A method to improve the battery life of multi-battery self-moving devices

Abstract

This invention relates to a method for improving the battery life of multi-battery self-moving devices, belonging to the field of battery power technology. The method includes the following steps: S1, calculating the reserved power supply time required for returning to the charging station when each independent battery is powered individually, based on the average travel speed V and the maximum return distance L of the self-moving device; S2, calculating the average reserved time required for returning to the charging station when each independent battery in the battery pack is powered individually, based on the number N of independent batteries in the self-moving device's battery pack; S3, simulating and calculating the average reserved voltage Uc of each independent battery based on the average reserved time T; S4, detecting the voltage of each independent battery in the battery pack, controlling the corresponding discharge switch of the independent battery with the highest voltage to open, and the discharge of the independent battery with the highest voltage drives the self-moving device to perform its working stroke; S5, detecting the voltage of the currently discharging independent battery and determining whether it is higher than the average reserved voltage Uc.

Description

Technical Field

[0001] This invention relates to a battery charging and discharging regulation method, and more specifically to a method for improving the battery life of multi-battery self-moving devices, belonging to the field of battery power technology. Background Technology

[0002] Currently, many smart mobile devices use a multi-battery parallel power supply method. However, the drawback of using multiple batteries in parallel is that if one battery pack fails, it can easily lead to the failure of the entire battery pack. The overall capacity of the battery pack is limited by the battery pack in the worst condition, which greatly affects the battery life and results in poor battery pack performance.

[0003] The inventors discovered that Chinese patent document application number 201810614818.0 discloses a method for switching between multiple batteries. When the power supply device is supplying power to the load, it acquires the power information of each battery cell. When the power information of the first battery cell does not meet preset conditions, it selects any battery cell from the unloaded battery cells whose power information meets the preset conditions as the second battery cell. The first battery cell is the one currently supplying power to the load. Control commands are output to a first switch unit connected to the first battery cell and a second switch unit connected to the second battery cell to control the on / off state of the first and second switch units, enabling the second battery cell to supply power to the load. This method allows for control of switching between multiple battery cells, achieving independent power supply for each battery cell. Furthermore, by setting multiple battery cells, the battery capacity is increased, improving battery life and usage time. However, for battery-powered self-moving devices such as intelligent robots, the above-mentioned prior art only considers the normal operating capacity of each battery in the battery pack.

[0004] However, this technical solution does not consider the reserved power capacity for the battery pack to return to the charging station on its own. It simply and roughly sets the reserved power capacity to 2%, 5%, or other values ​​of the total power capacity without considering the utilization rate of the battery pack. If the reserved power capacity of each battery pack is set very small, and the return distance of the self-moving device is long and the power consumption is high, it may lead to insufficient power supply to the battery pack as a whole, preventing it from returning to the charging point smoothly. On the other hand, if the reserved power capacity of each battery pack is set very large, the power of each battery pack will not be fully released, resulting in a waste of battery pack resources and thus increasing the operating cost of the equipment.

[0005] Therefore, how to reasonably control the reserved capacity of multiple battery packs and regulate the battery packs to improve the battery's range is a problem that needs to be solved. Summary of the Invention

[0006] The purpose of this invention is to address the problems existing in the prior art by proposing a method to improve the battery life of multi-battery self-moving devices while ensuring that self-moving devices such as intelligent robots can return to their charging stations, thus maximizing battery life.

[0007] To achieve the above objectives, the technical solution of the present invention is: a method for improving the battery life of multi-battery self-moving devices, characterized in that: S1. Calculate the reserved power supply time Tmax required to return to the charging station when powered by an independent battery alone, based on the average driving speed V of the self-moving device and the maximum return distance L; S2. Based on the number N of independent batteries in the battery pack of the self-moving device, calculate the average reserved time T = Tmax / N required for the battery pack to return to the charging station when each independent battery in the battery pack supplies power. S3. Based on the average reserved time T, simulate and calculate the average reserved voltage Uc of each independent battery. The calculation formula is as follows: Uc = -0.031*(127.5-Tmax / N)+6.655; S4. Detect the voltage of each independent battery in the battery pack, control the corresponding discharge switch device of the independent battery with the highest voltage to turn on, and drive the self-moving device to perform the working stroke by discharging the independent battery with the highest voltage. S5. Detect the voltage of the currently discharging independent battery and determine whether it is higher than the average reserved voltage Uc. If so, keep the current discharge switch on and the currently discharging independent battery continues to discharge to drive the self-moving device to perform the working process; otherwise, proceed to the next step. S6. Turn off the discharge switch device corresponding to the current independent battery, and at the same time control the discharge switch device corresponding to the independent battery with the highest voltage among the other independent batteries to start discharging, and drive the self-moving device to perform the working stroke; S7. Repeat steps S5 and S6 until the voltage of all individual batteries drops to the average reserved voltage Uc. S8. Control the self-moving device to start returning to the charging journey, and control the discharge switch device corresponding to each independent battery to start discharging to supply power for the return charging journey, until the self-moving device arrives at the charging station.

[0008] Preferably, when all independent batteries are used up to the average reserved voltage Uc, the self-moving device returns to the charging trip step described in step S8 is executed, and the method is as follows: Control all independent batteries to discharge sequentially according to the battery compartment order and execute the return process until the minimum discharge voltage of 2.7V is reached, until the mobile device returns to the charging station; Alternatively, control all independent batteries to connect in parallel and turn on the corresponding discharge switch to start discharging, powering the return charging journey until the mobile device arrives at the charging station.

[0009] Preferably, the battery pack includes several independent batteries and a CAN communication transceiver U2 connected to the bus interface of the independent batteries. The control chip U3 of each independent battery is connected to the CAN communication address identification signal SI terminal, and the CAN communication transceiver U2 is connected to the control port of the main control chip U1.

[0010] Preferably, the circuit of the independent battery includes the control chip U3, a battery cell Bat3 containing a BMS battery management system, a charging PMOS transistor D7, a discharging PMOS transistor D8, a discharging PMOS transistor D9, and a CAN communication transceiver U4; one end of the bus interface of the CAN communication transceiver U4 is connected to the control port of the control chip U3, and the other end is connected to the bus interface of the independent battery; the positive terminal of the battery cell Bat3 is connected to the drain (D) terminal of the charging PMOS transistor D7 and the source (S) terminal of the discharging PMOS transistor D8; the drain (D) terminal of the discharging PMOS transistor D9 is connected to the drain (D) terminal of the discharging PMOS transistor D8.

[0011] Preferably, the drain (D) of the charging PMOS transistor D7 is connected to the charging port C+. Diode D10 is connected in parallel with resistor R5, with its positive terminal connected to the gate (G) of the charging PMOS transistor D7 and its negative terminal connected to the charging port C+. The gate (G) of the charging PMOS transistor D7 is connected to the first pin of resistor R9, the second pin of R9 is connected to the collector of transistor Q1, the base of transistor Q1 is connected to the first pin of resistor R12, and the second pin (Ctrl C+1) of resistor R12 is connected to the PA1 port of battery control chip U3. A resistor R14 is connected in parallel between the base and emitter of transistor Q1 and then grounded. A diode D11 and a resistor R6 are connected in parallel between the source (S) and gate (G) terminals of the discharge PMOS transistor D8. The gate (G) terminal of the discharge PMOS transistor D8 is connected to the first pin of resistor R10. The second pin of R10 is connected to the collector of transistor Q2. The base of transistor Q2 is connected to the first pin of resistor R13. The second pin (Ctrl P+1) of resistor R13 is connected to the PA2 port of the battery control chip U3. A resistor R15 is connected in parallel between the base and emitter of transistor Q2 and then grounded. A diode D12 and a resistor R7 are connected in parallel between the source (S) and gate (G) terminals of the discharge PMOS transistor D9. The gate (G) terminal of the discharge PMOS transistor D9 is connected to the first pin of resistor R8. The second pin of R8 is connected to the collector of transistor Q3. The base of transistor Q3 is connected to the first pin of resistor R11. The second pin (Ctrl P+2) of resistor R11 is connected to the PA3 port of battery control chip U3. A resistor R16 is connected in parallel between the base and emitter of transistor Q3 and then grounded.

[0012] Preferably, the source terminal of the discharge PMOS transistor D9 is connected to the discharge port P+ of the battery pack, the emitter terminal of the transistor Q3 is connected to the negative port P-, the charging ports C+ of each independent battery are interconnected, the discharge ports P+ of each independent battery are interconnected, and the negative ports P- of each independent battery are also connected together. During discharge: P+ and P- are the discharge ports of the battery pack, connected to the load; During charging: C+ and P- are the discharge ports of the battery pack. Connect the charger when charging is required.

[0013] Preferably, each individual battery compartment is equipped with an identification resistor of a different resistance value.

[0014] Beneficial technical effects: After adopting the method of the present invention, each independent battery discharges to an average reserved voltage Uc lower than the reserved supply voltage Ua when driving the self-moving device to perform its working journey. Therefore, the energy storage capacity of each independent battery can be fully utilized, effectively improving the endurance of the self-moving device to perform its working journey, and ensuring that the self-moving device can return to the charging station when it is out of power, without stopping midway. Attached Figure Description

[0015] Figure 1 This is the internal system circuit of a single battery pack in Example 1.

[0016] Figure 2 This is a schematic diagram of the pin connections of the battery pack control chip inside a single battery pack in Example 1.

[0017] Figure 3 This is a schematic diagram of the pin connections of the CAN communication transceiver inside a single battery pack in Example 1.

[0018] Figure 4 This is a circuit diagram of the internal system of the two battery pack main units in Example 1.

[0019] Figure 5 This is a schematic diagram of the pin connections of the CAN communication transceivers inside the two battery pack main units in Example 1.

[0020] Figure 6 This is a schematic diagram of the pin connections of the main control chip inside the two battery packs in Example 1.

[0021] Figure 7 This is a circuit diagram of the internal system of multiple battery pack main units in Example 2.

[0022] Figure 8 These are the constant current discharge curves of the independent batteries in Embodiments 1 and 2 of the present invention.

[0023] Figure 9The discharge flowcharts are shown in Embodiments 1 and 2 of the present invention. Detailed Implementation

[0024] Example 1

[0025] This embodiment first provides a charging and discharging control circuit for a multi-battery self-moving device, such as... Figures 1-6 As shown: This includes two single battery packs, a host control chip U1, and a CAN communication transceiver U2 connected to the control port of the host control chip U1; the bus interface P1 of the CAN communication transceiver U2 is connected to the bus interfaces P5 and P4 of single battery pack 1 and single battery pack 2, respectively; the control chip U3 of each single battery pack is connected to the CAN communication address identification signal SI terminal. The charging port C+ of each battery pack is connected together, the discharging port P+ of each battery pack is connected together, and the negative terminal P- of the battery pack is also connected together; all CAN buses are connected together.

[0026] In this embodiment, different resistance values ​​of identification resistors are configured in the battery compartment of each single battery pack. Figure 4 In single battery pack 1, the identification resistor R1 is 10KΩ, and in single battery pack 2, the identification resistor R4 is 20KΩ. Each single battery pack has a different ID in its battery compartment, ensuring the consistency of each individual battery pack.

[0027] In this embodiment, the circuit of each single battery pack includes a control chip U3, a battery cell Bat3 containing a BMS battery management system, a charging PMOS transistor D7, a discharging PMOS transistor D8, a discharging PMOS transistor D9, and a CAN communication transceiver U4. One end of the bus interface of the CAN communication transceiver U4 is connected to the control port of the control chip U3, and the other end is connected to the bus interface P2 of the single battery pack (as shown in P4 and P5). The positive terminal of the battery cell Bat3 is connected to the drain (D) terminal of the charging PMOS transistor D7 and the source (S) terminal of the discharging PMOS transistor D8. The drain (D) terminals of the discharging PMOS transistor D9 and D8 are connected.

[0028] The drain (D) of PMOS transistor D7 is connected to the charging port C+. Diode D10 is connected in parallel with resistor R5, with its positive terminal connected to the gate (G) of PMOS transistor D7 and its negative terminal connected to the charging port C+. The gate (G) of PMOS transistor D7 is connected to the first pin of resistor R9, the second pin of R9 is connected to the collector of transistor Q1, the base of transistor Q1 is connected to the first pin of resistor R12, and the second pin (Ctrl C+1) of resistor R12 is connected to the PA1 port of battery pack control chip U3. A resistor R14 is connected in parallel between the base and emitter of transistor Q1 and then grounded. A diode D11 and a resistor R6 are connected in parallel between the source (S) and gate (G) terminals of the discharge PMOS transistor D8. The gate (G) terminal of the discharge PMOS transistor D8 is connected to the first pin of resistor R10. The second pin of R10 is connected to the collector of transistor Q2. The base of transistor Q2 is connected to the first pin of resistor R13. The second pin (Ctrl P+1) of resistor R13 is connected to the PA2 port of the battery pack control chip U3. A resistor R15 is connected in parallel between the base and emitter of transistor Q2 and then grounded. A diode D12 and a resistor R7 are connected in parallel between the source (S) and gate (G) of the discharge PMOS transistor D9. The gate (G) of the discharge PMOS transistor D9 is connected to the first pin of resistor R8. The second pin of R8 is connected to the collector of transistor Q3. The base of transistor Q3 is connected to the first pin of resistor R11. The second pin (Ctrl P+2) of resistor R11 is connected to the PA3 port of the battery pack control chip U3. A resistor R16 is connected in parallel between the base and emitter of transistor Q3 and then grounded.

[0029] The source terminal of the discharge PMOS transistor D9 is connected to the discharge port P+ of the battery pack, the emitter of the transistor Q3 is connected to the negative port P-, the charging ports C+ of each individual battery pack are connected to each other, the discharge ports P+ of each individual battery pack are connected to each other, and the negative ports P- of each individual battery pack are also connected together. During discharge: P+ and P- are the discharge ports of the battery pack, connected to the load; During charging: C+ and P- are the discharge ports of the battery pack. Connect the charger when charging is required.

[0030] This embodiment also provides a charging and discharging control method for the above two battery pack self-moving devices. The reserved capacity of the independent battery can be determined as follows: First, based on the average driving speed V and the longest return distance L of the self-moving device, the reserved power supply time Tmax = L / V required for returning to the charging station when the independent battery is powered alone is calculated; then, the reserved power supply voltage Ua is determined based on the reserved power supply time. Figure 9 As shown: The charging and discharging steps for the two independent battery packs are as follows: Step 1: Calculate the reserved power supply time Tmax = L / V required to return to the charging station when the independent battery is powered by its own power source, based on the average driving speed V of the self-moving device and the maximum return distance L; then calculate the average reserved time T = Tmax / N required to return to the charging station when the independent batteries of the battery pack are powered by their own power source, based on the number of independent batteries N in the battery pack. Step 2: Based on the average reserved time T, obtain the corresponding average reserved voltage Uc from the constant current discharge curve of the independent battery. The average reserved voltage Uc < the lowest discharge point Ua of the independent battery. Step 3: Discharge each working cell to the average reserved voltage Uc, such as... Figure 8 Curve ① Step 4: Control the mobile device to begin its return journey to the charging station. This involves controlling the discharge switches of each individual battery to power the return journey until the mobile device arrives at the charging station. Figure 8 Curve ③ in the diagram.

[0031] Figure 8 In the text, 2.7V is the minimum discharge protection voltage for an independent battery. U / V: Battery voltage in volts; I / A: Average current in amperes. t / min: Discharge time per minute Ua: The lowest discharge point when the battery is used independently; Uc: The lowest discharge point when batteries are packed together. A1: Average current during equipment operation A2: Average current when the device returns to charging Curve ① represents segment A to e: the constant current discharge curve of an independently powered device operating at an average current of A1, discharging to the minimum discharge voltage of 2.7V. Curve ② represents segment a to b: a constant current discharge curve of an independently powered device discharging to 2.7V with an average return current A2 (generally A1>A2); Curve ③ represents the segment from C to d: a constant current discharge curve where the device is powered by an independent battery and, after operating to Uc, discharges to 2.7V with an average return current A2 (generally A1>A2).

[0032] For the segment from a to e of curve ①, an approximate equation can be derived: Let the approximate equation be Uc = -kt + q Given the coordinates of point a (105, 3.4) and point e (127.5, 2.7), then: k = (Ua - Ue) / (te - tf) = (3.4 - 2.7) / (127.5 - 105) = 0.031 The approximate equation is Uc = -0.031t + q. Given the coordinates of point a, we obtain q = 6.655. The approximate equation is then Uc = -0.031t + 6.655; In this embodiment, the average reserved voltage Uc is calculated as follows: 1. Given: average driving speed V = 20 m / min, longest return distance L = 600 m, then Tmax = 30 min 2. For battery packs, the average reserve time for individual cells is T = Tmax / N = 30 / 2 = 15 min. 3. According to the approximate equation U = -0.031t + 6.655 4. Therefore, at point c, t = 127.5 - T = 127.5 - 30 / N 5. The average reserved voltage Uc = -0.031*(127.5-15)+6.655, and the value of Uc is 3.168V.

[0033] To power on an automatic mobile device, follow these steps: (1) The main controller inside the host contains a small-capacity backup power-on battery. When the power-on button is pressed, the backup power-on battery provides power to the main controller chip U1. (2) After U1 starts up, it broadcasts the battery wake-up command a1 through the CAN transceiver U2. (3) After receiving the wake-up command a1, the control chip U3 of each independent battery system (1, 2) first performs an internal self-test program to determine whether there is over-temperature, under-voltage, over-voltage, etc.: For those that pass the self-test normally, the standby completion command a2 is replied through the CAN transceiver U4; for those that fail, the standby failure command a3 is replied. (4) After receiving the a2 and a3 instructions, the host records the information and quantity N of the independent battery system that has completed standby (i.e., passed the self-test) (address signals S1 and s2 in the attached figure, with different external resistors to distinguish different batteries). At the same time, based on the quantity N=2 and the approximate equation Uc = -0.031*(127.5-30 / N)+6.655, with a value range of 2.7<U<3.4, ​​the average reserved voltage Uc is calculated to be 3.168V. At the same time, the average reserved voltage of each independent battery is set to Uc. (5) The host simultaneously sends a battery voltage query command a4, and each standby battery replies with its current voltage value V1. The host compares the system voltage V1 of each battery pack and selects the maximum value Vmax1 of V1, such as the current voltage value of independent battery system 1 being the largest.

[0034] (6) The host sends a discharge command a5 to the independent battery system 1. After receiving the command, the independent battery system 1 performs the operation of turning on MOS transistors D3 and D2. After completing the operation, it replies to the host with the operation success command a6. At the same time, the host records the current number of standby battery packs = (N-1) and the power-on is completed.

[0035] After the host is powered on, it will autonomously perform its work tasks. When the remaining voltage of the independent battery system 1 reaches the preset average reserved voltage Uc, the battery pack switching process will be executed.

[0036] To switch processes, follow these steps: (1) When the control chip U3 of the current independent battery system 1 detects that its remaining voltage is equal to the preset average reserved voltage Uc, it sends a low voltage command b1 to the host main control chip U1 through the CAN transceiver U4. (2) After receiving the low voltage command b1, the host controller U1 checks the number of remaining standby battery systems. When the number of remaining standby batteries is greater than or equal to 1, it sends a voltage query command a4 to all remaining standby batteries. Each standby battery replies with its current voltage value V3. The host compares the system voltage V3 of each battery pack and selects the maximum value Vmax3 of V3, such as the current voltage value of independent battery system 2 being the largest. (3) The host sends a switching command b2 to the independent battery system 1. After receiving the command, the independent battery system 1 disconnects the MOSFET D3 and then replies to the host that the operation was successful. (4) The host then sends a discharge command a5 to battery system 2. After receiving the command, battery system 2 performs the operation of turning on MOSFETs D6 and D5, and then replies to the host that the operation was successful. (5) The host sends a disconnect battery command b3 to the battery system 1. After receiving the command, the battery system 1 performs the disconnect MOSFET D2 operation. After the operation is completed, the host replies that the operation was successful. At the same time, the host records the current number of remaining standby batteries = (N-2). (6) At this point, the switching process from battery system 1 to battery system 2 is complete.

[0037] When the self-operated mobile device continues to autonomously perform its work tasks until the remaining voltage of the last independent power supply battery system N equals the preset average reserved voltage Uc, it executes a home command, and each independent battery switches to power the device until it returns to the charging station. The steps are as follows: (a) When all N independent batteries are used up to the average reserved voltage Uc, the host executes the home command c1; (b) Discharge each individual battery sequentially to the lowest discharge voltage of 2.7V according to the battery compartment order, until the mobile device returns to the charging station. The sequential discharge switching process is the same as the switching steps (1) to (5) above. Example 2

[0038] This embodiment provides a charging and discharging control method for N battery packs in a self-moving device, such as... Figures 7-9 As shown, the battery pack control circuit connection method and discharge regulation method are basically the same as those in the embodiment, and will not be described in detail. Unlike Embodiment 1, the self-operated device of this invention continuously and autonomously performs its tasks until the remaining voltage of the last independent power supply battery system N equals the preset average reserved voltage Uc. At this point, it executes a home command, and the N independent batteries begin to discharge simultaneously in parallel until it returns to the charging station. The steps are as follows: (a) When all N independent batteries are used up to the average reserved voltage Uc, the host executes the home command c1. (b) N independent batteries simultaneously activate the discharge MOSFET and discharge simultaneously until the self-moving device returns to the charging station.

[0039] In addition to embodiments one and two described above, the present invention may have other embodiments. All technical solutions formed by equivalent substitution or equivalent transformation fall within the protection scope claimed by the present invention.

Claims

1. A method for improving the battery life of multi-battery self-moving devices, characterized in that: S1. Calculate the reserved power supply time Tmax required to return to the charging station when powered by an independent battery alone, based on the average driving speed V of the self-moving device and the maximum return distance L; S2. Based on the number N of independent batteries in the battery pack of the self-moving device, calculate the average reserved time T = Tmax / N required for the battery pack to return to the charging station when each independent battery in the battery pack supplies power. S3. Based on the average reserved time T, simulate and calculate the average reserved voltage Uc of each independent battery. The calculation formula is as follows: Uc = -0.031*(127.5-Tmax / N)+6.655; S4. Detect the voltage of each independent battery in the battery pack, control the corresponding discharge switch device of the independent battery with the highest voltage to turn on, and drive the self-moving device to perform the working stroke by discharging the independent battery with the highest voltage. S5. Detect the voltage of the currently discharging independent battery and determine whether it is higher than the average reserved voltage Uc. If so, keep the current discharge switch on and the currently discharging independent battery continues to discharge to drive the self-moving device to perform the working process; otherwise, proceed to the next step. S6. Turn off the discharge switch device corresponding to the current independent battery, and at the same time control the discharge switch device corresponding to the independent battery with the highest voltage among the other independent batteries to start discharging, and drive the self-moving device to perform the working stroke; S7. Repeat steps S5 and S6 until the voltage of all individual batteries drops to the average reserved voltage Uc. S8. Control the self-moving device to start returning to the charging journey, and control the discharge switch device corresponding to each independent battery to start discharging to supply power for the return charging journey, until the self-moving device arrives at the charging station.

2. The method for improving the battery life of multi-battery self-moving devices according to claim 1, characterized in that: When all independent batteries are used up to the average reserved voltage Uc, the self-moving device returns to the charging trip step described in step S8 is executed, as follows: Control all independent batteries to discharge sequentially according to the battery compartment order and execute the return process until the minimum discharge voltage of 2.7V is reached, until the mobile device returns to the charging station; Alternatively, control all independent batteries to connect in parallel and turn on the corresponding discharge switch to start discharging, powering the return charging journey until the mobile device arrives at the charging station.

3. The method for improving the battery life of multi-battery self-moving devices according to claim 1, characterized in that: The battery pack includes several independent batteries and a CAN communication transceiver U2 connected to the bus interface of the independent batteries. The control chip U3 of each independent battery is connected to the CAN communication address identification signal SI terminal. The CAN communication transceiver U2 is connected to the control port of the main control chip U1.

4. The method for improving the battery life of multi-battery self-moving devices according to claim 3, characterized in that: The circuit of the independent battery includes the control chip U3, the battery cell Bat3 containing a BMS battery management system, the charging PMOS transistor D7, the discharging PMOS transistor D8, the discharging PMOS transistor D9, and the CAN communication transceiver U4; one end of the bus interface of the CAN communication transceiver U4 is connected to the control port of the control chip U3, and the other end is connected to the bus interface of the independent battery; the positive terminal of the battery cell Bat3 is connected to the drain (D) terminal of the charging PMOS transistor D7 and the source (S) terminal of the discharging PMOS transistor D8; the drain (D) terminal of the discharging PMOS transistor D9 is connected to the drain (D) terminal of the discharging PMOS transistor D8.

5. The method for improving the battery life of multi-battery self-moving devices according to claim 4, characterized in that: The drain (D) of the charging PMOS transistor D7 is connected to the charging port C+. Diode D10 is connected in parallel with resistor R5, with its positive terminal connected to the gate (G) of the charging PMOS transistor D7 and its negative terminal connected to the charging port C+. The gate (G) of the charging PMOS transistor D7 is connected to the first pin of resistor R9, the second pin of R9 is connected to the collector of transistor Q1, the base of transistor Q1 is connected to the first pin of resistor R12, and the second pin (Ctrl C+1) of resistor R12 is connected to the PA1 port of battery control chip U3. A resistor R14 is connected in parallel between the base and emitter of transistor Q1 and then grounded. A diode D11 and a resistor R6 are connected in parallel between the source (S) and gate (G) terminals of the discharge PMOS transistor D8. The gate (G) terminal of the discharge PMOS transistor D8 is connected to the first pin of resistor R10. The second pin of R10 is connected to the collector of transistor Q2. The base of transistor Q2 is connected to the first pin of resistor R13. The second pin (Ctrl P+1) of resistor R13 is connected to the PA2 port of the battery control chip U3. A resistor R15 is connected in parallel between the base and emitter of transistor Q2 and then grounded. The PA3 port is connected in parallel with the base and emitter of transistor Q3, and then grounded. A diode D12 and resistor R7 are connected in parallel between the source and gate of the discharge PMOS transistor D9. The gate of the discharge PMOS transistor D9 is connected to the first pin of resistor R8, the second pin of R8 is connected to the collector of transistor Q3, the base of transistor Q3 is connected to the first pin of resistor R11, and the second pin (Ctrl P+2) of resistor R11 is connected to the PA3 port of the battery control chip U3. A resistor R16 is connected in parallel between the base and emitter of transistor Q3 and then grounded.

6. The method for improving the battery life of multi-battery self-moving devices according to claim 5, characterized in that: The source terminal of the discharge PMOS transistor D9 is connected to the discharge port P+ of the battery pack, the emitter of the transistor Q3 is connected to the negative port P-, the charging ports C+ of each independent battery are connected to each other, the discharge ports P+ of each independent battery are connected to each other, and the negative ports P- of each independent battery are also connected together. During discharge: P+ and P- are the discharge ports of the battery pack, connected to the load; During charging: C+ and P- are the discharge ports of the battery pack. Connect the charger when charging is required.

7. The method for improving the battery life of multi-battery self-moving devices according to claim 1, characterized in that: Each individual battery compartment is equipped with an identification resistor of a different resistance value.

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