A battery warehouse dynamic balancing method, device and computer readable storage medium

Abstract

The application discloses a battery cargo hold dynamic trimming method, device and computer readable storage medium, wherein the method comprises the following steps: in the take-off stage of an aircraft, if it is detected that the current trimming state is a non-level state, detecting whether the inside of the aircraft has been arranged with a cargo hold; when the cargo hold has been arranged, detecting whether the inside of the cargo hold has been stored with goods; when the goods have not been stored, transferring the battery modules of at least part of the structure of the cargo hold to the aircraft according to the current balance data, so that the aircraft reaches a balance state; when the goods have been stored, reconstructing the battery modules of at least part of the structure of the cargo hold according to the shape data of the goods and the balance data, so that the aircraft reaches a balance state. The application realizes an adaptive battery cargo hold dynamic trimming scheme, saves the manpower and material resources cost brought by manual trimming, and improves the logistics efficiency of the unmanned aircraft.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle technology, and in particular to a method, apparatus and computer-readable storage medium for dynamic trimming of a battery cargo compartment. Background Technology

[0002] With the continuous development of unmanned aerial vehicle technology, drone logistics has become an emerging logistics trend.

[0003] Currently, when drones are used in logistics to transport goods, the process involves first loading various types of goods into a cargo hold, then using specialized balancing equipment to balance the drones before they can operate normally and take off. In this type of transportation, the drone balancing process is time-consuming and labor-intensive, significantly impacting logistics efficiency. Furthermore, the balancing weights add extra load to the drones, reducing their limited range.

[0004] Therefore, how to effectively avoid the reduction in the timeliness and range of drone logistics caused by trimming has become an urgent technical problem to be solved. Summary of the Invention

[0005] To address the aforementioned technical deficiencies in the prior art, this invention proposes a dynamic balancing method for battery storage, which includes:

[0006] During the takeoff phase of an aircraft, if the current trim status is detected to be non-flat, then it is checked whether a cargo hold has been installed inside the aircraft.

[0007] Once the warehouse has been set up, it is detected whether goods are already stored inside the warehouse;

[0008] When the cargo is not stored, the battery modules of at least a portion of the cargo hold structure are transferred to the aircraft based on the current balance data to bring the aircraft to a balanced state.

[0009] When the cargo is already stored, the battery modules of at least a portion of the cargo hold structure are reconstructed based on the cargo's morphology data and the balance data to bring the aircraft to a balanced state.

[0010] Optionally, during the takeoff phase of the aircraft, if the current trim state is detected to be non-flat, the step of detecting whether a cargo hold has been installed inside the aircraft includes:

[0011] If the aircraft is detected to be in a non-flat state, then it is detected whether the aircraft is equipped with a modular battery module.

[0012] Once it is determined that the aircraft is equipped with a modular battery module, it is checked whether the cargo hold has been installed inside the aircraft.

[0013] Optionally, when the warehouse has been set up, detecting whether goods are already stored inside the warehouse includes:

[0014] When the warehouse has been installed, check whether the warehouse is equipped with a modular battery module;

[0015] Once it is determined that the warehouse is equipped with modular battery modules, it is checked whether the goods are already stored inside the warehouse.

[0016] Optionally, the step of transferring at least a portion of the battery modules of the cargo hold to the aircraft based on current balance data when the cargo is not stored, so as to bring the aircraft to a balanced state, includes:

[0017] Acquire the first power storage data and current flight range power consumption data of the aircraft's battery modules, as well as the second power storage data and distribution data of the battery modules in the cargo hold;

[0018] Based on the first energy storage data, the energy consumption data, the second energy storage data, the distribution data, and the balance data, at least a portion of the battery modules of the cargo hold structure are transferred to the aircraft to bring the aircraft into a balanced state.

[0019] Optionally, the step of reconstructing at least a portion of the battery module structure of the cargo hold based on the cargo's morphology data and the balance data when the cargo is already stored, so as to bring the aircraft to a balanced state, includes:

[0020] Acquire the first power storage data and current flight range power consumption data of the aircraft's battery modules, as well as the second power storage data and distribution data of the battery modules in the cargo hold;

[0021] Based on the first energy storage data, the energy consumption data, the second energy storage data, the distribution data, the balance data, and the morphology data, at least a portion of the battery modules of the cargo hold are transferred to the aircraft, and at least a portion of the battery modules of the aircraft are transferred to the cargo hold, so that the aircraft reaches a balanced state.

[0022] This invention also proposes a dynamic balancing device for battery storage, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the following:

[0023] During the takeoff phase of an aircraft, if the current trim status is detected to be non-flat, then it is checked whether a cargo hold has been installed inside the aircraft.

[0024] Once the warehouse has been set up, it is detected whether goods are already stored inside the warehouse;

[0025] When the cargo is not stored, the battery modules of at least a portion of the cargo hold structure are transferred to the aircraft based on the current balance data to bring the aircraft to a balanced state.

[0026] When the cargo is already stored, the battery modules of at least a portion of the cargo hold structure are reconstructed based on the cargo's morphology data and the balance data to bring the aircraft to a balanced state.

[0027] Optionally, the computer program is implemented when executed by the processor as follows:

[0028] If the aircraft is detected to be in a non-flat state, then it is detected whether the aircraft is equipped with a modular battery module.

[0029] Once it is determined that the aircraft is equipped with a modular battery module, it is checked whether the cargo hold has been installed inside the aircraft.

[0030] Optionally, the computer program is implemented when executed by the processor as follows:

[0031] When the warehouse has been installed, check whether the warehouse is equipped with a modular battery module;

[0032] Once it is determined that the warehouse is equipped with modular battery modules, it is checked whether the goods are already stored inside the warehouse.

[0033] Optionally, the computer program is implemented when executed by the processor as follows:

[0034] When the cargo is not stored, acquire the first power storage data of the aircraft's battery modules and the power consumption data of the current flight, as well as the second power storage data of the battery modules in the cargo hold and the distribution data of the battery modules;

[0035] Based on the first energy storage data, the energy consumption data, the second energy storage data, the distribution data, and the balance data, at least a portion of the battery modules of the cargo hold structure are transferred to the aircraft to bring the aircraft into a balanced state.

[0036] Alternatively, when the cargo has been stored, obtain the first power storage data of the aircraft's battery modules and the power consumption data of the current flight, as well as the second power storage data of the battery modules in the cargo hold and the distribution data of the battery modules.

[0037] Based on the first energy storage data, the energy consumption data, the second energy storage data, the distribution data, the balance data, and the morphology data, at least a portion of the battery modules of the cargo hold are transferred to the aircraft, and at least a portion of the battery modules of the aircraft are transferred to the cargo hold, so that the aircraft reaches a balanced state.

[0038] The present invention also proposes a computer-readable storage medium storing a battery warehouse dynamic balancing program, which, when executed by a processor, implements the steps of the battery warehouse dynamic balancing method as described in any of the preceding claims.

[0039] The battery cargo compartment dynamic trimming method, apparatus, and computer-readable storage medium of this invention, during the aircraft's takeoff phase, if the current trimming state is detected to be non-flat, detects whether a cargo compartment has been placed inside the aircraft; if the cargo compartment has been placed, detects whether cargo is stored inside the cargo compartment; if no cargo is stored, transfers at least a portion of the battery modules from the cargo compartment to the aircraft based on current balance data to bring the aircraft to a balanced state; if cargo is stored, reconstructs at least a portion of the battery modules from the cargo compartment based on the cargo's morphology data and the balance data to bring the aircraft to a balanced state. This achieves an adaptive battery cargo compartment dynamic trimming scheme, saving the manpower and material costs associated with manual trimming and improving the logistics efficiency of unmanned aerial vehicles. Attached Figure Description

[0040] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0041] Figure 1 This is the first flowchart of the battery warehouse dynamic balancing method of the present invention;

[0042] Figure 2 This is the second flowchart of the battery warehouse dynamic balancing method of the present invention;

[0043] Figure 3 This is the third flowchart of the battery warehouse dynamic balancing method of the present invention;

[0044] Figure 4 This is the fourth flowchart of the battery warehouse dynamic balancing method of the present invention;

[0045] Figure 5 This is the fifth flowchart of the battery warehouse dynamic balancing method of the present invention. Detailed Implementation

[0046] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0047] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module," "part," or "unit" may be used interchangeably.

[0048] Figure 1 This is the first flowchart of the battery warehouse dynamic balancing method of the present invention. This embodiment proposes a battery warehouse dynamic balancing method, which includes:

[0049] S1. During the takeoff phase of the aircraft, if the current trim status is detected to be non-flat, then check whether the interior of the aircraft has been fitted with a cargo hold.

[0050] S2. When the warehouse has been set up, check whether the warehouse is already storing goods.

[0051] S3. When the cargo is not stored, transfer the battery modules of at least a portion of the cargo hold structure to the aircraft based on the current balance data so that the aircraft reaches a balanced state.

[0052] S4. When the cargo has been stored, the battery modules of at least a portion of the cargo hold structure are reconstructed based on the cargo's shape data and the balance data to bring the aircraft into a balanced state.

[0053] In this embodiment, the aircraft is a fixed-wing UAV or a multi-rotor UAV. The aircraft has multiple independent battery modules built-in. Each battery module can serve as a separate modular assembly. On one hand, multiple modular assemblies can be assembled into multiple battery banks to power the aircraft. On the other hand, multiple modular assemblies can also be assembled into a rectangular structure to serve as a cargo hold. Furthermore, in this embodiment, a portion of the battery modules in the cargo hold can be transferred to the aircraft, or a portion of the battery modules in the aircraft can be transferred to the cargo hold.

[0054] In this embodiment, during the aircraft's takeoff phase, if the current trim status is detected to be non-flat, the system checks whether a cargo hold has been installed inside the aircraft. Unlike conventional pre-takeoff manual trim, this embodiment can detect the trim status during takeoff operations and make adaptive adjustments based on the detection results, thus eliminating the need for manual intervention. This improves transportation efficiency and reduces manpower and material costs. Optionally, the system can determine whether a cargo hold has been installed inside the aircraft through close-range communication with the cargo hold.

[0055] In this embodiment, when the warehouse has been set up, it is detected whether goods are stored inside the warehouse. There are three detection methods: First, directly using the aircraft's sensors to detect the interior of the warehouse to determine whether goods are present and their physical characteristics. Second, querying the current air waybill by the aircraft to find one or more of the following: the goods to be shipped, the type of goods, and the goods parameters, thereby determining the physical characteristics. Third, sending a corresponding query request to the warehouse so that after detecting the physical characteristics of the goods it stores, the warehouse returns to the aircraft.

[0056] In this embodiment, when the cargo is not stored, battery modules from at least a portion of the cargo hold structure are transferred to the aircraft based on current balance data to bring the aircraft to a balanced state. One approach is to transfer the battery modules at the geometric center of the cargo hold to the area requiring ballast and connect them with the aircraft's battery modules in that area. This allows the transferred battery modules to both serve as ballast and provide additional power to the aircraft. Another approach is to divide the aircraft into areas requiring ballast and areas requiring weight reduction based on the aforementioned non-balanced state. Similarly, the cargo hold is divided according to the aforementioned area division rules, and battery modules from the cargo hold's areas requiring weight reduction are transferred to the aircraft's areas requiring ballast. Again, this allows the transferred battery modules to both serve as ballast and provide additional power to the aircraft.

[0057] In this embodiment, when the cargo is already stored, the battery modules of at least a portion of the cargo hold structure are reconstructed based on the cargo's shape data and the balance data to bring the aircraft to a balanced state. Unlike the processing method described above for when the cargo is not stored, this embodiment, for the scenario where the cargo is already stored, also considers the cargo's own storage requirements and further reconstructs the battery modules of at least a portion of the cargo hold structure based on the cargo's shape data and the balance data to bring the aircraft to a balanced state.

[0058] The beneficial effect of this embodiment is that, during the aircraft's takeoff phase, if the current trim state is detected to be non-flat, it checks whether a cargo hold has been installed inside the aircraft; if the cargo hold has been installed, it checks whether cargo is stored inside the cargo hold; if no cargo is stored, it transfers at least a portion of the battery modules from the cargo hold to the aircraft based on the current balance data to bring the aircraft to a balanced state; if cargo is stored, it reconstructs at least a portion of the battery modules from the cargo hold based on the cargo's morphology data and the balance data to bring the aircraft to a balanced state. This achieves an adaptive dynamic battery cargo hold trim scheme, saving the manpower and material costs associated with manual trimming and improving the logistics efficiency of unmanned aerial vehicles.

[0059] Figure 2 This is a second flowchart of the battery cargo compartment dynamic trimming method of the present invention. Based on the above embodiment, the step of detecting whether a cargo compartment has been installed inside the aircraft during the takeoff phase if the current trimming state is detected to be non-flat includes:

[0060] S11. If the aircraft is detected to be in a non-flat state, then detect whether the aircraft is equipped with a splicable battery module.

[0061] S12. When it is determined that the aircraft is equipped with a modular battery module, check whether the cargo hold has been installed inside the aircraft.

[0062] Optionally, in this embodiment, one detection method is as follows: In a non-flat state, firstly, determine the weight reduction area and the counterweight area of ​​the aircraft; then, detect whether the counterweight area of ​​the aircraft is equipped with a modular battery module; finally, if it is determined that the counterweight area of ​​the aircraft is equipped with a modular battery module, then detect whether the cargo hold is installed inside the aircraft; or if it is determined that the counterweight area of ​​the aircraft is not equipped with a modular battery module, but is equipped with a modular interface, then detect whether the cargo hold is installed inside the aircraft.

[0063] Optionally, in this embodiment, another detection method is as follows: In a non-flat state, firstly, determine the area of ​​the aircraft to be weight-reduced and the area to be counterweighted; then, detect whether the area of ​​the aircraft to be weight-reduced is equipped with a modular battery module; finally, if it is determined that the area of ​​the aircraft to be weight-reduced is equipped with a modular battery module, then detect whether the cargo hold has been installed inside the aircraft.

[0064] Figure 3 This is the third flowchart of the battery warehouse dynamic balancing method of the present invention. Based on the above embodiments, the step of detecting whether the warehouse is already filled with goods when the warehouse has been set up includes:

[0065] S21. When the cargo warehouse has been installed, detect whether the cargo warehouse is equipped with a modular battery module;

[0066] S22. When it is determined that the warehouse is equipped with a modular battery module, check whether the goods are already stored inside the warehouse.

[0067] Optionally, in this embodiment, based on the first detection method described above, it is detected whether the warehouse is equipped with a splicable battery module or the interface within a preset range of the area to be counterweighted. If it is determined that a splicable battery module or the interface is equipped, it is then detected whether the goods are stored inside the warehouse.

[0068] Optionally, in this embodiment, based on the second detection method described above, it is detected whether the warehouse is equipped with a modular battery module within a preset range of the area to be weight-reduced. If it is determined that a modular battery module is equipped, it is then detected whether the goods are stored inside the warehouse.

[0069] Figure 4 This is the fourth flowchart of the battery cargo warehouse dynamic balancing method of the present invention. Based on the above embodiments, the step of transferring at least a portion of the battery modules of the cargo warehouse to the aircraft according to the current balance data when the cargo is not stored, so as to bring the aircraft to a balanced state, includes:

[0070] S31. Obtain the first power storage data and the power consumption data of the current flight range of the aircraft's battery module, as well as the second power storage data and the distribution data of the battery module in the cargo hold;

[0071] S32. Based on the first energy storage data, the energy consumption data, the second energy storage data, the distribution data, and the balance data, transfer at least a portion of the battery modules of the cargo hold structure to the aircraft so that the aircraft reaches a balanced state.

[0072] Optionally, in this embodiment, the first power storage data includes the number of all battery modules carried by the aircraft and the power of each battery module, and the power consumption data includes the estimated power consumption for this flight and the number of battery modules corresponding to that power consumption.

[0073] Optionally, in this embodiment, the second energy storage data includes the number of all battery modules carried in the warehouse and the energy of each battery module, and the distribution data includes the location area of ​​all battery modules carried in the warehouse in the warehouse.

[0074] Optionally, in this embodiment, the balance data includes the weight reduction area and the counterweight area determined above, as well as the weight to be reduced in the weight reduction area and / or the counterweight to be counterweight in the counterweight area.

[0075] Optionally, in this embodiment, for scenarios where no goods are stored in the cargo warehouse, battery modules with preset power thresholds of at least a portion of the cargo warehouse structure are transferred to the aircraft based on the current balance data, so that the aircraft can reach a balanced state while also providing the aircraft with additional power supply.

[0076] Figure 5This is the fifth flowchart of the battery cargo hold dynamic balancing method of the present invention. Based on the above embodiments, when the cargo is already stored, the step of reconstructing at least a portion of the battery module structure of the cargo hold according to the morphological data of the cargo and the balance data to enable the aircraft to reach a balanced state includes:

[0077] S41. Obtain the first power storage data and the power consumption data of the current flight range of the aircraft's battery module, as well as the second power storage data and the distribution data of the battery module in the cargo hold;

[0078] S42. Based on the first energy storage data, the energy consumption data, the second energy storage data, the distribution data, the balance data, and the morphology data, transfer at least a portion of the battery modules of the cargo hold to the aircraft, and transfer at least a portion of the battery modules of the aircraft to the cargo hold, so that the aircraft reaches a balanced state.

[0079] Optionally, in this embodiment, the first power storage data includes the number of all battery modules carried by the aircraft and the power of each battery module, and the power consumption data includes the estimated power consumption for this flight and the number of battery modules corresponding to that power consumption.

[0080] Optionally, in this embodiment, the second energy storage data includes the number of all battery modules carried in the warehouse and the energy of each battery module, and the distribution data includes the location area of ​​all battery modules carried in the warehouse in the warehouse.

[0081] Optionally, in this embodiment, the balance data includes the weight reduction area and the counterweight area determined above, as well as the weight to be reduced in the weight reduction area and / or the counterweight to be counterweight in the counterweight area.

[0082] Optionally, in this embodiment, the morphological data includes the minimum bounding rectangle of the cargo.

[0083] Optionally, in this embodiment, for scenarios where the cargo is already stored in the cargo hold, on the one hand, at least a portion of the cargo hold's battery modules with a power level above a preset threshold are transferred to the aircraft, and at least a portion of the aircraft's battery modules with a power level below the threshold are transferred to the cargo hold, so that the aircraft can achieve a balanced state while also providing additional power supply to the aircraft; furthermore, at the end of the flight, the battery modules with a power level below the threshold that were replaced in the cargo hold can also be moved out with the cargo for recharging, and when the cargo hold is put into the next flight, it can continue to provide the aircraft with trim and additional power supply.

[0084] Based on the above embodiments, the present invention also proposes a dynamic balancing device for battery storage, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the following:

[0085] During the takeoff phase of an aircraft, if the current trim status is detected to be non-flat, then it is checked whether a cargo hold has been installed inside the aircraft.

[0086] Once the warehouse has been set up, it is detected whether goods are already stored inside the warehouse;

[0087] When the cargo is not stored, the battery modules of at least a portion of the cargo hold structure are transferred to the aircraft based on the current balance data to bring the aircraft to a balanced state.

[0088] When the cargo is already stored, the battery modules of at least a portion of the cargo hold structure are reconstructed based on the cargo's morphology data and the balance data to bring the aircraft to a balanced state.

[0089] Optionally, the computer program is implemented when executed by the processor as follows:

[0090] If the aircraft is detected to be in a non-flat state, then it is detected whether the aircraft is equipped with a modular battery module.

[0091] Once it is determined that the aircraft is equipped with a modular battery module, it is checked whether the cargo hold has been installed inside the aircraft.

[0092] Optionally, the computer program is implemented when executed by the processor as follows:

[0093] When the warehouse has been installed, check whether the warehouse is equipped with a modular battery module;

[0094] Once it is determined that the warehouse is equipped with modular battery modules, it is checked whether the goods are already stored inside the warehouse.

[0095] Optionally, the computer program is implemented when executed by the processor as follows:

[0096] When the cargo is not stored, acquire the first power storage data of the aircraft's battery modules and the power consumption data of the current flight, as well as the second power storage data of the battery modules in the cargo hold and the distribution data of the battery modules;

[0097] Based on the first energy storage data, the energy consumption data, the second energy storage data, the distribution data, and the balance data, at least a portion of the battery modules of the cargo hold structure are transferred to the aircraft to bring the aircraft into a balanced state.

[0098] Alternatively, when the cargo has been stored, obtain the first power storage data of the aircraft's battery modules and the power consumption data of the current flight, as well as the second power storage data of the battery modules in the cargo hold and the distribution data of the battery modules.

[0099] Based on the first energy storage data, the energy consumption data, the second energy storage data, the distribution data, the balance data, and the morphology data, at least a portion of the battery modules of the cargo hold are transferred to the aircraft, and at least a portion of the battery modules of the aircraft are transferred to the cargo hold, so that the aircraft reaches a balanced state.

[0100] It should be noted that the above-described device embodiments and method embodiments belong to the same concept. The specific implementation process can be found in the method embodiments, and the technical features in the method embodiments are also applicable to the device embodiments, which will not be repeated here.

[0101] Based on the above embodiments, the present invention also proposes a computer-readable storage medium storing a battery warehouse dynamic balancing program, which, when executed by a processor, implements the steps of the battery warehouse dynamic balancing method as described in any of the above embodiments.

[0102] It should be noted that the above-described medium embodiments and method embodiments belong to the same concept. The specific implementation process can be found in the method embodiments, and the technical features in the method embodiments are also applicable to the medium embodiments, which will not be repeated here.

[0103] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0104] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0105] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0106] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A method for dynamic balancing of battery warehouses, characterized in that, The method includes: During the takeoff phase of the aircraft, if the current trim status is detected to be non-flat, it is then checked whether a cargo hold has been installed inside the aircraft, wherein the cargo hold is a battery cargo hold constructed from modular battery modules that power the aircraft. Once the warehouse has been set up, it is detected whether goods are already stored inside the warehouse; When the cargo is not stored, the battery modules of at least a portion of the cargo hold structure are transferred to the aircraft based on the current balance data to bring the aircraft to a balanced state. When the cargo is already stored, the battery modules of at least a portion of the cargo hold structure are reconstructed based on the cargo's morphology data and the balance data to bring the aircraft to a balanced state.

2. The battery warehouse dynamic balancing method according to claim 1, characterized in that, During the takeoff phase of the aircraft, if the current trim status is detected to be non-flat, the system checks whether a cargo hold has been installed inside the aircraft, including: If the aircraft is detected to be in a non-flat state, then it is detected whether the aircraft is equipped with a modular battery module. Once it is determined that the aircraft is equipped with a modular battery module, it is checked whether the cargo hold has been installed inside the aircraft.

3. The battery warehouse dynamic balancing method according to claim 2, characterized in that, The step of detecting whether goods are stored inside the warehouse after the warehouse has been set up includes: When the warehouse has been installed, check whether the warehouse is equipped with a modular battery module; Once it is determined that the warehouse is equipped with modular battery modules, it is checked whether the goods are already stored inside the warehouse.

4. The battery warehouse dynamic balancing method according to claim 3, characterized in that, The step of transferring at least a portion of the battery modules from the cargo hold to the aircraft based on current balance data when the cargo is not stored, in order to bring the aircraft to a balanced state, includes: Acquire the first power storage data and current flight range power consumption data of the aircraft's battery modules, as well as the second power storage data and distribution data of the battery modules in the cargo hold; Based on the first energy storage data, the energy consumption data, the second energy storage data, the distribution data, and the balance data, at least a portion of the battery modules of the cargo hold structure are transferred to the aircraft to bring the aircraft into a balanced state.

5. The battery warehouse dynamic balancing method according to claim 3, characterized in that, The step of reconstructing at least a portion of the battery module structure of the cargo hold based on the cargo's morphological data and balance data, when the cargo is already stored, to bring the aircraft to a balanced state, includes: Acquire the first power storage data and current flight range power consumption data of the aircraft's battery modules, as well as the second power storage data and distribution data of the battery modules in the cargo hold; Based on the first energy storage data, the energy consumption data, the second energy storage data, the distribution data, the balance data, and the morphology data, at least a portion of the battery modules of the cargo hold are transferred to the aircraft, and at least a portion of the battery modules of the aircraft are transferred to the cargo hold, so that the aircraft reaches a balanced state.

6. A dynamic balancing device for a battery warehouse, characterized in that, The device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being executed by the processor to implement: During the takeoff phase of the aircraft, if the current trim status is detected to be non-flat, it is then checked whether a cargo hold has been installed inside the aircraft, wherein the cargo hold is a battery cargo hold constructed from modular battery modules that power the aircraft. Once the warehouse has been set up, it is detected whether goods are already stored inside the warehouse; When the cargo is not stored, the battery modules of at least a portion of the cargo hold structure are transferred to the aircraft based on the current balance data to bring the aircraft to a balanced state. When the cargo is already stored, the battery modules of at least a portion of the cargo hold structure are reconstructed based on the cargo's morphology data and the balance data to bring the aircraft to a balanced state.

7. The battery warehouse dynamic balancing device according to claim 6, characterized in that, The computer program is implemented when executed by the processor: If the aircraft is detected to be in a non-flat state, then it is detected whether the aircraft is equipped with a modular battery module. Once it is determined that the aircraft is equipped with a modular battery module, it is checked whether the cargo hold has been installed inside the aircraft.

8. The battery warehouse dynamic balancing device according to claim 7, characterized in that, The computer program is implemented when executed by the processor: When the warehouse has been installed, check whether the warehouse is equipped with a modular battery module; Once it is determined that the warehouse is equipped with modular battery modules, it is checked whether the goods are already stored inside the warehouse.

9. The battery warehouse dynamic balancing equipment according to claim 8, characterized in that, The computer program is implemented when executed by the processor: When the cargo is not stored, acquire the first power storage data of the aircraft's battery modules and the power consumption data of the current flight, as well as the second power storage data of the battery modules in the cargo hold and the distribution data of the battery modules; Based on the first energy storage data, the energy consumption data, the second energy storage data, the distribution data, and the balance data, at least a portion of the battery modules of the cargo hold structure are transferred to the aircraft to bring the aircraft into a balanced state. Alternatively, when the cargo has been stored, obtain the first power storage data of the aircraft's battery modules and the power consumption data of the current flight, as well as the second power storage data of the battery modules in the cargo hold and the distribution data of the battery modules. Based on the first energy storage data, the energy consumption data, the second energy storage data, the distribution data, the balance data, and the morphology data, at least a portion of the battery modules of the cargo hold are transferred to the aircraft, and at least a portion of the battery modules of the aircraft are transferred to the cargo hold, so that the aircraft reaches a balanced state.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a battery warehouse dynamic balancing program, which, when executed by a processor, implements the steps of the battery warehouse dynamic balancing method as described in any one of claims 1 to 5.

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