Method and apparatus for correcting remaining battery power

Abstract

The application provides a battery residual capacity correction method and device, relates to the technical field of batteries, and can correct the battery residual capacity estimated by ampere-hour integration, and improves the estimation accuracy of the residual capacity. The method comprises the following steps: firstly, obtaining a capacity increment curve of a battery, wherein the capacity increment curve comprises residual capacity values of the battery corresponding to different capacity increments of the battery; when the capacity increment of the battery at a first moment satisfies a first correction condition, searching for a first residual capacity corresponding to the capacity increment of the battery on the capacity increment curve of the battery, and determining a residual capacity error value at the first moment; wherein the residual capacity error value of the battery at the first moment is the absolute value of the difference between a second residual capacity of the battery at the first moment determined based on ampere-hour integration and the first residual capacity; when the residual capacity error value of the battery at the first moment satisfies a second correction condition, correcting a third residual capacity of the battery at a moment after the first moment.

Description

Technical Field

[0001] This application relates to the field of battery technology, and in particular to a method and apparatus for correcting the remaining charge of a battery. Background Technology

[0002] Automated guided vehicles (AGVs) are transport vehicles equipped with automatic navigation functions, capable of traveling along a predetermined navigation path, and possessing safety protection and various transfer and handling functions. AGVs use rechargeable batteries (also known as power batteries) as their power source. Accurately measuring the remaining power of the power battery not only ensures the efficient and safe operation of the AGV but also prevents the power battery from overcharging or over-discharging.

[0003] Currently, the most common method for estimating the remaining power of AGV power batteries is the ampere-hour integration method, which integrates the current over time and estimates the remaining power by accumulating the charge. However, due to the special operating conditions of AGVs (such as short charging time and small discharge current), using the ampere-hour integration method alone will cause the error in current sampling to accumulate, resulting in an increasingly larger error in the estimated remaining battery power.

[0004] Therefore, how to correct the remaining battery capacity estimated by the ampere-hour integration method in order to improve the accuracy of remaining capacity estimation is an urgent problem to be solved in the industry. Summary of the Invention

[0005] This application provides a method and apparatus for correcting the remaining battery power, which can correct the remaining battery power estimated by the ampere-hour integration method and improve the accuracy of the remaining power estimation.

[0006] Firstly, a method for correcting the remaining capacity of a battery is provided. This method specifically includes: firstly, acquiring a capacity increment curve of the battery, which includes the remaining capacity values ​​corresponding to different capacity increments; wherein the capacity increment is the ratio between the charge increment and the voltage increment, and the charging rate is used to indicate the current of the battery during charging; when the capacity increment of the battery at a first moment meets a first correction condition, finding the first remaining capacity corresponding to the capacity increment on the battery's capacity increment curve, and determining the remaining capacity error value at the first moment; wherein the remaining capacity error value at the first moment is the absolute value of the difference between the second remaining capacity of the battery determined based on the ampere-hour integration method at the first moment and the first remaining capacity; when the remaining capacity error value of the battery at the first moment meets a second correction condition, correcting the third remaining capacity of the battery at moments after the first moment.

[0007] Based on the technical solution provided in this application, at least the following beneficial effects can be achieved: This application estimates the remaining battery capacity using the ampere-hour integration method, then searches for the capacity increment curve at the current current rate during battery charging, obtaining the theoretical remaining capacity corresponding to the current capacity increment on this curve (i.e., the first remaining capacity in this application); then it determines whether the first remaining capacity and the currently calculated remaining capacity of the battery (based on the ampere-hour integration method) need correction. If correction is needed, the subsequently determined remaining capacity is continuously corrected until the correction is complete. Compared to the open-circuit voltage curve, the peak point of the capacity increment curve is more obvious, and the slope of the curve is larger, making the theoretical remaining capacity obtained from the curve more accurate. Furthermore, it does not require prolonged static storage, making it more practical. In addition, the correction method provided in this application continuously corrects the determined remaining battery capacity until the correction is complete when it is determined that correction is needed. This maintains a monotonically stable change in the remaining battery capacity during the correction process, achieving smooth correction and preventing jumps in the remaining battery capacity.

[0008] In one possible implementation, the above-mentioned correction of the battery's third remaining charge at a time after the first time step includes: correcting the first charge based on a preset correction coefficient to obtain a corrected second charge, wherein the first charge is the collected charge of the battery at the second time step, and the second time step is a time after the first time step; determining the corrected remaining charge of the battery at the second time step based on the second charge and an ampere-hour integral algorithm; and determining that the battery's remaining charge has been corrected when the corrected remaining charge at the second time step meets a preset correction completion condition.

[0009] It is understandable that the remaining power calculated by the ampere-hour integration method is inaccurate, mainly because the current value obtained by the ampere-hour integration method has systematic errors and measurement errors that accumulate over a long period of time. Therefore, it is necessary to correct the remaining power to eliminate the accumulated errors caused by the ampere-hour integration algorithm.

[0010] In another possible implementation, the above-mentioned preset correction completion conditions include: the corrected power value is greater than or equal to the battery's remaining power error value at the first moment, the corrected power value is the power value cumulatively corrected from the first moment to the second moment, and the cumulative corrected power value from the first moment to the second moment is the difference between the remaining power value before correction and the remaining power value after correction.

[0011] In another possible implementation, the above method further includes: when the corrected remaining charge at the second time moment does not meet the preset correction completion condition, correcting the second charge amount based on the preset correction coefficient to obtain the corrected third charge amount, wherein the third time moment is a time after the second time moment; determining the corrected remaining charge of the battery at the third time moment based on the third charge amount using the ampere-hour integration algorithm; and determining that the remaining charge of the battery has been corrected when the corrected remaining charge at the third time moment meets the preset correction completion condition.

[0012] In another possible implementation, the preset correction coefficient includes a first correction coefficient and a second correction coefficient; the first correction coefficient is greater than 1, and the second correction coefficient is less than 1; if the remaining charge of the battery at the first moment is less than the first remaining charge, then the preset correction coefficient is the first correction coefficient; if the remaining charge of the battery at the first moment is greater than the first remaining charge, then the preset correction coefficient is the second correction coefficient.

[0013] It is understandable that if the battery's remaining charge at the first moment is less than the first remaining charge, then the remaining charge of the battery needs to be increased. In this case, the first correction factor can be used to correct the current value. If the battery's remaining charge at the first moment is greater than the first remaining charge, then the remaining charge of the battery needs to be decreased. In this case, the second correction factor can be used to correct the current value.

[0014] In another possible implementation, obtaining the battery capacity increment curve as described above includes: determining a cluster of battery capacity increment curves based on the battery's current operating temperature, the cluster of capacity increment curves including one or more capacity increment curves; and determining a capacity increment curve within the cluster of capacity increment curves based on the charging rate.

[0015] In another possible implementation, the capacity increment curve includes one or more peak points, and the first correction condition includes: the capacity increment of the battery is within the capacity increment range indicated by the first peak point, wherein the first peak point is one of the one or more peak points.

[0016] It is understandable that the capacity increment curve includes one or more peak points. Therefore, the capacity increment value indicated by the peak point and the remaining power value are relatively clear. Thus, the remaining power of the battery can be corrected more accurately based on the peak point.

[0017] In a second aspect, a device for correcting the remaining battery capacity is provided, comprising: an acquisition module for acquiring a capacity increment curve of the battery, wherein different capacity increments in the capacity increment curve correspond to the remaining battery capacity values; wherein the capacity increment is the ratio between the charge increment and the voltage increment, and the charging rate is used to indicate the current of the battery during charging; a processing module for, when the capacity increment of the battery at a first moment meets a first correction condition, finding the first remaining battery capacity corresponding to the capacity increment on the capacity increment curve of the battery, and determining the remaining battery capacity error value at the first moment; wherein the remaining battery capacity error value at the first moment is the absolute value of the difference between the second remaining battery capacity determined by the ampere-hour integration method at the first moment and the first remaining battery capacity; and a correction module for, when the remaining battery capacity error value at the first moment meets a second correction condition, correcting the third remaining battery capacity at moments after the first moment.

[0018] In one possible implementation, the correction module is specifically used to: correct the first charge amount based on a preset correction coefficient to obtain a corrected second charge amount, wherein the first charge amount is the charge amount of the battery collected at a second time moment, and the second time moment is a time moment after the first time moment; determine the corrected remaining charge of the battery at the second time moment based on the second charge amount using an ampere-hour integration algorithm; and determine that the remaining charge of the battery has been corrected when the corrected remaining charge at the second time moment meets the preset correction completion condition.

[0019] In another possible implementation, the above-mentioned preset correction completion conditions include: the corrected power value is greater than or equal to the battery's remaining power error value at the first moment, the corrected power value is the power value cumulatively corrected from the first moment to the second moment, and the cumulative corrected power value from the first moment to the second moment is the difference between the remaining power value before correction and the remaining power value after correction.

[0020] In another possible implementation, the above-mentioned correction module is further specifically used to: when the corrected remaining charge at the second time moment does not meet the preset correction completion condition, correct the second charge amount based on the preset correction coefficient to obtain the corrected third charge amount, where the third time moment is a time after the second time moment; determine the corrected remaining charge of the battery at the third time moment based on the ampere-hour integration algorithm according to the third charge amount; and determine that the remaining charge of the battery has been corrected when the corrected remaining charge at the third time moment meets the preset correction completion condition.

[0021] In another possible implementation, the preset correction coefficient includes a first correction coefficient and a second correction coefficient; the first correction coefficient is greater than 1, and the second correction coefficient is less than 1; if the remaining charge of the battery at the first moment is less than the first remaining charge, then the preset correction coefficient is the first correction coefficient; if the remaining charge of the battery at the first moment is greater than the first remaining charge, then the preset correction coefficient is the second correction coefficient.

[0022] In another possible implementation, the acquisition module is specifically used to: determine the battery's capacity increment curve cluster based on the battery's current operating temperature, the capacity increment curve cluster including one or more capacity increment curves; and determine the capacity increment curve in the capacity increment curve cluster based on the charging rate.

[0023] In another possible implementation, the capacity increment curve includes one or more peak points, and the first correction condition includes: the capacity increment of the battery is within the capacity increment range indicated by the first peak point, wherein the first peak point is one of the one or more peak points.

[0024] Thirdly, this application provides an electronic device including a memory and a processor. The memory and processor are coupled. The memory stores computer program code, which includes computer instructions. When the processor executes the computer instructions, it causes the electronic device to perform a method for correcting the remaining battery power as described in the first aspect and any possible implementation thereof.

[0025] Fourthly, this application provides a chip system applied to a battery remaining power correction device; the chip system includes one or more interface circuits and one or more processors. The interface circuits and processors are interconnected via lines; the interface circuits are used to receive signals from the memory of the battery remaining power correction device and send signals to the processors, the signals including computer instructions stored in the memory. When the processor executes the computer instructions, it causes the electronic device to perform the battery remaining power correction method as described in the first aspect and any possible implementation thereof.

[0026] Fifthly, this application provides a computer-readable storage medium storing computer instructions that, when executed on an electronic device, cause the electronic device to perform a method for correcting the remaining battery power as described in the first aspect and any possible implementation thereof.

[0027] In a sixth aspect, this application provides a computer program product including computer instructions that, when executed on an electronic device, cause the electronic device to perform a method for correcting the remaining battery power as described in the first aspect and any possible implementation thereof.

[0028] For a detailed description of aspects two through six and their various implementations in this application, please refer to the detailed description in aspect one and its various implementations; and for a detailed description of the beneficial effects of aspects two through six and their various implementations, please refer to the beneficial effect analysis in aspect one and its various implementations, which will not be repeated here. Attached Figure Description

[0029] Figure 1 A schematic diagram of an open-circuit voltage curve provided for an embodiment of this application;

[0030] Figure 2 A schematic diagram of the structure of a robot provided in an embodiment of this application;

[0031] Figure 3 This is a schematic diagram of the structure of a battery management system provided in an embodiment of this application;

[0032] Figure 4 A flowchart illustrating a method for correcting remaining battery power as provided in an embodiment of this application;

[0033] Figure 5 A schematic diagram of a capacity increment curve provided in an embodiment of this application;

[0034] Figure 6 A schematic diagram of another capacity increment curve provided in an embodiment of this application;

[0035] Figure 7 A schematic diagram of a battery remaining power curve provided in an embodiment of this application;

[0036] Figure 8 This is a schematic diagram of the composition of a battery remaining power correction device provided in an embodiment of this application. Detailed Implementation

[0037] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0038] In the description of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. The "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Furthermore, "at least one" means one or more, and "multiple" means two or more. The terms "first," "second," etc., do not limit the quantity or order of execution, and "first," "second," etc., do not necessarily imply differences.

[0039] It should be noted that, in this application, the terms "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0040] The relevant technical terms used in this application will be explained here first.

[0041] Charging rate: When a battery is charging, or the device containing the battery is charging, the current ratio at this time is called the charging rate or charging current ratio. It is a measure of the charging speed, indicating the current value required for the battery to reach its rated capacity within a specified time. "C" is used to represent the battery's charge / discharge capacity ratio. 1C represents the current intensity when the battery is fully discharged in one hour. For example, an 18650 battery rated at 2200mA·h will be fully discharged in one hour at a 1C intensity, meaning the discharge current is 2200mA. Another example is a battery with a rated capacity of 100A·h discharged at 20A, which has a discharge rate of 0.2C.

[0042] Coulombic efficiency, also known as discharge efficiency, refers to the ratio of a battery's discharge capacity to its charging capacity during the same cycle; that is, the percentage of discharge capacity to charging capacity.

[0043] Remaining battery capacity: Also known as the battery state of charge (SOC), it is a physical quantity that reflects the remaining capacity of a battery. It is defined as the percentage of the battery's remaining capacity, i.e., SOC = (remaining battery capacity / battery capacity) × 100%. The value of SOC ranges from 0 to 100%. When SOC = 0, it means the battery is fully discharged, and when SOC = 100%, it means the battery is fully charged.

[0044] Load voltage: This is relative to open-circuit voltage. Open-circuit voltage is the voltage measured when no load is connected, while load voltage is the voltage measured when a load is connected. Generally speaking, open-circuit voltage is greater than load voltage.

[0045] Using only the ampere-hour integration method results in a continuous accumulation of current sampling errors, leading to increasingly larger errors in the estimated remaining battery capacity. Currently, in industrial applications, the open-circuit voltage method is typically added to the ampere-hour integration method for calibration. The open-circuit voltage method finds the remaining capacity corresponding to the current open-circuit voltage on the battery's open-circuit voltage curve, and then corrects the estimated remaining battery capacity using the ampere-hour integration method based on this remaining capacity. However, the open-circuit voltage method is highly dependent on the slope of the battery's open-circuit voltage curve. For batteries with a shallow open-circuit voltage curve (such as iron phosphate batteries), the remaining capacity found using the open-circuit voltage method for calibration will also have a large error.

[0046] For example, Figure 1 The open-circuit voltage curve of a lithium iron phosphate battery is shown, as follows: Figure 1 As shown, when the battery's SOC is between 30% and 80%, the slope of the curve is relatively small, meaning that the load voltage on the vertical axis changes more slowly with increasing SOC. Therefore, the accuracy of the SOC determined based on the load voltage is low and the error is relatively large in this segment of the curve. Furthermore, AGVs typically have a high charging rate and a low discharging rate, resulting in fast charging and slow discharging. They are usually scheduled to charge during idle periods, resulting in frequent charging with short charging times. Additionally, AGVs reserve more than 30% of their charge during discharging, ensuring the battery's charge level remains between 30% and 90% to guarantee normal operation. In this case, if... Figure 1 The open-circuit voltage curve shown is used to correct the SOC of the AGV. This requires multiple uses of the curve with an SOC between 30 and 80. Therefore, the accuracy of determining the SOC of the AGV based on the open-circuit voltage curve is low and the error is large.

[0047] In addition, triggering open-circuit voltage calibration requires the battery to be left to stand for a sufficiently long time. However, since AGVs operate in a long-cycle mode, they are generally not shut down, making it difficult to trigger static open-circuit voltage lookup correction.

[0048] To address the aforementioned issues, this application proposes a method and apparatus for determining the remaining battery capacity. The method includes: firstly, acquiring the battery's capacity increment curve, which includes the remaining battery capacity values ​​corresponding to different capacity increments at the current charging rate; wherein the capacity increment is the ratio between the charge increment and the voltage increment, and the charging rate indicates the current during charging; when the battery's capacity increment at a first moment meets a first correction condition, finding the first remaining battery capacity corresponding to that capacity increment on the battery's capacity increment curve; and continuously correcting the remaining battery capacity when the error value of the remaining battery capacity at the first moment meets a second correction condition, until the remaining battery capacity is fully corrected; wherein the error value of the remaining battery capacity at the first moment is the absolute value of the difference between the remaining battery capacity at the first moment and the first remaining battery capacity. This method can correct the remaining battery capacity estimated using the ampere-hour integration method, improving the accuracy of the remaining battery capacity estimation.

[0049] The method provided in this application can be used to detect various types of batteries to estimate their remaining capacity. In one feasible embodiment, the battery in this application can be a lithium-ion battery (ternary lithium battery or lithium iron phosphate battery) or other types, without specific limitation.

[0050] In the embodiments of this application, a battery can be understood as a battery pack composed of multiple individual batteries connected in series and / or in parallel.

[0051] The method provided in this application embodiment can generate code using programming tools. As one possible implementation, the Simulink tool in Matrix Laboratory (Matlab) is used to build the algorithm model and generate the code. Of course, other programming tools can also be used, as long as they can execute the method provided in this application embodiment, they all fall within the protection scope of this application. This application embodiment is not limited here. Using programming tools to generate code, compared to manually writing code, can reduce unnecessary errors, and the logic is clearer and more testable.

[0052] The method provided in this application can be applied to various devices that use batteries. Batteries can function as energy storage devices or power devices in different devices. These devices can include various terminal devices such as mobile phones, tablets, wearable devices, and vehicle terminals, as well as various vehicles such as cars, trucks, motorcycles, buses, and airplanes. Furthermore, it can be applied to communication equipment such as base stations, mobile stations, and satellites.

[0053] The following example, using a vehicle, illustrates the structure of a device that applies the method provided in this application.

[0054] Figure 2This is a functional block diagram of a robot 100 provided in an embodiment of this application.

[0055] like Figure 2 As shown, robot 100 may include various subsystems, such as a propulsion system 102, a sensor system 104, a control system 106, one or more peripheral devices 108, a power supply 110, a computer system 112, and a user interface 116. Optionally, robot 100 may include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and component of robot 100 may be interconnected via wired or wireless means.

[0056] The propulsion system 102 may include components that provide powered motion for the robot 100. In one embodiment, the propulsion system 102 may include an engine 118, an energy source 119, a transmission 120, and wheels 121. The engine 118 may be an internal combustion engine, an electric motor, an air compressor engine, or other types of engine combinations, such as a hybrid engine consisting of a gasoline engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air compressor engine. The engine 118 converts the energy source 119 into mechanical energy.

[0057] Examples of energy sources 119 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. Energy source 119 can also provide power to other systems of robot 100.

[0058] The transmission 120 can transmit mechanical power from the engine 118 to the wheels 121. The transmission 120 may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission 120 may also include other components, such as a clutch. The drive shaft may include one or more axles that can be coupled to one or more wheels 121.

[0059] Sensor system 104 may include several sensors for sensing information about the environment surrounding robot 100. Sensor system 104 may include positioning system 122, inertial measurement unit 124, radar 126, laser rangefinder 128, and camera 130. In this embodiment, sensor system 104 can be used to measure state parameters of battery such as temperature, current, and voltage.

[0060] The positioning system 122 can be used to estimate the geographic location of the robot 100. The IMU 124 is used to sense changes in the position and orientation of the robot 100 based on inertial acceleration. In one embodiment, the IMU 124 can be a combination of an accelerometer and a gyroscope.

[0061] Radar 126 can use radio signals to sense objects in the surrounding environment of robot 100. In some embodiments, in addition to sensing objects, radar 126 can also be used to sense the speed and / or direction of movement of objects.

[0062] The laser rangefinder 128 can use lasers to sense objects in the environment in which the robot 100 is located. In some embodiments, the laser rangefinder 128 may include one or more laser sources, a laser scanner, and one or more detectors, as well as other system components.

[0063] Camera 130 can be used to capture multiple images of the surrounding environment of robot 100. Camera 130 can be a still camera or a video camera.

[0064] The control system 106 controls the operation of the robot 100 and its components. The control system 106 may include various elements, including a steering system 132, a braking unit 136, a sensor fusion algorithm 138, a computer vision system 140, a route control system 142, and an obstacle avoidance system 144.

[0065] The steering system 132 is operable to adjust the forward direction of the robot 100. For example, in one embodiment, the steering system 132 may be a steering wheel system.

[0066] Throttle 134 is used to control the operating speed of engine 118, and thus the speed of robot 100.

[0067] Braking unit 136 is used to control the deceleration of robot 100. Braking unit 136 can use friction to slow down wheel 121.

[0068] In other embodiments, braking unit 136 can convert the kinetic energy of wheel 121 into electrical current. Braking unit 136 may also take other forms to slow down the rotational speed of wheel 121 to control the speed of robot 100.

[0069] The computer vision system 140 is operable to process and analyze images captured by the camera 130 to identify objects and / or features in the environment surrounding the robot 100. The objects and / or features may include traffic signals, road boundaries, and obstacles. The computer vision system 140 may use object recognition algorithms, structure from motion (SFM) algorithms, video tracking, and other computer vision techniques. In some embodiments, the computer vision system 140 may be used to map the environment, track objects, estimate object velocities, and so on.

[0070] The route control system 142 is used to determine the travel route of the robot 100. In some embodiments, the route control system 142 may combine data from sensor fusion algorithm 138, positioning system 122 and one or more predetermined maps to determine the travel route of the robot 100.

[0071] The obstacle avoidance system 144 is used to identify, assess, and avoid or otherwise traverse potential obstacles in the environment of the robot 100.

[0072] It should be understood that the control system 106 may include additional or alternative components besides those shown and described. Alternatively, some of the components shown above may be reduced.

[0073] The robot 100 interacts with external sensors, other vehicles, other computer systems, or users via peripheral devices 108. Peripheral devices 108 may include a wireless communication system 146, an onboard computer 148, a microphone 150, and / or a speaker 152.

[0074] The wireless communication system 146 can communicate wirelessly with one or more devices, either directly or via a communication network. The wireless communication system 146 can communicate using WiFi or a wireless local area network (WLAN). In some embodiments, the wireless communication system 146 can communicate directly with devices using an infrared link, Bluetooth, or ZigBee. Other wireless protocols, such as various vehicle communication systems, may also be used. For example, the wireless communication system 146 may include one or more dedicated short-range communications (DSRC) devices, which can include public and / or private data communications between vehicles and / or roadside stations.

[0075] The power source 110 can provide power to various components of the robot 100. In one embodiment, the power source 110 can be a rechargeable lithium battery or a rechargeable lithium iron phosphate battery. One or more such battery packs can be configured to provide power to various components of the robot 100.

[0076] Some or all of the functions of robot 100 are controlled by computer system 112. Computer system 112 may include at least one processor 123, which executes instructions 125 stored in a non-transitory computer-readable medium such as memory 114. Computer system 112 may also be multiple computing devices that control individual components or subsystems of robot 100 in a distributed manner.

[0077] Processor 123 can be any conventional processor, such as a commercially available central processing unit (CPU). Alternatively, the processor can be a special-purpose device such as an application-specific integrated circuit (ASIC) or other hardware-based processor.

[0078] although Figure 2 The processor, memory, and other elements of computer system 112 within the same block are functionally illustrated; however, those skilled in the art will understand that the processor, computer, or memory may or may not be stored in the same physical housing. For example, memory may be a hard disk drive or other storage media located in a housing different from that of computer system 112. Therefore, references to processors or computers will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Unlike using a single processor to perform the steps described herein, some components, such as steering and deceleration components, may each have their own processor that performs calculations only related to the component's specific function.

[0079] In some embodiments, memory 114 may contain instructions 125 (e.g., program logic) that can be executed by processor 123 to perform various functions of robot 100, including those described above. Memory 114 may also contain additional instructions, including instructions to send data to, receive data from, interact with, and / or control one or more of the following: travel system 102, sensor system 104, control system 106, and peripheral devices 108.

[0080] In addition to instruction 125, memory 114 may also store data such as road maps, route information, vehicle position, direction, speed, and other vehicle data, as well as other information. This information can be used by robot 100 and computer system 112 during robot 100 operation in autonomous, semi-autonomous, and / or manual modes.

[0081] The computer system 112 also includes a battery management system (BMS), which manages the power supply 110, specifically the storage battery. Typically, the BMS measures battery voltage and can prevent or avoid abnormal conditions such as over-discharge, over-charge, or over-temperature. Detailed specifications of the BMS can be found below. Figure 3 This will not be elaborated upon here.

[0082] Optionally, one or more of these components may be installed separately from robot 100, and the separately installed components may be associated with robot 100. These components may be communicatively coupled together in a wired and / or wireless manner, meaning that the coupled components can communicate with each other.

[0083] Optionally, the components described above are merely examples. In actual applications, components in each of the above modules may be added or removed as needed. Figure 2 This should not be construed as a limitation on the embodiments of this application.

[0084] The robot 100 described above can be an AGV, car, truck, motorcycle, bus, ship, airplane, helicopter, lawnmower, recreational vehicle, amusement park vehicle, construction equipment, tram, golf cart, train, and handcart, etc., and the embodiments of this application do not impose any special limitations.

[0085] After introducing the robot 100 described above, the BMS in the robot 100 involved in this application will be described below. It should be understood that the embodiments of this application can also be applied to the BMS of other terminals, such as mobile phones, tablets, cameras, computers, netbooks, ultra-mobile personal computers (UMPCs), wearable devices (such as smart bracelets and smartwatches), in-vehicle devices, or portable devices.

[0086] Figure 3 This is a schematic diagram of a battery management system (BMS) provided in an embodiment of this application. The BMS can be connected to or outside the robot 100 via wired or wireless means, and this embodiment of the application does not impose any limitations.

[0087] like Figure 3 As shown, the BMS may include: a data acquisition module 201, an information recording module 202, a battery balancing module 203, a communication module 204, and a protection execution module 205.

[0088] The data acquisition module 201 can be used to collect relevant parameter information of the battery. For example, the data acquisition module 201 may include a voltage sensor, a current sensor, a temperature sensor and a pressure sensor, which are used to collect parameter information such as voltage, current, temperature and pressure of the battery, respectively.

[0089] The information recording module 202 can be used to record relevant parameters of the battery, such as the battery's current, voltage, temperature, and pressure.

[0090] The battery balancing module 203 can be used to balance the battery, such as to balance the voltage deviation of the battery so that the voltage deviation is within a certain range.

[0091] The communication module 204 can be used to enable communication between the BMS and other devices or units, such as communication between the BMS and the charging / discharging unit.

[0092] The protection execution module 205 can be used to promptly report alarms via the communication module 204 when the battery experiences over-discharge, overcharge, overcurrent / short circuit, high or low temperature alarms, etc. In cases of high alarm levels, it can also cut off the circuit to protect the safety of the battery and load.

[0093] It should be noted that each module in the BMS described above can be implemented by hardware, software, or a combination of hardware and software. The specific implementation method of a particular module, whether hardware, software, or a combination of both, depends on the specific application and design constraints of the technical solution. This application does not impose any specific limitations on this.

[0094] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0095] To improve the accuracy of estimated remaining battery power, embodiments of this application provide a method for determining remaining battery power. This method can be applied to any device that uses a storage battery, such as... Figure 2 In the robot 100 shown, execution can be performed by a BMS or a processor. The BMS and processor can be located inside or outside the vehicle; this embodiment does not impose such limitations. Figure 4 As shown, the method may specifically include the following steps:

[0096] S101. Obtain the battery capacity increment curve.

[0097] The aforementioned capacity increment curve includes the remaining battery capacity corresponding to different capacity increments at the current charging rate. In the graph of the capacity increment curve, the horizontal axis represents the remaining battery capacity, and the vertical axis represents the capacity increment. Furthermore, the capacity increment is the ratio between the charge increment and the voltage increment, and the charging rate indicates the current of the battery during charging.

[0098] For example, Figure 5 This illustrates a set of capacity increment curves for a battery during the charging state. Figure 5 It is a set of capacity increment curves of the battery under charging state, collected through experiments. Figure 5 The horizontal axis represents the remaining charge of the battery, and the vertical axis represents the capacity increment (i.e., the ratio between the increase in charge and the increase in voltage). Figure 5The different curves in the diagram represent the capacity increase curves of the battery under different charging current rates during the charging state. For example, Figure 5 The diagram shows the remaining charge of the battery at different capacity increments under charging current rates of 0.3C, 0.5C, and 0.8C. Furthermore, as... Figure 5 As shown, each capacity increment curve exhibits a sharp increase in slope near three points on the horizontal axis: SOC at 10%, 37%, and 71%, with different peak values. That is, Figure 5 Each capacity increment curve shown has three distinct peak points.

[0099] in, Figure 5 The three capacity increment curves shown are the capacity increment curves for three charging rates of 0.3C, 0.5C and 0.8C at the same temperature.

[0100] Optionally, for this battery, the same charging rate corresponds to different capacity increment curves for different operating temperatures.

[0101] For example, such as Figure 6 The figure shows the capacity increment curves of the battery at a charging rate of 1.3C and temperatures of 0°C, 5°C, 10°C, 15°C, 25°C (room temperature), and 40°C. Figure 5 As shown, the SOC corresponding to the peak point of each curve is different.

[0102] Optionally, the BMS of a device equipped with a battery can preset multiple capacity increment curves based on the battery's operating temperature range and the available charging rate.

[0103] Therefore, when it is necessary to correct the SOC of the battery based on the capacity increment curve, the operating temperature and charging rate of the battery can be determined first, and then the capacity increment curve that matches the operating temperature and charging rate can be selected from the pre-stored cluster of multiple capacity increment curves.

[0104] Optionally, multiple capacity increment curves of the battery at different operating temperatures and current rates can be collected in advance through experiments. In actual implementation, the charging rate of the battery is usually 0.3C, 0.5C, and 0.8C. Therefore, multiple capacity increment curves of the battery at different operating temperatures and charging rates of 0.3C, 0.5C, and 0.8C can be collected experimentally.

[0105] Therefore, when correcting the remaining capacity of the battery, the current operating temperature and charging rate of the battery can be determined first. Then, among multiple capacity increment curves, the capacity increment curve corresponding to the operating temperature and charging rate can be determined.

[0106] S102. When the capacity increment of the battery at the first moment meets the first correction condition, find the first remaining charge corresponding to the capacity increment of the battery on the capacity increment curve of the battery.

[0107] The first correction condition can be that the capacity increment of the battery at the first moment corresponds to the capacity increment value indicated by the peak point of the capacity increment curve.

[0108] It is understood that the capacity increment curve includes one or more peak points. Thus, the capacity increment value and remaining power value indicated by the peak point can be clearly determined in the capacity increment curve. Therefore, the remaining power of the battery can be corrected more accurately based on the peak point.

[0109] Furthermore, when the battery's capacity increment reaches the capacity increment value indicated by the aforementioned peak point, i.e., when the first correction condition is met, the SOC corresponding to that peak point in the capacity increment can be found. This SOC can be understood as the current theoretical remaining capacity of the battery obtained based on the aforementioned capacity increment curve. Then, the current remaining capacity of the battery determined based on the ampere-hour integration method can be compared with the theoretical remaining capacity obtained based on the aforementioned capacity increment curve (i.e., determining whether the following second correction condition is met), and the need for correction can be determined based on the comparison result. For example, if the peak points of the battery's capacity increment curve determined in step S101 above are A (10%, 200), B (37%, 1800), and C (70%, 500).

[0110] Therefore, the first correction condition can include the battery's capacity increment at the first moment being 200, 1800, or 500. That is, when the battery's capacity increment at the first moment is 200, the battery's capacity increment at the first moment satisfies the first correction condition. Alternatively, when the battery's capacity increment at the first moment is 1800, the battery's capacity increment at the first moment satisfies the first correction condition. Or, when the battery's capacity increment at the first moment is 500, the battery's capacity increment at the first moment satisfies the first correction condition.

[0111] Furthermore, when the battery's capacity increment at the first moment is 200, based on the peak point A (10%, 200) of the battery's capacity increment curve, the battery's first remaining charge can be determined to be 10%. Alternatively, when the battery's capacity increment at the first moment is 1800, based on the peak point B (37%, 1800) of the battery's capacity increment curve, the battery's first remaining charge can be determined to be 37%. Or, when the battery's capacity increment at the first moment is 500, based on the peak point B (37%, 1800) of the battery's capacity increment curve, the battery's first remaining charge can be determined to be 70%. Furthermore, based on the obtained first remaining charge, the error value of the battery's remaining charge at the first moment can be determined to determine whether the battery's remaining charge needs to be corrected.

[0112] Alternatively, the first correction condition may include the battery's capacity increment at the first moment falling within the capacity increment ranges of 190–210, 1790–1810, and 490–510. Thus, when the battery's capacity increment at the first moment is between 190 and 210, for example, 190, 192, or 200, the battery's capacity increment at the first moment satisfies the first correction condition. Alternatively, when the battery's capacity increment at the first moment is between 1790 and 1810, the battery's capacity increment at the first moment satisfies the first correction condition. Or, when the battery's capacity increment at the first moment is between 490 and 510, the battery's capacity increment at the first moment satisfies the first correction condition.

[0113] Accordingly, when the battery's capacity increment at the first moment is between 190 and 210, based on the peak point A (10%, 200) of the battery's capacity increment curve, the battery's first remaining charge can be determined to be 10%. Alternatively, when the battery's capacity increment at the first moment is between 1790 and 1810, based on the peak point B (37%, 1800) of the battery's capacity increment curve, the battery's first remaining charge can be determined to be 37%. Or, when the battery's capacity increment at the first moment is between 490 and 510, based on the peak point B (37%, 1800) of the battery's capacity increment curve, the battery's first remaining charge can be determined to be 70%. Furthermore, based on the obtained first remaining charge, the error value of the battery's remaining charge at the first moment can be determined to determine whether the battery's remaining charge needs to be corrected.

[0114] In some embodiments, the first correction condition may further include the voltage value corresponding to the peak point of the battery's capacity increment curve.

[0115] For example, the voltage value of the battery at the peak point A of the capacity increment curve is V. aThe voltage value of the battery at the peak point B of the capacity increment curve is V. b At the peak point A of the capacity increment curve, the corresponding voltage value of the battery is V. c .

[0116] Therefore, the first correction condition may include the battery's capacity increment being 200 and its voltage value being V at the first moment. a The capacity increment is 1800 and the voltage value is V. b and a capacity increment of 500 and a voltage value of V c That is, when the battery's capacity increase is 200 at the first moment, and the voltage value is V... a The battery's initial remaining charge is 10%, and at this time, the battery's capacity increment at the first moment satisfies the first correction condition.

[0117] Furthermore, the first remaining charge of the battery can be determined to be 10% based on the peak point A of the capacity increment curve.

[0118] Of course, the first correction condition may include the battery's capacity increment range (190, 210) at the first moment and the voltage value V. a Or the capacity increment range (190, 210) and voltage range V a ±nmV, which will not be listed individually. Here, n can be a voltage value such as 5, 10, or 20, which is used to indicate the voltage value error that can be tolerated in this step.

[0119] S103. When the remaining charge error value of the battery at the first moment meets the second correction condition, the third remaining charge of the battery is corrected.

[0120] Specifically, the error value of the battery's remaining charge at the first moment is the absolute value of the difference between the second remaining charge calculated using the ampere-hour integration method at the first moment and the first remaining charge. Furthermore, the aforementioned third remaining charge refers to the battery's remaining charge value at one or more moments after the first moment.

[0121] The second correction condition is that the remaining battery power error value is greater than or equal to a preset remaining battery power threshold. Optionally, the preset remaining battery power threshold can be 10%, 15%, 5%, or other possible values.

[0122] It should be understood that the aforementioned first remaining capacity can be interpreted as the theoretical remaining capacity of the battery at the first moment, obtained based on the aforementioned capacity increment curve. Therefore, when the remaining capacity error value is greater than or equal to this value, that is, when the aforementioned second correction condition is met, it indicates that the remaining capacity of the battery at the first moment differs significantly from the theoretical remaining capacity, and the remaining capacity of the battery needs to be corrected.

[0123] In some embodiments, the first charge quantity can be corrected based on a preset correction coefficient to obtain a corrected second charge quantity. Then, based on the second charge quantity, the corrected remaining battery capacity at the second time point is determined using an ampere-hour integration algorithm.

[0124] It is understandable that the measured current value may contain errors, leading to inaccuracies in the remaining charge calculated using the ampere-hour integration method. Furthermore, the initial charge is determined based on the current value; therefore, correcting the initial charge using a correction factor can correct the current value, making it closer to the accurate current value. This reduces the error in the remaining charge calculated using the ampere-hour integration method until the correction is complete.

[0125] Wherein, the first charge quantity is the charge quantity of the battery collected at the second time point, and the second time point is the time point after the first time point. Furthermore, the aforementioned preset correction coefficient includes a first correction coefficient and a second correction coefficient; the first correction coefficient is greater than 1, and the second correction coefficient is less than 1; if the remaining charge of the battery at the first time point is less than the first remaining charge, then the preset correction coefficient is the first correction coefficient; if the remaining charge of the battery at the first time point is greater than the first remaining charge, then the preset correction coefficient is the second correction coefficient.

[0126] It is understandable that if the battery's remaining charge at the first moment is less than the first remaining charge, then the remaining charge of the battery needs to be increased. In this case, a first correction factor can be used to correct the charge. If the battery's remaining charge at the first moment is greater than the first remaining charge, then the remaining charge of the battery needs to be decreased. In this case, a second correction factor can be used to correct the first charge.

[0127] For example, the first correction factor can be a value such as 1.2 or 1.3. The second correction factor can be a value such as 0.8 or 0.7.

[0128] Therefore, after measuring the first charge, if the remaining charge of the battery at the first moment is less than the first remaining charge, the charge can be corrected by the first correction factor to obtain the second charge.

[0129] Specifically, based on the ampere-hour integration method, the SOC of the battery can be calculated according to the following formula (1):

[0130]

[0131] Where SOC represents the remaining battery capacity, SOC0 represents the remaining battery capacity previously determined and stored in the system, C represents the rated capacity of the battery, η represents the coulombic efficiency, I represents the charging / discharging current of the battery at time t, and t represents the charging / discharging time.

[0132] It should be noted that during charging or discharging, the remaining battery capacity can be determined periodically at a fixed frequency, and the determined remaining battery capacity can be stored or displayed to the user. If the aforementioned SOC represents the remaining battery capacity determined in the current cycle, then SOC0 represents the remaining battery capacity determined and stored in the previous cycle that is currently stored in the system.

[0133] Therefore, after obtaining the second charge, the corrected remaining charge of the battery at the second time moment can be determined based on the ampere-hour integration method, using the above formula (1) and the second charge.

[0134] Optionally, the remaining charge of the battery before correction at the second time point can be determined based on the first charge and the ampere-hour integration method, using the above formula (1) and the first charge.

[0135] Furthermore, based on the corrected charge value of the battery at the second time point, the corrected charge value can be the absolute value of the difference between the remaining charge before correction and the remaining charge after correction.

[0136] In some embodiments, when the corrected remaining charge at the second time moment meets the preset correction completion condition, it is determined that the third remaining charge of the battery has been corrected.

[0137] Optionally, the aforementioned preset correction completion condition includes: the corrected charge value is greater than or equal to the error charge value. Here, the corrected charge value is the cumulative corrected charge value from the start of the correction (i.e., the first time mentioned above) to the second time, and the error charge is the remaining charge error value of the battery determined at the first time.

[0138] For example, the third remaining power after correction can be determined based on the following formula (2) to meet the preset correction completion condition.

[0139] |Preset correction factor - 1| × Q1 ≥ Q2 Formula (2)

[0140] Where Q1 is the corrected battery level from the start of the correction to the second time. Q2 is the remaining battery level error at a given time.

[0141] In some embodiments, if the corrected remaining charge at the second time moment meets the preset correction completion condition, the second charge is corrected based on the preset correction coefficient to obtain the corrected third charge.

[0142] The third time point is the time point after the second time point; based on the third charge quantity, the corrected remaining charge of the battery at the third time point is determined using the ampere-hour integration algorithm; when the corrected remaining charge at the third time point meets the preset correction completion condition, it is determined that the remaining charge of the battery has been corrected.

[0143] It should be understood that the remaining charge of the battery can be continuously corrected. If the corrected remaining charge at the third time meets the preset correction completion condition, the current value at the next time can be corrected. Then, the corrected remaining charge of the battery at the next time is determined based on the ampere-hour integration algorithm, until the remaining charge of the battery is corrected.

[0144] It should be noted that the method provided in this application is a process of continuously correcting the remaining battery capacity. For example, during continuous charging of the battery, if at time 1 the remaining battery capacity is 50%, and at time 2 it is 60%, the error value is 10%. Figure 7 As shown in the SOC curve a, without correction, the remaining battery power at time 2 (after the first time step) is 55%, at time 3 it is 60%, at time 4 it is 65%, and at time 5 it is 70%. If, based on the above error value of 10%, the remaining battery power at time 2 is directly adjusted from 55% to 65%, as shown in the curve a... Figure 7 As shown in SOC curve b, the SOC of the battery jumps from 50% to 65% from time 1 to time 2. Furthermore, as... Figure 7 As shown in SOC curve c, after correction based on the correction method provided in this application, the remaining battery power at time 2 can be 58%, at time 3 it can be 66%, at time 4 it can be 74%, and at time 5 it can be 86%. It can be understood that the correction method provided in this application can gradually increase the rate of change of the remaining battery power value to avoid abrupt changes in the remaining battery power and achieve smooth correction.

[0145] Based on the technical solution provided in this application, at least the following beneficial effects can be achieved: This application estimates the remaining battery capacity using the ampere-hour integration method, then searches for the capacity increment curve at the current current rate during battery charging, obtaining the theoretical remaining capacity corresponding to the current capacity increment on this curve (i.e., the first remaining capacity in this application); then it determines whether the first remaining capacity and the currently calculated remaining capacity of the battery need correction. If correction is needed, the subsequently determined remaining capacity is continuously corrected until the correction is complete. Compared to the open-circuit voltage curve, the peak point of the capacity increment curve is more obvious, and the slope of the curve is larger, making the theoretical remaining capacity obtained from the curve more accurate. Furthermore, it does not require prolonged static storage, making it more practical. In addition, the correction method provided in this application continuously corrects the determined remaining battery capacity until the correction is complete when it is determined that correction is needed. This maintains a monotonically stable change in the remaining battery capacity during the correction process, achieving smooth correction and preventing jumps in the remaining battery capacity.

[0146] The foregoing primarily describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the aforementioned functions, it includes corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, in conjunction with the units and algorithm steps of the various examples described in the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0147] like Figure 8 The diagram shown is a structural schematic of a battery remaining power correction device 300 provided in an embodiment of this application. The device 300 may include: an acquisition module 301, a processing module 302, and a correction module 303.

[0148] The acquisition module 301 is used to acquire the battery capacity increment curve, and the remaining battery power value corresponding to different capacity increments in the capacity increment curve; wherein, the capacity increment is the ratio between the charge increment and the voltage increment, and the charging rate is used to indicate the current of the battery during charging.

[0149] The processing module 302 is used to find the first remaining charge corresponding to the capacity increment of the battery on the battery capacity increment curve when the capacity increment of the battery at the first moment meets the first correction condition, and determine the remaining charge error value of the battery at the first moment; wherein, the remaining charge error value of the battery at the first moment is the absolute value of the difference between the second remaining charge of the battery determined based on the ampere-hour integration method at the first moment and the first remaining charge.

[0150] The correction module 303 is used to correct the remaining battery capacity at a time after the first time when the error value of the remaining battery capacity at the first time meets the second correction condition.

[0151] In one possible implementation, the correction module 303 is specifically used to: correct the first charge amount based on a preset correction coefficient to obtain a corrected second charge amount, wherein the first charge amount is the charge amount of the battery collected at a second time moment, and the second time moment is a time moment after the first time moment; determine the corrected remaining charge of the battery at the second time moment based on the second charge amount using an ampere-hour integration algorithm; and determine that the remaining charge of the battery has been corrected when the corrected remaining charge at the second time moment meets the preset correction completion condition.

[0152] In another possible implementation, the above-mentioned preset correction completion conditions include: the corrected power value is greater than or equal to the battery's remaining power error value at the first moment, the corrected power value is the power value cumulatively corrected from the first moment to the second moment, and the cumulative corrected power value from the first moment to the second moment is the difference between the remaining power value before correction and the remaining power value after correction.

[0153] In another possible implementation, the correction module 303 is further specifically used to: when the corrected remaining charge at the second time moment does not meet the preset correction completion condition, correct the second charge amount based on the preset correction coefficient to obtain the corrected third charge amount, wherein the third time moment is a time after the second time moment; determine the corrected remaining charge of the battery at the third time moment based on the ampere-hour integration algorithm according to the third charge amount; and determine that the remaining charge of the battery has been corrected when the corrected remaining charge at the third time moment meets the preset correction completion condition.

[0154] In another possible implementation, the preset correction coefficient includes a first correction coefficient and a second correction coefficient; the first correction coefficient is greater than 1, and the second correction coefficient is less than 1; if the remaining charge of the battery at the first moment is less than the first remaining charge, then the preset correction coefficient is the first correction coefficient; if the remaining charge of the battery at the first moment is greater than the first remaining charge, then the preset correction coefficient is the second correction coefficient.

[0155] In another possible implementation, the acquisition module 301 is specifically used to: determine the battery capacity increment curve cluster based on the battery's current operating temperature, the capacity increment curve cluster including one or more capacity increment curves; and determine the capacity increment curve in the capacity increment curve cluster based on the charging rate.

[0156] In another possible implementation, the capacity increment curve includes one or more peak points, and the first correction condition includes: the capacity increment of the battery is within the capacity increment range indicated by the first peak point, wherein the first peak point is one of the one or more peak points.

[0157] For a detailed description of the above-mentioned optional methods, please refer to the foregoing method embodiments, which will not be repeated here. Furthermore, the explanation of any of the battery remaining power correction devices 300 provided above, as well as the description of their beneficial effects, can be found in the corresponding method embodiments described above, and will not be repeated here.

[0158] As an example, combined Figure 3 The function implemented by the processing module 302 of the battery remaining power correction device 300 can be achieved through... Figure 3 Processor 210 or processor 270 in the middle executes Figure 3 The program code implementation in memory 240 is, of course, not limited to this.

[0159] Those skilled in the art will readily recognize that, based on the units and algorithm steps described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is implemented in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0160] It should be noted that, Figure 8 The module division shown is illustrative and represents only one logical functional division; in actual implementation, other division methods are possible. For example, two or more functions can be integrated into a single processing module. These integrated modules can be implemented either in hardware or as software functional modules.

[0161] This application also provides a computer-readable storage medium including computer-executable instructions that, when run on a computer, cause the computer to perform any of the methods provided in the above embodiments. For example, Figure 4 One or more features in S101 to S103 can be performed by one or more computer-executable instructions stored in the computer-readable storage medium.

[0162] This application also provides a computer program product containing computer execution instructions, which, when run on a computer, causes the computer to perform any of the methods provided in the above embodiments.

[0163] This application also provides a chip, including a processor and an interface. The processor is coupled to a memory through the interface. When the processor executes a computer program in the memory or computer execution instructions, any of the methods provided in the above embodiments are executed.

[0164] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software programs, implementation can be, in whole or in part, in the form of a computer program product. This computer program product includes one or more computer instructions. When these computer instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device containing one or more servers, data centers, etc., that can be integrated with the medium. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state disks, SSDs).

[0165] Although this application has been described in conjunction with specific features and embodiments, it is obvious that various modifications and combinations can be made thereto without departing from the spirit and scope of this application. Accordingly, this specification and drawings are merely exemplary illustrations of this application as defined by the appended claims, and are considered to cover any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from the spirit and scope of this application. Thus, if such modifications and modifications of this application fall within the scope of the claims of this application and their equivalents, this application is also intended to include such modifications and modifications.

[0166] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for correcting the remaining battery power, characterized in that, The method includes: Obtain the capacity increment curve of the battery, which includes the remaining charge value of the battery corresponding to different capacity increments; wherein, the capacity increment is the ratio between the charge increment and the voltage increment. When the capacity increment of the battery at the first moment meets the first correction condition, the first remaining charge corresponding to the capacity increment of the battery is found on the capacity increment curve of the battery, and the remaining charge error value of the battery at the first moment is determined; wherein, the remaining charge error value of the battery at the first moment is the absolute value of the difference between the second remaining charge of the battery determined based on the ampere-hour integration method at the first moment and the first remaining charge. When the remaining charge error value of the battery at the first moment meets the second correction condition, the third remaining charge of the battery at a time after the first moment is corrected. The step of correcting the third remaining battery charge at a time after the first time moment includes: Based on a preset correction coefficient, the first charge quantity is corrected to obtain the corrected second charge quantity. The first charge quantity is the charge quantity of the battery collected at the second time moment, and the second time moment is the time after the first time moment. Based on the second charge amount, the corrected remaining charge of the battery at the second time moment is determined using an ampere-hour integration algorithm; When the corrected remaining power at the second time moment meets the preset correction completion condition, it is determined that the third remaining power of the battery has been corrected. The preset correction completion condition includes: the corrected power value is greater than or equal to the remaining power error value of the battery at the first time moment, the corrected power value is the power value cumulatively corrected from the first time moment to the second time moment, and the cumulative corrected power value from the first time moment to the second time moment is the difference between the remaining power value before correction and the remaining power value after correction.

2. The method according to claim 1, characterized in that, The method further includes: If the remaining charge after correction at the second time does not meet the preset correction completion condition, the second charge is corrected based on the preset correction coefficient to obtain the corrected third charge. Based on the third charge quantity, the corrected remaining charge of the battery at the third time point is determined using the ampere-hour integration algorithm, where the third time point is a time after the second time point; When the corrected remaining charge at the third time point meets the preset correction completion condition, it is determined that the third remaining charge of the battery has been corrected.

3. The method according to claim 1 or 2, characterized in that, The preset correction coefficient includes a first correction coefficient and a second correction coefficient; the first correction coefficient is greater than 1, and the second correction coefficient is less than 1. If the remaining charge of the battery at the first moment is less than the first remaining charge, then the preset correction coefficient is the first correction coefficient; If the remaining charge of the battery at the first moment is greater than the first remaining charge, then the preset correction coefficient is the second correction coefficient.

4. The method according to claim 1, characterized in that, The process of obtaining the capacity increment curve of the battery includes: Based on the current operating temperature of the battery, a cluster of capacity increment curves is determined for the battery, and the cluster of capacity increment curves includes one or more capacity increment curves; Based on the current charging rate of the battery, the capacity increment curve is determined in the cluster of capacity increment curves, whereby the charging rate is used to indicate the current of the battery during charging.

5. The method according to claim 1, characterized in that, The capacity increment curve includes one or more peak points, and the first correction condition includes: the capacity increment of the battery is within the capacity increment range indicated by the first peak point, wherein the first peak point is one of the one or more peak points.

6. A device for correcting the remaining battery power, characterized in that, The device includes: The acquisition module is used to acquire the capacity increment curve of the battery, wherein different capacity increments in the capacity increment curve correspond to the remaining charge value of the battery; wherein the capacity increment is the ratio between the charge increment and the voltage increment. The processing module is configured to, when the capacity increment of the battery at a first moment satisfies a first correction condition, find the first remaining charge corresponding to the capacity increment of the battery on the capacity increment curve of the battery, and determine the remaining charge error value of the battery at the first moment; wherein, the remaining charge error value of the battery at the first moment is the absolute value of the difference between the remaining charge of the battery determined based on the ampere-hour integration method at the first moment and the first remaining charge. The correction module is used to correct the third remaining charge of the battery at a time after the first time. Specifically, the correction module is used for: Based on a preset correction coefficient, the first charge quantity is corrected to obtain the corrected second charge quantity. The first charge quantity is the charge quantity of the battery collected at the second time moment, and the second time moment is the time after the first time moment. Based on the second charge quantity, the corrected remaining charge of the battery at the second time point is determined using an ampere-hour integration algorithm; When the corrected remaining power at the second moment meets the preset correction completion condition, it is determined that the remaining power of the battery has been corrected. The preset correction completion conditions include: The corrected power value is greater than or equal to the remaining power error value of the battery at the first time. The corrected power value is the cumulative corrected power value from the first time to the second time. The cumulative corrected power value from the first time to the second time is the difference between the remaining power value before correction and the remaining power value after correction.

7. The apparatus according to claim 6, characterized in that, The correction module is also specifically used for: If the remaining charge after correction at the second time does not meet the preset correction completion condition, the second charge is corrected based on the preset correction coefficient to obtain the corrected third charge. Based on the third charge quantity, the corrected remaining charge of the battery at the third time point is determined using the ampere-hour integration algorithm, where the third time point is a time after the second time point; When the corrected remaining charge at the third time point meets the preset correction completion condition, it is determined that the third remaining charge of the battery has been corrected. The preset correction coefficient includes a first correction coefficient and a second correction coefficient; The first correction factor is greater than 1, and the second correction factor is less than 1; If the remaining charge of the battery at the first moment is less than the first remaining charge, then the preset correction coefficient is the first correction coefficient; If the remaining charge of the battery at the first moment is greater than the first remaining charge, then the preset correction coefficient is the second correction coefficient; The acquisition module is specifically used for: Based on the current operating temperature of the battery, a cluster of capacity increment curves is determined for the battery, and the cluster of capacity increment curves includes one or more capacity increment curves; Based on the current charging rate of the battery, the capacity increment curve is determined in the cluster of capacity increment curves, whereby the charging rate is used to indicate the current of the battery during charging. The capacity increment curve includes one or more peak points, and the first correction condition includes: the capacity increment of the battery is within the capacity increment range indicated by the first peak point, wherein the first peak point is one of the one or more peak points.

8. An electronic device, characterized in that, The electronic device includes a memory and a processor; the memory and the processor are coupled; the memory is used to store computer program code, the computer program code including computer instructions; When the processor executes the computer instructions, the electronic device performs the battery remaining power correction method as described in any one of claims 1-5.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed on an electronic device, cause the electronic device to perform a method for correcting the remaining battery power as described in any one of claims 1-5.

Images