Movable platform, power supply control method thereof, and storage medium

Abstract

A method for controlling power supply for a mobile platform includes: detecting the operating state of the mobile platform, the operating state including a stationary state (S110); when the mobile platform is in the stationary state, detecting the number of batteries included in the battery assembly; when a change in the number of batteries is detected, adjusting the supply current of the battery assembly based on the voltage of the batteries after the change (S120); and controlling the battery assembly to supply power to the mobile platform with the adjusted supply current (S130). This application can prevent battery overcurrent. A mobile platform and a storage medium are also provided.

Description

Technical Field

[0001] The present application relates to the technical field of mobile platforms, and in particular to a mobile platform and a power supply control method and storage medium thereof. Background Art

[0002] Mobile platforms, such as unmanned aerial vehicles (UAVs) and autonomous vehicles (AVs), are typically powered by batteries, such as lithium-ion batteries. However, battery life limits the need for frequent battery replacement. Current UAVs experience large surge currents during battery replacement. Exceeding the battery's maximum allowable discharge current can damage the battery. For example, lithium deposition can occur in the battery cells due to overcurrent, shortening battery life and potentially leading to fires. Summary of the Invention

[0003] The present application provides a mobile platform and its power supply control method and storage medium, aiming to solve technical problems such as overcurrent in the battery of the mobile platform.

[0004] In a first aspect, an embodiment of the present application provides a power supply control method for a mobile platform, wherein the mobile platform includes a battery assembly for powering the mobile platform, the battery assembly including at least one battery, and the method includes:

[0005] detecting a working state of the movable platform, wherein the working state includes a stationary state;

[0006] When the movable platform is in the stationary state, detecting the number of batteries included in the battery assembly; when detecting that the number of batteries has changed, adjusting the power supply current of the battery assembly according to the voltage of the batteries after the number has changed;

[0007] The battery assembly is controlled to supply power to the movable platform with the adjusted power supply current.

[0008] In a second aspect, an embodiment of the present application provides a mobile platform capable of carrying a battery assembly for powering the mobile platform, wherein the battery assembly includes at least one battery;

[0009] The mobile platform includes one or more processors, working individually or collectively to perform the following steps:

[0010] detecting a working state of the movable platform, wherein the working state includes a stationary state;

[0011] When the movable platform is in the stationary state, detecting the number of batteries included in the battery assembly; when detecting that the number of batteries has changed, adjusting the power supply current of the battery assembly according to the voltage of the batteries after the number has changed;

[0012] The battery assembly is controlled to supply power to the movable platform with the adjusted power supply current.

[0013] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the steps of the above method.

[0014] An embodiment of the present application provides a movable platform, a power supply control method thereof, and a storage medium. The movable platform includes a battery assembly for power supply, and the battery assembly includes at least one battery. When the movable platform is in a stationary state and the battery is replaced, the power supply current of the battery assembly is adjusted according to the voltage of the battery, and the battery assembly is controlled to supply power with the adjusted power current to limit the power supply current of the battery assembly, thereby preventing the battery assembly from outputting a large current and causing damage.

[0015] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory and do not limit the disclosure of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0017] Figure 1 This is a flow chart of a power supply control method for a mobile platform provided in an embodiment of the present application;

[0018] Figure 2 This is a schematic diagram of the battery currently supplying power to the load;

[0019] Figure 3 is a schematic structural diagram of a movable platform in one embodiment;

[0020] Figure 4 is a schematic diagram of a battery powered system in a movable platform in one embodiment;

[0021] Figure 5 is a schematic diagram of a battery powered mobile platform in another embodiment;

[0022] Figure 6 is a schematic diagram of a battery-powered movable platform in another embodiment;

[0023] Figure 7 is a flow chart of a power supply control method in one embodiment;

[0024] Figure 8 is a schematic diagram of a battery supplying power to a power system in one embodiment;

[0025] Figure 9 1. It is a schematic diagram of the effect of a pre-charging circuit in one embodiment;

[0026] Figure 10 This is a schematic block diagram of a movable platform provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0028] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0029] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0030] See also Figure 1 , Figure 1 The present invention provides a flow chart of a method for controlling power supply of a mobile platform provided in an embodiment of the present invention. The method for controlling power supply of a mobile platform can be applied to the mobile platform to control the process of the battery supplying power to the mobile platform.

[0031] Exemplarily, the movable platform may include at least one of an unmanned aerial vehicle (UAV), an unmanned vehicle, etc. Further, the UAV may be a rotary-wing UAV, such as a quad-rotor UAV, a hexacopter UAV, an octo-rotor UAV, or a fixed-wing UAV.

[0032] For example, multi-rotor unmanned aerial vehicles (UAVs) are being used in an increasing number of fields due to their simple and stable structure, easy control, flexible application, and low cost. Currently, multi-rotor UAVs primarily rely on lithium-ion batteries to power the entire flight system. However, due to battery life limitations, battery replacement during flight operations is a strong requirement. For most UAVs, battery replacement requires the entire flight system to be powered down, replaced, and then restarted. This shutdown and restart process not only affects the integrity of flight data due to the loss of power to the flight system, but also increases time costs and affects the efficiency of flight operations.

[0033] See also Figure 2 The technical solution currently used to achieve battery replacement in electronic devices is mainly a multi-battery parallel solution, which connects multiple batteries 41 in parallel to power the device's load 42. When one battery 41 is removed, the other battery 41 can continue to power the load 42. In order to prevent the two batteries 41 from generating current backflow due to the large difference between the voltage U1 and the voltage U2, a switch 43 is usually provided on the output branch of each battery 41. Although the current backflow can be prevented by cutting off the switch 43, the surge current when the battery 41 is replaced cannot be suppressed: for example, the voltage U1 of the first battery 41 powers the device, and the second battery 41 is connected to the load 42 through the switch 43. Cutting off the switch 43 of the first battery 41 can prevent the battery voltages from charging each other. However, when the voltage U1 and the voltage U2 of the two batteries 41 differ too much, a large surge current will still exist in the line from the second battery 41 to the load. When the surge current exceeds the maximum discharge current value allowed by the battery 41, the battery cell of the battery 41 will produce lithium deposition due to overcurrent, which may further cause a combustion and fire accident.

[0034] If Figure 2 The solution shown in this example, when used in a mobile platform, can damage the platform's battery, reducing its lifespan and even affecting the platform's safety during movement. Therefore, the inventors of this application have improved the battery-powered solution to address technical issues such as overcurrent in the mobile platform's battery.

[0035] See also Figure 3 The movable platform 100 includes a battery assembly 200 for powering the movable platform 100 , and the battery assembly 200 includes at least one battery 210 .

[0036] For example, Figure 3 As shown, one or more battery receiving portions 10 are provided on the movable platform 100 , and the battery 210 can be detachably received in the battery receiving portion 10 .

[0037] Illustratively, the battery assembly 200 includes a battery receiving assembly (not shown), which is provided with one or more battery receiving portions 10, and the battery 210 is disposed in the battery receiving portion 10. Optionally, the battery 210 is fixedly connected to the battery receiving portion 10, and the battery assembly 200 can be detachably connected to the movable platform 100; or, the battery receiving assembly is fixedly connected to the movable platform 100, and the battery 210 can be detachably received in the battery receiving portion 10 of the battery receiving assembly.

[0038] In some embodiments, the movable platform 100 includes a power system 110, and the position of the movable platform changes when the power system 110 is in operation. Exemplarily, when the movable platform 100 comprises an unmanned aerial vehicle, the power system 110 comprises an electric speed controller and / or a rotor assembly, wherein the rotor assembly may comprise a motor and rotors, and the electric speed controller is used to determine the rotation of the motor, which in turn drives the rotors. Optionally, the electric speed controller may be provided separately from or integrated with the rotor assembly. Optionally, the power system 110 may also include a gimbal mounted on the movable platform 100. Exemplarily, when the movable platform 100 comprises an unmanned vehicle, the power system 110 comprises wheels and motors for driving the wheels.

[0039] In some embodiments, the mobile platform 100 further includes a control system 120, which is used to control the operation of the power system 110 to adjust the position and posture of the mobile platform 100. Exemplarily, the control system 120 includes a controller and sensors. The controller can obtain information such as the position and posture of the mobile platform 100, and the positional relationship between the mobile platform 100 and other objects (such as the ground, buildings, and trees) through the sensors. Based on the obtained information, the controller controls the operation of the power system 110, such as adjusting the position and posture of the mobile platform 100 by controlling the working state (direction and speed) of the motor through the electronic control.

[0040] In some embodiments, the power supply control method of the mobile platform can be implemented by a controller in the control system 120, or can also be implemented by other processors and control circuits. For example, it can be implemented by a processor and control circuit in a battery assembly, but of course it is not limited to this.

[0041] like Figure 1 As shown, the power supply control method for a mobile platform according to an embodiment of the present application includes steps S110 to S130.

[0042] S110: Detecting a working state of the movable platform, where the working state includes a stationary state.

[0043] It is understandable that when the movable platform is in a stationary state, the position and posture of the movable platform does not change due to the operation of the power system 110, such as when the unmanned aerial vehicle is in a state not yet taking off.

[0044] In some embodiments, when the movable platform is in a stationary state, the control system can control the power system to perform a self-check to determine whether the state of the power system affects the operation of the movable platform. When the self-check determines that the state of the power system does not meet the requirements, a prompt message is issued.

[0045] In some embodiments, the working state also includes a motion state. When the movable platform is in the motion state, the power system operates to change the position of the movable platform. For example, the motion state of an unmanned aerial vehicle includes one or more of the following: takeoff, hovering, cruising, ascent, descent, obstacle avoidance, and return.

[0046] In some embodiments, detecting the working state of the movable platform includes: obtaining the current and / or power of the power system of the movable platform; and determining the working state of the movable platform according to the current and / or power of the power system.

[0047] For example, the battery assembly and the power system can communicate with each other to obtain the current and / or power of the power system. According to the current and / or power of the power system, the working state of the movable platform can be accurately determined.

[0048] Exemplarily, when the current of the power system is greater than or equal to a preset current threshold and / or the power is greater than or equal to a preset power threshold, the movable platform is determined to be in motion. For example, when the power consumed by the power system is greater than or equal to a preset power threshold, the lift provided by the rotors is capable of enabling the UAV to hover, ascend, or land.

[0049] Exemplarily, when the current of the power system is less than a preset current threshold and / or the power is less than a preset power threshold, the movable platform is determined to be in a stationary state. For example, when the power consumed by the power system is less than the preset power threshold, the lift provided by the rotor is less than the weight of the UAV, and the UAV does not take off.

[0050] In some embodiments, detecting the operating status of the movable platform includes: obtaining the position and / or altitude of the movable platform; and determining the operating status of the movable platform according to the position and / or altitude of the movable platform.

[0051] For example, the position and / or altitude of the mobile platform can be determined based on sensors carried by the mobile platform, such as a GPS receiver, an inertial measurement unit (IMU), an altimeter, etc. Based on the position and / or altitude of the mobile platform, the operating status of the mobile platform can be accurately determined.

[0052] Exemplarily, when the rate of change of the position of the movable platform is greater than or equal to a preset speed threshold, and / or the altitude is greater than or equal to a preset altitude threshold, the movable platform is determined to be in motion. For example, when the speed of the movable platform is greater than a speed threshold and the altitude is greater than a height threshold, the movable platform is determined to be in flight. For example, the operating state of the movable platform can be accurately determined when the movable platform is located on a moving vehicle or on a mountain peak.

[0053] For example, when the rate of change of the movable platform's position is less than a preset speed threshold and the altitude is less than a preset altitude threshold, the movable platform is determined to be stationary. For example, this can prevent misjudging the operating status of the movable platform when the unmanned aerial vehicle is hovering or cruising at low altitude.

[0054] S120. When the movable platform is in the stationary state, detect the number of batteries included in the battery assembly; when it is detected that the number of batteries has changed, adjust the power supply current of the battery assembly according to the voltage of the batteries after the change in number.

[0055] In some embodiments, the battery is provided with a current regulating circuit. By controlling the state of the current regulating circuit on the battery, the supply current of the battery, and thus the supply current of the battery assembly, can be adjusted. In other embodiments, the battery assembly further includes a current regulating circuit connected to the battery. By controlling the state of the current regulating circuit, the supply current of the battery assembly can be adjusted.

[0056] For example, the current regulating circuit includes a resistor circuit. By adjusting the resistance of the resistor circuit connected to the output circuit of the battery, the supply current of the battery assembly can be adjusted. Of course, this is not limited to this. For example, the current regulating circuit can include a constant current circuit, which is used to limit the supply current of the battery assembly.

[0057] When the movable platform is in the stationary state, the number of batteries included in the battery assembly is detected to determine whether the movable platform has been hot-swapped; when it is detected that the number of batteries has changed, that is, hot-swapped has occurred, the power supply current of the battery assembly is adjusted according to the voltage of the batteries after the number has changed, thereby limiting the power supply current of the battery assembly and preventing the battery assembly from outputting a large current and causing damage.

[0058] Exemplarily, when an increase in the number of batteries is detected, the battery assembly is controlled to power the mobile platform with an adjusted supply current based on the voltage of the increased number of batteries. It is understood that the voltage of the additional batteries on the mobile platform is not equal to the voltage of the batteries that have been supplying power for a period of time, that is, the voltage of the additional batteries on the mobile platform is not equal to the voltage at the load end (such as the power system and / or control system) of the mobile platform, which will generate a large inrush current.

[0059] For example, when a fully charged battery is connected to a mobile platform, there is a voltage difference between a low-power battery that has been supplying power for a period of time and a fully charged battery, and a large surge current will be generated; for example, the power required by the power system is relatively high, and a larger capacitor is generally connected in parallel, which can be called a load capacitor, to eliminate ripple voltage and ensure stable working conditions. The load capacitor has a strong current absorption capability, and a large surge current will be generated when the voltage difference is high; the embodiment of the present application can prevent the battery component from outputting a large current and causing damage by limiting the power supply current of the battery component when it detects an increase in the number of the batteries.

[0060] Exemplarily, the power supply current of the battery assembly is adjusted to be less than or equal to a preset current threshold, which can be determined based on the voltage of at least one of the batteries. For example, the higher the voltage of the battery, the larger the current threshold. Alternatively, the voltage difference between the batteries after the number of batteries has been changed can be determined based on the voltage of the batteries after the number of batteries has been changed. The larger the voltage difference between the batteries, the smaller the current threshold. When the voltage difference between the batteries is too large, the current output by the batteries in the battery assembly can be limited to reduce damage to the batteries.

[0061] It can be understood that when the number of batteries after the number is changed is greater than 1, the difference between the maximum voltage and the minimum voltage among the voltages of the batteries after the number is changed is determined as the voltage difference between the batteries.

[0062] S130: Control the battery assembly to supply power to the movable platform with the adjusted power supply current.

[0063] Exemplarily, the circuit between the battery assembly and the movable platform is controlled to be conductive, so that the battery assembly supplies power to the movable platform at an adjusted supply current. The switch may be provided on the battery assembly or on the movable platform, and the conductive circuit between the battery assembly and the movable platform is controlled by closing or opening the switch.

[0064] For example, see Figure 4, the first switch 31 between the battery assembly 200 and the control system 120 of the movable platform 100 can be closed to control the circuit conduction between the battery assembly 200 and the control system 120 of the movable platform 100, and the second switch 32 between the battery assembly 200 and the power system 110 of the movable platform 100 can be closed to control the circuit conduction between the battery assembly 200 and the power system 110 of the movable platform 100, so that the battery assembly 200 can supply power to the control system 120 and the power system 110 of the movable platform 100, for example, to support the take-off of an unmanned aerial vehicle.

[0065] For example, the first switch 31 and the second switch 32 may include at least one of the following: a MOS switch (metal-oxide semiconductor FET), a BJT switch (Bipolar Junction Transistor), a JFET switch (Junction Field-Effect Transistor), or an IGBT switch (Insulated Gate Bipolar Transistor), and may be driven to close or open by a corresponding driver chip.

[0066] The power supply control method of the movable platform in the embodiment of the present application can adjust the power supply current of the battery assembly according to the voltage of the battery when the movable platform is in a stationary state. By controlling the battery assembly to supply power with the adjusted power supply current, the power supply current of the battery assembly can be limited to prevent the battery assembly from outputting a large current and causing damage, thereby ensuring the safety of the battery and connector.

[0067] In some embodiments, adjusting the supply current of the battery assembly based on the voltage of the battery after the number of batteries has changed includes: when the number of batteries after the number of batteries has changed is equal to 1, determining the voltage of the battery after the number of batteries after the number of batteries has changed as the voltage difference between the batteries, and adjusting the supply current of the battery assembly based on the voltage difference between the batteries after the number of batteries has changed. In some embodiments, adjusting the supply current of the battery assembly based on the voltage of the battery after the number of batteries after the number of batteries has changed includes: obtaining the voltage of the battery after the number of batteries after the number of batteries has changed; determining the voltage difference between the batteries after the number of batteries after the number of batteries after the number of batteries after the number of batteries changed based on the voltage of the battery after the number of batteries changed; and adjusting the supply current of the battery assembly based on the voltage difference.

[0068] Exemplarily, the voltage difference can be determined based on the voltage of the battery added to the movable platform and the voltage of the battery that has been supplying power for a period of time on the movable platform; or the voltage difference can be determined based on the voltage of the battery added to the movable platform and the voltage at the load end of the movable platform.

[0069] According to Ohm's law, the greater the voltage difference, the greater the current generated. By adjusting the power supply current of the battery assembly according to the voltage difference, the power supply current of the battery assembly can be limited more accurately. For example, it can enable the movable platform to perform corresponding tasks and prevent damage caused by overcurrent.

[0070] Exemplarily, adjusting the power supply current of the battery assembly based on the voltage difference includes: when the voltage difference is greater than or equal to a preset first voltage threshold, adjusting the power supply current of the battery assembly to a first power supply current; wherein the magnitude of the first power supply current is less than or equal to a preset first current threshold. It is understood that when the voltage difference is greater than or equal to the preset first voltage threshold, the magnitude of the power supply current of the battery assembly is adjusted to be less than or equal to the preset first current threshold, and the first current threshold can be determined based on the battery voltage, the capacitance of the load of the movable platform, the required power of the load, etc.

[0071] Optionally, when the voltage difference is greater than or equal to a preset first voltage threshold, controlling the battery assembly to power the movable platform with an adjusted power supply current includes: controlling the battery assembly to power the movable platform with the first power supply current.

[0072] Exemplarily, adjusting the power supply current of the battery assembly based on the voltage difference includes: when the voltage difference is less than a preset first voltage threshold, adjusting the power supply current of the battery assembly to a second power supply current, wherein the magnitude of the second power supply current is less than or equal to a preset second current threshold. It is understandable that when the voltage difference is less than the preset first voltage threshold, the magnitude of the power supply current of the battery assembly is adjusted to be less than or equal to the preset second current threshold.

[0073] Optionally, when the voltage difference is less than a preset first voltage threshold, controlling the battery assembly to power the movable platform with the adjusted supply current includes: controlling the battery assembly to power the movable platform with the second supply current.

[0074] Specifically, the second current threshold is greater than the first current threshold. When the voltage difference is greater than or equal to the preset first voltage threshold, the magnitude of the power supply current of the battery assembly is adjusted to be less than or equal to the smaller first current threshold. In this case, the power supply mode of the battery assembly can be referred to as the first current mode or the low current mode. When the voltage difference is less than the preset first voltage threshold, the magnitude of the power supply current of the battery assembly is adjusted to be less than or equal to the larger second current threshold. In this case, the power supply mode of the battery assembly can be referred to as the second current mode or the high current mode.

[0075] In some embodiments, adjusting the supply current of the battery assembly in step S120 includes adjusting a power supply mode of the battery assembly; the power supply mode may include a first power supply mode and a second power supply mode, the first power supply mode indicating that the supply current of the battery assembly is less than or equal to the first current threshold, and the second power supply mode indicating that the supply current of the battery assembly is less than or equal to the second current threshold. Exemplarily, the resistance of the output circuit of the resistor circuit connected to the battery can be adjusted according to the adjusted power supply mode to adjust the supply current of the battery assembly.

[0076] In some embodiments, controlling the battery assembly to power the movable platform with the first power supply current includes: controlling the circuit between the battery assembly and the control system of the movable platform to be conductive, and controlling the circuit between the battery assembly and the power system of the movable platform to be disconnected; controlling the battery assembly to power the control system with the first power supply current.

[0077] For example, see Figure 3 When the voltage difference between the batteries 210 is greater than or equal to a preset first voltage threshold, the magnitude of the first power supply current of the battery assembly 200 is less than or equal to a smaller first current threshold. By closing the first switch 31, the circuit between the battery assembly and the control system of the movable platform is controlled to be conductive, so that the battery assembly 200 can power the control system 120 with the first power supply current; by opening the second switch 32, the circuit between the battery assembly and the power system of the movable platform is controlled to be disconnected to prevent the large voltage difference from generating excessive surge current.

[0078] For example, by disconnecting the second switch 32 between the battery assembly and the power system, thereby disconnecting the circuit between the battery assembly and the power system, it is possible to prevent voltage differences between the batteries on the mobile platform from causing excessive inrush current, thereby reducing battery life. Because the first supply current of the battery assembly 200 is less than or equal to the smaller first current threshold, the current between the batteries is not excessive, and the control system can be supported, such as implementing tasks such as mobile platform self-test, human-computer interaction, and communication with terminal devices.

[0079] In some embodiments, controlling the battery assembly to power the movable platform with the second power supply current includes: controlling the circuit conduction between the battery assembly and the control system of the movable platform, and controlling the circuit conduction between the battery assembly and the power system of the movable platform; controlling the battery assembly to power the control system and the power system with the second power supply current.

[0080] For example, see Figure 3 When the voltage difference between the batteries 210 is less than a preset first voltage threshold, the magnitude of the second supply current of the battery assembly 200 is less than or equal to a larger second current threshold, and the supply current can be larger; by closing the first switch 31, the circuit between the battery assembly and the control system of the mobile platform is controlled to be conductive, so that the battery assembly 200 can supply power to the control system 120; by closing the second switch 32, the circuit between the battery assembly and the control system of the mobile platform is controlled to be conductive, so that the battery assembly 200 can also supply power to the power system 110. Since the voltage difference between the batteries 210 is small, the generation of excessive surge current can also be prevented. When the battery assembly 200 supplies power to the power system 110, the power system 110 can adjust the posture of the mobile platform. For example, the lift provided by the rotor in the power system 110 can enable the unmanned aerial vehicle to take off from a stationary state.

[0081] In some embodiments, controlling the circuit conduction between the battery assembly and the power system of the movable platform includes: determining a voltage difference between at least one of the batteries based on the voltage of the battery; when the voltage difference is greater than a second voltage threshold, controlling the battery with a larger voltage to charge the battery with a smaller voltage to adjust the size of the voltage difference to the second voltage threshold.

[0082] Exemplarily, when the voltage difference is greater than a second voltage threshold, the battery with a larger voltage may be controlled to charge the battery with a smaller voltage, thereby reducing the voltage difference and further reducing the inrush current between the battery and the load.

[0083] For example, see Figure 5When the voltage difference between the multiple batteries 210 in the battery assembly 200 is greater than the second voltage threshold, the third switch 33 between the multiple batteries 210 is closed, and the battery with a larger voltage is controlled to charge the battery with a smaller voltage.

[0084] Exemplarily, controlling the closing of a second switch between the battery assembly and the power system of the mobile platform includes: when the voltage difference is less than or equal to a second voltage threshold, controlling the closing of the second switch between the battery assembly and the power system of the mobile platform to enable the battery assembly to power the power system. When the voltage difference is less than or equal to the second voltage threshold, closing the second switch to enable the battery assembly to power the power system can reduce inrush current between batteries.

[0085] In some embodiments, the second voltage threshold is less than the first voltage threshold.

[0086] Exemplarily, when the voltage difference is greater than or equal to a preset first voltage threshold, the power supply current of the battery assembly is adjusted to a first power supply current, and the first switch between the battery assembly and the control system of the movable platform is controlled to be closed, so that the circuit between the battery assembly and the control system of the movable platform is turned on, so that the battery assembly supplies power to the control system with the first power supply current, wherein the magnitude of the first power supply current is less than or equal to the preset first current threshold; when the voltage difference is greater than or equal to the preset first voltage threshold and is also greater than the second voltage threshold, the third switch between the multiple batteries can be controlled to be closed, so that the battery with a larger voltage becomes the battery with a smaller voltage. charging, adjusting the size of the voltage difference to the first voltage threshold; when the voltage difference is less than the first voltage threshold, adjusting the power supply current of the battery assembly to the second power supply current, and the battery with the larger voltage continues to charge the battery with the smaller voltage, adjusting the size of the voltage difference to the second voltage threshold; when the voltage difference is less than or equal to the second voltage threshold and also less than the first voltage threshold, controlling the second switch between the battery assembly and the power system of the movable platform to close, so that the circuit between the battery assembly and the power system of the movable platform is turned on, so that the battery assembly uses the second power supply current to power the control system and the power system.

[0087] In some embodiments, the working state includes a motion state, and the method further includes: when the movable platform is in a motion state, adjusting the power supply current of the battery assembly to a third power supply current, wherein the magnitude of the third power supply current is less than or equal to a preset third current threshold; controlling the battery assembly to power the movable platform with the adjusted power supply current includes: controlling the battery assembly to power the movable platform with the third power supply current.

[0088] Exemplarily, the third current threshold is greater than the first current threshold, and may be greater than, equal to, or less than the second current threshold, and may be determined based on the power requirement when the movable platform is in motion.

[0089] Exemplarily, controlling the battery assembly to supply power to the movable platform with the third supply current includes: controlling a second switch between the battery assembly and a power system of the movable platform to close; and controlling the battery assembly to supply power to the power system with the third supply current. By supplying power to the power system, safe movement of the movable platform is ensured.

[0090] The power supply control method for a movable platform provided in an embodiment of the present application can adjust the power supply current of the battery assembly according to the voltage of the battery when the movable platform is in a stationary state. By controlling the battery assembly to supply power with the adjusted power supply current, the power supply current of the battery assembly can be limited to prevent the battery assembly from outputting a large current and causing damage, thereby ensuring the safety of the battery and connector.

[0091] In some embodiments, see Figure 6 and Figure 7 The unmanned aerial vehicle includes a battery assembly 200, a power system 110, and a control system 120. It may also include a switching circuit 130. The switching circuit 130 may be integrated with the battery assembly 200 or separately provided, but this is not limited to this. For example, part of the switching circuit 130 may be provided on the battery assembly 200, while another part may be provided on the power system 110. The battery assembly 200 includes at least one battery 210, the power system 110 includes an electronic speed controller and a motor, and the control system 120 includes a main controller and a flight controller.

[0092] The main controller obtains the operating status of the UAV from the flight controller. When the UAV is in motion, it adjusts the power supply mode of the battery 210 to adjust the supply current of the battery assembly 200 to a third supply current, and controls the switch circuit 130 (e.g., by controlling the switch circuit 130 via an enable signal) so that the battery assembly 200 supplies power to the power system 110 of the movable platform with the third supply current. Specifically, the main controller may control the first switch and the second switch in the switch circuit 130 to be closed; and controls the battery assembly 200 to supply power to the control system 120 and / or the power system 110 with the second supply current. When the UAV is stationary, the number of batteries 210 included in the battery assembly 200 is detected. When a change in the number of batteries 210 is detected and the number of batteries 210 is greater than one, the voltage of the batteries 210 is obtained, and the voltage difference between the batteries 210 is determined based on the voltage of the batteries 210.

[0093] When the voltage difference is greater than or equal to a preset first voltage threshold, such as 0.7V, the power supply mode of battery 210 is adjusted to a low-current mode, i.e., the power supply current of battery assembly 200 is adjusted to a first power supply current that is less than or equal to the preset first current threshold; and the switch circuit 130 is controlled to disconnect the battery assembly 200 from the power system 110, so that the position of the UAV does not change due to the operation of the power system 110, for example, the UAV remains stationary. The battery 210 with a higher voltage can also be controlled to charge the battery 210 with a lower voltage to reduce the voltage difference, for example, by controlling the third switch in the switch circuit 130 to close so that the battery with a higher voltage charges the battery with a lower voltage.

[0094] like Figure 7 As shown, when the voltage difference is less than the first voltage threshold, the power supply mode of the battery 210 is adjusted to adjust the power supply current of the battery assembly 200 to a second power supply current that is less than or equal to a preset second current threshold.

[0095] For example, when the voltage difference is less than the first voltage threshold, the switch circuit 130 can be controlled to connect the battery assembly 200 and the power system 110, and the electric regulator can also be controlled to control the switch circuit 130 to connect the battery assembly 200 to supply power to the motor through an enable signal.

[0096] For example, Figure 7As shown, when the voltage difference is less than the first voltage threshold and greater than or equal to the second voltage threshold, such as 0.2V, the control switch circuit 130 disconnects the battery assembly 200 from the power system 110, such that the UAV remains stationary. Alternatively, the control switch circuit 130 may continue to control the battery 210 with the higher voltage to charge the battery 210 with the lower voltage, further reducing the voltage difference. When the voltage difference is less than the second voltage threshold, the control switch circuit 130 connects the battery assembly 200 to the power system 110, so that the battery assembly 200 supplies power to the control system 120 and / or the power system 110 at the second supply current.

[0097] For example, by integrating battery voltage information with the UAV's operating status, the switch between the battery pack and the power system can be controlled. If the battery voltage difference is too large, the switch is disconnected, preventing the UAV from taking off. When the UAV is in motion, the switch can be forcibly closed to ensure stable power supply, such as the power system, and flight safety.

[0098] Exemplarily, when the voltage difference of the battery is too large, the power supply current of the battery assembly is adjusted to a smaller first power supply current to support the operation of the control system.

[0099] Exemplarily, when the voltage difference of the batteries is less than a first voltage threshold, the power supply current of the battery assembly is adjusted to a larger second voltage threshold. When the voltage difference of the batteries is less than a second voltage threshold, the switch between the battery assembly and the power system is controlled to close, and the unmanned aerial vehicle can perform operations such as takeoff.

[0100] In some embodiments, it is possible to ensure that the mobile platform does not move when there is an excessive voltage difference in the battery. For example, when there is an excessive voltage difference in the battery, the power supply to the power system is disconnected, preventing the UAV from taking off, eliminating the risk of battery current backflow. At the same time, it ensures that the UAV is in flight.

[0101] In some embodiments, when the voltage difference between the batteries is large, the battery with the larger voltage may be controlled to charge the battery with the smaller voltage to reduce the voltage difference and thus reduce the inrush current.

[0102] In some embodiments, as Figure 8As shown, the second switch 32 between the battery pack 200 and the power system 110 is connected in parallel with the pre-charge circuit 34. The second switch 32 and the pre-charge circuit 34 can be called a slow start circuit, and the slow start circuit can also include a drive circuit of a switch. The pre-charge circuit 34, for example, includes a resistance circuit. When there is a voltage difference between the battery 210 in the battery pack 200 and the power system 110, the battery 210 charges the power system 110 by the pre-charge circuit 34, to reduce the voltage difference between the battery 210 and the power system 110. The rising speed of the voltage output by the battery 210 is slower, and the inrush current of the electric current can be suppressed. When the voltage difference is smaller, the second switch 32 can be controlled to close, and a low impedance path is provided for high current loads.

[0103] For example, see Figure 9 , the voltage of the power system is U1. When a battery with a voltage of U2 is added to the movable platform, the voltage on the input side of the slow start circuit increases; see Figure 9 The inrush current Irush1 when there is no pre-charge circuit and Irush2 when there is a pre-charge circuit are present. Due to the presence of the pre-charge circuit, the inrush current Irush is greatly suppressed. The pre-charge circuit charges the capacitors in the power system, increasing the capacitor voltage. When the voltage of the capacitor in the power system reaches a set threshold or the voltage difference between it and the battery is less than the corresponding threshold, the second switch can be controlled to close, providing a low-impedance voltage path for the power system to obtain a larger current, meeting the power system's needs and reducing voltage drop and power consumption.

[0104] In some embodiments, a pre-charging circuit is also connected in parallel to the third switch between the multiple batteries, which can suppress the current when the battery with a larger voltage charges the battery with a smaller voltage.

[0105] In some implementations, hot battery swapping (battery replacement without power interruption) can be implemented on mobile platforms, such as unmanned aerial vehicles (UAVs). This approach suppresses the surge current associated with hot battery swapping while also ensuring the safety of the flight system's power supply. This provides a safe, stable, and reliable path for enabling long-term, uninterrupted operation of UAVs, while also improving the endurance of UAVs. This approach can ensure the continuity of flight operations, improve the operational efficiency of UAVs, and further expand the application scope of multi-rotor UAVs.

[0106] To address the inrush current during battery hot swapping, a soft-start pre-charging circuit can be used to suppress the inrush current caused by voltage mutations. By integrating battery information and operating status, intelligent switching of battery supply current and pre-charging monitoring during battery hot swapping can be achieved, thereby ensuring power supply safety and stability.

[0107] See also Figure 10 , Figure 107 is a schematic block diagram of a movable platform 700 provided in an embodiment of the present application. Optionally, the movable platform 700 may be applicable to the aforementioned power supply control method.

[0108] For example, the movable platform 700 may include at least one of an unmanned aerial vehicle, a gimbal, an unmanned vehicle, etc. Further, the unmanned aerial vehicle may be a rotary-wing drone, such as a quad-rotor drone, a hexacopter drone, an octo-rotor drone, or a fixed-wing drone.

[0109] like Figure 10 As shown, the movable platform 700 can carry a battery assembly 200 for powering the movable platform 700 , and the battery assembly 200 includes at least one battery 210 .

[0110] For example, Figure 3 As shown, one or more battery receiving portions 10 are provided on the movable platform 700 , and the battery 210 can be detachably received in the battery receiving portion 10 .

[0111] Illustratively, the battery assembly 200 includes a battery receiving assembly (not shown), which is provided with one or more battery receiving portions 10, and the battery 210 is disposed in the battery receiving portion 10. Optionally, the battery 210 is fixedly connected to the battery receiving portion 10, and the battery assembly 200 can be detachably connected to the movable platform 700; or, the battery receiving assembly is fixedly connected to the movable platform 700, and the battery 210 can be detachably received in the battery receiving portion 10 of the battery receiving assembly.

[0112] In some embodiments, the movable platform 700 includes a power system 110, and the position of the movable platform changes when the power system 110 is in operation. Exemplarily, when the movable platform 700 comprises an unmanned aerial vehicle, the power system 110 includes an electric speed controller and / or a rotor assembly, wherein the rotor assembly may include a motor and rotors. The electric speed controller is used to determine the rotation of the motor, which drives the rotor rotation. Optionally, the electric speed controller may be provided separately from or integrated with the rotor assembly. Optionally, the power system 110 may also include a gimbal mounted on the movable platform 700. Exemplarily, when the movable platform 700 comprises an unmanned vehicle, the power system 110 includes wheels and motors for driving the wheels.

[0113] In some embodiments, the movable platform 700 further includes a control system 120, which is used to control the operation of the power system 110 to adjust the position and posture of the movable platform 700. For example, the control system 120 includes a controller and sensors. The controller can obtain information such as the position and posture of the movable platform 700, and the positional relationship between the movable platform 700 and other objects (such as the ground, buildings, and trees) through the sensors. Based on the obtained information, the controller controls the operation of the power system 110, such as adjusting the position and posture of the movable platform 700 by controlling the working state (direction and speed) of the motor through the electronic control.

[0114] The mobile platform 700 includes one or more processors 701, which work individually or collectively to execute the steps of the aforementioned mobile platform power supply control method. Processor 701 can be, for example, a processor in the control system 120, or can be a processor independent of the control system 120, and this embodiment of the application is not limited thereto.

[0115] Illustratively, the movable platform 700 further includes a memory.

[0116] Exemplarily, the processor 701 and the memory are connected via a bus, such as an I2C (Inter-integrated Circuit) bus.

[0117] Specifically, the processor 701 may be a micro-controller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP), but is certainly not limited thereto.

[0118] Specifically, the memory may be a Flash chip, a Read-Only Memory (ROM) disk, an optical disk, a USB flash drive, or a mobile hard disk.

[0119] The processor 701 is configured to run a computer program stored in a memory, and implement the steps of the aforementioned method for controlling power supply of a mobile platform when executing the computer program.

[0120] Exemplarily, the processor 701 is configured to run a computer program stored in a memory, and implement the following steps when executing the computer program:

[0121] detecting a working state of the movable platform, wherein the working state includes a stationary state;

[0122] When the movable platform is in the stationary state, detecting the number of batteries included in the battery assembly; when detecting that the number of batteries has changed, adjusting the power supply current of the battery assembly according to the voltage of the batteries after the number has changed;

[0123] The battery assembly is controlled to supply power to the movable platform with the adjusted power supply current.

[0124] Optionally, when the processor executes the step of adjusting the supply current of the battery assembly according to the voltage of the battery after the quantity is changed, it is configured to:

[0125] Get the voltage of the battery after the number is changed;

[0126] determining a voltage difference between the changed number of batteries based on the voltages of the changed number of batteries;

[0127] The supply current of the battery assembly is adjusted according to the voltage difference between the batteries after the number is changed.

[0128] Optionally, when the processor executes the step of adjusting the supply current of the battery assembly according to the voltage of the battery after the quantity is changed, it is configured to:

[0129] When the number of the batteries is greater than 1, obtaining the voltage of the batteries after the number is changed;

[0130] determining a voltage difference between the batteries after the number of batteries has been changed based on the voltages of the batteries after the number of batteries has been changed;

[0131] The power supply current of the battery assembly is adjusted according to the voltage difference.

[0132] Optionally, when the processor executes the step of adjusting the supply current of the battery assembly according to the voltage difference, the processor is configured to:

[0133] When the voltage difference is greater than or equal to a preset first voltage threshold, adjusting the power supply current of the battery assembly to a first power supply current; wherein the magnitude of the first power supply current is less than or equal to a preset first current threshold;

[0134] When the processor executes the step of controlling the battery assembly to supply power to the movable platform with the adjusted supply current, the processor is configured to:

[0135] The battery assembly is controlled to supply power to the movable platform with the first power supply current.

[0136] Optionally, when the processor executes the step of controlling the battery assembly to supply power to the movable platform with the first power supply current, the processor is configured to:

[0137] controlling the circuit conduction between the battery assembly and the control system of the movable platform, and

[0138] controlling the disconnection of a circuit between the battery assembly and the power system of the movable platform;

[0139] The battery assembly is controlled to supply power to the control system with the first power supply current.

[0140] Optionally, when the processor executes the step of adjusting the supply current of the battery assembly according to the voltage difference, the processor is configured to:

[0141] When the voltage difference is less than a preset first voltage threshold, adjusting the power supply current of the battery assembly to a second power supply current, wherein the magnitude of the second power supply current is less than or equal to a preset second current threshold;

[0142] Wherein, the second current threshold is greater than the first current threshold;

[0143] When the processor executes the step of controlling the battery assembly to supply power to the movable platform with the adjusted supply current, the processor is configured to:

[0144] The battery assembly is controlled to supply power to the movable platform with the second power supply current.

[0145] Optionally, when the processor executes the step of controlling the battery assembly to supply power to the movable platform with the second power supply current, the processor is configured to:

[0146] controlling the circuit conduction between the battery assembly and the control system of the movable platform, and

[0147] controlling the circuit conduction between the battery assembly and the power system of the movable platform;

[0148] The battery assembly is controlled to supply power to the control system and the power system with the second power supply current.

[0149] Optionally, the working state includes a motion state, and the processor is further configured to execute:

[0150] When the movable platform is in motion, the power supply current of the battery assembly is adjusted to a third power supply current, wherein the magnitude of the third power supply current is less than or equal to a preset third current threshold.

[0151] Optionally, when the processor executes the step of controlling the battery assembly to supply power to the movable platform with the adjusted supply current, the processor is configured to:

[0152] The battery assembly is controlled to supply power to the movable platform with the third power supply current.

[0153] Optionally, when the processor executes the step of controlling the circuit conduction between the battery assembly and the power system of the movable platform, it is configured to:

[0154] determining a voltage difference between at least one of the batteries based on the voltage of the batteries;

[0155] When the voltage difference is greater than a second voltage threshold, the battery with a larger voltage is controlled to charge the battery with a smaller voltage, so as to adjust the voltage difference to the second voltage threshold.

[0156] Optionally, when the processor executes the step of controlling the battery assembly to supply power to the movable platform with the third power supply current, the processor is configured to:

[0157] controlling the conduction of a circuit between the battery assembly and the power system of the mobile platform according to the voltage of at least one of the batteries;

[0158] The battery assembly is controlled to supply power to the power system with the third power supply current.

[0159] Optionally, when the processor controls the conduction of a circuit between the battery assembly and the power system of the mobile platform according to the voltage of at least one of the batteries, the processor is configured to:

[0160] obtaining a voltage of at least one of the batteries;

[0161] determining a voltage difference between at least one of the batteries based on the voltage;

[0162] The conduction of a circuit between the battery assembly and the power system of the movable platform is controlled according to the voltage difference.

[0163] Optionally, when the processor executes the step of controlling the circuit conduction between the battery assembly and the power system of the movable platform according to the voltage difference, it is configured to:

[0164] determining a voltage difference between at least one of the batteries based on the voltage of the batteries;

[0165] When the voltage difference is greater than a second voltage threshold, controlling the battery with a larger voltage to charge the battery with a smaller voltage, so as to adjust the voltage difference to the second voltage threshold;

[0166] When the voltage difference is adjusted to the second voltage threshold, the circuit between the battery assembly and the power system of the movable platform is controlled to be conductive.

[0167] Optionally, when the processor executes the step of controlling the circuit conduction between the battery assembly and the power system of the movable platform according to the voltage difference, it is configured to:

[0168] When the voltage difference is less than or equal to the second voltage threshold, the circuit between the battery assembly and the power system of the movable platform is controlled to be conductive, so that the battery assembly can supply power to the power system.

[0169] Optionally, when the processor executes the step of adjusting the supply current of the battery assembly according to the voltage of the battery after the quantity is changed, it is configured to:

[0170] When the number of the changed batteries is equal to 1, obtaining the voltage of the batteries whose number has been changed;

[0171] determining the voltage of the changed number of batteries as a voltage difference between the changed number of batteries;

[0172] The power supply current of the battery assembly is adjusted according to the voltage difference.

[0173] Optionally, when executing the step of detecting the working status of the movable platform, the processor is configured to:

[0174] obtaining the current and / or power of the power system of the movable platform;

[0175] The operating state of the movable platform is determined according to the current and / or power of the power system.

[0176] Optionally, when the processor executes the step of determining the operating state of the movable platform according to the current and / or power of the power system, the processor is configured to:

[0177] When the current of the power system is greater than or equal to a preset current threshold and / or the power is greater than or equal to a preset power threshold, it is determined that the movable platform is in a moving state.

[0178] Optionally, when the processor executes the step of determining the operating state of the movable platform according to the current and / or power of the power system, the processor is configured to:

[0179] When the current of the power system is less than a preset current threshold and / or the power is less than a preset power threshold, it is determined that the movable platform is in a stationary state.

[0180] Optionally, when executing the step of detecting the working status of the movable platform, the processor is configured to:

[0181] Obtaining the position and / or altitude of the movable platform;

[0182] The working state of the movable platform is determined according to the position and / or altitude of the movable platform.

[0183] Optionally, when the processor executes the step of determining the operating state of the movable platform according to the position and / or altitude of the movable platform, the processor is configured to:

[0184] When the rate of change of the position of the movable platform is greater than or equal to a preset speed threshold, and / or the altitude is greater than or equal to a preset height threshold, it is determined that the movable platform is in motion.

[0185] Optionally, when the processor executes the step of determining the operating state of the movable platform according to the position and / or altitude of the movable platform, the processor is configured to:

[0186] When the rate of change of the position of the movable platform is less than a preset speed threshold, and the altitude is less than a preset height threshold, it is determined that the movable platform is in a stationary state.

[0187] The specific principles and implementation methods of the mobile platform provided in the embodiments of the present application are similar to the power supply control method of the mobile platform in the aforementioned embodiments, and will not be repeated here.

[0188] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. The computer program includes program instructions. When the computer program is executed by a processor, the processor implements the steps of the power supply control method for the mobile platform provided in the above embodiment.

[0189] The computer-readable storage medium may be an internal storage unit of the mobile platform described in any of the aforementioned embodiments, such as a hard disk or memory of the mobile platform. The computer-readable storage medium may also be an external storage device of the mobile platform, such as a plug-in hard disk, a SmartMedia Card (SMC), a Secure Digital (SD) card, a Flash Card, etc., equipped on the mobile platform.

[0190] It should be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application.

[0191] It will also be understood that the term "and / or" as used in this application and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0192] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A power supply control method for a movable platform, wherein the movable platform comprises a battery assembly for powering the movable platform, the battery assembly comprising at least one battery, characterized in that: The method comprises: detecting a working state of the movable platform, wherein the working state includes a stationary state; When the movable platform is in the stationary state, detecting the number of batteries included in the battery assembly; when detecting that the number of batteries has changed, adjusting the power supply current of the battery assembly according to the voltage of the batteries after the number has changed; controlling the battery assembly to supply power to the movable platform with the adjusted supply current; Wherein, when the voltage difference between the batteries after the number is changed is greater than or equal to a preset first voltage threshold, the power supply current of the battery assembly is adjusted to a first power supply current; wherein the magnitude of the first power supply current is less than or equal to a preset first current threshold; the circuit between the battery assembly and the control system of the movable platform is controlled to be conductive, and the circuit between the battery assembly and the power system of the movable platform is controlled to be disconnected, and the battery assembly supplies power to the control system.

2. The method according to claim 1, characterized in that The step of adjusting the supply current of the battery assembly according to the voltage of the battery after the number of batteries has changed includes: When the number of batteries after the change is greater than 1, the voltage of the batteries after the change is obtained; determining a voltage difference between the batteries based on the voltages of the batteries after the number of changes; The power supply current of the battery assembly is adjusted according to the voltage difference.

3. The method according to claim 2, characterized in that The adjusting the supply current of the battery assembly according to the voltage difference includes: When the voltage difference is less than a preset first voltage threshold, adjusting the power supply current of the battery assembly to a second power supply current, wherein the magnitude of the second power supply current is less than or equal to a preset second current threshold; Wherein, the second current threshold is greater than the first current threshold; The controlling the battery assembly to supply power to the movable platform with the adjusted supply current includes: The battery assembly is controlled to supply power to the movable platform with the second power supply current.

4. The method according to claim 3, characterized in that The controlling the battery assembly to supply power to the movable platform with the second power supply current includes: controlling the circuit conduction between the battery assembly and the control system of the movable platform, and controlling the conduction of a circuit between the battery assembly and a power system of the movable platform according to the voltage difference; The battery assembly is controlled to supply power to the control system and the power system with the second power supply current.

5. The method according to claim 1, wherein The working state includes a motion state, and the method further includes: When the movable platform is in motion, adjusting the power supply current of the battery assembly to a third power supply current, wherein the magnitude of the third power supply current is less than or equal to a preset third current threshold; The controlling the battery assembly to supply power to the movable platform with the adjusted supply current includes: The battery assembly is controlled to supply power to the movable platform with the third power supply current.

6. The method according to claim 5, characterized in that The controlling the battery assembly to supply power to the movable platform with the third power supply current includes: controlling the conduction of a circuit between the battery assembly and the power system of the mobile platform according to the voltage of at least one of the batteries; The battery assembly is controlled to supply power to the power system with the third power supply current.

7. The method according to claim 6, characterized in that The controlling the circuit conduction between the battery assembly and the power system of the movable platform according to the voltage of at least one of the batteries includes: When the number of batteries after the change is greater than 1, obtaining the voltage of the battery; and determining the voltage difference between the batteries based on the voltage; or when the number of batteries after the change is equal to 1, obtaining the voltage of the battery after the number of batteries after the change, and determining the voltage of the battery after the number of batteries after the change as the voltage difference between the batteries after the number of batteries after the change; The conduction of a circuit between the battery assembly and the power system of the movable platform is controlled according to the voltage difference.

8. The method according to claim 4 or 7, characterized in that The controlling the circuit conduction between the battery assembly and the power system of the movable platform according to the voltage difference includes: determining a voltage difference between the batteries based on the voltages of the batteries; When the voltage difference is greater than a second voltage threshold, controlling the battery with a larger voltage to charge the battery with a smaller voltage, so as to adjust the voltage difference to the second voltage threshold; When the voltage difference is adjusted to the second voltage threshold, the circuit between the battery assembly and the power system of the movable platform is controlled to be conductive.

9. The method according to claim 4 or 7, characterized in that The controlling the circuit conduction between the battery assembly and the power system of the movable platform according to the voltage difference includes: When the voltage difference is less than or equal to a second voltage threshold, the circuit between the battery assembly and the power system of the movable platform is controlled to be conductive, so that the battery assembly can supply power to the power system.

10. The method according to claim 1, characterized in that The step of adjusting the supply current of the battery assembly according to the voltage of the battery after the number of batteries has changed includes: When the number of the changed batteries is equal to 1, the voltage of the batteries whose number has been changed is obtained; determining the voltage of the changed number of batteries as a voltage difference between the changed number of batteries; The power supply current of the battery assembly is adjusted according to the voltage difference.

11. The method according to any one of claims 1 to 7, characterized in that The detecting the working state of the movable platform includes: obtaining the current and / or power of the power system of the movable platform; The operating state of the movable platform is determined according to the current and / or power of the power system.

12. The method according to claim 11, characterized in that Determining the operating state of the movable platform according to the current and / or power of the power system includes: When the current of the power system is greater than or equal to a preset current threshold and / or the power is greater than or equal to a preset power threshold, it is determined that the movable platform is in a moving state.

13. The method according to claim 11, characterized in that Determining the operating state of the movable platform according to the current and / or power of the power system includes: When the current of the power system is less than a preset current threshold and / or the power is less than a preset power threshold, it is determined that the movable platform is in a stationary state.

14. The method according to any one of claims 1 to 7, characterized in that The detecting the working state of the movable platform includes: Obtaining the position and / or altitude of the movable platform; The working state of the movable platform is determined according to the position and / or altitude of the movable platform.

15. The method according to claim 14, characterized in that Determining the operating state of the movable platform according to the position and / or altitude of the movable platform includes: When the rate of change of the position of the movable platform is greater than or equal to a preset speed threshold, it is determined that the movable platform is in motion; and / or When the altitude is greater than or equal to a preset altitude threshold, it is determined that the movable platform is in a moving state.

16. The method according to claim 14, characterized in that Determining the operating state of the movable platform according to the position and / or altitude of the movable platform includes: When the rate of change of the position of the movable platform is less than a preset speed threshold, and the altitude is less than a preset height threshold, it is determined that the movable platform is in a stationary state.

17. A movable platform, characterized in that: capable of carrying a battery assembly for powering the movable platform, the battery assembly comprising at least one battery; The mobile platform includes one or more processors, working individually or collectively to perform the following steps: detecting a working state of the movable platform, wherein the working state includes a stationary state; When the movable platform is in the stationary state, detecting the number of batteries included in the battery assembly; When a change in the number of the batteries is detected, adjusting the power supply current of the battery assembly according to the voltage of the batteries after the change in number; controlling the battery assembly to supply power to the movable platform with the adjusted supply current; Among them, when the voltage difference between the batteries after the number is changed is greater than or equal to a preset first voltage threshold, the power supply current of the battery assembly is adjusted to a first power supply current; wherein the magnitude of the first power supply current is less than or equal to a preset first current threshold; the circuit between the battery assembly and the control system of the movable platform is controlled to be conductive, and the circuit between the battery assembly and the power system of the movable platform is controlled to be disconnected, and the battery assembly supplies power to the control system.

18. The movable platform according to claim 17, wherein: When the processor executes the step of adjusting the supply current of the battery assembly according to the voltage of the battery after the quantity is changed, it is configured to: When the number of the batteries is greater than 1, obtaining the voltage of the batteries after the number is changed; determining a voltage difference between the batteries after the number of batteries has been changed based on the voltages of the batteries after the number of batteries has been changed; The power supply current of the battery assembly is adjusted according to the voltage difference.

19. The movable platform according to claim 18, wherein: When the processor executes the step of adjusting the supply current of the battery assembly according to the voltage difference, the processor is configured to: When the voltage difference is less than a preset first voltage threshold, adjusting the power supply current of the battery assembly to a second power supply current, wherein the magnitude of the second power supply current is less than or equal to a preset second current threshold; Wherein, the second current threshold is greater than the first current threshold; When the processor executes the step of controlling the battery assembly to supply power to the movable platform with the adjusted supply current, the processor is configured to: The battery assembly is controlled to supply power to the movable platform with the second power supply current.

20. The movable platform according to claim 19, wherein: When the processor executes the step of controlling the battery assembly to supply power to the movable platform with the second power supply current, the processor is configured to: controlling the circuit conduction between the battery assembly and the control system of the movable platform, and controlling the conduction of a circuit between the battery assembly and a power system of the movable platform according to the voltage; The battery assembly is controlled to supply power to the control system and the power system with the second power supply current.

21. The movable platform according to claim 17, wherein: The working state includes a motion state, and the processor is further configured to execute: When the movable platform is in motion, adjusting the power supply current of the battery assembly to a third power supply current, wherein the magnitude of the third power supply current is less than or equal to a preset third current threshold; When the processor executes the step of controlling the battery assembly to supply power to the movable platform with the adjusted supply current, the processor is configured to: The battery assembly is controlled to supply power to the movable platform with the third power supply current.

22. The movable platform according to claim 21, wherein: When the processor executes the step of controlling the battery assembly to supply power to the movable platform with the third power supply current, the processor is configured to: controlling the conduction of a circuit between the battery assembly and the power system of the mobile platform according to the voltage of at least one of the batteries; The battery assembly is controlled to supply power to the power system with the third power supply current.

23. The movable platform according to claim 22, wherein: When the processor controls the conduction of the circuit between the battery assembly and the power system of the mobile platform according to the voltage of at least one of the batteries, the processor is configured to: When the number of batteries after the change is greater than 1, obtaining the voltage of the battery; and determining the voltage difference between the batteries based on the voltage; or when the number of batteries after the change is equal to 1, obtaining the voltage of the battery after the number of batteries after the change, and determining the voltage of the battery after the number of batteries after the change as the voltage difference between the batteries after the number of batteries after the change; The conduction of a circuit between the battery assembly and the power system of the movable platform is controlled according to the voltage difference.

24. The movable platform according to claim 20 or 23, characterized in that When the processor executes the step of controlling the circuit conduction between the battery assembly and the power system of the movable platform according to the voltage difference, the processor is configured to: determining a voltage difference between the batteries based on the voltages of the batteries; When the voltage difference is greater than a second voltage threshold, controlling the battery with a larger voltage to charge the battery with a smaller voltage, so as to adjust the voltage difference to the second voltage threshold; When the voltage difference is adjusted to the second voltage threshold, the circuit between the battery assembly and the power system of the movable platform is controlled to be conductive.

25. The movable platform according to claim 20 or 23, characterized in that When the processor executes the step of controlling the circuit conduction between the battery assembly and the power system of the movable platform according to the voltage difference, the processor is configured to: When the voltage difference is less than or equal to a second voltage threshold, the circuit between the battery assembly and the power system of the movable platform is controlled to be conductive, so that the battery assembly can supply power to the power system.

26. The movable platform according to claim 17, wherein: When the processor executes the step of adjusting the supply current of the battery assembly according to the voltage of the battery after the quantity is changed, it is configured to: When the number of the changed batteries is equal to 1, obtaining the voltage of the batteries whose number has been changed; determining the voltage of the changed number of batteries as a voltage difference between the changed number of batteries; The power supply current of the battery assembly is adjusted according to the voltage difference.

27. The movable platform according to any one of claims 17 to 23, characterized in that: When the processor executes the step of detecting the working state of the movable platform, the processor is configured to: obtaining the current and / or power of the power system of the movable platform; The operating state of the movable platform is determined according to the current and / or power of the power system.

28. The movable platform according to claim 27, wherein: When the processor executes the step of determining the operating state of the movable platform according to the current and / or power of the power system, the processor is configured to: When the current of the power system is greater than or equal to a preset current threshold and / or the power is greater than or equal to a preset power threshold, it is determined that the movable platform is in a moving state.

29. The movable platform according to claim 27, wherein: When the processor executes the step of determining the operating state of the movable platform according to the current and / or power of the power system, the processor is configured to: When the current of the power system is less than a preset current threshold and / or the power is less than a preset power threshold, it is determined that the movable platform is in a stationary state.

30. The movable platform according to any one of claims 17 to 23, characterized in that When the processor executes the step of detecting the working state of the movable platform, the processor is configured to: Obtaining the position and / or altitude of the movable platform; The working state of the movable platform is determined according to the position and / or altitude of the movable platform.

31. The movable platform according to claim 30, wherein: When the processor executes the step of determining the working state of the movable platform according to the position and / or altitude of the movable platform, the processor is configured to: When the rate of change of the position of the movable platform is greater than or equal to a preset speed threshold, and / or the altitude is greater than or equal to a preset height threshold, it is determined that the movable platform is in motion.

32. The movable platform according to claim 30, wherein: When the processor executes the step of determining the working state of the movable platform according to the position and / or altitude of the movable platform, the processor is configured to: When the rate of change of the position of the movable platform is less than a preset speed threshold, and the altitude is less than a preset height threshold, it is determined that the movable platform is in a stationary state.

33. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, enables the processor to implement the steps of the power supply control method for a mobile platform according to any one of claims 1 to 16.

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