CN107643493A - A kind of battery electric quantity predictor method and device, unmanned plane - Google Patents
A kind of battery electric quantity predictor method and device, unmanned plane Download PDFInfo
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- G—PHYSICS
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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Abstract
A kind of battery electric quantity predictor method and device, and unmanned plane, the battery electric quantity predictor method include：Obtain the charge value of the battery module at the current time that module for metering electric quantity detects；By the charge value compared with the electricity empirical criteria value of the battery module of corresponding current state to prestore, if the two difference exceedes preset range, it is determined that the electric quantity change speed under the battery module current state；The charge value at the battery module current time and the charge value after current time are determined according to the electric quantity change speed.The application can correct electricity deviation in time, improve electrical measurement accuracy.
Description
Technical field
The present invention relates to battery technology, espespecially a kind of battery electric quantity predictor method and device, and unmanned plane.
Background technology
With extensive use of the lithium battery in unmanned plane market, intelligent power Managed Solution already becomes main flow.At present
Intelligent power Managed Solution it is more using chips such as TI BQ30Z55, BQ40Z50, BQ34Z100 as core, then be aided with processor etc.
Peripheral components form.Wherein the information of battery electric quantity is mainly provided by TI electric quantity metering chip.But current voltameter
There is the problem of electricity saltus step, electric quantity metering inaccuracy in amount chip, so the information for fully relying on electric quantity metering chip is difficult full
In the harsh equipment of requirement of the foot to electric quantity metering.
The content of the invention
In order to solve the above-mentioned technical problem, an at least embodiment of the invention provides a kind of battery electricity detection method and dress
Put, and unmanned plane, improve battery electric quantity accuracy in detection.
In order to reach the object of the invention, an at least embodiment of the invention provides a kind of battery electric quantity predictor method, including：
Obtain the charge value of the battery module at the current time that module for metering electric quantity detects；
The charge value is compared with the electricity empirical criteria value of the battery module of the corresponding current state to prestore
Compared with if the two difference exceedes preset range, it is determined that the electric quantity change speed under the battery module current state；
The charge value at the battery module current time is determined and after current time according to the electric quantity change speed
Charge value.
In an alternative embodiment, by the charge value and the electricity of the battery module of corresponding current state to prestore
Before amount empirical criteria value is compared, in addition to：
Determine that the magnitude of voltage of any battery in the battery module is less than predeterminated voltage.
In an alternative embodiment, methods described also includes, when the magnitude of voltage of each battery in the battery module is equal
During more than the predeterminated voltage, the charge value using the charge value that the module for metering electric quantity detects as the battery module.
In an alternative embodiment, the current state includes at least one of person at current time：Battery module
Charging and discharging state, the charge and discharge cycles number of battery module, environment temperature.
In an alternative embodiment, the electric quantity change speed determined under the battery module current state includes：
Passed through according to the charge and discharge cycles number of the battery module, Current Temperatures, discharge current, voltage value and electricity
Test the difference of standard value, battery capacity determines the electric quantity change speed.
An at least embodiment of the invention provides a kind of battery electric quantity estimating device, including：Memory module, electricity obtain mould
Block, comparison module and electricity estimate module, wherein：
The memory module is used for, the electricity empirical criteria value under storage battery module different conditions；
The electricity acquisition module is used for, and obtains the electricity of the battery module at the current time that module for metering electric quantity detects
Value, is exported to the comparison module；
The comparison module is used for, and the electricity warp of the battery module of corresponding current state is obtained from the memory module
Standard value is tested, the charge value and the battery module of the corresponding current state that the electricity acquisition module is inputted
Electricity empirical criteria value is compared, if the two difference exceedes preset range, notifies the electricity to estimate module；
The electricity is estimated module and is used for, and after the notice for receiving the comparison module, determines that the battery module is current
Electric quantity change speed under state, according to the electric quantity change speed determine the battery module current time charge value and
Charge value after current time.
In an alternative embodiment, the battery electric quantity estimating device also includes voltage detection module, wherein：
The voltage detection module is used for, and detects the magnitude of voltage of battery in the battery module, when in the battery module
When the magnitude of voltage of any battery is below predeterminated voltage, the comparison module is notified；
The comparison module is additionally operable to, after the notice of the voltage detection module is received, just by the charge value with
The electricity empirical criteria value of the battery module of the corresponding current state to prestore is compared.
In an alternative embodiment, the voltage detection module is additionally operable to, when each battery in the battery module
When magnitude of voltage is all higher than the predeterminated voltage, the electricity is notified to estimate module；
The electricity is estimated module and is additionally operable to, after the notice for receiving the comparison module, by the module for metering electric quantity
The charge value detected exports as the charge value of the battery module.
In an alternative embodiment, the current state includes at least one of person at current time：Battery module
Charging and discharging state, the charge and discharge cycles number of battery module, environment temperature.
In an alternative embodiment, the electricity, which estimates module, includes parameter acquiring unit, rate determination unit and electricity
Unit is estimated, wherein：
The parameter acquiring unit is used for, and after the notice for receiving the comparison module, obtains filling for the battery module
Discharge cycles number, Current Temperatures, discharge current, difference, the battery capacity of voltage value and electricity empirical criteria value；
The rate determination unit is used for, according to the charge and discharge cycles number of the battery module, Current Temperatures, electric discharge electricity
The difference and battery capacity of stream, voltage value and electricity empirical criteria value determine the electric quantity change speed；
The electricity is estimated unit and is used for, and the electricity at the battery module current time is determined according to the electric quantity change speed
Value and the charge value after current time.
An at least embodiment of the invention provides a kind of battery electric quantity estimating device, including memory and processor, described to deposit
Reservoir has program stored therein, and described program realizes above-mentioned battery electric quantity predictor method when reading execution by the processor.
An at least embodiment of the invention provides a kind of unmanned plane, including frame, the Power Component for being installed on the frame, with
The Power Component electrically connects and is the power module of its power supply, and the power module includes battery module, module for metering electric quantity
With battery electric quantity estimating device, wherein, the battery electric quantity estimating device is used for：
Obtain the charge value of the battery module at the current time that the module for metering electric quantity detects；
The charge value is compared with the electricity empirical criteria value of the battery module of the corresponding current state to prestore
Compared with if the two difference exceedes preset range, it is determined that the electric quantity change speed under the battery module current state；
The charge value at the battery module current time is determined and after current time according to the electric quantity change speed
Charge value.
In an alternative embodiment, the battery electric quantity estimating device is additionally operable to：By the charge value and pair that prestores
Answer before the electricity empirical criteria value of the battery module of current state is compared, determine any electricity in the battery module
The magnitude of voltage in pond is less than predeterminated voltage.
In an alternative embodiment, the battery electric quantity estimating device is additionally operable to, when each electricity in the battery module
When the magnitude of voltage in pond is all higher than the predeterminated voltage, the battery mould is used as using the charge value that the module for metering electric quantity detects
The charge value of block.
In an alternative embodiment, the current state includes at least one of person at current time：Battery module
Charging and discharging state, the charge and discharge cycles number of battery module, environment temperature.
In an alternative embodiment, the battery electric quantity estimating device determines the electricity under the battery module current state
Rate of change includes：According to the charge and discharge cycles number of the battery module, Current Temperatures, discharge current, voltage value with
Difference, the battery capacity of electricity empirical criteria value determine the electric quantity change speed.
Compared with correlation technique, in the scheme that the application provides, exceed in charge value and the difference of electricity empirical criteria value
During preset range, without using charge value of the charge value that module for metering electric quantity detects as battery module, but an electricity is calculated
Rate of change is measured, electricity is determined according to electric quantity change speed.In the application, by monitoring battery status in real time, electricity is corrected in time
Measurement, and finally realize information about power and accurately estimate.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages can be by specification, rights
Specifically noted structure is realized and obtained in claim and accompanying drawing.
Brief description of the drawings
Accompanying drawing is used for providing further understanding technical solution of the present invention, and a part for constitution instruction, with this
The embodiment of application is used to explain technical scheme together, does not form the limitation to technical solution of the present invention.
Fig. 1 is the battery electric quantity predictor method flow chart that one embodiment of the invention provides；
Fig. 2 is the battery electric quantity estimating device block diagram that one embodiment of the invention provides；
Fig. 3 is the unmanned plane Organization Chart that one embodiment of the invention provides；
Fig. 4 is the power module block diagram for the unmanned plane that one embodiment of the invention provides；
Fig. 5 is the battery electric quantity estimating device block diagram that another embodiment of the present invention provides.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, below in conjunction with accompanying drawing to the present invention
Embodiment be described in detail.It should be noted that in the case where not conflicting, in the embodiment and embodiment in the application
Feature can mutually be combined.
Can be in the computer system of such as one group computer executable instructions the flow of accompanying drawing illustrates the step of
Perform.Also, although logical order is shown in flow charts, in some cases, can be with suitable different from herein
Sequence performs shown or described step.
In the application, based on module for metering electric quantity, while the voltage of battery, discharge current, temperature, discharge and recharge are monitored
The related datas such as cycle-index, the degree of accuracy of module for metering electric quantity is assessed, if it find that module for metering electric quantity has certain error
When correct electricity in time and estimate actual electricity.
Embodiment one
As shown in figure 1, the present embodiment provides a kind of battery electric quantity predictor method, the electricity predictor method is used for battery mould
The electricity of block is estimated, including：
Step 101, the charge value of the battery module at the current time that module for metering electric quantity detects is obtained；
Wherein, module for metering electric quantity is such as the conventional electric quantity metering chip measured to electricity.
Step 102, by the charge value and the electricity empirical criteria of the battery module of corresponding current state to prestore
Value is compared, if the two difference exceedes preset range, it is determined that the electric quantity change speed under the battery module current state
Rate；
Wherein, the current state includes at least one of person at current time：Charging and discharging state, the electricity of battery module
The charge and discharge cycles number of pond module, environment temperature.Charging and discharging state such as includes discharge current, voltage etc..
Wherein, the preset range can be set as needed, can be ± 5%.Certainly, the application not limited to this,
Other values can be set to.
Step 103, the charge value at the battery module current time and current is determined according to the electric quantity change speed
Charge value after moment.
Generally, when the voltage of battery module is higher than certain predeterminated voltage, the charge value of module for metering electric quantity measurement is than calibrated
Really, the predeterminated voltage and afterwards is dropped to, the charge value error of module for metering electric quantity measurement is just bigger, therefore, in an optional reality
Apply in example, when the magnitude of voltage of single battery is down to predeterminated voltage in the battery module, just by the charge value and the electricity
Electricity empirical criteria value under the module current voltage of pond is compared.When the magnitude of voltage of single battery in the battery module is more than
During the predeterminated voltage, the charge value using the charge value that the module for metering electric quantity detects as the battery module.It is default
Voltage can be determined by, such as, by test of many times, when the electricity that module for metering electric quantity measures is taken place into saltus step
Magnitude of voltage as predeterminated voltage.It should be noted that under different average discharge currents, what module for metering electric quantity measured opens
The magnitude of voltage difference of raw saltus step is originated, therefore, predeterminated voltage is relevant with the average discharge current of battery module, can pass through test
Obtain the predeterminated voltage under different average discharge currents.Electricity is proceeded by again after predeterminated voltage is reached to estimate.With unmanned plane
Exemplified by battery, when average discharge current is 15A, battery electric quantity is in 3.65V (the minimum economize on electricitys of voltage in all string numbers of battery pack
The voltage in pond) more than when the seldom saltus step of electricity, and the change of output voltage, dump energy is relatively steady, most saltus step
All occur in below 3.65V, therefore, predeterminated voltage when can be 15A by average discharge current is arranged to 3.65V.General feelings
Under condition, for battery when being powered for a device, its average discharge current is relatively more fixed, tests average discharge current under its working condition
Corresponding predeterminated voltage.
Battery module may include a battery, it is also possible to including multiple batteries, when including multiple batteries, the battery
The magnitude of voltage of single battery refers to the magnitude of voltage of the battery that voltage is minimum in the battery module in module.Specifically, by institute
Before charge value is stated compared with the electricity empirical criteria value of the battery module of corresponding current state to prestore, also wrap
Include：Determine that the magnitude of voltage of any battery in the battery module is less than predeterminated voltage.When each electricity in the battery module
When the magnitude of voltage in pond is all higher than the predeterminated voltage, the battery mould is used as using the charge value that the module for metering electric quantity detects
The charge value of block.
Electricity empirical criteria value of the battery module under different conditions can be estimated and be stored in advance.Wherein,
Electricity is main relevant with the charge and discharge cycles number of the magnitude of voltage of battery module, Current Temperatures and battery module.It is optional one
In embodiment, when the voltage of single battery is predeterminated voltage in the battery module that can prestore, different temperatures and charge and discharge cycles time
Electricity empirical criteria value under several.
In an alternative embodiment, in the step 102, the electric quantity change speed under the battery module current state is determined
Rate includes：
Passed through according to the charge and discharge cycles number of the battery module, Current Temperatures, discharge current, voltage value and electricity
Test the difference of standard value, battery capacity determines the electric quantity change speed.Specific formula for calculation can determine beforehand through test.
Wherein, battery capacity is the capacity of battery module, if battery module is battery pack, for the appearance of the battery pack
Amount.Wherein, the parameter such as the charge and discharge cycles number of battery module, Current Temperatures, discharge current can be from module for metering electric quantity
Obtain.
In an alternative embodiment, in addition to the battery module current time that display determines according to above-mentioned electric quantity change speed
Charge value and the charge value after current time.
Embodiment two
As shown in Fig. 2 the present embodiment provides a kind of battery electric quantity estimating device, including：Memory module 201, electricity obtain
Module 202, comparison module 203 and electricity estimate module 204, wherein：
The memory module 201 is used for, the electricity empirical criteria value under storage battery module different conditions；
The electricity acquisition module 202 is used for, and obtains the battery module at the current time that module for metering electric quantity detects
Charge value, export to the comparison module 203；
The comparison module 203 is used for, and the battery module of corresponding current state is obtained from the memory module 201
Electricity empirical criteria value, by the charge value that the electricity acquisition module 202 inputs with described in the corresponding current state
The electricity empirical criteria value of battery module is compared, if the two difference exceedes preset range, notifies the electricity to estimate mould
Block 204；
The electricity is estimated module 204 and is used for, and after the notice for receiving the comparison module 203, determines the battery mould
Electric quantity change speed under block current state, the electricity at the battery module current time is determined according to the electric quantity change speed
Charge value after value and current time.
In an alternative embodiment, the battery electric quantity estimating device also includes voltage detection module 205, wherein：
The voltage detection module 205 is used for, and detects the magnitude of voltage of battery in the battery module, when the battery module
When the magnitude of voltage of middle any battery is below predeterminated voltage, the comparison module 203 is notified；
The comparison module 203 is additionally operable to, after the notice of the voltage detection module is received, just by the charge value
Compared with the electricity empirical criteria value of the battery module of corresponding current state to prestore.
In an alternative embodiment, the voltage detection module 205 is additionally operable to, when each battery in the battery module
Magnitude of voltage when being all higher than the predeterminated voltage, notify the electricity to estimate module 204；
The electricity is estimated module 204 and is additionally operable to, after the notice for receiving the comparison module, by the electric quantity metering mould
The charge value that block detects exports as the charge value of the battery module.
In an alternative embodiment, the electricity, which estimates module 204, includes parameter acquiring unit 2041, rate determination unit
2042 and electricity estimate unit 2043, wherein：
The parameter acquiring unit 2041 is used for, and after the notice for receiving the comparison module 203, obtains the battery mould
The charge and discharge cycles number of block, Current Temperatures, discharge current, the difference of voltage value and electricity empirical criteria value, battery hold
Amount；Wherein, battery capacity is the capacity of battery module, if battery module is battery pack, for the capacity of the battery pack.
The rate determination unit 2042 is used for, and according to the charge and discharge cycles number of the battery module, Current Temperatures, puts
Electric current, the difference of voltage value and electricity empirical criteria value and battery capacity determine the electric quantity change speed；
The electricity is estimated unit 2043 and is used for, and the battery module current time is determined according to the electric quantity change speed
Charge value and the charge value after current time.
Embodiment three
In the present embodiment, the application is further illustrated by taking unmanned machine battery as an example.Use electricity mostly in more than 3.65V
The information about power of metering module, most estimate all occur in below 3.65V, and therefore, in the present embodiment, predeterminated voltage is set to
3.65V.In addition, the charge value of module for metering electric quantity output is usually percent value, refer to battery pack voltage value as initial electricity
A few percent of amount.
Under with 15A average discharge current, the voltage of battery pack is detected, when single battery terminal voltage is less than or equal to
During 3.65V, according to the difference of charge and discharge cycles number and battery temperature, it is divided into following a variety of situations：
1st, charge and discharge cycles number is between 0~30 time
(1) temperature is at 20 DEG C~80 DEG C
Under the state corresponding electricity empirical criteria value be 30%, if now module for metering electric quantity detection charge value with
The error of electricity empirical criteria value is more than ± 5%, and (i.e. the charge value of module for metering electric quantity output is more than 35% or is less than
25%), start to intervene information about power.Electricity percentage is with (1/150) * (1+X/30) * (4900/cap) * I (/S) per second speed
Rate drops to 0%, i.e., electricity and display after being calculated according to the fall off rate, the electricity without showing module for metering electric quantity
Value.Wherein when showing dump energy, can round up display integer percent.Institute is calculated it is of course also possible to directly display
The electricity obtained.
Wherein, X is the difference of the charge value that module for metering electric quantity current detection goes out and the electricity empirical criteria value to prestore, can
Think negative value；Cap is finger battery capacity unit mAH；I is finger real-time current (ampere).Follow-up each each parameter of formula and herein one
Cause, will not be described in great detail.
For example, if the capacity of battery is 4900Mah, cycle-index between 0~30, at 20 DEG C~80 DEG C put by temperature
Electric current 15A.When the voltage of the minimum battery of voltage is to 3.65V when battery discharge, module for metering electric quantity shows 40%, and
It is more than 5% with the difference of empirical value 30%.The pre-display that now hops to it electricity.Electricity percentage is with (1/150) * (1+10/30) *
(4900/4900) * 15/S=0.13%/S speed drops to 0%, wherein, since 40% that module for metering electric quantity is shown with
0.13%/S speed is begun to decline to 0%.
Again for example, if the capacity of battery is 4900Mah, cycle-index between 0~30, temperature at 20 DEG C~80 DEG C,
Discharge current 15A.When the voltage of the minimum battery of voltage is to 3.65V when battery discharge, module for metering electric quantity shows 20%,
And it is less than -5% with the difference of empirical value 30%.Now start intervention and show electricity.Electricity percentage is with (1/150) * (1-10/
30) * (4900/4900) * 15/S=0.067%/S speed drops to 0%, smaller than the 0.13%/S in previous example, wherein,
Begun to decline since 20% that module for metering electric quantity is shown with 0.067%/S speed to 0%.
As can be seen that when the charge value of module for metering electric quantity detection is less than normal, the electricity calculated when being estimated declines
Electricity fall off rate when speed is bigger than normal less than the charge value of module for metering electric quantity detection.
(2) temperature is at 0 DEG C~20 DEG C
Now electricity empirical criteria value is 40%, if under the charge value and the state of now module for metering electric quantity detection
The difference of electricity empirical criteria value exceedes ± 5%, starts to intervene information about power.Electricity percentage is with (1/100) * (1+X/40) *
(4900/cap) * I/S speed drops to 0%, wherein when showing dump energy, can round up display integer percentage
Than.
(3) temperature is at -10 DEG C~0 DEG C
Now electricity empirical criteria value is 50%, if under the charge value and the state of now module for metering electric quantity detection
The difference of electricity empirical criteria value exceedes ± 5%, starts to intervene information about power.Electricity percentage is with (1/50) * (1+X/50) *
(4900/cap) * I/S speed drops to 0%, wherein when showing dump energy, can round up display integer percentage
Than.
2nd, charge and discharge cycles number is between 30~60 times
(1) temperature is at 20 DEG C~80 DEG C
Now electricity empirical criteria value is 30%, if under the charge value and the state of now module for metering electric quantity detection
The difference of electricity empirical criteria value exceedes ± 5%, starts to intervene information about power.Electricity percentage is with 1.1* (1/150) * (1+X/
30) * (4900/cap) * I/S speed drops to 0%, wherein when showing dump energy, can round up display integer hundred
Divide ratio.
(2) temperature is at 0 DEG C~20 DEG C
Now electricity empirical criteria value is 40%, if under the charge value and the state of now module for metering electric quantity detection
The difference of electricity empirical criteria value exceedes ± 5%, starts to intervene information about power.Electricity percentage is with 1.2* (1/100) * (1+X/
40) * (4900/cap) * I/S speed drops to 0%, wherein when showing dump energy, can round up display integer hundred
Divide ratio.
(3) temperature is at -10 DEG C~0 DEG C
Now electricity empirical criteria value is 50%, if now the electricity error of battery is more than 5%, processor intervention starts
Information about power.Electricity percentage drops to 0% with 1.5* (1/50) * (1+X/50) * (4900/cap) * I/S speed, wherein
When showing dump energy, can round up display integer percent.
3rd, charge and discharge cycles number is between 60~100 times
(1) temperature is at 20 DEG C~80 DEG C
Now electricity empirical criteria value 30%, if the charge value of now module for metering electric quantity detection and the electricity under the state
The difference for measuring empirical criteria value exceedes ± 5%, starts to intervene information about power.Electricity percentage is with 1.4* (1/100) * (1+X/
40) * (4900/cap) * I/S speed drops to 0%, wherein when showing dump energy, can round up display integer hundred
Divide ratio.
(2) temperature is at 0 DEG C~20 DEG C
Now electricity empirical criteria value 40%, if the charge value of now module for metering electric quantity detection and the electricity under the state
The difference for measuring empirical criteria value exceedes ± 5%, starts to intervene information about power.Electricity percentage is with 1.7* (1/100) * (1+X/
40) * (4900/cap) * I/S speed drops to 0%.Wherein when showing dump energy, can round up display integer hundred
Divide ratio.
(3) temperature is at -10 DEG C~0 DEG C
Now electricity empirical criteria value 50%, if the charge value of now module for metering electric quantity detection and the electricity under the state
The difference for measuring empirical criteria value exceedes ± 5%, starts to intervene information about power.Electricity percentage is with 2.3* (1/50) * (1+X/50) *
(4900/cap) * I/S speed drops to 0%.Wherein when showing dump energy, can round up display integer percentage
Than.
4th, charge and discharge cycles number is between 100~150
(1) temperature is at 20 DEG C~80 DEG C
Now electricity empirical criteria value 30%, if the charge value of now module for metering electric quantity detection and the electricity under the state
The difference for measuring empirical criteria value exceedes ± 5%, starts to intervene information about power.Electricity percentage is with 1.9* (1/150) * (1+X/
30) * (4900/cap) * I/S speed drops to 0%.Wherein when showing dump energy, can round up display integer hundred
Divide ratio.
(2) temperature is at 0 DEG C~20 DEG C
Now electricity empirical criteria value 40%, if the charge value of now module for metering electric quantity detection and the electricity under the state
The difference for measuring empirical criteria value exceedes ± 5%, starts to intervene information about power.Electricity percentage is with 2.5* (1/100) * (1+X/
40) * (4900/cap) * I/S speed drops to 0%.Wherein when showing dump energy, can round up display integer hundred
Divide ratio.
(3) temperature is at -10 DEG C~0 DEG C
Now electricity empirical criteria value 50%, if the charge value of now module for metering electric quantity detection and the electricity under the state
The difference for measuring empirical criteria value exceedes ± 5%, starts to intervene information about power.Electricity percentage is with 3.0* (1/50) * (1+X/50) *
(4900/cap) * I/S speed drops to 0%.Wherein when showing dump energy, can round up display integer percentage
Than.
It should be noted that the parameter provided in embodiment three is only an example, for other kinds of battery, can survey
Examination determines its corresponding electricity fall off rate calculation formula.
In addition, if when charge and discharge cycles number is more than or equal to 150, due to factors such as the life-spans of battery, can suggest using
Family does not use or uses the battery with caution.
The scheme that the application provides, all based on module for metering electric quantity, assessment module for metering electric quantity can be expanded to
The degree of accuracy, correct electricity and the method for estimating electricity, be not limited to unmanned machine battery, other devices (such as mobile phone, tablet personal computer,
Notebook computer, mobile electronic equipment etc.) battery electric quantity estimate and can also take scheme described herein.
One embodiment of the invention also provides a kind of unmanned plane, as shown in figure 3, including frame 301, being installed on the frame
301 Power Component 302, electrically connected with the Power Component 302 and for its power supply power module 303, as shown in figure 4, institute
Stating power module 303 includes battery module 401, module for metering electric quantity 402 and battery electric quantity estimating device 403, battery module 401
One or more battery can be included, module for metering electric quantity 402 can be electric quantity metering chip, wherein, the battery electric quantity is pre-
Estimate device 403 to be used for：
Obtain the charge value of the battery module 401 at the current time that the module for metering electric quantity 402 detects；
The charge value is carried out with the electricity empirical criteria value of the battery module 401 of the corresponding current state to prestore
Compare, if the two difference exceedes preset range, it is determined that the electric quantity change speed under the current state of battery module 401；
According to the electric quantity change speed determine the current time of battery module 401 charge value and current time it
Charge value afterwards.
In one embodiment, the battery electric quantity estimating device 403 is additionally operable to：The charge value is corresponding with prestoring
Before the electricity empirical criteria value of the battery module 401 of current state is compared, determine to appoint in the battery module 401
The magnitude of voltage of one battery is less than predeterminated voltage.
In one embodiment, the battery electric quantity estimating device 403 is additionally operable to, when each in the battery module 401
When the magnitude of voltage of battery is all higher than the predeterminated voltage, the charge value detected using the module for metering electric quantity 402 is described in
The charge value of battery module.
In one embodiment, the current state includes at least one of person at current time：The charge and discharge of battery module
Electricity condition, the charge and discharge cycles number of battery module, environment temperature.
In one embodiment, the battery electric quantity estimating device 403 determines the electricity under the battery module current state
Rate of change includes：According to the charge and discharge cycles number of the battery module, Current Temperatures, discharge current, voltage value with
Difference, the battery capacity of electricity empirical criteria value determine the electric quantity change speed.
It should be noted that the frame 301 and Power Component 302 of unmanned plane refer to conventional design, here is omitted.
In addition, the unmanned plane framework shown in Fig. 3 is merely illustrative, the application not limited to this.
One embodiment of the invention also provides a kind of battery electric quantity estimating device 50, as shown in figure 5, including the He of memory 520
Processor 510, the memory 520 have program stored therein, and described program by the processor 510 when reading execution, to realize
Above-mentioned battery electric quantity predictor method.
One embodiment of the invention provides a kind of computer-readable recording medium, and the computer-readable recording medium storage has
One or more program, one or more of programs can be by one or more computing devices, to realize above-mentioned electricity
Pond electricity predictor method.
The computer-readable recording medium includes：It is USB flash disk, read-only storage (ROM, Read-Only Memory), random
Access memory (RAM, Random Access Memory), mobile hard disk, magnetic disc or CD etc. are various can be with storage program
The medium of code.
Although disclosed herein embodiment as above, described content be only readily appreciate the present invention and use
Embodiment, it is not limited to the present invention.Technical staff in any art of the present invention, taken off not departing from the present invention
On the premise of the spirit and scope of dew, any modification and change, but the present invention can be carried out in the form and details of implementation
Scope of patent protection, still should be subject to the scope of the claims as defined in the appended claims.
Claims (16)
- A kind of 1. battery electric quantity predictor method, it is characterised in that including：Obtain the charge value of the battery module at the current time that module for metering electric quantity detects；By the charge value compared with the electricity empirical criteria value of the battery module of corresponding current state to prestore, such as Both fruits difference exceedes preset range, it is determined that the electric quantity change speed under the battery module current state；The charge value at the battery module current time and the electricity after current time are determined according to the electric quantity change speed Value.
- 2. battery electric quantity predictor method as claimed in claim 1, it is characterised in that the charge value is corresponding with prestoring Before the electricity empirical criteria value of the battery module of current state is compared, in addition to：Determine that the magnitude of voltage of any battery in the battery module is less than predeterminated voltage.
- 3. battery electric quantity predictor method as claimed in claim 2, it is characterised in that methods described also includes, when the battery When the magnitude of voltage of each battery is all higher than the predeterminated voltage in module, the charge value that is detected with the module for metering electric quantity Charge value as the battery module.
- 4. the battery electric quantity predictor method as described in claims 1 to 3 is any, it is characterised in that the current state includes working as At least one of person at preceding moment：The charging and discharging state of battery module, the charge and discharge cycles number of battery module, environment temperature Degree.
- 5. the battery electric quantity predictor method as described in claims 1 to 3 is any, it is characterised in that described to determine the battery mould Electric quantity change speed under block current state includes：According to charge and discharge cycles number, Current Temperatures, discharge current, voltage value and the electricity of the battery module through standard inspection Difference, the battery capacity of quasi- value determine the electric quantity change speed.
- A kind of 6. battery electric quantity estimating device, it is characterised in that including：Memory module, electricity acquisition module, comparison module and electricity Amount estimates module, wherein：The memory module is used for, the electricity empirical criteria value under storage battery module different conditions；The electricity acquisition module is used for, and obtains the charge value of the battery module at the current time that module for metering electric quantity detects, Export to the comparison module；The comparison module is used for, and the electricity of the battery module of corresponding current state is obtained from the memory module through standard inspection Quasi- value, the electricity by the charge value of electricity acquisition module input with the battery module of the corresponding current state Empirical criteria value is compared, if the two difference exceedes preset range, notifies the electricity to estimate module；The electricity is estimated module and is used for, and after the notice for receiving the comparison module, determines the battery module current state Under electric quantity change speed, the charge value at the battery module current time and current is determined according to the electric quantity change speed Charge value after moment.
- 7. battery electric quantity estimating device as claimed in claim 6, it is characterised in that the battery electric quantity estimating device also includes Voltage detection module, wherein：The voltage detection module is used for, and detects the magnitude of voltage of battery in the battery module, when any in the battery module When the magnitude of voltage of battery is below predeterminated voltage, the comparison module is notified；The comparison module is additionally operable to, after the notice of the voltage detection module is received, just by the charge value with prestoring The electricity empirical criteria value of the battery module of corresponding current state be compared.
- 8. battery electric quantity estimating device as claimed in claim 7, it is characterised in thatThe voltage detection module is additionally operable to, when the magnitude of voltage of each battery in the battery module is all higher than the default electricity During pressure, the electricity is notified to estimate module；The electricity is estimated module and is additionally operable to, and after the notice for receiving the comparison module, the module for metering electric quantity is detected The charge value arrived exports as the charge value of the battery module.
- 9. the battery electric quantity estimating device as described in claim 6 to 8 is any, it is characterised in that the current state includes working as At least one of person at preceding moment：The charging and discharging state of battery module, the charge and discharge cycles number of battery module, environment temperature Degree.
- 10. the battery electric quantity estimating device as described in claim 6 to 8 is any, it is characterised in that the electricity estimates module bag Include parameter acquiring unit, rate determination unit and electricity and estimate unit, wherein：The parameter acquiring unit is used for, and after the notice for receiving the comparison module, obtains the discharge and recharge of the battery module Cycle-index, Current Temperatures, discharge current, difference, the battery capacity of voltage value and electricity empirical criteria value；The rate determination unit is used for, according to the charge and discharge cycles number of the battery module, Current Temperatures, discharge current, The difference and battery capacity of voltage value and electricity empirical criteria value determine the electric quantity change speed；The electricity is estimated unit and is used for, and the charge value at the battery module current time is determined according to the electric quantity change speed And the charge value after current time.
- 11. a kind of battery electric quantity estimating device, it is characterised in that including memory and processor, the memory storage has journey Sequence, described program realize that the battery electric quantity as described in claim 1 to 5 is any is estimated when reading execution by the processor Method.
- 12. a kind of unmanned plane, it is characterised in that including frame, the Power Component of the frame is installed on, with the Power Component Electrically connect and be its power supply power module, the power module include battery module, module for metering electric quantity and battery electric quantity it is pre- Estimate device, wherein, the battery electric quantity estimating device is used for：Obtain the charge value of the battery module at the current time that the module for metering electric quantity detects；By the charge value compared with the electricity empirical criteria value of the battery module of corresponding current state to prestore, such as Both fruits difference exceedes preset range, it is determined that the electric quantity change speed under the battery module current state；The charge value at the battery module current time and the electricity after current time are determined according to the electric quantity change speed Value.
- 13. unmanned plane as claimed in claim 12, it is characterised in that the battery electric quantity estimating device is additionally operable to：By institute Before charge value is stated compared with the electricity empirical criteria value of the battery module of corresponding current state to prestore, institute is determined The magnitude of voltage for stating any battery in battery module is less than predeterminated voltage.
- 14. unmanned plane as claimed in claim 13, it is characterised in that the battery electric quantity estimating device is additionally operable to, when described When the magnitude of voltage of each battery is all higher than the predeterminated voltage in battery module, the electricity that is detected with the module for metering electric quantity Charge value of the value as the battery module.
- 15. the unmanned plane as described in claim 12 to 14 is any, it is characterised in that the current state includes current time At least one of person：The charging and discharging state of battery module, the charge and discharge cycles number of battery module, environment temperature.
- 16. the unmanned plane as described in claim 12 to 14 is any, it is characterised in that the battery electric quantity estimating device determines institute The electric quantity change speed stated under battery module current state includes：According to the charge and discharge cycles number of the battery module, currently Temperature, discharge current, difference, the battery capacity of voltage value and electricity empirical criteria value determine the electric quantity change speed.
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| CN201710833272.3A CN107643493A (en) | 2017-09-15 | 2017-09-15 | A kind of battery electric quantity predictor method and device, unmanned plane |
| PCT/CN2018/080629 WO2019052146A1 (en) | 2017-09-15 | 2018-03-27 | Battery power estimation method and device, and unmanned aerial vehicle |
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| CN201710833272.3A CN107643493A (en) | 2017-09-15 | 2017-09-15 | A kind of battery electric quantity predictor method and device, unmanned plane |
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