WO2019052146A1 - 一种电池电量预估方法和装置、无人机 - Google Patents
一种电池电量预估方法和装置、无人机 Download PDFInfo
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- WO2019052146A1 WO2019052146A1 PCT/CN2018/080629 CN2018080629W WO2019052146A1 WO 2019052146 A1 WO2019052146 A1 WO 2019052146A1 CN 2018080629 W CN2018080629 W CN 2018080629W WO 2019052146 A1 WO2019052146 A1 WO 2019052146A1
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
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- the invention relates to a battery technology, in particular to a battery power estimation method and device, and a drone.
- the current intelligent power management solutions are mostly based on TI's BQ30Z55, BQ40Z50, BQ34Z100 and other chips, and are supplemented by peripheral devices such as processors.
- the information on battery power is mainly provided by TI's electricity metering chip.
- the current power metering chip has the problem of power jump and inaccurate power metering, so it is difficult to meet the demanding equipment for power metering by relying entirely on the information of the power metering chip.
- At least one embodiment of the present invention provides a battery power detecting method and apparatus, and a drone, which improves battery power detection accuracy.
- At least one embodiment of the present invention provides a battery power estimation method, including:
- the method before comparing the power value with the pre-stored battery module's power experience standard value corresponding to the current state, the method further includes:
- the method further includes: when the voltage value of each battery in the battery module is greater than the preset voltage, using the power value detected by the power metering module as the battery The power value of the module.
- the current state includes at least one of the following: a charge and discharge state of the battery module, a number of charge and discharge cycles of the battery module, and an ambient temperature.
- the determining a rate of change of the power of the battery module in a current state includes:
- the power change rate is determined according to the number of charge and discharge cycles of the battery module, the current temperature, the discharge current, the difference between the current power value and the battery experience standard value, and the battery capacity.
- At least one embodiment of the present invention provides a battery power estimating apparatus, including: a storage module, a power acquiring module, a comparing module, and a power estimating module, wherein:
- the storage module is configured to store a battery experience standard value in different states of the battery module
- the power acquisition module is configured to obtain a power value of a battery module at a current time detected by the power metering module, and output the value to the comparison module;
- the comparing module is configured to acquire, from the storage module, a battery power experience standard value corresponding to the current state, and the battery value that is input by the power acquiring module and the battery module corresponding to the current state The battery power experience standard value is compared, and if the difference between the two exceeds the preset range, the power estimation module is notified;
- the power estimation module is configured to: after receiving the notification of the comparison module, determine a power change rate of the battery module in a current state, determine a power value of the current time of the battery module according to the power change rate, and current The amount of electricity after the moment.
- the battery power estimating device further includes a voltage detecting module, wherein:
- the voltage detecting module is configured to detect a voltage value of the battery in the battery module, and notify the comparison module when a voltage value of any one of the battery modules is lower than a preset voltage;
- the comparison module is further configured to compare the power value with a pre-stored battery power experience standard value corresponding to the current state after receiving the notification of the voltage detection module.
- the voltage detecting module is further configured to notify the power estimating module when a voltage value of each of the battery modules is greater than the preset voltage;
- the power estimation module is further configured to: after receiving the notification of the comparison module, output the power value detected by the power measurement module as the power value of the battery module.
- the current state includes at least one of the following: a charge and discharge state of the battery module, a number of charge and discharge cycles of the battery module, and an ambient temperature.
- the power estimation module includes a parameter acquisition unit, a rate determination unit, and a power estimation unit, wherein:
- the parameter obtaining unit is configured to: after receiving the notification of the comparison module, acquire a difference between a charge and discharge cycle number, a current temperature, a discharge current, a current power value, and a battery experience standard value of the battery module, and a battery capacity;
- the rate determining unit is configured to determine the power rate change rate according to a difference between a charge and discharge cycle number of the battery module, a current temperature, a discharge current, a current power value, and a difference between a battery power experience standard value and a battery capacity;
- the power estimation unit is configured to determine a power value of the current time of the battery module and a power value after the current time according to the power rate change rate.
- At least one embodiment of the present invention provides a battery power estimating apparatus including a memory and a processor, wherein the memory stores a program, and the program implements the battery power estimating method when read and executed by the processor.
- At least one embodiment of the present invention provides a drone, including a rack, a power component mounted to the rack, and a power module electrically connected to and powered by the power pack, the power module including a battery module, a fuel gauge module and a battery power estimating device, wherein the battery power estimating device is configured to:
- the battery power estimating device is further configured to: determine the battery module before comparing the power value with a stored power experience standard value of the battery module corresponding to a current state. The voltage value of any of the batteries is already lower than the preset voltage.
- the battery power estimating device is further configured to: when the voltage value of each of the battery modules is greater than the preset voltage, the amount of power detected by the power metering module The value is the value of the battery module.
- the current state includes at least one of the following: a charge and discharge state of the battery module, a number of charge and discharge cycles of the battery module, and an ambient temperature.
- the battery power estimating device determines a rate of change of the power in the current state of the battery module, including: according to the number of charging and discharging cycles of the battery module, current temperature, discharging current, current power value, and The difference between the battery experience standard value and the battery capacity determines the rate of change of the power.
- the power value detected by the power metering module is not used as the power value of the battery module, but is calculated.
- a rate of change in the amount of electricity is determined based on the rate of change in the amount of electricity.
- the battery state is monitored in real time, and the power measurement value is corrected in time, and the power information is accurately predicted.
- FIG. 1 is a flowchart of a method for estimating a battery power according to an embodiment of the present invention
- FIG. 2 is a block diagram of a battery power estimating device according to an embodiment of the present invention.
- FIG. 3 is a schematic structural diagram of a drone according to an embodiment of the present invention.
- FIG. 4 is a block diagram of a power module of a drone according to an embodiment of the present invention.
- FIG. 5 is a structural diagram of hardware of a battery power estimating device according to an embodiment of the present invention.
- the battery voltage, discharge current, temperature, charge and discharge cycle number and other related data are simultaneously monitored, and the accuracy of the power metering module is evaluated. If the power metering module is found to have a certain error, the power is corrected in time. And estimate the actual power.
- the embodiment provides a battery power estimation method, where the power estimation method is used to estimate the power of the battery module, including:
- Step 101 Acquire a power value of a battery module at a current time detected by the power metering module.
- the power metering module is, for example, a conventional power metering chip that measures power.
- Step 102 Compare the power value with a stored power experience standard value of the battery module corresponding to the current state, and if the difference between the two exceeds the preset range, determine a power change rate of the battery module in a current state. ;
- the current state includes at least one of the following: a charge and discharge state of the battery module, a number of charge and discharge cycles of the battery module, and an ambient temperature.
- the charge and discharge state includes, for example, a discharge current, a voltage, and the like.
- the preset range may be set according to requirements, and may be -5% to 5%5%. Of course, the present application is not limited thereto, and may be set to other values.
- Step 103 Determine a power value of the current time of the battery module and a power value after the current time according to the power rate change rate.
- the power value measured by the power metering module is relatively accurate. After the preset voltage is lowered, the error of the power value measured by the power metering module is relatively large. Therefore, in one In an optional embodiment, when the voltage value of the single battery in the battery module drops to a preset voltage, the power value is compared with the power standard value of the current voltage of the battery module. When the voltage value of the single battery in the battery module is greater than the preset voltage, the power value detected by the power metering module is used as the power value of the battery module.
- the preset voltage can be determined by testing. For example, after several tests, the voltage value when the power measured by the fuel gauge module starts to jump is used as the preset voltage.
- the preset voltage is related to the average discharge current of the battery module, and can be tested under different average discharge currents.
- the preset voltage After the preset voltage is reached, the power estimation is started.
- the battery power is rarely changed when the battery power is 3.65V (the voltage of the battery with the lowest voltage among all the strings in the battery pack), and the output voltage and remaining power are output. The change is relatively stable, and most of the transitions occur below 3.65V. Therefore, the preset voltage when the average discharge current is 15A can be set to 3.65V. Under normal circumstances, when the battery is powered by a device, the average discharge current is relatively fixed, and the preset voltage corresponding to the average discharge current in the working state can be tested.
- the battery module may include one battery, and may also include a plurality of batteries.
- a voltage value of a single battery in the battery module refers to a voltage value of a battery having the lowest voltage among the battery modules.
- the method further includes: determining that a voltage value of any one of the battery modules is lower than a preset voltage . When the voltage value of each of the battery modules is greater than the preset voltage, the power value detected by the power metering module is used as the power value of the battery module.
- the battery experience standard value of the battery module in different states can be estimated and stored in advance.
- the power is mainly related to the voltage value of the battery module, the current temperature, and the number of charge and discharge cycles of the battery module.
- the empirical standard value of the power under different temperatures and the number of charge and discharge cycles can be pre-stored when the voltage of the single battery in the battery module is a preset voltage.
- step 102 determining a rate of change of the power of the battery module in a current state includes:
- the power change rate is determined according to the number of charge and discharge cycles of the battery module, the current temperature, the discharge current, the difference between the current power value and the battery experience standard value, and the battery capacity.
- the specific calculation formula can be determined in advance by testing.
- the battery capacity is the capacity of the battery module, and if the battery module is a battery pack, the capacity of the battery pack. Among them, the battery module's charge and discharge cycle number, current temperature, discharge current and other parameters can be obtained from the fuel gauge module.
- the method further includes displaying a power value of the current time of the battery module determined according to the power rate change rate and a power value after the current time.
- the embodiment provides a battery power estimating device, including: a storage module 201, a power acquiring module 202, a comparing module 203, and a power estimating module 204, wherein:
- the storage module 201 is configured to store a battery power experience standard value in different states of the battery module
- the power acquisition module 202 is configured to obtain the power value of the battery module at the current time detected by the power metering module, and output the result to the comparison module 203;
- the comparison module 203 is configured to acquire, from the storage module 201, a battery power experience standard value corresponding to the current state, and the power value input by the power quantity acquisition module 202 and the corresponding current state.
- the battery module's power experience standard value is compared, if the difference between the two exceeds the preset range, the power estimation module 204 is notified;
- the power estimation module 204 is configured to: after receiving the notification of the comparison module 203, determine a power change rate of the battery module in a current state, and determine a power value of the current time of the battery module according to the power change rate. And the amount of electricity after the current time.
- the battery power estimating device further includes a voltage detecting module 205, wherein:
- the voltage detecting module 205 is configured to detect a voltage value of a battery in the battery module, and when the voltage value of any one of the battery modules is lower than a preset voltage, notify the comparison module 203;
- the comparison module 203 is further configured to compare the power value with a pre-stored battery power experience standard value of the current state after receiving the notification of the voltage detection module.
- the voltage detecting module 205 is further configured to notify the power estimating module 204 when the voltage value of each battery in the battery module is greater than the preset voltage;
- the power estimation module 204 is further configured to: after receiving the notification of the comparison module, output the power value detected by the power measurement module as the power value of the battery module.
- the power estimation module 204 includes a parameter acquisition unit 2041, a rate determination unit 2042, and a power estimation unit 2043, where:
- the parameter obtaining unit 2041 is configured to: after receiving the notification of the comparison module 203, acquire a difference between a charge and discharge cycle number, a current temperature, a discharge current, a current power value, and a power experience standard value of the battery module, and a battery. Capacity; wherein the battery capacity is the capacity of the battery module, and if the battery module is a battery pack, the capacity of the battery pack.
- the rate determining unit 2042 is configured to determine the power rate change rate according to a difference between a charge and discharge cycle number of the battery module, a current temperature, a discharge current, a current power value, and a difference between a battery power experience standard value and a battery capacity;
- the power estimation unit 2043 is configured to determine, according to the power change rate, a power value of the current time of the battery module and a power value after the current time.
- the application is further described by taking a drone battery as an example.
- the power information of the fuel gauge module is mostly used. Most of the estimates occur below 3.65V. Therefore, in this embodiment, the preset voltage is set to 3.65V.
- the power value output by the fuel gauge module is usually a percentage value, which means that the current battery value of the battery pack is a few percent of the initial power.
- the voltage of the battery pack is detected.
- the voltage of the single-cell terminal is less than or equal to 3.65V, it is divided into the following cases according to the number of charge-discharge cycles and the battery temperature:
- the corresponding standard value of the electric quantity in this state is 30%. If the error between the electric quantity value detected by the electric quantity measuring module and the actual electric quantity standard value is greater than ⁇ 5% (that is, the electric quantity value output by the electric quantity measuring module is greater than 35% or less than 25%). ), began to intervene in the power information.
- the percentage of power is reduced to 0% at a rate of (1/150)*(1+X/30)*(4900/cap)*I per second (/S), that is, the amount of power after the falling rate is calculated and displayed.
- the battery value of the fuel gauge module is not displayed. When the remaining power is displayed, the integer percentage can be rounded off. Of course, the calculated amount of electricity can also be directly displayed.
- X is the difference between the current measured value of the electricity metering module and the pre-stored empirical standard value, which may be a negative value; cap is the battery capacity unit mAH; and I refers to the real-time current (amperes).
- mAH battery capacity unit
- I refers to the real-time current (amperes).
- the capacity of the battery is 4900Mah
- the number of cycles is between 0 and 30
- the temperature is between 20 ° C and 80 ° C
- the discharge current is 15 A.
- the electricity metering module displays 40%, and the difference from the empirical value of 30% is greater than 5%.
- the intervention starts to display the power.
- the battery capacity is 4900Mah
- the number of cycles is between 0 and 30
- the temperature is between 20 ° C and 80 ° C
- the discharge current is 15 A.
- the electricity metering module displays 20%, and the difference from the empirical value of 30% is less than -5%.
- the intervention starts to display the power.
- the percentage of electricity dropped to 0% at a rate of (1/150)*(1-10/30)*(4900/4900)*15/S 0.067%/S, which is smaller than 0.13%/S in the previous example.
- 20% displayed by the electricity metering module it starts to drop to 0% at a rate of 0.067%/S.
- the calculated electric power falling rate when the estimating is performed is smaller than the electric power falling rate when the electric quantity measured by the electric quantity measuring module is too large.
- the battery experience standard value is 40%. If the difference between the power value detected by the power metering module and the battery standard value in this state exceeds ⁇ 5%, the power information is started to be intervened. The percentage of charge drops to 0% at the rate of (1/100)*(1+X/40)*(4900/cap)*I/S, where the percentage of the integer can be rounded off when the remaining charge is displayed.
- the battery experience standard value is 50%. If the difference between the power value detected by the power metering module and the battery standard value in this state exceeds ⁇ 5%, the power information is started to be intervened. The percentage of charge drops to 0% at the rate of (1/50)*(1+X/50)*(4900/cap)*I/S, where the integer percentage can be rounded off when the remaining charge is displayed.
- the number of charge and discharge cycles is between 30 and 60 times.
- the battery experience standard value is 30%. If the difference between the power value detected by the power metering module and the battery standard value in this state exceeds ⁇ 5%, the power information is started to be intervened. The percentage of power drops to 0% at a rate of 1.1*(1/150)*(1+X/30)*(4900/cap)*I/S, where an integer percentage can be rounded off when the remaining charge is displayed.
- the battery experience standard value is 40%. If the difference between the power value detected by the power metering module and the battery standard value in this state exceeds ⁇ 5%, the power information is started to be intervened. The percentage of charge drops to 0% at a rate of 1.2*(1/100)*(1+X/40)*(4900/cap)*I/S, where an integer percentage can be rounded off when the remaining charge is displayed.
- the battery experience standard value is 50%. If the battery's power error is greater than 5% at this time, the processor intervenes to start the battery information. The percentage of charge drops to 0% at a rate of 1.5*(1/50)*(1+X/50)*(4900/cap)*I/S, where the integer percentage can be rounded off when the remaining charge is displayed.
- the battery experience standard value is 30%. If the difference between the power value detected by the power metering module and the battery standard value in this state exceeds ⁇ 5%, the power information is started to be intervened. The percentage of charge drops to 0% at a rate of 1.4*(1/100)*(1+X/40)*(4900/cap)*I/S, where the percentage of the integer can be rounded off when the remaining charge is displayed.
- the battery experience standard value is 40%. If the difference between the power value detected by the power metering module and the battery standard value in this state exceeds ⁇ 5%, the power information is started to be intervened. The percentage of electricity drops to 0% at a rate of 1.7*(1/100)*(1+X/40)*(4900/cap)*I/S. When the remaining power is displayed, the integer percentage can be rounded off.
- the battery experience standard value is 50%. If the difference between the power value detected by the power metering module and the battery standard value in this state exceeds ⁇ 5%, the power information is started to be intervened. The percentage of electricity drops to 0% at a rate of 2.3*(1/50)*(1+X/50)*(4900/cap)*I/S. When the remaining power is displayed, the integer percentage can be rounded off.
- the battery experience standard value is 30%. If the difference between the power value detected by the power metering module and the battery standard value in this state exceeds ⁇ 5%, the power information is started to be intervened. The percentage of electricity drops to 0% at a rate of 1.9*(1/150)*(1+X/30)*(4900/cap)*I/S. When the remaining power is displayed, the integer percentage can be rounded off.
- the battery experience standard value is 40%. If the difference between the power value detected by the power metering module and the battery standard value in this state exceeds ⁇ 5%, the power information is started to be intervened. The percentage of charge drops to 0% at a rate of 2.5*(1/100)*(1+X/40)*(4900/cap)*I/S. When the remaining power is displayed, the integer percentage can be rounded off.
- the battery experience standard value is 50%. If the difference between the power value detected by the power metering module and the battery standard value in this state exceeds ⁇ 5%, the power information is started to be intervened. The percentage of electricity drops to 0% at a rate of 3.0*(1/50)*(1+X/50)*(4900/cap)*I/S. When the remaining power is displayed, the integer percentage can be rounded off.
- the battery may be recommended to be no longer used or used with caution due to factors such as battery life.
- the solution provided by the present application can be extended to all methods based on the fuel gauge module to evaluate the accuracy of the fuel gauge module, correct the power and estimate the power, not limited to the drone battery, other devices (such as mobile phones, tablets, The battery power estimation of notebook computers, mobile electronic devices, etc. can also adopt the solution described in the present application.
- an embodiment of the present invention further provides a battery power estimating device 50, which includes a memory 520 and a processor 510.
- the memory 520 stores a program, and the program is read by the processor 510. At the time of execution, the above battery power estimation method is implemented.
- An embodiment of the invention provides a computer readable storage medium storing one or more programs, the one or more programs being executable by one or more processors to implement the battery Power estimation method.
- the computer readable storage medium includes: a U disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, and the like, which can store program codes. Medium.
- An embodiment of the present invention further provides a drone, as shown in FIG. 3, comprising a frame 301, a power component 302 mounted to the frame 301, and a power source electrically connected to the power component 302 and powered
- the module 303 as shown in FIG. 4, the power module 303 includes a battery module 401, a power metering module 402, and a battery power estimating device 403.
- the battery module 401 can include one or more batteries, and the power metering module 402 can be a power metering unit. a chip, wherein the battery power estimating device 403 is configured to:
- the power value of the current time of the battery module 401 and the power value after the current time are determined according to the power rate change rate.
- the battery power estimating device 403 is further configured to: determine the battery module before comparing the power value with a stored power experience standard value of the battery module 401 corresponding to a current state. The voltage value of any of the 401 batteries has been lower than the preset voltage.
- the battery power estimating device 403 is further configured to detect, when the voltage value of each battery in the battery module 401 is greater than the preset voltage, by the power metering module 402. The power value is used as the power value of the battery module.
- the current state includes at least one of the following: a charge and discharge state of the battery module, a number of charge and discharge cycles of the battery module, and an ambient temperature.
- the battery power estimating device 403 determines a power change rate of the battery module in a current state, including: a charge and discharge cycle number, a current temperature, a discharge current, a current power value, and a power amount of the battery module.
- the difference in empirical standard values and the battery capacity determine the rate of change in the amount of electricity.
- the frame 301 and the power component 302 of the drone are referred to a conventional design, and details are not described herein again.
- the drone architecture shown in FIG. 3 is merely an example, and the present application is not limited thereto.
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Abstract
一种电池电量预估方法和装置，以及无人机，该电池电量预估方法包括：获取电量计量模块检测到的当前时刻的电池模块的电量值（101）；将所述电量值与预存的对应当前状态的所述电池模块的电量经验标准值进行比较，如果二者差值超过预设范围，则确定所述电池模块当前状态下的电量变化速率（102）；根据所述电量变化速率确定所述电池模块当前时刻的电量值以及当前时刻之后的电量值（103）。该方案能及时纠正电量偏差，提高电量测量准确性。
Description
申请要求于2017年9月15日申请的、申请号为201710833272.3、申请名称为“一种电池电量预估方法和装置、无人机”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
本发明涉及电池技术，尤指一种电池电量预估方法及装置，以及无人机。
随着锂电池在无人机市场的广泛应用，智能电量管理方案已然成为了主流。目前的智能电量管理方案多以TI的BQ30Z55、BQ40Z50、BQ34Z100等芯片为核心，再辅以处理器等外围器件组成。其中电池电量的信息主要由TI的电量计量芯片来提供。然而目前的电量计量芯片存在电量跳变、电量计量不准确的问题，所以完全依靠电量计量芯片的信息很难满足对电量计量的要求苛刻的设备中。
发明内容
为了解决上述技术问题，本发明至少一实施例提供了一种电池电量检测方法和装置，以及无人机，提高电池电量检测准确度。
为了达到本发明目的，本发明至少一实施例提供了一种电池电量预估方法，包括：
获取电量计量模块检测到的当前时刻的电池模块的电量值；
将所述电量值与预存的对应当前状态的所述电池模块的电量经验标准值进行比较，如果二者差值超过预设范围，则确定所述电池模块当前状态下的电量变化速率；
根据所述电量变化速率确定所述电池模块当前时刻的电量值以及当前时刻之后的电量值。
在一可选实施例中，在将所述电量值与预存的对应当前状态的所述电池模块的电量经验标准值进行比较之前，还包括：
确定所述电池模块中任一电池的电压值已低于预设电压。
在一可选实施例中，所述方法还包括，当所述电池模块中每一个电池的电压值均大于所述预设电压时，以所述电量计量模块检测到的电量值作为所述电池模块的电量值。
在一可选实施例中，所述当前状态包括当前时刻的以下至少之一者：电池模块的充放电状态、电池模块的充放电循环次数、环境温度。
在一可选实施例中，所述确定所述电池模块当前状态下的电量变化速率包括：
根据所述电池模块的充放电循环次数、当前温度、放电电流、当前电量值与电量经验标准值的差值、电池容量确定所述电量变化速率。
本发明至少一实施例提供一种电池电量预估装置，包括：存储模块、电量获取模块、比较模块和电量预估模块，其中：
所述存储模块用于，存储电池模块不同状态下的电量经验标准值；
所述电量获取模块用于，获取电量计量模块检测到的当前时刻的电池模块的电量值，输出至所述比较模块；
所述比较模块用于，从所述存储模块获取对应当前状态的所述电池模块的电量经验标准值，将所述电量获取模块输入的所述电量值与所述对应当前状态的所述电池模块的电量经验标准值进行比较，如果二者差值超过预设范围，通知所述电量预估模块；
所述电量预估模块用于，接收到所述比较模块的通知后，确定所述电池模块当前状态下的电量变化速率，根据所述电量变化速率确定所述电池模块当前时刻的电量值以及当前时刻之后的电量值。
在一可选实施例中，所述电池电量预估装置还包括电压检测模块，其中：
所述电压检测模块用于，检测所述电池模块中电池的电压值，当所述电池模块中任一电池的电压值均低于预设电压时，通知所述比较模块；
所述比较模块还用于，在接收到所述电压检测模块的通知后，才将所述电量值与预存的对应当前状态的所述电池模块的电量经验标准值进行比较。
在一可选实施例中，所述电压检测模块还用于，当所述电池模块中每一个电池的电压值均大于所述预设电压时，通知所述电量预估模块；
所述电量预估模块还用于，接收到所述比较模块的通知后，将所述电量计量模块检测到的电量值作为所述电池模块的电量值输出。
在一可选实施例中，所述当前状态包括当前时刻的以下至少之一者：电池模块的充放电状态、电池模块的充放电循环次数、环境温度。
在一可选实施例中，所述电量预估模块包括参数获取单元、速率确定单元和电量预估单元，其中：
所述参数获取单元用于，接收到所述比较模块的通知后，获取所述电池模块的充放电循环次数、当前温度、放电电流、当前电量值与电量经验标准值的差值、电池容量；
所述速率确定单元用于，根据所述电池模块的充放电循环次数、当前温度、放电电流、当前电量值与电量经验标准值的差值和电池容量确定所述电量变化速率；
所述电量预估单元用于，根据所述电量变化速率确定所述电池模块当前时刻的电量值以及当前时刻之后的电量值。
本发明至少一实施例提供一种电池电量预估装置，包括存储器和处理器，所述存储器存储有程序，所述程序在被所述处理器读取执行时，实现上述电池电量预估方法。
本发明至少一实施例提供一种无人机，包括机架、安装于所述机架的动力组件，与所述动力组件电连接并为其供电的电源模块，所述电源模块包括电池模块、电量计量模块和电池电量预估装置，其中，所述电池电量预估装置用于：
获取所述电量计量模块检测到的当前时刻的电池模块的电量值；
将所述电量值与预存的对应当前状态的所述电池模块的电量经验标准值进行比较，如果二者差值超过预设范围，则确定所述电池模块当前状态下的电量变化速率；
根据所述电量变化速率确定所述电池模块当前时刻的电量值以及当前时刻之后的电量值。
在一可选实施例中，所述电池电量预估装置还用于：在将所述电量值与预存的对应当前状态的所述电池模块的电量经验标准值进行比较之前，确定所述电池模块中任一电池的电压值已低于预设电压。
在一可选实施例中，所述电池电量预估装置还用于，当所述电池模块中每一个电池的电压值均大于所述预设电压时，以所述电量计量模块检测到的电量值作为所述电池模块的电量值。
在一可选实施例中，所述当前状态包括当前时刻的以下至少之一者：电池模块的充放电状态、电池模块的充放电循环次数、环境温度。
在一可选实施例中，所述电池电量预估装置确定所述电池模块当前状态下的电量变化速率包括：根据所述电池模块的充放电循环次数、当前温度、放电电流、当前电量值与电量经验标准值的差值、电池容量确定所述电量变化速率。
与相关技术相比，本申请提供的方案中，在电量值与电量经验标准值的差值超过预设范围时，不使用电量计量模块检测到的电量值作为电池模块的电量值，而是计算一电量变化速率，根据电量变化速率确定电量。本申请中，通过实时监测电池状态，及时纠正电量测量值，而最终实现了电量信息准确预估。
本发明的其它特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本发明而了解。本发明的目的和其他优点可通过在说明书、权利要求书以及附图中所特别指出的结构来实现和获得。
附图用来提供对本发明技术方案的进一步理解，并且构成说明书的一部分，与本申请的实施例一起用于解释本发明的技术方案，并不构成对本发明技术方案的限制。对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他实施例的附图。
图1为本发明一实施例提供的电池电量预估方法流程图；
图2为本发明一实施例提供的电池电量预估装置框图；
图3为本发明一实施例提供的无人机架构图；
图4为本发明一实施例提供的无人机的电源模块框图；
图5为本发明一实施例提供的电池电量预估装置硬件结构图。
为使本发明的目的、技术方案和优点更加清楚明白，下文中将结合附图对本发明的实施例进行详细说明。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互任意组合。
在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机系统中执行。并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。
本申请中，以电量计量模块为基础，同时监测电池的电压、放电电流、温度、充放电循环次数等相关数据，评估电量计量模块的准确度，如果发现电量计量模块存在一定误差时及时修正电量并预估实际电量。
实施例一
如图1所示，本实施例提供一种电池电量预估方法，该电量预估方法用于对电池模块的电量进行预估，包括：
步骤101，获取电量计量模块检测到的当前时刻的电池模块的电量值；
其中，电量计量模块比如是常规的对电量进行计量的电量计量芯片。
步骤102，将所述电量值与预存的对应当前状态的所述电池模块的电量经验标准值进行比较，如果二者差值超过预设范围，则确定所述电池模块当前 状态下的电量变化速率；
其中，所述当前状态包括当前时刻的以下至少之一者：电池模块的充放电状态、电池模块的充放电循环次数、环境温度。充放电状态比如包括放电电流、电压等等。
其中，所述预设范围可以根据需要设定，可以是-5％～5％5％。当然，本申请不限于此，也可设为其他值。
步骤103，根据所述电量变化速率确定所述电池模块当前时刻的电量值以及当前时刻之后的电量值。
通常，当电池模块的电压高于某预设电压时，电量计量模块测量的电量值比较准确，降到该预设电压及之后，电量计量模块测量的电量值误差才比较大，因此，在一可选实施例中，在所述电池模块中单个电池的电压值降至预设电压时，才将所述电量值与所述电池模块当前电压下的电量经验标准值进行比较。当所述电池模块中单个电池的电压值大于所述预设电压时，以所述电量计量模块检测到的电量值作为所述电池模块的电量值。预设电压可以通过测试确定，比如，经过多次试验，将电量计量模块测量的电量开始发生跳变时的电压值作为预设电压。需要说明的是，不同的平均放电电流下，电量计量模块测量到的开始发生跳变的电压值不同，因此，预设电压与电池模块的平均放电电流有关，可以通过测试得到不同平均放电电流下的预设电压。在到达预设电压后再开始进行电量预估。以无人机电池为例，平均放电电流为15A时，电池电量在3.65V(电池组所有串数中电压最低的一节电池的电压)以上时电量很少跳变，而且输出电压、剩余电量的变化相对平稳，大多数的跳变都发生在3.65V以下，因此，可以将平均放电电流为15A时的预设电压设置为3.65V。一般情况下，电池在为一装置供电时，其平均放电电流比较固定，测试其工作状态下平均放电电流对应的预设电压即可。
电池模块可能包括一个电池，也可能包括多个电池，当包括多个电池时，所述电池模块中单个电池的电压值是指所述电池模块中电压最低的电池的电压值。具体的，在将所述电量值与预存的对应当前状态的所述电池模块的电量经验标准值进行比较之前，还包括：确定所述电池模块中任一电池的电压 值已低于预设电压。当所述电池模块中每一个电池的电压值均大于所述预设电压时，以所述电量计量模块检测到的电量值作为所述电池模块的电量值。
所述电池模块在不同状态下的电量经验标准值可以预先进行估计并存储。其中，电量主要和电池模块的电压值、当前温度以及电池模块的充放电循环次数有关。在一可选实施例中，可以预存电池模块中单个电池的电压为预设电压时，不同温度和充放电循环次数下的电量经验标准值。
在一可选实施例中，所述步骤102中，确定所述电池模块当前状态下的电量变化速率包括：
根据所述电池模块的充放电循环次数、当前温度、放电电流、当前电量值与电量经验标准值的差值、电池容量确定所述电量变化速率。具体计算公式可以预先通过测试确定。
其中，电池容量为电池模块的容量，如果电池模块为电池组，则为该电池组的容量。其中，电池模块的充放电循环次数、当前温度、放电电流等参数均可以从电量计量模块获取。
在一可选实施例中，还包括显示根据上述电量变化速率确定的电池模块当前时刻的电量值以及当前时刻之后的电量值。
实施例二
如图2所示，本实施例提供一种电池电量预估装置，包括：存储模块201、电量获取模块202、比较模块203和电量预估模块204，其中：
所述存储模块201用于，存储电池模块不同状态下的电量经验标准值；
所述电量获取模块202用于，获取电量计量模块检测到的当前时刻的电池模块的电量值，输出至所述比较模块203；
所述比较模块203用于，从所述存储模块201获取对应当前状态的所述电池模块的电量经验标准值，将所述电量获取模块202输入的所述电量值与所述对应当前状态的所述电池模块的电量经验标准值进行比较，如果二者差值超过预设范围，通知所述电量预估模块204；
所述电量预估模块204用于，接收到所述比较模块203的通知后，确定所述电池模块当前状态下的电量变化速率，根据所述电量变化速率确定所述电池模块当前时刻的电量值以及当前时刻之后的电量值。
在一可选实施例中，所述电池电量预估装置还包括电压检测模块205，其中：
所述电压检测模块205用于，检测所述电池模块中电池的电压值，当所述电池模块中任一电池的电压值均低于预设电压时，通知所述比较模块203；
所述比较模块203还用于，在接收到所述电压检测模块的通知后，才将所述电量值与预存的对应当前状态的所述电池模块的电量经验标准值进行比较。
在一可选实施例中，所述电压检测模块205还用于，当所述电池模块中每一个电池的电压值均大于所述预设电压时，通知所述电量预估模块204；
所述电量预估模块204还用于，接收到所述比较模块的通知后，将所述电量计量模块检测到的电量值作为所述电池模块的电量值输出。
在一可选实施例中，所述电量预估模块204包括参数获取单元2041、速率确定单元2042和电量预估单元2043，其中：
所述参数获取单元2041用于，接收到所述比较模块203的通知后，获取所述电池模块的充放电循环次数、当前温度、放电电流、当前电量值与电量经验标准值的差值、电池容量；其中，电池容量为电池模块的容量，如果电池模块为电池组，则为该电池组的容量。
所述速率确定单元2042用于，根据所述电池模块的充放电循环次数、当前温度、放电电流、当前电量值与电量经验标准值的差值和电池容量确定所述电量变化速率；
所述电量预估单元2043用于，根据所述电量变化速率确定所述电池模块当前时刻的电量值以及当前时刻之后的电量值。
实施例三
本实施例中，以无人机电池为例进一步说明本申请。在3.65V以上时大多采用电量计量模块的电量信息，大部分的预估都发生在3.65V以下，因此，本实施例中，预设电压设为3.65V。另外，电量计量模块输出的电量值通常为百分比值，指电池组当前电量值为初始电量的百分之几。
在以15A的平均放电电流下，检测电池组的电压，当单节电池端电压小于等于3.65V时，按照充放电循环次数以及电池温度的不同，分为以下多种情况：
1、充放电循环次数介于0～30次之间
(1)温度在20℃～80℃
该状态下对应的电量经验标准值为30％，如果此时电量计量模块检测的电量值与电量经验标准值的误差大于±5％(即电量计量模块输出的电量值大于35％或者小于25％)，开始干预电量信息。电量百分比以(1/150)*(1+X/30)*(4900/cap)*I每秒(/S)的速率下降到0％，即按照该下降速率计算之后的电量并显示，而不显示电量计量模块的电量值。其中在显示剩余电量时，可以四舍五入显示整数百分比。当然，也可以直接显示计算所得的电量。
其中，X是电量计量模块当前检测出的电量值与预存的电量经验标准值的差值，可以为负值；cap为指电池容量单位mAH；I为指实时电流(安培)。后续各公式各参数与此处一致，将不再赘述。
例如，如果电池的容量为4900Mah，循环次数在0～30之间，温度在20℃～80℃，放电电流15A。电池放电的时候电压最低的电池的电压到3.65V时，电量计量模块显示40％，而与经验值30％的差值大于5％。此时开始干预显示电量。电量百分比以(1/150)*(1+10/30)*(4900/4900)*15/S＝0.13％/S的速率下降到0％，其中，从电量计量模块显示的40％开始以0.13％/S的速率开始下降至0％。
又比如，如果电池的容量为4900Mah，循环次数在0～30之间，温度在20℃～80℃，放电电流15A。电池放电的时候电压最低的电池的电压到3.65V时，电量计量模块显示20％，而与经验值30％的差值小于-5％。此时开始介入显示电量。电量百分比以(1/150)*(1-10/30)*(4900/4900)*15/S＝0.067％/S的速率 下降到0％，比前一例子中的0.13％/S小，其中，从电量计量模块显示的20％开始以0.067％/S的速率开始下降至0％。
可以看出，当电量计量模块检测的电量值偏小时，进行预估时所计算的电量下降速率小于电量计量模块检测的电量值偏大时的电量下降速率。
(2)温度在0℃～20℃
此时电量经验标准值为40％，如果此时电量计量模块检测的电量值与该状态下的电量经验标准值的差值超过±5％，开始干预电量信息。电量百分比以(1/100)*(1+X/40)*(4900/cap)*I/S的速率下降到0％，其中在显示剩余电量时，可以四舍五入显示整数百分比。
(3)温度在-10℃～0℃
此时电量经验标准值为50％，如果此时电量计量模块检测的电量值与该状态下的电量经验标准值的差值超过±5％，开始干预电量信息。电量百分比以(1/50)*(1+X/50)*(4900/cap)*I/S的速率下降到0％，其中在显示剩余电量时，可以四舍五入显示整数百分比。
2、充放电循环次数介于30～60次之间
(1)温度在20℃～80℃
此时电量经验标准值为30％，如果此时电量计量模块检测的电量值与该状态下的电量经验标准值的差值超过±5％，开始干预电量信息。电量百分比以1.1*(1/150)*(1+X/30)*(4900/cap)*I/S的速率下降到0％，其中在显示剩余电量时，可以四舍五入显示整数百分比。
(2)温度在0℃～20℃
此时电量经验标准值为40％，如果此时电量计量模块检测的电量值与该状态下的电量经验标准值的差值超过±5％，开始干预电量信息。电量百分比以1.2*(1/100)*(1+X/40)*(4900/cap)*I/S的速率下降到0％，其中在显示剩余电量时，可以四舍五入显示整数百分比。
(3)温度在-10℃～0℃
此时电量经验标准值为50％，如果此时电池的电量误差大于5％，处理器 干预开始电量信息。电量百分比以1.5*(1/50)*(1+X/50)*(4900/cap)*I/S的速率下降到0％，其中在显示剩余电量时，可以四舍五入显示整数百分比。
3、充放电循环次数介于60～100次之间
(1)温度在20℃～80℃
此时电量经验标准值30％，如果此时电量计量模块检测的电量值与该状态下的电量经验标准值的差值超过±5％，开始干预电量信息。电量百分比以1.4*(1/100)*(1+X/40)*(4900/cap)*I/S的速率下降到0％，其中在显示剩余电量时，可以四舍五入显示整数百分比。
(2)温度在0℃～20℃
此时电量经验标准值40％，如果此时电量计量模块检测的电量值与该状态下的电量经验标准值的差值超过±5％，开始干预电量信息。电量百分比以1.7*(1/100)*(1+X/40)*(4900/cap)*I/S的速率下降到0％。其中在显示剩余电量时，可以四舍五入显示整数百分比。
(3)温度在-10℃～0℃
此时电量经验标准值50％，如果此时电量计量模块检测的电量值与该状态下的电量经验标准值的差值超过±5％，开始干预电量信息。电量百分比以2.3*(1/50)*(1+X/50)*(4900/cap)*I/S的速率下降到0％。其中在显示剩余电量时，可以四舍五入显示整数百分比。
4、充放电循环次数介于100～150之间
(1)温度在20℃～80℃
此时电量经验标准值30％，如果此时电量计量模块检测的电量值与该状态下的电量经验标准值的差值超过±5％，开始干预电量信息。电量百分比以1.9*(1/150)*(1+X/30)*(4900/cap)*I/S的速率下降到0％。其中在显示剩余电量时，可以四舍五入显示整数百分比。
(2)温度在0℃～20℃
此时电量经验标准值40％，如果此时电量计量模块检测的电量值与该状态下的电量经验标准值的差值超过±5％，开始干预电量信息。电量百分比以 2.5*(1/100)*(1+X/40)*(4900/cap)*I/S的速率下降到0％。其中在显示剩余电量时，可以四舍五入显示整数百分比。
(3)温度在-10℃～0℃
此时电量经验标准值50％，如果此时电量计量模块检测的电量值与该状态下的电量经验标准值的差值超过±5％，开始干预电量信息。电量百分比以3.0*(1/50)*(1+X/50)*(4900/cap)*I/S的速率下降到0％。其中在显示剩余电量时，可以四舍五入显示整数百分比。
需要说明的是，实施例三中提供的参数仅为一示例，对于其他类型的电池，可以测试确定其相应的电量下降速率计算公式。
另外，如果充放电循环次数大于等于150时，由于电池的寿命等因素，可以建议用户不再使用或谨慎使用该电池。
本申请提供的方案，可以扩展到所有以电量计量模块为基础，评估电量计量模块的准确度，修正电量并预估电量的方法，不限于无人机电池，其他装置(如手机、平板电脑、笔记本电脑、移动式电子设备等)的电池电量预估也可以采取本申请所述的方案。
如图5所示，本发明一实施例还提供一种电池电量预估装置50，包括存储器520和处理器510，所述存储器520存储有程序，所述程序在被所述处理器510读取执行时，以实现上述电池电量预估方法。
本发明一实施例提供一种计算机可读存储介质，所述计算机可读存储介质存储有一个或者多个程序，所述一个或者多个程序可被一个或者多个处理器执行，以实现上述电池电量预估方法。
所述计算机可读存储介质包括：U盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
本发明一实施例还提供一种无人机，如图3所示，包括机架301、安装于所述机架301的动力组件302，与所述动力组件302电连接并为其供电的电源模块303，如图4所示，所述电源模块303包括电池模块401、电量计量模块 402和电池电量预估装置403，电池模块401可以包括一个或多个电池，电量计量模块402可以是电量计量芯片，其中，所述电池电量预估装置403用于：
获取所述电量计量模块402检测到的当前时刻的电池模块401的电量值；
将所述电量值与预存的对应当前状态的所述电池模块401的电量经验标准值进行比较，如果二者差值超过预设范围，则确定所述电池模块401当前状态下的电量变化速率；
根据所述电量变化速率确定所述电池模块401当前时刻的电量值以及当前时刻之后的电量值。
在一实施例中，所述电池电量预估装置403还用于：在将所述电量值与预存的对应当前状态的所述电池模块401的电量经验标准值进行比较之前，确定所述电池模块401中任一电池的电压值已低于预设电压。
在一实施例中，所述电池电量预估装置403还用于，当所述电池模块401中每一个电池的电压值均大于所述预设电压时，以所述电量计量模块402检测到的电量值作为所述电池模块的电量值。
在一实施例中，所述当前状态包括当前时刻的以下至少之一者：电池模块的充放电状态、电池模块的充放电循环次数、环境温度。
在一实施例中，所述电池电量预估装置403确定所述电池模块当前状态下的电量变化速率包括：根据所述电池模块的充放电循环次数、当前温度、放电电流、当前电量值与电量经验标准值的差值、电池容量确定所述电量变化速率。
需要说明的是，无人机的机架301和动力组件302请参考常规设计，此处不再赘述。另外，图3所示的无人机架构仅为示例，本申请不限于此。
虽然本发明所揭露的实施方式如上，但所述的内容仅为便于理解本发明而采用的实施方式，并非用以限定本发明。任何本发明所属领域内的技术人员，在不脱离本发明所揭露的精神和范围的前提下，可以在实施的形式及细节上进行任何的修改与变化，但本发明的专利保护范围，仍须以所附的权利要求书所界定的范围为准。
Claims (16)
- 一种电池电量预估方法，其特征在于，包括：获取电量计量模块检测到的当前时刻的电池模块的电量值；将所述电量值与预存的对应当前状态的所述电池模块的电量经验标准值进行比较，如果二者差值超过预设范围，则确定所述电池模块当前状态下的电量变化速率；根据所述电量变化速率确定所述电池模块当前时刻的电量值以及当前时刻之后的电量值。
- 如权利要求1所述的电池电量预估方法，其特征在于，在将所述电量值与预存的对应当前状态的所述电池模块的电量经验标准值进行比较之前，还包括：确定所述电池模块中任一电池的电压值已低于预设电压。
- 如权利要求2所述的电池电量预估方法，其特征在于，所述方法还包括，当所述电池模块中每一个电池的电压值均大于所述预设电压时，以所述电量计量模块检测到的电量值作为所述电池模块的电量值。
- 如权利要求1至3任一所述的电池电量预估方法，其特征在于，所述当前状态包括当前时刻的以下至少之一者：电池模块的充放电状态、电池模块的充放电循环次数、环境温度。
- 如权利要求1至3任一所述的电池电量预估方法，其特征在于，所述确定所述电池模块当前状态下的电量变化速率包括：根据所述电池模块的充放电循环次数、当前温度、放电电流、当前电量值与电量经验标准值的差值、电池容量确定所述电量变化速率。
- 一种电池电量预估装置，其特征在于，包括：存储模块、电量获取模块、比较模块和电量预估模块，其中：所述存储模块用于，存储电池模块不同状态下的电量经验标准值；所述电量获取模块用于，获取电量计量模块检测到的当前时刻的电池模 块的电量值，输出至所述比较模块；所述比较模块用于，从所述存储模块获取对应当前状态的所述电池模块的电量经验标准值，将所述电量获取模块输入的所述电量值与所述对应当前状态的所述电池模块的电量经验标准值进行比较，如果二者差值超过预设范围，通知所述电量预估模块；所述电量预估模块用于，接收到所述比较模块的通知后，确定所述电池模块当前状态下的电量变化速率，根据所述电量变化速率确定所述电池模块当前时刻的电量值以及当前时刻之后的电量值。
- 如权利要求6所述的电池电量预估装置，其特征在于，所述电池电量预估装置还包括电压检测模块，其中：所述电压检测模块用于，检测所述电池模块中电池的电压值，当所述电池模块中任一电池的电压值均低于预设电压时，通知所述比较模块；所述比较模块还用于，在接收到所述电压检测模块的通知后，才将所述电量值与预存的对应当前状态的所述电池模块的电量经验标准值进行比较。
- 如权利要求7所述的电池电量预估装置，其特征在于，所述电压检测模块还用于，当所述电池模块中每一个电池的电压值均大于所述预设电压时，通知所述电量预估模块；所述电量预估模块还用于，接收到所述比较模块的通知后，将所述电量计量模块检测到的电量值作为所述电池模块的电量值输出。
- 如权利要求6至8任一所述的电池电量预估装置，其特征在于，所述当前状态包括当前时刻的以下至少之一者：电池模块的充放电状态、电池模块的充放电循环次数、环境温度。
- 如权利要求6至8任一所述的电池电量预估装置，其特征在于，所述电量预估模块包括参数获取单元、速率确定单元和电量预估单元，其中：所述参数获取单元用于，接收到所述比较模块的通知后，获取所述电池模块的充放电循环次数、当前温度、放电电流、当前电量值与电量经验标准值的差值、电池容量；所述速率确定单元用于，根据所述电池模块的充放电循环次数、当前温度、放电电流、当前电量值与电量经验标准值的差值和电池容量确定所述电量变化速率；所述电量预估单元用于，根据所述电量变化速率确定所述电池模块当前时刻的电量值以及当前时刻之后的电量值。
- 一种电池电量预估装置，其特征在于，包括存储器和处理器，所述存储器存储有程序，所述程序在被所述处理器读取执行时，实现如权利要求1至5任一所述的电池电量预估方法。
- 一种无人机，其特征在于，包括机架、安装于所述机架的动力组件，与所述动力组件电连接并为其供电的电源模块，所述电源模块包括电池模块、电量计量模块和电池电量预估装置，其中，所述电池电量预估装置用于：获取所述电量计量模块检测到的当前时刻的电池模块的电量值；将所述电量值与预存的对应当前状态的所述电池模块的电量经验标准值进行比较，如果二者差值超过预设范围，则确定所述电池模块当前状态下的电量变化速率；根据所述电量变化速率确定所述电池模块当前时刻的电量值以及当前时刻之后的电量值。
- 如权利要求12所述的无人机，其特征在于，所述电池电量预估装置还用于：在将所述电量值与预存的对应当前状态的所述电池模块的电量经验标准值进行比较之前，确定所述电池模块中任一电池的电压值已低于预设电压。
- 如权利要求13所述的无人机，其特征在于，所述电池电量预估装置还用于，当所述电池模块中每一个电池的电压值均大于所述预设电压时，以所述电量计量模块检测到的电量值作为所述电池模块的电量值。
- 如权利要求12至14任一所述的无人机，其特征在于，所述当前状态包括当前时刻的以下至少之一者：电池模块的充放电状态、电池模块的充放电循环次数、环境温度。
- 如权利要求12至14任一所述的无人机，其特征在于，所述电池电量预估装置确定所述电池模块当前状态下的电量变化速率包括：根据所述电池模块的充放电循环次数、当前温度、放电电流、当前电量值与电量经验标准值的差值、电池容量确定所述电量变化速率。
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| CN107643493A (zh) * | 2017-09-15 | 2018-01-30 | 深圳市道通智能航空技术有限公司 | 一种电池电量预估方法和装置、无人机 |
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