Battery equalization method, device and equipment, readable storage medium and program product

Abstract

The invention discloses a battery equalization method, device and equipment, a readable storage medium and a program product. The method comprises the following steps: judging whether the voltage difference between a battery with the highest current voltage in a battery pack and other batteries meets an equalization starting condition or not; if yes, entering a first equalization stage in which the battery with the highest current voltage is utilized to charge the battery with the lowest current voltage by adopting a first current; and after entering the first equalization stage, if the voltage difference does not meet the equalization starting condition, entering a second equalization stage, in the second equalization stage, the battery charged by the first current in the first equalization stage is charged by using a second current by using the battery with the highest current voltage, and the second current is smaller than the first current. According to the scheme disclosed by the invention, the battery charged by the first current is charged by low current, so that the capacity loss caused by self-discharge of the battery is compensated, the charge-discharge depth and heat generation of the battery are reduced, the virtual high electric quantity and voltage of the battery are avoided, and the battery can be kept in a good health state.

Description

Technical Field

[0001] The present application relates to the technical field of battery balancing, and in particular to a battery balancing method, device, equipment, readable storage medium and program product. Background Art

[0002] The battery pack is composed of multiple single cells. Due to the differences in the manufacturing and use of single cells, there will be certain differences in the capacity and internal resistance between the single cells, which will cause the battery pack to have unbalanced charge and discharge. Cell balancing can reduce these differences, so that each single cell in the battery pack can maintain a relatively consistent working state, thereby improving the energy utilization and stability of the battery pack.

[0003] Cell balancing refers to the management of different cells in a battery pack to ensure that the voltage and state of charge of each cell are as consistent as possible. This process is critical to improving the overall performance of the battery pack, extending its service life, and ensuring safety.

[0004] At present, battery balancing is divided into active balancing and passive balancing. Among them, active balancing is generally active balancing of single cells to single cells, and there is only one balancing stage, which is to use large current for active balancing. This balancing method will increase the battery temperature, and high temperature may accelerate the chemical reaction speed inside the battery, thereby making the battery voltage artificially high, which is not conducive to maintaining a healthy state of the battery.

[0005] In summary, how to avoid the battery voltage from being artificially high so that the battery can maintain a good health state is a technical problem that needs to be urgently solved by those skilled in the art. Summary of the invention

[0006] In view of this, the purpose of the present application is to provide a battery balancing method, device, equipment, readable storage medium and program product, which are used to avoid the battery voltage from being artificially high so that the battery can maintain a good health state.

[0007] In order to achieve the above objectives, this application provides the following technical solutions:

[0008] A battery balancing method, comprising: collecting the current voltage of each battery in a battery pack, judging whether the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balancing start condition; if so, controlling the battery pack to enter a first balancing stage, and returning to execute the step of collecting the current voltage of each battery in the battery pack; the first balancing stage is to use the battery with the highest current voltage to charge the battery with the lowest current voltage with a first current; after controlling the battery pack to enter the first balancing stage, if it is determined that the voltage difference between the battery with the highest current voltage and the remaining batteries does not meet the balancing start condition, controlling the battery pack to enter a second balancing stage; the second balancing stage is to use the battery with the highest current voltage to charge the battery that has been charged by the first current in the first balancing stage with a second current, wherein, if it is necessary to use the second current to charge the battery with the highest current voltage, the battery with the highest current voltage in a target battery set is charged with the second current, and the target battery set includes batteries that have not been charged by the first current in the first balancing stage and batteries that have normally finished charging by the second current; the second current is less than the first current.

[0009] Optionally, after controlling the battery pack to enter the first balancing stage, it also includes: judging whether the voltage difference between the two batteries currently undergoing balancing action meets the balancing start condition; if the balancing start condition is met, continuing the currently ongoing balancing action; if the balancing start condition is not met, ending the currently ongoing balancing action.

[0010] Optionally, after determining that the voltage difference between the two batteries currently undergoing the balancing action does not satisfy the balancing start condition, the method further includes: maintaining the first balancing stage for the first time slice for the two batteries currently undergoing the balancing action, and judging multiple times within the first time slice whether the voltage difference between the two batteries currently undergoing the balancing action satisfies the balancing start condition; if the voltage difference between the two batteries currently undergoing the balancing action does not satisfy the balancing start condition in multiple judgments within the first time slice, executing the step of terminating the balancing action currently being performed; if the voltage difference between the two batteries currently undergoing the balancing action satisfies the balancing start condition in multiple judgments within the first time slice, controlling the first time slice to be invalid, and continuing the balancing action currently being performed.

[0011] Optionally, if the voltage difference between the two batteries currently undergoing balancing action meets the balancing start condition, it also includes: judging whether the battery with the highest voltage and the battery with the lowest voltage currently correspond to the battery with the highest voltage and the battery with the lowest voltage currently undergoing balancing action; if the battery with the highest voltage and the battery with the lowest voltage currently correspond to the battery with the highest voltage and the battery with the lowest voltage currently undergoing balancing action, continuing the currently ongoing balancing action; if at least one of the battery with the highest voltage and the battery with the lowest voltage currently does not correspond to the battery with the highest voltage and the battery with the lowest voltage currently undergoing balancing action, ending the currently ongoing balancing action.

[0012] Optionally, after determining that at least one of the battery with the highest current voltage and the battery with the lowest current voltage does not correspond to the battery with the highest voltage and the battery with the lowest voltage currently undergoing a balancing action, the method further includes: maintaining the first balancing stage of the first time slice for the two batteries currently undergoing a balancing action, and repeatedly judging within the first time slice whether the battery with the highest current voltage and the battery with the lowest current voltage correspond to the battery with the highest voltage and the battery with the lowest voltage currently undergoing a balancing action; if at least one of the battery with the highest current voltage and the battery with the lowest current voltage does not correspond to the battery with the highest voltage and the battery with the lowest voltage currently undergoing a balancing action in multiple judgments within the first time slice, executing the step of terminating the currently ongoing balancing action; if it appears in multiple judgments within the first time slice that the battery with the highest current voltage and the battery with the lowest current voltage correspond to the battery with the highest voltage and the battery with the lowest voltage currently undergoing a balancing action, controlling the first time slice to be invalid, and continuing the currently ongoing balancing action.

[0013] Optionally, before collecting the current voltage of each battery in the battery pack, the method further includes: numbering each battery in the battery pack according to the access position of each battery.

[0014] Optionally, before determining whether the voltage difference between the battery with the highest current voltage and the remaining batteries satisfies the equalization start-up condition, it also includes: arranging the current voltages of the batteries in the battery pack in order from high to low, and sorting the serial numbers of the batteries according to the voltage sorting.

[0015] Optionally, determining whether the voltage difference between the battery with the highest current voltage and the remaining batteries satisfies the equalization start-up condition includes: calculating the voltage difference between the battery with the highest current voltage and the remaining batteries; determining whether there is at least one voltage difference that satisfies the equalization start-up condition; and if so, determining whether the voltage difference between the battery with the highest current voltage and the remaining batteries satisfies the equalization start-up condition.

[0016] Optionally, judging whether there is at least one pressure difference satisfying the balanced opening condition comprises: judging whether the maximum pressure difference satisfies the balanced opening condition; if so, determining that there is at least one pressure difference satisfying the balanced opening condition.

[0017] Optionally, when charging with the second current, the method further includes: charging with the second current for a second time slice.

[0018] Optionally, after controlling the battery pack to enter the first balancing stage, the method further includes: determining whether the serial number of the battery with the lower voltage among the two batteries currently undergoing balancing action has been recorded; if the serial number of the battery with the lower voltage among the two batteries currently undergoing balancing action has not been recorded, recording the serial number of the battery with the lower voltage among the two batteries currently undergoing balancing action in the serial number set;

[0019] Before controlling the battery pack to enter the second balancing stage, it also includes: judging whether the sequence number set is empty; wherein, when the battery with the corresponding sequence number in the sequence number set normally completes the second balancing stage of the second time slice, the corresponding sequence number is deleted from the sequence number set; if the sequence number set is not empty, executing the step of controlling the battery pack to enter the second balancing stage, and judging whether the voltage difference between the battery with the highest current voltage and the remaining batteries satisfies the balancing start condition; if the sequence number set is empty, ending the second balancing stage, and controlling each battery in the battery pack to enter an idle state.

[0020] Optionally, after controlling the battery pack to enter the second balancing stage, it also includes: if the voltage difference between the battery with the highest current voltage and the remaining batteries does not meet the balancing start condition during the second balancing stage of the batteries of each serial number in the serial number set, and the batteries of each serial number in the serial number set have completed the second balancing stage normally, then it is determined that the second balancing stage ends normally, each battery in the battery pack is controlled to enter an idle state, and the step of collecting the current voltage of each battery in the battery pack is returned to execute; if it is determined that the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balancing start condition before the second balancing stage ends normally, then the second balancing stage is abnormally ended, and the battery pack is controlled to enter the first balancing stage.

[0021] Optionally, before abnormally terminating the second balancing stage, it also includes: maintaining the second balancing stage of the first time slice, and repeatedly judging within the first time slice whether the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balancing start condition; if the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balancing start condition in multiple judgments within the first time slice, executing the step of abnormally terminating the second balancing stage; if the voltage difference between the battery with the highest current voltage and the remaining batteries does not meet the balancing start condition in multiple judgments within the first time slice, controlling the first time slice to fail, and continuing the second balancing stage.

[0022] A battery balancing device comprises: a collection module, used to collect the current voltage of each battery in a battery pack, and determine whether the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balancing start condition; a first control module, used to control the battery pack to enter a first balancing stage if the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balancing start condition, and return to execute the step of collecting the current voltage of each battery in the battery pack; the first balancing stage is to use the battery with the highest current voltage to charge the battery with the lowest current voltage with a first current; a second control module, used to control the battery pack to enter a second balancing stage if it is determined that the voltage difference between the battery with the highest current voltage and the remaining batteries does not meet the balancing start condition after controlling the battery pack to enter the first balancing stage; the second balancing stage is to use the battery with the highest current voltage to charge the battery charged by the first current in the first balancing stage with a second current, wherein, if the second current is required to charge the battery with the highest current voltage, the battery with the highest current voltage in a target battery set is charged with the second current, and the target battery set includes batteries that have not been charged by the first current in the first balancing stage and batteries that have normally finished charging by the second current; the second current is less than the first current.

[0023] A battery balancing device comprises: a memory for storing a computer program; and a processor for implementing the steps of any one of the above-mentioned battery balancing methods when executing the computer program.

[0024] A readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of any one of the above-mentioned battery balancing methods are implemented.

[0025] A computer program product comprises a computer program, wherein when the computer program is executed by a processor, the steps of any one of the above-mentioned battery balancing methods are implemented.

[0026] The present application provides a battery balancing method, apparatus, device, readable storage medium and program product, wherein the method comprises: collecting the current voltage of each battery in a battery pack, judging whether the voltage difference between the battery with the highest current voltage and the remaining batteries satisfies the balancing start condition; if so, controlling the battery pack to enter the first balancing stage, and returning to the step of collecting the current voltage of each battery in the battery pack; the first balancing stage is to use the battery with the highest current voltage to charge the battery with the lowest current voltage with a first current; after controlling the battery pack to enter the first balancing stage, if it is determined that the voltage difference between the battery with the highest current voltage and the remaining batteries does not meet the balancing start condition, controlling the battery pack to enter the second balancing stage; the second balancing stage is to use the battery with the highest current voltage to charge the battery that has been charged by the first current in the first balancing stage with a second current, wherein, if the second current is required to charge the battery with the highest current voltage, the battery with the highest voltage in the target battery set is charged with the second current, and the target battery set includes batteries that have not been charged by the first current in the first balancing stage and batteries that have normally finished charging the second battery; the second current is less than the first current.

[0027] The above technical solution disclosed in the present application controls the battery pack to enter the first balancing stage after the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balancing start condition, so as to use the battery with the highest current voltage to charge the battery with the lowest current voltage with a large current, thereby ensuring that the battery balancing is achieved as quickly as possible. After the battery pack is controlled to enter the first balancing stage, the current voltage of each battery in the battery pack continues to be collected to determine whether the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balancing start condition, and the battery pack is controlled to enter the second balancing stage after the voltage difference does not meet the balancing start condition, so as to use the battery with the highest current voltage to charge the battery that has been charged by the first current in the first balancing stage with a small current, and when it is necessary to use the second current to charge the battery with the highest current voltage, the battery with the highest voltage among the batteries that have not been charged by the first current in the first balancing stage and the batteries that have normally finished the second current charging is used to charge the battery with the highest current voltage with a small current, so as to compensate for the capacity loss caused by battery self-discharge through continuous small current charging, reduce the charge and discharge depth of the battery, reduce the heat generated during the charging process, and repair the imbalance inside the battery, thereby compensating for the power of the batteries that have been charged by the first current in the first balancing stage, avoiding the false high power and voltage of these batteries, slowing down the power loss speed of these batteries and reducing battery aging, so that the batteries in the battery pack can maintain a good health state and extend the cycle life of the battery.

[0028] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A flowchart of a battery balancing method provided in an embodiment of the present application;

[0030] Figure 2 A logic flow chart of the balanced operation provided by the embodiment of the present application;

[0031] Figure 3 An operation flow chart of the first balancing stage provided in an embodiment of the present application;

[0032] Figure 4 A flowchart of the balance determination provided in the embodiment of the present application;

[0033] Figure 5 An operation flow chart of the second equalization stage provided in an embodiment of the present application;

[0034] Figure 6 A schematic diagram of the structure of a battery balancing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] The battery pack is composed of multiple single cells. Due to the differences in the manufacturing and use of single cells, there will be certain differences in the capacity and internal resistance between the single cells, which will cause the battery pack to have unbalanced charge and discharge. Cell balancing can reduce these differences, so that each battery cell in the battery pack can maintain a relatively consistent working state, thereby improving the energy utilization and stability of the battery pack.

[0036] Cell balancing refers to the management of different battery cells in a battery pack to ensure that the voltage and state of charge of each battery cell are as consistent as possible. This process is critical to improving the overall performance of the battery pack, extending its service life, and ensuring safety.

[0037] At present, battery balancing is divided into active balancing and passive balancing. Among them, active balancing is generally active balancing of single cells to single cells, and there is only one balancing stage, specifically using large current for active balancing. This balancing method will cause the battery to heat up, especially when the current is larger, the impact of high temperature on battery voltage is more complicated. On the one hand, high temperature may accelerate the chemical reaction speed inside the battery, improve the discharge performance of the battery, and make the battery voltage artificially high, which is not conducive to maintaining a healthy state of the battery. On the other hand, excessively high temperature may also cause damage to the internal structure of the battery.

[0038] To this end, the present application provides a battery balancing method, device, equipment, readable storage medium and program product, which are used to perform small current balancing after large current balancing, so as to supplement the capacity loss caused by battery self-discharge through small current balancing, reduce the charge and discharge depth of the battery, and reduce the heat generated during the charging process, while repairing the imbalance inside the battery to avoid falsely high battery voltage, thereby keeping the battery in a good and healthy state.

[0039] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0040] See also Figure 1 , which shows a flow chart of a battery balancing method provided in an embodiment of the present application. A battery balancing method provided in an embodiment of the present application may include:

[0041] S11: Collect the current voltage of each battery in the battery pack, and determine whether the voltage difference between the battery with the highest current voltage and the remaining batteries meets the equalization start condition. If yes, execute step S12; if not, execute step S14: when each battery in the battery pack is in an idle state, continue to control each battery in the battery pack to be in an idle state, and return to step S11; when each battery in the battery pack is not in an idle state, control the battery pack to enter the second equalization stage.

[0042] It should be noted that the execution subject of the battery balancing method provided in the embodiment of the present application may be a battery balancing device, a battery balancing equipment, a readable storage medium or a computer program product, etc. The battery balancing equipment may specifically be a battery equalizer. The embodiment of the present application is described by taking the execution subject as a equalizer as an example.

[0043] First, the battery equalizer can make a balancing judgment. Specifically, it can collect the current voltage of each battery in the battery pack, and calculate the voltage difference between the battery with the highest current voltage in the battery pack (that is, the battery with the highest voltage at the current moment) and the current voltage of the remaining batteries in the battery pack (that is, the voltage at the current moment). Then, it is determined whether the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balancing start-up condition. Among them, the balancing start-up condition can be specifically a preset voltage difference, that is, it is determined whether the voltage difference between the battery with the highest current voltage and the remaining batteries is greater than the preset voltage difference. If the voltage difference between the battery with the highest current voltage and the remaining batteries is greater than the preset voltage difference, it is determined that the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balancing start-up condition. If the voltage difference between the battery with the highest current voltage and the remaining batteries is not greater than the preset voltage difference, it is determined that the voltage difference between the battery with the highest current voltage and the remaining batteries does not meet the balancing start-up condition.

[0044] Among them, when judging whether the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balanced start-up condition, if the voltage difference between the battery with the highest current voltage and any other battery meets the balanced start-up condition, it is considered that the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balanced start-up condition; if the voltage difference between the battery with the highest current voltage and all other batteries does not meet the balanced start-up condition, it is determined that the voltage difference between the battery with the highest current voltage and the remaining batteries does not meet the balanced start-up condition.

[0045] S12: Control the battery pack to enter the first balancing stage, and return to execute the step of collecting the current voltage of each battery in the battery pack; the first balancing stage is to use the battery with the highest current voltage to charge the battery with the lowest current voltage with a first current.

[0046] When judging whether the voltage difference between the battery with the highest current voltage and the remaining batteries satisfies the equalization start-up condition, if it is determined that the voltage difference between the battery with the highest current voltage and the remaining batteries satisfies the equalization start-up condition, it indicates that there are batteries with inconsistent voltages in the battery pack. At this time, the battery pack is controlled to enter the first equalization stage, wherein the first equalization stage is to use the battery with the highest current voltage to charge the battery with the lowest current voltage with a first current (i.e., the battery with the highest voltage transfers power to the battery with the lowest voltage). The size of the first current used in the first equalization stage can be determined according to the maximum current set by the actual product (i.e., the battery equalizer). For example, the first equalization stage can use the maximum current set by the actual product to balance the batteries, thereby ensuring that the battery balancing is quickly achieved within the range allowed by the actual product. That is, if it is determined that the voltage difference between the battery with the highest current voltage and the remaining batteries meets the equalization start-up condition, the battery with the highest current voltage is used to charge the battery with the lowest current voltage with the first current, so as to realize active equalization between battery cells within the battery pack (active equalization is to transfer energy from high-voltage batteries to low-voltage batteries until all battery voltages are close to the same), so as to adjust the charging state of each battery cell through active equalization so that they reach the same or similar voltage level, so as to reduce the stress during the charging process and prevent individual battery cells from aging prematurely. At the same time, it can also improve the overall efficiency and safety of the battery pack, and improve the equalization efficiency, real-time and applicability through the above process, and also realize that only one group of batteries (2 batteries, specifically the battery with the highest current voltage and the battery with the lowest current voltage) are performing equalization at the same time, so as to reduce the complexity and cost of battery equalization. Furthermore, when the battery pack is controlled to enter the first balancing stage, that is, when the battery with the highest current voltage is used to charge the battery with the lowest current voltage with the first current, the balancing determination can be continued, that is, the step of collecting the voltages of the batteries in the battery pack and judging whether the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balancing start condition can be returned to, that is, step S11 can be returned to. After the battery pack is controlled to enter the first balancing stage, when the balancing determination is returned to, if it is determined that the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balancing start condition, step S12 is executed to continue to use the battery with the highest current voltage to actively balance the battery with the lowest current voltage, that is, to start the balancing action again (at this time, the group of batteries that start the balancing action again is not necessarily the same group of batteries as last time, which is determined according to the balancing determination result), if it is determined that the voltage difference between the battery with the highest current voltage and the remaining batteries does not meet the balancing start condition, step S13 is executed to control the battery pack to enter the second balancing stage.

[0047] In addition, when judging whether the voltage difference between the battery with the highest current voltage and the remaining batteries satisfies the equalization start-up condition in step S11, if it is determined that the voltage difference between the battery with the highest current voltage and the remaining batteries does not satisfy the equalization start-up condition, then when each battery in the battery pack is in an idle state, each battery in the battery pack can continue to be controlled to be in an idle state (when the battery has not entered the first equalization stage or the second equalization stage, and the voltage difference between the battery with the highest current voltage and the remaining batteries in the battery pack does not satisfy the equalization start-up condition, the state it is in at this time is defined as an idle state), and the step of collecting the current voltage of each battery in the battery pack can be returned to facilitate timely detection of inconsistencies in the battery pack and timely active balancing, so that the battery pack can maintain the best state. When the batteries in the battery pack are not in an idle state, the battery pack can be controlled to enter a second balancing stage, wherein the second balancing stage is to use the battery with the highest current voltage to charge the battery that has been charged by the first current in the first balancing stage with the second current. If it is necessary to use the second current to charge the battery with the highest current voltage, the battery with the highest voltage among the batteries that have not been charged by the first current in the first balancing stage and the batteries that have normally finished charging with the second current can be used to charge the battery with the highest current voltage with the second current, wherein the second current is smaller than the first current (that is, compared with the first balancing stage and the second balancing stage, the first balancing stage is a large current balancing and the second balancing stage is a small current balancing), so as to achieve balancing with a smaller current, thereby compensating for the capacity loss of the battery due to self-discharge, slowing down the power loss speed of the battery charged by the first current, and avoiding the voltage and power of the battery charged by the first current from being artificially high, so that the batteries in the battery pack can maintain a good health state and long-term stability.

[0048] S13: After controlling the battery pack to enter the first balancing stage, if it is determined that the voltage difference between the battery with the highest current voltage and the remaining batteries does not meet the balancing start condition, the battery pack is controlled to enter the second balancing stage; the second balancing stage is to use the battery with the highest current voltage to charge the battery that has been charged with the first current in the first balancing stage with the second current, wherein, if it is necessary to use the second current to charge the battery with the highest current voltage, the battery with the highest current voltage in the target battery set is charged with the second current, and the target battery set includes batteries that have not been charged with the first current in the first balancing stage and batteries that have normally ended the second current charging; the second current is less than the first current.

[0049] After the battery pack is controlled to enter the first balancing stage, when returning to execute the acquisition of the current voltage of each battery in the battery pack and judging whether the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balancing start condition (i.e., when returning to perform the balancing judgment), if it is determined that the voltage difference between the battery with the highest current voltage and the remaining batteries does not meet the balancing start condition, it indicates that the first balancing stage is over. At this time, the battery pack can be controlled to enter the second balancing stage, so as to use the battery with the highest current voltage to charge the battery that has been charged by the first current in the first balancing stage with the second current. Among them, in the second balancing stage, the battery with the highest current voltage can be used to charge the battery that has been charged by the first current in the first balancing stage in sequence (for example, in the order of being charged by the first current in the first balancing stage, etc.) with the second current, so as to achieve that only one group of batteries is performing balancing at the same time, thereby reducing the complexity and cost of battery balancing. It should be noted that if the battery with the highest current voltage (i.e., the battery with the highest current voltage in the battery pack) has been charged by the first current in the first balancing stage and it is time to charge the battery with the highest current voltage with the second current (i.e., if the battery with the highest current voltage enters the second balancing stage), the battery with the highest current voltage in the target battery set (i.e., the battery with the highest current voltage in the target battery set) can be used to charge the aforementioned battery with the highest current voltage with the second current. The aforementioned target battery set includes batteries that have not been charged by the first current in the first balancing stage and batteries that have normally ended the second current charging (specifically, batteries that have successfully been charged with the second current). That is, the end condition of the first balancing stage is: the battery voltage difference in the current battery pack satisfies the balancing start condition and changes to the battery voltage difference in the current battery pack not satisfying the balancing start condition, and only then will the first balancing state be released and the second balancing state be entered.

[0050] The second current mentioned above is greater than 0 and less than the first current. For example, the second current can be less than 0.3 times of the first current to achieve active balancing with a small current. Compared with the large current balancing in the first balancing stage, the small current balancing in the second balancing stage pays more attention to the health and long-term stability of the battery. It will perform balancing operations with a smaller current to compensate for the power of the battery charged by the first current in the first balancing stage, avoid the voltage and power of these batteries being too high, and slow down the power-off speed. The small current balancing in the second balancing stage compensates for the capacity loss caused by the self-discharge of the battery by providing a continuous small current. Its significance lies in that it can reduce the depth of battery charge and discharge, thereby reducing battery aging and extending the cycle life of the battery. Moreover, this balancing method can be used as a preventive measure to prevent the battery from being in a fully charged state for a long time, which helps to reduce the risk of battery overcharging and improve the overall performance of the battery. In addition, the above method can also provide a gentle charging method in the later stage of battery charging, reduce the heat generation during the charging process, which is particularly important for protecting the battery structure and preventing potential safety problems. In some cases, it can also help repair the internal unevenness of the battery and optimize the performance of the battery system by balancing the voltage differences between battery cells. That is, the main significance of the second balancing stage is to avoid falsely high battery voltage and capacity, maintain battery health, extend battery life, reduce damage during charging, and improve battery safety.

[0051] In addition, after controlling the battery pack to enter the second balancing stage, that is, when the battery that was charged with the first current in the first balancing stage is charged with the second current, the balancing judgment can continue, that is, the step of collecting the current voltage of each battery in the battery pack can be returned to execute, and the step of judging whether the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balancing start condition can be judged, that is, the step of returning to execute step S11, so that the batteries in the battery pack can maintain a good healthy state and extend the service life of the battery pack.

[0052] Through the above process, it can be seen that the embodiment of the present application performs a balancing determination on the battery, and determines what operation to perform based on the result of the balancing determination. Figure 2, which shows a flow chart of the logic of the balanced operation provided by the embodiment of the present application, wherein the logic of the balanced operation is performed in a loop. Among them, there are three operating states of the battery, namely, the idle state, the first balanced stage and the second balanced stage. Regardless of which operating state it is in, the balanced judgment can always be performed. When in the idle state, it will be judged whether the balanced start-up conditions are met. If the balanced start-up conditions are not met, it will still be in the idle state. If the balanced start-up conditions are met, the system will directly enter the first balanced stage to perform a balanced operation on the battery. When in the first balanced stage, the battery with the highest current voltage will be charged with a large current for the battery with the lowest current voltage, and a balanced judgment will be performed. If the balanced start-up conditions are met, it will continue to stay in the first balanced stage. If the balanced start-up conditions are not met, it will enter the second balanced stage. That is, once entering the first balanced stage, it cannot be directly changed to the idle state, and it must go through the second balanced stage to avoid the situation where the battery power and voltage are falsely high, slow down the battery power loss speed, and improve the health of the battery. When in the second balancing stage, the battery with the highest current voltage will be used to charge the battery that has been charged by the first current in the first balancing stage with a small current. When the battery with the highest current voltage needs to be charged with the second current, the battery with the highest voltage among the batteries that have not been charged by the first current in the first balancing stage and the batteries that have normally finished the second current charging will be used to charge the battery with the highest current voltage with the second current. When in the second balancing stage, a balancing judgment is performed. If the balancing start condition is met, the first balancing stage is entered. If the balancing start condition is not met, the idle state is entered to put the battery in the best state. In addition, it can be seen from the above that the balancing operation is not a one-time operation. It is necessary to continuously monitor the voltage and voltage difference of the battery pack, adjust the balancing strategy according to the real-time data of the battery, and ensure the stable and efficient operation of the battery pack. In addition, since only one group of batteries is balanced at the same time (the battery with the highest voltage transfers power to the battery with the lowest voltage), when there are multiple batteries in the battery pack, multiple balancing judgments and balancing actions are required.

[0053] From the above, it can be seen that the battery balancing of the embodiment of the present application is divided into two balancing stages, and the balancing action can be adjusted in real time according to the status and dynamics of the battery pack, thereby ensuring the efficiency and flexibility of the balancing process and maximizing the health of the battery, and is suitable for different types of battery packs and different working environments.

[0054] The above technical solution disclosed in the embodiment of the present application enters the first balancing stage after the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balancing start condition, so as to use the battery with the highest current voltage to charge the battery with the lowest current voltage with a large current, thereby ensuring that the battery balancing is achieved as quickly as possible. After the battery pack is controlled to enter the first balancing stage, the current voltage of each battery in the battery pack continues to be collected to determine whether the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balancing start condition, and the battery pack is controlled to enter the second balancing stage after the voltage difference does not meet the balancing start condition, so as to use the battery with the highest current voltage to charge the battery that has been charged by the first current in the first balancing stage with a small current, and when it is necessary to use the second current to charge the battery with the highest current voltage, the battery with the highest voltage among the batteries that have not been charged by the first current in the first balancing stage and the batteries that have normally finished the second current charging is used to charge the battery with the highest current voltage with a small current, so as to compensate for the capacity loss caused by battery self-discharge through continuous small current charging, reduce the charge and discharge depth of the battery, reduce the heat generated during the charging process, and repair the imbalance inside the battery, thereby compensating for the power of the batteries that have been charged by the first current in the first balancing stage, avoiding the false high power and voltage of these batteries, slowing down the power loss speed of these batteries and reducing battery aging, so that the batteries in the battery pack can maintain a good health state and extend the cycle life of the battery.

[0055] See also Figure 3 , which shows an operation flow chart of the first balancing stage provided by an embodiment of the present application. A battery balancing method provided by an embodiment of the present application, after controlling the battery pack to enter the first balancing stage, may also include:

[0056] Determine whether the voltage difference between the two batteries currently undergoing balancing action meets the balancing start condition;

[0057] If the balancing start condition is met, the current balancing action will continue;

[0058] If the balancing start condition is not met, the current balancing action is terminated.

[0059] After the battery pack is controlled to enter the first balancing stage, the voltages of the two batteries currently undergoing balancing can be obtained (i.e., a battery with high energy or high voltage and a battery with low energy or low voltage, i.e., the charging battery and the charged battery currently in the first balancing stage, Figure 3 The voltage difference between the two batteries currently undergoing balancing (i.e., the voltage difference between the battery with a higher voltage and the battery with a lower voltage in the two batteries currently undergoing balancing) is calculated, and then it is determined whether the voltage difference between the two batteries currently undergoing balancing meets the balancing start condition.

[0060] If it is determined that the voltage difference between the two batteries currently undergoing the balancing action meets the balancing start condition, the balancing action currently being performed can be continued, and it can be further determined whether the voltage difference between the two batteries currently undergoing the balancing action meets the balancing start condition. If it is determined that the voltage difference between the two batteries currently undergoing the balancing action does not meet the balancing start condition, it indicates that the voltages of the two batteries currently undergoing the balancing action have been made consistent. At this time, the balancing action currently being performed can be terminated (only the voltage difference between the battery group does not meet the balancing start condition, but there may be other batteries whose voltage difference meets the balancing start condition). Then, the step of performing the balancing determination can be returned, that is, the steps of collecting the current voltage of each battery in the battery group, determining whether the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balancing start condition, etc. can be returned until the voltage difference between the battery with the highest current voltage and the remaining batteries in the battery group does not meet the balancing start condition and then enters the second balancing stage.

[0061] A battery balancing method provided in an embodiment of the present application may further include, after determining that the voltage difference between two batteries currently undergoing balancing action does not meet a balancing start condition:

[0062] Maintaining the first balancing stage of the first time slice for the two batteries currently undergoing balancing action, and determining multiple times within the first time slice whether the voltage difference between the two batteries currently undergoing balancing action meets the balancing start condition;

[0063] If the voltage difference of the two batteries currently undergoing the balancing action does not meet the balancing start condition in multiple judgments within the first time slice, then the step of ending the currently ongoing balancing action is executed;

[0064] If the voltage difference between the two batteries currently undergoing balancing action meets the balancing start condition in multiple judgments within the first time slice, the first time slice is controlled to be invalid, and the currently ongoing balancing action is continued.

[0065] In the embodiment of the present application, after determining that the voltage difference between the two batteries currently undergoing the balancing action does not meet the balancing start condition, before ending the balancing action currently being performed, the two batteries currently undergoing the balancing action can be kept in the first balancing stage (i.e., large current balancing) for the first time slice, that is, the battery with a higher voltage among the two batteries currently undergoing the balancing action can be used to charge the battery with a lower voltage with a first current for the first time slice, wherein the size of the first time slice can be set according to actual product needs, for example, the first time slice can be 30s ( Figure 3Taking the first time slice of 30s as an example for explanation, this time slice is used when the balancing ends in advance. Moreover, in the process of maintaining the first balancing stage of the first time slice for the two batteries currently undergoing the balancing action, the voltages of the two batteries currently undergoing the balancing action are obtained multiple times to determine whether the voltage difference of the two batteries currently undergoing the balancing action meets the balancing start condition.

[0066] If the voltage difference of the two batteries currently undergoing balancing action does not meet the balancing start condition in multiple judgments within the first time slice, it indicates that the voltage difference of the two batteries currently undergoing balancing action does not meet the balancing start condition, and it is not due to errors in battery voltage collection or external interference causing voltage collection abnormality leading to misjudgment, resulting in the voltage difference of the two batteries currently undergoing balancing action not meeting the balancing start condition, that is, it indicates that the balancing action of the two batteries mentioned above can be terminated normally, and at this time, the balancing action currently being performed can be terminated.

[0067] If the voltage difference between the two batteries currently undergoing balancing action meets the balancing start condition in multiple judgments within the first time slice, it indicates that the balancing start condition is not met due to an error in the battery voltage collection or an abnormal voltage collection caused by external interference. Therefore, in order to perform the balancing operation more accurately and improve the balancing effect, at this time, the first time slice can be controlled to fail, and the balancing action currently being performed can be continued, and it can also be continued to judge whether the voltage difference between the two batteries currently undergoing balancing action meets the balancing start condition.

[0068] By maintaining a high current charging of the two batteries currently undergoing balancing action for a first time slice and performing the above judgment multiple times within the first time slice, on the one hand, it is to deal with the misjudgment caused by battery voltage collection. It is necessary to determine the battery voltage collected within a certain period of time to more accurately determine whether the balancing start condition is met, thereby avoiding repeated balancing actions due to voltage misjudgment. On the other hand, it is to deal with the voltage imbalance that occurs in the second balancing stage. How to re-balance efficiently and accurately, by maintaining a high current charging of the first time slice, it is possible to use a large current to charge the battery with the lower voltage in the two batteries currently undergoing balancing action more, so as to slow down the time when the battery power is falsely high and improve the stability of the battery pack.

[0069] A battery balancing method provided in an embodiment of the present application may further include: if the voltage difference between two batteries currently undergoing balancing action meets a balancing start condition, the method may further include:

[0070] Determine whether the battery with the highest current voltage and the battery with the lowest current voltage correspond to the battery with the highest current voltage and the battery with the lowest current voltage that are currently undergoing balancing;

[0071] If the battery with the highest voltage and the battery with the lowest voltage currently correspond to the battery with the highest voltage and the battery with the lowest voltage currently being balanced, the current balanced operation is continued;

[0072] If at least one of the battery with the highest voltage currently and the battery with the lowest voltage currently does not correspond to the battery with the highest voltage and the battery with the lowest voltage currently undergoing the balancing operation, the currently undergoing balancing operation is terminated.

[0073] In the embodiment of the present application, when judging whether the voltage difference between the two batteries currently undergoing the balancing action satisfies the balancing start condition, if it is determined that the voltage difference between the two batteries currently undergoing the balancing action satisfies the balancing start condition, when continuing the balancing action currently being performed, the battery with the highest current voltage and the battery with the lowest current voltage can also be obtained through the balancing judgment, and it is judged whether the battery with the highest current voltage and the battery with the lowest current voltage correspond to the battery with the highest voltage and the battery with the lowest current voltage that are currently undergoing the balancing action, that is, it is judged whether the battery with the highest current voltage is the same as the battery with the higher voltage among the two batteries currently undergoing the balancing action, and whether the battery with the lowest current voltage corresponds to the battery with the lowest current voltage among the two batteries currently undergoing the balancing action, that is, it is judged whether the battery with the highest voltage and the battery with the lowest voltage have changed, or in other words, it is judged whether the current voltage of any battery that is not in the balancing action is higher than the battery with the highest voltage that is undergoing the balancing action (it can be understood that after the balancing judgment is sorted, the serial number of the battery with the highest voltage has changed), and whether the current voltage of any battery that is not in the balancing action is lower than the battery with the lowest voltage that is undergoing the balancing action (it can be understood that after the balancing judgment is sorted, the serial number of the battery with the lowest voltage has changed).

[0074] If it is determined that the battery with the highest current voltage and the battery with the lowest current voltage correspond to the battery with the highest current voltage and the battery with the lowest current voltage that are currently undergoing balancing, it indicates that the battery pack has no abnormality, and the currently ongoing balancing operation can be continued.

[0075] If it is determined that at least one of the battery with the highest current voltage and the battery with the lowest current voltage does not correspond to the battery with the highest voltage and the battery with the lowest voltage that are currently undergoing balancing, then the balancing action currently in progress can be terminated (specifically, an abnormal termination, that is, the balancing action is not terminated when the balancing start condition is not met), and then the step of performing balancing determination can be returned to, that is, the steps of collecting the current voltage of each battery in the battery pack, judging whether the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balancing start condition, etc. can be returned until the voltage difference between the battery with the highest current voltage and the remaining batteries in the battery pack does not meet the balancing start condition and then enters the second balancing stage.

[0076] Of course, the above process can also be directly executed after entering the first balancing stage, that is, judging whether the battery with the highest voltage and the battery with the lowest voltage currently correspond to the battery with the highest voltage and the battery with the lowest voltage currently being balancing, and performing corresponding operations according to the judgment result.

[0077] A battery balancing method provided by an embodiment of the present application may further include, after determining that at least one of a battery with the highest current voltage and a battery with the lowest current voltage is not the same as a battery with the highest voltage and a battery with the lowest voltage currently being balancing:

[0078] Maintaining the first balancing stage of the first time slice for the two batteries currently undergoing balancing, and repeatedly determining within the first time slice whether the battery with the highest voltage and the battery with the lowest voltage currently undergoing balancing correspond to the same battery with the highest voltage and the battery with the lowest voltage currently undergoing balancing;

[0079] If at least one of the battery with the highest current voltage and the battery with the lowest current voltage in multiple determinations within the first time slice does not correspond to the battery with the highest voltage and the battery with the lowest voltage currently undergoing the balancing action, then the step of ending the currently ongoing balancing action is executed;

[0080] If the battery with the highest current voltage and the battery with the lowest current voltage correspond to the battery with the highest current voltage and the battery with the lowest current voltage currently being balanced in multiple determinations within the first time slice, the first time slice is controlled to be invalid and the currently being balanced continues.

[0081] In the embodiment of the present application, after determining that at least one of the battery with the highest current voltage and the battery with the lowest current voltage is not the same as the battery with the highest current voltage and the battery with the lowest current voltage that are currently undergoing the balancing action, before ending the balancing action that is currently being performed, the two batteries that are currently undergoing the balancing action can also be kept in the first balancing stage (i.e., large current balancing) for the first time slice, that is, the battery with the higher current voltage of the two batteries that are currently undergoing the balancing action can be used to charge the battery with the lower current for the first time slice. In addition, in the process of keeping the first balancing stage of the first time slice for the two batteries that are currently undergoing the balancing action, the battery with the highest current voltage and the battery with the lowest current voltage are obtained multiple times, and it is determined whether the battery with the highest current voltage and the battery with the lowest current voltage correspond to the battery with the highest current voltage and the battery with the lowest current voltage that are currently undergoing the balancing action, that is, it is determined multiple times whether the battery with the highest voltage and the battery with the lowest current voltage have changed.

[0082] If, in multiple judgments within the first time slice, at least one of the battery with the highest current voltage and the battery with the lowest current voltage does not correspond to the battery with the highest voltage and the battery with the lowest voltage that are currently undergoing balancing, it indicates that the battery pack is indeed abnormal, rather than a misjudgment caused by an error in battery voltage collection or external interference causing abnormal voltage collection. At this time, in order to reduce damage to the batteries in the battery pack and keep the battery pack in as good a health state as possible, the balancing action currently being performed on the two batteries mentioned above can be abnormally terminated, that is, the step of terminating the currently ongoing balancing action can be executed at this time.

[0083] If, in multiple judgments within the first time slice, the battery with the highest current voltage and the battery with the lowest current voltage correspond to the battery with the highest voltage and the battery with the lowest voltage that are currently undergoing balancing, it indicates that the battery with the highest voltage and / or the battery with the lowest voltage may have changed due to an error in battery voltage collection or external interference causing abnormal voltage collection. At this time, in order to perform balancing operations more accurately and improve battery balancing effects, the first time slice may be controlled to fail, and the currently ongoing balancing operation may be continued. In addition, it may be possible to continue to judge whether the voltage difference between the two batteries currently undergoing balancing meets the balancing start condition.

[0084] By maintaining a high current charging of the two batteries currently undergoing balancing for a first time slice and performing the above judgment multiple times within the first time slice, on the one hand, it is to deal with errors in battery voltage collection or external interference that causes misjudgment caused by abnormal voltage collection, so as to more accurately judge whether the battery with the highest voltage and the battery with the lowest voltage have changed, avoid repeated balancing actions due to voltage misjudgment, and improve the balancing effect; on the other hand, it is to deal with the voltage imbalance that occurs in the second balancing stage, and how to re-balance efficiently and accurately. By maintaining a high current charging of the first time slice, it is possible to use a large current to charge the battery with the lower voltage in the two batteries currently undergoing balancing action more, so as to slow down the time when the battery power is falsely high and improve the stability of the battery pack.

[0085] See also Figure 4 , which shows a flow chart of equalization determination provided by an embodiment of the present application. A battery equalization method provided by an embodiment of the present application may further include, before collecting the current voltage of each battery in the battery pack:

[0086] The batteries are numbered according to their connection positions in the battery pack.

[0087] In the embodiment of the present application, before collecting the current voltage of each battery in the battery pack, each battery in the battery pack can also be numbered according to the access position of each battery in the battery pack. For example, each battery in the battery pack can be numbered according to the interface to which each battery in the battery pack is connected. The battery connected to interface 1 is numbered 1, the battery connected to interface 2 is numbered 2, and so on, to achieve numbering of each battery. Of course, each battery in the battery pack can also be numbered according to the order in which each battery is discharged.

[0088] By numbering each battery in the battery pack, it is possible to bind the battery to the serial number in a one-to-one correspondence, so as to perform voltage measurement and balancing operations on the corresponding battery based on the battery serial number.

[0089] A battery balancing method provided in an embodiment of the present application may further include, before determining whether the voltage difference between the battery with the highest current voltage and the remaining batteries satisfies a balancing start condition:

[0090] Arrange the current voltage of each battery in the battery pack from high to low, and sort the serial number of each battery according to the voltage sorting.

[0091] In the embodiment of the present application, after collecting the current voltage of each battery in the battery pack, and before determining whether the voltage difference between the battery with the highest current voltage and the remaining batteries meets the equalization start condition, the current voltage of each battery in the battery pack can be arranged in order from high to low (of course, it can also be arranged in order from low to high) to form a voltage sorting. In addition, the serial numbers of each battery can be sorted accordingly according to the voltage sorting to form a battery serial number sorting consistent with the voltage sorting, so as to facilitate the subsequent equalization operation of the corresponding battery based on the voltage sorting and the battery serial number sorting.

[0092] For example: if the current voltage of battery No. 1 is 12V, the current voltage of battery No. 2 is 12.5V, the current voltage of battery No. 3 is 11.8V, and the current voltage of battery No. 4 is 13V, then two groups of sorting will be obtained: voltage sorting and battery number sorting. The voltage sorting is: 13V, 12.5V, 12V, 11.8V, and the battery number sorting is: 4, 2, 1, 3.

[0093] An embodiment of the present application provides a battery balancing method, which determines whether the voltage difference between the battery with the highest current voltage and the remaining batteries satisfies a balancing start condition, and may include:

[0094] Calculate the voltage difference between the battery with the highest current voltage and the remaining batteries;

[0095] Determine whether there is at least one pressure difference that satisfies the equalization opening condition;

[0096] If so, it is determined that the voltage difference between the battery with the highest current voltage and the remaining batteries satisfies the balancing start condition.

[0097] In the embodiment of the present application, when judging whether the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balanced start-up condition, the voltage difference between the battery with the highest current voltage and the remaining batteries can be calculated first. Then, it is judged whether at least one of the calculated voltage differences meets the balanced start-up condition. If it is determined that at least one of the calculated voltage differences meets the balanced start-up condition, it is determined that the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balanced start-up condition. If it is determined that none of the calculated voltage differences meets the balanced start-up condition, it is determined that the voltage difference between the battery with the highest current voltage and the remaining batteries does not meet the balanced start-up condition.

[0098] Through the above implementation, when at least one of the voltage differences between the battery with the highest current voltage and the remaining batteries satisfies the equalization start condition, the battery equalization operation is performed, so that the battery pack has a good health state and improves the reliability and stability of the battery pack.

[0099] An embodiment of the present application provides a battery balancing method, which determines whether there is at least one voltage difference that satisfies a balancing start condition, and may include:

[0100] Determine whether the maximum value of the pressure difference meets the equalization opening condition;

[0101] If so, it is determined that there is at least one pressure difference that satisfies the balanced opening condition.

[0102] In an embodiment of the present application, when judging whether there is at least one pressure difference that satisfies the balanced start-up condition, the maximum pressure difference between the battery with the highest current voltage and the remaining batteries can be obtained to judge whether the maximum pressure difference satisfies the balanced start-up condition. If it is determined that the maximum pressure difference satisfies the balanced start-up condition, it is determined that there is at least one pressure difference that satisfies the balanced start-up condition. If it is determined that the maximum pressure difference does not satisfy the balanced start-up condition, it is determined that there is not at least one pressure difference that satisfies the balanced start-up condition (that is, all pressure differences do not satisfy the balanced start-up condition).

[0103] The above method can quickly, efficiently and accurately determine whether there is at least one pressure difference that satisfies the balanced opening condition.

[0104] See also Figure 5 , which shows an operation flow chart of the second balancing stage provided in an embodiment of the present application. A battery balancing method provided in an embodiment of the present application, when charging with a second current, may also include:

[0105] The second current is used to charge the second time slice.

[0106] In the embodiment of the present application, when the second current is used to charge the battery that has been charged by the first current in the first balancing stage, the second current can be used to charge the second time slice, that is, the second balancing stage can execute the second time slice. The second time slice is the duration of a single small current balancing cycle, and the size of the second time slice can be set according to actual product needs, for example, it can be 3min ( Figure 5 Take the second time slice of 3 minutes as an example for explanation).

[0107] The second time slice is balanced by a small current to ensure that the balanced batteries can reach the best state.

[0108] A battery balancing method provided in an embodiment of the present application may further include, after controlling the battery group to enter the first balancing stage:

[0109] Determine whether the serial number of the battery with the lower voltage among the two batteries currently undergoing the balancing operation has been recorded;

[0110] If the serial number of the battery with the lower voltage among the two batteries currently undergoing the balancing action is not recorded, the serial number of the battery with the lower voltage among the two batteries currently undergoing the balancing action is recorded in the serial number set;

[0111] Before controlling the battery pack to enter the second balancing stage, the following steps may also be included:

[0112] Determine whether the sequence number set is empty; wherein, when the battery with the corresponding sequence number in the sequence number set normally completes the second balancing stage of the second time slice, the corresponding sequence number is deleted from the sequence number set;

[0113] If the sequence number set is not empty, the step of controlling the battery pack to enter the second balancing stage is executed, and determining whether the voltage difference between the battery with the highest voltage and the remaining batteries satisfies the balancing start condition;

[0114] If the sequence number set is empty, the second balancing stage ends, and each battery in the battery pack is controlled to enter an idle state.

[0115] In the embodiment of the present application, after the battery pack is controlled to enter the first balancing stage, it can be determined whether the serial number of the battery with the low voltage among the two batteries currently undergoing balancing action has been recorded. If it is determined that the serial number of the battery with the low voltage among the two batteries currently undergoing balancing action has been recorded, the serial number of the battery with the low voltage among the two batteries currently undergoing balancing action is refused to be recorded in the serial number set. If it is determined that the serial number of the battery with the low voltage among the two batteries currently undergoing balancing action has not been recorded, the serial number of the battery with the low voltage among the two batteries currently undergoing balancing action can be recorded in the serial number set. By recording the serial numbers of the batteries charged by the first current in the first balancing stage in the serial number set, it is convenient to quickly and accurately obtain which batteries in the battery pack have experienced the first balancing stage, so that after entering the second balancing stage, the batteries with the recorded serial numbers can be accurately charged in the second balancing stage.

[0116] On the basis of the above, before controlling the battery pack to enter the second balancing stage, it can be determined whether the sequence number set is empty. In the process of cyclically executing the balancing determination, the first balancing stage and the second balancing stage, when the battery with the corresponding sequence number in the sequence number set normally completes the second balancing stage of the second time slice, the corresponding sequence number is deleted from the sequence number set to avoid repeated charging of the second balancing stage for the battery. The battery normally completing the second balancing stage of the second time slice mentioned here means that the battery has completely completed the second current charging of the second time slice.

[0117] When judging whether the sequence number set is empty, if it is determined that the sequence number set is not empty, the step of controlling the battery pack to enter the second balancing stage is executed, and after the battery pack is controlled to enter the second balancing stage, it can be judged whether the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balancing start condition, so as to perform corresponding operations according to the balancing judgment result. If it is determined that the sequence number set is empty, it means that all batteries that have been charged by the first battery in the first balancing stage have completed the charging of the second balancing stage. At this time, the second balancing stage can be ended (specifically, the second balancing stage ends normally), and each battery in the battery pack can be controlled to enter an idle state, so that the battery pack maintains the best state. Among them, after controlling each battery in the battery pack to enter the idle state, the current voltage of each battery in the battery pack can also be collected to judge whether the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balancing start condition.

[0118] A battery balancing method provided in an embodiment of the present application may further include, after controlling the battery group to enter the second balancing stage:

[0119] If, during the second balancing stage of the batteries of each sequence number in the sequence number set, the voltage difference between the battery with the highest current voltage and the remaining batteries does not meet the balancing start condition, and the batteries of each sequence number in the sequence number set have completed the second balancing stage normally, it is determined that the second balancing stage is normally completed, the batteries in the battery pack are controlled to enter an idle state, and the step of collecting the current voltage of each battery in the battery pack is returned to execute;

[0120] If it is determined that the voltage difference between the battery with the highest current voltage and the remaining batteries meets the equalization start condition before the second equalization stage ends normally, the second equalization stage ends abnormally, and the battery pack is controlled to enter the first equalization stage.

[0121] In the embodiment of the present application, the second equilibrium state may end normally or abnormally. If the second equilibrium state ends normally, the idle state may be entered, and if the second equilibrium state ends abnormally, the first equilibrium state may be entered.

[0122] Specifically, after controlling the battery pack to enter the second balancing stage, if balancing judgment is continuously performed during the process of the second balancing stage for the batteries of each serial number in the serial number set and the result of each balancing judgment is that the voltage difference between the battery with the highest current voltage and the remaining batteries does not meet the balancing start condition, and the batteries of each serial number in the serial number set have completed the second balancing stage normally, then it can be determined that the second balancing stage has ended normally, and each battery in the battery pack can be controlled to enter an idle state (that is, when the second balancing stage meets the normal end condition, it indicates the successful completion of the entire balancing process, and automatically enters an idle state, and the battery pack is in the best state), and the process can return to execute the step of collecting the current voltage of each battery in the battery pack, that is, continue to perform balancing judgment.

[0123] If it is determined that the voltage difference between the battery with the highest current voltage and the remaining batteries meets the equalization start condition before the second equalization stage ends normally, the second equalization stage can be abnormally ended, and the battery pack can be controlled to enter the first equalization stage, so as to use the first equalization stage to achieve fast and efficient equalization of the batteries that meet the equalization start condition. It can be seen that the second equalization stage is different from the first equalization stage in the end of the equalization action. In the operation of the second equalization stage of starting a second time slice, if the battery with the highest voltage or the battery with the lowest voltage changes, the operation of the second equalization stage will not be terminated, unless the equalization start condition is met, resulting in the abnormal end of the second equalization stage.

[0124] If the second balancing stage ends abnormally, only the serial numbers of the batteries that have completed the second balancing stage of the second time slice in the serial number set recorded in the first balancing stage will be deleted, that is, only the serial numbers of the batteries that have completed the second balancing stage normally will be deleted from the battery serial number set, and the serial numbers of the remaining batteries that have not been completed will continue to be retained. The corresponding serial numbers will not be cleared from the serial number set until the second balancing stage is re-entered and the second balancing stage of the second time slice is completed.

[0125] Specifically, the actual flow of the above process is as follows: first, read the serial number set recorded in the first balancing stage. The batteries in the serial number set are sequentially charged in the second balancing stage (low current). A single second balancing stage is the duration of a second time slice. For example, if the batteries with serial numbers 2 and 3 are balanced in the first balancing stage, then after entering the second balancing stage, the batteries with serial numbers 2 and 3 are sequentially charged in the second balancing stage (i.e., low current charging operation) for a second time slice. If a single second balancing stage of a battery is completed, the serial number is deleted from the battery serial number recorded in the first balancing stage. If the second balancing stage ends normally, the second balancing stage ends and enters the idle state. If an abnormal end occurs during the second balancing stage, the first balancing stage is entered after the abnormal end.

[0126] A battery balancing method provided by an embodiment of the present application may further include, before abnormally ending the second balancing stage:

[0127] Maintain the second balancing stage of the first time slice, and determine multiple times within the first time slice whether the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balancing start condition;

[0128] If the voltage difference between the battery with the highest current voltage and the remaining batteries meets the equalization start condition in multiple judgments within the first time slice, the step of abnormally ending the second equalization stage is executed;

[0129] If the voltage difference between the battery with the highest current voltage and the remaining batteries does not meet the equalization start condition in multiple judgments within the first time slice, the first time slice is controlled to fail and the second equalization stage is continued.

[0130] In an embodiment of the present application, if it is determined that the voltage difference between the battery with the highest current voltage and the remaining batteries meets the equalization start condition before the second equalization stage ends normally, the second equalization stage for a first time slice can be maintained before the second equalization stage ends abnormally, and in the process of maintaining the second equalization stage for a first time slice, it is judged multiple times whether the voltage difference between the battery with the highest current voltage and the remaining batteries meets the equalization start condition.

[0131] If the voltage difference between the battery with the highest current voltage and the remaining batteries meets the equalization start condition in multiple judgments within the first time slice, it indicates that the misjudgment is not caused by an error in battery voltage collection or an abnormal voltage collection caused by external interference. At this time, the step of abnormally ending the second equalization stage can be executed.

[0132] If the voltage difference between the battery with the highest current voltage and the remaining batteries does not meet the balancing start-up condition in multiple judgments within the first time slice, it may be because of an error in the battery voltage collection or external interference causing voltage collection abnormality, resulting in the voltage difference between the battery with the highest current voltage and the remaining batteries meeting the balancing start-up condition. At this time, in order to perform the balancing operation more accurately and better maintain the health of the batteries, the first time slice can be controlled to fail, and the second balancing stage can be continued (that is, the second balancing stage can be continued according to the original execution logic), and it is determined whether the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balancing start-up condition.

[0133] By maintaining the second balancing stage of the first time slice and performing the above judgment multiple times within the first time slice, on the one hand, it is to deal with the misjudgment caused by errors in battery voltage collection or abnormal voltage collection caused by external interference. It is necessary to determine the battery voltage collected within a certain period of time, so as to more accurately determine whether the balancing start condition is met. On the other hand, it is to deal with the voltage imbalance that occurs in the second balancing stage, and how to re-balance efficiently and accurately.

[0134] Combine the following Figure 2-Figure 5 , battery balancing is explained in detail:

[0135] Specifically, the battery is balanced and the operation is determined by the result of the balance determination. There are three operating states: idle state, first balance stage and second balance stage. It should be noted that the balance determination will always be performed regardless of the operating state. Figure 2 The balancing operation logic shown will continue. Figure 3-Figure 5 Corresponding Figure 2 The balanced operation logic, specifically, Figure 4 The end in the next section refers to the Figure 3 The first equilibrium stage process, Figure 3 The end in the next section refers to the Figure 5 The second equilibrium stage process, Figure 5 The end in the next section refers to the Figure 4 The balance determination process.

[0136] When in the idle state, it will determine whether to turn on the balancing. If the balancing start condition is not met, it will remain in the idle state. If the balancing start condition is met, the system will directly enter the first balancing stage to perform balancing operations on the batteries.

[0137] When in the first balancing stage, it will run according to the preset logic mentioned above; perform balancing actions according to the results of the balancing judgment. After the balancing action is completed, judge whether the balancing start conditions are met based on the results of a new round of balancing judgment (balancing actions and balancing judgments can be performed simultaneously to ensure that the balancing actions can be changed efficiently without waiting for the judgment results after the balancing action is completed before taking the next action). If so, continue the balancing action, stay in the first balancing stage, and continue to execute operations according to the preset logic until the balancing conditions are not met again; if not, enter the second balancing stage.

[0138] When in the second balancing stage, the system will operate according to the preset logic mentioned above; based on the result of the balancing judgment, it is determined whether the balancing start conditions are met. If so, the second balancing stage is abnormally terminated and the first balancing stage is entered to ensure that the battery pack continues to maintain stable balance; if not, it is necessary to determine whether the second balancing stage of all recorded batteries is completed. If completed, the second balancing stage is terminated. If not completed, the second balancing stage continues.

[0139] The present application also provides a battery balancing device. Figure 6 , which shows a schematic diagram of the structure of a battery balancing device provided in an embodiment of the present application, which may include: a collection module 61, used to collect the current voltage of each battery in the battery pack, and determine whether the voltage difference between the battery with the highest current voltage and the remaining batteries meets the equalization start condition; a first control module 62, used to control the battery pack to enter the first equalization stage if the voltage difference between the battery with the highest current voltage and the remaining batteries meets the equalization start condition, and return to execute the step of collecting the current voltage of each battery in the battery pack; the first equalization stage is to use the battery with the highest current voltage to charge the battery with the lowest current voltage with a first current; a second control module 63, used to control the battery pack to enter the first equalization stage if the voltage difference between the battery with the highest current voltage and the remaining batteries meets the equalization start condition; the first equalization stage is to use the battery with the highest current voltage to charge the battery with the lowest current voltage with a first current; the ... After the group enters the first balancing stage, if it is determined that the voltage difference between the battery with the highest current voltage and the remaining batteries does not meet the balancing start condition, the battery group is controlled to enter the second balancing stage; the second balancing stage is to use the battery with the highest current voltage to charge the battery that has been charged by the first current in the first balancing stage with the second current, wherein, if it is necessary to use the second current to charge the battery with the highest current voltage, the battery with the highest current voltage is charged with the second current by the battery with the highest voltage in the target battery set, and the target battery set includes batteries that have not been charged by the first current in the first balancing stage and batteries that have normally ended the second current charging; the second current is less than the first current.

[0140] A battery balancing device provided in an embodiment of the present application may further include: a first judgment module, used to judge whether the voltage difference between two batteries currently performing a balancing action meets a balancing start condition after controlling the battery pack to enter the first balancing stage; a first continuing execution module, used to continue the balancing action currently being performed if the balancing start condition is met; and a first ending execution module, used to end the balancing action currently being performed if the balancing start condition is not met.

[0141] A battery balancing device provided by an embodiment of the present application may further include: a second judgment module, which is used to maintain the first balancing stage of the first time slice for the two batteries currently undergoing the balancing action after determining that the voltage difference between the two batteries currently undergoing the balancing action does not meet the balancing start condition, and judge multiple times within the first time slice whether the voltage difference between the two batteries currently undergoing the balancing action meets the balancing start condition; a first execution module, which is used to execute the step of ending the balancing action currently being performed if the voltage difference between the two batteries currently undergoing the balancing action does not meet the balancing start condition in multiple judgments within the first time slice; and a second continuing execution module, which is used to control the first time slice to fail and continue the balancing action currently being performed if the voltage difference between the two batteries currently undergoing the balancing action meets the balancing start condition in multiple judgments within the first time slice.

[0142] A battery balancing device provided in an embodiment of the present application may further include: a third judgment module, used to judge whether the battery with the highest voltage and the battery with the lowest voltage currently correspond to the battery with the highest voltage and the battery with the lowest voltage currently undergoing the balancing action if the voltage difference between the two batteries currently undergoing the balancing action meets the balancing start condition; a third continuing execution module, used to continue the balancing action currently being performed if the battery with the highest voltage and the battery with the lowest voltage currently correspond to the battery with the highest voltage and the battery with the lowest voltage currently undergoing the balancing action; and a second ending execution module, used to end the balancing action currently being performed if at least one of the battery with the highest voltage and the battery with the lowest voltage currently undergoing the balancing action does not correspond to the battery with the highest voltage and the battery with the lowest voltage currently undergoing the balancing action.

[0143] A battery balancing device provided by an embodiment of the present application may further include: a fourth judgment module, which is used to maintain the first balancing stage of the first time slice for the two batteries currently undergoing the balancing action after determining that at least one of the battery with the highest voltage and the battery with the lowest voltage does not correspond to the battery with the highest voltage and the battery with the lowest voltage that are currently undergoing the balancing action, and judge multiple times within the first time slice whether the battery with the highest voltage and the battery with the lowest voltage correspond to the battery with the highest voltage and the battery with the lowest voltage that are currently undergoing the balancing action; a second execution module, which is used to execute the step of ending the currently ongoing balancing action if at least one of the battery with the highest voltage and the battery with the lowest voltage does not correspond to the battery with the highest voltage and the battery with the lowest voltage that are currently undergoing the balancing action in multiple judgments within the first time slice; and a fourth continuing execution module, which is used to control the first time slice to fail and continue the currently ongoing balancing action if it appears in multiple judgments within the first time slice that the battery with the highest voltage and the battery with the lowest voltage correspond to the battery with the highest voltage and the battery with the lowest voltage that are currently undergoing the balancing action.

[0144] A battery balancing device provided in an embodiment of the present application may further include: a numbering module, which is used to number each battery in the battery pack according to the access position of each battery in the battery pack before collecting the current voltage of each battery in the battery pack.

[0145] A battery balancing device provided in an embodiment of the present application may further include: a sorting module, which is used to arrange the current voltages of the batteries in the battery pack in a descending order before determining whether the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balancing start condition, and sort the serial numbers of the batteries according to the voltage sorting.

[0146] In a battery balancing device provided in an embodiment of the present application, a collection module 61 may include: a calculation unit, configured to calculate a voltage difference between a battery with a current highest voltage and the remaining batteries; a judgment unit, configured to judge whether there is at least one voltage difference satisfying a balancing start condition; and a determination unit, configured to determine whether the voltage difference between the battery with a current highest voltage and the remaining batteries satisfies the balancing start condition if there is at least one voltage difference satisfying the balancing start condition.

[0147] In a battery balancing device provided in an embodiment of the present application, a judging unit may include: a judging subunit, configured to judge whether a maximum pressure difference satisfies a balancing start condition; and a determining subunit, configured to determine that there is at least one pressure difference satisfying the balancing start condition if the maximum pressure difference satisfies the balancing start condition.

[0148] A battery balancing device provided in an embodiment of the present application may further include: a charging module, configured to use the second current to charge for a second time slice when charging with the second current.

[0149] A battery balancing device provided by an embodiment of the present application may further include: a fifth judgment module, used to judge whether the serial number of the battery with the lower voltage among the two batteries currently undergoing the balancing action has been recorded after the battery group is controlled to enter the first balancing stage; a recording module, used to record the serial number of the battery with the lower voltage among the two batteries currently undergoing the balancing action in a serial number set if the serial number of the battery with the lower voltage among the two batteries currently undergoing the balancing action has not been recorded; a sixth judgment module, used to judge whether the serial number set is empty before the battery group is controlled to enter the second balancing stage; wherein, when the battery with the corresponding serial number in the serial number set normally completes the second balancing stage of the second time slice, the corresponding serial number is deleted from the serial number set; a third execution module, used to execute the step of controlling the battery group to enter the second balancing stage if the serial number set is not empty, and judge whether the voltage difference between the battery with the highest voltage and the remaining batteries currently meets the balancing start condition; a third control module, used to end the second balancing stage if the serial number set is empty, and control each battery in the battery group to enter an idle state.

[0150] A battery balancing device provided in an embodiment of the present application may further include: a determination module, which is used to determine that the second balancing stage is normally ended, control each battery in the battery pack to enter an idle state, and return to execute the step of collecting the current voltage of each battery in the battery pack after controlling the battery pack to enter the second balancing stage, if the voltage difference between the battery with the highest current voltage and the remaining batteries does not meet the balancing start condition during the second balancing stage of the batteries with respective serial numbers in the serial number set, and the batteries with respective serial numbers in the serial number set have completed the second balancing stage normally; and a fourth control module, which is used to abnormally end the second balancing stage and control the battery pack to enter the first balancing stage if it is determined that the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balancing start condition before the second balancing stage is normally ended.

[0151] A battery balancing device provided in an embodiment of the present application may further include: a seventh judgment module, used to maintain the second balancing stage of the first time slice before abnormally terminating the second balancing stage, and to judge multiple times within the first time slice whether the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balancing start condition; a fourth execution module, used to execute the step of abnormally terminating the second balancing stage if the voltage difference between the battery with the highest current voltage and the remaining batteries meets the balancing start condition in multiple judgments within the first time slice; and a fifth continuing execution module, used to control the first time slice to fail and continue the second balancing stage if the voltage difference between the battery with the highest current voltage and the remaining batteries does not meet the balancing start condition in multiple judgments within the first time slice.

[0152] The present application also provides a battery balancing device, which may include:

[0153] Memory for storing computer programs;

[0154] The processor is used to implement the steps of any of the above-mentioned battery balancing methods when executing the computer program stored in the memory.

[0155] The embodiment of the present application further provides a readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned battery balancing methods can be implemented.

[0156] The embodiment of the present application further provides a computer program product, which may include a computer program. When the computer program is executed by a processor, the steps of any of the above-mentioned battery balancing methods can be implemented.

[0157] The description of the relevant parts of a battery balancing device, equipment, readable storage medium and computer program product provided in the embodiments of the present application can refer to the detailed description of the corresponding parts of a battery balancing method provided in the embodiments of the present application, which will not be repeated here.

[0158] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0159] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0160] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0161] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. Moreover, in the description of the present application, the term "and / or" is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the objects associated before and after are in an "or" relationship.

[0162] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0163] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A battery balancing method, characterized in that: include: Collect the current voltage of each battery in the battery pack and determine whether the voltage difference between the battery with the highest current voltage and the remaining batteries meets the equalization start condition; If yes, the battery pack is controlled to enter the first balancing stage, and the step of collecting the current voltage of each battery in the battery pack is returned to execute; the first balancing stage is to use the battery with the highest current voltage to charge the battery with the lowest current voltage with a first current; After controlling the battery pack to enter the first balancing stage, if it is determined that the voltage difference between the battery with the highest current voltage and the remaining batteries does not meet the balancing start condition, the battery pack is controlled to enter the second balancing stage; the second balancing stage is to use the battery with the highest current voltage to charge the battery that has been charged by the first current in the first balancing stage with a second current, wherein, if it is necessary to use the second current to charge the battery with the highest current voltage, the battery with the highest current voltage is charged with the second current by using the battery with the highest voltage in the target battery set, and the target battery set includes batteries that have not been charged by the first current in the first balancing stage and batteries that have normally finished charging with the second current; The second current is smaller than the first current.

2. The battery equalization method according to claim 1, characterized in that: After controlling the battery pack to enter the first balancing stage, the method further includes: Determine whether the voltage difference between the two batteries currently undergoing balancing action meets the balancing start condition; If the balancing start condition is met, the currently ongoing balancing action is continued; If the balancing start condition is not met, the currently ongoing balancing action is terminated.

3. The battery equalization method according to claim 2, characterized in that: After determining that the voltage difference between the two batteries currently undergoing the balancing action does not meet the balancing start condition, the method further includes: Maintaining the first balancing stage for the first time slice for the two batteries currently undergoing balancing action, and determining multiple times within the first time slice whether the voltage difference between the two batteries currently undergoing balancing action meets the balancing start condition; If the voltage difference of the two batteries currently undergoing the balancing action does not meet the balancing start condition in multiple judgments within the first time slice, then executing the step of ending the currently ongoing balancing action; If the voltage difference between the two batteries currently undergoing balancing action meets the balancing start condition in multiple judgments within the first time slice, the first time slice is controlled to be invalid, and the currently ongoing balancing action is continued.

4. The battery equalization method according to claim 2, characterized in that: If the voltage difference between the two batteries currently undergoing balancing action meets the balancing start condition, the method further includes: Determine whether the battery with the highest current voltage and the battery with the lowest current voltage correspond to the battery with the highest current voltage and the battery with the lowest current voltage that are currently undergoing balancing; If the battery with the highest voltage and the battery with the lowest voltage currently correspond to the battery with the highest voltage and the battery with the lowest voltage currently being balanced, the current balanced operation is continued; If at least one of the battery with the highest voltage and the battery with the lowest voltage does not correspond to the battery with the highest voltage and the battery with the lowest voltage that are currently undergoing the balancing operation, the currently ongoing balancing operation is terminated.

5. The battery equalization method according to claim 4, characterized in that: After determining that at least one of the battery with the highest current voltage and the battery with the lowest current voltage is not the same as the battery with the highest voltage and the battery with the lowest voltage currently undergoing the balancing operation, the method further includes: Maintaining the first balancing stage of the first time slice for the two batteries currently undergoing balancing, and determining multiple times within the first time slice whether the battery with the highest current voltage and the battery with the lowest current voltage correspond to the battery with the highest current voltage and the battery with the lowest current voltage that are currently undergoing balancing; If at least one of the battery with the highest current voltage and the battery with the lowest current voltage does not correspond to the battery with the highest voltage and the battery with the lowest voltage currently undergoing the balancing action in multiple determinations within the first time slice, then the step of ending the currently ongoing balancing action is performed; If, in multiple judgments within the first time slice, the battery with the highest current voltage and the battery with the lowest current voltage correspond to the battery with the highest voltage and the battery with the lowest current voltage that are currently undergoing balancing, the first time slice is controlled to be invalid, and the currently ongoing balancing action is continued.

6. The battery equalization method according to claim 1, characterized in that: Before collecting the current voltage of each battery in the battery pack, it also includes: The batteries are numbered according to their access positions in the battery pack.

7. The battery equalization method according to claim 6, characterized in that: Before determining whether the voltage difference between the battery with the highest current voltage and the remaining batteries satisfies the equalization start condition, the following is also included: The current voltages of the batteries in the battery pack are arranged in order from high to low, and the serial numbers of the batteries are sorted according to the voltage sorting.

8. The battery equalization method according to claim 7, characterized in that: Determine whether the voltage difference between the battery with the highest current voltage and the remaining batteries meets the equalization start condition, including: Calculate the voltage difference between the battery with the highest current voltage and the remaining batteries; Determining whether there is at least one pressure difference that satisfies the equalization opening condition; If so, it is determined that the voltage difference between the battery with the highest current voltage and the remaining batteries satisfies the balancing start condition.

9. The battery equalization method according to claim 8, characterized in that: Determining whether there is at least one pressure difference that satisfies the equalization opening condition includes: Determine whether the maximum pressure difference satisfies the equalization start condition; If so, it is determined that there is at least one pressure difference that satisfies the equalization opening condition.

10. The battery equalization method according to any one of claims 1 to 9, characterized in that: When the second current is used for charging, the method further comprises: The second current is used to charge the second time slice.

11. The battery equalization method according to claim 10, characterized in that: After controlling the battery pack to enter the first balancing stage, the method further includes: Determine whether the serial number of the battery with the lower voltage among the two batteries currently undergoing the balancing operation has been recorded; If the serial number of the battery with the lower voltage among the two batteries currently undergoing the balancing action is not recorded, the serial number of the battery with the lower voltage among the two batteries currently undergoing the balancing action is recorded in the serial number set; Before controlling the battery group to enter the second balancing stage, the method further includes: Determine whether the sequence number set is empty; wherein, when the battery with the corresponding sequence number in the sequence number set normally completes the second balancing stage of the second time slice, the corresponding sequence number is deleted from the sequence number set; If the sequence number set is not empty, the step of controlling the battery pack to enter the second balancing stage is executed, and determining whether the voltage difference between the battery with the highest current voltage and the remaining batteries satisfies the balancing start condition; If the sequence number set is empty, the second balancing stage is ended, and each battery in the battery pack is controlled to enter an idle state.

12. The battery equalization method according to claim 11, characterized in that: After controlling the battery pack to enter the second balancing stage, the method further includes: If, during the second balancing stage of the batteries of each sequence number in the sequence number set, the voltage difference between the battery with the highest current voltage and the remaining batteries does not meet the balancing start condition, and the batteries of each sequence number in the sequence number set have completed the second balancing stage normally, it is determined that the second balancing stage is normally completed, each battery in the battery pack is controlled to enter an idle state, and the step of collecting the current voltage of each battery in the battery pack is returned to be executed; If it is determined that the voltage difference between the battery with the highest current voltage and the remaining batteries satisfies the equalization start condition before the second equalization stage ends normally, the second equalization stage ends abnormally, and the battery pack is controlled to enter the first equalization stage.

13. The battery equalization method according to claim 12, characterized in that: Before abnormally ending the second balancing stage, the method further includes: Maintaining the second balancing stage of the first time slice, and determining multiple times within the first time slice whether the voltage difference between the battery with the highest current voltage and the remaining batteries satisfies the balancing start condition; If the voltage difference between the battery with the highest current voltage and the remaining batteries satisfies the equalization start condition in multiple judgments within the first time slice, the step of abnormally ending the second equalization stage is performed; If the voltage difference between the battery with the highest current voltage and the remaining batteries does not meet the balancing start condition in multiple judgments within the first time slice, the first time slice is controlled to fail, and the second balancing stage continues.

14. A battery balancing device, characterized in that: include: The acquisition module is used to collect the current voltage of each battery in the battery pack and determine whether the voltage difference between the battery with the highest current voltage and the remaining batteries meets the equalization start condition; A first control module, configured to control the battery pack to enter a first balancing stage if the voltage difference between the battery with the highest current voltage and the remaining batteries meets a balancing start condition, and return to execute the step of collecting the current voltage of each battery in the battery pack; the first balancing stage is to use the battery with the highest current voltage to charge the battery with the lowest current voltage with a first current; a second control module, configured to control the battery pack to enter a second balancing stage if it is determined that the voltage difference between the battery with the highest current voltage and the remaining batteries does not meet the balancing start condition after controlling the battery pack to enter the first balancing stage; the second balancing stage is to use the battery with the highest current voltage to charge the battery that has been charged by the first current in the first balancing stage with a second current, wherein if it is necessary to use the second current to charge the battery with the highest current voltage, the battery with the highest current voltage in a target battery set is charged with the second current by using the battery with the highest voltage, and the target battery set includes batteries that have not been charged by the first current in the first balancing stage and batteries that have normally finished charging with the second current; The second current is smaller than the first current.

15. A battery balancing device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of the battery balancing method according to any one of claims 1 to 13 when executing the computer program.

16. A readable storage medium, characterized in that: The readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the battery balancing method according to any one of claims 1 to 13 are implemented.

17. A computer program product, characterized in that The method comprises a computer program, wherein when the computer program is executed by a processor, the steps of the battery balancing method according to any one of claims 1 to 13 are implemented.

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