Battery state determination method and state determination system

Abstract

The present invention relates to a state determination method and a state determination system for a battery (60). The state determination method for the battery (60) includes the steps of: acquiring a measurement value obtained by measuring a magnetic field of the battery (60) mounted on a device (80) by a magnetic measurement unit (20); a calculation unit for calculating information on the relative position of the magnetic measurement unit (20) on the basis of the measured value of the magnetic field of the battery (60) and the reference value of the magnetic field of the battery (60); and determining the state of the battery (60) on the basis of the information on the relative position of the magnetic measurement unit (20).

Description

Technical Field

[0001] The present invention relates to a battery state determination method and a battery state determination system. Background Art

[0002] Conventionally, there is known an apparatus for inspecting a battery by comparing the current distribution of the battery to be inspected with a normal current distribution (see, for example, Patent Document 1).

[0003] Patent Document 1: Japanese Patent Application Publication No. 2020-187951 Summary of the invention

[0004] The current distribution of a battery as a comparison object for normal current distribution is measured while the position of the current measuring device is aligned with the reference position of the battery. The accuracy of the current distribution measurement of the battery is affected by the misalignment of the measuring device relative to the reference position of the battery. When determining the state of the battery based on the measurement result of the current distribution of the battery, it is sought to improve the determination accuracy without increasing the measurement burden.

[0005] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a battery state determination method and a battery state determination system that can improve the determination accuracy of the battery state without increasing the measurement burden of the battery.

[0006] (1) Several embodiments of the present invention provide a method for determining the state of a battery, including the following steps: obtaining a measurement value obtained by measuring the magnetic field of a battery mounted on an instrument by a magnetic measuring unit; calculating information about the relative position of the magnetic measuring unit based on the measurement value of the magnetic field of the battery and a reference value of the magnetic field of the battery; and determining the state of the battery based on the information about the relative position of the magnetic measuring unit. Thus, misalignment of the battery and the magnetic measuring unit is allowed. As a result, even if the battery is not removed from the instrument for measurement, the accuracy of determining the state of the battery can be improved.

[0007] (2) The battery status determination method described in (1) above can be configured such that when the information about the relative position of the magnetic measuring unit satisfies the abnormality determination condition, the battery is determined to be abnormal. Thus, the battery is determined to be abnormal without correcting the measured value. That is, unnecessary correction actions are omitted. As a result, the operation load of the control device is reduced.

[0008] (3) The battery state determination method according to (1) or (2) above may include the step of calculating a correction coefficient for the relative position of the magnetic measuring unit as information on the relative position of the magnetic measuring unit, thereby allowing for misalignment between the battery and the magnetic measuring unit.

[0009] (4) The battery state determination method according to any one of (1) to (3) above may include the step of moving the magnetic measuring unit along a scanning direction in order to measure the magnetic field of the battery using the magnetic measuring unit, so that the control device can measure the distribution of the magnetic field generated by the battery.

[0010] (5) The method for determining the state of a battery according to (4) above may include the step of shifting the magnetic measuring unit at a plurality of positions arranged periodically or non-periodically in a direction intersecting the scanning direction and moving the magnetic measuring unit from each position along the scanning direction, thereby enabling the control device to measure the planar distribution of the magnetic field generated by the battery.

[0011] (6) The battery state determination method according to (5) above may include the step of causing the magnetic measuring unit to move in the scanning direction from each position at which the magnetic measuring unit starts moving in the scanning direction when measuring the reference value of the magnetic field of the battery. Thus, the control device can compare the reference value and the measured value with high accuracy.

[0012] (7) The method for determining the state of a battery according to any one of (4) to (6) above may include the following steps: moving the magnetic measuring unit in a plurality of directions including at least a first direction and a second direction to obtain measurement values ​​of the magnetic field of the battery; and determining the scanning direction based on the first measurement value obtained by moving the magnetic measuring unit in the first direction and the second measurement value obtained by moving the magnetic measuring unit in the second direction. Thus, the magnetic measuring unit is scanned in such a manner that the position of the battery approaches the reference position. As a result, the misalignment or posture deviation of the battery is reduced.

[0013] (8) The method for determining the state of a battery according to any one of (4) to (7) above may include the step of moving the magnetic measuring unit within a scanning range specified based on the type of device on which the battery is mounted. This reduces unnecessary scanning. As a result, the measurement efficiency is improved.

[0014] (9) Some embodiments provide a battery state determination system including: a magnetism measurement unit; and a control device that executes the battery state determination method described in any one of (1) to (8) above.

[0015] (10) The battery state determination system according to (9) above may further include a moving device for moving the magnetic measuring unit relative to the battery. The moving device may be configured to move between a surface on which a device carrying the battery is installed and the battery.

[0016] (11) The battery status determination system according to (9) or (10) above may further include a drive device for moving the device carrying the battery relative to the magnetic measuring unit. This improves the accuracy of measuring the magnetic field of the battery or determining the battery status.

[0017] (12) According to the battery state determination system described in any one of the above (9) to (11), the magnetic measuring unit can be configured to have one or more magnetic sensors for measuring the magnetic field of the battery.

[0018] (13) According to the battery state determination system described in (12), the magnetic measuring unit may include a plurality of magnetic sensors arranged in a line or array, thereby reducing the number of scans of the magnetic measuring unit.

[0019] (14) According to the battery state determination system described in (12) or (13), the magnetic measuring unit may include a plurality of magnetic sensors arranged in a range covering the entire battery, thereby omitting scanning of the magnetic measuring unit.

[0020] (15) According to the battery state determination system described in (14) above, the control device may select a portion of the plurality of magnetic sensors and obtain measurement values ​​of the selected magnetic sensors, thereby performing a simulated scanning of the magnetic measurement unit.

[0021] Effects of the Invention

[0022] According to the battery state determination method and battery state determination system according to the present invention, the influence of the position of the measurement device is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a side view showing an example of the positional relationship between the battery and the magnetism measuring unit.

[0024] Figure 2 It is a plan view showing an example of the positional relationship between the battery and the magnetism measuring unit.

[0025] Figure 3 This is a block diagram showing a configuration example of a state determination system according to one embodiment.

[0026] Figure 4 This is a flowchart showing an example of the flow of a method for determining a battery state.

[0027] Figure 5 This is a diagram showing an example in which batteries are arranged so that the arrangement of the battery cells is along the scanning direction of the magnetism measuring unit.

[0028] Figure 6 This is a diagram showing an example in which batteries are arranged so that the arrangement of the battery cells is inclined with respect to the scanning direction of the magnetism measuring unit.

[0029] Figure 7 This is a diagram showing an example in which batteries are arranged so that the arrangement plane of the battery cells is parallel to the scanning plane of the magnetism measuring unit.

[0030] Figure 8 This is a diagram showing an example in which batteries are arranged so that the arrangement plane of the battery cells is inclined with respect to the scanning plane of the magnetism measuring unit.

[0031] Fig. 9 This is a diagram showing an example in which batteries are arranged so that the distance between the arrangement of the battery cells and the scanning path of the magnetism measuring unit is changed.

[0032] Fig.10 This is a graph showing an example of a waveform of a magnetic field measurement value measured by the magnetic measurement unit when the position of the battery is shifted in the scanning direction of the magnetic measurement unit.

[0033] Fig.11 This is a graph showing an example of the waveform of the magnetic field measurement value measured by the magnetic measuring unit when the battery position is shifted so that the distance between the arrangement of the battery cells and the scanning path of the magnetic measuring unit increases.

[0034] Fig.12 This is a graph showing an example of a waveform of a magnetic field measurement value measured by a magnetic measuring unit when the battery position is shifted so that the arrangement plane of the battery cells is rotated with a direction intersecting the scanning direction of the magnetic measuring unit as a rotation axis.

[0035] Fig.13 This is a three-dimensional graph showing an example of a waveform of a magnetic field measurement value of each scanning path measured by scanning the magnetic measuring unit with a plurality of scanning paths.

[0036] Fig.14 This is a diagram showing an example of scanning a magnetic measuring unit in two intersecting directions for preliminary diagnosis of an arrangement of battery cells.

[0037] Fig.15 It is a side view showing an example of a moving device that moves the magnetism measuring unit in the scanning direction.

[0038] Fig.16 It is a plan view showing an example of a driving device for moving a vehicle equipped with a battery. DETAILED DESCRIPTION

[0039] When the charge and discharge current flows through the secondary battery, a magnetic field is generated. Sometimes, the magnetic field generated during the charge and discharge of the secondary battery is measured to check the battery status. The battery to be measured for the magnetic field is, for example, a battery having an electrode body in which a positive electrode active material layer and a negative electrode active material layer are overlapped with an insulating layer, and an outer body for housing the electrode body. The following describes the battery status determination method and status determination system 1 according to the present invention in comparison with a comparative example (refer to Figure 3 ) implementation method.

[0040] (Comparative Example)

[0041] In the device involved in the comparative example, a battery in a normal state is arranged at a reference position, and a magnetic field is measured by a magnetic measuring unit when a reference current is passed through the battery in a normal state, thereby obtaining data on current distribution of the battery in a normal state in advance. In the device involved in the comparative example, a battery to be inspected is arranged at a reference position, and a magnetic field is measured by a magnetic measuring unit when a reference current is passed through the battery in the inspected state, thereby obtaining data on current distribution of the battery in the inspected state. In the device involved in the comparative example, the data on current distribution of the battery in the inspected state is compared with the data on current distribution of the battery in a normal state, thereby determining the state of the battery in the inspected state.

[0042] Here, the battery to be inspected is misaligned relative to the reference position, causing an error in the current distribution data of the battery to be inspected. The error in the current distribution data reduces the inspection accuracy of the battery status. In other words, the misalignment of the battery to be inspected affects the inspection accuracy of the battery status.

[0043] However, the device involved in the comparative example may not be able to accurately arrange the battery of the inspection object at the reference position. For example, when the battery of the inspection object is mounted on an electric vehicle, it is difficult to accurately reproduce the position and posture of the vehicle. Assuming that the battery of the inspection object is removed from the vehicle in order to accurately reproduce the position and posture of the battery, the operation of removing the battery from the vehicle increases the workload and cost of the battery inspection. Therefore, it is sought to determine the state of the battery by considering the influence of the misalignment of the battery of the inspection object.

[0044] Therefore, regarding the battery state determination method and state determination system 1 according to the present invention (see Figure 3 ), when measuring the magnetic field of the battery without disassembling the battery relative to an electric vehicle or other equipment, the state of the battery is determined by considering the misalignment of the battery to be inspected. Next, a battery state determination method and a state determination system 1 according to an embodiment of the present invention are described.

[0045] (One embodiment of the present invention)

[0046] like Figure 1 and Figure 2 As shown, in a state determination system 1 according to an embodiment of the present invention, a battery 60 to be inspected is mounted on a vehicle 80. The vehicle 80 has a tire 82 and the tire 82 is in contact with the ground 70. In this embodiment, the ground 70 is along the XY plane. The normal direction (vertical direction) of the ground 70 corresponds to the Z axis. The vertically upward direction is set as the positive direction of the Z axis.

[0047] The battery 60 has cells 62 arranged in a grid pattern as described later (see Figure 5 ). The battery 60 is mounted on the vehicle 80 in such a manner that the plane in which the cells 62 are arranged is along the ground 70. The magnetic measuring unit 20 is provided on the ground 70 to measure the magnetic field generated by the battery 60. The magnetic measuring unit 20 may be configured to be movable on the ground 70 along the ground 70, that is, along the arrangement direction of the cells 62 of the battery 60. The vehicle 80 may be configured to be movable relative to the magnetic measuring unit 20 along the ground 70, that is, along the arrangement direction of the cells 62 of the battery 60.

[0048] (Configuration Example of State Determination System 1)

[0049] like Figure 3 As shown, a state determination system 1 according to an embodiment of the present invention includes a control device 10 and a magnetic measuring unit 20. The control device 10 includes an acquisition unit 11, a calculation unit 12, a determination unit 13, and a scanning unit 14. The acquisition unit 11 acquires the measurement result of the magnetic field of the battery 60 from the magnetic measuring unit 20. The magnetic measuring unit 20 scans the battery 60, so that the acquisition unit 11 can acquire the distribution of the measurement result of the magnetic field of the battery 60. The calculation unit 12 calculates the current distribution of the battery 60 based on the measurement result of the magnetic field of the battery 60. The determination unit 13 determines the state of the battery 60 based on the current distribution of the battery 60. When the magnetic measuring unit 20 is configured to be movable, the scanning unit 14 controls the position of the magnetic measuring unit 20 in such a manner that the magnetic measuring unit 20 scans the battery 60. The scanning unit 14 moves the magnetic measuring unit 20 along one scanning direction to scan and measure the magnetic field of the battery 60.

[0050] The acquisition unit 11 has a communication device for connecting to the magnetic measurement unit 20 in a manner capable of wired or wireless communication. The communication device may include, for example, a communication component that transmits and receives data based on a data communication standard such as RS-232C or RS-485. The communication device may include, for example, a communication component corresponding to a mobile communication standard such as 4G (4th Generation) or LTE (Long Term Evolution) or 5G (5th Generation). The communication device is not limited to the communication component shown in the example, and may also include various other devices or components.

[0051] The calculation unit 12, the determination unit 13 or the scanning unit 14 can be configured to include a processor such as a CPU (Central Processing Unit). The calculation unit 12, the determination unit 13 or the scanning unit 14 can make the processor execute a specified program to achieve a specified function. The calculation unit 12, the determination unit 13 or the scanning unit 14 can make at least a part of the combination be integrated, or they can be separately configured. Hereinafter, the calculation unit 12, the determination unit 13 or the scanning unit 14 are also collectively referred to as the control unit. The control unit can have a storage unit. The storage unit can store various information used for the operation of the control unit, or programs for realizing the functions of the control unit. The storage unit can act as a working memory of the control unit. The storage unit can be composed of, for example, a semiconductor memory. The storage unit can be configured to include a volatile memory or a non-volatile memory. The storage unit can be included in the control unit, or it can be separately configured from the control unit.

[0052] The magnetic measuring unit 20 may have a magnetic sensor for measuring a magnetic field. The number of magnetic sensors in the magnetic measuring unit 20 may be one, or may be greater than or equal to two. The magnetic measuring unit 20 may be composed of a plurality of magnetic sensors arranged in a linear or array shape. As described above, when the magnetic measuring unit 20 scans the battery 60, the magnetic sensors are arranged in a linear or array shape to reduce the number of scans. The reduction in the number of scans shortens the measurement time of the magnetic field of the battery 60.

[0053] The magnetic measuring unit 20 can be configured by arranging a plurality of magnetic sensors in a range covering the entire battery 60. By arranging a plurality of magnetic sensors in a range covering the entire battery 60, the scanning of the battery 60 by the magnetic measuring unit 20 is omitted. The magnetic measuring unit 20 can select a specific magnetic sensor from the plurality of magnetic sensors arranged in a range covering the entire battery 60, and obtain the measurement value of the selected specific magnetic sensor. That is, the magnetic measuring unit 20 can select a part of the plurality of magnetic sensors arranged in a range covering the entire battery 60, and obtain the measurement value of the selected part of the magnetic sensors. The action of scanning the magnetic sensors is simulated and reproduced by obtaining the measurement value of a part of the magnetic sensors. The specific magnetic sensor can be selected from the magnetic sensors arranged at equal intervals, or can be selected from the magnetic sensors arranged at arbitrary intervals that are not equal intervals.

[0054] The magnetic sensor can be configured to measure the magnetic field on one axis or on three axes at the same time. Regardless of the direction of the measuring axis of the magnetic sensor, it is preferred to configure the magnetic sensor so that the magnetic sensing surface and the magnetic field generated by the battery 60 are orthogonal. The reason for configuring the magnetic sensor so that the magnetic sensing surface and the magnetic field generated by the battery 60 are orthogonal is as follows, that is, by making the macroscopic current of the battery 60 and the magnetic sensing surface orthogonal, it is easy to obtain a magnetic field distribution that reflects the orientation or configuration of the battery 60.

[0055] The magnetic sensor may have at least one magnetic element. The magnetic element may be an analog element or a digital element. The magnetic element may include, for example, a Hall element, an AMR (Anisotropic magnetoresistance), a GMR (Giant magnetoresistance), or a TMR (Tunnel magnetoresistance) or other magnetoresistive element. The magnetic element may include, for example, a magnetoresistive element such as MI (Magneto-Impedance) or a fluxgate. The magnetic element may include, for example, a thin film magnetic element caused by the abnormal Hall effect of a topological magnetic body. When an alternating current flows in the object to be measured, a pickup coil may be used as a magnetic element.

[0056] The magnetism measuring unit 20 is not limited to the magnetic sensor, and may have other various structures capable of measuring a magnetic field.

[0057] (Operation Example of State Determination System 1)

[0058] The state determination system 1 according to one embodiment of the present invention measures the magnetic field of the battery 60 to determine the state of the battery 60. The control device 10 may execute a Figure 4 The method for determining the state of the battery 60 including the flow of the flowchart shown as an example in FIG. The method for determining the state of the battery 60 can be implemented as a state determination program executed by a processor constituting the control device 10. The state determination program can be stored in a non-transitory computer-readable medium.

[0059] The control device 10 acquires a reference value of the magnetic field of the battery 60 (step S1). When the battery 60 is known to be in a normal state, the reference value is a measurement value of the magnetic field obtained by the magnetic measuring unit 20 scanning the battery 60 placed at a reference position.

[0060] like Figure 5As shown in the example, the battery 60 has single cells 62 arranged in a grid shape along the X-axis direction and the Y-axis direction. In other words, the single cells 62 are arranged on an arrangement surface along the XY plane. In the present embodiment, the magnetic measuring unit 20 scans the battery 60 in the X-axis direction. That is, the scanning direction 22 of the magnetic measuring unit 20 corresponds to the X-axis direction. The magnetic measuring unit 20 scans the battery 60 multiple times by shifting the starting point of the scan in the Y-axis direction. In other words, the control device 10 can be controlled so that the magnetic measuring unit 20 moves along the scanning direction 22 from each position that is respectively shifted relative to a plurality of positions that are periodically or non-periodically arranged in a direction intersecting the scanning direction 22, so that the magnetic measuring unit 20 scans the battery 60. As Figure 5 As shown, the reference position of the battery 60 is the installation position of the battery 60 when the arrangement direction of the cells 62 coincides with the scanning direction 22 of the magnetism measuring unit 20 .

[0061] like Figure 6 As shown in the example, the battery 60 is sometimes located at a position where the arrangement direction of the single cells 62 is tilted relative to the X-axis direction and the Y-axis direction. That is, the scanning direction 22 of the magnetic measuring unit 20 is tilted relative to the arrangement direction of the single cells 62. In this case, the setting position of the battery 60 deviates from the reference position. Therefore, the position and posture of the battery 60 or the instrument carrying the battery 60, or the scanning direction of the magnetic measuring unit 20 is adjusted in a manner such that the battery 60 is located at the reference position.

[0062] like Figure 7 As shown in the example, the battery 60 is arranged so that the single cells 62 are arranged along the XY plane when it is mounted on the vehicle 80. The magnetic measuring unit 20 is arranged to scan the battery 60 in the depth direction of the paper. The reference position of the battery 60 is the setting position of the battery 60 when the magnetic measuring unit 20 scans the battery 60 and the distance between the magnetic measuring unit 20 and the arrangement surface of the single cells 62 in the Z-axis direction is constant.

[0063] like Figure 8 and Fig. 9 As shown in the example in FIG. 1 , when a vehicle 80 equipped with the battery 60 is tilted relative to the ground 70, the battery 60 may be located at a position where the arrangement surface of the cells 62 is tilted relative to the XY plane. Figure 8 In the example, the arrangement plane of the single cells 62 rotates around the X-axis. In other words, the arrangement plane of the single cells 62 is parallel to the X-axis and tilted relative to the Y-axis direction. Fig. 9In the example, the arrangement plane of the single battery 62 rotates around the Y axis. In other words, the arrangement plane of the single battery 62 is parallel to the Y axis and tilted relative to the X axis. In the above case, the setting position of the battery 60 deviates from the reference position. Therefore, the position and posture of the battery 60 or the instrument carrying the battery 60, or the scanning direction of the magnetic measuring unit 20 is adjusted in such a way that the position of the battery 60 is at the reference position.

[0064] The reference value may be a measured value of the magnetic field when the battery 60 is mounted on the instrument, or a measured value of the magnetic field when the battery 60 is removed from the instrument. The reference value may be expressed as a waveform of the measured value of the magnetic field continuously along the scanning direction of the magnetic measuring unit 20 (for example, refer to Fig.10 The reference value can be represented as a collection of measured values ​​of the magnetic field at discrete positions along the scanning direction of the magnetic measuring unit 20. In the present embodiment, the reference value is represented as a continuous waveform. The waveform representing the reference value changes with a period corresponding to the interval between the single cells 62. The waveform representing the reference value can be, for example, a sine wave or a waveform approximating a sine wave. The waveform representing the reference value is not limited to a sine wave, and can also be various other waveforms such as a triangular wave or a pulse wave having periodicity.

[0065] The waveform representing the reference value is not limited to a waveform with a constant amplitude such as a sine wave, and may also include a waveform with a variable amplitude. Regarding the arrangement of the electrodes of the battery 60, when one positive electrode and one negative electrode are arranged alternately in a certain direction, the amplitude of the waveform representing the reference value becomes constant. On the other hand, regarding the arrangement of the electrodes of the battery 60, sometimes the positive electrode and the negative electrode are not arranged alternately in a certain direction, but the number of positive electrodes or negative electrodes varies within a limited interval. For example, when the electrodes of the battery 60 are arranged in a process of positive electrode, positive electrode, negative electrode, negative electrode, positive electrode, the waveform measured by taking out only the interval of the first two positive electrode arrangements has a different amplitude from the waveform measured including other intervals. That is, the amplitude of the waveform is not constant according to the measured interval. Therefore, the waveform representing the reference value is not limited to a sine wave or a waveform approximated by a sine wave, but may also be a waveform approximated by a polynomial greater than or equal to the second degree. That is, the waveform representing the reference value may be a waveform that does not have periodicity in at least a part of the interval.

[0066] The control device 10 can use the acquisition unit 11 to acquire a pre-prepared reference value. The reference value of the magnetic field of the battery 60 can be prepared in advance as an external database. The reference value of the magnetic field of the battery 60 can be databased according to the type of the battery 60. The reference value of the magnetic field of the battery 60 can be databased for different instruments equipped with the battery 60. The control device 10 can use the scanning unit 14 to move the magnetic measuring unit 20 when the battery 60 is known to be in a normal state and is set at the reference position, and use the acquisition unit 11 to obtain the measurement result of the magnetic field from the magnetic measuring unit 20 to obtain the reference value.

[0067] Back to Figure 4 According to the flowchart of the control device 10, the control device 10 measures the magnetic field of the battery 60 to be measured (step S2). The vehicle 80 or other equipment equipped with the battery 60 is set at a position where the magnetic field of the battery 60 can be measured by the magnetic measuring unit 20. When the magnetic measuring unit 20 is configured to be movable, the control device 10 moves the magnetic measuring unit 20 using the scanning unit 14, and obtains the measurement results of the magnetic field generated from each part of the battery 60 using the acquisition unit 11. When the equipment equipped with the battery 60 is configured to be movable, the control device 10 controls the position of the equipment, and obtains the measurement results of the magnetic field generated from each part of the battery 60 using the acquisition unit 11.

[0068] In order to measure the magnetic field of the battery 60 to be measured, the control device 10 can control the magnetic measuring unit 20 to scan the battery 60 multiple times by shifting the starting point of the scan in the Y-axis direction. In other words, the control device 10 can control the magnetic measuring unit 20 to move along the scanning direction 22 from each position that is shifted from a plurality of positions that are periodically or non-periodically arranged in a direction intersecting the scanning direction 22, so that the magnetic measuring unit 20 scans the battery 60. The control device 10 can shift the magnetic measuring unit 20 at each position that starts moving in the scanning direction when the reference value of the magnetic field of the battery 60 is measured, and move the magnetic measuring unit 20 along the scanning direction from each position. In other words, the control device 10 can move the magnetic measuring unit 20 in accordance with the starting point of the scan when the reference value of the magnetic field of the battery 60 is measured. By aligning the starting point of a scan for measuring the magnetic field of the battery 60 to be measured with the starting point of a scan when the reference value of the magnetic field of the battery 60 is measured, the control device 10 can compare the reference value and the measured value with high accuracy.

[0069] The control device 10 uses the calculation unit 12 to determine whether the difference between the reference value and the measured value of the magnetic field of the battery 60 satisfies the comparison condition (step S3). The comparison condition includes that the reference value and the measured value of the magnetic field of the battery 60 are consistent, or the difference between the reference value and the measured value of the magnetic field of the battery 60 is small.

[0070] exist Fig.10 , Fig.11 and Fig.12 2 shows an example of a waveform of a measurement value of the battery 60 when the installation position of the battery 60 is deviated from the reference position. Figure 10 to Figure 12 The horizontal axis of each graph is the X-coordinate position corresponding to the position in the X-axis direction. The vertical axis is the measured value of the magnetic field at each position. The solid line waveform represents the reference value. The dotted line waveform represents the measured value.

[0071] exist Fig.10 In the embodiment, the phase of the waveform of the measured value is offset by ΔT in the X-axis direction relative to the phase of the waveform of the reference value. In this case, the setting position of the battery 60 is offset in the X-axis direction relative to the reference position. The calculation unit 12 can determine that the control condition is satisfied when the difference between the phase of the waveform of the measured value and the phase of the waveform of the reference value, i.e., ΔT, is less than the phase threshold. On the contrary, the calculation unit 12 can determine that the control condition is not satisfied when the difference between the phase of the waveform of the measured value and the phase of the waveform of the reference value, i.e., ΔT, is greater than or equal to the phase threshold. The phase threshold can be set appropriately. As described above, the displacement in the X-axis direction without changing the posture of the battery 60 at the reference position is detected as a deviation in the phase of the waveform.

[0072] exist Fig.11 , the amplitude (A') of the waveform of the measured value is smaller than the amplitude (A) of the waveform of the reference value. In this case, the battery 60 moves away from the magnetic measuring unit 20 without changing the posture of the reference position. That is, the setting position of the battery 60 is offset in the Z-axis direction relative to the reference position when the arrangement surface of the single battery 62 is along the XY plane. The calculation unit 12 can determine that the control condition is satisfied when the difference between the amplitude of the waveform of the measured value and the amplitude of the waveform of the reference value is less than the amplitude threshold. On the contrary, the calculation unit 12 can determine that the control condition is not satisfied when the difference between the amplitude of the waveform of the measured value and the amplitude of the waveform of the reference value is greater than or equal to the amplitude threshold. The amplitude threshold can be set appropriately. As described above, the battery 60 is offset in the Z-axis direction without changing the posture of the reference position, which is detected as a change in the amplitude of the waveform.

[0073] exist Fig.12 In the example, the period (T') of the waveform of the measured value is shorter than the period (T) of the waveform of the reference value. In addition, the amplitude (A') of the waveform of the measured value increases as it moves in the positive direction of the X-axis. On the contrary, the amplitude (A') of the waveform of the measured value decreases as it moves in the negative direction of the X-axis. The amplitude of the waveform is represented as a dotted line connecting the peaks of the waveform. In this case, the arrangement plane of the single cells 62 of the battery 60 is as follows: Fig. 9As shown in the example, the battery 60 rotates around the Y axis. The calculation unit 12 can determine that the control condition is satisfied when the difference between the period of the waveform of the measured value and the period of the waveform of the reference value is less than the period threshold. On the contrary, the calculation unit 12 can determine that the control condition is not satisfied when the difference between the period of the waveform of the measured value and the period of the waveform of the reference value is greater than or equal to the period threshold. The period threshold can be set appropriately. In addition, the calculation unit 12 can determine that the control condition is satisfied when the ratio of the change in the amplitude of the waveform of the measured value relative to the X coordinate is less than the amplitude change threshold. On the contrary, the calculation unit 12 can determine that the control condition is not satisfied when the ratio of the change in the amplitude of the waveform of the measured value relative to the X coordinate is greater than or equal to the amplitude change threshold. The amplitude change threshold can be set appropriately. As described above, the rotation of the battery 60 around the Y axis is detected as a change in the period of the waveform or a rate of change of the amplitude relative to the X-axis coordinate.

[0074] As described above, the displacement in the X-axis direction and the Z-axis direction and the rotation around the Y-axis are detected.

[0075] In addition, the misalignment in the Y-axis direction and the rotation around the X-axis and the Z-axis are detected. In order to detect the above-mentioned misalignment and rotation, the control device 10 controls the magnetic measuring unit 20 to move with multiple scanning paths, thereby the magnetic measuring unit 20 scans the battery 60 in a planar manner. The control device 10 can measure the planar distribution of the magnetic field generated by the battery 60 by scanning the magnetic measuring unit 20 with multiple scanning paths. For example, the scanning unit 14 of the control device 10 can move the magnetic measuring unit 20 with the X-axis direction as the scanning direction, so that the scanning start point is staggered in the Y-axis direction. The scanning start point is the starting point of the scanning path of the magnetic measuring unit 20, and is the position where the magnetic measuring unit 20 starts to move in the scanning direction. That is, the scanning unit 14 can set the scanning start point at multiple positions arranged periodically or non-periodically in a direction intersecting the scanning direction, so that the magnetic measuring unit 20 moves from each position along the scanning direction.

[0076] Each position that becomes the scanning starting point is set to be the same as the scanning starting point when the reference value of the magnetic field of the battery 60 is measured. That is, the plurality of scanning paths can be set to be the same when the reference value is measured and when the battery 60 to be determined is measured. The magnetic measuring unit 20 can be moved in the scanning direction from each position while being offset from each position at which the movement in the scanning direction when the reference value of the magnetic field of the battery 60 is measured is started. Thus, the control device 10 can compare the reference value and the measured value with high accuracy.

[0077] The plurality of scanning paths may be set to different paths when measuring the reference value and when measuring the target battery 60. In this case, the control device 10 may supplement the measured values ​​between the plurality of scanning paths and compare the reference value with the measured value.

[0078] Specifically, if Fig.13 As shown in the example in FIG. 1 , scanning is performed in the X-axis direction from a plurality of starting points shifted in the Y-axis direction, thereby obtaining waveforms 51 to 55 of a plurality of measurement values. Fig.13 The graph is a three-dimensional graph showing the magnitude of the magnetic field measurement value at each position in the XY plane. Fig.13 Each waveform in the graph of represents the result of scanning in the X-axis direction. Fig.13 In a 3D graph, an envelope connecting the magnetic field measurement values ​​arranged in the Y-axis direction is generated at a specific X-coordinate. The envelope corresponds to the result of scanning in the Y-axis direction starting from its X-coordinate. When the interval between the starting points offset in the Y-axis direction is sufficiently shorter than the period in the Y-axis direction, the envelope can be represented as a periodic waveform. For example, the interval between the starting point of the scan for measuring waveform 51 and the starting point of the scan for measuring waveform 52 is W1 in the Y-axis direction. In addition, the interval between the starting point of the scan for measuring waveform 52 and the starting point of the scan for measuring waveform 53 is W2 in the Y-axis direction. By further shortening W1 or W2, the envelope can be represented as a periodic waveform. W1 and W2 can be set to the same value or different values. In addition, the interval between the Y-axis direction of waveform 53 and waveform 54, or the interval between the Y-axis direction of waveform 54 and waveform 55 can be set to the same value or different values. The interval that offsets the starting point of the scan in the Y-axis direction can be set to the same value or different values.

[0079] In other words, the intervals of the scanning measurements can be periodic or random. Regardless of whether it is a periodic measurement or a measurement at random intervals, different waveforms caused by the structure of the battery 60 can be obtained in each measurement. For example, when measuring the front of the component, the single cell 62 located directly opposite or the magnetic field generated from the component plays a dominant role in its measured value. However, by measuring the middle point of the component, its measured value becomes a value affected by two adjacent components. As described above, the control device 10 can periodically measure the front of the component based on the structure of the instrument, or it can alternately measure the front and the middle. The control device 10 can measure the magnetic field at any position as long as it is a place where the magnetic field generated from the component can be measured. However, the measurement position of the magnetic field is set to the same position as the position specified when measuring the reference value.

[0080] The displacement in the Y-axis direction is represented as the difference between the phase of the waveform of the envelope in the Y-axis direction of the 3D graph of the reference value and the phase of the waveform of the envelope in the Y-axis direction of the 3D graph of the measured value. The calculation unit 12 can determine that the comparison condition is satisfied when the difference between the phase of the waveform of the envelope in the Y-axis direction of the measured value and the phase of the waveform of the envelope in the Y-axis direction of the reference value is less than the phase threshold. On the contrary, the calculation unit 12 can determine that the comparison condition is not satisfied when the difference between the phase of the waveform of the envelope in the Y-axis direction of the measured value and the phase of the waveform of the envelope in the Y-axis direction of the reference value is greater than or equal to the phase threshold. The phase threshold can be set to the same value in the X-axis direction and the Y-axis direction, or it can be set to different values.

[0081] The rotation around the X-axis is represented by the difference between the amplitude of the waveform of the envelope in the Y-axis direction of the 3D graph of the reference value and the amplitude of the waveform of the envelope in the Y-axis direction of the 3D graph of the measured value. The calculation unit 12 can determine that the comparison condition is satisfied when the difference between the amplitude of the waveform of the envelope in the Y-axis direction of the measured value and the amplitude of the waveform of the envelope in the Y-axis direction of the reference value is less than the amplitude threshold. On the contrary, the calculation unit 12 can determine that the comparison condition is not satisfied when the difference between the amplitude of the waveform of the envelope in the Y-axis direction of the measured value and the amplitude of the waveform of the envelope in the Y-axis direction of the reference value is greater than or equal to the amplitude threshold. The amplitude threshold can be set to the same value in the X-axis direction and the Y-axis direction, or it can be set to different values.

[0082] The rotation about the Z axis is represented as the angle between the ridgeline 50 connecting the peaks of the waveforms 51 to 55 and the Y axis direction in the three-dimensional graph as the measured value. The calculation unit 12 can determine that the comparison condition is satisfied when the angle of the ridgeline 50 relative to the Y axis is less than the angle threshold. On the contrary, the calculation unit 12 can determine that the comparison condition is not satisfied when the angle of the ridgeline 50 relative to the Y axis is greater than or equal to the angle threshold. The angle threshold can be set appropriately.

[0083] As described above, the comparison condition is set so that the positional deviation and posture deviation of the battery 60 relative to the reference position are smaller than the determination threshold value.

[0084] Back to Figure 4, the control device 10, when the difference between the reference value and the measured value of the magnetic field of the battery 60 satisfies the comparison condition (step S3: YES), enters the process of step S7. When the difference between the reference value and the measured value of the magnetic field of the battery 60 does not satisfy the comparison condition (step S3: NO), the control device 10 uses the calculation unit 12 to calculate the information about the relative position of the magnetic measuring unit 20 (step S4). When the state of the battery 60 is normal and the same current as that in the measurement at the reference position flows, the difference between the waveform of the measured value of the magnetic field of the battery 60 and the waveform of the reference value is generated according to the difference in the relative position of the battery 60 or the device carrying the battery 60, and the magnetic measuring unit 20. That is, as the information about the relative position of the magnetic measuring unit 20, the calculation unit 12 can calculate the size of the displacement of the battery 60 in the X-axis, Y-axis or Z-axis direction based on the difference between the reference value and the measured value of the magnetic field of the battery 60. In addition, as information about the relative position of the magnetic measuring unit 20, the calculating unit 12 can calculate the angle of rotation around the X-axis, the Y-axis, or the Z-axis of the battery 60. The angle of rotation around the X-axis, the Y-axis, or the Z-axis of the battery 60 indicates the magnitude of the posture deviation of the battery 60.

[0085] The calculation unit 12 can calculate a correction coefficient as information about the relative position of the magnetic measuring unit 20. The correction coefficient is used to correct the misalignment or posture deviation of the battery 60. The correction coefficient can be used to correct the waveform of the measured value of the magnetic field of the battery 60 to the waveform when the battery 60 is arranged at the reference position.

[0086] The calculation unit 12 may calculate the pattern of the difference between the waveform of the reference value and the waveform of the measured value representing the magnetic field of the battery 60 as information on the relative position of the magnetic measuring unit 20. The calculation unit 12 may calculate the pattern of the difference between the three-dimensional waveform of the reference value and the three-dimensional waveform of the measured value. That is, the calculation unit 12 may recognize the difference between the waveform of the reference value and the waveform of the measured value as a pattern.

[0087] The control device 10 uses the determination unit 13 to determine whether the information about the relative position of the magnetic measuring unit 20 satisfies the abnormality determination condition (step S5). The abnormality determination condition is set to be satisfied when the state of the battery 60 is abnormal. For example, even when the measured value is inconsistent with the reference value, or when it deviates greatly from the reference value, if it can be determined to what extent the battery 60 is offset from the reference position, the determination unit 13 can determine that the state of the battery 60 is normal.

[0088] Specifically, the difference between the measured value and the reference value of the magnetic field when the state of the battery 60 is normal is generated according to the difference in the relative position of the magnetic measuring unit 20. That is, the difference between the measured value and the reference value is generated according to the misalignment or posture deviation of the battery 60. In this case, the correction coefficient is calculated as a value proportional to the misalignment or posture deviation of the battery 60. Therefore, the determination unit 13 can determine that the state of the battery 60 is normal when the size of the misalignment or posture deviation specified by the correction coefficient converges to, for example, the inside of the device carrying the battery 60. On the contrary, the determination unit 13 can determine that the state of the battery 60 is abnormal when the size of the misalignment or posture deviation specified by the correction coefficient exceeds the degree that cannot be physically caused, such as the size of the device carrying the battery 60. The determination unit 13 can determine that the battery 60 is normal when the correction coefficient is less than the determination threshold, and can determine that the battery 60 is abnormal when the correction coefficient is greater than or equal to the determination threshold. In other words, the abnormality determination condition may be that the correction coefficient is greater than or equal to the determination threshold. The determination threshold can be appropriately set based on, for example, the size of the device carrying the battery 60.

[0089] The determination unit 13 may determine whether the pattern is a pattern in which the state of the battery 60 is normal or a pattern in which the state of the battery 60 is abnormal, when the pattern of the difference between the waveform representing the reference value and the waveform representing the measured value is calculated as information about the relative position of the magnetic measuring unit 20. The determination unit 13 may determine the state of the battery 60 by pattern matching. The determination unit 13 may determine the state of the battery 60 by using a model that outputs the state of the battery 60 when the pattern is input. In other words, the abnormality determination condition may be that the pattern of the difference between the waveform representing the reference value and the waveform representing the measured value is different from the pattern in which the state of the battery 60 is normal.

[0090] When the determination unit 13 obtains a result that cannot be obtained based on the structure of the device on which the battery 60 is mounted as the measured value of the magnetic field of the battery 60, the state of the battery 60 is determined to be abnormal regardless of the correction coefficient. For example, when the measured value is inconsistent with the reference value that has been databased, when the correction coefficient cannot be calculated, or when the correction coefficient deviates from the prescribed range, the determination unit 13 may determine that the state of the battery 60 is abnormal. In other words, the abnormality determination condition may include a case where the measured value is inconsistent with the reference value that has been databased, a case where the correction coefficient cannot be calculated, or a case where the correction coefficient deviates from the prescribed range.

[0091] When the battery 60 is in an abnormal state, for example, the battery 60 installed in the device is not a genuine product, the battery 60 is faulty, or the battery 60 is located outside the range where the magnetic field can be measured by the magnetic measuring unit 20.

[0092] When the information about the relative position of the magnetic measuring unit 20 does not satisfy the abnormality determination condition (step S5: NO), the control device 10 uses the calculation unit 12 to correct the measured value of the magnetic field of the battery 60 (step S6). Specifically, the calculation unit 12 corrects the measured value of the magnetic field of the battery 60 based on the information about the relative position of the magnetic measuring unit 20. The calculation unit 12 can correct the measured value of the magnetic field of the battery 60 based on the correction coefficient.

[0093] After the control device 10 executes the process of step S6, if the control condition is satisfied in the judgment process of the control condition of step S3, or if the abnormality determination condition is not satisfied in the judgment process of the abnormality determination condition of step S5, the control device 10 determines that the state of the battery 60 is normal (step S7). On the other hand, if the abnormality determination condition is satisfied in the judgment process of the abnormality determination condition of step S5 (step S5: YES), the control device 10 determines that the state of the battery 60 is abnormal (step S8). After executing the process of step S7 or S8, the control device 10 ends. Figure 4 Execution of the process of the flowchart.

[0094] exist Figure 4 When the abnormality determination condition is satisfied in the determination process of the abnormality determination condition of step S5 of the flowchart, the control device 10 does not correct the measured value of the magnetic field and determines that the battery 60 is abnormal. Thus, unnecessary correction operation is omitted. As a result, the operation load of the control device 10 is reduced.

[0095] (summary)

[0096] As described above, according to the state determination method of the battery 60 involved in the present embodiment, based on the difference between the reference value and the measured value of the magnetic field of the battery 60, the information about the relative position of the battery 60 is calculated, and the measured value is corrected. Thus, the misalignment or posture deviation of the battery 60 relative to the magnetic measuring unit 20 is allowed. As a result, even in the case where it is difficult to adjust the position of the battery 60 relative to the magnetic measuring unit 20 when the battery 60 is mounted on the instrument, the magnetic field of the battery 60 is measured with high precision without causing the battery 60 to deviate from the instrument. For example, in the case where it is difficult to remove the battery 60 from the instrument, the state determination method of the battery 60 involved in the present invention is effective. The state of the battery 60 is determined when the battery 60 is mounted on the instrument, thereby improving the determination accuracy of the battery state without increasing the measurement burden of the battery.

[0097] (Other embodiments)

[0098] Next, a state determination system 1 and a state determination method of the battery 60 according to other embodiments will be described.

[0099] <Pre-examination>

[0100] Sometimes the arrangement of the cells 62 of the battery 60 is unclear. Fig.14 As shown in the example, the control device 10 can be controlled so that the magnetic measuring unit 20 scans the battery 60 in a pre-diagnostic manner in the scanning direction 22X along the X-axis and the scanning direction 22Y along the Y-axis, respectively, to obtain the measurement values ​​in each scanning direction. The control device 10 can estimate the arrangement of the single cells 62 of the battery 60 based on the measurement values ​​in each scanning direction, and determine the scanning direction of the magnetic measuring unit 20 according to the estimated arrangement. By determining the scanning direction of the magnetic measuring unit 20 based on the pre-diagnostic measurement, the magnetic measuring unit 20 is moved in a manner that the position of the battery 60 approaches the reference position. As a result, the misalignment or posture deviation of the battery 60 is reduced. The sensor for measuring the magnetic field of the battery 60 in a pre-diagnostic manner can be the same as or different from the magnetic measuring unit 20 used to obtain the measurement value of the magnetic field for determining the state of the battery 60.

[0101] In other words, the control device 10 can move the magnetic measuring unit 20 in multiple directions including at least the first direction and the second direction to obtain the measured value of the magnetic field of the battery 60. Here, the first direction can correspond to the X-axis direction. The second direction can correspond to the Y-axis direction. The control device 10 can estimate the arrangement of the single battery 62 and determine the scanning direction of the magnetic measuring unit 20 based on the first measured value obtained by moving the magnetic measuring unit 20 in the first direction and the second measured value obtained by moving the magnetic measuring unit 20 in the second direction.

[0102] When the battery 60 is mounted on a vehicle, the position of the battery 60 and the arrangement of the cells 62 are specified for each vehicle type. The control device 10 can determine the vehicle type based on the image of the vehicle equipped with the battery 60, and determine the scanning direction and scanning range of the magnetic measuring unit 20 based on the position of the battery 60 and the arrangement of the cells 62. In other words, the control device 10 can move the magnetic measuring unit 20 within the scanning range specified based on the type of the instrument equipped with the battery 60. Thus, useless scanning is reduced. As a result, the measurement efficiency is improved.

[0103] <Position adjustment>

[0104] In the above embodiment, when the position of the battery 60 is offset from the reference position, the control device 10 does not adjust the position of the battery 60 or the magnetism measuring unit 20, but corrects the measured value. As another embodiment, the position of the battery 60 or the magnetism measuring unit 20 may be adjusted.

[0105] like Fig.15As shown in the example, the state determination system 1 may further include a moving device 30. The magnetic measuring unit 20 may be mounted on the moving device 30. The moving device 30 is configured to move along the ground 70, for example. The moving device 30 may be configured to move in a vertical direction. The control device 10 may control the scanning direction of the magnetic measuring unit 20 according to the misalignment or posture deviation between the scanning unit 14 and the battery 60, thereby moving the magnetic measuring unit 20 in the same manner as the scanning range of the magnetic measuring unit 20 when the battery 60 is configured in the reference position.

[0106] like Fig.16 As shown in the example, the state determination system 1 may further include a driving device 40. The driving device 40 is configured to be able to drive a device such as a vehicle 80 equipped with a battery 60 relative to a ground surface 70. Fig.16 In the example of FIG. 1 , the driving device 40 drives the posture of the battery 60 from a state where the single cell 62 is tilted relative to the X-axis and the Y-axis to a state where the single cell 62 is along the X-axis and the Y-axis by moving the tire 82 of the vehicle 80 along the ground 70. The driving device 40 adjusts the position and posture of the battery 60 relative to the magnetic measuring unit 20.

[0107] As described above, the control device 10 can re-perform the measurement of the magnetic field of the battery 60 based on the scanning of the magnetic measuring unit 20 after adjusting the positions of the battery 60 and the magnetic measuring unit 20. That is, the control device 10 can re-perform the measurement of the magnetic field on the basis of physically correcting the relative position of the magnetic measuring unit 20. Thus, the measurement accuracy of the magnetic field or the determination accuracy of the state of the battery 60 is improved.

[0108] When the device equipped with the battery 60 is a vehicle 80 with a low floor, the magnetism measuring unit 20 may be provided to scan the bottom surface of the vehicle 80 in a space passing through the ground 70 and lower than the contact surface of the tire 82 .

[0109] The control device 10 may use a distance measuring sensor to calculate the relative position of the battery 60 and the magnetism measuring unit 20 .

[0110] The embodiments of the present invention are described based on the drawings and embodiments. It should be noted that those skilled in the art can make various modifications or changes based on the present invention. Therefore, it should be noted that the above-mentioned modifications or changes are included in the scope of the present invention. For example, the functions included in each structural part or each step can be reconfigured in a theoretically non-contradictory manner, and multiple structural parts or steps can be combined into one or divided.

[0111] Description of the label

[0112] 1. Status determination system

[0113] 10 control device (11: acquisition unit, 12: calculation unit, 13: determination unit, 14: scanning unit)

[0114] 20 Magnetic measuring unit (22, 22X, 22Y: scanning direction)

[0115] 30 Moving device (32: Moving direction of magnetic measuring unit)

[0116] 40 driving device (42: driving direction of vehicle)

[0117] 50 Edge Line

[0118] 51~55 Waveform of magnetic field measurement value

[0119] 60 batteries (62: single battery)

[0120] 70 Ground

[0121] 80 vehicles (82: tires)

Claims

1. A method for determining a battery state, wherein: The battery status determination method comprises the following steps: acquiring a measurement value obtained by measuring the magnetic field of a battery mounted on the device by a magnetic measuring unit; calculating information on the relative position of the magnetic measuring unit based on the measured value of the magnetic field of the battery and a reference value of the magnetic field of the battery; as well as The state of the battery is determined based on the information on the relative position of the magnetism measuring unit.

2. The method for determining the state of a battery according to claim 1, wherein: When the information on the relative position of the magnetism measuring unit satisfies an abnormality determination condition, it is determined that the battery is abnormal.

3. The method for determining the state of a battery according to claim 2, wherein: The battery state determination method includes the step of calculating a correction coefficient of the relative position of the magnetism measuring unit as information on the relative position of the magnetism measuring unit.

4. The method for determining the state of a battery according to any one of claims 1 to 3, wherein: The battery state determination method includes the step of moving the magnetic measuring unit in one scanning direction in order to measure the magnetic field of the battery using the magnetic measuring unit.

5. The method for determining the battery status according to claim 4, wherein: The battery state determination method includes the step of shifting the magnetism measuring unit at a plurality of positions arranged periodically or aperiodically in a direction intersecting the scanning direction, and moving the magnetism measuring unit from each position along the scanning direction.

6. The method for determining the battery status according to claim 5, wherein: The battery state determination method includes the step of shifting the magnetic measuring unit at respective positions where movement in the scanning direction is started when a reference value of the magnetic field of the battery is measured, and moving the magnetic measuring unit in the scanning direction from the respective positions.

7. The method for determining the state of a battery according to claim 4, wherein: The battery status determination method comprises the following steps: The magnetic measuring unit is moved in a plurality of directions including at least a first direction and a second direction to obtain a measured value of the magnetic field of the battery; as well as The scanning direction is determined based on a first measurement value obtained by moving the magnetism measuring unit in the first direction and a second measurement value obtained by moving the magnetism measuring unit in the second direction.

8. The method for determining the state of a battery according to claim 4, wherein: The battery state determination method includes the step of moving the magnetism measuring unit within a scanning range that is specified based on the type of equipment on which the battery is mounted.

9. A battery status determination system, wherein: The battery status determination system comprises: a magnetic measurement unit; and A control device that executes the battery state determination method according to any one of claims 1 to 3.

10. The battery status determination system according to claim 9, wherein: The battery state determination system further includes a moving device for moving the magnetism measuring unit relative to the battery. The moving device is configured to move between a surface on which a device carrying the battery is installed and the battery.

11. The battery status determination system according to claim 9, wherein: The battery state determination system further includes a drive device that moves the device on which the battery is mounted relative to the magnetism measuring unit.

12. The battery status determination system according to claim 9, wherein: The magnetism measuring unit includes one or more magnetic sensors for measuring a magnetic field of the battery.

13. The battery status determination system according to claim 12, wherein: The magnetic measuring unit includes a plurality of magnetic sensors arranged in a line or array.

14. The battery status determination system according to claim 12, wherein: The magnetism measuring unit includes a plurality of the magnetic sensors arranged in a range covering the entire battery.

15. The battery status determination system according to claim 14, wherein: The control device selects a part of the plurality of magnetic sensors and acquires measurement values ​​of the selected magnetic sensors.

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