WO2022222156A1

WO2022222156A1 - Battery power supply control method and apparatus, movable platform, and storage medium

Info

Publication number: WO2022222156A1
Application number: PCT/CN2021/089441
Authority: WO
Inventors: 龙玉其; 廖洲
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-04-23
Filing date: 2021-04-23
Publication date: 2022-10-27

Abstract

A battery power supply control method and apparatus, a movable platform, and a storage medium. The method comprises: obtaining current energy supply information of each battery of multiple series-connected batteries of a movable platform, wherein any one of the multiple series-connected batteries can form a series-connected loop together with a low-voltage device of the movable platform by means of a switch assembly (S101); determining a main power supply battery from the multiple series-connected batteries according to the current energy supply information of each battery (S102); and if a current power supply battery of the low-voltage device is not the main power supply battery, controlling to switch the switch assembly so that the main power supply battery is connected in series to the low-voltage device, so as to supply power to the low-voltage device by using the main power supply battery (S103).

Description

Battery-powered control method, device, movable platform and storage medium

technical field

The present application relates to the technical field of movable platforms, and in particular, to a battery power supply control method, device, movable platform and storage medium.

Background technique

Nowadays, the voltage required by the power system of mobile platforms such as drones is getting larger and larger, but the current that the battery cell can withstand and the current that the wire can withstand is limited, so it is necessary to connect multiple batteries in series to increase the power supply voltage. , supply power for high-voltage devices such as power motors and PTZ motors. For low-voltage devices such as processors and sensors of mobile platforms, a step-down circuit from high voltage to low voltage can be added, and the step-down circuit can be used to power down these low-voltage devices, but this leads to an increase in cost; or , only use one of the batteries to power low-voltage devices, but this results in an unbalanced battery supply.

Therefore, how to achieve both cost and power supply balance has become an urgent problem to be solved.

SUMMARY OF THE INVENTION

Based on this, the present application provides a battery power supply control method, device, movable platform and storage medium, so as to realize the balance of cost and power supply of the movable platform.

In a first aspect, the present application provides a battery power supply control method, including:

Obtaining the current energy supply information of each battery in the plurality of series-connected batteries of the movable platform, wherein any battery in the plurality of series-connected batteries can form a series circuit with the low-voltage device of the movable platform through a switch assembly;

According to the current energy supply information of each battery, determining a main power supply battery from the plurality of series-connected batteries;

If the current power supply battery of the low-voltage device is not the main power supply battery, the switch assembly is controlled to switch so that the main power supply battery is connected in series with the low-voltage device, so as to use the main power supply battery as the low-voltage device. voltage device power supply.

In a second aspect, the present application also provides a battery-powered control device, the battery-powered control device comprising a memory and a processor;

the memory is used to store computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

In a third aspect, the present application also provides a movable platform, the movable platform includes a plurality of batteries in series, and the battery-powered control device as described above.

In a fourth aspect, the present application also provides a battery power supply control method, including:

Obtain the current energy supply information of the first battery and the second battery of the movable platform, wherein the first battery is used to supply power to the high-voltage device of the movable platform, and the second battery is used to supply power to the movable platform. Low-voltage device power supply for mobile platforms;

determining, according to the energy supply information, whether the first battery and the second battery meet a preset equalization control condition;

If the first battery and the second battery satisfy the balance control condition, the first battery is controlled to charge the second battery, so as to balance the power supply of the first battery and the second battery.

In a fifth aspect, the present application further provides a battery-powered control device, the battery-powered control device comprising a memory and a processor;

the memory is used to store computer programs;

In a sixth aspect, the present application further provides a movable platform, the movable platform includes a first battery and a second battery, and the above-mentioned battery-powered control device.

In a seventh aspect, the present application also provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the above-mentioned battery-powered control method.

The battery power supply control method, device, movable platform and storage medium disclosed in the present application utilize multiple batteries to supply power to the devices of the movable platform without setting a high-voltage to low-voltage step-down circuit, thus achieving both The cost and power supply of the mobile platform is balanced.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not limiting of the present application.

Description of drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. For those of ordinary skill, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic structural diagram of a movable platform provided by an embodiment of the present application;

2 is a schematic diagram of a circuit for supplying power to a low-voltage device provided by an embodiment of the present application;

3 is a schematic structural diagram of another movable platform provided by an embodiment of the present application;

4 is a schematic diagram of a circuit structure for supplying power to a high-voltage device and a low-voltage device provided by an embodiment of the present application;

FIG. 5 is a schematic flowchart of steps of a battery power supply control method provided by an embodiment of the present application;

6 is a schematic diagram of the circuit structure of another high-voltage device and a low-voltage device for power supply provided by an embodiment of the present application;

7 is a schematic flowchart of steps of another battery power supply control method provided by an embodiment of the present application;

8 is a schematic flowchart of steps of another battery power supply control method provided by an embodiment of the present application;

FIG. 9 is a schematic block diagram of a battery-powered control device provided by an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

The flowcharts shown in the figures are for illustration only, and do not necessarily include all contents and operations/steps, nor do they have to be performed in the order described. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to the actual situation.

It should be understood that the terms used in the specification of the present application herein are for the purpose of describing particular embodiments only and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural unless the context clearly dictates otherwise.

It will also be understood that, as used in this specification and the appended claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items .

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments may be combined with each other without conflict.

Embodiments of the present application provide a battery power supply control method, device, movable platform, and storage medium, which are used to achieve balance between cost and power supply of the movable platform.

Please refer to FIG. 1 , which is a schematic structural diagram of a movable platform according to an embodiment of the present application. As shown in FIG. 1 , the movable platform 1000 may include a high voltage device 100 , a low voltage device 200 , a battery 300 , a battery powered control device 400 , and a switch assembly 500 .

The battery 300 includes a plurality of batteries 300 connected in series, and the plurality of batteries 300 connected in series together supply power to the high-voltage device 100 ; at the same time, the battery power supply control device 400 can control any of the batteries 300 to connect to the low-voltage device 100 via the switch assembly 500 . The device 200 forms a series loop to supply power to the low-voltage device 200 .

The high-voltage device 100 includes, but is not limited to, the power motor of the movable platform 1000, the pan-tilt motor, and the like.

The low voltage device 200 includes, but is not limited to, processors, sensors, and the like of the movable platform 1000 .

The switch assembly 500 includes, but is not limited to, a multi-pole multi-throw switch, a plurality of MOS transistors, and the like. The battery power supply control device 400 controls the switch assembly 500 to connect the low voltage device 200 with any one of the batteries 300 in series. If the switch assembly 500 includes a plurality of MOS transistors, the positive electrode and the negative electrode of each battery 300 are respectively connected to different MOS transistors.

Exemplarily, as shown in FIG. 2 , the battery 300 includes a first battery V1 and a second battery V2 connected in series, and the switch component 500 is four MOS transistors: MOS1, MOS2, MOS3 and MOS4, wherein the first battery V1 has four MOS transistors. The positive pole is connected to MOS1, the negative pole of the first battery V1 is connected to MOS2 and MOS3, the positive pole of the second battery V2 is connected to MOS3 and MOS2, the negative pole of the second battery V2 is connected to MOS4, and the positive pole of the first battery V1 is connected to the negative pole of the second battery V2. Connect multiple low-voltage devices in parallel or in series.

When the power of the second battery V2 is low, MOS2 and MOS4 are controlled to be turned off, MOS1 and MOS3 are turned on, the first battery V1 and the low-voltage device form a series circuit, and the low-voltage device is powered through the first battery V1; When the power of V1 is low, GMOS1 and MOS3 are controlled to be turned off, and MOS2 and MOS4 are turned on. The second battery V2 forms a series circuit with the low-voltage device, and supplies power to the low-voltage device through the second battery V2. Therefore, the situation that only one battery is used to supply power to the low-voltage device is avoided, thereby achieving the effect of battery power supply balance.

Please refer to FIG. 3 , which is a schematic structural diagram of another movable platform according to an embodiment of the present application. As shown in FIG. 3 , the movable platform 1000 may include a high-voltage device 100 , a low-voltage device 200 , a battery-powered control device 400 , a first battery 600 and a second battery 700 .

Among them, the high-voltage device 100 and the low-voltage device 200 have been introduced in the above-mentioned embodiments, and will not be repeated here. The first battery 600 is used for powering the high voltage device 100 , and the second battery 700 is used for powering the low voltage device 200 . The first battery 600 and the second battery 700 may be a single battery or a battery pack.

At the same time, the battery power supply control device 400 can control the first battery 600 to charge the second battery 700 , so as to balance the power supply of the first battery 600 and the second battery 700 .

Exemplarily, as shown in FIG. 4 , the battery power supply control device 400 includes a power calculation and comparison module and a balance and path management module, and the power calculation and comparison module monitors the power percentages of the first battery and the second battery. When the percentage difference between the power of one battery and the second battery exceeds the set threshold A, the equalization and path management module performs equalization control, starts the equalization circuit, and the first battery supplies power to the second battery based on the equalization circuit, until the first battery and the second battery When the difference in percentage of battery power is lower than the set threshold B, the equalization control is stopped, and the first battery stops supplying power to the second battery.

It should be noted that the values of the threshold value A and the threshold value B may be the same or different, and the specific values of the threshold value A and the threshold value B are not limited.

It can be understood that the above naming of the components of the movable platform 1000 is only for the purpose of identification, and therefore does not limit the embodiments of the present application.

The battery power control method provided by the embodiments of the present application will be described in detail below based on the movable platform 1000 and the battery power control device 400 . It should be noted that the movable platform 1000 and the battery power supply control device 400 in FIG. 1 and FIG. 3 are only used to explain the battery power supply control method provided by the embodiment of the present application, but do not constitute a reference to the battery power supply control method provided by the embodiment of the present application. Limitation of application scenarios.

Please refer to FIG. 5 , which is a schematic flowchart of a battery power supply control method provided by an embodiment of the present application. The method can be used in the movable platform provided in the above-mentioned embodiment, and can also be used in other devices including a battery-powered control device, and the application scenarios of the method are not limited in this application. Based on the battery power supply control method, both cost and power supply balance can be achieved.

As shown in FIG. 5 , the battery power supply control method specifically includes steps S101 to S103 .

S101. Acquire current energy supply information of each battery in a plurality of series-connected batteries of a movable platform, wherein any battery in the plurality of series-connected batteries can be connected in series with a low-voltage device of the movable platform through a switch assembly loop.

In this embodiment, the movable platform uses multiple series-connected batteries to supply power to its various devices. For high-voltage devices such as power motors and pan-tilt motors, a series circuit is formed with multiple batteries, and multiple batteries connected in series are used. together to power high voltage devices. For low-voltage devices such as processors and sensors, the low-voltage device can form a series circuit with any one of the multiple series-connected batteries through the switch assembly, and select the currently suitable battery from the multiple batteries based on the energy supply information of each battery. Powers low voltage devices. The energy supply information of the battery includes at least one of power and voltage, that is, the current power and/or voltage of each battery is acquired.

S102. Determine a main power supply battery from the plurality of series-connected batteries according to the current energy supply information of each battery.

According to the current power and/or voltage of each battery, a corresponding battery is selected from a plurality of series-connected batteries to determine the current main power supply battery, and the main power supply battery is used to supply power for low-voltage devices.

In some embodiments, taking the current power of each battery as a reference, and according to the current power of each battery, the battery with the highest power among the plurality of series-connected batteries is determined as the main power supply battery.

S103. If the current power supply battery of the low-voltage device is not the main power supply battery, control the switching component to connect the main power supply battery and the low-voltage device in series, so as to use the main power supply battery as the main power supply battery. the low-voltage devices described above.

According to the determined main power supply battery, if the main power supply battery is exactly the current power supply battery of the low-voltage device, the main power supply battery is continued to be used to supply power to the low-voltage device.

Conversely, if the main power supply battery is not the current power supply battery of the low voltage device, the switch assembly is controlled to connect the main power supply battery and the low voltage device in series, that is, the main power supply battery is controlled to be switched to supply power to the low voltage device.

In some embodiments, the switch assembly includes a plurality of MOS transistors, and the positive electrode and the negative electrode of each battery are respectively connected to different MOS transistors. Controlling the switch assembly to connect the main power supply battery in series with the low-voltage device may include: controlling the conduction of a first MOS transistor connected to the positive electrode of the main power supply battery and a second MOS transistor connected to the negative electrode of the main power supply battery, and other MOS transistors except the first MOS transistor and the second MOS transistor are turned off, so that the main power supply battery is connected in series with the low-voltage device.

For example, taking the example shown in FIG. 2 as an example, the battery includes a first battery V1 and a second battery V2 connected in series, and the switch components are four MOS transistors: MOS1, MOS2, MOS3 and MOS4, wherein the first battery V1 has four MOS transistors. The positive pole is connected to MOS1, the negative pole of the first battery V1 is connected to MOS2 and MOS3, the positive pole of the second battery V2 is connected to MOS3 and MOS2, the negative pole of the second battery V2 is connected to MOS4, and the positive pole of the first battery V1 is connected to the negative pole of the second battery V2. Connect multiple low-voltage devices in parallel or in series.

By obtaining the power of the first battery V1 and the second battery V2, if the power of the first battery V1 is higher than that of the second battery V2, it is determined that the first battery V1 is the main power supply battery. And MOS3 is turned on, the first battery V1 and the low-voltage device form a series loop, and the low-voltage device is powered by the first battery V1.

If the power of the first battery V1 is lower than the power of the second battery V2, it is determined that the second battery V2 is the main power supply battery. At this time, GMOS1 and MOS3 are controlled to be turned off, MOS2 and MOS4 are turned on, and the second battery V2 is composed of a low-voltage device. A series loop is used to supply power to the low-voltage device through the second battery V2.

That is, in different situations, different batteries are determined as the main power supply batteries to supply power for low-voltage devices, so as to avoid using only one battery to supply power to low-voltage devices, and achieve the effect of battery power supply balance.

In some embodiments, acquiring the current energy supply information of each battery in the plurality of series-connected batteries of the movable platform may include: periodically acquiring the current energy supply information of each battery according to a preset cycle time.

Among them, the cycle time can be flexibly set according to practical application scenarios such as battery parameters. During the working process of the movable platform, a plurality of series-connected batteries of the movable platform are constantly monitored, and the current energy supply information of each battery is obtained every other cycle time according to the preset cycle time.

Whenever the current energy supply information of each battery is obtained, the main power supply battery is determined according to the current energy supply information of each battery, and the main power supply battery is controlled to supply power to the low-voltage device. That is, during the working process of the movable platform, the battery power supply balance is realized by continuously switching the main power supply battery to supply power to the low-voltage device.

In some embodiments, the battery power control method may further include: displaying a preset battery control setting interface for the user to update the cycle time based on the battery control setting interface; and saving the updated cycle time.

In order to further improve the user's experience, the cycle time can be independently modified by the user. Exemplarily, a preset battery control setting interface is displayed on a display device such as a display screen of the movable platform, and cycle time setting options are displayed on the battery control setting interface, and the user can set options for the cycle time on the battery control setting interface. Operation is performed to set the cycle time for obtaining the current energy supply information of each battery. When the updated cycle time set by the user is received, the updated cycle time is saved. Afterwards, the current energy supply information of each battery is periodically acquired according to the updated cycle time by querying the stored updated cycle time.

In some embodiments, a plurality of batteries connected in series can be used to supply power to the high-voltage devices of the movable platform. At the same time, each battery can form a series circuit with the corresponding low-voltage device, and each battery can supply power to the low-voltage device. For example, as shown in Figure 6, if battery 1 and battery 2 are both 60V batteries, the GND-120V voltage corresponding to battery 1 and battery 2 in series can supply power for high-voltage devices such as power motors. The voltage of GND-60V is used to supply power to low-voltage devices such as centrifugal nozzles, and the voltage of 60V-120V corresponding to battery 2 is used to supply power to low-voltage devices such as centrifugal nozzles. In this way, the balanced distribution of battery 1 and battery 2 is achieved without adding any external step-down device, and at the same time, it is ensured that the power motor can be powered by a higher voltage, that is, the balance of cost and power supply of multiple batteries is achieved.

The above-mentioned embodiment supplies power to the high-voltage devices of the movable platform through a plurality of batteries connected in series. Power supply battery, if the current power supply battery of the low-voltage device is not the main power supply battery, the control switching uses the main power supply battery to supply power for the low-voltage device, which achieves the power supply balance of multiple batteries, and also eliminates the need to set a step-down circuit, that is, to achieve In order to take into account the cost and power supply balance of the mobile platform.

Please refer to FIG. 7 , which is a schematic flowchart of another battery power supply control method provided by an embodiment of the present application. As shown in FIG. 7 , the battery power supply control method specifically includes steps S201 to S203.

S201. Acquire current energy supply information of a first battery and a second battery of a movable platform, wherein the first battery is used to supply power to high-voltage devices of the movable platform, and the second battery is used to supply power to all the high-voltage devices of the movable platform. supply power to the low-voltage devices of the movable platform.

In this embodiment, the movable platform uses the first battery to power the high-voltage device, and the second battery to power the low-voltage device. Wherein, the high-voltage device includes at least one of a power motor and a pan-tilt motor, and the low-voltage device includes at least one of a processor and a sensor. The first battery and the second battery may be a single battery or a battery pack. The energy supply information of the first battery and the second battery includes at least one of electric power and electric power percentage, that is, the electric power or electric power percentage of the first battery and the second battery is obtained.

S202. Determine whether the first battery and the second battery meet a preset equalization control condition according to the energy supply information; if yes, go to step S203, if not, go back to step S201.

S203. Control the first battery to charge the second battery, so as to balance the power supply of the first battery and the second battery.

Wherein, the balance control condition includes at least one of the following: the percentage difference between the power of the first battery and the second battery is greater than a first preset threshold; or the difference between the power of the first battery and the second battery greater than the second preset threshold.

That is, by acquiring the power or power percentage of the first battery and the second battery, when the difference between the power percentages of the first battery and the second battery is greater than the first preset threshold, it is determined that the first battery and the second battery satisfy the balance control. condition. Alternatively, when the power difference between the first battery and the second battery is greater than the second preset threshold, it is determined that the first battery and the second battery satisfy the balance control condition.

Conversely, when the difference in percentage of power between the first battery and the second battery is less than or equal to the first preset threshold, it is determined that the first battery and the second battery do not meet the equalization control condition. Alternatively, when the power difference between the first battery and the second battery is less than or equal to the second preset threshold, it is determined that the first battery and the second battery do not meet the equalization control condition.

It should be noted that the specific values of the first preset threshold and the second preset threshold can be flexibly set according to actual conditions, and are not specifically limited herein.

If the first battery and the second battery do not meet the equalization control conditions, it means that the power supply of the first battery and the second battery are balanced. Exemplarily, continue to acquire the current energy supply information of the first battery and the second battery of the movable platform, and determine again whether the first battery and the second battery satisfy the balance control condition according to the re-acquired energy supply information.

If the first battery and the second battery meet the balance control conditions, it means that the power supply of the first battery and the second battery is unbalanced. At this time, the first battery is controlled to charge the second battery, and the second battery is charged through the first battery, so that the The power supply of the first battery and the second battery is balanced.

In some embodiments, a balance circuit is provided between the first battery and the second battery, and when the first battery and the second battery do not meet the balance control condition, that is, when the power supply of the first battery and the second battery is balanced, the balance circuit is controlled. The circuit is open and the first battery cannot charge the second battery. When the first battery and the second battery meet the balance control condition, that is, when the power supply of the first battery and the second battery is not balanced, the control balance circuit is turned on, so that the first battery charges the second battery.

Exemplarily, when the first battery and the second battery satisfy the equalization control condition, the equalization enable control signal is output to the equalization circuit, and the equalization circuit is controlled to be turned on.

In some embodiments, as shown in FIG. 8 , step S204 and step S205 may be further included after step S203 .

S204 , judging whether the power supply of the first battery and the second battery is balanced; if yes, go to step S205 ; if not, go back to go to step S203 .

S205. Control to terminate the charging of the first battery for the second battery.

In the process of charging the second battery from the first battery, further, continue to obtain the energy supply information of the first battery as the second battery, and determine the first battery and the second battery according to the energy supply information of the first battery as the second battery. Whether the battery power supply is balanced.

Exemplarily, the percentage of electricity of the first battery and the second battery is obtained, and the difference between the percentage of electricity of the first battery and the second battery is obtained by calculation, if the difference of the percentage of electricity of the first battery and the second battery is less than the third preset value If the threshold value is reached, it is determined that the power supply of the first battery and the second battery is balanced.

It should be noted that, the third preset threshold and the first preset threshold may be the same value or different values, which are not specifically limited herein.

When the power supply of the first battery and the second battery has not reached equilibrium, continue to control the first battery to charge the second battery. When the power supply of the first battery and the second battery reach equilibrium, the control terminates the charging of the first battery for the second battery.

Exemplarily, when the power supply of the first battery and the second battery is balanced, for example, when the difference in percentage of power between the first battery and the second battery is less than a third preset threshold, the control equalization circuit is disconnected, so that the first battery is terminated as The second battery is charged.

In the above embodiment, the first battery supplies power to the high-voltage devices of the movable platform, and the second battery supplies power to the low-voltage devices of the movable platform. At the same time, the current energy supply information of the first battery and the second battery is obtained, and Determine whether the first battery and the second battery meet the preset balance control conditions, and if the balance control conditions are met, control the first battery to charge the second battery to balance the power supply of the first battery and the second battery, and do not need A step-down circuit is provided, therefore, the cost and power supply balance of the mobile platform is achieved.

Please refer to FIG. 9. FIG. 9 is a schematic block diagram of a battery-powered control device provided by an embodiment of the present application.

As shown in FIG. 9 , the battery power supply control device 400 may include a processor 411 and a memory 412, and the processor 411 and the memory 412 are connected through a bus, such as an I2C (Inter-integrated Circuit) bus.

Specifically, the processor 411 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP) or the like.

Specifically, the memory 412 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, or a removable hard disk, and the like. Various computer programs to be executed by the processor 411 are stored in the memory 412 .

Wherein, the processor is used for running the computer program stored in the memory, and implements the following steps when executing the computer program:

In some embodiments, the energy supply information includes at least one of electric quantity and voltage.

In some embodiments, the energy supply information includes an electric quantity, and when the processor determines the main supply battery from the plurality of series-connected batteries according to the current energy supply information of each battery, the processor is configured to: accomplish:

According to the current power of each battery, the battery with the highest power among the plurality of series-connected batteries is determined as the main power supply battery.

In some embodiments, the switch assembly includes a plurality of MOS transistors, and the positive electrode and the negative electrode of each battery are respectively connected to different MOS transistors;

When the processor implements the control to switch the switch component so that the main power supply battery is connected in series with the low-voltage device, the processor is configured to implement:

control the conduction of the first MOS transistor connected to the positive electrode of the main power supply battery, the second MOS transistor connected to the negative electrode of the main power supply battery, and other than the first MOS transistor and the second MOS transistor The other MOS transistors are turned off, so that the main power supply battery is connected in series with the low-voltage device.

In some embodiments, when the processor implements the acquiring current energy supply information of each battery in the plurality of series-connected batteries of the movable platform, the processor is configured to implement:

According to a preset cycle time, the current energy supply information of each battery is periodically acquired.

In some embodiments, the processor is further configured to:

displaying a preset battery control setting interface for the user to update the cycle time based on the battery control setting interface;

The updated cycle time is saved.

Embodiments of the present application also provide a battery-powered control device, which may include a processor and a memory, where the processor and the memory are connected through a bus, such as an I2C (Inter-integrated Circuit) bus.

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

Specifically, the memory may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like. The memory stores various computer programs for execution by the processor.

In some embodiments, the energy supply information includes at least one of electric power and electric power percentage.

In some embodiments, the equalization control conditions include at least one of the following:

The percentage difference between the power of the first battery and the second battery is greater than a first preset threshold; or

The power difference between the first battery and the second battery is greater than a second preset threshold.

In some embodiments, the high-voltage device includes at least one of a power motor and a pan/tilt motor, and the low-voltage device includes at least one of a processor and a sensor.

In some embodiments, an equalization circuit is provided between the first battery and the second battery, and when the first battery and the second battery do not meet the equalization control condition, the equalization circuit is turned off open;

When the processor controls the first battery to charge the second battery, the processor is configured to:

The equalization circuit is controlled to be turned on, so that the first battery charges the second battery based on the equalization circuit.

In some embodiments, when the processor controls the equalization circuit to be turned on, the processor is configured to:

An equalization enable control signal is output to the equalization circuit to control the equalization circuit to be turned on.

In some embodiments, after implementing the controlling the first battery to charge the second battery, the processor further implements:

judging whether the power supply of the first battery and the second battery is balanced;

If the power supply of the first battery and the second battery are balanced, the control terminates the charging of the second battery by the first battery.

In some embodiments, when the processor implements the judging whether the power supply of the first battery and the second battery is balanced, the processor is configured to implement:

If the difference in percentage of power between the first battery and the second battery is less than a third preset threshold, it is determined that the power supplies of the first battery and the second battery are balanced.

In some embodiments, an equalization circuit is provided between the first battery and the second battery, and when the processor realizes the control to terminate the charging of the second battery by the first battery, the processor is configured to accomplish:

The equalizing circuit is controlled to be disconnected, so that the first battery stops charging the second battery.

The embodiments of the present application further provide a computer-readable storage medium, where the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the present application The steps of the battery power supply control method provided by the embodiment.

Wherein, the computer-readable storage medium may be the internal storage unit of the movable platform or the battery-powered control device described in the foregoing embodiments, such as a hard disk or memory of the movable platform or the battery-powered control device. The computer-readable storage medium may also be an external storage device of the movable platform or the battery-powered control device, such as a plug-in hard disk equipped on the movable platform or the battery-powered control device, a smart memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash memory card (Flash Card), etc.

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

Claims

A battery power supply control method, comprising:

Obtaining the current energy supply information of each battery in the plurality of series-connected batteries of the movable platform, wherein any battery in the plurality of series-connected batteries can form a series circuit with the low-voltage device of the movable platform through a switch assembly;

According to the current energy supply information of each battery, determining a main power supply battery from the plurality of series-connected batteries;

If the current power supply battery of the low-voltage device is not the main power supply battery, the switch assembly is controlled to switch so that the main power supply battery is connected in series with the low-voltage device, so as to use the main power supply battery as the low-voltage device. voltage device power supply.
The method according to claim 1, wherein the energy supply information includes at least one of electric quantity and voltage.
The method according to claim 1, wherein the energy supply information includes electric power, and the determining a main supply battery from the plurality of series-connected batteries according to the current energy supply information of each battery comprises:

According to the current power of each battery, the battery with the highest power among the plurality of series-connected batteries is determined as the main power supply battery.
The method according to claim 1, wherein the switch assembly comprises a plurality of MOS transistors, and the positive electrode and the negative electrode of each battery are respectively connected to different MOS transistors;

The control to switch the switch assembly to connect the main power supply battery and the low-voltage device in series includes:

control the conduction of the first MOS transistor connected to the positive electrode of the main power supply battery, the second MOS transistor connected to the negative electrode of the main power supply battery, and other than the first MOS transistor and the second MOS transistor The other MOS transistors are turned off, so that the main power supply battery is connected in series with the low-voltage device.
The method according to any one of claims 1 to 4, wherein the acquiring the current energy supply information of each battery in the plurality of series-connected batteries of the movable platform comprises:

According to a preset cycle time, the current energy supply information of each battery is periodically acquired.
The method according to claim 5, wherein the method further comprises:

displaying a preset battery control setting interface for the user to update the cycle time based on the battery control setting interface;

The updated cycle time is saved.
A battery power supply control method, comprising:

Obtain the current energy supply information of the first battery and the second battery of the movable platform, wherein the first battery is used to supply power to the high-voltage device of the movable platform, and the second battery is used to supply power to the movable platform. Low-voltage device power supply for mobile platforms;

determining, according to the energy supply information, whether the first battery and the second battery meet a preset equalization control condition;

If the first battery and the second battery satisfy the balance control condition, the first battery is controlled to charge the second battery, so as to balance the power supply of the first battery and the second battery.
The method according to claim 7, wherein the energy supply information includes at least one of electric quantity and electric quantity percentage.
The method according to claim 8, wherein the equalization control condition comprises at least one of the following:

The percentage difference between the power of the first battery and the second battery is greater than a first preset threshold; or

The power difference between the first battery and the second battery is greater than a second preset threshold.
The method according to claim 7, wherein the high-voltage device includes at least one of a power motor and a pan/tilt motor, and the low-voltage device includes at least one of a processor and a sensor.
The method according to claim 7, wherein an equalization circuit is provided between the first battery and the second battery, and the equalization control condition is not satisfied in the first battery and the second battery When the equalization circuit is disconnected;

The controlling the first battery to charge the second battery includes:

The equalization circuit is controlled to be turned on, so that the first battery charges the second battery based on the equalization circuit.
The method according to claim 11, wherein the controlling the equalization circuit to be turned on comprises:

An equalization enable control signal is output to the equalization circuit to control the equalization circuit to be turned on.
The method according to any one of claims 7 to 12, wherein after the controlling the first battery to charge the second battery, the method comprises:

judging whether the power supply of the first battery and the second battery is balanced;

If the power supply of the first battery and the second battery are balanced, the control terminates the charging of the second battery by the first battery.
The method according to claim 13, wherein the judging whether the power supply of the first battery and the second battery is balanced comprises:

If the difference in percentage of power between the first battery and the second battery is less than a third preset threshold, it is determined that the power supplies of the first battery and the second battery are balanced.
The method according to claim 13, wherein an equalization circuit is provided between the first battery and the second battery, and the controlling to terminate the charging of the first battery to the second battery comprises:

The equalizing circuit is controlled to be disconnected, so that the first battery stops charging the second battery.
A battery-powered control device, characterized in that the battery-powered control device includes a memory and a processor;

the memory is used to store computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

Obtaining the current energy supply information of each battery in the plurality of series-connected batteries of the movable platform, wherein any battery in the plurality of series-connected batteries can form a series circuit with the low-voltage device of the movable platform through a switch assembly;

According to the current energy supply information of each battery, determining a main power supply battery from the plurality of series-connected batteries;

If the current power supply battery of the low-voltage device is not the main power supply battery, the switch assembly is controlled to switch so that the main power supply battery is connected in series with the low-voltage device, so as to use the main power supply battery as the low-voltage device. voltage device power supply.
The device according to claim 16, wherein the energy supply information includes at least one of electric quantity and voltage.
The device according to claim 16, wherein the energy supply information includes an electric quantity, and the processor is implementing the determination from the plurality of series-connected batteries according to the current energy supply information of each battery When the main power supply battery is used to achieve:

According to the current power of each battery, the battery with the highest power among the plurality of series-connected batteries is determined as the main power supply battery.
The device according to claim 16, wherein the switch assembly comprises a plurality of MOS transistors, and the positive electrode and the negative electrode of each battery are respectively connected to different MOS transistors;

When the processor implements the control to switch the switch component so that the main power supply battery is connected in series with the low-voltage device, the processor is configured to implement:

control the conduction of the first MOS transistor connected to the positive electrode of the main power supply battery, the second MOS transistor connected to the negative electrode of the main power supply battery, and other than the first MOS transistor and the second MOS transistor The other MOS transistors are turned off, so that the main power supply battery is connected in series with the low-voltage device.
The device according to any one of claims 16 to 19, wherein when the processor implements the acquiring the current energy supply information of each battery in the plurality of series-connected batteries of the movable platform, the processor is configured to implement:

According to a preset cycle time, the current energy supply information of each battery is periodically acquired.
The apparatus according to claim 20, wherein the processor is further configured to implement:

displaying a preset battery control setting interface for the user to update the cycle time based on the battery control setting interface;

The updated cycle time is saved.
A battery-powered control device, characterized in that the battery-powered control device includes a memory and a processor;

the memory is used to store computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

Obtain the current energy supply information of the first battery and the second battery of the movable platform, wherein the first battery is used to supply power to the high-voltage device of the movable platform, and the second battery is used to supply power to the movable platform. Low-voltage device power supply for mobile platforms;

determining, according to the energy supply information, whether the first battery and the second battery meet a preset equalization control condition;

If the first battery and the second battery satisfy the balance control condition, the first battery is controlled to charge the second battery, so as to balance the power supply of the first battery and the second battery.
The device according to claim 22, wherein the energy supply information includes at least one of electric power and electric power percentage.
The device according to claim 23, wherein the equalization control condition comprises at least one of the following:

The percentage difference between the power of the first battery and the second battery is greater than a first preset threshold; or

The power difference between the first battery and the second battery is greater than a second preset threshold.
The device according to claim 22, wherein the high-voltage device comprises at least one of a power motor and a pan-tilt motor, and the low-voltage device comprises at least one of a processor and a sensor.
The device according to claim 22, wherein an equalization circuit is provided between the first battery and the second battery, and the equalization control condition is not satisfied in the first battery and the second battery When the equalization circuit is disconnected;

When the processor controls the first battery to charge the second battery, the processor is configured to:

The equalization circuit is controlled to be turned on, so that the first battery charges the second battery based on the equalization circuit.
The device according to claim 26, wherein, when the processor controls the equalization circuit to be turned on, the processor is configured to:

An equalization enable control signal is output to the equalization circuit to control the equalization circuit to be turned on.
The apparatus according to any one of claims 22 to 27, wherein, after the processor controls the first battery to charge the second battery, the processor further implements:

judging whether the power supply of the first battery and the second battery is balanced;

If the power supply of the first battery and the second battery are balanced, the control terminates the charging of the second battery by the first battery.
The device according to claim 28, wherein, when the processor realizes the judging whether the power supply of the first battery and the second battery is balanced, the processor is configured to realize:

If the difference in percentage of power between the first battery and the second battery is less than a third preset threshold, it is determined that the power supplies of the first battery and the second battery are balanced.
The device according to claim 28, wherein an equalization circuit is provided between the first battery and the second battery, and the processor terminates the first battery as the second battery when the control is realized. When the second battery is charged, it is used to achieve:

The equalizing circuit is controlled to be disconnected, so that the first battery stops charging the second battery.
A movable platform, characterized in that, the movable platform comprises a plurality of batteries connected in series, and the battery-powered control device according to any one of claims 16 to 21 .
A movable platform, characterized in that, the movable platform comprises a first battery and a second battery, and the battery-powered control device according to any one of claims 22 to 30.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the method described in any one of claims 1 to 6. The battery power supply control method described above; or, the battery power supply control method according to any one of claims 7 to 15 is implemented.