WO2021223172A1 - 供电电路、电源装置、移动平台和剩余电量的调节方法 - Google Patents

供电电路、电源装置、移动平台和剩余电量的调节方法 Download PDF

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Publication number
WO2021223172A1
WO2021223172A1 PCT/CN2020/089020 CN2020089020W WO2021223172A1 WO 2021223172 A1 WO2021223172 A1 WO 2021223172A1 CN 2020089020 W CN2020089020 W CN 2020089020W WO 2021223172 A1 WO2021223172 A1 WO 2021223172A1
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WIPO (PCT)
Prior art keywords
battery
power
power supply
circuit
slow
Prior art date
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PCT/CN2020/089020
Other languages
English (en)
French (fr)
Inventor
李鹏
许柏皋
林宋荣
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2020/089020 priority Critical patent/WO2021223172A1/zh
Priority to CN202080006095.1A priority patent/CN113016116A/zh
Publication of WO2021223172A1 publication Critical patent/WO2021223172A1/zh

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0063—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with circuits adapted for supplying loads from the battery
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M10/00—Secondary cells; Manufacture thereof
    • H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
    • H01M10/44—Methods for charging or discharging
    • H01M10/441—Methods for charging or discharging for several batteries or cells simultaneously or sequentially
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M10/00—Secondary cells; Manufacture thereof
    • H01M10/60—Heating or cooling; Temperature control
    • H01M10/61—Types of temperature control
    • H01M10/615—Heating or keeping warm
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0029—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with safety or protection devices or circuits
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
    • H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10—Energy storage using batteries

Definitions

  • This application relates to the technical field of power supply, in particular to a power supply circuit, a power supply device, a mobile platform, and a method for adjusting the remaining power.
  • the drone supplies power to the load in the form of multiple batteries in parallel.
  • Parallel power supply of multiple batteries currently has the problems of poor use safety and poor user experience.
  • a surge current may be generated inside the circuit.
  • the surge current can generally reach several hundred amperes, which can easily generate sparks and cause damage to the device.
  • the embodiments of the present application provide a power supply circuit, a power supply device, a mobile platform, and a method for adjusting the remaining power.
  • An embodiment of the present application provides a power supply circuit, where the power supply circuit is used to connect at least two power supply modules connected in parallel, and the power supply circuit includes:
  • a power supply output terminal the power supply circuit supplies power to the load through the power supply output terminal;
  • each of the branches is used to connect between the power output terminal and one of the power modules;
  • each of the branches includes a slow-start circuit, and the slow-start circuit is used to connect between the power output terminal and the corresponding one of the power supply modules; and each slow-start circuit is not connected to the corresponding one. When the power module is electrically connected, the corresponding slow-start circuit is disconnected.
  • each power module is connected to a slow-start circuit separately, so as to avoid the occurrence of inrush current and ignition and other abnormalities when the power module is replaced by hot standby.
  • At least two power modules connected in parallel are used to provide power to the load.
  • a power supply circuit the power supply circuit is used to connect the at least two power modules connected in parallel, the power supply circuit includes:
  • a power supply output terminal the power supply circuit is used to supply power to the load through the power supply output terminal;
  • each of the branches is used to connect between the power output terminal and one of the power modules;
  • each of the branches includes a slow-start circuit, and the slow-start circuit is used to connect between the power output terminal and the corresponding one of the power supply modules; and each slow-start circuit is not connected to the corresponding one. When the power module is electrically connected, the corresponding slow-start circuit is disconnected.
  • each power supply module is connected to a slow-start circuit separately, so as to avoid the occurrence of inrush current, sparking and other abnormalities when the power supply module is replaced by hot standby.
  • a mobile platform provided by an embodiment of the present application includes the above-mentioned power supply circuit or the above-mentioned power supply device.
  • each power module is connected to a slow-start circuit separately, so as to avoid the occurrence of inrush current and ignition and other abnormalities when the power module is replaced by a hot standby.
  • An embodiment of the application provides a method for adjusting the remaining power of a power supply device, where the power supply device includes a first battery and a second battery, and the power supply circuit described in any of the foregoing aspects;
  • the adjustment method includes:
  • the battery with the larger remaining power is heated until the remaining power and the remaining power of the battery with the larger remaining power are smaller
  • the remaining power of the batteries is approximately equal.
  • the battery with the larger remaining power when the temperature of the battery with the larger remaining power satisfies the preset heating condition, the battery with the larger remaining power is heated, so that the temperature of the battery after the heating treatment is increased; the internal resistance is reduced, and the discharge current Automatically increase.
  • the remaining power of the battery will rapidly decrease until the remaining power of the battery is approximately equal to the remaining power of the battery with a smaller remaining power, which can avoid over-discharge of a single battery with a lower SOC. , Resulting in the risk of bombing a single battery with a higher SOC during flight, thereby improving the safety of UAV flight.
  • An embodiment of the application provides a method for adjusting the remaining power of a power supply device, where the power supply device includes a first battery and a second battery, and the power supply circuit described in any of the foregoing aspects;
  • the adjustment method includes:
  • the difference between the remaining power of the first battery and the remaining power of the second battery is greater than a first threshold, the respective attribute information of the first battery and the second battery are obtained respectively.
  • the battery with the larger internal resistance is heated until the remaining power of the battery with the larger internal resistance is It is approximately equal to the remaining capacity of a battery with a smaller internal resistance.
  • FIG. 1 is a schematic diagram of modules of a power supply device according to an embodiment of the present application
  • Fig. 2 is a schematic diagram of modules of a mobile platform according to an embodiment of the present application.
  • FIG. 3 is a schematic diagram of another part of the module of the power supply circuit according to the embodiment of the present application.
  • 4 to 5 are schematic diagrams of partial modules of the power supply circuit of the embodiment of the present application.
  • FIG. 6 is a schematic diagram of another module of the power supply device according to the embodiment of the present application.
  • FIG. 7 is a flowchart of a method for adjusting remaining power provided by an embodiment of the application.
  • FIG. 8 is a flowchart of another method for adjusting remaining power provided by an embodiment of the application.
  • FIG. 9 is a schematic diagram of another module of the mobile platform according to the embodiment of the present application.
  • FIG. 10 is a schematic diagram of another module of the mobile platform according to the embodiment of the present application.
  • Power supply circuit 100 power supply device 200, load 300, mobile platform 400;
  • the slow-start control circuit 31 the switch 33, the input terminal 331, the output terminal 333, the one-way control circuit 35, and the power detection circuit 37.
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with “first” and “second” may explicitly or implicitly include one or more of the features.
  • “plurality” means two or more, unless otherwise clearly defined.
  • connection should be understood in a broad sense, unless otherwise clearly specified and limited.
  • it can be a fixed connection or a detachable connection.
  • It can be a mechanical connection or an electrical connection.
  • It can be directly connected, or indirectly connected through an intermediate medium, and it can be a communication between two elements or an interaction relationship between two elements.
  • the specific meanings of the above-mentioned terms in this application can be understood according to specific circumstances.
  • a slow start circuit 17 can be added.
  • the dual batteries are connected in parallel to supply power to the avionics system and the ESC system after a slow start.
  • the filter capacitors before the avionics and ESC are both 42V.
  • the UAV system is constantly powered, and the slow start is normally open.
  • the embodiment of the present application adopts a method of separately slowing the start circuit 17 for multiple batteries in an unmanned aerial vehicle system powered by multiple batteries to solve the surge problem in the process of thermally replacing the batteries.
  • the solution proposed in the embodiment of the present application can be applied to a power supply device 200, and the power supply device 200 can include a power supply module 11 and a slow start circuit 17.
  • the power supply device 200 is used to supply power to a load 300, for example, to supply power to a movable platform and a load carried on the movable platform.
  • the power module 11 may include a BMS (Battery Management System).
  • the battery management system includes an MCU (Microcontroller Unit) and a discharging resistor.
  • the discharging resistor is connected to the battery through a discharging circuit for the Discharge the battery under control.
  • the micro-control unit is used to obtain the battery parameters of the battery and process the battery parameters, such as charging current, charging voltage, charging time, discharging current, discharging current, discharging time, battery temperature, constant voltage charging time, constant voltage The ratio of charge capacity to charge-discharge capacity and so on.
  • the battery management system can be used to estimate the SOC (State of Charge, state of charge), that is, the remaining power of the battery, to ensure that the SOC is maintained within a reasonable range, and to prevent damage to the battery due to overcharge or overdischarge.
  • SOC State of Charge, state of charge
  • the battery management system can also collect the battery voltage, temperature, and charging and discharging current in real time to prevent the battery from being overcharged or overdischarged.
  • the power supply module 11 supplies power to the motor of the aircraft to control the rotation of the propeller of the motor to realize the flight of the aircraft; for another example, the power supply module 11 supplies power to the camera camera mounted on the aircraft for aerial photography and so on.
  • the aircraft includes drones, which include rotary-wing drones, such as four-rotor drones, hexa-rotor drones, and octo-rotor drones. It can also be a fixed-wing drone or It is a combination of rotary-wing and fixed-wing drones, and is not limited here.
  • rotary-wing drones such as four-rotor drones, hexa-rotor drones, and octo-rotor drones. It can also be a fixed-wing drone or It is a combination of rotary-wing and fixed-wing drones, and 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 strikes.
  • 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.
  • an embodiment of the present application provides a power supply circuit 100, and the power supply circuit 100 is used to connect at least two power modules 11 connected in parallel.
  • the power supply circuit 100 includes a power output terminal 13 and at least two parallel branches 15.
  • the power supply circuit 100 supplies power to the load 300 through the power output terminal 13.
  • Each branch 15 is used to connect between a power output terminal 13 and a power module 11.
  • each branch 15 includes a slow-start circuit 17, and the slow-start circuit 17 is used to connect between the power output terminal 13 and a corresponding power module 11.
  • the corresponding slow-start circuit 17 is disconnected.
  • each power module 11 is connected to the slow start circuit 17 to avoid the occurrence of surge current and sparking abnormalities when the power module 11 is hot-standby replaced.
  • each branch 15 electrically connects the power module 11 and the power output terminal 13 through the slow-start circuit 17.
  • the slow-start circuit 17 can buffer the output current of the power module 11 at the power output terminal 13 to avoid large fluctuations and sudden changes in the output current.
  • the slow-start circuit 17 will shut itself down.
  • the slow-start circuit 17 when the slow-start circuit 17 is electrically connected to the corresponding power module 11 again (the operation of replacing the power module 11 is completed), the slow-start circuit 17 will start according to the output voltage of the power module 11, so that the power module 11 is electrically connected Power output 13. At the same time, the internal impedance of the slow-start circuit 17 will change, limiting the current output by the power supply module 11, so that the output current at the power output terminal 13 is reduced and a large surge current cannot be generated, thereby avoiding accidents such as ignition. .
  • the power supply circuit 100 can be used for the power supply device 200 and the mobile platform.
  • Mobile platforms include drones, robots, mobile vehicles, etc.
  • the mobile platform may include a power module 11 and a body.
  • the fuselage is used to connect an external power source to charge the power supply module 11.
  • the power supply circuit 100 is used for battery thermal replacement of the drone.
  • the load 300 may include an avionics system, an ESC system, a motor system, an imaging system, etc. carried on an unmanned aerial vehicle. It can be understood that drones have high performance requirements for their own loads, and it is not convenient to carry large-capacity batteries. Moreover, the drones have more loads and consume more power. Therefore, the batteries need to be replaced more frequently to maintain the drones. Normal operation. In this case, limiting the surge current generated at the power output terminal 13 can protect the load connected to the power output terminal 13 without causing damage, and avoid accidents such as fire or burnout of the drone.
  • the power module 11 includes at least one of the following: a battery and a power bank. In this way, the flexibility of replacing the power module 11 can be improved.
  • the number of branches 15 is two, and the slow-start circuit 17 on each branch 15 can be electrically connected to one battery.
  • the number of branches 15 is two, and the slow-start circuit 17 on one branch 15 can be electrically connected with a battery, and the slow-start circuit 17 on the other branch 15 can be electrically connected with one battery. power Bank.
  • the number of branches 15 is two, and the slow-start circuit 17 on each branch 15 can be electrically connected to one power bank.
  • the power supply circuit 100 includes an energy storage capacitor 21.
  • One end of the energy storage capacitor 21 is connected to the power output terminal 13 and the load 300, and the other end of the energy storage capacitor 21 is grounded. In this way, it can be ensured that the voltage at the output terminal 13 of the power supply is stable or changes within a desired range.
  • the number of branches 15 is two.
  • the power module 11 includes a first power module 111 and a second power module 112.
  • the slow-start circuit 17 on one branch 15 is electrically connected to the first power module 111, and the slow-start circuit 17 on the other branch 15 is electrically connected to The second power module 112.
  • each power module 11 is connected with a slow start circuit 17 to supply power to the power output terminal 13.
  • the power supply module 11 is a battery, and the positive poles of the first power supply module 111 and the second power supply module 112 are electrically connected to the power output terminal 13 via the respective connected slow-start circuits 17, and the first power supply The negative poles of the module 111 and the second power module 112 are grounded, so that the first power module 111 and the second power module 112 are connected in parallel.
  • the energy storage capacitor 21 includes a first energy storage capacitor 211 and a second energy storage capacitor 213. One end of the first energy storage capacitor 211 and the second energy storage capacitor 213 are both connected to the power output terminal 13, and the other end is grounded.
  • the load 300 includes a first load 23 and a second load 25.
  • the first load 23 may include the avionics system of the UAV
  • the second load 25 may include the ESC and the motor system of the UAV.
  • the first load 23 is connected to one end of the first energy storage capacitor 211 and the power output terminal 13
  • the second load 25 is one end of the second energy storage capacitor 213 and the power output terminal 13.
  • the first energy storage capacitor 211 and the second energy storage capacitor 213 can buffer the output voltage, so that the fluctuation intensity of the output voltage is reduced and remains stable or changes within a desired range, so as to avoid impact on the first load 23.
  • the power supply voltage at the second load 25 and the second load 25 cause a greater impact.
  • large fluctuations in the supply voltage may cause the internal circuit structure to burn out, deviate from the normal working state, and affect the use.
  • the capacitances of the first energy storage capacitor 211 and the second energy storage capacitor 213 can be selected according to the first load 23 and the second load 25, or calibrated according to experimental tests.
  • the capacitance of the first energy storage capacitor 211 is 100 microfarads ( ⁇ F)
  • the capacitance of the second energy storage capacitor 213 is 1000 microfarads ( ⁇ F).
  • the capacitances of the first energy storage capacitor 211 and the second energy storage capacitor 213 may be the same value or different values.
  • the energy storage capacitor 21 is preset with an output voltage threshold.
  • the first energy storage capacitor 211 is preset with a first output voltage threshold.
  • the second energy storage capacitor 213 is preset with a second output voltage threshold. In the case that the output voltage at the power output terminal 13 is less than the first output voltage threshold, the output voltage is not enough to start the first load 23, and the first load 23 cannot be supplied with power.
  • the second load 25 cannot be supplied with power, so that the first load 23 and/or the first load 23 and/or the first load can be ensured.
  • the second load 25 will not affect the normal working state due to the low supply voltage.
  • the slow-start circuit 17 includes a slow-start control circuit 31 and a switch 33.
  • the slow start control circuit 31 is connected to the switch 33 and is used to control the on and off of the switch 33 to control the on and off of the slow start circuit 17. In this way, the automatic on and off of the slow start circuit 17 can be realized.
  • the slow start circuit 17 includes an input terminal 331 and an output terminal 333.
  • the switch 33 is connected to the input terminal 331 and the output terminal 333 of the slow start circuit 17.
  • the slow-start circuit 17 is connected to the power module 11 through the input terminal 331 and is connected to the power output terminal 13 through the output terminal 333.
  • the switch 33 conducts the input 331 and the output 333 of the slow start circuit 17 so that the power module 11 can supply power to the power output 13.
  • the switch 33 disconnects the input 331 and the output 333 of the slow-start circuit 17 so that the power module 11 is disconnected from the electrical connection between the power output 13.
  • the switching element 33 includes a metal oxide half field effect transistor.
  • the slow-start control circuit 31 includes a slow-start control chip (not shown). In this way, the slow-start circuit 17 can limit the surge current based on the characteristics of the switching element 33.
  • the slow start control chip is preset with a start voltage threshold. Please refer to Figure 3, when the voltage of the power module 11 is not greater than the starting voltage threshold, the slow start control chip controls the switch 33 to disconnect the connection between the power output terminal 13 and the power module 11 and the power output terminal 13 Electric connection.
  • the slow start control chip controls the switch 33 to be turned on, so that the MOSFET is turned on, and the internal impedance value changes.
  • the MOSFET has a relatively large impedance value when it is turned on, and the impedance value will decrease over time, so that the power module 11 cannot be generated when the power output terminal 13 is initially connected. The larger surge current will not affect the subsequent normal power supply of the power module 11 after the power output terminal 13 is connected.
  • the start voltage threshold can be adjusted by the slow start control chip. It can be understood that the slow start control chip can control the metal oxide half field effect transistor by carrying a computer readable storage medium, which can slow down the power module 11 at the power output terminal 13. The degree of change of the output current at the position reaches the slow-start function of the slow-start circuit 17.
  • the slow-start circuit 17 includes an input terminal 331 and an output terminal 333.
  • the input terminal 331 is connected to the power module 11, and the output terminal 333 is connected to the power output terminal 13.
  • the slow start circuit 17 is used to disconnect the connection between the input terminal 331 and the output terminal 333 when the power module 11 is not connected. In this way, the connection between the input terminal 331 and the output terminal 333 can be disconnected to avoid a large surge current when the power module 11 is reconnected.
  • the input voltage that the slow-start circuit 17 can detect (the voltage input by the power module 11 at the slow-start circuit 17) is 0.
  • the slow-start circuit 17 is disconnected from the power output terminal 13, so that the surge current generated when the power module 11 is electrically connected to the slow-start circuit 17 will not be immediately transmitted to the power output terminal 13 And cause an accident.
  • the power module 11 is electrically connected to the slow-start circuit 17 again, which means that after the slow-start circuit 17 is disconnected from the power module 11, a power module 11 is electrically connected again, and the power module 11 can be electrically connected to the previous slow-start circuit 17.
  • the power module 11 (that is, the power module 11 re-powers the power supply circuit 100 after the charging is completed) may also be another power module 11 (that is, the power module 11 is replaced).
  • the slow start circuit 17 is used to determine whether to connect the power module 11 according to the voltage of the detection input terminal 331.
  • the slow start circuit 17 presets an input voltage threshold for the power module 11.
  • the input voltage threshold may be zero. In the case where the voltage of the input terminal 331 is greater than 0, the slow start circuit 17 can be determined to be connected to the power module 11. In other embodiments, the input voltage threshold may be other values greater than 0, and the input voltage threshold may be selected according to specific conditions, which will not be detailed here.
  • the power supply circuit 100 further includes a unidirectional control circuit 35.
  • the one-way control circuit 35 is provided in the branch 15 to make the current flow of the branch 15 flow in one direction. In this way, the input current generated by the power module 11 on the branch 15 can be prevented from flowing in the reverse direction.
  • the unidirectional control circuit 35 may include diodes, semiconductor transistors (bipolar transistors, field effect transistors), integrated circuits, etc., so that current will only flow to the load 300 connected at the power output terminal 13, and not It will flow back to the other branch 15 and charge the power module 11 on the other branch 15.
  • the power output terminal 13 is connected with a first energy storage capacitor 211 and a second energy storage capacitor 213. It can be understood that when the power supply circuit 100 supplies power to the first load 23 and the second load 25, the first energy storage capacitor 211 and the second energy storage capacitor 213 form a potential difference and store electrical energy. By providing the one-way control circuit 35, the first energy storage capacitor 211 and the second energy storage capacitor 213 cannot form a tendency to charge the power modules 11 on the branches 15 with lower input current, thereby avoiding charging The electronic components on the power supply circuit 100 cause damage and other circuit hazards.
  • the one-way control circuit 35 is connected between the slow start circuit 17 and the power output terminal 13.
  • the unidirectional control circuit 35 is connected between the slow start circuit 17 and the power module 11.
  • the slow-start circuit 17 includes an input terminal 331 and an output terminal 333, and the unidirectional control circuit 35 is provided in the slow-start circuit 17 and is electrically connected between the input terminal 331 and the output terminal 333.
  • the connection position of the unidirectional control circuit 35 on the branch 15 can be adjusted according to the specific structure and some requirements of the power supply circuit 100 for responding to specific usage conditions.
  • the unidirectional control circuit 35 includes an ideal diode to prevent the batteries from charging each other.
  • the unidirectional control circuit 35 includes an ideal diode.
  • the ideal diode is turned on when charging the battery.
  • the power supply module 11 with a low power supply voltage is charged with almost no voltage drop and power loss, and can significantly improve the utilization efficiency of electric energy, does not generate heat, and improves the safety of charging.
  • the ideal diode includes a field-effect transistor and a driver.
  • the driver is connected to the gate of the field-effect transistor to control the turn-on and turn-off of the field-effect transistor to realize the function of "forward conduction and reverse cutoff".
  • the driver detects that there is a positive voltage difference between the drain and source of the field effect transistor, it sends a level signal, such as a high level signal, to the gate of the field effect transistor to control the field effect transistor to turn on, that is, " Forward conduction”;
  • a level signal such as a high level signal
  • the driver detects a negative voltage difference between the drain and source of the field effect transistor, it sends a level signal to the gate of the field effect transistor, such as a low level signal, or does not send a level signal, control
  • the field effect transistor is turned off, that is, "reverse cut-off". This realizes the "forward conduction and reverse cutoff" function of an ideal diode.
  • the driver can be a chip U1, which has low power consumption.
  • the chip U1 can also include a signal receiving terminal OFF. When the signal receiving terminal OFF receives the first preset level, the driver (chip U1) is turned off to save power. Purpose; when the signal receiving terminal OFF receives the second preset level, the driver (chip U1) is turned on to detect whether there is a positive-negative voltage difference between the drain and the source of the field effect transistor, so as to achieve "forward conduction, reverse cutoff" "The role of.
  • the first preset level is less than the second preset level.
  • the first preset level is a low level
  • the second preset level is a high level.
  • the power supply circuit 100 includes a power detection circuit 37.
  • the branch 15 includes a power input terminal 19, and the power input terminal 19 is electrically connected to the corresponding power module 11.
  • the power detection circuit 37 is used to detect the input voltage of the power input terminal 19 to determine whether the power module 11 is electrically connected to the corresponding slow-start circuit 17. In this way, it can be easily determined that the power supply module 11 has been connected to the power supply circuit 100.
  • the input voltage of the power input terminal 19 and the output voltage of the power output terminal 13 will change.
  • the voltage value of the port voltage of the branch 15 (the input voltage of the power input terminal 19 and/or the output voltage of the power output terminal 13) is greater than 0 it is determined that the power module 11 and the corresponding buffer The starting circuit 17 is electrically connected.
  • the port voltage of the branch 15 changes to the preset port voltage threshold, it can also be determined that the power supply module 11 is electrically connected to the corresponding slow-start circuit 17.
  • a corresponding prompt is made. In this way, it is convenient to remind the user that the power module 11 is correctly connected to the power input terminal 19.
  • the power supply circuit 100 can remind the user through at least one of prompt sound, light with a specific change pattern, text, and voice to form corresponding prompt information.
  • the prompt can be through a buzzer, LED light, display screen, and speaker. And so on.
  • the power supply circuit 100 can detect the electrical parameters of the power supply module 11, and when the electrical parameters of the power supply module 11 meet the preset conditions, control to disconnect the slow start circuit 17 and give a prompt. In this way, the power supply module 11 and the power supply circuit 100 can be disconnected more accurately.
  • the electrical parameters include at least one of the following: the voltage of the power module 11, the power of the power module 11, the internal resistance of the power module 11, and the temperature of the power module 11.
  • the electrical parameter is the temperature of the power module 11, and the power supply circuit 100 presets the power module 11 with a temperature threshold.
  • the power supply module 11 supplies power to the power supply circuit 100 and the temperature reaches the temperature threshold, it can be determined that the power supply module 11 is in a state where it cannot continue to supply power, and the slow start circuit 17 is disconnected so that the power supply module 11 and the power output terminal 13 The connection between the two is disconnected, and a prompt signal is issued to remind the user to replace the power module 11, so as to avoid accidents that the power module 11 continues to heat up and burn out.
  • the electrical parameter is the internal resistance of the power module 11, and the power supply circuit 100 presets the power module 11 with an internal resistance threshold. It can be understood that when the power supply module 11 supplies power, the internal resistance will increase. When the internal resistance reaches the preset internal resistance threshold, the power supply module 11 will be in a state where it cannot continue to supply power. When the connection is disconnected, a prompt signal is issued to remind the user to replace the power module 11, so as to avoid accidents that the power module 11 continues to heat up and burn out.
  • the electrical parameter types in other embodiments will not be expanded in detail here.
  • the slow start circuit 17 is controlled to disconnect, or a prompt is given.
  • the power supply circuit 100 includes an electrical parameter detection circuit, and the electrical parameter detection circuit is used to detect the electrical parameters of the power supply module 11. It can be understood that when the power supply module 11 supplies power to the power supply circuit 100, its electrical parameters will change accordingly.
  • the electrical parameter is voltage.
  • the input voltage of the power module 11 is 52.8V.
  • the power supply module 11 continues to supply power until the input voltage reaches 42V (also the preset voltage threshold), it may be difficult for the operating voltage required by the load 300 at the power output terminal 13 to be required, and the power supply module 11 needs to be replaced. In this case, the slow start circuit 17 is disconnected, and a prompt signal is issued to remind the user, so that the power supply module 11 and the power supply circuit 100 can be disconnected to facilitate the replacement of the power supply module 11.
  • an embodiment of the present application provides a power supply device 200 that includes at least two power supply modules 11 and a power supply circuit 100 connected in parallel.
  • the power module 11 is used to provide power to the load 300.
  • the power supply circuit 100 is used to connect at least two power supply modules 11 connected in parallel.
  • the power supply circuit 100 includes a power output terminal 13 and at least two parallel branch circuits 15.
  • the power supply circuit 100 is used to supply power to the load 300 through the power output terminal 13, and each branch circuit 15 is used to connect the power output terminal 13 and a power module Between 11.
  • each branch 15 includes a slow start circuit 17.
  • the slow-start circuit 17 is used to connect between the power output terminal 13 and a corresponding power module 11; when each slow-start circuit 17 is not electrically connected to the corresponding power module 11, the corresponding slow-start circuit 17 is disconnected open.
  • each power supply module 11 is connected to the slow-start circuit 17 separately, so as to avoid the occurrence of inrush current and ignition and other abnormalities when the power supply module 11 is hot-standby replaced.
  • the power supply device 200 in the embodiment of the present application can be used to provide continuous and stable power supply to a mobile platform.
  • Mobile platforms include drones, robots, and mobile vehicles.
  • the first load 23 includes the avionics system of the drone
  • the second load 25 includes the ESC and the motor system of the drone.
  • the avionics system includes various loads mounted on the UAV, such as the central processing unit, image processor, camera, radar, etc.
  • the motor system is connected to the power output terminal 13 through the ESC system.
  • the ESC system can control the electrical parameters (such as voltage, current, etc.) of the motor system to adjust the output power of the motor to accurately control the flying speed of the drone , Flight direction and shooting angle.
  • the motor system may include a pan/tilt motor, a blade motor, a radar motor, and so on.
  • the power supply device 200 When the power supply device 200 detects that the power supply module 11 connected to one of the branches 15 needs to be replaced, it can disconnect the connection between the branch 15 and the power output terminal 13, and/or send a signal to The user is reminded that the connection between the slow start circuit 17 and the power output terminal 13 is disconnected. After the corresponding power module 11 on the branch 15 is replaced, the power supply circuit 100 limits the surge current generated by the power module 11 through the slow start circuit 17, so that the output current of the power module 11 at the power output terminal 13 cannot be carried out. The obvious sudden change avoids impact on the load connected to the output terminal 13 of the power supply (the first load 23, the second load 25).
  • the power supply device 200 can control the power supply module 11 to automatically cut off to disconnect the corresponding branch 15 and the power output 13.
  • the power module 11 includes at least one of the following: a battery and a power bank. In this way, the flexibility of replacing the power supply module 11 can be improved.
  • the power supply circuit 100 includes an energy storage capacitor 21.
  • One end of the energy storage capacitor 21 is connected to the power output terminal 13 and the load 300, and the other end of the energy storage capacitor 21 is grounded. In this way, it can be ensured that the voltage at the output terminal 13 of the power supply is stable or changes within a desired range.
  • the slow-start circuit 17 includes a slow-start control circuit 31 and a switch 33.
  • the slow start control circuit 31 is connected to the switch 33 and is used to control the on and off of the switch 33 to control the on and off of the slow start circuit 17. In this way, the automatic on and off of the slow start circuit 17 can be realized.
  • the switch 33 is connected to the input terminal 331 and the output terminal 333 of the slow-start circuit 17.
  • the switching element 33 includes a MOSFET.
  • the slow-start control circuit 31 includes a slow-start control chip (not shown). In this way, the slow-start circuit 17 can limit the surge current based on the characteristics of the switching element 33.
  • the slow-start circuit 17 includes an input terminal 331 and an output terminal 333.
  • the input terminal 331 is connected to the power module 11, and the output terminal 333 is connected to the power output terminal 13.
  • the slow start circuit 17 is used to disconnect the connection between the input terminal 331 and the output terminal 333 when the power module 11 is not connected. In this way, the connection between the input terminal 331 and the output terminal 333 can be disconnected to avoid a large surge current when the power module 11 is reconnected.
  • the slow start circuit 17 is used to determine whether to connect the power module 11 according to the voltage of the detection input terminal 331.
  • the slow start circuit 17 can be determined to be connected to the power module 11.
  • the power supply circuit 100 further includes a unidirectional control circuit 35.
  • the one-way control circuit 35 is provided in the branch 15 to make the current flow of the branch 15 flow in one direction. In this way, the input current generated by the power module 11 on the branch 15 can be prevented from flowing in the reverse direction.
  • the one-way control circuit 35 is connected between the slow-start circuit 17 and the power output terminal 13; alternatively, the one-way control circuit 35 is connected between the slow-start circuit 17 and the power module 11.
  • the power supply circuit 100 includes a power detection circuit 37.
  • the branch 15 includes a power input terminal 19, and the power input terminal 19 is electrically connected to the corresponding power module 11.
  • the power detection circuit 37 is used to detect the input voltage of the power input terminal 19 to determine whether the power module 11 is electrically connected to the corresponding slow-start circuit 17. In this way, it can be easily determined that the power supply module 11 has been connected to the power supply circuit 100.
  • the voltage value of the port voltage of the branch 15 (the input voltage of the power input terminal 19 and/or the output voltage of the power output terminal 13) is greater than 0, it is determined that the power module 11 and the corresponding buffer The starting circuit 17 is electrically connected.
  • a corresponding prompt is made. In this way, it is convenient to remind the user that the power module 11 is correctly connected to the power input terminal 19.
  • the power supply circuit 100 can detect the electrical parameters of the power supply module 11, and when the electrical parameters of the power supply module 11 meet the preset conditions, control to disconnect the slow start circuit 17 and/or prompt . In this way, the power supply module 11 and the power supply circuit 100 can be disconnected more accurately.
  • the power supply circuit 100 includes an electrical parameter detection circuit, and the electrical parameter detection circuit is used to detect the electrical parameters of the power supply module 11.
  • the electrical parameter includes at least one of the following: the voltage of the power module 11, the power of the power module 11, the internal resistance of the power module 11, and the temperature of the power module 11.
  • the power supply device 200 provided in the foregoing embodiment includes a plurality of power supply modules 11. Taking two batteries connected in parallel as an example, when the drone is flying in a low temperature environment, if the aging degrees of the two batteries in the power supply device 200 are not consistent, This will cause the discharge currents of the two batteries to be inconsistent. With the passage of flight time, the SOC (State of Charge) difference of the two batteries will become larger and larger, so that the single battery with lower SOC will be over-discharged. The single battery with higher SOC has the risk of bombing during flight, which makes the flight safety of drones lower.
  • SOC State of Charge
  • the embodiments of the present application provide at least two methods for adjusting the remaining battery power, both of which are applied to a movable platform.
  • the movable platform includes a power supply device 200.
  • the power supply device 200 includes at least two batteries. A battery and a second battery.
  • the power supply device 200 may include the power supply circuit 100 provided in any of the foregoing embodiments.
  • the attribute information of the battery with the larger remaining power may be acquired first; the attribute information includes Temperature; if the temperature of the battery with the larger remaining power meets the preset heating conditions, the battery with the larger remaining power will be heated until the remaining power of the battery with the larger remaining power is similar to the remaining power of the battery with the smaller remaining power equal.
  • the battery with the larger remaining power is one of the first battery and the second battery; the battery with the smaller remaining power is the other battery of the first battery and the second battery.
  • the first threshold may be 2% or 3%, of course, it may also be 2.5%, which can be specifically set according to actual needs.
  • the value of the first threshold is not used in the embodiment of the application. Further limit.
  • the attribute information of the battery with the larger remaining power can also be obtained in real time or periodically, so that the remaining power of the first battery and the remaining power of the second battery are determined.
  • the battery is heated, instead of obtaining the attribute information of the battery with the larger remaining power when it is determined that the difference between the remaining power of the first battery and the remaining power of the second battery is greater than the first threshold.
  • the power consumption is increased, the heating efficiency is improved to a certain extent.
  • the operation of obtaining the attribute information of the battery with the larger remaining power and determining that the difference between the remaining power of the first battery and the remaining power of the second battery is greater than the first threshold There is no sequence between these two operations. You can first perform the operation of obtaining the attribute information of the battery with the larger remaining power, and then perform determining that the difference between the remaining power of the first battery and the remaining power of the second battery is greater than that of the first battery.
  • a threshold operation it is also possible to perform the operation of determining that the difference between the remaining power of the first battery and the remaining power of the second battery is greater than the first threshold, and when determining the remaining power of the first battery and the remaining power of the second battery When the difference is greater than the first threshold, the operation of obtaining the attribute information of the battery with the larger remaining power is performed, which can be specifically set according to actual needs.
  • the operation of obtaining the attribute information of the battery with the larger remaining power is taken as an example to illustrate the technical solutions of the embodiments of the present application, but it does not represent the present invention.
  • the application examples are only limited to this.
  • the respective attribute information of the first battery and the second battery can be obtained first , Attribute information internal resistance; if the internal resistance of the first battery and the internal resistance of the second battery meet the preset heating conditions, the battery with the larger internal resistance will be heated until the remaining power and internal resistance of the battery with the larger internal resistance are The remaining power of the battery with the smaller resistance is approximately equal; the battery with the larger internal resistance is one of the first battery and the second battery; the battery with the smaller internal resistance is the other of the first battery and the second battery Battery.
  • the respective attribute information of the first battery and the second battery are obtained respectively, the difference between the remaining power of the first battery and the remaining power of the second battery is determined.
  • the value is greater than the first threshold, the respective attribute information of the first battery and the second battery are obtained respectively to determine that the internal resistance of the first battery and the internal resistance of the second battery meet the preset heating conditions according to the attribute information.
  • the difference between the remaining power of the first battery and the remaining power of the second battery is less than the first threshold, the respective attribute information of the first battery and the second battery will not be obtained separately. Power consumption generated by the respective attribute information of the battery and the second battery.
  • the respective attribute information of the first battery and the second battery can also be obtained in real time or periodically, so that the remaining power of the first battery and the second battery are determined.
  • the difference between the remaining power is greater than the first threshold, it can be directly determined according to the acquired attribute information that the internal resistance of the first battery and the internal resistance of the second battery meet the preset heating conditions, and when it is determined that the preset heating conditions are met, Directly heat the battery with large internal resistance, instead of obtaining the respective attributes of the first battery and the second battery when it is determined that the difference between the remaining power of the first battery and the remaining power of the second battery is greater than the first threshold.
  • Information compared with the previous case, although the power consumption is increased, the heating efficiency is improved to a certain extent.
  • the difference in power is greater than the first threshold; it is also possible to perform the operation of determining that the difference between the remaining power of the first battery and the remaining power of the second battery is greater than the first threshold, and to determine the remaining power of the first battery and the first
  • the operation of respectively acquiring the respective attribute information of the first battery and the second battery is performed, which can be specifically set according to actual needs.
  • the operation of separately acquiring the respective attribute information of the first battery and the second battery is taken as an example to illustrate the technical solutions of the embodiments of the present application, but not It does not mean that the embodiments of the present application are limited to this.
  • the heating device in the drone when heating the battery, can be used to heat the battery.
  • the heating device can be provided in the battery, of course, it can also be independent of the battery. set up. After the battery is heated, the remaining power of the two batteries is approximately equal, which can usually include two cases. In one case, approximately equal can be understood as the remaining power of the two batteries is equal; in the other case, approximately equal can be It is understood that the difference between the remaining power of the two batteries is small, for example, the difference is less than a preset threshold. As for the value of the preset threshold value, it can be set according to actual needs. Here, the value of the preset threshold value is not further limited in the embodiment of the present application.
  • the temperature is used to determine whether to heat the battery with a larger remaining power.
  • FIG. 7 is a flowchart of a method for adjusting the remaining battery power of the power supply device 200 according to an embodiment of the present application.
  • the method for adjusting the remaining battery power may be determined by the remaining battery power.
  • the adjustment device is executed, and the adjustment device for the remaining battery power can be installed in the drone.
  • the method for adjusting the remaining power of the battery may include:
  • Step S701 When the difference between the remaining power of the first battery and the remaining power of the second battery is greater than the first threshold, obtain attribute information of the battery with the larger remaining power.
  • the attribute information includes temperature, the battery with the larger remaining power is one of the first battery and the second battery, and the battery with the smaller remaining power is the other battery of the first battery and the second battery.
  • a battery with a larger remaining power is the first battery
  • a battery with a smaller remaining power is a second battery
  • a battery with a larger remaining power is a second battery
  • a battery with a smaller remaining power is the first battery.
  • the remaining power of the first battery and the remaining power of the second battery can be obtained first; in this way, the remaining power of the first battery can be determined. And the remaining power of the second battery, determining whether the difference between the remaining power of the first battery and the remaining power of the second battery is greater than the first threshold.
  • the first threshold can be set according to actual needs.
  • the embodiment of the present application does not specifically limit the value of the first threshold.
  • the attribute information also includes current and/or voltage.
  • the respective currents and/or voltages of the first battery and the second battery can be obtained respectively, and according to The current and/or voltage of the first battery determines the remaining power of the first battery, and the remaining power of the second battery is determined according to the current and/or voltage of the second battery.
  • the remaining power of the first battery when determining the remaining power of the first battery according to the current and/or voltage of the first battery, only the current of the first battery may be obtained, and the remaining power of the first battery may be determined according to the current of the first battery; Only the voltage of the first battery can be obtained, and the remaining power of the first battery can be determined according to the voltage of the first battery; of course, the current and voltage of the first battery can also be obtained at the same time, and the first battery can be determined at the same time according to the current and voltage of the first battery.
  • the remaining power of the battery can be set according to actual needs.
  • the method of determining the remaining power of the second battery based on the current and/or voltage of the second battery is similar to the method of determining the remaining power of the first battery based on the current and/or voltage of the first battery. The embodiment will not be repeated.
  • the difference is greater than the first threshold according to the difference between the remaining power of the first battery and the remaining power of the second battery. If the difference between the remaining power of the first battery and the remaining power of the second battery is less than or equal to the first threshold, it means that the SOC difference between the first battery and the second battery is within an acceptable range. In this case, no one During the subsequent flight of the aircraft, there will be no over-discharge of the single battery with lower SOC, which will cause the risk of explosion when the single battery with higher SOC is flying. Therefore, there is no need to heat the battery with a larger remaining power. .
  • the difference between the remaining power of the first battery and the remaining power of the second battery is greater than the first threshold, it means that during the subsequent flight of the UAV, there will be a single battery with a lower SOC over-discharged, resulting in A single battery with a higher SOC may explode during flight. Therefore, it is necessary to further obtain the temperature of the battery with the larger remaining battery, and determine whether to heat the battery with the larger remaining battery according to the temperature of the battery with the larger remaining battery , So that the remaining power of the battery with the larger remaining power is approximately equal to the remaining power of the battery with the smaller remaining power, so as to avoid the over-discharge of the single battery with lower SOC, which may cause the explosion of the single battery with higher SOC in flight. Therefore, the safety of UAV flight is improved.
  • the embodiment of the present application only takes the temperature of the battery with a large remaining power during the flight of the drone as an example for description, but it does not mean that the embodiment of the present application is limited to this.
  • the method of obtaining the temperature of a battery with a larger remaining power may detect the temperature of the battery by a temperature sensor detection method, which is not limited here.
  • step S702 After obtaining the temperature of the battery with the larger residual current, you can determine whether the temperature of the battery with the larger residual battery meets the preset heating conditions according to the temperature of the battery with the larger residual battery, that is, execute The following step S702:
  • Step S702 According to the temperature of the battery with the larger remaining power, it is determined whether the temperature of the battery with the larger remaining power satisfies the preset heating condition.
  • the preset heating condition is used to limit the temperature of the battery with the larger remaining power, that is, it is only necessary to determine whether the temperature of the battery with the larger remaining power satisfies the temperature condition, and it is not necessary to determine whether the battery with the smaller remaining power satisfies the temperature condition.
  • the temperature of the battery with the larger remaining power is greater than or equal to the preset temperature, the temperature of the battery with the larger remaining power is higher. For the battery with a higher temperature, even if the battery is heated, the temperature will not rise. It makes the battery discharge current automatically increase. Therefore, when the temperature of the battery with the larger remaining power is greater than or equal to the preset temperature, the battery with the larger remaining power will not be heated; on the contrary, if the remaining power is higher If the temperature of the larger battery is lower than the preset temperature, it means that the battery with the larger remaining battery has a lower temperature. You can heat the battery with the larger remaining battery to automatically increase the discharge current of the battery with the larger remaining battery.
  • the remaining power of the battery with the larger remaining power will be rapidly reduced until the remaining power of the battery with the larger remaining power is approximately equal to the remaining power of the battery with the smaller remaining power.
  • the preset temperature can be 40 degrees, or 41 degrees, of course, it can also be 39 degrees, which can be set according to actual needs.
  • the value of the preset temperature is not used in the embodiment of this application. Specific restrictions.
  • the temperature is only used as the judgment condition.
  • the current and/or voltage of the battery can also be used to judge whether the preset heating condition is satisfied. Therefore, the embodiments of the present application only take temperature as an example for description, but it does not mean that the embodiments of the present application are limited to this.
  • step S703 may be performed according to the temperature of the battery with the larger remaining battery:
  • Step S703 If the temperature of the battery with the larger remaining power satisfies the preset heating condition, heat the battery with the larger remaining power until the remaining power of the battery with the larger remaining power and the remaining power of the battery with the smaller remaining power Approximately equal.
  • the battery with a large remaining power cannot be heated indefinitely, but when the heated temperature reaches the preset cut-off temperature, it will stop.
  • the reason for heating is as described above. For a battery with a higher temperature, even if the battery is heated, the battery discharge current will not automatically increase due to the increase in temperature. Therefore, the temperature after heating reaches the preset temperature. When the cut-off temperature is reached, the battery can be stopped to continue heating.
  • the value of the preset cut-off temperature can be specifically set according to actual needs.
  • the embodiment of the present application does not make further restrictions.
  • heating the battery with the larger remaining power may include the following at least two possibilities Method to realize.
  • the temperature of the battery with the larger remaining power satisfies the preset heating condition
  • only the battery with the larger remaining power is heated, so that the remaining battery with the larger remaining power has the remaining power and the remaining power
  • the remaining capacity of the smaller battery is approximately equal.
  • the battery with the larger remaining power and the battery with the smaller remaining power can both meet the preset heating conditions, and the battery with the larger remaining power and the battery with the smaller remaining power can be heated.
  • the difference is that the occupancy ratio used in the heating process is different, so that the remaining power of the battery with a larger remaining power is approximately equal to the remaining power of the battery with a smaller remaining power.
  • the battery with the larger remaining power is heated, and the temperature of the battery with the larger remaining power increases; the internal resistance decreases after the temperature rises, so that the discharge current of the battery after the temperature rises automatically increases, so that the temperature rises
  • the battery with the larger remaining power is rapidly reduced until the remaining power of the battery with the larger remaining power is approximately equal to the remaining power of the battery with the smaller remaining power.
  • a first duty ratio when heating a battery with a large remaining power, a first duty ratio may be obtained, and the battery with a large remaining power may be intermittently heated according to the first duty ratio.
  • the first duty cycle is used to indicate intermittent heating of a battery with a large remaining power.
  • the larger the first duty cycle the longer the continuous heating time during the intermittent heating of the battery with the larger remaining power.
  • the first duty ratio is 0.5, it can mean that there is 0.5 second in each second to heat the battery with the larger remaining power, and the battery with the larger remaining power is not heated for the other 0.5 seconds.
  • the first duty cycle is 0.2, it can mean that there is a duration of 0.2 seconds in each second to heat the battery with a larger remaining power, and the battery with a larger remaining power is not heated for another 0.2 seconds.
  • the first duty cycle sent by the battery with the larger remaining power may be received; or, the ambient temperature of the battery with the larger remaining power may be obtained, and the The difference between the remaining power of the battery with the larger power and the remaining power of the battery with the small remaining power determines the first duty ratio, and the first duty ratio is obtained.
  • the first duty cycle is negatively related to the ambient temperature. The lower the ambient temperature of the environment where the battery is located, the greater the internal resistance of the battery will be caused by the environment, resulting in a smaller discharge current of the battery and the greater the remaining power of the battery.
  • the first duty cycle for heating a battery with a large remaining power when determining the first duty cycle for heating a battery with a large remaining power, not only the ambient temperature of the battery with a large remaining power must be considered, but also because the purpose of heating is In order to make the remaining capacity of the battery with the larger remaining capacity approximately equal to the remaining capacity of the battery with the smaller remaining capacity, in addition to considering the ambient temperature of the battery with the larger remaining capacity, it is also necessary to consider the battery with the larger remaining capacity The difference between the remaining power of the battery and the remaining power of the battery with the smaller remaining power, and the first duty cycle is determined according to the ambient temperature, the difference between the remaining power of the battery with the larger remaining power and the remaining power of the battery with the smaller remaining power Compare.
  • the first duty cycle can be used to heat the battery with a larger remaining power, so that the temperature of the battery after the heat treatment is increased; the internal resistance is reduced, and the discharge current is automatically increased.
  • the remaining power of the battery will rapidly decrease until the remaining power of the battery is approximately equal to the remaining power of the battery with a smaller remaining power, which can avoid over-discharge of a single battery with a lower SOC. , Resulting in the risk of bombing a single battery with a higher SOC during flight, thereby improving the safety of UAV flight.
  • both the battery with a larger remaining power and the battery with a smaller remaining power are heated. Since the remaining power of the battery with the larger remaining power is greater than the remaining power of the battery with the smaller remaining power, in order to make the remaining power of the battery with the larger remaining power approximately equal to the remaining power of the battery with the smaller remaining power, it can be considered to The remaining power of the battery with the larger remaining power and the battery with the smaller remaining power are both heated, but the remaining power of the battery with the larger remaining power needs to be controlled by different duty ratios to reduce the remaining power of the battery with the smaller remaining power. The remaining power, so that the remaining power of the battery with the larger remaining power after the reduction is approximately equal to the remaining power of the battery with the lower remaining power after the reduction.
  • the first duty cycle and the second duty cycle can be obtained first; the remaining power is compared according to the first duty cycle.
  • the large battery is intermittently heated, and the battery with the smaller remaining power is intermittently heated according to the second duty ratio.
  • the first duty cycle is used to indicate intermittent heating of a battery with a large remaining power
  • the second duty cycle is used to indicate intermittent heating of a battery with a large remaining power. The larger the duty cycle, the longer the duration of continuous heating during the intermittent heating of the battery.
  • the first duty ratio used to heat the battery with the larger remaining power is greater than that of the remaining power.
  • the first duty cycle sent by the battery with the larger remaining power may be received; or, the ambient temperature of the battery with the larger remaining power may be obtained, and according to the ambient temperature and the remaining power The difference between the remaining power of the larger battery and the remaining power of the battery with the smaller remaining power determines the first duty ratio.
  • the second duty cycle sent by the battery with the smaller remaining power may be received; or, the ambient temperature of the battery with the smaller remaining power may be obtained, and based on the ambient temperature and the larger remaining power The difference between the remaining power of the battery and the remaining power of the battery with the smaller remaining power determines the second duty ratio.
  • the first duty ratio for heating a battery with a larger remaining power or when determining a second duty ratio for heating a battery with a smaller remaining power, For example, to determine the second duty cycle for heating a battery with a small remaining power, not only the ambient temperature of the battery with a small remaining power must be considered, but also because the purpose of heating is to make a battery with a large remaining power The remaining power of the battery is approximately equal to the remaining power of the battery with the smaller remaining power.
  • the duty cycle for heating the battery with the smaller remaining power in addition to considering the environment in which the battery with the smaller remaining power is located For temperature, it is also necessary to consider the difference between the remaining power of the battery with the larger remaining power and the remaining power of the battery with the smaller remaining power, and according to the ambient temperature, the remaining power of the battery with the larger remaining power, and the remaining power of the battery with the smaller remaining power.
  • the difference in the remaining power collectively determines the duty cycle for heating the battery with a small remaining power.
  • a larger first duty cycle can be used to heat the battery with a larger remaining power
  • a smaller second duty cycle can be used to reduce the remaining power
  • the battery is heated, so that the temperature of the battery with the larger remaining capacity and the battery with the smaller remaining capacity after the heating treatment is increased; the internal resistance is reduced, and the discharge current is automatically increased.
  • the discharge current of the battery with the larger remaining power and the battery with the smaller remaining power is automatically increased, the remaining power of the battery with the larger remaining power and the battery with the smaller remaining power will decrease, but the battery with the larger remaining power will decrease.
  • the remaining power reduction is greater than the remaining power reduction of the battery with the smaller remaining power, until the remaining power of the battery is approximately equal to the remaining power of the battery with the smaller remaining power, which can avoid the overdischarge of the single battery with lower SOC, and As a result, a single battery with a higher SOC may explode during flight, thereby improving the safety of UAV flight.
  • the foregoing embodiment describes in detail that in a method for adjusting the remaining power of the battery, when the difference between the remaining power of the first battery and the remaining power of the second battery is greater than the first threshold, the larger remaining power can be obtained first.
  • the temperature of the battery if the temperature of the battery with the larger remaining power meets the preset heating conditions, the battery with the larger remaining power will be heated until the remaining power of the battery with the larger remaining power and the remaining power of the battery with the smaller remaining power are remaining
  • the first battery and the second battery can be obtained separately.
  • FIG. 8 is a flowchart of another method for adjusting the remaining battery power provided by an embodiment of the application.
  • the method for adjusting the remaining battery power can be executed by the device for adjusting the remaining battery power.
  • the device for adjusting the remaining battery power can be installed in the drone.
  • the method for adjusting the remaining power of the battery may include:
  • Step S801 When the difference between the remaining power of the first battery and the remaining power of the second battery is greater than the first threshold, respective attribute information of the first battery and the second battery are obtained.
  • the attribute information includes internal resistance.
  • the attribute information may also include battery voltage and/or battery current.
  • the voltage and/or current may also be used to determine whether the first battery and the second battery meet the preset heating conditions.
  • the application is implemented The example only takes the attribute information including the internal resistance as an example for description, but it does not mean that the embodiment of the present application is limited to this.
  • the remaining power of the first battery and the remaining power of the second battery can be obtained first; in this way, the remaining power of the first battery can be determined. And the remaining power of the second battery, determining whether the difference between the remaining power of the first battery and the remaining power of the second battery is greater than the first threshold.
  • the first threshold can be set according to actual needs.
  • the embodiment of the present application does not specifically limit the value of the first threshold.
  • the respective current and/or voltage of the first battery and the second battery can be obtained respectively, and the first battery can be determined according to the current and/or voltage of the first battery
  • the remaining power of the second battery is determined according to the current and/or voltage of the second battery.
  • the remaining power of the first battery when determining the remaining power of the first battery according to the current and/or voltage of the first battery, only the current of the first battery may be obtained, and the remaining power of the first battery may be determined according to the current of the first battery; Only the voltage of the first battery can be obtained, and the remaining power of the first battery can be determined according to the voltage of the first battery; of course, the current and voltage of the first battery can also be obtained at the same time, and the first battery can be determined at the same time according to the current and voltage of the first battery.
  • the remaining power of the battery can be set according to actual needs.
  • the method of determining the remaining power of the second battery based on the current and/or voltage of the second battery is similar to the method of determining the remaining power of the first battery based on the current and/or voltage of the first battery. The embodiment will not be repeated.
  • the difference is greater than the first threshold according to the difference between the remaining power of the first battery and the remaining power of the second battery. If the difference between the remaining power of the first battery and the remaining power of the second battery is less than or equal to the first threshold, it means that the SOC difference between the first battery and the second battery is within an acceptable range. In this case, no one During the subsequent flight of the aircraft, there will be no over-discharge of the single battery with lower SOC, which will cause the risk of explosion when the single battery with higher SOC is flying. Therefore, there is no need to heat the battery with a larger remaining power. .
  • the difference between the remaining power of the first battery and the remaining power of the second battery is greater than the first threshold, it means that during the subsequent flight of the UAV, there will be a single battery with a lower SOC over-discharged, resulting in There is a risk of flying with a single battery with a higher SOC. Therefore, it is necessary to further obtain the respective internal resistances of the first battery and the second battery, and determine whether the internal resistance of the first battery and the second battery are obtained.
  • the battery with larger resistance is heated, so that the remaining power of the battery with larger internal resistance is approximately equal to that of the battery with lower internal resistance, which can avoid the over-discharge of the single battery with lower SOC, which will lead to higher SOC. There is a risk of bombing when flying with a single battery, thereby improving the safety of UAV flight.
  • the battery with the larger internal resistance is one of the first battery and the second battery
  • the battery with the smaller internal resistance is the other battery of the first battery and the second battery.
  • a battery with a larger internal resistance is the first battery
  • a battery with a smaller internal resistance is the second battery
  • a battery with a larger internal resistance is the second battery
  • a battery with a smaller internal resistance is the first battery.
  • the respective internal resistances of the first battery and the second battery can be obtained at the time the drone takes off; of course, it can also be flying on the drone.
  • the respective internal resistances of the first battery and the second battery are obtained respectively, so as to obtain the respective internal resistances of the first battery and the second battery, which can be specifically set according to actual needs.
  • the embodiment of the present application only takes the respective internal resistances of the first battery and the second battery at the take-off time of the drone as an example for description, but it does not mean that the embodiment of the present application is limited to this.
  • the internal resistance of the first battery and the internal resistance of the second battery can be determined according to the respective internal resistances of the first battery and the second battery. Whether the resistance meets the preset heating condition, that is, the following step S802 is executed:
  • Step S802 Determine whether the internal resistance of the first battery and the internal resistance of the second battery meet a preset heating condition according to the internal resistances of the first battery and the second battery.
  • the preset heating condition is used to limit the difference between the internal resistance of the first battery and the internal resistance of the second battery.
  • the difference between the internal resistance of the first battery and the internal resistance of the second battery is less than the second threshold, it means that there is no need to heat the battery with the internal resistance; on the contrary, if the internal resistance of the first battery and the internal resistance of the second battery If the difference in internal resistance is greater than the second threshold, it means that the battery with larger internal resistance can be heated, so that the discharge current of the battery with larger internal resistance is automatically increased, and the remaining power of the battery with larger internal resistance will be fast. Decrease until the remaining power of the battery with the larger internal resistance is approximately equal to the remaining power of the battery with the smaller internal resistance.
  • Step S803 If the internal resistance of the first battery and the internal resistance of the second battery meet the preset heating conditions, heat the battery with the larger internal resistance until the battery with the larger internal resistance has a smaller remaining power and internal resistance The remaining power of the batteries is approximately equal.
  • the battery with a larger internal resistance cannot be heated indefinitely, but when the heated temperature reaches the preset cut-off temperature, it will stop.
  • the reason for heating is as described above. For a battery with a higher temperature, even if the battery is heated, the battery discharge current will not automatically increase due to the increase in temperature. Therefore, the temperature after heating reaches the preset temperature. When the cut-off temperature is reached, the battery with larger internal resistance can be stopped to continue heating.
  • the value of the preset cut-off temperature can be specifically set according to actual needs.
  • the embodiment of the present application does not further limit it.
  • heating the battery with larger internal resistance may include the following: At least two possible implementations are described. In a possible implementation manner, when the internal resistance of the first battery and the internal resistance of the second battery meet the preset heating conditions, only the battery with the larger internal resistance is heated, so that the battery with the larger internal resistance is The remaining power is approximately equal to the remaining power of a battery with a smaller internal resistance. In a possible implementation manner, when the internal resistance of the first battery and the internal resistance of the second battery meet the preset heating conditions, the battery with the larger internal resistance and the battery with the smaller internal resistance can be heated. The difference is that the occupancy ratio used in the heating process is different, so that the remaining power of the battery with a larger internal resistance is approximately equal to the remaining power of the battery with a smaller internal resistance. In the following, these two possible implementations will be described in detail.
  • the remaining power of a battery with a larger internal resistance is greater than that of a battery with a smaller internal resistance, in order to make the remaining power of the battery with the larger internal resistance approximately equal to the remaining power of the battery with the smaller internal resistance, it can be considered
  • a battery with a larger internal resistance is heated, and the temperature of the battery with a larger internal resistance increases; when the temperature increases, the internal resistance decreases, so that the discharge current of the battery after the temperature rises automatically increases, so that the temperature rises
  • the battery with the larger internal resistance is rapidly reduced until the remaining power of the battery with the larger internal resistance is approximately equal to the remaining power of the battery with the smaller internal resistance.
  • the first duty ratio when heating a battery with a larger internal resistance, the first duty ratio can be obtained, and the battery with a larger internal resistance can be intermittently heated according to the first duty ratio.
  • the first duty cycle is used to indicate intermittent heating of a battery with a larger internal resistance.
  • the larger the first duty cycle the longer the continuous heating time during the intermittent heating of the battery with larger internal resistance.
  • the first duty cycle is 0.5, it can mean that there is 0.5 second in each second to heat the battery with larger internal resistance, while the other 0.5 second does not heat the battery with larger internal resistance.
  • the first duty cycle is 0.2, it can mean that there is 0.2 second in each second to heat the battery with larger internal resistance, while the other 0.2 second does not heat the battery with larger internal resistance.
  • the first duty cycle sent by a battery with a larger internal resistance may be received; or, the ambient temperature of a battery with a larger internal resistance may be obtained, and the The difference between the remaining power of the battery with a larger resistance and the remaining power of the battery with a smaller internal resistance determines the first duty cycle, and the first duty cycle is obtained.
  • the first duty cycle is negatively related to the ambient temperature. The lower the ambient temperature of the environment where the battery is located, the greater the internal resistance of the battery will be caused by the environment, resulting in a smaller discharge current of the battery and the greater the remaining power of the battery.
  • the first duty cycle for heating a battery with a larger internal resistance not only the ambient temperature of the battery with a larger internal resistance must be considered, but also because the purpose of heating is
  • the ambient temperature of the battery with a larger internal resistance in addition to considering the ambient temperature of the battery with a larger internal resistance, it is also necessary to consider the battery with a larger internal resistance
  • the difference between the remaining power of the battery and the remaining power of the battery with the smaller internal resistance, and the first duty cycle is determined according to the ambient temperature, the difference between the remaining power of the battery with the larger internal resistance and the remaining power of the battery with the smaller internal resistance Compare.
  • the first duty cycle can be used to heat the battery with a larger internal resistance, so that the temperature of the battery after the heat treatment is increased; the internal resistance is reduced, and the discharge current is automatically increased.
  • the discharge current of the battery automatically increases, the remaining power of the battery will rapidly decrease until the remaining power of the battery is approximately equal to the remaining power of the battery with lower internal resistance, which can avoid over-discharge of the single battery with lower SOC. , Resulting in the risk of bombing a single battery with a higher SOC during flight, thereby improving the safety of UAV flight.
  • both the battery with larger internal resistance and the battery with smaller internal resistance are heated. Since the remaining power of a battery with a larger internal resistance is greater than that of a battery with a lower internal resistance, in order to make the remaining power of the battery with the larger internal resistance approximately equal to the remaining power of the battery with the smaller internal resistance, you can consider correcting
  • the remaining power of the battery with larger internal resistance and the battery with lower internal resistance are both heated, but the remaining power of the battery with larger internal resistance needs to be controlled by different duty ratios to reduce the amount of remaining power of the battery with lower internal resistance.
  • the remaining power so that the remaining power of the battery with the lower internal resistance after the reduction is approximately equal to the remaining power of the battery with the lower internal resistance after the reduction.
  • the first duty cycle and the second duty cycle can be obtained separately; the internal resistance is compared according to the first duty cycle.
  • the large battery is intermittently heated, and the battery with the smaller internal resistance is intermittently heated according to the second duty ratio.
  • the first duty cycle is used to indicate intermittent heating of batteries with larger internal resistance
  • the second duty cycle is used to indicate intermittent heating of batteries with larger internal resistance. The larger the duty cycle, the longer the duration of continuous heating during the intermittent heating of the battery.
  • the first duty ratio for heating the battery with a larger internal resistance is greater than that of the battery with a larger internal resistance.
  • the second duty cycle of the small battery for heat treatment is greater than that of the battery with a larger internal resistance.
  • the first duty cycle sent by the battery with the larger internal resistance may be received; or, the ambient temperature of the battery with the larger internal resistance is obtained, and the The difference between the remaining power of the larger battery and the remaining power of the battery with the smaller internal resistance determines the first duty ratio.
  • the second duty cycle sent by the battery with the smaller internal resistance can be received; or, the ambient temperature of the battery with the smaller internal resistance is obtained, and according to the ambient temperature and the larger internal resistance The difference between the remaining power of the battery and the remaining power of the battery with the smaller internal resistance determines the second duty ratio.
  • the second duty cycle for heating a battery with a smaller internal resistance when determining the first duty ratio for heating a battery with a larger internal resistance, or when determining a second duty ratio for heating a battery with a smaller internal resistance, to determine the second duty cycle for heating a battery with a smaller internal resistance as an example, not only the ambient temperature of the battery with a smaller internal resistance must be considered, but also because the purpose of heating is to make the battery with a larger internal resistance The remaining power of the battery is approximately equal to the remaining power of the battery with lower internal resistance.
  • a larger first duty cycle can be used to heat the battery with a larger internal resistance
  • a smaller second duty cycle can be used to reduce the internal resistance.
  • the battery is heated, so that the temperature of the battery with a larger internal resistance and a battery with a smaller internal resistance after the heating treatment is increased; the internal resistance is reduced, and the discharge current is automatically increased.
  • the remaining power of the battery with the larger internal resistance and the battery with the smaller internal resistance will decrease, but the battery with the larger internal resistance
  • the remaining power reduction is greater than the remaining power reduction of the battery with lower internal resistance, until the remaining power of the battery is approximately equal to the remaining power of the battery with lower internal resistance, which can avoid the overdischarge of the single battery with lower SOC, and As a result, a single battery with a higher SOC may explode during flight, thereby improving the safety of UAV flight.
  • a prompt message can also be output to the user to inform The user is currently heating the battery, which allows the user to obtain the current state of the battery.
  • an embodiment of the present application also provides a power supply device, which may include: one or more processors, which work individually or collectively, and the processors are used to perform any of the foregoing implementations.
  • the implementation principle and beneficial effects of the method for adjusting the remaining power of the battery in the example are similar to the principles and beneficial effects of the method for adjusting the remaining power of the battery.
  • the power supply device also has a temperature sensing device for sensing the temperature of the power supply module 11.
  • the processor can be electrically connected to the electrical module of any of the above embodiments, for example, the power module 11, the slow start circuit 17, the one-way control circuit 35, the temperature sensing device and other electrical modules to obtain parameter information and perform corresponding processing. .
  • the embodiment of the present application provides a mobile platform 400, which includes the power supply circuit 100 of any of the foregoing embodiments, or the power supply device 200 of any of the foregoing embodiments.
  • each power module 11 is connected to the slow start circuit 17 separately to avoid the occurrence of inrush current and ignition and other abnormalities when the power module 11 is hot-standby replaced.
  • the mobile platform 400 includes a power supply circuit 100, and the power supply circuit 100 uses the power module 11 to supply power to the load 300.
  • the mobile platform 400 includes a power supply device 200, and the power supply device 200 uses the power supply module 11 to supply power to the load 300.
  • the mobile platform 400 is a drone.
  • the mobile platform 400 includes a body 402, and the power supply device 200 is detachably mounted on the body 402. In this way, operations such as maintenance, replacement, transportation, and storage of the power supply device 200 can be facilitated.
  • the main body 402 may be installed with multiple power supply devices 200.
  • the mobile platform 400 can supply power to the load 300 through a plurality of power supply devices 200.

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  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

一种供电电路(100)、电源装置(200)、移动平台(400)和剩余电量的调节方法。供电电路(100)用于连接并联连接的至少两个电源模块(11)。供电电路(100)包括电源输出端(13)和至少两个并联的支路(15)。供电电路(100)通过电源输出端(13)向负载供电。每个支路(15)用于连接于电源输出端(13)与一个电源模块(11)之间。其中，每个支路(15)包括缓启动电路(17)，缓启动电路(17)用于连接于电源输出端(13)与对应的一个电源模块(11)之间；在每个缓启动电路(17)未与对应的电源模块(11)形成电连接的情况下，相应的缓启动电路(17)断开。

Description

供电电路、电源装置、移动平台和剩余电量的调节方法 技术领域
本申请涉及电源供电技术领域，具体涉及一种供电电路、电源装置、移动平台和剩余电量的调节方法。
背景技术
在相关技术中，无人机通过多电池并联的形式为负载供电。多电池并联供电当前存在着使用安全性不佳、使用体验不佳的问题。例如，在对用电设备替换热备的电池时，可能会对电路内部产生浪涌电流，浪涌电流一般可达到几百安培，极易产生火花，对设备造成危害。
发明内容
本申请实施方式提供一种供电电路、电源装置、移动平台和剩余电量的调节方法。
本申请实施方式提供的一种供电电路，所述供电电路用于连接并联连接的至少两个电源模块，所述供电电路包括：
电源输出端，所述供电电路通过所述电源输出端向负载供电；
至少两个并联的支路，每个所述支路用于连接于所述电源输出端与一个所述电源模块之间；
其中，每个所述支路包括缓启动电路，所述缓启动电路用于连接于所述电源输出端与对应的所述一个电源模块之间；在所述每个缓启动电路未与对应的所述电源模块形成电连接的情况下，相应的所述缓启动电路断开。
上述供电电路中，采用每个电源模块分别连接缓启动电路的方式，避免在热备替换电源模块时产生浪涌电流，出现打火等异常。
本申请实施方式提供的一种电源装置，包括：
并联连接的至少两个电源模块，用于为负载提供电量；以及
供电电路，所述供电电路用于连接所述并联连接的至少两个电源模块，所述供电电路包括：
电源输出端，所述供电电路用于通过所述电源输出端向所述负载供电；
至少两个并联的支路，每个所述支路用于连接于所述电源输出端与一个所述电源模块之间；
其中，每个所述支路包括缓启动电路，所述缓启动电路用于连接于所述电源输出端与对应的所述一个电源模块之间；在所述每个缓启动电路未与对应的所述电源模块形成电连接的情况下，相应的所述缓启动电路断开。
上述电源装置中，采用每个电源模块分别连接缓启动电路的方式，避免在热备替换电源模块时产生浪涌电流，出现打火等异常。
本申请实施方式提供的一种移动平台，包括上述的供电电路，或上述的电源装置。
上述移动平台中，采用每个电源模块分别连接缓启动电路的方式，避免在热备替换电源模块时产生浪涌电流，出现打火等异常。
本申请实施方式提供的一种用于电源装置的剩余电量的调节方法，所述电源装置包括第一电池和第二电池，以及上述任一方面所述的供电电路；
所述调节方法包括：
在所述第一电池的剩余电量和所述第二电池的剩余电量的差值大于第一阈值时，获取剩余电量较大的电池的属性信息；
根据所述剩余电量较大的电池的温度，确定所述剩余电量较大的电池的温度是否满足预设加热条件；
若所述剩余电量较大的电池的温度满足所述预设加热条件，则对所述剩余电量较大的电池进行加热处理，直至所述剩余电量较大的电池的剩余电量和剩余电量较小的电池的剩余电量近似相等。
上述调节方法中，在剩余电量较大的电池的温度满足预设加热条件时，通过对剩余电量较大的电池进行加热处理，使得加热处理后的电池的温度升高；内阻减少，放电电流自动加大。随着该电池放电电流自动加大，该电池的剩余电量会快速减少，直至该电池的剩余电量和剩余电量较小的电池的剩余电量近似相等，这样可以避免存在SOC较低的单电池过放，而导致SOC较高的单电池飞行时存在炸机的风险，从而提高了无人机飞行的安全性。
本申请实施方式提供的一种用于电源装置的剩余电量的调节方法，所述电源装置包括第一电池和第二电池，以及上述任一方面所述的供电电路；
所述调节方法包括：
在所述第一电池的剩余电量和所述第二电池的剩余电量的差值大于第一阈值时，分别获取所述第一电池和所述第二电池各自的属性信息。
根据所述第一电池和所述第二电池各自的内阻，确定所述第一电池的内阻和所述第二电池的内阻是否满足预设加热条件。
若所述第一电池的内阻和所述第二电池的内阻满足所述预设加热条件，则对内阻较大的电池进行加热处理，直至所述内阻较大的电池的剩余电量和内阻较小的电池的剩余电量近似相等。
上述调节方法中，在第一电池的内阻和第二电池的内阻满足预设加热条件时，通过对内阻较大的电池进行加热处理，使得加热处理后的电池的温度升高；内阻减少，放电电流自动加大。随着该内阻较大放电电流自动加大，该内阻较大的剩余电量会快速减少，直至该内阻较大的剩余电量和内阻较小的电池的剩余电量近似相等，这样可以避免存在SOC较低的单电池过放，而导致SOC较高的单电池飞行时存在炸机的风险，从而提高了无人机飞行的安全性。
本申请的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本申请实施方式的电源装置的模块示意图；
图2是本申请实施方式的移动平台的模块示意图；
图3是本申请实施方式的供电电路的另一部分模块示意图；
图4-图5是本申请实施方式的供电电路的部分模块示意图；
图6是本申请实施方式的电源装置的另一模块示意图；
图7为本申请实施例提供的一种剩余电量的调节方法的流程图；
图8为本申请实施例提供的另一种剩余电量的调节方法的流程图；
图9是本申请实施方式的移动平台的又一模块示意图；
图10是本申请实施方式的移动平台的另一模块示意图。
主要附图元件说明：
供电电路100、电源装置200、负载300、移动平台400；
电源模块11、第一电源模块111、第二电源模块112、电源输出端13、支路15、缓启动电路17、电源输入端19；
储能电容21、第一储能电容211、第二储能电容213、第一负载23、第二负载25；
缓启动控制电路31、开关件33、输入端331、输出端333、单向控制电路35、电源检 测电路37。
具体实施方式
下面详细描述本申请的实施方式，所述实施方式的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。
在申请的描述中，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个所述特征。在申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接。可以是机械连接，也可以是电连接。可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
下文的公开提供了许多不同的实施方式或例子用来实现本申请的不同结构。为了简化本申请的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本申请。此外，本申请可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本申请提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
现有多电池供电无人机通常采用多电池并联后，给航电系统、电调新系统供电。多点吃供电的安全性问题需要重视。多电池并联后可以增加缓启动电路17。例如，将双电池并联后经过缓启动给航电系统和电调系统供电。但当该系统支持热备替换电池时，比如无人机飞行后两块电池均低电量，电池电压均为42V，此时航电和电调前的滤波电容均为42V，热备替换电池时，无人机系统不断电，缓启动是常开的，先将电池1取下，然后换上满电电池(电压52.8V)插上去，电池1与航电、电调前滤波电容有10.8V压差，由于电池到滤波电容之间的阻抗很小，就会产生高达六七百安培的浪涌电流，发生打火事件，在电池连接器观察到明显烧黑痕迹。在易燃易爆场景，这种打火是绝对不能允许的，因此如何解决热替换电池过程中的浪涌问题成为双电池供电的当务之急。另外，多电池并联供电还容易造成返灌问题， 对于电池的使用安全具有威胁。此外，多电池供电的情况下，如果电池的SOC不一致，也会对于电池的使用寿命造成不好的用户体验。
为解决上述至少一个问题，本申请实施例采用给多电池供电的无人机系统中的多块电池分别加缓启动电路17的方式，解决热替换电池过程中的浪涌问题。
请参见图1，本申请实施例提出的方案可以应用于电源装置200中，该电源装置200可以包括电源模块11、缓启动电路17。该电源装置200用于负载300供电，比如用于给可移动平台以及可移动平台上搭载的负载供电。
电源模块11可以包括BMS(Battery Management System，电池管理系统)，该电池管理系统包括MCU(Microcontroller Unit，微控制单元)和放电电阻，放电电阻通过放电电路与电池连接，用于在微控制单元的控制下对电池进行放电。
其中，微控制单元用于获取电池的电池参数并对电池参数进行处理，电池参数比如充电电流、充电电压、充电时间、放电电流、放电电流、放电时间、电池温度、恒压充电时间、恒压充电容量和充放电容量比值等等。
电池管理系统可以用于估测的SOC(State of Charge，荷电状态)，即电池的剩余电量，保证SOC维持在合理的范围内，防止由于过充电或过放电对电池造成损伤。
在电池充放电过程中，电池管理系统还可以实时采集电池的电压、温度以及充放电电流等等，防止电池发生过充电或过放电现象。
比如，电源模块11给飞行器的电机供电控制连接在该电机螺旋桨转动，进而实现飞行器的飞行；再比如，电源模块11给搭载飞行器拍摄装置供电，用于实现航拍等等。
其中，该飞行器包括无人机，该无人机包括旋翼型无人机，例如四旋翼无人机、六旋翼无人机、八旋翼无人机，也可以是固定翼无人机，还可以是旋翼型与固定翼无人机的组合，在此不作限定。
其中，机器人包括教育机器人，使用了麦克纳姆轮全向底盘，且全身设有多块智能装甲，每个智能装甲内置击打检测模块，可迅速检测物理打击。同时还包括两轴云台，可以灵活转动，配合发射器准确、稳定、连续地发射水晶弹或红外光束，配合弹道光效，给用户更为真实的射击体验。
由此可见，电池对可移动平台的重要性，若电池出现异常，则会影响可移动平台运行的安全。
请继续参考图1，本申请实施方式提供一种供电电路100，供电电路100用于连接并联连接的至少两个电源模块11。供电电路100包括电源输出端13和至少两个并联的支路15。 供电电路100通过电源输出端13向负载300供电。每个支路15用于连接于电源输出端13与一个电源模块11之间。其中，每个支路15包括缓启动电路17，缓启动电路17用于连接于电源输出端13与对应的一个电源模块11之间。在每个缓启动电路17未与对应的电源模块11形成电连接的情况下，相应的缓启动电路17断开。
上述供电电路100中，采用每个电源模块11分别连接缓启动电路17的方式，避免在热备替换电源模块11时产生浪涌电流，出现打火等异常。
在相关技术中，对于负载设备，可在保证正常运作的情况下进行更换电源的操作，从而实现电源热替换的功能。在本申请实施方式中，每一个支路15通过缓启动电路17将电源模块11和电源输出端13进行电连通。在缓启动电路17电连接至对应的电源模块11的情况下，缓启动电路17可对电源模块11在电源输出端13处的输出电流进行缓冲，避免输出电流具有较大的波动变化以及突变。在缓启动电路17未与对应的电源模块11形成电连接(缓启动电路17所在的支路15没有电连接电源模块11)的情况下，则缓启动电路17会自行关闭。
具体地，在缓启动电路17重新电连接至对应的电源模块11时(完成更换电源模块11的操作)，缓启动电路17会根据电源模块11的输出电压大小进行启动，使得电源模块11电连通电源输出端13。同时缓启动电路17内部阻抗会发生变化，对电源模块11输出的电流进行限流，使得电源输出端13处的输出电流减小而无法产生较大的浪涌电流，从而避免发生打火等意外。
供电电路100可用于电源装置200和移动平台。移动平台包括无人机、机器人、移动小车等。该移动平台可以包括电源模块11和机身。机身用于连接外部电源以给电源模块11充电，在一个实施方式中，供电电路100用于无人机的电池热替换。负载300可包括搭载在无人机的航电系统、电调系统、电机系统、成像系统等。可以理解，无人机对自身负载具有较高性能要求，不便于搭载较大容量的电池，而且无人机负载较多，耗电量较大，因此需要较频繁地更换电池以维持无人机的正常运作。在这种情况下，对电源输出端13产生的浪涌电流进行限流，可对连接至电源输出端13的负载进行保护而不会造成损坏，避免发生无人机起火、烧毁等意外。
在某些实施方式中，电源模块11包括如下至少一种：电池、充电宝。如此，可提升对电源模块11进行替换的灵活性。
具体地，在图1所示的实施方式中，支路15的数量为两个，每个支路15上的缓启动电路17均可对应电连接有一个电池。在另一个实施方式中，支路15的数量为两个，其中一个支路15上的缓启动电路17可电连接有一个电池，另一个支路15上的缓启动电路17可电连 接有一个充电宝。在又一个实施方式中，支路15的数量为两个，每个支路15上的缓启动电路17均可对应电连接有一个充电宝。支路15的数量为两个以上的实施方式可参考上述实施方式，在此不再详细展开。
请参考图2，在某些实施方式中，供电电路100包括储能电容21。储能电容21的一端连接电源输出端13和负载300，储能电容21的另一端接地。如此，可保证电源输出端13处的电压稳定或在期望范围内变化。
具体地，在图示的实施方式中，支路15的数量为两个。电源模块11包括第一电源模块111和第二电源模块112，其中一个支路15上的缓启动电路17电连接有第一电源模块111，另一个支路15上的缓启动电路17电连接有第二电源模块112。也就是说，每一个电源模块11都连接有一个缓启动电路17以向电源输出端13处进行供电。具体地，在图示的实施方式中，电源模块11为电池，第一电源模块111和第二电源模块112的正极均经各自连接的缓启动电路17电连接至电源输出端13，第一电源模块111和第二电源模块112的负极接地，使得第一电源模块111和第二电源模块112并联连接。
储能电容21包括第一储能电容211和第二储能电容213，第一储能电容211和第二储能电容213的一端均连接至电源输出端13，另一端接地。图2的实施方式中，负载300包括第一负载23和第二负载25，第一负载23可包括无人机的航电系统，第二负载25可包括无人机的电调系统和电机系统，其中，第一负载23连接第一储能电容211的一端和电源输出端13，第二负载25第二储能电容213的一端和电源输出端13。
在电源输出端13处的输出电流发生变化的情况下(如对第一电源模块111和/或第二电源模块112进行更换)，供电电路100上产生线路损耗，使得电源输出端13处的输出电压会相应地产生波动。在这种情况下，第一储能电容211和第二储能电容213可对输出电压进行缓冲，使得输出电压的波动强度减小而保持稳定或在期望范围内变化，避免对第一负载23处和第二负载25处的供电电压造成较大的影响。对于负载300而言，供电电压波动较大可导致内部电路结构烧坏、偏离正常工作状态而影响使用等情况。
第一储能电容211和第二储能电容213的电容大小可根据第一负载23和第二负载25进行选择，或根据实验测试进行标定。在一个例子中，第一储能电容211的电容大小为100微法(μF)，第二储能电容213的电容大小为1000微法(μF)。第一储能电容211和第二储能电容213的电容大小可以相同值，也可以为不同值。
另外，储能电容21预设有输出电压阈值。请结合图2，第一储能电容211预设有第一输出电压阈值。第二储能电容213预设有第二输出电压阈值。在电源输出端13处的输出电 压小于第一输出电压阈值的情况下，输出电压不足以启动第一负载23，则无法对第一负载23进行供电。在电源输出端13处的输出电压小于第二输出电压阈值的情况下，输出电压不足以启动第二负载25，则无法对第二负载25进行供电，从而可确保第一负载23和/或第二负载25不会由于供电电压较低而影响正常工作状态。
请参考图3，在某些实施方式中，缓启动电路17包括缓启动控制电路31和开关件33。缓启动控制电路31连接开关件33，并用于控制开关件33的导通和断开，以控制缓启动电路17的导通和断开。如此，可实现缓启动电路17的自动通断。
具体地，缓启动电路17包括输入端331和输出端333。开关件33连接缓启动电路17的输入端331和输出端333。缓启动电路17通过输入端331连接至电源模块11，以及通过输出端333连接至电源输出端13。在缓启动控制电路31控制开关件33导通时，开关件33导通缓启动电路17的输入端331和输出端333，使得电源模块11可对电源输出端13进行供电。在缓启动控制电路31控制开关件33断开时，开关件33断开缓启动电路17的输入端331和输出端333，使得电源模块11断开和电源输出端13之间的电连接。
另外，在某些实施方式中，开关件33包括金氧半场效晶体管。缓启动控制电路31包括缓启动控制芯片(图未示)。如此，缓启动电路17可通过开关件33的自身特性对浪涌电流进行限流。
具体地，缓启动控制芯片预设有启动电压阈值。请结合图3，在电源模块11的电压不大于启动电压阈值的情况下，缓启动控制芯片控制开关件33断开和电源输出端13之间的连接，使得电源模块11和电源输出端13无法电连通。
在电源模块11的电压大于启动电压阈值的情况下，缓启动控制芯片控制开关件33导通，使得金氧半场效晶体管导通，内部阻抗值发生变化。在一个实施方式中，金氧半场效晶体管在被导通时具有较大的阻抗值，阻抗值会随着时间的推移而减小，使得电源模块11无法在开始连接电源输出端13时产生较大的浪涌电流，也不会影响电源模块11在连接电源输出端13后的后续的正常供电。启动电压阈值可通过缓启动控制芯片进行调整，可以理解，缓启动控制芯片可通过搭载计算机可读存储介质来实现对金氧半场效晶体管的控制，从而可减缓电源模块11在电源输出端13处的输出电流的变化程度，达到缓启动电路17的缓启动的功能。
请参考图3，在某些实施方式中，缓启动电路17包括输入端331和输出端333。输入端331连接至电源模块11，输出端333连接至电源输出端13。缓启动电路17用于在检测不到电源模块11连接的情况下，断开输入端331和输出端333之间的连接。如此，可断开输入 端331和输出端333之间的连接以避免在重新连接电源模块11时产生较大的浪涌电流。
可以理解，在断开电源模块11和相应的缓启动电路17之间的电连接的情况下，缓启动电路17可检测到的输入电压(电源模块11在缓启动电路17处输入的电压)为0。在这种情况下，缓启动电路17断开和电源输出端13之间的连接，使得电源模块11重新电连接至缓启动电路17时所产生的浪涌电流不会立刻传输至电源输出端13而造成意外。电源模块11重新电连接至缓启动电路17，指的是缓启动电路17与电源模块11断开连接后，再重新电连接一个电源模块11，该电源模块11可以为先前和缓启动电路17电连接的电源模块11(即该电源模块11完成充电后重新对供电电路100进行供电)，也可以为另一个电源模块11(即对电源模块11进行更换)。
在某些实施方式中，缓启动电路17用于根据检测输入端331的电压，确定是否连接电源模块11。
具体地，缓启动电路17对电源模块11预设有输入电压阈值。在某些实施方式中，输入电压阈值可为0。在输入端331的电压大于0的情况下，缓启动电路17可确定连接到电源模块11。在其它的实施方式中，输入电压阈值可以为大于0的其它数值，输入电压阈值可根据具体情况进行选择，在此不再详细展开。
请参考图4和图5，在某些实施方式中，供电电路100还包括单向控制电路35。单向控制电路35设于支路15中，用于使支路15的电流流向为单向流通。如此，可避免支路15上的电源模块11产生的输入电流反向流动。
在一些实施例中，单向控制电路35可包括二极管、半导体三极管(双极性晶体管、场效应晶体管)、集成电路等，可使得电流只会流向电源输出端13处连接的负载300，而不会反向流动至其它支路15而对其它支路15上的电源模块11充电。
请结合图2，在图示的实施方式中，电源输出端13连接有第一储能电容211和第二储能电容213。可以理解，在供电电路100对第一负载23和第二负载25进行供电的情况下，第一储能电容211和第二储能电容213形成有电势差而储存有电能。通过设置单向控制电路35，第一储能电容211和第二储能电容213无法对输入电流较低的支路15形成对这些支路15上的电源模块11进行充电的趋势，避免了对供电电路100上的电子元件造成损坏和其它的电路隐患。
另外，在一些实施方式中，请结合图4，单向控制电路35连接于缓启动电路17与电源输出端13之间。在另一些实施方式中，请结合图5，单向控制电路35连接于缓启动电路17与电源模块11之间。在又一些实施方式，缓启动电路17包括输入端331和输出端333，单 向控制电路35设在缓启动电路17中并电连接至输入端331和输出端333之间。单向控制电路35在支路15上的连接位置可根据具体结构和对供电电路100的一些用于应对具体使用情况的要求进行调整。
在一些实施例中，单向控制电路35包括理想二极管，可以避免电池互相充电。
比如，在使用双电源模块11给负载300供电时，若是不增加单向控制电路35，假如一个电源模块11的电源电压大于另一个电源模块11的电源电压，高电源电压的电源模块11就会给低电源电压的电源模块11充电，造成极大地使用安全问题。本实施例中，单向控制电路35包括理想二极管，在给电池充电时理想二级管开启，其具有“正向导通，反向截止”的作用，进而可以防止高电源电压的电源模块11给低电源电压的电源模块11充电，而且几乎无压降及功率损耗，又能显著提高电能利用效率，不产生热量，提高了充电的安全性。
理想二极管包括场效应晶体管和驱动器，驱动器与场效应晶体管的栅极连接，用于控制场效应晶体管的导通和截止，实现“正向导通，反向截止”的作用。
具体地，驱动器在检测到场效应晶体管的漏极和源极存在正电压差时，向场效应晶体管的栅极发送电平信号，比如为高电平信号，控制该场效应晶体管导通，即“正向导通”；驱动器在检测到场效应晶体管的漏极和源极存在负电压差时，向场效应晶体管的栅极发送电平信号，比如低电平信号，或者是不发送电平信号，控制该场效应晶体管断开，即“反向截止”。由此实现理想二极管的“正向导通，反向截止”的作用。
驱动器可以为一个芯片U1，该芯片具有低功耗特性，该芯片U1还可包括信号接收端OFF，信号接收端OFF在接收到第一预设电平时，关闭驱动器(芯片U1)，达到省电目的；而信号接收端OFF在接收到第二预设电平时，开启驱动器(芯片U1)，检测场效应晶体管的漏极和源极是否存在正负电压差，实现“正向导通，反向截止”的作用。
需要说明的是，在实际应用中，第一预设电平小于第二预设电平。比如，第一预设电平为低电平，第二预设电平为高电平。
请参考图6，在某些实施方式中，供电电路100包括电源检测电路37。支路15包括电源输入端19，电源输入端19电连接对应的电源模块11。电源检测电路37用于检测电源输入端19的输入电压，以确定电源模块11是否与对应的缓启动电路17电连接。如此，可方便确定电源模块11已连接至供电电路100。
具体地，在电源模块11连接供电电路100的情况下，电源输入端19的输入电压和电源输出端13的输出电压会发生变化。在某些实施方式中，在支路15的端口电压(电源输入端19的输入电压和/或电源输出端13的输出电压)的电压值大于0的情况下，确定电源模块 11与对应的缓启动电路17电连接。在其它的实施方式中，支路15的端口电压变化至预设的端口电压阈值的情况下，也可以确定电源模块11与对应的缓启动电路17电连接。
在某些实施方式中，在确定电源模块11连接至电源输入端19的情况下，进行相应的提示。如此，可便于提醒用户电源模块11已正确连接至电源输入端19。
具体地，供电电路100可以通过提示音、有特定变化规律的灯光、文字以及语音等至少一种形成相应的提示信息来对用户进行提醒，提示可通过蜂鸣器、LED灯、显示屏、扬声器等实现。
在某些实施方式中，供电电路100能够对电源模块11的电参数进行检测，在电源模块11的电参数符合预设条件的情况下，控制断开缓启动电路17，和进行提示。如此，可较精确地将电源模块11和供电电路100断开连接。
具体地，电参数包括如下至少一种：电源模块11的电压、电源模块11的电量、电源模块11的内阻、电源模块11的温度。
在一个实施方式中，电参数为电源模块11的温度，供电电路100对电源模块11预设有温度阈值。在电源模块11对供电电路100进行供电时，温度达到温度阈值的情况下，则可以确定电源模块11处于无法继续供电的状态，断开缓启动电路17而使得电源模块11和电源输出端13之间的连接断开，和发出提示信号以提醒用户更换电源模块11，从而避免电源模块11持续升温而被烧坏的意外发生。
在另一个实施方式中，电参数为电源模块11的内阻，供电电路100对电源模块11预设有内阻阈值。可以理解，在电源模块11进行供电时，内阻会进行增大。在内阻达到预设的内阻阈值的情况下，电源模块11会处于无法继续供电的状态，在这种情况下，断开缓启动电路17而使得电源模块11和电源输出端13之间的连接断开和，发出提示信号以提醒用户更换电源模块11，从而避免电源模块11持续升温而被烧坏的意外发生。在此不再对其他实施方式中的电参数类型进行详细展开。
可以理解，在其它实施方式中，在电源模块11的电参数符合预设条件的情况下，控制断开缓启动电路17，或进行提示。
在某些实施方式中，供电电路100包括电参数检测电路，电参数检测电路用于检测电源模块11的电参数。可以理解，电源模块11在对供电电路100进行供电的情况下，其电参数会发生相应的变化。在一个实施方式中，电参数为电压，在电源模块11开始连接至供电电路100以进行供电时，电源模块11的输入电压为52.8V。在电源模块11持续进行供电直至输入电压达到42V(同时也是预设的电压阈值)的情况下，可能会难以电源输出端13处的 负载300所需的工作电压，需要对电源模块11进行更换。在这种情况下，对缓启动电路17进行断开，以及发出提示的信号以提醒用户，从而可将电源模块11和供电电路100断开连接，方便对电源模块11进行更换。
请参考图1和图2，本申请实施方式提供一种电源装置200，包括并联连接的至少两个电源模块11以及供电电路100。电源模块11用于为负载300提供电量。供电电路100用于连接并联连接的至少两个电源模块11。供电电路100包括电源输出端13以及至少两个并联的支路15，供电电路100用于通过电源输出端13向负载300供电，每个支路15用于连接于电源输出端13与一个电源模块11之间。其中，每个支路15包括缓启动电路17。缓启动电路17用于连接于电源输出端13与对应的一个电源模块11之间；在每个缓启动电路17未与对应的电源模块11形成电连接的情况下，相应的缓启动电路17断开。
上述电源装置200中，采用每个电源模块11分别连接缓启动电路17的方式，避免在热备替换电源模块11时产生浪涌电流，出现打火等异常。
本申请实施方式中的电源装置200可用于对移动平台进行持续且稳定的供电。移动平台包括无人机、机器人、移动车。在一个实施方式中，请结合图2，在图2所示的实施方式中，第一负载23包括无人机的航电系统，第二负载25包括无人机的电调系统和电机系统。航电系统包括搭载在无人机上的各种负载，如中央处理器、图像处理器、摄像头、雷达等。电机系统通过电调系统连接至电源输出端13，电调系统可控制电机系统的电参数(如电压、电流等)，以实现对电机的输出功率的调整，以精确控制无人机的飞行速度、飞行方向和拍摄角度。电机系统可包括云台电机、桨叶电机、雷达电机等。
在电源装置200检测到其中一个支路15上连接的电源模块11需要进行更换的情况下，可将该支路15和电源输出端13之间的连接进行断开，和/或，发出信号以提醒用户，使得缓启动电路17和电源输出端13之间断开连接。在支路15上相应的电源模块11被更换后，供电电路100通过缓启动电路17对电源模块11产生的浪涌电流进行限流，使得电源模块11在电源输出端13处的输出电流无法进行明显的突变，避免对连接电源输出端13处的负载(第一负载23、第二负载25)造成冲击。
另外，在其它的实施方式中，电源装置200可控制电源模块11进行自动切断以断开相应的支路15和电源输出端13的连接。
需要说明的是，上述对供电电路100的实施方式的解释说明和有益效果，也适用于本实施方式的电源装置200，为避免冗余，在此不作详细展开。
在某些实施方式中，电源模块11包括如下至少一种：电池、充电宝。如此，可提升对 电源模块11进行替换的灵活性。
请参考图2，在某些实施方式中，供电电路100包括储能电容21。储能电容21的一端连接电源输出端13和负载300，储能电容21的另一端接地。如此，可保证电源输出端13处的电压稳定或在期望范围内变化。
请参考图3，在某些实施方式中，缓启动电路17包括缓启动控制电路31和开关件33。缓启动控制电路31连接开关件33，并用于控制开关件33的导通和断开，以控制缓启动电路17的导通和断开。如此，可实现缓启动电路17的自动通断。
在某些实施方式中，开关件33连接缓启动电路17的输入端331和输出端333。
在某些实施方式中，开关件33包括金氧半场效晶体管。缓启动控制电路31包括缓启动控制芯片(图未示)。如此，缓启动电路17可通过开关件33的自身特性对浪涌电流进行限流。
请参考图3，在某些实施方式中，缓启动电路17包括输入端331和输出端333。输入端331连接至电源模块11，输出端333连接至电源输出端13。缓启动电路17用于在检测不到电源模块11连接的情况下，断开输入端331和输出端333之间的连接。如此，可断开输入端331和输出端333之间的连接以避免在重新连接电源模块11时产生较大的浪涌电流。
在某些实施方式中，缓启动电路17用于根据检测输入端331的电压，确定是否连接电源模块11。
在某些实施方式中，在输入端331的电压大于0的情况下，缓启动电路17可确定连接到电源模块11。
请参考图4和图5，在某些实施方式中，供电电路100还包括单向控制电路35。单向控制电路35设于支路15中，用于使支路15的电流流向为单向流通。如此，可避免支路15上的电源模块11产生的输入电流反向流动。
在某些实施方式中，单向控制电路35连接于缓启动电路17与电源输出端13之间；或者，单向控制电路35连接于缓启动电路17与电源模块11之间。
请参考图6，在某些实施方式中，供电电路100包括电源检测电路37。支路15包括电源输入端19，电源输入端19电连接对应的电源模块11。电源检测电路37用于检测电源输入端19的输入电压，以确定电源模块11是否与对应的缓启动电路17电连接。如此，可方便确定电源模块11已连接至供电电路100。
在某些实施方式中，在支路15的端口电压(电源输入端19的输入电压和/或电源输出端13的输出电压)的电压值大于0的情况下，确定电源模块11与对应的缓启动电路17电 连接。
在某些实施方式中，在确定电源模块11连接至电源输入端19的情况下，进行相应的提示。如此，可便于提醒用户电源模块11已正确连接至电源输入端19。
在某些实施方式中，供电电路100能够对电源模块11的电参数进行检测，在电源模块11的电参数符合预设条件的情况下，控制断开缓启动电路17，和/或，进行提示。如此，可较精确地将电源模块11和供电电路100断开连接。
在某些实施方式中，供电电路100包括电参数检测电路，电参数检测电路用于检测电源模块11的电参数。
在某些实施方式中，电参数包括如下至少一种：电源模块11的电压、电源模块11的电量、电源模块11的内阻、电源模块11的温度。
上述实施例提供的电源装置200包括多个电源模块11，以包括两个并联的电池为例，无人机在低温环境下飞行时，若电源装置200中的两个电池的老化程度不一致，则会造成两个电池放电电流不一致，随着飞行时间的推移，两个电池的SOC(State of Charge，荷电状态)差异会越来越大，这样会存在SOC较低的单电池过放，而导致SOC较高的单电池飞行时存在炸机的风险，使得无人机飞行的安全性较低。
为了降低两个电池之间的SOC差异，以提高无人机飞行的安全性，可以考虑对剩余电量较大的电池进行加热处理，加热处理后的电池的温度升高；内阻减少，放电电流自动加大。随着电池的放电电流自动加大，该电池的剩余电量会快速减少，直至两个电池的剩余电量近似相等，这样可以避免存在SOC较低的单电池过放，而导致SOC较高的单电池飞行时存在炸机的风险，从而提高了无人机飞行的安全性。
基于此，本申请实施例提供了至少两种电池剩余电量的调节方法，均应用于可移动平台，可移动平台包括电源装置200，电源装置200包括至少两个电池，至少两个电池中包括第一电池和第二电池。电源装置200可以包括上述任一实施例提供的供电电路100。在一种电池剩余电量的调节方法中，在第一电池的剩余电量和第二电池的剩余电量的差值大于第一阈值时，可以先获取剩余电量较大的电池的属性信息；属性信息包括温度；若剩余电量较大的电池的温度满足预设加热条件，则对剩余电量较大的电池进行加热处理，直至剩余电量较大的电池的剩余电量和剩余电量较小的电池的剩余电量近似相等。其中，剩余电量较大的电池为第一电池和第二电池中的一个电池；剩余电量较小的电池为第一电池和第二电池中的另一个电池。示例的，第一阈值可以为2％，也可以为3％，当然，也可以为2.5％，具体可以根据实际需要进行设置，在此，对于第一阈值的取值，本申请实施例不做进一步地限制。
可以看出，在该种可能的调节方法中，在剩余电量较大的电池的温度满足预设加热条件时，通过对剩余电量较大的电池进行加热处理，使得加热处理后的电池的温度升高；内阻减少，放电电流自动加大。随着该电池放电电流自动加大，该电池的剩余电量会快速减少，直至该电池的剩余电量和剩余电量较小的电池的剩余电量近似相等，这样可以避免存在SOC较低的单电池过放，而导致SOC较高的单电池飞行时存在炸机的风险，从而提高了无人机飞行的安全性。
通过上述描述可以看出，在该种可能的调节方法中，在获取剩余电量较大的电池的属性信息时，是在确定第一电池的剩余电量和第二电池的剩余电量的差值大于第一阈值时，才获取剩余电量较大的电池的属性信息，以根据属性信息，确定剩余电量较大的电池的温度是否满足预设加热条件。换言之，在第一电池的剩余电量和第二电池的剩余电量的差值小于第一阈值时，则不会获取第一电池和第二电池各自的属性信息，这样可以避免因一直获取剩余电量较大的电池的属性信息而产生的功耗。可以理解的是，在该种可能的调节方法中，也可以先实时地或者周期性地获取剩余电量较大的电池的属性信息，这样在确定第一电池的剩余电量和第二电池的剩余电量的差值大于第一阈值时，就可以直接根据获取到的属性信息确定剩余电量较大的电池的温度是否满足预设加热条件，并在确定满足预设加热条件时，直接对剩余电量较大的电池进行加热，而不是在确定第一电池的剩余电量和第二电池的剩余电量的差值大于第一阈值时，才获取剩余电量较大的电池的属性信息，与前一种情况相比，虽然增加了功耗，但在一定程度上提高了加热效率。
综上可以看出，在本申请实施例中，对于获取剩余电量较大的电池的属性信息的操作，和确定第一电池的剩余电量和第二电池的剩余电量的差值大于第一阈值的操作，这两个操作之间并无先后顺序，可以先执行获取剩余电量较大的电池的属性信息的操作，再执行确定第一电池的剩余电量和第二电池的剩余电量的差值大于第一阈值的操作；也可以先执行确定第一电池的剩余电量和第二电池的剩余电量的差值大于第一阈值的操作，并在确定第一电池的剩余电量和第二电池的剩余电量的差值大于第一阈值时，再执行获取剩余电量较大的电池的属性信息的操作，具体可以根据实际需要进行设置。值得注意的是，后续在描述该种可能的调节方法时，将以先确定第一电池的剩余电量和第二电池的剩余电量的差值大于第一阈值的操作，并在确定第一电池的剩余电量和第二电池的剩余电量的差值大于第一阈值时，再执行获取剩余电量较大的电池的属性信息的操作为例，对本申请实施例的技术方案进行说明，但并不代表本申请实施例仅局限于此。
在另一种电池剩余电量的调节方法中，在第一电池的剩余电量和第二电池的剩余电量的 差值大于第一阈值时，可以先分别获取第一电池和第二电池各自的属性信息，属性信息内阻；若第一电池的内阻和第二电池的内阻满足预设加热条件，则对内阻较大的电池进行加热处理，直至内阻较大的电池的剩余电量和内阻较小的电池的剩余电量近似相等；其中，内阻较大的电池为第一电池和第二电池中的一个电池；内阻较小的电池为第一电池和第二电池中的另一个电池。
可以看出，在该种可能的调节方法中，在第一电池的内阻和第二电池的内阻满足预设加热条件时，通过对内阻较大的电池进行加热处理，使得加热处理后的电池的温度升高；内阻减少，放电电流自动加大。随着该电池放电电流自动加大，该电池的剩余电量会快速减少，直至该电池的剩余电量和内阻较小的电池的剩余电量近似相等，这样同样可以避免存在SOC较低的单电池过放，而导致SOC较高的单电池飞行时存在炸机的风险，从而提高了无人机飞行的安全性。
通过上述描述可以看出，在该种可能的调节方法中，在分别获取第一电池和第二电池各自的属性信息时，是在确定第一电池的剩余电量和第二电池的剩余电量的差值大于第一阈值时，才分别获取第一电池和第二电池各自的属性信息，以根据属性信息，确定第一电池的内阻和第二电池的内阻满足预设加热条件。换言之，在第一电池的剩余电量和第二电池的剩余电量的差值小于第一阈值时，则不会分别获取第一电池和第二电池各自的属性信息，这样可以避免因一直获取第一电池和第二电池各自的属性信息而产生的功耗。可以理解的是，在该种可能的调节方法中，也可以先实时地或者周期性地获取第一电池和第二电池各自的属性信息，这样在确定第一电池的剩余电量和第二电池的剩余电量的差值大于第一阈值时，就可以直接根据获取到的属性信息确定第一电池的内阻和第二电池的内阻满足预设加热条件，并在确定满足预设加热条件时，直接对内阻较大的电池进行加热，而不是在确定第一电池的剩余电量和第二电池的剩余电量的差值大于第一阈值时，才分别获取第一电池和第二电池各自的属性信息，与前一种情况相比，虽然增加了功耗，但在一定程度上提高了加热效率。
综上可以看出，在本申请实施例中，对于分别获取第一电池和第二电池各自的属性信息的操作，和确定第一电池的剩余电量和第二电池的剩余电量的差值大于第一阈值的操作，这两个操作之间并无先后顺序，可以先执行分别获取第一电池和第二电池各自的属性信息的操作，再执行确定第一电池的剩余电量和第二电池的剩余电量的差值大于第一阈值的操作；也可以先执行确定第一电池的剩余电量和第二电池的剩余电量的差值大于第一阈值的操作，并在确定第一电池的剩余电量和第二电池的剩余电量的差值大于第一阈值时，再执行分别获取第一电池和第二电池各自的属性信息的操作，具体可以根据实际需要进行设置。值得注意的 是，后续在描述该种可能的调节方法时，将以先确定第一电池的剩余电量和第二电池的剩余电量的差值大于第一阈值的操作，并在确定第一电池的剩余电量和第二电池的剩余电量的差值大于第一阈值时，再执行分别获取第一电池和第二电池各自的属性信息的操作为例，对本申请实施例的技术方案进行说明，但并不代表本申请实施例仅局限于此。
可以理解的是，在本申请实施例中，对电池进行加热处理时，可以通过无人机中的加热装置对电池进行加热处理，该加热装置可以设置在电池中，当然，也可以独立于电池设置。对电池进行加热处理后，两个电池的剩余电量近似相等，通常可以包括两种情况，一种情况下，近似相等可以理解为两个电池的剩余电量相等；另一种情况下，近似相等可以理解为两个电池的剩余电量的差值较小，例如，差值小于预设阈值。至于预设阈值的取值，可以根据实际需要进行设置，在此，对于预设阈值的取值，本申请实施例不做进一步地限制。
下面，将通过具体的实施例，分别对本申请实施例提供的上述两种电池剩余电量的调节方法进行详细地说明。可以理解的是，下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例不再赘述。
在一种电池剩余电量的调节方法中，通过温度确定是否向对剩余电量较大的电池进行加热处理。
示例的，请参见图7所示，图7为本申请实施例提供的一种用于电源装置200的电池剩余电量的调节方法的流程图，该电池剩余电量的调节方法可以由电池剩余电量的调节装置执行，该电池剩余电量的调节装置可以设置于无人机中。该电池剩余电量的调节方法可以包括：
步骤S701：在第一电池的剩余电量和第二电池的剩余电量的差值大于第一阈值时，获取剩余电量较大的电池的属性信息。
其中，属性信息包括温度，剩余电量较大的电池为第一电池和第二电池中的一个电池，剩余电量较小的电池则为第一电池和第二电池中的另一个电池。例如剩余电量较大的电池为第一电池，剩余电量较小的电池则为第二电池；剩余电量较大的电池为第二电池，剩余电量较小的电池则为第一电池。
在确定第一电池的剩余电量和第二电池的剩余电量的差值大于第一阈值之前，可以先获取第一电池的剩余电量以及第二电池的剩余电量；这样才能根据第一电池的剩余电量以及第二电池的剩余电量，确定第一电池的剩余电量和第二电池的剩余电量的差值是否大于第一阈值。其中，第一阈值可以根据实际需要进行设置，在此，对于第一阈值的取值，本申请实施例不做具体限制。示例的，属性信息还包括电流和/或电压，在获取第一电池的剩余电量以 及第二电池的剩余电量时，可以分别获取第一电池和第二电池各自的电流和/或电压，并根据第一电池的电流和/或电压确定第一电池的剩余电量，并根据第二电池的电流和/或电压确定第二电池的剩余电量。
可以理解的是，在根据第一电池的电流和/或电压确定第一电池的剩余电量时，可以只获取第一电池的电流，根据第一电池的电流确定该第一电池的剩余电量；也可以只获取第一电池的电压，根据第一电池的电压确定该第一电池的剩余电量；当然，也可以同时第一电池的电流和电压，并根据第一电池的电流和电压同时确定该第一电池的剩余电量，具体可以根据实际需要进行设置。在此，对于根据第二电池的电流和/或电压确定第二电池的剩余电量的方式，与根据第一电池的电流和/或电压确定第一电池的剩余电量的方式类似，在此本申请实施例不再进行赘述。
在分别获取了第一电池的剩余电量和第二电池的剩余电量后，可以根据该第一电池的剩余电量和第二电池的剩余电量的差值确定其差值是否大于第一阈值。若第一电池的剩余电量和第二电池的剩余电量的差值小于或者等于第一阈值，则说明该第一电池和第二电池的SOC差异在可接受范围内，在该种情况，无人机在后续的飞行过程中，不会存在SOC较低的单电池过放，而导致SOC较高的单电池飞行时存在炸机的风险，因此，可以无需对剩余电量较大的电池进行加热处理。
相反的，若第一电池的剩余电量和第二电池的剩余电量的差值大于第一阈值，则说明无人机在后续的飞行过程中，会存在SOC较低的单电池过放，而导致SOC较高的单电池飞行时存在炸机的风险，因此，需要进一步获取剩余电量较大的电池的温度，并根据剩余电量较大的电池的温度确定是否对剩余电量较大的电池进行加热处理，使得剩余电量较大的电池的剩余电量和剩余电量较小的电池的剩余电量近似相等，这样可以避免存在SOC较低的单电池过放，而导致SOC较高的单电池飞行时存在炸机的风险，从而提高了无人机飞行的安全性。
示例的，在获取剩余电量较大的电池的温度时，可以在无人机飞行过程中，获取剩余电量较大的电池的温度；当然，也可以在无人机起飞时刻，获取剩余电量较大的电池的温度，从而获取到剩余电量较大的电池的温度，具体可以根据实际需要进行设置。本申请实施例只是以在无人机飞行过程中，获取剩余电量较大的电池的温度为例进行说明，但并不代表本申请实施例仅局限于此。
获取剩余电量较大的电池的温度的方式，可以通过温度传感器检测的方式检测电池的温度，在此不做限定。
在无人机飞行过程中，获取到剩余电流较大的电池的温度之后，就可以根据剩余电量较大的电池的温度，确定剩余电量较大的电池的温度是否满足预设加热条件，即执行下述步骤S702：
步骤S702：根据剩余电量较大的电池的温度，确定剩余电量较大的电池的温度是否满足预设加热条件。
其中，预设加热条件用于限定剩余电量较大的电池的温度，即只要判断剩余电量较大的电池的温度是否满足温度条件，而无需判断剩余电量较小的电池是否满足温度条件。
若剩余电量较大的电池的温度大于或者等于预设温度，则说明该剩余电量较大的电池的温度较高，对于温度较高的电池，即使对电池进行加热处理，也不会因为温度升高而使得电池放电电流自动加大，因此，在剩余电量较大的电池的温度大于或者等于预设温度时，不会对该剩余电量较大的电池进行加热处理；相反的，若剩余电量较大的电池的温度小于预设温度，则说明该剩余电量较大的电池的温度较低，可以通过对剩余电量较大的电池进行加热处理，使得该剩余电量较大的电池放电电流自动加大，该剩余电量较大的电池的剩余电量会快速减少，直至该剩余电量较大的电池的剩余电量和剩余电量较小的电池的剩余电量近似相等。示例的，预设温度可以为40度，也可以为41度，当然，也可以为39度，具体可以根据实际需要进行设置，在此，对于预设温度的取值，本申请实施例不做具体限制。
需要说明的是，在判断剩余电量较大的电池的温度满足预设加热条件时，只是以温度作为判断条件，当然，也可以通过电池的电流和/或电压判断是否满足预设加热条件，在此，本申请实施例只是以温度为例进行说明，但并不代表本申请实施例仅局限于此。
在无人机飞行过程中，获取到剩余电流较大的电池的温度之后，可以根据剩余电量较大的电池的温度，执行下述步骤S703：
步骤S703：若剩余电量较大的电池的温度满足预设加热条件，则对剩余电量较大的电池进行加热处理，直至剩余电量较大的电池的剩余电量和剩余电量较小的电池的剩余电量近似相等。
可以理解的是，在对剩余电量较大的电池进行加热处理时，不能无限制地对剩余电量较大的电池进行加热处理，而是当其加热后的温度达到预设截止温度时，则停止加热，其原因正如前面所描述的，对于温度较高的电池，即使对电池进行加热处理，也不会因为温度升高而使得电池放电电流自动加大，因此，在加热后的温度达到预设截止温度时，可以停止对该电池继续进行加热。其中，对于预设截止温度的取值，具体可以根据实际需要进行设置，在 此，本申请实施例不做进一步地限制。
由此可见，在该种可能的调节方法中，在剩余电量较大的电池的温度满足预设加热条件时，通过对剩余电量较大的电池进行加热处理，使得加热处理后的电池的温度升高；内阻减少，放电电流自动加大。随着该电池放电电流自动加大，该电池的剩余电量会快速减少，直至该电池的剩余电量和剩余电量较小的电池的剩余电量近似相等，这样可以避免存在SOC较低的单电池过放，而导致SOC较高的单电池飞行时存在炸机的风险，从而提高了无人机飞行的安全性。
基于上述图1所示的实施例，上述步骤S703中，若剩余电量较大的电池的温度满足预设加热条件，对剩余电量较大的电池进行加热处理，可以包括下述至少两种可能的实现方式。在一种可能的实现方式中，可以在剩余电量较大的电池的温度满足预设加热条件，仅对剩余电量较大的电池进行加热处理，使得剩余电量较大的电池的剩余电量和剩余电量较小的电池的剩余电量近似相等。在一种可能的实现方式中，可以在剩余电量较大的电池和剩余电量较小的电池均满足预设加热条件，对剩余电量较大的电池和剩余电量较小的电池均进行加热处理，不同的是，加热处理使用的占用比不同，从而使得剩余电量较大的电池的剩余电量和剩余电量较小的电池的剩余电量近似相等。下面，将对这两种可能的实现方式进行详细地描述。
在一种可能的实现方式中，仅对剩余电量较大的电池进行加热处理。由于剩余电量较大的电池的剩余电量大于剩余电量较小的电池的剩余电量，因此，为了使得剩余电量较大的电池的剩余电量和剩余电量较小的电池的剩余电量近似相等，可以考虑对剩余电量较大的电池进行加热处理，该剩余电量较大的电池的温度升高；温度升高后内阻减少，这样温度升高后的电池的放电电流自动加大，使得温度升高后的剩余电量较大的电池快速减少，直至剩余电量较大的电池的剩余电量和剩余电量较小的电池的剩余电量近似相等。
示例的，在对剩余电量较大的电池进行加热处理时，可以获取第一占空比，并根据第一占空比对剩余电量较大的电池进行间歇加热。其中，第一占空比用于表示对剩余电量较大的电池进行间歇加热。第一占空比越大，对剩余电量较大的电池间歇加热的过程中连续加热的时长越长。例如第一占空比为0.5，则可以表示每一秒钟中存在0.5秒的时长对剩余电量较大的电池进行加热，而另外0.5秒则不对剩余电量较大的电池进行加热。例如第一占空比为0.2，则可以表示每一秒钟中存在0.2秒的时长对剩余电量较大的电池进行加热，而另外0.2秒则不对剩余电量较大的电池进行加热。
示例的，在获取第一占空比时，可以接收剩余电量较大的电池发送的第一占空比；或者， 可以获取剩余电量较大的电池所处的环境温度，并根据环境温度、剩余电量较大的电池的剩余电量和剩余电量较小的电池的剩余电量的差值确定第一占空比，从而获取到该第一占空比。第一占空比与环境温度负相关。电池所处环境的环境温度越低，环境会造成电池的内阻越大，导致电池放电电流变小，电池的剩余电量越大。在本申请实施例中，在确定用于对剩余电量较大的电池进行加热的第一占空比时，不仅要考虑该剩余电量较大的电池所处的环境温度，且由于加热的目的是为了使得剩余电量较大的电池的剩余电量和剩余电量较小的电池的剩余电量近似相等，因此，除了考虑该剩余电量较大的电池所处的环境温度，还需要考虑剩余电量较大的电池的剩余电量和剩余电量较小的电池的剩余电量的差值，并根据环境温度、剩余电量较大的电池的剩余电量和剩余电量较小的电池的剩余电量的差值共同确定第一占空比。
在确定第一占空比后，可以采用第一占空比对剩余电量较大的电池进行加热处理，使得加热处理后的电池的温度升高；内阻减少，放电电流自动加大。随着该电池放电电流自动加大，该电池的剩余电量会快速减少，直至该电池的剩余电量和剩余电量较小的电池的剩余电量近似相等，这样可以避免存在SOC较低的单电池过放，而导致SOC较高的单电池飞行时存在炸机的风险，从而提高了无人机飞行的安全性。
在一种可能的实现方式中，对剩余电量较大的电池和剩余电量较小的电池均进行加热处理。由于剩余电量较大的电池的剩余电量大于剩余电量较小的电池的剩余电量，因此，为了使得剩余电量较大的电池的剩余电量和剩余电量较小的电池的剩余电量近似相等，可以考虑对剩余电量较大的电池和剩余电量较小的电池的剩余电量均进行升温处理，但需要通过不同的占空比控制剩余电量较大的电池的剩余电量的降低量大于剩余电量较小的电池的剩余电量，这样才能使得降低后的剩余电量较大的电池的剩余电量和降低后的剩余电量较小的电池的剩余电量近似相等。
示例的，在对剩余电量较大的电池和剩余电量较小的电池均进行加热处理时，可以先分别获取第一占空比和第二占空比；根据第一占空比对剩余电量较大的电池进行间歇加热，并根据第二占空比对剩余电量较小的电池进行间歇加热。其中，第一占空比用于表示对剩余电量较大的电池进行间歇加热，第二占空比用于表示对剩余电量较大的电池进行间歇加热。占空比越大，对电池间歇加热的过程中连续加热的时长越长。因此，为了控制剩余电量较大的电池的剩余电量的降低量大于剩余电量较小的电池的剩余电量，用于对剩余电量较大的电池进行加热处理的第一占空比大于对剩余电量较小的电池进行加热处理的第二占空比。
示例的，在获取第一占空比时，可以接收剩余电量较大的电池发送的第一占空比；或者，获取剩余电量较大的电池所处的环境温度，并根据环境温度、剩余电量较大的电池的剩余电量和剩余电量较小的电池的剩余电量的差值确定第一占空比。在获取第二占空比时，可以接收剩余电量较小的电池发送的第二占空比；或者，获取剩余电量较小的电池所处的环境温度，并根据环境温度、剩余电量较大的电池的剩余电量和剩余电量较小的电池的剩余电量的差值确定第二占空比。
在本申请实施例中，在确定用于对剩余电量较大的电池进行加热的第一占空比时，或者确定用于对剩余电量较小的电池进行加热的第二占空比时，以确定用于对剩余电量较小的电池进行加热的第二占空比为例，不仅要考虑剩余电量较小的电池所处的环境温度，且由于加热的目的是为了使得剩余电量较大的电池的剩余电量和剩余电量较小的电池的剩余电量近似相等，因此，在确定用于对剩余电量较小的电池进行加热的占空比时，除了考虑该剩余电量较小的电池所处的环境温度，还需要考虑剩余电量较大的电池的剩余电量和剩余电量较小的电池的剩余电量的差值，并根据环境温度、剩余电量较大的电池的剩余电量和剩余电量较小的电池的剩余电量的差值共同确定用于对剩余电量较小的电池进行加热的占空比。
在分别确定第一占空比和第二占空比后，可以采用较大第一占空比对剩余电量较大的电池进行加热处理，并采用较小第二占空比对剩余电量较小的电池进行加热处理，使得加热处理后的剩余电量较大的电池和剩余电量较小的电池的温度升高；内阻减少，放电电流自动加大。随着该剩余电量较大的电池和剩余电量较小的电池放电电流自动加大，该剩余电量较大的电池和剩余电量较小的电池的剩余电量会减少，但剩余电量较大的电池的剩余电量减少量大于剩余电量较小的电池的剩余电量减少量，直至该电池的剩余电量和剩余电量较小的电池的剩余电量近似相等，这样可以避免存在SOC较低的单电池过放，而导致SOC较高的单电池飞行时存在炸机的风险，从而提高了无人机飞行的安全性。
上述实施例详细地了描述了在一种电池剩余电量的调节方法中，在第一电池的剩余电量和第二电池的剩余电量的差值大于第一阈值时，可以先获取剩余电量较大的电池的温度；若剩余电量较大的电池的温度满足预设加热条件，则对剩余电量较大的电池进行加热处理，直至剩余电量较大的电池的剩余电量和剩余电量较小的电池的剩余电量近似相等的技术方案。下面，将详细在另一种电池剩余电量的调节方法中，在第一电池的剩余电量和第二电池的剩余电量的差值大于第一阈值时，可以先分别获取第一电池和第二电池各自的内阻；若第一电池的内阻和第二电池的内阻满足预设加热条件，则对内阻较大的电池进行加热处理，直至内阻较大的电池的剩余电量和内阻较小的电池的剩余电量近似相等的技术方案。
在另一种电池剩余电量的调节方法中，通过内阻确定是否向对剩余电量较大的电池进行加热处理。示例的，请参见图8所示，图8为本申请实施例提供的另一种电池剩余电量的调节方法的流程图，该电池剩余电量的调节方法可以由电池剩余电量的调节装置执行，该电池剩余电量的调节装置可以设置于无人机中。该电池剩余电量的调节方法可以包括：
步骤S801：在第一电池的剩余电量和第二电池的剩余电量的差值大于第一阈值时，分别获取第一电池和第二电池各自的属性信息。
其中，属性信息包括内阻。示例的，该属性信息也可以包括电池的电压和/或电池的电流。后续在根据属性信息判断第一电池和第二电池是否满足预设加热条件时，也可以通过电压和/或电流判断第一电池和第二电池是否满足预设加热条件，在此，本申请实施例只是以属性信息包括内阻为例进行说明，但并不代表本申请实施例仅局限于此。
在确定第一电池的剩余电量和第二电池的剩余电量的差值大于第一阈值之前，可以先获取第一电池的剩余电量以及第二电池的剩余电量；这样才能根据第一电池的剩余电量以及第二电池的剩余电量，确定第一电池的剩余电量和第二电池的剩余电量的差值是否大于第一阈值。其中，第一阈值可以根据实际需要进行设置，在此，对于第一阈值的取值，本申请实施例不做具体限制。
在获取第一电池的剩余电量以及第二电池的剩余电量时，可以分别获取第一电池和第二电池各自的电流和/或电压，并根据第一电池的电流和/或电压确定第一电池的剩余电量，并根据第二电池的电流和/或电压确定第二电池的剩余电量。可以理解的是，在根据第一电池的电流和/或电压确定第一电池的剩余电量时，可以只获取第一电池的电流，根据第一电池的电流确定该第一电池的剩余电量；也可以只获取第一电池的电压，根据第一电池的电压确定该第一电池的剩余电量；当然，也可以同时第一电池的电流和电压，并根据第一电池的电流和电压同时确定该第一电池的剩余电量，具体可以根据实际需要进行设置。在此，对于根据第二电池的电流和/或电压确定第二电池的剩余电量的方式，与根据第一电池的电流和/或电压确定第一电池的剩余电量的方式类似，在此本申请实施例不再进行赘述。
在分别获取了第一电池的剩余电量和第二电池的剩余电量后，可以根据该第一电池的剩余电量和第二电池的剩余电量的差值确定其差值是否大于第一阈值。若第一电池的剩余电量和第二电池的剩余电量的差值小于或者等于第一阈值，则说明该第一电池和第二电池的SOC差异在可接受范围内，在该种情况，无人机在后续的飞行过程中，不会存在SOC较低的单电池过放，而导致SOC较高的单电池飞行时存在炸机的风险，因此，可以无需对剩余电量较大 的电池进行加热处理。
相反的，若第一电池的剩余电量和第二电池的剩余电量的差值大于第一阈值，则说明无人机在后续的飞行过程中，会存在SOC较低的单电池过放，而导致SOC较高的单电池飞行时存在炸机的风险，因此，需要进一步获取第一电池和第二电池各自的内阻，并根据获取第一电池和第二电池各自的内阻确定是否需要对内阻较大的电池进行加热处理，使得内阻较大的电池的剩余电量和内阻较小的电池的剩余电量近似相等，这样可以避免存在SOC较低的单电池过放，而导致SOC较高的单电池飞行时存在炸机的风险，从而提高了无人机飞行的安全性。
其中，内阻较大的电池为第一电池和第二电池中的一个电池，内阻较小的电池则为第一电池和第二电池中的另一个电池。例如内阻较大的电池为第一电池，内阻较小的电池则为第二电池；内阻较大的电池为第二电池，内阻较小的电池则为第一电池。
示例的，在分别获取第一电池和第二电池各自的内阻时，可以在无人机起飞时刻，分别获取第一电池和第二电池各自的内阻；当然，也可以在无人机飞行过程中，分别获取第一电池和第二电池各自的内阻，从而获取到第一电池和第二电池各自的内阻，具体可以根据实际需要进行设置。本申请实施例只是以在无人机起飞时刻，分别获取第一电池和第二电池各自的内阻为例进行说明，但并不代表本申请实施例仅局限于此。
在无人机起飞时刻，分别获取第一电池和第二电池各自的内阻之后，就可以根据第一电池和第二电池各自的内阻，确定第一电池的内阻和第二电池的内阻是否满足预设加热条件，即执行下述步骤S802：
步骤S802：根据第一电池和第二电池各自的内阻，确定第一电池的内阻和第二电池的内阻是否满足预设加热条件。
其中，预设加热条件用于限定第一电池的内阻和第二电池内阻的差值。
若第一电池的内阻和第二电池的内阻的差值小于第二阈值，则说明无需对该内阻的电池进行加热处理；相反的，若第一电池的内阻和第二电池的内阻的差值大于第二阈值，则说明可以对内阻较大的电池进行加热处理，使得该内阻较大的电池放电电流自动加大，该内阻较大的电池的剩余电量会快速减少，直至该内阻较大的电池的剩余电量和内阻较小的电池的剩余电量近似相等。
步骤S803：若第一电池的内阻和第二电池的内阻满足预设加热条件，则对内阻较大的电池进行加热处理，直至内阻较大的电池的剩余电量和内阻较小的电池的剩余电量近似相等。
可以理解的是，在对内阻较大的电池进行加热处理时，不能无限制地对内阻较大的电池进行加热处理，而是当其加热后的温度达到预设截止温度时，则停止加热，其原因正如前面所描述的，对于温度较高的电池，即使对电池进行加热处理，也不会因为温度升高而使得电池放电电流自动加大，因此，在加热后的温度达到预设截止温度时，可以停止对该内阻较大的电池继续进行加热。其中，对于预设截止温度的取值，具体可以根据实际需要进行设置，在此，本申请实施例不做进一步地限制。
由此可见，在该种可能的调节方法中，在第一电池的内阻和第二电池的内阻满足预设加热条件时，通过对内阻较大的电池进行加热处理，使得加热处理后的电池的温度升高；内阻减少，放电电流自动加大。随着该内阻较大放电电流自动加大，该内阻较大的剩余电量会快速减少，直至该内阻较大的剩余电量和内阻较小的电池的剩余电量近似相等，这样可以避免存在SOC较低的单电池过放，而导致SOC较高的单电池飞行时存在炸机的风险，从而提高了无人机飞行的安全性。
基于上述图8所示的实施例，上述步骤S803中，若第一电池的内阻和第二电池的内阻满足预设加热条件，则对内阻较大的电池进行加热处理，可以包括下述至少两种可能的实现方式。在一种可能的实现方式中，可以在第一电池的内阻和第二电池的内阻满足预设加热条件，仅对内阻较大的电池进行加热处理，使得内阻较大的电池的剩余电量和内阻较小的电池的剩余电量近似相等。在一种可能的实现方式中，可以在第一电池的内阻和第二电池的内阻满足预设加热条件，对内阻较大的电池和内阻较小的电池均进行加热处理，不同的是，加热处理使用的占用比不同，从而使得内阻较大的电池的剩余电量和内阻较小的电池的剩余电量近似相等。下面，将对这两种可能的实现方式进行详细地描述。
在一种可能的实现方式中，仅对内阻较大的电池进行加热处理。由于内阻较大的电池的剩余电量大于内阻较小的电池的剩余电量，因此，为了使得内阻较大的电池的剩余电量和内阻较小的电池的剩余电量近似相等，可以考虑对内阻较大的电池进行加热处理，该内阻较大的电池的温度升高；温度升高后内阻减少，这样温度升高后的电池的放电电流自动加大，使得温度升高后的内阻较大的电池快速减少，直至内阻较大的电池的剩余电量和内阻较小的电池的剩余电量近似相等。
示例的，在对内阻较大的电池进行加热处理时，可以获取第一占空比，并根据第一占空比对内阻较大的电池进行间歇加热。其中，第一占空比用于表示对内阻较大的电池进行间歇加热。第一占空比越大，对内阻较大的电池间歇加热的过程中连续加热的时长越长。例如第 一占空比为0.5，则可以表示每一秒钟中存在0.5秒的时长对内阻较大的电池进行加热，而另外0.5秒则不对内阻较大的电池进行加热。例如第一占空比为0.2，则可以表示每一秒钟中存在0.2秒的时长对内阻较大的电池进行加热，而另外0.2秒则不对内阻较大的电池进行加热。
示例的，在获取第一占空比时，可以接收内阻较大的电池发送的第一占空比；或者，可以获取内阻较大的电池所处的环境温度，并根据环境温度、内阻较大的电池的剩余电量和内阻较小的电池的剩余电量的差值确定第一占空比，从而获取到该第一占空比。第一占空比与环境温度负相关。电池所处环境的环境温度越低，环境会造成电池的内阻越大，导致电池放电电流变小，电池的剩余电量越大。
在本申请实施例中，在确定用于对内阻较大的电池进行加热的第一占空比时，不仅要考虑该内阻较大的电池所处的环境温度，且由于加热的目的是为了使得内阻较大的电池的剩余电量和内阻较小的电池的剩余电量近似相等，因此，除了考虑该内阻较大的电池所处的环境温度，还需要考虑内阻较大的电池的剩余电量和内阻较小的电池的剩余电量的差值，并根据环境温度、内阻较大的电池的剩余电量和内阻较小的电池的剩余电量的差值共同确定第一占空比。
在确定第一占空比后，可以采用第一占空比对内阻较大的电池进行加热处理，使得加热处理后的电池的温度升高；内阻减少，放电电流自动加大。随着该电池放电电流自动加大，该电池的剩余电量会快速减少，直至该电池的剩余电量和内阻较小的电池的剩余电量近似相等，这样可以避免存在SOC较低的单电池过放，而导致SOC较高的单电池飞行时存在炸机的风险，从而提高了无人机飞行的安全性。
在一种可能的实现方式中，对内阻较大的电池和内阻较小的电池均进行加热处理。由于内阻较大的电池的剩余电量大于内阻较小的电池的剩余电量，因此，为了使得内阻较大的电池的剩余电量和内阻较小的电池的剩余电量近似相等，可以考虑对内阻较大的电池和内阻较小的电池的剩余电量均进行升温处理，但需要通过不同的占空比控制内阻较大的电池的剩余电量的降低量大于内阻较小的电池的剩余电量，这样才能使得降低后的内阻较大的电池的剩余电量和降低后的内阻较小的电池的剩余电量近似相等。
示例的，在对内阻较大的电池和内阻较小的电池均进行加热处理时，可以先分别获取第一占空比和第二占空比；根据第一占空比对内阻较大的电池进行间歇加热，并根据第二占空比对内阻较小的电池进行间歇加热。其中，第一占空比用于表示对内阻较大的电池进行间歇 加热，第二占空比用于表示对内阻较大的电池进行间歇加热。占空比越大，对电池间歇加热的过程中连续加热的时长越长。因此，为了控制内阻较大的电池的剩余电量的降低量大于内阻较小的电池的剩余电量，用于对内阻较大的电池进行加热处理的第一占空比大于对内阻较小的电池进行加热处理的第二占空比。
示例的，在获取第一占空比时，可以接收内阻较大的电池发送的第一占空比；或者，获取内阻较大的电池所处的环境温度，并根据环境温度、内阻较大的电池的剩余电量和内阻较小的电池的剩余电量的差值确定第一占空比。在获取第二占空比时，可以接收内阻较小的电池发送的第二占空比；或者，获取内阻较小的电池所处的环境温度，并根据环境温度、内阻较大的电池的剩余电量和内阻较小的电池的剩余电量的差值确定第二占空比。
在本申请实施例中，在确定用于对内阻较大的电池进行加热的第一占空比时，或者确定用于对内阻较小的电池进行加热的第二占空比时，以确定用于对内阻较小的电池进行加热的第二占空比为例，不仅要考虑内阻较小的电池所处的环境温度，且由于加热的目的是为了使得内阻较大的电池的剩余电量和内阻较小的电池的剩余电量近似相等，因此，在确定用于对内阻较小的电池进行加热的占空比时，除了考虑该内阻较小的电池所处的环境温度，还需要考虑内阻较大的电池的剩余电量和内阻较小的电池的剩余电量的差值，并根据环境温度、内阻较大的电池的剩余电量和内阻较小的电池的剩余电量的差值共同确定用于对内阻较小的电池进行加热的占空比。
在分别确定第一占空比和第二占空比后，可以采用较大第一占空比对内阻较大的电池进行加热处理，并采用较小第二占空比对内阻较小的电池进行加热处理，使得加热处理后的内阻较大的电池和内阻较小的电池的温度升高；内阻减少，放电电流自动加大。随着该内阻较大的电池和内阻较小的电池放电电流自动加大，该内阻较大的电池和内阻较小的电池的剩余电量会减少，但内阻较大的电池的剩余电量减少量大于内阻较小的电池的剩余电量减少量，直至该电池的剩余电量和内阻较小的电池的剩余电量近似相等，这样可以避免存在SOC较低的单电池过放，而导致SOC较高的单电池飞行时存在炸机的风险，从而提高了无人机飞行的安全性。
基于上述任一实施例，在对剩余电量较大的电池，或者对内阻较大的电池，或者，对第一电池和第二电池进行加热处理时，还可以向用户输出提示信息，以告知用户当前正在对电池进行加热处理，可以使得用户获取该电池的当前状态。
此外，在对剩余电量较大的电池，或者对内阻较大的电池，或者，对第一电池和第二电 池进行加热处理时，还可以记录该加热事件，例如，记录该加热事件的发生时间、或者加热的温度等信息，使得后续若有因加热导致的电池故障，则可以根据记录查看，为检查工作提供了便利。在上述任一实施例的基础上，本申请实施例还提供了一种电源装置，该电源装置可以包括：一个或多个处理器，单独的或共同的工作，处理器用于执行上述任一实施例的电池剩余电量的调节方法，其实现原理以及有益效果与电池剩余电量的调节方法的实现原理及有益效果类似，可参见电池剩余电量的调节方法的实现原理及有益效果，此处不再进行赘述。
该电源装置还具有温度感测装置，用于感测电源模块11的温度。处理器可以与上述任一实施例的电学模块电连接，例如电源模块11、缓启动电路17、单向控制电路35、温度感测装置等电学模块电连接，以获取参数信息并进行相应的处理。
请结合图9和图10，本申请实施方式提供一种移动平台400，包括上述任一实施方式的供电电路100，或上述任一实施方式的电源装置200。
上述移动平台400中，采用每个电源模块11分别连接缓启动电路17的方式，避免在热备替换电源模块11时产生浪涌电流，出现打火等异常。
请结合图9，移动平台400包括供电电路100，供电电路100利用电源模块11为负载300供电。
请结合图10，移动平台400包括电源装置200，电源装置200利用电源模块11为负载300供电。
在图9和图10所示的实施方式中，移动平台400为无人机。
在某些实施方式中，移动平台400包括本体402，电源装置200可拆卸地安装在本体402。如此，可便于对电源装置200进行维修、更换、运输和存储等作业。
在其它的实施方式中，本体402可安装有多个电源装置200。具体地，移动平台400能够通过多个电源装置200对负载300进行供电。
在本说明书的描述中，参考术语“某些实施方式”、“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”、或“一些示例”等的描述意指结合所述实施方式或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进 行变化、修改、替换和变型。

Claims (37)

  1. 一种供电电路，其特征在于，所述供电电路用于连接并联连接的至少两个电源模块，所述供电电路包括：
    电源输出端，所述供电电路用于通过所述电源输出端向负载供电；
    至少两个并联的支路，每个所述支路用于连接于所述电源输出端与一个所述电源模块之间；
    其中，每个所述支路包括缓启动电路，所述缓启动电路用于连接于所述电源输出端与对应的所述一个电源模块之间；在所述每个缓启动电路未与对应的所述电源模块形成电连接的情况下，相应的所述缓启动电路断开。
  2. 根据权利要求1所述的供电电路，其特征在于，所述电源模块包括如下至少一种：电池、充电宝。
  3. 根据权利要求1所述的供电电路，其特征在于，所述供电电路包括储能电容，所述储能电容的一端连接所述电源输出端和所述负载，所述储能电容的另一端接地。
  4. 根据权利要求1所述的供电电路，其特征在于，所述缓启动电路包括缓启动控制电路和开关件，所述缓启动控制电路连接所述开关件，并用于控制所述开关件的导通和断开，以控制所述缓启动电路的导通和断开。
  5. 根据权利要求4所述的供电电路，其特征在于，所述开关件连接所述缓启动电路的输入端和输出端。
  6. 根据权利要求4所述的供电电路，其特征在于，所述开关件包括金氧半场效晶体管，所述缓启动控制电路包括缓启动控制芯片。
  7. 根据权利要求1所述的供电电路，其特征在于，所述缓启动电路包括输入端和输出端，所述输入端连接至所述电源模块，所述输出端连接至所述电源输出端，所述缓启动电路用于在检测不到所述电源模块连接的情况下，断开所述输入端和所述输出端之间的连接。
  8. 根据权利要求7所述的供电电路，其特征在于，所述缓启动电路用于根据检测所述输入端的电压，确定是否连接所述电源模块。
  9. 根据权利要求8所述的供电电路，其特征在于，在所述输入端的电压大于0的情况下，确定连接到所述电源模块。
  10. 根据权利要求1所述的供电电路，其特征在于，所述供电电路还包括单向控制电路，所述单向控制电路设于所述支路中，用于使所述支路的电流流向为单向流通。
  11. 根据权利要求10所述的供电电路，其特征在于，所述单向控制电路连接于所述缓 启动电路与所述电源输出端之间；或者，
    所述单向控制电路连接于所述缓启动电路与所述电源模块之间。
  12. 根据权利要求1所述的供电电路，其特征在于，所述供电电路包括电源检测电路，所述支路包括电源输入端，所述电源输入端电连接对应的所述电源模块，所述电源检测电路用于检测所述电源输入端的输入电压，以确定所述电源模块是否与对应的所述缓启动电路电连接。
  13. 根据权利要求12所述的供电电路，其特征在于，在所述支路的端口电压的电压值大于0的情况下，确定所述电源模块与对应的所述缓启动电路电连接。
  14. 根据权利要求12所述的供电电路，其特征在于，在确定所述电源模块连接至所述电源输入端的情况下，进行相应的提示。
  15. 根据权利要求1所述的供电电路，其特征在于，所述供电电路能够对所述电源模块的电参数进行检测，在所述电源模块的电参数符合预设条件的情况下，控制断开所述缓启动电路，和/或，进行提示。
  16. 根据权利要求15所述的供电电路，其特征在于，所述供电电路包括电参数检测电路，所述电参数检测电路用于检测所述电源模块的电参数。
  17. 根据权利要求15所述的供电电路，其特征在于，所述电参数包括如下至少一种：电源模块的电压、电源模块的电量、电源模块的内阻、电源模块的温度。
  18. 一种电源装置，其特征在于，包括：
    并联连接的至少两个电源模块，用于为负载提供电量；以及
    供电电路，所述供电电路用于连接所述并联连接的至少两个电源模块，所述供电电路包括：
    电源输出端，所述供电电路用于通过所述电源输出端向所述负载供电；
    至少两个并联的支路，每个所述支路用于连接于所述电源输出端与一个所述电源模块之间；
    其中，每个所述支路包括缓启动电路，所述缓启动电路用于连接于所述电源输出端与对应的所述一个电源模块之间；在所述每个缓启动电路未与对应的所述电源模块形成电连接的情况下，相应的所述缓启动电路断开。
  19. 根据权利要求18所述的电源装置，其特征在于，所述电源模块包括如下至少一种：电池、充电宝。
  20. 根据权利要求18所述的电源装置，其特征在于，所述供电电路包括储能电容，所 述储能电容的一端连接所述电源输出端和所述负载，所述储能电容的另一端接地。
  21. 根据权利要求18所述的电源装置，其特征在于，所述缓启动电路包括缓启动控制电路和开关件，所述缓启动控制电路连接所述开关件，并用于控制所述开关件的导通和断开，以控制所述缓启动电路的导通和断开。
  22. 根据权利要求21所述的电源装置，其特征在于，所述开关件连接所述缓启动电路的输入端和输出端。
  23. 根据权利要求21所述的电源装置，其特征在于，所述开关件包括金氧半场效晶体管，所述缓启动控制电路包括缓启动控制芯片。
  24. 根据权利要求18所述的电源装置，其特征在于，所述缓启动电路包括输入端和输出端，所述输入端连接至所述电源模块，所述输出端连接至所述电源输出端，所述缓启动电路用于在检测不到所述电源模块连接的情况下，断开所述输入端和所述输出端之间的连接。
  25. 根据权利要求24所述的电源装置，其特征在于，所述缓启动电路用于根据检测所述输入端的电压，确定是否连接所述电源模块。
  26. 根据权利要求25所述的电源装置，其特征在于，在所述输入端的电压大于0的情况下，确定连接到所述电源模块。
  27. 根据权利要求18所述的电源装置，其特征在于，所述供电电路还包括单向控制电路，所述单向控制电路设于所述支路中，用于使所述支路的电流流向为单向流通。
  28. 根据权利要求27所述的电源装置，其特征在于，所述单向控制电路连接于所述缓启动电路与所述电源输出端之间；或者，
    所述单向控制电路连接于所述缓启动电路与所述电源模块之间。
  29. 根据权利要求18所述的电源装置，其特征在于，所述供电电路包括电源检测电路，所述支路包括电源输入端，所述电源输入端电连接对应的所述电源模块，所述电源检测电路用于检测所述电源输入端的输入电压，以确定所述电源模块是否与对应的所述缓启动电路电连接。
  30. 根据权利要求29所述的电源装置，其特征在于，在所述支路的端口电压的电压值大于0的情况下，确定所述电源模块与对应的所述缓启动电路电连接。
  31. 根据权利要求29所述的电源装置，其特征在于，在确定所述电源模块连接至所述电源输入端的情况下，进行相应的提示。
  32. 根据权利要求18所述的电源装置，其特征在于，所述供电电路能够对所述电源模块的电参数进行检测，在所述电源模块的电参数符合预设条件的情况下，控制断开所述缓启 动电路，和/或，进行提示。
  33. 根据权利要求32所述的电源装置，其特征在于，所述供电电路包括电参数检测电路，所述电参数检测电路用于检测所述电源模块的电参数。
  34. 根据权利要求32所述的电源装置，其特征在于，所述电参数包括如下至少一种：电源模块的电压、电源模块的电量、电源模块的内阻、电源模块的温度。
  35. 一种移动平台，其特征在于，包括权利要求1-17任一项所述的供电电路，或
    权利要求18-34任一项所述的电源装置。
  36. 一种用于电源装置的剩余电量的调节方法，所述电源装置包括第一电池和第二电池，其特征在于，所述电源装置包括：权利要求1至17任一项所述的供电电路；
    所述调节方法包括：
    在所述第一电池的剩余电量和所述第二电池的剩余电量的差值大于第一阈值时，获取剩余电量较大的电池的属性信息；
    根据所述剩余电量较大的电池的温度，确定所述剩余电量较大的电池的温度是否满足预设加热条件；
    若所述剩余电量较大的电池的温度满足所述预设加热条件，则对所述剩余电量较大的电池进行加热处理，直至所述剩余电量较大的电池的剩余电量和剩余电量较小的电池的剩余电量近似相等。
  37. 一种用于电源装置的剩余电量的调节方法，所述电源装置包括第一电池和第二电池，其特征在于，所述电源装置包括：权利要求1至17任一项所述的供电电路；
    所述调节方法包括：
    在所述第一电池的剩余电量和所述第二电池的剩余电量的差值大于第一阈值时，分别获取所述第一电池和所述第二电池各自的属性信息。
    根据所述第一电池和所述第二电池各自的内阻，确定所述第一电池的内阻和所述第二电池的内阻是否满足预设加热条件。
    若所述第一电池的内阻和所述第二电池的内阻满足所述预设加热条件，则对内阻较大的电池进行加热处理，直至所述内阻较大的电池的剩余电量和内阻较小的电池的剩余电量近似相等。
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