WO2020043128A1

WO2020043128A1 - Method and device for determining charging state of battery, and chip, battery and aircraft

Info

Publication number: WO2020043128A1
Application number: PCT/CN2019/103052
Authority: WO
Inventors: 秦威
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2018-08-30
Filing date: 2019-08-28
Publication date: 2020-03-05
Also published as: CN109085508A

Abstract

Method and device for determining a charging state of a battery (100), and a chip, the battery (100) and an aircraft. The method comprises: when it is detected that a battery (100) is in a working state, acquiring the current electric quantity of the battery (100) (101); determining whether the current electric quantity is less than a first preset electric quantity threshold (102); when the current electric quantity is less than the first preset electric quantity threshold, determining a charging state of the battery (100) according to the time during which a current of the battery (100) is within a preset current range (103); and when the current electric quantity is greater than or equal to the first preset electric quantity threshold, determining the charging state of the battery (100) according to a comparison result obtained by comparing an output terminal voltage of the battery (100) with a preset voltage threshold (104). The method can improve the accuracy of determining the charging state of the battery (100).

Description

确定电池的充电状态的方法、装置、芯片、电池及飞行器Method, device, chip, battery and aircraft for determining charging state of battery

相关申请的交叉引用Cross-reference to related applications

本申请要求申请号为201811002154.9，申请日为2018年8月30日申请的中国专利申请的优先权，其全部内容通过引用结合于本文。This application claims priority from a Chinese patent application filed with an application number of 201811002154.9 and an application date of August 30, 2018, the entire contents of which are incorporated herein by reference.

技术领域Technical field

本发明实施例涉及电池技术领域，尤其涉及一种确定电池的充电状态的方法、确定电池的充电状态的装置、芯片、具有该芯片的电池，以及具有该电池的飞行器。Embodiments of the present invention relate to the technical field of batteries, and in particular, to a method for determining a charging state of a battery, a device for determining a charging state of a battery, a chip, a battery having the chip, and an aircraft having the battery.

背景技术Background technique

电池是各种设备运行的必要部件，如飞行器、终端设备、可穿戴设备等等。以飞行器为例，电池可以为飞行器的各个***或模块提供电力，如为飞行器的飞行控制器、无线电收发模块、电机、电调等提供电力，以保证飞行的正常飞行。对于电池在飞行器的应用中，通常电池需要判断自身当前所处的状态(如充电状态或放电状态)，从而根据电池的当前所处的状态，进行相应的操作，例如，当确定电池处于充电状态时，控制为电池充电，以保证电池处于充电状态，当确定电池处于放电状态时，控制电池放电，以保证电池处于放电状态，进而确保电池的正常使用需要，从而飞行器的正常飞行。The battery is an essential part of the operation of various devices, such as aircraft, terminal devices, wearable devices, and so on. Taking the aircraft as an example, the battery can provide power for various systems or modules of the aircraft, such as power for the flight controller, radio transceiver module, motor, and ESC of the aircraft to ensure normal flight. For the application of the battery in an aircraft, the battery usually needs to judge its current state (such as the charging state or the discharging state), so as to perform corresponding operations according to the current state of the battery, for example, when it is determined that the battery is in a charging state At this time, the battery is controlled to be charged to ensure that the battery is in a charging state. When it is determined that the battery is in a discharged state, the battery is controlled to be discharged to ensure that the battery is in a discharged state, thereby ensuring the normal use of the battery and thus the normal flight of the aircraft.

目前对于电池的充电状态的判断通常主要依赖于电流的方向。具体的，当有充电方向的电流(也即充电电流)存在时，判断电池是处于充电状态；当有放电方向的电流(也即放电电流)存在时，判断电池是处于放电状态。At present, the judgment of the state of charge of the battery usually depends mainly on the direction of the current. Specifically, when a current in a charging direction (ie, a charging current) exists, it is determined that the battery is in a charging state; when a current in a discharging direction (ie, a discharge current) exists, it is determined that the battery is in a discharging state.

但是电池在各种电子设备，如飞行器上使用时外界环境是相对比较复杂的，会有很多的干扰存在，例如，在飞行器工作时，若电机减速，此时会存在反向的尖峰电流，如果恰巧将该电流作为检测电流，则会将本来电池处于放电状态的情况判定为充电状态，也即由于各种干扰的影响容易对电池的充电状态产生误判，而该误判会导致电池状态异常，对于飞行器而言，严重的更有可能导致飞行器炸机等。However, when the battery is used in various electronic devices, such as aircraft, the external environment is relatively complicated, and there will be a lot of interference. For example, if the motor is decelerated while the aircraft is operating, there will be reverse peak current at this time. It happens that this current is used as the detection current, it will be determined that the battery is in the discharging state as the charging state, that is, due to the influence of various interferences, it is easy to misjudge the charging state of the battery, and this misjudgment will cause the battery state to be abnormal. For aircraft, serious, it is more likely to cause aircraft bomber.

发明内容Summary of the Invention

本发明的主要目的在于提供一种确定电池的充电状态的方法、装置、芯片、电池及飞行器，可以提高判断电池的充电状态的准确性，减少误判，从而保证电池功能的稳定性和可靠性，进而保证使用该电池的飞行器飞行的安全性。The main purpose of the present invention is to provide a method, a device, a chip, a battery and an aircraft for determining the state of charge of a battery, which can improve the accuracy of determining the state of charge of the battery, reduce misjudgments, and thereby ensure the stability and reliability of the battery function , Thereby ensuring the flight safety of the aircraft using the battery.

本发明实施例公开了如下技术方案：The embodiments of the present invention disclose the following technical solutions:

为解决上述技术问题，本发明实施例提供了一种确定电池的充电状态的方法，所述方法包括：To solve the above technical problems, an embodiment of the present invention provides a method for determining a charging state of a battery, where the method includes:

当检测到所述电池处于工作状态时，获取所述电池的当前电量；When it is detected that the battery is in an operating state, obtaining the current power of the battery;

判断所述当前电量是否小于第一预设电量阈值；Determining whether the current power is less than a first preset power threshold;

当所述当前电量小于所述第一预设电量阈值时，根据所述电池的电流处于预设电流范围所持续的时间确定所述电池的充电状态；When the current power is less than the first preset power threshold, determining a state of charge of the battery according to a duration in which the current of the battery is in a preset current range;

当所述当前电量大于或等于所述第一预设电量阈值时，根据所述电池的输出端电压与预设电压阈值进行比较所得到的比较结果，确定所述电池的充电状态。When the current power is greater than or equal to the first preset power threshold, a charging state of the battery is determined according to a comparison result obtained by comparing an output voltage of the battery with a preset voltage threshold.

在一些实施例中，所述当所述当前电量小于所述第一预设电量阈值时，根据所述电池的电流处于预设电流范围所持续的时间确定所述电池的充电状态，包括：In some embodiments, when the current power is less than the first preset power threshold, determining the state of charge of the battery according to a time duration during which the current of the battery is in a preset current range includes:

当所述当前电量大于第二预设电量阈值且小于所述第一预设电量阈值时，若检测到所述电池的电流大于第一预设电流阈值所持续的时间大于第一预设时间时，确定所述电池处于充电状态；When the current power is greater than the second preset power threshold and less than the first preset power threshold, if it is detected that the current of the battery is greater than the first preset current threshold for a time greater than the first preset time To determine that the battery is in a charging state;

当所述当前电量小于或等于所述第二预设电量阈值时，若检测到所述电池的电流大于第二预设电流阈值所持续的时间大于第二预设时间时，确定所述电池处于充电状态。When the current power is less than or equal to the second preset power threshold, if it is detected that the current of the battery is greater than the second preset current threshold for a time longer than the second preset time, it is determined that the battery is at charging.

在一些实施例中，所述第二预设电流阈值大于所述第一预设电流阈值，所述第一预设时间大于所述第二预设时间。In some embodiments, the second preset current threshold is greater than the first preset current threshold, and the first preset time is greater than the second preset time.

在一些实施例中，所述根据所述电池的输出端电压与预设电压阈值进行比较所得到的比较结果，确定所述电池的充电状态，包括：In some embodiments, the determining a charging state of the battery according to a comparison result obtained by comparing a voltage at an output terminal of the battery with a preset voltage threshold includes:

若所述输出端电压相对于所述预设电压阈值存在变化且所述变化在预设范围内时，确定所述电池处于充电状态。If there is a change in the output terminal voltage relative to the preset voltage threshold and the change is within a preset range, it is determined that the battery is in a charging state.

在一些实施例中，所述方法还包括：In some embodiments, the method further includes:

当检测到所述电池处于待机状态或休眠状态时，判断是否接收到唤醒触发信号，所述唤醒触发信号用于唤醒所述电池；When it is detected that the battery is in a standby state or a sleep state, determining whether a wake-up trigger signal is received, and the wake-up trigger signal is used to wake up the battery;

当检测到接收到唤醒触发信号后，若检测到所述电池的电流大于或等于第三预设电流阈值所持续的时间大于第三预设时间时，确定所述电池处于充电状态。When it is detected that the wake-up trigger signal is received, if it is detected that the current of the battery is greater than or equal to the third preset current threshold for a time longer than the third preset time, it is determined that the battery is in a charging state.

为解决上述技术问题，本发明实施例还提供了一种确定电池的充电状态的装置，所述装置包括：To solve the above technical problems, an embodiment of the present invention further provides a device for determining a charging state of a battery, where the device includes:

电量获取模块，用于当检测到所述电池处于工作状态时，获取所述电池的当前电量；A power acquisition module, configured to acquire the current power of the battery when it is detected that the battery is in an operating state;

第一判断模块，用于判断所述当前电量是否小于第一预设电量阈值；A first determining module, configured to determine whether the current power is less than a first preset power threshold;

第一确定模块，用于当所述当前电量小于所述第一预设电量阈值时，根据所述电池的电流处于预设电流范围所持续的时间确定所述电池的充电状态；A first determining module, configured to determine a charging state of the battery according to a time duration when the current of the battery is in a preset current range when the current power is less than the first preset power threshold;

第二确定模块，用于当所述当前电量大于或等于所述第一预设电量阈值时，根据所述电池的输出端电压与预设电压阈值进行比较所得到的比较结果，确定所述电池的充电状态。A second determining module, configured to determine the battery according to a comparison result obtained by comparing an output voltage of the battery with a preset voltage threshold when the current power is greater than or equal to the first preset power threshold State of charge.

在一些实施例中，所述第一确定模块具体用于：In some embodiments, the first determining module is specifically configured to:

在一些实施例中，所述第二确定模块具体用于：In some embodiments, the second determining module is specifically configured to:

在一些实施例中，所述装置还包括：In some embodiments, the apparatus further includes:

第二判断模块，用于当检测到所述电池处于待机状态或休眠状态时，判断是否接收到唤醒触发信号，所述唤醒触发信号用于唤醒所述电池；A second determination module, configured to determine whether a wake-up trigger signal is received when the battery is detected to be in a standby state or a sleep state, and the wake-up trigger signal is used to wake up the battery;

第三确定模块，用于当检测到接收到唤醒触发信号后，若检测到所述电池的电流大于或等于第三预设电流阈值所持续的时间大于第三预设时间时，确定所述电池处于充电状态。A third determining module, configured to determine the battery when it is detected that the duration of the current of the battery is greater than or equal to a third preset current threshold after the reception of the wake-up trigger signal is greater than a third preset time Being charged.

为解决上述技术问题，本发明实施例还提供了一种芯片，包括：To solve the above technical problems, an embodiment of the present invention further provides a chip, including:

至少一个处理器；以及，At least one processor; and

与所述至少一个处理器通信连接的存储器；其中，A memory connected in communication with the at least one processor; wherein,

所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如上所述的确定电池的充电状态的方法。The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method for determining a charging state of a battery as described above. .

为解决上述技术问题，本发明实施例还提供了一种计算机程序产品，所述计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，使所述计算机执行如上所述的确定电池的充电状态的方法。In order to solve the above technical problem, an embodiment of the present invention further provides a computer program product. The computer program product includes a computer program stored on a non-volatile computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer is caused to execute the method for determining a state of charge of a battery as described above.

为解决上述技术问题，本发明实施例还提供了一种非易失性计算机可读存储介质，所述计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于使计算机执行如上所述的确定电池的充电状态的方法。In order to solve the above technical problem, an embodiment of the present invention further provides a non-volatile computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to cause a computer to execute A method of determining the state of charge of a battery as described above.

为解决上述技术问题，本发明实施例还提供了一种电池，包括如上所述的芯片。In order to solve the above technical problem, an embodiment of the present invention further provides a battery, including a chip as described above.

为解决上述技术问题，本发明实施例还提供了一种飞行器，包括如上所述的电池，所述电池用于提供电力。In order to solve the above technical problem, an embodiment of the present invention further provides an aircraft, which includes the battery as described above, and the battery is used to provide power.

由于仅仅靠电流的方向来直接判断电池状态，容易产生误判，本发明实施例在电池处于工作状态时，当电池的当前电量小于第一预设电量阈值时，根据电池的电流处于预设电流范围所持续的时间确定电池的充电状态，当电池的当前电量大于或等于第一预设电量阈值时，根据电池的输出端电压与预设电压阈值进行比较所得到的比较结果，确定电池的充电状态，可以提高判断电池的充电状态的准确性，减少误判，从而保证电池功能的稳定性和可靠性，进而保证使用该电池的飞行器飞行的安全性。Because the state of the battery is directly determined only by the direction of the current, misjudgment is easy to occur. When the battery is in the working state, when the current power of the battery is less than the first preset power threshold, the current according to the battery is at the preset current. The duration of the range determines the state of charge of the battery. When the current charge of the battery is greater than or equal to the first preset power threshold, the battery's charge is determined according to the comparison result obtained by comparing the output voltage of the battery with the preset voltage threshold. The state can improve the accuracy of judging the charging state of the battery and reduce misjudgment, thereby ensuring the stability and reliability of the battery function, and further ensuring the flight safety of the aircraft using the battery.

附图说明BRIEF DESCRIPTION OF THE DRAWINGS

一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。One or more embodiments are exemplified by the pictures in the accompanying drawings. These exemplary descriptions do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the drawings in the drawings do not constitute a limitation on scale.

图1是本发明实施例提供的一种确定电池的充电状态的方法的流程示意图；FIG. 1 is a schematic flowchart of a method for determining a charging state of a battery according to an embodiment of the present invention; FIG.

图2是本发明实施例提供的电池的电路图；2 is a circuit diagram of a battery provided by an embodiment of the present invention;

图3是本发明实施例提供的唤醒电路的示意图；3 is a schematic diagram of a wake-up circuit according to an embodiment of the present invention;

图4是本发明实施例提供的电池处于待机状态或休眠状态与电池处于工作状态相互转换的示意图；4 is a schematic diagram of switching between a battery in a standby state or a hibernation state and a battery in an operating state according to an embodiment of the present invention;

图5是本发明实施例提供的对飞行器的单个电机的电流进行极限测试得到的电流波形的示意图；5 is a schematic diagram of a current waveform obtained by performing a limit test on a current of a single motor of an aircraft according to an embodiment of the present invention;

图6是本发明实施例提供的检测电压电路的示意图；6 is a schematic diagram of a voltage detection circuit according to an embodiment of the present invention;

图7是本发明实施例提供的另一种确定电池的充电状态的方法的示意图；7 is a schematic diagram of another method for determining a charging state of a battery according to an embodiment of the present invention;

图8是本发明实施例提供的一种确定电池的充电状态的装置示意图；8 is a schematic diagram of a device for determining a charging state of a battery according to an embodiment of the present invention;

图9是本发明实施例提供的芯片的硬件结构示意图；9 is a schematic diagram of a hardware structure of a chip according to an embodiment of the present invention;

图10是本发明实施例提供的电池的示意图；10 is a schematic diagram of a battery provided by an embodiment of the present invention;

图11是本发明实施例提供的飞行器的示意图。FIG. 11 is a schematic diagram of an aircraft provided by an embodiment of the present invention.

具体实施方式detailed description

为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

此外，下面所描述的本发明各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

下面结合附图，对本发明实施例作进一步阐述。The embodiments of the present invention will be further described below with reference to the accompanying drawings.

实施例1：Example 1:

图1为本发明实施例提供的一种确定电池的充电状态的方法的流程示意图。所述确定电池的充电状态的方法可适用于各种电池的充电状态的确定，如锂电池、镍镉电池或其他蓄电池等等。所述电池可以应用于各种电子设备上，例如，应用于飞行器、电动车、终端设备、可穿戴设备等等。所述确定电池的充电状态的方法可由任何合适类型的，具有一定逻辑运算及处理能力的芯片执行，如电池的主控芯片(如MCU)等。下面以电池的主控芯片为例进行具体说明。FIG. 1 is a schematic flowchart of a method for determining a charging state of a battery according to an embodiment of the present invention. The method for determining the charging status of a battery may be applicable to determining the charging status of various batteries, such as a lithium battery, a nickel-cadmium battery, or other storage batteries. The battery can be applied to various electronic devices, for example, aircrafts, electric vehicles, terminal devices, wearable devices, and the like. The method for determining the state of charge of a battery may be performed by any suitable type of chip with a certain logic operation and processing capability, such as a battery main control chip (such as an MCU). The following takes a battery main control chip as an example for detailed description.

参照图1，所述确定电池的充电状态的方法包括：Referring to FIG. 1, the method for determining a charging state of a battery includes:

101：当检测到所述电池处于工作状态时，获取所述电池的当前电量。101: When it is detected that the battery is in an operating state, obtain the current power of the battery.

电池可以包括但不限于以下状态：待机状态(相当于低功耗状态)、休眠状态、工作状态。其中，工作状态包括：放电状态和充电状态。当电池主回路无电流流过时，表征电池处于待机状态或休眠状态；当电池主回路有电流流过时，表征电池处于工作状态。The battery may include, but is not limited to, the following states: a standby state (equivalent to a low power consumption state), a hibernation state, and an operating state. Among them, the working state includes: a discharging state and a charging state. When there is no current flowing in the main circuit of the battery, it means that the battery is in standby or hibernation state; when there is current flowing in the main circuit of the battery, it means that the battery is in working state.

其中，当电池处于不使用或不工作状态时，通常为了降低功耗，以减少对电池的电量的损耗，特别是在电池剩余容量较少的情况下避免对电池造成过放电损伤，电池通常都会进入待机状态或休眠状态。Among them, when the battery is in an unused or non-working state, it is usually in order to reduce power consumption to reduce the loss of battery power, especially to avoid over-discharge damage to the battery when the remaining battery capacity is small. Enter standby or hibernation.

当电池处于待机状态或休眠状态时，电池主回路中的开关电路会处于断开状态，此时，电池主回路无电流流过。When the battery is in the standby or hibernation state, the switch circuit in the battery main circuit will be in the off state. At this time, no current flows through the battery main circuit.

例如，以图2的电池的电路图为例，其中，电池可以为由一个或多个电芯组成的电池组，以满足不同电子设备的供电需要。该电池包括总正端B+、总负端B-、输出正极PACK+、输出负极PACK-。电池的总正端B+为电池的最高电压端，电池的总负端B-为电池的最低电压端，通常电池的总负端B-接地。电池的输出正极PACK+为电池的正极输出端，电池的输出负极PACK-为电池的负极输出端。并且，电池的输出正极PACK+同时也是电池的正极充电端口，电池的输出负极PACK-同时也是电池的负极充电端口。For example, the circuit diagram of the battery in FIG. 2 is taken as an example. The battery may be a battery pack composed of one or more battery cells to meet the power supply requirements of different electronic devices. The battery includes a total positive terminal B +, a total negative terminal B-, an output positive PACK +, and an output negative PACK-. The total positive terminal B + of the battery is the highest voltage terminal of the battery, and the total negative terminal B- of the battery is the lowest voltage terminal of the battery. Generally, the total negative terminal B- of the battery is grounded. The positive output terminal PACK + of the battery is the positive output terminal of the battery, and the negative output terminal PACK- of the battery is the negative output terminal of the battery. In addition, the battery output positive PACK + is also the battery's positive charging port, and the battery output negative PACK- is also the battery's negative charging port.

图2中的Q1、Q2分别是电池主回路的充电MOS管和放电MOS管。充电MOS管Q1和放电MOS管Q2可以设置在电池的总正端与电池的输出正极之间。在一些其它实施例中，充电MOS管Q1和放电MOS管Q2还可以设置于电池的总负端与电池的输出负极之间。Q1 and Q2 in FIG. 2 are the charging MOS tube and the discharging MOS tube of the battery main circuit, respectively. The charging MOS tube Q1 and the discharging MOS tube Q2 may be disposed between the total positive terminal of the battery and the output positive electrode of the battery. In some other embodiments, the charging MOS tube Q1 and the discharging MOS tube Q2 may also be disposed between the total negative terminal of the battery and the output negative electrode of the battery.

图2中的RSENSE是主回路电流检测电阻。当电池处于待机状态或休眠状态时，Q1和Q2处于断开状态，检测电阻RSENSE中无电流流过，也即电池主回路无电流流过。RSENSE in Figure 2 is the main circuit current detection resistor. When the battery is in the standby or hibernation state, Q1 and Q2 are in the off state, and no current flows through the detection resistor RSENSE, that is, no current flows through the battery main circuit.

当电池处于待机状态或休眠状态时，以充电为例，可以通过接收唤醒触发信号来唤醒电池的主控芯片。When the battery is in the standby or hibernation state, taking charging as an example, the main control chip of the battery can be awakened by receiving a wake-up trigger signal.

以图3所示的唤醒电路为例，当充电器接入电池时，电池的输出正极PACK+即是充电器的正极电压经R1和R2分压后，使得MOS管Q3处于导通状态，此时,电池的主控芯片接收到唤醒触发信号，从而触发电池的主控芯片的中断，从而使得电池的主控芯片被唤醒，进而电池的主控芯片控制图2中的电池的主回路中的充电MOS管Q1和放电MOS管Q2处于打开状态，此时，检测电阻RSENSE中便会有电流流过，也即电池主回路有电流流过，以便进行后续的电池的充电状态的判断。Take the wake-up circuit shown in Figure 3 as an example. When the charger is connected to the battery, the battery's output positive PACK + is the positive voltage of the charger divided by R1 and R2, so that the MOS tube Q3 is on. The main control chip of the battery receives the wake-up trigger signal, thereby triggering the interruption of the main control chip of the battery, so that the main control chip of the battery is awakened, and the main control chip of the battery controls the charging in the main circuit of the battery in FIG. 2 The MOS tube Q1 and the discharging MOS tube Q2 are turned on. At this time, a current flows through the detection resistor RSENSE, that is, a current flows through the main circuit of the battery, so as to judge the subsequent battery charging status.

并且，在电池的主控芯片被唤醒后，电池的主控芯片可以通过接收用户操作指令的方式，使得电池的主控芯片处于工作状态，进而使得电池处于工作状态。例如，如图4所示，用户通过触摸或按压电池的开关键的方式，使得电池的主控芯片接收到用户操作指令，从而使得电池使电池进入工作状态。而且，在电池处于工作状态时，也可以通过接收用户操作指令的方式使电池再进入待机状态或休眠状态。In addition, after the battery's main control chip is awakened, the battery's main control chip can make the battery's main control chip in a working state by receiving a user operation instruction, and then the battery is in a working state. For example, as shown in FIG. 4, the user touches or presses the on / off key of the battery, so that the main control chip of the battery receives a user operation instruction, so that the battery puts the battery into a working state. Moreover, when the battery is in the working state, the battery can also be put into a standby state or a hibernation state by receiving a user operation instruction.

此外，在一些其它实施例中，还可以通过其它合适的方式进行电池待机状态或休眠状态与工作状态的切换，例如，接收外部设备如终端设备发送的切换触发指令等。In addition, in some other embodiments, the battery standby state or the switching between the hibernation state and the working state may be performed in other suitable manners, for example, receiving a switching trigger instruction sent by an external device such as a terminal device.

当电池处于工作状态时，电池的主回路有电流流过。例如，在理想情况下，若电池为外部提供电力时，电池的主回路中存在放电电流，也即放电方向的电流；若外部(如充电器等)为电池充电时，电池的主回路中存在充电电流，也即充电方向的电流。When the battery is in operation, a current flows through the battery's main circuit. For example, in the ideal case, if the battery supplies power to the outside, there is a discharge current in the battery's main circuit, that is, the current in the discharge direction; if the external (such as a charger, etc.) charges the battery, the battery's main circuit exists. The charging current, that is, the current in the charging direction.

因此，可以通过电流方向来判断电池是否处于充电状态。然而，由于外界环境是相对比较复杂的，会有很多的干扰存在，仅仅通过电流方向作为电池的充电状态的判断依据存在很大的误判风险。Therefore, whether the battery is in a charging state can be determined by the current direction. However, because the external environment is relatively complicated, there will be a lot of interference, and there is a great risk of misjudgment simply by using the current direction as the basis for judging the state of charge of the battery.

以电池应用于飞行器为例，对于需要依赖于电池为其提供电力的飞行器，其电池可准确的判断电池自身的充放电状态是保证飞行器正常运行的关键。而在目前通常依赖于电流的充放电方向去判断电池的充电状态，采用该方法存在很高的误判风险。例如，如图5所示，为对飞行器的单个电机的电流进行极限测试得到的电流波形的示意图。由图5可知，单个电机在满油门正推和满油门反推的快速切换中，会出现一个较大的反充电流，如图5所示该反充电流为-4.1A，持续时间约为0.171s。其中，反充电流为-4.1A中的负号表示反充电流与放电电流的方向相反。虽然反充电流持续的时间很短，但是从该图中可以看出如果电机在减速反推的过程是会有反充电流出现的，这种情况下如果总体电流因为这个反充电流而变成充电方向也即充电电流后，如果电池又刚好采样到了这样一个电流，按照电池的控制芯片的正常的判断逻辑就会判断电池处于充电状态，进而控制电池进入充电状态，而随着这个反充电流的消失，电池就会进入关机状态，随之就会导致飞机炸机等。Taking a battery as an example of an aircraft, for an aircraft that needs to rely on the battery to provide power for it, its battery can accurately determine the state of charge and discharge of the battery itself is the key to ensure the normal operation of the aircraft. At present, it is usually dependent on the direction of current charging and discharging to determine the state of charge of the battery. Using this method has a high risk of misjudgment. For example, as shown in FIG. 5, it is a schematic diagram of a current waveform obtained by performing a limit test on the current of a single motor of an aircraft. It can be seen from FIG. 5 that during the rapid switching of full throttle forward and full throttle reverse, a single motor will have a large reverse charging current. As shown in FIG. 5, the reverse charging current is -4.1A, and the duration is about 0.171s. Among them, the negative sign of the reverse charging current in -4.1A indicates that the reverse charging current and the discharging current have opposite directions. Although the duration of the reverse charge current is very short, it can be seen from the figure that if the motor is decelerating and reverse pushing, there will be a reverse charge current. In this case, if the overall current becomes The charging direction is the charging current. If the battery has just sampled such a current, according to the normal judgment logic of the battery control chip, the battery will be judged to be in the charging state, and then the battery will be controlled to enter the charging state. Disappear, the battery will enter the shutdown state, which will lead to aircraft bombers and so on.

因此，为了避免采用电流的充放电方向去判断电池的充电状态而导致的误判等，本发明实施例在电池处于工作状态时，基于电池的充电时的电池特性来判断电池的充电状态，以提高判断电池的充电状态的准确性。具体的，在检测到所述电池处于工作状态时，根据电池在不同充电阶段所对应的充电特性来确定电池的充电状态。由于电池所处的充电阶段不同，其对应的电池的电量也不同，所以可以通过电池的当前电量来确定电池当前所处的充电阶段。Therefore, in order to avoid the misjudgment caused by using the charging and discharging direction of the current to determine the charging state of the battery, when the battery is in the working state, the embodiment of the present invention determines the charging state of the battery based on the battery characteristics when the battery is charged, so that Improve the accuracy of judging the state of charge of the battery. Specifically, when it is detected that the battery is in an operating state, the charging state of the battery is determined according to the charging characteristics corresponding to the battery in different charging stages. Because the battery is in a different charging stage, the corresponding battery has a different power level, so the current charging level of the battery can be used to determine the current charging stage of the battery.

基于此，为了提高判断电池的充电状态的准确性，电池的主控芯片首先获取所述电池的当前电量。该当前电量可以为通过电池的剩余电量的百分比表示，也即电池当前的剩余容量与可用容量的比值表示当前电量，例如，当前电量为80％、81％、...、90％等等。其中，电池的剩余容量是指电池从当前至放电电压为放电终止电压时所能放出容量。可用容量是指电池最大能放出的容量。Based on this, in order to improve the accuracy of determining the charging state of the battery, the main control chip of the battery first obtains the current power of the battery. The current power can be expressed as a percentage of the remaining power of the battery, that is, the ratio of the current remaining capacity of the battery to the available capacity indicates the current power, for example, the current power is 80%, 81%, ..., 90%, and so on. Among them, the remaining capacity of the battery refers to the capacity that the battery can discharge from the current until the discharge voltage is the discharge termination voltage. Available capacity refers to the maximum capacity of the battery.

其中，可以通过电量计等电量测量设备获取电池的当前电量。例如，电池的主控芯片与电量计连接，以接收电量计测量得到都电池的当前电量。The current power of the battery can be obtained through a power measurement device such as a fuel gauge. For example, the main control chip of the battery is connected to the fuel gauge, and the current power of the battery is obtained by receiving the fuel gauge.

在一些其它实施例中，电池的主控芯片还可以通过其他方式获取电池的当前电量，例如，开路电压法、库伦监测法或基于电池的内阻确定电池的当前电量。In some other embodiments, the main control chip of the battery may also obtain the current power of the battery through other methods, for example, an open circuit voltage method, a coulomb monitoring method, or determining the current power of the battery based on the internal resistance of the battery.

其中，基于电池的内阻确定电池的当前电量的主要思路为：根据当前温度所对应的放电深度,开路电压和电池内阻之间的映射关系(包括放电深度与开路电压的第一对应关系以及放电深度与电池内阻的第二对应关系)，并结合当前时间点的电流，以确定所述电池的放电电压为放电终止电压时的放电深度，再基于该放电深度以确定电池的剩余容量，然后再基于电池的剩余容量及可用容量确定电池的当前电量。The main idea of determining the current capacity of the battery based on the internal resistance of the battery is: according to the discharge depth corresponding to the current temperature, the mapping relationship between the open circuit voltage and the internal resistance of the battery (including the first correspondence between the discharge depth and the open circuit voltage and The second correspondence between the depth of discharge and the internal resistance of the battery), combined with the current at the current point in time, to determine the depth of discharge when the discharge voltage of the battery is the discharge termination voltage, and then to determine the remaining capacity of the battery based on the depth of discharge, Then determine the battery's current capacity based on the remaining capacity and available capacity of the battery.

具体的，该基于电池的内阻确定电池的剩余容量方法包括：预先建立电池在各预设温度区间中放电深度,开路电压和电池内阻之间的映射关系；获取当前时间点的电流；获取所述当前温度所对应的映射关系，并且根据所获取的映射关系及所述当前时间点的电流，确定所述电池的放电电压为放电终止电压时的放电深度；获取所述电池的最大化学容量，并且获取所述电池当前的放电深度；根据所述当前的放电深度、所述最大化学容量及所述电池的放电电压为放电终止电压所对应的放电深度，确定所述电池的剩余容量；根据电池的剩余容量及可用容量确定电池的当前电量。Specifically, the method for determining the remaining capacity of the battery based on the internal resistance of the battery includes: establishing a mapping relationship between a battery's discharge depth, an open circuit voltage, and the internal resistance of the battery in each preset temperature interval in advance; obtaining the current at the current point in time; obtaining A mapping relationship corresponding to the current temperature, and according to the obtained mapping relationship and the current at the current point in time, determining a discharge depth of the battery when the discharge voltage is a discharge end voltage; obtaining a maximum chemical capacity of the battery And obtaining the current discharge depth of the battery; determining the remaining capacity of the battery according to the current discharge depth, the maximum chemical capacity, and the discharge depth corresponding to the discharge termination voltage of the battery; The remaining capacity and available capacity of the battery determine the current capacity of the battery.

102：判断所述当前电量是否小于第一预设电量阈值。102: Determine whether the current power is less than a first preset power threshold.

其中，第一预设电量阈值可以预先配置于电池的主控芯片中。或者，根据需要进行调整，例如，根据不同的电池类型(如锂电池、镍镉电池)、应用场景等调整第一预设电量阈值，或者用户自定义设置第一预设电量阈值，以便适用于各种类型的电池或应用场景。The first preset power threshold value may be pre-configured in a main control chip of the battery. Or, adjust it according to needs, for example, adjust the first preset power threshold value according to different battery types (such as lithium batteries, nickel-cadmium batteries), application scenarios, etc., or set the first preset power threshold value by the user in order to apply to Various types of batteries or application scenarios.

第一预设电量阈值是用于界定电池所处的阶段，对于电池的充电而言，为了保护电池，防止充电器反复的对电池充电或电池过充等而对电池造成损坏，在电池的电量达到或超过某一值时，即使电池的输出正极PACK+与输出负极PACK-直接接入了充电器等充电设备，也会控制停止为电池充电，此时，检测不到电流。而在电池的电量未达到该值时，电池的输出正极PACK+与输出负极PACK-直接接入了充电器等充电设备，也会持续为电池充电。因此，通过第一预设电量阈值来界定电池是否达到了接入充电器但控制停止为电池充电的阶段。The first preset power threshold is used to define the battery's stage. For battery charging, in order to protect the battery and prevent the charger from repeatedly charging the battery or overcharging the battery, causing damage to the battery. When it reaches or exceeds a certain value, even if the battery's output positive PACK + and output negative PACK- are directly connected to a charging device such as a charger, it will control to stop charging the battery. At this time, no current can be detected. When the battery power does not reach this value, the battery's output positive PACK + and output negative PACK- are directly connected to a charging device such as a charger and will continue to charge the battery. Therefore, it is defined by the first preset power threshold whether the battery has reached a stage where the charger is connected but the control stops charging the battery.

第一预设电量阈值可以是根据历史测试数据所确定的。例如，统计若干次电池接入了充电器等充电设备但控制停止为电池充电时的电池的电量，对若干个该情况下的电池的电量取平均值得到该第一预设电量阈值。在一些实施例中，第一预设电量阈值还可以是根据电池自身的特性所确定的。此外，该第一预设电量阈值可以为一个具体的值也可以为一个范围内的任意一个值，例如，第一预设电量阈值为95％，也可以为95％-100％范围内的任意值。The first preset power threshold may be determined according to historical test data. For example, counting the number of times a battery is connected to a charging device such as a charger but controlling the battery power when the battery is stopped charging, and averaging the battery power in this case to obtain the first preset power threshold. In some embodiments, the first preset power threshold may also be determined according to characteristics of the battery itself. In addition, the first preset power threshold value may be a specific value or any value within a range. For example, the first preset power threshold value may be 95%, or may be any value within the range of 95% -100%. value.

103：当所述当前电量小于所述第一预设电量阈值时，根据所述电池的电流处于预设电流范围所持续的时间确定所述电池的充电状态。103: When the current power is less than the first preset power threshold, determine a charging state of the battery according to a time duration in which the current of the battery is in a preset current range.

为了避免仅仅依靠电流的方向来确定电池的充电状态时，由于各种干扰所引起的误判，例如，反充电流的干扰引起的误判，考虑到一般反充电流存在的时间很短，并且由于大于或等于所述第一预设电量阈值时，检测不到电流。因此，当所述当前电量小于所述第一预设电量阈值时，电池的主控芯片根据电池的电流处于预设电流范围所持续的时间来确定电池的充电状态，以提高判断电池的充电状态的准确性。其中，对于外接充电器时，电池主回路的充电MOS管和放电MOS管处于打开状态，电池主回路存在电流，该电流为充电电流，也即充电方向的电流。In order to avoid the misjudgment caused by various interferences when only relying on the direction of the current to determine the state of charge of the battery, for example, the misjudgment caused by the interference of anti-charge current, taking into account that the existence of general anti-charge current is short, and Because when it is greater than or equal to the first preset power threshold, no current can be detected. Therefore, when the current power is less than the first preset power threshold, the main control chip of the battery determines the state of charge of the battery according to the duration of the battery current in the preset current range, so as to improve the determination of the state of charge of the battery Accuracy. When an external charger is used, the charging MOS tube and the discharging MOS tube of the battery main circuit are in an open state, and there is a current in the battery main circuit, which is the charging current, that is, the current in the charging direction.

在一些实施例中，为了进一步提高判断电池的充电状态的准确性，考虑到电池在进行充电时，在电池电量较低时，在保证电池安全的前提下，会以较大电流充电，也可称为恒流阶段，此阶段采样得到的电流相对较大；持续对电池进行充电，当电池电量较高接近满充时，为了保证电池的安全，会以较小电流充电，也可称为恒压阶段，此阶段采样得到的电流相对较小。因此，当所述当前电量小于所述第一预设电量阈值时，电池的主控芯片根据所述电池的电流处于预设电流范围所持续的时间确定所述电池的充电状态，包括：当所述当前电量大于第二预设电量阈值且小于所述第一预设电量阈值时，若检测到所述电池的电流大于第一预设电流阈值所持续的时间大于第一预设时间时，确定所述电池处于充电状态；当所述当前电量小于或等于所述第二预设电量阈值时，若检测到所述电池的电流大于第二预设电流阈值所持续的时间大于第二预设时间时，确定所述电池处于充电状态。In some embodiments, in order to further improve the accuracy of determining the charging state of the battery, it is considered that when the battery is being charged, when the battery is low, and the battery is safe, it will be charged with a larger current. It is called the constant current phase, and the current sampled during this phase is relatively large; the battery is continuously charged. When the battery is high and close to full charge, in order to ensure the safety of the battery, it will be charged with a smaller current. Voltage phase, the current sampled during this phase is relatively small. Therefore, when the current power is less than the first preset power threshold, the main control chip of the battery determines the state of charge of the battery according to the duration of the battery current in the preset current range, including: When the current power is greater than a second preset power threshold and less than the first preset power threshold, if it is detected that the current of the battery is greater than the first preset current threshold for a time greater than the first preset time, it is determined The battery is in a charging state; when the current power is less than or equal to the second preset power threshold, if it is detected that the current of the battery is greater than the second preset current threshold, the time duration is greater than the second preset time When it is determined that the battery is in a charging state.

其中，第二预设电量阈值、第一预设电流阈值、第二预设电流阈值可以预先配置于电池的主控芯片中。或者，根据需要进行调整，例如，根据不同的电池类型(如锂电池、镍镉电池)、应用场景等调整第二预设电量阈值、第一预设电流阈值、第二预设电流阈值，或者用户自定义设置第二预设电量阈值、第一预设电流阈值、第二预设电流阈值，以便适用于各种类型的电池或应用场景。The second preset power threshold, the first preset current threshold, and the second preset current threshold may be pre-configured in a main control chip of the battery. Or, make adjustments as needed, for example, adjust the second preset power threshold, the first preset current threshold, the second preset current threshold according to different battery types (such as lithium batteries, nickel-cadmium batteries), application scenarios, or The user customizes the second preset power threshold, the first preset current threshold, and the second preset current threshold to be suitable for various types of batteries or application scenarios.

与第一预设电量阈值类似，第二预设电量阈值也用于界定电池所处的阶段。具体的，当所述当前电量小于或等于所述第二预设电量阈值时，充电器对电池进行恒流充电；当所述当前电量大于第二预设电量阈值且小于所述第一预设电量阈值时，充电器对电池进行恒压充电。第二预设电量阈值小于第一预设电量阈值。例如该第二预设电量阈值可为90％。此外，确定第二预设电量阈值的方式与确定第二预设电量阈值的方式类似，因此，在此处不赘述。Similar to the first preset power threshold, the second preset power threshold is also used to define the stage in which the battery is located. Specifically, when the current power is less than or equal to the second preset power threshold, the charger performs constant current charging of the battery; when the current power is greater than the second preset power threshold and is less than the first preset power When the charge threshold is reached, the charger charges the battery at a constant voltage. The second preset power threshold is smaller than the first preset power threshold. For example, the second preset power threshold may be 90%. In addition, the manner of determining the second preset power threshold value is similar to the manner of determining the second preset power threshold value, and therefore, details are not described herein.

第一预设电流阈值、第二预设电流阈值均可以由充电器的恒流充电电流所确定。Both the first preset current threshold and the second preset current threshold can be determined by the constant current charging current of the charger.

例如，假设充电器的恒流充电电流为Imax(也即最大充电电流)，当电池的当前电量小于等于第二预设电量阈值，如90％时，这时由于电池是工作状态，电池的主回路中的充电MOS管Q1和放电MOS管Q2处于打开状态，充电器的电流可以直接充到电池的内部。理想情况下，电池的当前电量小于等于90％时，电池的电流都可以达到最大充电电流Imax，这里以0.9倍的Imax作为判断，也即第二预设电流阈值等于0.9*Imax，稍微降低判断条件，以便兼容性更好。此时，当电池的主控芯片检测到电池的电流≥0.9*Imax且持续时间大于第二预设时间时，则认为是充电器在充电，也即电池为充电状态，并控制电池进入充电状态。For example, assuming that the constant current charging current of the charger is Imax (that is, the maximum charging current), when the battery's current charge is less than or equal to the second preset charge threshold, such as 90%, then the battery's main The charging MOS tube Q1 and the discharging MOS tube Q2 in the loop are turned on, and the current of the charger can be directly charged into the battery. Ideally, when the battery ’s current capacity is less than or equal to 90%, the battery current can reach the maximum charging current Imax. Here, 0.9 times Imax is used as the judgment, that is, the second preset current threshold is equal to 0.9 * Imax, and the judgment is slightly reduced. Conditions for better compatibility. At this time, when the battery's main control chip detects that the battery current is greater than or equal to 0.9 * Imax and the duration is greater than the second preset time, it is considered that the charger is charging, that is, the battery is in a charging state, and controls the battery to enter a charging state .

其中，该第二预设时间可以预先配置于电池的主控芯片中，或者，根据需要进行调整。例如，第二预设时间为5S。持续5S也是为了确保能过滤掉反向电流的干扰，由于反向电流一般都是瞬间的一个尖峰，一般不会连续5S一直存在，而充电器则可以一直存在，以便提高判断电池的充电状态的准确性。The second preset time can be pre-configured in the main control chip of the battery, or adjusted as needed. For example, the second preset time is 5S. The continuous 5S is also to ensure that the interference of reverse current can be filtered. Because the reverse current is generally an instantaneous spike, it generally does not exist continuously for 5S, and the charger can always exist in order to improve the determination of the battery's charging status. accuracy.

类似的，当电池的当前电量大于第二预设电量阈值且小于所述第一预设电量阈值时，如大于90％且小于95％时，同理，电池处于工作状态，电池的主回路中的充电MOS管Q1和放电MOS管Q2处于打开状态，充电器的电流可以直接充到电池的内部。而电池的当前电量大于90％以上时，电池会进入恒压阶段，此后电流会逐步降低。所以此阶段用于判断充电状态的第一预设电流阈值也要适当降低，也即，第二预设电流阈值大于第一预设电流阈值。Similarly, when the battery's current power is greater than the second preset power threshold and less than the first preset power threshold, such as greater than 90% and less than 95%, similarly, the battery is in the working state, and the battery's main circuit is The charging MOS tube Q1 and the discharging MOS tube Q2 are turned on, and the current of the charger can be directly charged into the battery. When the current capacity of the battery is greater than 90%, the battery will enter the constant voltage stage, and the current will gradually decrease thereafter. Therefore, the first preset current threshold value for judging the charging state at this stage must also be appropriately reduced, that is, the second preset current threshold value is greater than the first preset current threshold value.

根据历史实验数据第一预设电流阈值取0.4*Imax是一个比较保守的数据。并且，用于判断充电状态的第一预设时间可以相对第二预设时间有所增加，也即第一预设时间大于第二预设时间。例如，该第一预设时间可以为8S，这里也是进一步规避反向电流的干扰，由于用于判断充电状态的第一预设电流阈值降低，就增大了反向电流误判的风险，因此，通过增大第一预设时间来抵消这一风险。Taking the first preset current threshold of 0.4 * Imax according to historical experimental data is a relatively conservative data. In addition, the first preset time for determining the charging state may be increased relative to the second preset time, that is, the first preset time is greater than the second preset time. For example, the first preset time may be 8S, and the interference of reverse current is further avoided here. Since the first preset current threshold used to determine the charging state is reduced, the risk of misjudgment of reverse current is increased, so This risk is offset by increasing the first preset time.

需要说明的是，在本实施例中的第一预设电量阈值为95％、第二预设电量阈值为90％、第一预设电流阈值为0.4*Imax、第二预设电流阈值为0.9*Imax、第一预设时间为8S、以及第二预设时间为5s等参数的具体指的设置是出于示意性的目的，并不能理解为对其的限定。It should be noted that, in this embodiment, the first preset power threshold is 95%, the second preset power threshold is 90%, the first preset current threshold is 0.4 * Imax, and the second preset current threshold is 0.9. * Imax, the first preset time is 8S, and the second preset time is 5s. The specific settings of the parameters are for illustrative purposes and should not be construed as limitations.

104：当所述当前电量大于或等于所述第一预设电量阈值时，根据所述电池的输出端电压与预设电压阈值进行比较所得到的比较结果，确定所述电池的充电状态。104: When the current power is greater than or equal to the first preset power threshold, determine a charging state of the battery according to a comparison result obtained by comparing an output voltage of the battery with a preset voltage threshold.

当电池的当前电量大于或等于所述第一预设电量阈值时，如大于或等于95％时，由于电池的当前电量在95％以上时，电池的主控芯片会控制充电MOS管Q1处于断开状态，如图2中充电MOS管Q1的栅极电压被拉低到等于电池的总正端B+电压，从而使得充电MOS管Q1处于断开状态。When the current battery power is greater than or equal to the first preset power threshold, such as greater than or equal to 95%, since the current battery power is above 95%, the battery's main control chip will control the charging MOS tube Q1 to be turned off. In the on state, as shown in FIG. 2, the gate voltage of the charging MOS tube Q1 is pulled down to be equal to the total positive terminal B + voltage of the battery, so that the charging MOS tube Q1 is in the off state.

此时，电池的总正端B+的电压只能通过Q1的体二极管导通到电池的输出正极PACK+，由于Q1的体二极管存在一定的压降，例如，0.5V左右的压降，所以电池的输出正极PACK+的电压会低于电池的总正端B+的电压大约0.5V。此外，由于充电MOS管Q1处于断开状态，所以充电器无法给电池充电，因此，电池的主控芯片无法通过电池的电流来判断电池是否处于充电状态。At this time, the voltage of the battery's total positive terminal B + can only be conducted to the battery's output positive PACK + through the body diode of Q1. Because the body diode of Q1 has a certain voltage drop, for example, a voltage drop of about 0.5V, the battery's The voltage of the output positive PACK + will be lower than the voltage of the battery's total positive terminal B + by about 0.5V. In addition, since the charging MOS tube Q1 is in an off state, the charger cannot charge the battery. Therefore, the main control chip of the battery cannot determine whether the battery is in a charging state by the current of the battery.

同时，由于电池还有很高的输出电压，也没法使用中断电路使得充电MOS管Q1导通。因此，此时，电池的主控芯片通过检测电压，将电池的输出端电压与预设电压阈值进行比较来确定电池是否处于充电状态。其中，电池的主控芯片根据所述电池的输出端电压与预设电压阈值进行比较所得到的比较结果，确定所述电池的充电状态，包括：若所述输出端电压相对于所述预设电压阈值存在变化且所述变化在预设范围内时，确定所述电池处于充电状态。At the same time, because the battery still has a very high output voltage, it is also impossible to use an interrupt circuit to make the charging MOS tube Q1 turn on. Therefore, at this time, the main control chip of the battery determines whether the battery is in a charging state by detecting the voltage and comparing the output voltage of the battery with a preset voltage threshold. The main control chip of the battery determines the state of charge of the battery according to a comparison result obtained by comparing the output voltage of the battery with a preset voltage threshold, including: if the output voltage is relative to the preset When there is a change in the voltage threshold and the change is within a preset range, it is determined that the battery is in a charging state.

其中，该预设电压阈值由电池的当前电量大于或等于第一预设电量阈值时所对应的电池的输出正极PACK+所确定，例如，此时，该电池的输出正极PACK+为4.5V。该预设范围电池的总正端B+到电池的输出正极PACK+之间的压降所确定，例如，该预设范围可以为0-0.5V。The preset voltage threshold is determined by the output positive PACK + of the battery corresponding to the current capacity of the battery being greater than or equal to the first preset power threshold. For example, at this time, the output positive PACK + of the battery is 4.5V. The voltage drop between the total positive terminal B + of the battery in the preset range and the battery output positive PACK + is determined. For example, the preset range may be 0-0.5V.

例如，基于如图6所示的检测电压电路来确定电池的充电状态。具体的，该检测电压电路包括分压电阻R3、R4及电容C1。其中，电池的输出正极PACK+的电压通过分压电阻R3、R4分压后再经过滤波电容C1输入给电池主控芯片的ADC检测口，电池主控芯片通过ADC口检测的电压的变化来检测是否***充电器，也即检测电池是否处于充电状态。For example, the state of charge of the battery is determined based on a voltage detection circuit as shown in FIG. 6. Specifically, the detection voltage circuit includes voltage dividing resistors R3 and R4 and a capacitor C1. Among them, the voltage of the battery output positive PACK + is divided by the voltage dividing resistors R3 and R4 and then input to the ADC detection port of the battery main control chip through the filter capacitor C1. The battery main control chip detects whether the voltage change detected by the ADC port Plug in the charger, that is, check if the battery is charging.

由于电池的当前电量在95％以上时充电MOS管Q1处于断开状态，电池的输出正极PACK+存在低于电池的总正极B+0.5V的电压，又由于充电器的电压是电池的最高电压，所以即使电池已经达到最高电压，如果有充电器***电池，电池的输出正极PACK+的电压还是会有细微的改变，电池的主控芯片通过这个电压的细微改变，即可检测到是否有充电器插入，也即电池是否处于充电状态，当处于充电状态时，控制电池保持充电状态。例如，假设充电器的电压为5V，电池的当前电量在95％以上时，若未接入该充电器，电池的总正极B+的电压为5V，电池的输出正极PACK+的电压为4.5V，若电池主控芯片通过ADC口检测的电压为5V，也即相对为电池的输出正极PACK+的电压4.5V存在变化，且该变化在预设范围内，因此，电池的主控芯片确定电池处于充电状态，进而控制电池进入充电状态。As the current charge of the battery is above 95%, the charging MOS tube Q1 is in the off state, and the output positive electrode PACK + of the battery has a voltage lower than the total positive electrode B + 0.5V of the battery, and because the voltage of the charger is the highest voltage of the battery, So even if the battery has reached the maximum voltage, if a charger is inserted into the battery, the voltage of the battery's output positive PACK + will still change slightly. The battery's main control chip can detect whether a charger is inserted through this slight change in voltage. , That is, whether the battery is in a charging state, and when in a charging state, control the battery to maintain a charging state. For example, if the voltage of the charger is 5V, and the battery's current capacity is above 95%, if the charger is not connected, the total positive voltage of the battery B + is 5V, and the voltage of the battery's output positive PACK + is 4.5V. The voltage detected by the battery main control chip through the ADC port is 5V, that is, there is a change relative to the battery output positive voltage PACK + voltage of 4.5V, and the change is within a preset range. Therefore, the battery main control chip determines that the battery is in a charging state , And then control the battery into a charging state.

需要说明的是，本领域普通技术人员，根据本发明实施例的描述可以理解，在不同实施例中，在不矛盾的情况下，所述步骤101-104可以有不同的执行顺序，如所述步骤103与所述步骤104同时进行执行等。It should be noted that those skilled in the art can understand from the description of the embodiments of the present invention that, in different embodiments, without contradiction, the steps 101-104 may have different execution orders, as described Step 103 is performed at the same time as step 104.

在本发明实施例中，在电池处于工作状态时，当电池的当前电量小于第一预设电量阈值时，根据电池的电流处于预设电流范围所持续的时间确定电池的充电状态，当电池的当前电量大于或等于第一预设电量阈值时，根据电池的输出端电压与预设电压阈值进行比较所得到的比较结果，确定电池的充电状态，可以提高判断电池的充电状态的准确性，减少误判，从而保证电池功能的稳定性和可靠性，进而保证使用该电池的飞行器飞行的安全性。In the embodiment of the present invention, when the battery is in the working state, when the current power of the battery is less than the first preset power threshold, the charging state of the battery is determined according to the duration of the battery current in the preset current range. When the current power is greater than or equal to the first preset power threshold, determining the state of charge of the battery according to the comparison result obtained by comparing the output voltage of the battery with the preset voltage threshold can improve the accuracy of determining the state of charge of the battery and reduce Misjudgment, thereby ensuring the stability and reliability of the battery function, and thus ensuring the flight safety of the aircraft using the battery.

实施例2：Example 2:

图7为本发明实施例提供的另一种确定电池的充电状态的方法的流程示意图。所述确定电池的充电状态的方法可适用于各种电池的充电状态的确定，如锂电池、镍镉电池或其他蓄电池等等。所述电池可以应用于各种电子设备上，例如，应用于飞行器、电动车、终端设备、可穿戴设备等等。所述确定电池的充电状态的方法可由任何合适类型的，具有一定逻辑运算及处理能力的芯片执行，如电池的主控芯片(如MCU)等。下面以电池的主控芯片为例进行具体说明。FIG. 7 is a schematic flowchart of another method for determining a charging state of a battery according to an embodiment of the present invention. The method for determining the charging status of a battery may be applicable to determining the charging status of various batteries, such as a lithium battery, a nickel-cadmium battery, or other storage batteries. The battery can be applied to various electronic devices, for example, aircrafts, electric vehicles, terminal devices, wearable devices, and the like. The method for determining the state of charge of a battery may be performed by any suitable type of chip with a certain logic operation and processing capability, such as a battery main control chip (such as an MCU). The following takes a battery main control chip as an example for detailed description.

参照图7，所述确定电池的充电状态的方法包括：Referring to FIG. 7, the method for determining a charging state of a battery includes:

701：当检测到所述电池处于工作状态时，获取所述电池的当前电量。701: When it is detected that the battery is in the working state, obtain the current power of the battery.

702：判断所述当前电量是否小于第一预设电量阈值。702: Determine whether the current power is less than a first preset power threshold.

703：当所述当前电量小于所述第一预设电量阈值时，根据所述电池的电流处于预设电流范围所持续的时间确定所述电池的充电状态。703: When the current power is less than the first preset power threshold, determine a charging state of the battery according to a time duration in which the current of the battery is in a preset current range.

704：当所述当前电量大于或等于所述第一预设电量阈值时，根据所述电池的输出端电压与预设电压阈值进行比较所得到的比较结果，确定所述电池的充电状态。704: When the current power is greater than or equal to the first preset power threshold, determine a state of charge of the battery according to a comparison result obtained by comparing an output voltage of the battery with a preset voltage threshold.

需要说明的是，本发明实施例中的步骤701-704与上述实施例中的步骤101-104相似，本发明实施例中所述步骤701-704中未详尽描述的技术细节，可参考上述实施例中步骤101-104的具体描述，因此，在此处便不再赘述。It should be noted that steps 701-704 in this embodiment of the present invention are similar to steps 101-104 in the above embodiment. For technical details that are not described in detail in steps 701-704 in this embodiment of the present invention, reference may be made to the above implementation. The detailed description of steps 101-104 in the example will not be repeated here.

705：当检测到所述电池处于待机状态或休眠状态时，判断是否接收到唤醒触发信号，所述唤醒触发信号用于唤醒所述电池。705: When it is detected that the battery is in a standby state or a sleep state, determine whether a wake-up trigger signal is received, and the wake-up trigger signal is used to wake up the battery.

如上述实施例所述，当电池处于休眠状态或休眠状态时，电池主回路中的开关电路会处于断开状态，此时，在电池主回路无电流流过。此时，若电池的主控芯片接收到唤醒触发信号后，可以唤醒电池的主控芯片，使得电池被唤醒，此时，电池主回路将会有电流流过，以便后续基于该电流确定电池的充电状态。其中，基于图3中的唤醒电路，在充电器接入后，便可使得电池的主控芯片接收到唤醒触发信号，从而唤醒电池。As described in the above embodiment, when the battery is in a sleep state or a sleep state, the switch circuit in the battery main circuit is in an off state. At this time, no current flows in the battery main circuit. At this time, if the main control chip of the battery receives the wake-up trigger signal, the main control chip of the battery can be awakened so that the battery is awakened. At this time, a current will flow through the main circuit of the battery to determine the battery's power based on the current. charging. Among them, based on the wake-up circuit in FIG. 3, after the charger is connected, the main control chip of the battery can receive the wake-up trigger signal, thereby waking up the battery.

706：当检测到接收到唤醒触发信号后，若检测到所述电池的电流大于或等于第三预设电流阈值所持续的时间大于第三预设时间时，确定所述电池处于充电状态。706: After detecting that the wake-up trigger signal is received, if it is detected that the current of the battery is greater than or equal to a third preset current threshold for a time greater than a third preset time, it is determined that the battery is in a charging state.

类似的，为了避免采用电流的充放电方向去判断电池的充电状态而导致的误判等，可以基于一段时间的电流进行电池的充电状态的确定，以提高判断电池的充电状态的准确性。对于放电状态的判断，该电流为放电电流。Similarly, in order to avoid misjudgment caused by using the charging and discharging direction of the current to determine the charging state of the battery, etc., the charging state of the battery may be determined based on a period of current to improve the accuracy of determining the charging state of the battery. For the judgment of the discharge state, this current is the discharge current.

其中，第三预设电流阈值、第三预设时间可以预先配置于电池的主控芯片中。或者，根据需要进行调整，例如，根据不同的电池类型(如锂电池、镍镉电池)、应用场景等调整第三预设电流阈值、第三预设时间，或者用户自定义设置第三预设电流阈值、第三预设时间，以便适用于各种类型的电池或应用场景。The third preset current threshold and the third preset time may be pre-configured in the main control chip of the battery. Or, make adjustments as needed, for example, adjust the third preset current threshold, third preset time, or user-defined third preset according to different battery types (such as lithium batteries, nickel-cadmium batteries), application scenarios, etc. A current threshold, and a third preset time, so as to be applicable to various types of batteries or application scenarios.

第三预设电流阈值用于界定是否存在放电电流。因此，该第三预设电流阈值可由电池最小的识别电流确定。例如，假设电池最小的识别电流为Imin，第三预设电流阈值可以为Imin。The third preset current threshold is used to define whether a discharge current exists. Therefore, the third preset current threshold can be determined by the minimum identification current of the battery. For example, assuming that the minimum identification current of the battery is Imin, the third preset current threshold may be Imin.

第三预设时间用于确保能过滤掉反向电流的干扰，该第三预设时间可以为2S。The third preset time is used to ensure that interference from reverse current can be filtered out, and the third preset time may be 2S.

需要说明的是，本领域普通技术人员，根据本发明实施例的描述可以理解，在不同实施例中，在不矛盾的情况下，所述步骤701-706可以有不同的执行顺序，如所述步骤705与所述步骤701同时进行执行等。It should be noted that those skilled in the art can understand from the description of the embodiments of the present invention that, in different embodiments, without conflict, the steps 701-706 may have different execution orders, as described Step 705 is performed at the same time as step 701.

在本发明实施例中，在电池处于工作状态时，当电池的当前电量小于第一预设电量阈值时，根据电池的电流处于预设电流范围所持续的时间确定电池的充电状态，当电池的当前电量大于或等于第一预设电量阈值时，根据电池的输出端电压与预设电压阈值进行比较所得到的比较结果，确定电池的充电状态；并且，在电池处于待机状态或休眠状态时，根据接收到唤醒触发信号且电池的电流大于或等于第三预设电流阈值所持续的时间大于第三预设时间来确定电池的充电状态。以便提高判断电池的充电状态的准确性，减少误判，从而保证电池功能的稳定性和可靠性，进而保证使用该电池的飞行器飞行的安全性。In the embodiment of the present invention, when the battery is in the working state, when the current power of the battery is less than the first preset power threshold, the charging state of the battery is determined according to the duration of the battery current in the preset current range. When the current power is greater than or equal to the first preset power threshold, the charging state of the battery is determined according to a comparison result obtained by comparing the output voltage of the battery with the preset voltage threshold; and, when the battery is in the standby state or hibernation state, The state of charge of the battery is determined according to the time that the wake-up trigger signal is received and the current of the battery is greater than or equal to the third preset current threshold and is longer than the third preset time. In order to improve the accuracy of judging the state of charge of the battery and reduce misjudgment, thereby ensuring the stability and reliability of the battery function, and further ensuring the flight safety of the aircraft using the battery.

实施例3：Example 3:

图8为本发明实施例提供的一种确定电池的充电状态的的装置示意图。其中，所述确定电池的充电状态的装置80可适用于各种电池的充电状态的确定，如锂电池、镍镉电池或其他蓄电池等等。所述确定电池的充电状态的装置80可配置于任何合适类型的，具有一定逻辑运算能力的芯片中，如配置于电池的主控芯片中等。FIG. 8 is a schematic diagram of a device for determining a charging state of a battery according to an embodiment of the present invention. The device 80 for determining the charging state of a battery may be suitable for determining the charging state of various batteries, such as a lithium battery, a nickel-cadmium battery, or other storage batteries. The device 80 for determining the state of charge of the battery may be configured in any suitable type of chip with a certain logic operation capability, such as a main control chip of the battery.

参照图8，所述确定电池的充电状态的装置80包括：电量获取模块801、第一判断模块802、第一确定模块803、第二确定模块804、第二判断模块805以及第三确定模块806。Referring to FIG. 8, the apparatus 80 for determining a charging state of a battery includes a power acquisition module 801, a first determination module 802, a first determination module 803, a second determination module 804, a second determination module 805, and a third determination module 806. .

具体的，电量获取模块801用于当检测到所述电池处于工作状态时，获取所述电池的当前电量。Specifically, the power acquisition module 801 is configured to acquire the current power of the battery when it is detected that the battery is in an operating state.

并且，当电池处于待机状态或休眠状态时，以充电为例，可以通过接收唤醒触发信号来唤醒电池。当电池被唤醒后，电池的主回路有电流流过。In addition, when the battery is in a standby state or a hibernation state, taking charging as an example, the battery can be awakened by receiving a wake-up trigger signal. When the battery is awakened, a current flows through the battery's main circuit.

此外，当电池被唤醒后，可以通过接收用户操作指令的方式使电池处于工作状态，而且，在电池处于工作状态时，也可以通过接收用户操作指令的方式使电池再进入待机状态或休眠状态。当电池处于工作状态时，电池的主回路也有电流流过。In addition, when the battery is awakened, the battery can be put into a working state by receiving a user operation instruction, and when the battery is in a working state, the battery can also be put into a standby state or a sleep state by receiving a user operation instruction. When the battery is in operation, current is also flowing through the battery's main circuit.

为了避免采用电流的充放电方向去判断电池的充电状态而导致的误判等，本发明实施例在电池处于工作状态时，基于电池的充电时的电池特性来判断电池的充电状态，以提高判断电池的充电状态的准确性。具体的，在检测到所述电池处于工作状态时，根据电池在不同充电阶段所对应的充电特性来确定电池的充电状态。由于电池所处的充电阶段不同，其对应的电池的电量也不同，所以可以通过电池的当前电量来确定电池当前所处的充电阶段。In order to avoid misjudgment caused by using the charging and discharging direction of the current to determine the charging state of the battery, when the battery is in the working state, the embodiment of the present invention determines the charging state of the battery based on the battery characteristics during the charging of the battery, so as to improve the judgment Accuracy of the state of charge of the battery. Specifically, when it is detected that the battery is in an operating state, the charging state of the battery is determined according to the charging characteristics corresponding to the battery in different charging stages. Because the battery is in a different charging stage, the corresponding battery has a different power level, so the current charging level of the battery can be used to determine the current charging stage of the battery.

基于此，为了提高判断电池的充电状态的准确性，电量获取模块801获取所述电池的当前电量。该当前电量可以为通过电池的剩余电量的百分比表示，也即电池当前的剩余容量与可用容量的比值表示当前电量，例如当前电量为80％、81％、...、90％等等。其中，电池的剩余容量是指电池从当前至放电电压为放电终止电压时所能放出容量。可用容量是指电池最大能放出的容量。Based on this, in order to improve the accuracy of determining the charging state of the battery, the power acquisition module 801 acquires the current power of the battery. The current power can be expressed as a percentage of the remaining power of the battery, that is, the ratio of the current remaining capacity of the battery to the available capacity indicates the current power, for example, the current power is 80%, 81%, ..., 90%, and so on. Among them, the remaining capacity of the battery refers to the capacity that the battery can discharge from the current until the discharge voltage is the discharge termination voltage. Available capacity refers to the maximum capacity of the battery.

其中，可以通过电量计等电量测量设备获取电池的当前电量。例如，电量获取模块801与电量计连接，以接收电量计测量得到都电池的当前电量。The current power of the battery can be obtained through a power measurement device such as a fuel gauge. For example, the power acquisition module 801 is connected to the fuel gauge to receive the current power of the batteries measured by the fuel gauge.

在一些其它实施例中，电量获取模块801还可以通过其他方式获取电池的当前电量，例如，开路电压法、库伦监测法或基于电池的内阻确定电池的当前电量。In some other embodiments, the power acquisition module 801 may also obtain the current power of the battery by other methods, for example, an open circuit voltage method, a coulomb monitoring method, or determining the current power of the battery based on the internal resistance of the battery.

具体的，第一判断模块802用于判断所述当前电量是否小于第一预设电量阈值。Specifically, the first determining module 802 is configured to determine whether the current power amount is less than a first preset power amount threshold.

具体的，第一确定模块803用于当所述当前电量小于所述第一预设电量阈值时，根据所述电池的电流处于预设电流范围所持续的时间确定所述电池的充电状态。Specifically, the first determining module 803 is configured to determine a charging state of the battery according to a duration in which the current of the battery is in a preset current range when the current power is less than the first preset power threshold.

为了避免仅仅依靠电流的方向来确定电池的充电状态时，由于各种干扰所引起的误判，例如，反充电流的干扰引起的误判，考虑到一般反充电流存在的时间很短，并且由于大于或等于所述第一预设电量阈值时，检测不到电流。因此，当所述当前电量小于所述第一预设电量阈值时，第一确定模块803根据电池的电流处于预设电流范围所持续的时间确定来电池的充电状态，以提高判断电池的充电状态的准确性。In order to avoid the misjudgment caused by various interferences when only relying on the direction of the current to determine the state of charge of the battery, for example, the misjudgment caused by the interference of anti-charge current, taking into account that the existence of general anti-charge current is short, and Because when it is greater than or equal to the first preset power threshold, no current can be detected. Therefore, when the current power is less than the first preset power threshold, the first determining module 803 determines the charging state of the battery according to the duration of the battery current in the preset current range, so as to improve the determination of the battery charging state. Accuracy.

在一些实施例中，为了进一步提高判断电池的充电状态的准确性，考虑到电池在进行充电时，在电池电量较低时，在保证电池安全的前提下，会以较大电流充电，也可称为恒流阶段，此阶段采样得到的电流相对较大；持续对电池进行充电，当电池电量较高接近满充时，为了保证电池的安全，会以较小电流充电，也可称为恒压阶段，此阶段采样得到的电流相对较小。因此，第一确定模块803具体用于：当所述当前电量大于第二预设电量阈值且小于所述第一预设电量阈值时，若检测到所述电池的电流大于第一预设电流阈值所持续的时间大于第一预设时间时，确定所述电池处于充电状态；当所述当前电量小于或等于所述第二预设电量阈值时，若检测到所述电池的电流大于第二预设电流阈值所持续的时间大于第二预设时间时，确定所述电池处于充电状态。In some embodiments, in order to further improve the accuracy of determining the charging state of the battery, it is considered that when the battery is being charged, when the battery is low, and the battery is safe, it will be charged with a larger current. It is called the constant current phase, and the current sampled during this phase is relatively large; the battery is continuously charged. When the battery is high and close to full charge, in order to ensure the safety of the battery, it will be charged with a smaller current. Voltage phase, the current sampled during this phase is relatively small. Therefore, the first determining module 803 is specifically configured to: when it is detected that the current of the battery is greater than the first preset current threshold when the current power is greater than the second preset power threshold and less than the first preset power threshold When the elapsed time is greater than the first preset time, it is determined that the battery is in a charging state; when the current power is less than or equal to the second preset power threshold, if it is detected that the battery current is greater than the second preset power When the duration of the current threshold is greater than the second preset time, it is determined that the battery is in a charging state.

其中，第二预设电流阈值大于第一预设电流阈值，第一预设时间大于第二预设时间。The second preset current threshold is greater than the first preset current threshold, and the first preset time is greater than the second preset time.

具体的，第二确定模块804用于当所述当前电量大于或等于所述第一预设电量阈值时，根据所述电池的输出端电压与预设电压阈值进行比较所得到的比较结果，确定所述电池的充电状态。Specifically, the second determining module 804 is configured to determine, when the current power is greater than or equal to the first preset power threshold, a comparison result obtained by comparing the output voltage of the battery with a preset voltage threshold. The state of charge of the battery.

当电池的当前电量大于或等于所述第一预设电量阈值时，如大于或等于95％时，由于电池的当前电量在95％以上时，充电MOS管Q1处于断开状态，所以充电器无法给电池充电，因此，无法通过电池的电流来判断电池是否处于充电状态。When the current battery power is greater than or equal to the first preset power threshold, such as greater than or equal to 95%, since the current battery power is above 95%, the charging MOS tube Q1 is in an off state, so the charger cannot Charging the battery, therefore, it is not possible to determine whether the battery is in a charging state by the current of the battery.

同时，由于电池还有很高的输出电压，也没法使用中断电路使得充电MOS管Q1导通。因此，此时，可以通过检测电压，将电池的输出端电压与预设电压阈值进行比较来确定电池是否处于充电状态。其中，第二确定模块804具体用于：若所述输出端电压相对于所述预设电压阈值存在变化且所述变化在预设范围内时，确定所述电池处于充电状态。At the same time, because the battery still has a very high output voltage, it is also impossible to use an interrupt circuit to make the charging MOS tube Q1 turn on. Therefore, at this time, it is possible to determine whether the battery is in a charging state by detecting the voltage and comparing the output voltage of the battery with a preset voltage threshold. The second determining module 804 is specifically configured to determine that the battery is in a charging state if the output terminal voltage changes with respect to the preset voltage threshold and the change is within a preset range.

具体的，第二判断模块805用于当检测到所述电池处于待机状态或休眠状态时，判断是否接收到唤醒触发信号，所述唤醒触发信号用于唤醒所述电池。Specifically, the second determination module 805 is configured to determine whether a wake-up trigger signal is received when the battery is detected to be in a standby state or a sleep state, and the wake-up trigger signal is used to wake up the battery.

当电池处于待机状态或休眠状态时，电池主回路中的开关电路会处于断开状态，此时，在电池主回路无电流流过。此时，需要接收到唤醒触发信号以唤醒电池，从而使得电池主回路有电流流过，以便后续基于该电流确定电池的充电状态。因此，需要第二判断模块805判断是否接收到唤醒触发信号，以便电池的充电状态的判断。When the battery is in the standby or hibernation state, the switch circuit in the battery main circuit will be in the off state. At this time, no current flows in the battery main circuit. At this time, a wake-up trigger signal needs to be received to wake up the battery, so that a current flows through the main circuit of the battery, so as to subsequently determine the charging state of the battery based on the current. Therefore, the second determination module 805 is required to determine whether a wake-up trigger signal is received, so as to determine the charging state of the battery.

具体的，第三确定模块806用于当检测到接收到唤醒触发信号后，若检测到所述电池的电流大于或等于第三预设电流阈值所持续的时间大于第三预设时间时，确定所述电池处于充电状态。Specifically, the third determining module 806 is configured to determine, when detecting that the wake-up trigger signal is received, if the detected current of the battery is greater than or equal to a third preset current threshold for a time greater than a third preset time. The battery is in a charging state.

为了避免采用电流的充放电方向去判断电池的充电状态而导致的误判等，可以基于一段时间的电流进行电池的充电状态的确定，也即，第三确定模块806若检测到所述电池的电流大于或等于第三预设电流阈值所持续的时间大于第三预设时间时，确定所述电池处于充电状态，以提高判断电池的充电状态的准确性。对于放电状态的判断，该电流为放电电流。In order to avoid the misjudgment caused by using the charging and discharging direction of the current to judge the charging state of the battery, the charging state of the battery may be determined based on the current over a period of time, that is, if the third determining module 806 detects When the time that the current is greater than or equal to the third preset current threshold is greater than the third preset time, it is determined that the battery is in a charging state to improve the accuracy of judging the charging state of the battery. For the judgment of the discharge state, this current is the discharge current.

需要说明的是，在本发明实施例中，所述确定电池的充电状态的装置80可执行本发明实施例所提供的确定电池的充电状态的方法，具备执行方法相应的功能模块和有益效果。未在确定电池的充电状态的装置80的实施例中详尽描述的技术细节，可参见本发明实施例所提供的确定电池的充电状态的方法。It should be noted that, in the embodiment of the present invention, the device 80 for determining the charging state of the battery may execute the method for determining the charging state of the battery provided by the embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method. For technical details that are not described in detail in the embodiment of the apparatus 80 for determining the charging state of a battery, refer to the method for determining the charging state of a battery provided in the embodiment of the present invention.

实施例4：Example 4:

图9是本发明实施例提供的芯片硬件结构示意图，其中，所述芯片可为各种智能电池的主控芯片(如MCU)等。如图9所示，所述芯片90包括：FIG. 9 is a schematic diagram of a chip hardware structure according to an embodiment of the present invention. The chip may be a main control chip (such as an MCU) of various smart batteries. As shown in FIG. 9, the chip 90 includes:

一个或多个处理器901以及存储器902，图9中以一个处理器901为例。One or more processors 901 and a memory 902. One processor 901 is taken as an example in FIG. 9.

处理器901和存储器902可以通过总线或者其他方式连接，图9中以通过总线连接为例。The processor 901 and the memory 902 may be connected through a bus or in other manners. In FIG. 9, the connection through the bus is taken as an example.

存储器902作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块，如本发明实施例中的确定电池的充电状态的方法对应的程序指令/模块(例如，附图8所示的电量获取模块801、第一判断模块802、第一确定模块803、第二确定模块804、第二判断模块805以及第三确定模块806)。处理器901通过运行存储在存储器902中的非易失性软件程序、指令以及模块，从而执行芯片90的各种功能应用以及数据处理，即实现所述方法实施例的确定电池的充电状态的方法。The memory 902 is a non-volatile computer-readable storage medium, and may be used to store a non-volatile software program, a non-volatile computer executable program, and a module, such as a method for determining a charging state of a battery in an embodiment of the present invention. Corresponding program instructions / modules (for example, the power acquisition module 801, the first determination module 802, the first determination module 803, the second determination module 804, the second determination module 805, and the third determination module 806 shown in FIG. 8) . The processor 901 executes various functional applications and data processing of the chip 90 by running non-volatile software programs, instructions, and modules stored in the memory 902, that is, a method for determining a state of charge of a battery in the method embodiment .

存储器902可以包括存储程序区和存储数据区，其中，存储程序区可存储操作***、至少一个功能所需要的应用程序；存储数据区可存储根据芯片90使用所创建的数据等。此外，存储器902可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，存储器902可选包括相对于处理器901远程设置的存储器，这些远程存储器可以通过网络连接至芯片。所述网络的实施例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。The memory 902 may include a storage program area and a storage data area, where the storage program area may store an operating system and application programs required for at least one function; the storage data area may store data created according to the use of the chip 90 and the like. In addition, the memory 902 may include a high-speed random access memory, and may further include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 902 may optionally include a memory remotely set relative to the processor 901, and these remote memories may be connected to the chip through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

所述一个或者多个模块存储在所述存储器902中，当被所述一个或者多个处理器901执行时，执行所述任意方法实施例中的确定电池的充电状态的方法，例如，执行以上描述的图7中的方法步骤701至步骤706，实现图8中的模块801-806的功能。The one or more modules are stored in the memory 902, and when executed by the one or more processors 901, execute the method for determining a state of charge of a battery in the arbitrary method embodiment, for example, executing the above The described method steps 701 to 706 in FIG. 7 implement the functions of modules 801-806 in FIG.

所述芯片90可执行所述任意方法实施例中的确定电池的充电状态的方法，具备执行方法相应的功能模块和有益效果。未在芯片实施例中详尽描述的技术细节，可参见所述任意方法实施例中的确定电池的充电状态的方法。The chip 90 may execute the method for determining the state of charge of a battery in any of the method embodiments, and has function modules and beneficial effects corresponding to the execution method. For technical details that are not described in detail in the chip embodiments, reference may be made to the method for determining the charging state of a battery in the arbitrary method embodiments.

本发明实施例提供了一种计算机程序产品，所述计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被计算机执行时，使所述计算机执行如上所述的确定电池的充电状态的方法。例如，执行以上描述的图7中的方法步骤701至步骤706，实现图8中的模块801-806的功能。An embodiment of the present invention provides a computer program product. The computer program product includes a computer program stored on a non-volatile computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, At that time, the computer is caused to execute the method for determining a state of charge of a battery as described above. For example, step 701 to step 706 of the method in FIG. 7 described above are performed to implement the functions of modules 801 to 806 in FIG. 8.

本发明实施例提供了一种非易失性计算机可读存储介质，所述计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于使计算机执行如上所述的确定电池的充电状态的方法。例如，执行以上描述的图7中的方法步骤701至步骤706，实现图8中的模块801-806的功能。An embodiment of the present invention provides a non-volatile computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to cause a computer to perform the determination of a battery as described above. Method of charging status. For example, step 701 to step 706 of the method in FIG. 7 described above are performed to implement the functions of modules 801 to 806 in FIG. 8.

实施例5：Example 5:

图10是本发明实施例提供的电池示意图，其中，电池100包括：如上所述芯片90及至少一个电芯91。所述电池100可以为智能电池，也即所述芯片90为具有一定逻辑控制能力的集成电路(Integrated Circuit，IC)保护板或微处理器(MCU)。所述至少一个电芯91与所述芯片90连接，所述芯片90用于确定所述电池100的充电状态，并在所述芯片90确定所述电池100处于充电状态时，通过控制电路中的充电回路导通使所述电池100进入充电状态，以使得外部充电器可为电池100充电，从而保证电池100功能的稳定性和可靠性，进而保证飞行器飞行的安全性。FIG. 10 is a schematic diagram of a battery according to an embodiment of the present invention. The battery 100 includes the chip 90 and at least one battery cell 91 as described above. The battery 100 may be a smart battery, that is, the chip 90 is an integrated circuit (IC) protection board or a microprocessor (MCU) with a certain logic control capability. The at least one battery cell 91 is connected to the chip 90, and the chip 90 is configured to determine a charging state of the battery 100, and when the chip 90 determines that the battery 100 is in a charging state, the power is transmitted through a control circuit. The conduction of the charging circuit causes the battery 100 to enter a charging state, so that an external charger can charge the battery 100, thereby ensuring the stability and reliability of the function of the battery 100, and further ensuring the safety of the aircraft flight.

实施例6：Example 6:

图11是本发明实施例提供的飞行器示意图，所述飞行器110包括：如上所述的电池100。所述电池100用于提供电力，所述电池100用于确定自身的充电状态，并确定其处于充电状态时，进入充电状态，以使得外部充电器可为电池100充电，从而保证电池100功能的稳定性和可靠性，进而保证飞行器110飞行的安全性。FIG. 11 is a schematic diagram of an aircraft according to an embodiment of the present invention. The aircraft 110 includes: the battery 100 described above. The battery 100 is used to provide power. The battery 100 is used to determine its own charging state, and when it is determined that it is in the charging state, it enters the charging state so that the external charger can charge the battery 100, thereby ensuring the function of the battery 100. Stability and reliability, thereby ensuring the safety of flight of the aircraft 110.

需要说明的是，以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的模块可以是或者也可以不是物理上分开的，作为模块显示的部件可以是或者也可以不是物理模块，即可以位于一个地方，或者也可以分布到多个网络模块上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。It should be noted that the device embodiments described above are only schematic, and the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical Modules can be located in one place or distributed to multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the objective of the solution of this embodiment.

通过以上的实施例的描述，本领域普通技术人员可以清楚地了解到各实施例可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件。本领域普通技术人员可以理解实现所述实施例方法中的全部或部分流程是可以通过计算机程序指令相关的硬件来完成，所述的程序可存储于计算机可读取存储介质中，该程序在执行时，可包括如所述各方法的实施例的流程。其中，所述的存储介质可为只读存储记忆体(Read-Only Memory,ROM)或随机存储记忆体(RandomAccessMemory,RAM)等。Through the description of the above embodiments, a person of ordinary skill in the art can clearly understand that the embodiments can be implemented by means of software plus a general hardware platform, and of course, also by hardware. Those of ordinary skill in the art can understand that all or part of the processes in the method of the embodiment can be completed by computer program instructions related hardware. The program can be stored in a computer-readable storage medium, and the program is being executed. In this case, the process of the embodiment of each method may be included. The storage medium may be a read-only memory (ROM) or a random access memory (RandomAccess Memory, RAM).

最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。Finally, it should be noted that the above embodiments are only used to describe the technical solution of the present invention, but not limited thereto. Under the idea of the present invention, the technical features in the above embodiments or different embodiments can also be combined. The steps can be implemented in any order and there are many other variations of the different aspects of the invention as described above, for the sake of brevity they are not provided in the details; although the invention has been described in detail with reference to the foregoing embodiments, it is common in the art The skilled person should understand that they can still modify the technical solutions described in the foregoing embodiments, or equivalently replace some of the technical features; and these modifications or replacements do not deviate the essence of the corresponding technical solutions from the implementation of the present invention. Examples of technical solutions.

Claims

一种确定电池的充电状态的方法，其特征在于，所述方法包括：A method for determining a charging state of a battery, wherein the method includes:

当检测到所述电池处于工作状态时，获取所述电池的当前电量；When it is detected that the battery is in an operating state, obtaining the current power of the battery;

判断所述当前电量是否小于第一预设电量阈值；Determining whether the current power is less than a first preset power threshold;

当所述当前电量小于所述第一预设电量阈值时，根据所述电池的电流处于预设电流范围所持续的时间确定所述电池的充电状态；When the current power is less than the first preset power threshold, determining a state of charge of the battery according to a duration in which the current of the battery is in a preset current range;

当所述当前电量大于或等于所述第一预设电量阈值时，根据所述电池的输出端电压与预设电压阈值进行比较所得到的比较结果，确定所述电池的充电状态。When the current power is greater than or equal to the first preset power threshold, a charging state of the battery is determined according to a comparison result obtained by comparing an output voltage of the battery with a preset voltage threshold.
根据权利要求1所述的方法，其特征在于，所述当所述当前电量小于所述第一预设电量阈值时，根据所述电池的电流处于预设电流范围所持续的时间确定所述电池的充电状态，包括：The method according to claim 1, wherein when the current power is less than the first preset power threshold, the battery is determined according to a time duration in which the current of the battery is in a preset current range. State of charge, including:

当所述当前电量大于第二预设电量阈值且小于所述第一预设电量阈值时，若检测到所述电池的电流大于第一预设电流阈值所持续的时间大于第一预设时间时，确定所述电池处于充电状态；When the current power is greater than the second preset power threshold and less than the first preset power threshold, if it is detected that the current of the battery is greater than the first preset current threshold for a time greater than the first preset time To determine that the battery is in a charging state;

当所述当前电量小于或等于所述第二预设电量阈值时，若检测到所述电池的电流大于第二预设电流阈值所持续的时间大于第二预设时间时，确定所述电池处于充电状态。When the current power is less than or equal to the second preset power threshold, if it is detected that the current of the battery is greater than the second preset current threshold for a time longer than the second preset time, it is determined that the battery is at charging.
根据权利要求2所述的方法，其特征在于，所述第二预设电流阈值大于所述第一预设电流阈值，所述第一预设时间大于所述第二预设时间。The method according to claim 2, wherein the second preset current threshold is greater than the first preset current threshold, and the first preset time is greater than the second preset time.
根据权利要求1-3任一项所述的方法，其特征在于，所述根据所述电池的输出端电压与预设电压阈值进行比较所得到的比较结果，确定所述电池的充电状态，包括：The method according to any one of claims 1-3, wherein the determining a state of charge of the battery according to a comparison result obtained by comparing a voltage at an output terminal of the battery with a preset voltage threshold includes: :

若所述输出端电压相对于所述预设电压阈值存在变化且所述变化在预设范围内时，确定所述电池处于充电状态。If there is a change in the output terminal voltage relative to the preset voltage threshold and the change is within a preset range, it is determined that the battery is in a charging state.
根据权利要求1-4任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1-4, further comprising:

当检测到所述电池处于待机状态或休眠状态时，判断是否接收到唤醒触发信号，所述唤醒触发信号用于唤醒所述电池；When it is detected that the battery is in a standby state or a sleep state, determining whether a wake-up trigger signal is received, and the wake-up trigger signal is used to wake up the battery;

当检测到接收到唤醒触发信号后，若检测到所述电池的电流大于或等于第三预设电流阈值所持续的时间大于第三预设时间时，确定所述电池处于充电状态。When it is detected that the wake-up trigger signal is received, if it is detected that the current of the battery is greater than or equal to the third preset current threshold for a time longer than the third preset time, it is determined that the battery is in a charging state.
一种确定电池的充电状态的装置，其特征在于，所述装置包括：A device for determining a charging state of a battery, wherein the device includes:

电量获取模块，用于当检测到所述电池处于工作状态时，获取所述电池的当前电量；A power acquisition module, configured to acquire the current power of the battery when it is detected that the battery is in an operating state;

第一判断模块，用于判断所述当前电量是否小于第一预设电量阈值；A first determining module, configured to determine whether the current power is less than a first preset power threshold;

第一确定模块，用于当所述当前电量小于所述第一预设电量阈值时，根据所述电池的电流处于预设电流范围所持续的时间确定所述电池的充电状态；A first determining module, configured to determine a charging state of the battery according to a time duration when the current of the battery is in a preset current range when the current power is less than the first preset power threshold;

第二确定模块，用于当所述当前电量大于或等于所述第一预设电量阈值时，根据所述电池的输出端电压与预设电压阈值进行比较所得到的比较结果，确定所述电池的充电状态。A second determining module, configured to determine the battery according to a comparison result obtained by comparing an output voltage of the battery with a preset voltage threshold when the current power is greater than or equal to the first preset power threshold State of charge.
根据权利要求6所述的装置，其特征在于，所述第一确定模块具体用于：The apparatus according to claim 6, wherein the first determining module is specifically configured to:

当所述当前电量大于第二预设电量阈值且小于所述第一预设电量阈值时，若检测到所述电池的电流大于第一预设电流阈值所持续的时间大于第一预设时间时，确定所述电池处于充电状态；When the current power is greater than the second preset power threshold and less than the first preset power threshold, if it is detected that the current of the battery is greater than the first preset current threshold for a time greater than the first preset time To determine that the battery is in a charging state;

当所述当前电量小于或等于所述第二预设电量阈值时，若检测到所述电池的电流大于第二预设电流阈值所持续的时间大于第二预设时间时，确定所述电池处于充电状态。When the current power is less than or equal to the second preset power threshold, if it is detected that the current of the battery is greater than the second preset current threshold for a time longer than the second preset time, it is determined that the battery is at charging.
根据权利要求7所述的装置，其特征在于，所述第二预设电流阈值大于所述第一预设电流阈值，所述第一预设时间大于所述第二预设时间。The device according to claim 7, wherein the second preset current threshold is greater than the first preset current threshold, and the first preset time is greater than the second preset time.
根据权利要求6-8任一项所述的装置，其特征在于，所述第二确定模块具体用于：The apparatus according to any one of claims 6 to 8, wherein the second determining module is specifically configured to:

若所述输出端电压相对于所述预设电压阈值存在变化且所述变化在预设范围内时，确定所述电池处于充电状态。If there is a change in the output terminal voltage relative to the preset voltage threshold and the change is within a preset range, it is determined that the battery is in a charging state.
根据权利要求6-9任一项所述的装置，其特征在于，所述装置还包括：The device according to any one of claims 6-9, wherein the device further comprises:

第二判断模块，用于当检测到所述电池处于待机状态或休眠状态时，判断是否接收到唤醒触发信号，所述唤醒触发信号用于唤醒所述电池；A second determination module, configured to determine whether a wake-up trigger signal is received when the battery is detected to be in a standby state or a sleep state, and the wake-up trigger signal is used to wake up the battery;

第三确定模块，用于当检测到接收到唤醒触发信号后，若检测到所述电池的电流大于或等于第三预设电流阈值所持续的时间大于第三预设时间时，确定所述电池处于充电状态。A third determining module, configured to determine the battery when it is detected that the duration of the current of the battery is greater than or equal to a third preset current threshold after the reception of the wake-up trigger signal is greater than a third preset time Being charged.
一种芯片，其特征在于，包括：A chip is characterized in that it includes:

至少一个处理器；以及，At least one processor; and

与所述至少一个处理器通信连接的存储器；其中，A memory connected in communication with the at least one processor; wherein,

所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1-5任一项所述的方法。The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute the method according to any one of claims 1-5. method.
一种电池，其特征在于，包括如权利要求11所述的芯片。A battery, comprising the chip according to claim 11.
一种飞行器，其特征在于，包括如权利要求12所述的电池，所述电池用于提供电力。An aircraft, comprising a battery according to claim 12, wherein the battery is used to provide power.