wherein, the main control circuit can determine the presence information of the battery according to the voltage of the second voltage divider circuit and/or control the discharge circuit to change the voltage of the second voltage divider circuit.
The charger according to claim 142, wherein one end of the second voltage divider circuit is connected to the first voltage divider circuit, and the other end of the second voltage divider circuit is grounded;

One end of the first switch circuit is connected to the near port side of the charging circuit through the discharging circuit, the other end of the first switch circuit is connected to the ground terminal of the second voltage divider circuit, and the first The switch circuit is controlled by the main control circuit.
The charger according to claim 142, wherein the charging circuit comprises a second switch circuit, the second switch circuit is controlled by the main control circuit, the first voltage divider circuit and the second switch circuit The two switch circuits are connected in parallel.
The charger according to any one of claims 142 to 144, wherein the main control circuit is used for:

When it is determined that the voltage of the second voltage divider circuit does not change, it is determined that the presence information of the battery is in an online state;

When it is determined that the voltage of the second voltage divider circuit is the preset voltage, the channel switch of the control channel is turned off to not charge the battery, and the voltage of the second voltage divider circuit is detected again; if the battery is detected If the voltage of the battery remains unchanged, it is determined that the battery in-position information is in a fully charged state; if it is detected that the voltage of the battery is out of groove, it is determined that the battery in-position information is in the unplugged state.
The charger according to claim 141, wherein the presence detection circuit comprises:

A field effect tube, the gate of the field effect tube of the in-position detection circuit is used to connect to the battery, the drain is connected to a preset voltage through a resistor, and the source is grounded; the drain of the field effect tube of the in-position detection circuit is also Connected with the main control circuit;

Wherein, when it is detected that the drain of the field effect transistor is a low-level signal, it is determined that the battery presence information is online; when it is detected that the drain of the field-effect transistor is a high-level signal, it is determined that the The battery presence information is in the unplugged state.
The charger according to claim 132, wherein the charger comprises:

An anti-reverse irrigation circuit, which is connected to the channel, and is used to prevent the batteries charged in parallel from charging each other.
The charger according to claim 147, wherein the anti-reverse irrigation circuit comprises:

A comparator, the non-inverting terminal of the comparator is connected to the input side of the channel switch of the channel, the inverting terminal of the comparator is connected to the output side of the channel switch, and the output terminal of the comparator is connected to the input side of the channel switch. The control terminal of the channel switch is connected; and/or,

The anti-reverse irrigation circuit includes an ideal diode, and the ideal diode is connected in parallel with the channel switch.
The charger according to claim 147, wherein the anti-reverse irrigation circuit is connected in parallel with the channel switch of the channel.
The charger according to claim 132, wherein the main control circuit is used for:

Obtain the battery voltages of a plurality of the batteries, and charge the batteries according to the size of the battery voltages, so as to ensure that the batteries with a larger battery voltage are charged preferentially.
The charger according to claim 150, wherein said charging said battery according to the size of said battery voltage comprises

The plurality of batteries are sorted in descending order according to the battery voltage, and the plurality of batteries are charged according to the sorting result.
The charger according to claim 150, wherein said charging said battery according to the size of said battery voltage comprises:

The multiple batteries are grouped according to the size of the battery voltage, and the multiple batteries are charged according to the grouping result.
The charger according to claim 132, wherein the charger comprises:

The main control power supply circuit is connected to the main control circuit and is used to convert alternating current into direct current to supply power to the main control circuit.
The charger according to claim 153, wherein the charger comprises:

A system switch, which is connected to the main control power supply circuit, and is used to turn on the main control circuit by controlling the main control power supply circuit.
The charger according to claim 132, wherein the charger comprises:

An indicator light control circuit, the indicator light control circuit includes an indicator light and a communication conversion circuit, and the indicator light is connected to the main control circuit through the communication conversion circuit;

Wherein, the main control circuit can control the indicator light display according to the battery power of the battery to inform the user of the battery power of the battery.
The charger according to claim 132, wherein the charger comprises:

A communication interface circuit, where the communication interface circuit is connected to the main control circuit, so that an external device can obtain the battery information saved by the main control circuit through the communication interface circuit;

Wherein, the battery information includes charging information and/or battery failure information.
The charger according to claim 132, wherein the charger comprises:

A DC-DC conversion circuit, where the DC-DC conversion circuit is connected to the charging circuit and is used to charge the terminal device;

Wherein, the terminal device includes a smart phone, a tablet computer, a smart wearable device or a remote control;

and / or,

The charger includes:

A buzzer, the buzzer is connected to the main control circuit, and the main control circuit can give an alarm prompt through the buzzer.
The charger according to claim 132, wherein the charging circuit is used to convert alternating current into direct current so as to charge the battery.
A charging control method applied to a charger, characterized in that the charger includes multiple channels for charging multiple batteries, and the method includes:

Obtaining the current battery voltage of the battery;

Determining the output voltage of the charger channel according to the current battery voltage; and

Charging the battery according to the output voltage;

Wherein, the output voltage is equal to the current battery voltage of the battery, or the output voltage is slightly greater than the current battery voltage, so as to reduce the surge current when charging is started.
The method of claim 159, wherein the determining the output voltage of the charger channel according to the current battery voltage comprises:

The current battery voltage is used as the output voltage of the charging circuit.
The method of claim 159, wherein the determining the output voltage of the charger channel according to the current battery voltage comprises:

Obtain the preset voltage value;

The output voltage of the charging circuit is determined according to the current battery voltage and a preset voltage value.
The method according to claim 161, wherein the preset voltage value is related to the line loss and voltage drop of the charging circuit.
The method of claim 161, wherein the determining the output voltage of the charging circuit according to the current battery voltage and the preset voltage value comprises:

The sum of the current battery voltage and the preset voltage value is calculated, and the sum of the current battery voltage and the preset voltage value is used as the output voltage of the charging circuit.
The method of claim 159, wherein the obtaining the current battery voltage of the battery and determining the output voltage of the charger channel according to the current battery voltage comprises:

Acquiring the current battery voltage of the battery of each channel, and determining the minimum battery voltage from a plurality of the current battery voltages;

According to the minimum battery voltage, the output voltage of the charger channel is determined.
The method of claim 159, wherein the method comprises:

When detecting that the battery is unplugged, stop charging the battery in the online state.
The method according to claim 165, characterized in that, after the charging of the battery in the online state is stopped, the method comprises:

Adjust the charging current of the channel based on the soft-start strategy to charge the battery; or,

After the preset time period, adjust the charging current of the channel based on the soft-start strategy to charge the battery; or,

If it is detected that no other battery is unplugged within the preset time period, adjust the charging current of the channel based on the soft start strategy to charge the battery;

The soft start strategy includes: gradually increasing the charging current.
The method according to claim 165, wherein the stopping charging the battery in an online state comprises:

Turn off the channel switch of the channel corresponding to the battery in the online state.
The method of claim 165, wherein the method further comprises:

The presence information of the battery is detected by the presence detection circuit to determine the online status of the battery.
The method of claim 168, wherein the presence detection circuit comprises:

A first voltage divider circuit, the first voltage divider circuit and the channel in the channel control circuit are connected in parallel;

A second voltage divider circuit, the second voltage divider circuit is connected in series with the first voltage divider circuit;

A charge storage circuit, the charge storage circuit is connected in parallel with the second voltage divider circuit;

A discharge circuit and a first switch circuit, the first switch circuit is connected in series between the discharge circuit and the charge storage circuit, and is used to discharge the charge storage circuit;

The detecting the presence information of the battery through the presence detection circuit to determine the online status of the battery includes:

According to the voltage of the second voltage dividing circuit and/or controlling the discharging circuit to change the voltage of the second voltage dividing circuit, the presence information of the battery is determined.
The method according to claim 169, wherein the presence information includes: online status, full status, and unplugged status.
The method according to claim 170, wherein the voltage of the second voltage divider circuit is changed according to the voltage of the second voltage divider circuit and/or the discharging circuit is controlled to determine the battery current Bit information, including:

When it is determined that the voltage of the second voltage divider circuit does not change, it is determined that the presence information of the battery is in an online state;

When it is determined that the voltage of the second voltage divider circuit is the preset voltage, the channel switch of the control channel is turned off to not charge the battery, and the voltage of the second voltage divider circuit is detected again; if the battery is detected If the voltage of the battery remains unchanged, it is determined that the battery in-position information is in a fully charged state; if it is detected that the voltage of the battery is out of groove, it is determined that the battery in-position information is in the unplugged state.
The method of claim 168, wherein the presence detection circuit comprises:

A field effect tube, the gate of the field effect tube is used to connect to the battery, the drain is connected to a preset voltage through a resistor, and the source is grounded. The drain of the field effect tube of the in-position detection circuit is also connected to the charger The main control circuit connection;

The detection of the presence information of the battery through the presence detection circuit includes:

When detecting that the drain of the field effect transistor is a low-level signal, determining that the battery presence information is in an online state;

When it is detected that the drain of the field effect transistor is a high-level signal, it is determined that the battery presence information is in the unplugged state.
The method of claim 159, wherein the method comprises:

Obtain the battery voltages of a plurality of the batteries, and charge the batteries according to the size of the battery voltages, so as to ensure that the batteries with a larger battery voltage are charged preferentially.
The method of claim 173, wherein the charging the battery according to the size of the battery voltage comprises

The plurality of batteries are sorted in descending order according to the battery voltage, and the plurality of batteries are charged according to the sorting result.
The method of claim 173, wherein the charging the battery according to the size of the battery voltage comprises:

The multiple batteries are grouped according to the size of the battery voltage, and the multiple batteries are charged according to the grouping result.
The method of claim 159, wherein the method comprises:

The display of the indicator light is controlled according to the battery power of the battery to inform the user of the battery power of the battery.
The method of claim 159, wherein the method comprises:

The battery information of the battery is saved, and the battery information includes charging information and/or battery failure information.
The method of claim 159, wherein the method comprises:

Alarm notification via buzzer.
A charger, characterized in that the charger includes:

Main control circuit

A charging circuit, the charging circuit is connected to the main control circuit, and charging is performed under the control of the main control circuit;

A channel control circuit, the channel control circuit includes a plurality of channels, the plurality of channels are connected to the charging circuit, and are used to charge a plurality of batteries in parallel;

Wherein, the main control circuit is used to: control a plurality of the channels to charge a plurality of the batteries, and when it is determined that the battery is pulled out, stop charging the battery in the online state; and,

The charging current of the channel is gradually adjusted to continue to charge the battery.
The charger according to claim 179, wherein the stepwise adjustment of the charging current of the channel so as to continue to charge the battery comprises:

Immediately adjust the charging current of the channel step by step to continue charging the battery or,

After the preset time period, gradually adjust the charging current of the channel to charge the battery; or,

When it is determined that no other batteries are unplugged within the preset time period, the charging current of the channel is gradually adjusted to charge the battery.
The charger according to claim 179, wherein the stepwise adjustment of the charging current of the channel comprises:

Determining the minimum current difference from the difference between the charging current and the requested current of each of the channels;

Determining whether the minimum current difference is greater than a preset current threshold;

If the minimum current difference is greater than the preset current threshold, the charging current of the channel is gradually adjusted according to the preset current threshold.
The charger according to claim 181, wherein the main control circuit is further used for:

If the minimum current difference is less than or equal to the preset current threshold, the charging current of the channel is adjusted according to the preset current threshold.
The charger according to claim 179, wherein said stopping charging of the battery in an online state comprises:

Turn off the channel switch of the channel corresponding to the battery in the online state.
The charger according to claim 179, wherein the charger comprises:

An in-position detection circuit, which is connected to the main control circuit, and is used to detect the in-position information of the battery.
The charger according to claim 184, wherein the presence detection circuit comprises:

A first voltage divider circuit, the first voltage divider circuit is connected in parallel with the channel in the channel control circuit;

A second voltage divider circuit, the second voltage divider circuit is connected in series with the first voltage divider circuit;

A charge storage circuit, the charge storage circuit is connected in parallel with the second voltage divider circuit;

A discharge circuit and a first switch circuit, the first switch circuit is connected in series between the discharge circuit and the charge storage circuit, and is used to discharge the charge storage circuit;

Wherein, the main control circuit can determine the presence information of the battery according to the voltage of the second voltage divider circuit and/or control the discharge circuit to change the voltage of the second voltage divider circuit.
The charger according to claim 185, wherein one end of the second voltage divider circuit is connected to the first voltage divider circuit, and the other end of the second voltage divider circuit is grounded;

One end of the first switch circuit is connected to the near port side of the charging circuit through the discharging circuit, the other end of the first switch circuit is connected to the ground terminal of the second voltage divider circuit, and the first The switch circuit is controlled by the main control circuit.
The charger according to claim 185, wherein the charging circuit comprises a second switch circuit, the second switch circuit is controlled by the main control circuit, the first voltage divider circuit and the second switch circuit The two switch circuits are connected in parallel.
The charger according to any one of claims 185 to 187, wherein the main control circuit is used for:

When it is determined that the voltage of the second voltage divider circuit does not change, it is determined that the presence information of the battery is in an online state;

When it is determined that the voltage of the second voltage divider circuit is the preset voltage, the channel switch of the control channel is turned off to not charge the battery, and the voltage of the second voltage divider circuit is detected again; if the battery is detected If the voltage of the battery remains unchanged, it is determined that the battery in-position information is in a fully charged state; if it is detected that the voltage of the battery is out of groove, it is determined that the battery in-position information is in the unplugged state.
The charger according to claim 184, wherein the presence detection circuit comprises:

A field effect tube, the gate of the field effect tube of the in-position detection circuit is used to connect to the battery, the drain is connected to a preset voltage through a resistor, and the source is grounded; the drain of the field effect tube of the in-position detection circuit is also Connected with the main control circuit;

Wherein, when it is detected that the drain of the field effect transistor is a low-level signal, it is determined that the battery presence information is online; when it is detected that the drain of the field-effect transistor is a high-level signal, it is determined that the The battery presence information is in the unplugged state.
The charger according to claim 179, wherein the charger comprises:

An anti-reverse irrigation circuit, which is connected to the channel, and is used to prevent the batteries charged in parallel from charging each other.
The charger according to claim 190, wherein the anti-reverse irrigation circuit comprises:

A comparator, the non-inverting terminal of the comparator is connected to the input side of the channel switch of the channel, the inverting terminal of the comparator is connected to the output side of the channel switch, and the output terminal of the comparator is connected to the input side of the channel switch. The control terminal of the channel switch is connected; and/or,

The anti-reverse irrigation circuit includes an ideal diode, and the ideal diode is connected in parallel with the channel switch.
The charger according to claim 190, wherein the anti-reverse irrigation circuit is connected in parallel with the channel switch of the channel.
The charger according to claim 179, wherein the main control circuit is used for:

Obtain the battery voltages of a plurality of the batteries, and charge the batteries according to the size of the battery voltages, so as to ensure that the batteries with a larger battery voltage are charged preferentially.
The charger according to claim 193, wherein said charging said battery according to the size of said battery voltage comprises:

The plurality of batteries are sorted in descending order according to the battery voltage, and the plurality of batteries are charged according to the sorting result.
The charger of claim 193, wherein the charging the battery according to the size of the battery voltage comprises:

The multiple batteries are grouped according to the size of the battery voltage, and the multiple batteries are charged according to the grouping result.
The charger according to claim 179, wherein the charger comprises:

The main control power supply circuit is connected to the main control circuit and is used to convert alternating current into direct current to supply power to the main control circuit.
The charger of claim 196, wherein the charger comprises:

A system switch, which is connected to the main control power supply circuit, and is used to turn on the main control circuit by controlling the main control power supply circuit.
The charger according to claim 179, wherein the charger comprises:

An indicator light control circuit, the indicator light control circuit includes an indicator light and a communication conversion circuit, and the indicator light is connected to the main control circuit through the communication conversion circuit;

Wherein, the main control circuit can control the indicator light display according to the battery power of the battery to inform the user of the battery power of the battery.
The charger according to claim 179, wherein the main control circuit is also communicatively connected with the battery for obtaining battery information of the battery.
The charger according to claim 199, wherein the charger comprises:

A communication interface circuit, the communication interface circuit is connected to the main control circuit, so that an external device can obtain the battery information saved by the main control circuit through the communication interface circuit.
The charger according to claim 200, wherein the battery information includes charging information and/or battery failure information.
The charger according to claim 179, wherein the charger comprises:

A DC-DC conversion circuit, where the DC-DC conversion circuit is connected to the charging circuit and is used to charge the terminal device;

Wherein, the terminal device includes a smart phone, a tablet computer, a smart wearable device or a remote control;

And/or, the charger includes:

A buzzer, the buzzer is connected to the main control circuit, and the main control circuit can give an alarm prompt through the buzzer.
The charger according to claim 179, wherein the charging circuit is used to convert alternating current into direct current to charge the battery.
A charging control method applied to a charger, characterized in that the charger includes multiple channels for charging multiple batteries, and the method includes:

Controlling a plurality of the channels to charge a plurality of the batteries;

Check if the battery is unplugged; and

When it is determined that the battery is unplugged, stop charging the battery in the online state; and,

The charging current of the channel is gradually adjusted to continue to charge the battery.
The method according to claim 204, wherein the stepwise adjusting the charging current of the channel to continue charging the battery comprises:

Immediately adjust the charging current of the channel step by step to continue charging the battery or,

After the preset time period, gradually adjust the charging current of the channel to charge the battery; or,

When it is determined that no other batteries are unplugged within the preset time period, the charging current of the channel is gradually adjusted to charge the battery.
The method of claim 204, wherein the stepwise adjustment of the charging current of the channel comprises:

Determining a minimum current difference from the difference between the charging current of each channel and the requested current;

Determining whether the minimum current difference is greater than a preset current threshold;

If the minimum current difference is greater than the preset current threshold, the charging current of the channel is gradually adjusted according to the preset current threshold.
The method according to claim 206, wherein the main control circuit is further used for:

If the minimum current difference is less than or equal to the preset current threshold, the charging current of the channel is adjusted according to the preset current threshold.
The method according to claim 204, wherein the stopping charging of a battery in an online state comprises:

Turn off the channel switch of the channel corresponding to the battery in the online state.
The method according to claim 204, wherein the method further comprises:

The presence information of the battery is detected by the presence detection circuit to determine the online status of the battery.
The method of claim 209, wherein the presence detection circuit comprises:

A first voltage divider circuit, the first voltage divider circuit and the channel in the channel control circuit are connected in parallel;

A second voltage divider circuit, the second voltage divider circuit is connected in series with the first voltage divider circuit;

A charge storage circuit, the charge storage circuit is connected in parallel with the second voltage divider circuit;

A discharge circuit and a first switch circuit, the first switch circuit is connected in series between the discharge circuit and the charge storage circuit, and is used to discharge the charge storage circuit;

The detecting the presence information of the battery through the presence detection circuit to determine the online status of the battery includes:

According to the voltage of the second voltage dividing circuit and/or controlling the discharging circuit to change the voltage of the second voltage dividing circuit, the presence information of the battery is determined.
The method according to claim 210, wherein the presence information includes: online status, full status, and unplugged status.
The method according to claim 210, wherein the voltage of the second voltage divider circuit is changed according to the voltage of the second voltage divider circuit and/or the discharging circuit is controlled to determine the battery current Bit information, including:

When it is determined that the voltage of the second voltage divider circuit does not change, it is determined that the presence information of the battery is in an online state;

When it is determined that the voltage of the second voltage divider circuit is the preset voltage, the channel switch of the control channel is turned off to not charge the battery, and the voltage of the second voltage divider circuit is detected again; if the battery is detected If the voltage of the battery remains unchanged, it is determined that the battery in-position information is in a fully charged state; if it is detected that the voltage of the battery is out of groove, it is determined that the battery in-position information is in the unplugged state.
The method of claim 209, wherein the presence detection circuit comprises:

A field effect tube, the gate of the field effect tube is used to connect to the battery, the drain is connected to a preset voltage through a resistor, and the source is grounded. The drain of the field effect tube of the in-position detection circuit is also connected to the charger The main control circuit connection;

The detection of the presence information of the battery through the presence detection circuit includes:

When detecting that the drain of the field effect transistor is a low-level signal, determining that the battery presence information is in an online state;

When it is detected that the drain of the field effect transistor is a high-level signal, it is determined that the battery presence information is in the unplugged state.
The method of claim 204, wherein the method comprises:

Obtain the battery voltages of a plurality of the batteries, and charge the batteries according to the size of the battery voltages, so as to ensure that the batteries with a larger battery voltage are charged preferentially.
The method of claim 214, wherein the charging the battery according to the size of the battery voltage comprises

The plurality of batteries are sorted in descending order according to the battery voltage, and the plurality of batteries are charged according to the sorting result.
The method of claim 214, wherein the charging the battery according to the size of the battery voltage comprises:

The multiple batteries are grouped according to the size of the battery voltage, and the multiple batteries are charged according to the grouping result.
The method of claim 204, wherein the method comprises:

The display of the indicator light is controlled according to the battery power of the battery to inform the user of the battery power of the battery.
The method of claim 204, wherein the method comprises:

Obtain battery information of the battery, where the battery information includes charging information and/or battery failure information.
The method of claim 218, wherein the method comprises:

Save the battery information of the battery.
The method of claim 204, wherein the method comprises:

Alarm notification via buzzer.
A charging control system, characterized in that, the charging control system comprises: one or more processors working individually or together, and the processors are used to implement the method according to any one of claims 47 to 75.
A charging control system, characterized in that, the charging control system comprises: one or more processors working individually or together, and the processors are used to implement the method according to any one of claims 108 to 131.
A charging control system, characterized in that, the charging control system comprises: one or more processors working individually or together, and the processors are used to implement the method according to any one of claims 159 to 178.
A charging control system, characterized in that the charging control system comprises: one or more processors, working individually or together, and the processors are used to implement the method according to any one of claims 204 to 220.
A computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes the process described in any one of claims 47 to 75 Method; or implement the method of any one of claims 108 to 131; or implement the method of any one of claims 159 to 178; or implement the method of any one of claims 204 to 220.