Insulation detection method, insulation detection circuit, vehicle and storage medium

Abstract

The present application provides an insulation detection method, an insulation detection circuit, a vehicle and a storage medium. The insulation detection method comprises: in a first detection mode, obtaining a first total voltage sampling value and a first partial voltage sampling value, and judging whether the volatility of the first total voltage sampling value and the first partial voltage sampling value are both qualified; when the volatility of the first total voltage sampling value and the first partial voltage sampling value are both qualified, controlling the insulation detection circuit to enter a second detection mode; in a second detection mode, obtaining a second total voltage sampling value and a second partial voltage sampling value, and judging whether the volatility of the second total voltage sampling value and the second partial voltage sampling value are both qualified; when the volatility of the second total voltage sampling value and the second partial voltage sampling value are both qualified, controlling the insulation detection circuit to enter the first detection mode; and deriving the resistance to ground of the energy storage power supply based on the first total voltage sampling value, the first partial voltage sampling value, the second total voltage sampling value and the second partial voltage sampling value, both of which have qualified volatility.

Description

Technical Field

[0001] The present application relates to the technical field of insulation detection, and in particular to an insulation detection method, an insulation detection circuit, a vehicle and a storage medium. Background Art

[0002] With the continuous updating and upgrading of energy systems, renewable energy, led by solar energy and wind energy, has been widely used. Since this type of energy is greatly affected by the weather and is unstable, energy storage technology will play a key role. The operating voltage of the battery pack in the energy storage system can reach hundreds of volts to thousands of volts. If leakage occurs during use, it will affect the operation of the equipment and endanger personal safety. In severe cases, it may even cause electric shock casualties and equipment fire accidents. In order to ensure the safe operation of the energy storage system, an insulation detection circuit is usually set to detect insulation faults in the energy storage system. At present, the on-board insulation detection system mostly adopts the DC injection method, the balanced bridge method and the unbalanced bridge method. However, the insulation detection cycle of the existing insulation detection methods is a fixed cycle, and the detection accuracy is low. Summary of the invention

[0003] In order to solve the above technical problem or at least partially solve the above technical problem, the present disclosure provides an insulation detection method, an insulation detection circuit, a vehicle and a storage medium.

[0004] To achieve the above-mentioned purpose, the first aspect of the present application provides an insulation detection method, which is applied to an insulation detection circuit, wherein the insulation detection circuit is electrically connected to the positive electrode, the negative electrode and the system ground of an energy storage power supply, and alternately operates in a first detection mode and a second detection mode. When the insulation detection circuit is in the first detection mode, the resistance value between the positive electrode of the energy storage power supply and the system ground is a first resistance value, and the resistance value between the negative electrode of the energy storage power supply and the system ground is a second resistance value; when the insulation detection circuit is in the second detection mode, at least one of the resistance value between the positive electrode of the energy storage power supply and the system ground and the resistance value between the negative electrode of the energy storage power supply and the system ground changes;

[0005] The insulation detection method comprises:

[0006] When the insulation detection circuit is in the first detection mode, a first total voltage sampling value between the positive electrode and the negative electrode of the energy storage power supply and a first partial voltage sampling value between the first electrode of the energy storage power supply and the system ground are synchronously obtained according to a first preset period, and it is determined whether the volatility of the first total voltage sampling value and the volatility of the first partial voltage sampling value are both qualified; wherein the first electrode is the positive electrode or the negative electrode of the energy storage power supply;

[0007] When the volatility of the first total voltage sampling value and the volatility of the first partial voltage sampling value are both qualified, controlling the insulation detection circuit to switch to the second detection mode;

[0008] When the insulation detection circuit is in the second detection mode, a second total voltage sampling value between the positive electrode and the negative electrode of the energy storage power supply and a second partial voltage sampling value between the second electrode of the energy storage power supply and the system ground are synchronously obtained according to a second preset period, and it is determined whether the volatility of the second total voltage sampling value and the volatility of the second partial voltage sampling value are both qualified; wherein the second electrode is the positive electrode or the negative electrode of the energy storage power supply;

[0009] When the volatility of the second total voltage sampling value and the volatility of the second partial voltage sampling value are both qualified, controlling the insulation detection circuit to switch to the first detection mode; and

[0010] Based on the first total voltage sampling value, the first partial voltage sampling value, the second total voltage sampling value and the second partial voltage sampling value, all of which have qualified fluctuations, the positive insulation resistance of the positive electrode of the energy storage power supply relative to the system ground and the negative insulation resistance of the negative electrode of the energy storage power supply relative to the system ground are obtained.

[0011] The insulation detection method provided by the present application switches to the second detection mode only when it is determined that the volatility of the first total voltage sampling value and the volatility of the first sub-voltage sampling value are both qualified, and switches to the first detection mode only when it is determined that the volatility of the second total voltage sampling value and the volatility of the second sub-voltage sampling value are both qualified, and calculates the ground resistance of the energy storage power supply based on the first total voltage sampling value, the first sub-voltage sampling value, the second total voltage sampling value and the second sub-voltage sampling value whose volatility is qualified. On the one hand, it can ensure that the voltage sampling value obtained in each detection mode can be used for the calculation of insulation resistance, which can improve the availability of sampling data and the accuracy of insulation detection. On the other hand, the duration of the first detection mode and the duration of the second detection mode are variable, which can improve the robustness of insulation detection and can be applied to more application scenarios.

[0012] In some embodiments, the duration of the first detection mode is greater than or equal to twice the first preset period, and the determining whether the volatility of the first total voltage sampling value and the volatility of the first partial voltage sampling value are both qualified includes:

[0013] Obtaining a first total voltage sampling value change rate based on the first total voltage sampling values ​​obtained two most recently;

[0014] Based on the first sub-voltage sampling values ​​obtained two most recently, a first sub-voltage sampling value change rate is obtained;

[0015] Determine whether the change rate of the first total voltage sampling value is greater than a first preset change rate, and whether the change rate of the first partial voltage sampling value is greater than a second preset change rate; and

[0016] If the change rate of the first total voltage sampling value is less than or equal to the first preset change rate, and the change rate of the first partial voltage sampling value is less than or equal to the second preset change rate, it is determined that the volatility of the first total voltage sampling value and the volatility of the first partial voltage sampling value are both qualified.

[0017] In some embodiments, the duration of the second detection mode is greater than or equal to twice the second preset period, and the determining whether the volatility of the second total voltage sampling value and the volatility of the second partial voltage sampling value are both qualified includes:

[0018] Obtaining a second total voltage sampling value change rate based on the second total voltage sampling values ​​obtained two most recently;

[0019] Based on the second divided voltage sampling values ​​obtained two most recently, a second divided voltage sampling value change rate is obtained;

[0020] Determine whether the change rate of the second total voltage sampling value is greater than a third preset change rate, and whether the change rate of the second partial voltage sampling value is greater than a fourth preset change rate; and

[0021] If the change rate of the second total voltage sampling value is less than or equal to the third preset change rate, and the change rate of the second partial voltage sampling value is less than or equal to the fourth preset change rate, it is determined that the volatility of the second total voltage sampling value and the volatility of the second partial voltage sampling value are both qualified.

[0022] In some embodiments, the positive insulation resistance of the positive electrode of the energy storage power supply relative to the system ground and the negative insulation resistance of the negative electrode of the energy storage power supply relative to the system ground are obtained based on the first total voltage sampling value, the first sub-voltage sampling value, the second total voltage sampling value and the second sub-voltage sampling value, all of which have qualified fluctuations, including:

[0023] Based on the first total voltage sampling value and the first partial voltage sampling value of the insulation detection circuit in the first detection mode for the nth time, which are both qualified in terms of fluctuation, and the second total voltage sampling value and the second partial voltage sampling value of the insulation detection circuit in the second detection mode for the mth time, which are both qualified in terms of fluctuation, the positive insulation resistance of the positive electrode of the energy storage power supply relative to the system ground and the negative insulation resistance of the negative electrode of the energy storage power supply relative to the system ground are obtained; wherein n and m are two adjacent integer values ​​or the same integer value.

[0024] In some embodiments, the insulation detection circuit includes a first resistor module and a first switch module connected in series between the positive electrode of the energy storage power supply and the system ground, and a second resistor module and a second switch module connected in series between the negative electrode of the energy storage power supply and the system ground; the insulation detection circuit works alternately in a first detection mode and a second detection mode, when the first switch module is turned on and the second switch module is turned off, the insulation detection circuit enters the first detection mode, and when the second switch module is turned on and the first switch module is turned off, the insulation detection circuit enters the second detection mode.

[0025] In some embodiments, the first electrode and the second electrode are both negative electrodes of the energy storage power supply; the insulation resistance of the positive electrode of the energy storage power supply relative to the system ground and the insulation resistance of the negative electrode of the energy storage power supply relative to the system ground are obtained based on the first total voltage sampling value and the first partial voltage sampling value of the insulation detection circuit in the first detection mode for the nth time, which are both qualified in terms of volatility, and the second total voltage sampling value and the second partial voltage sampling value of the insulation detection circuit in the second detection mode for the mth time, which are both qualified in terms of volatility, including:

[0026] By using the first relational expression and the second relational expression, the positive electrode insulation resistance of the positive electrode of the energy storage power supply relative to the system ground and the negative electrode insulation resistance of the negative electrode of the energy storage power supply relative to the system ground are calculated;

[0027] Among them, the first relationship is (Rp×R1) / [Rn×(Rp+R1)]=(Ubat1-U1) / U1, the second relationship is [Rp×(Rn+R2)] / (Rn×R2)=(Ubat2-U2) / U2, Rp is the positive insulation resistance of the positive electrode of the energy storage power supply relative to the system ground, Rn is the negative insulation resistance of the negative electrode of the energy storage power supply relative to the system ground, R1 is the resistance of the first resistance module, R2 is the resistance of the second resistance module, Ubat1 and U1 are respectively the first total voltage sampling value and the first partial voltage sampling value of the insulation detection circuit in the first detection mode for the nth time, and the fluctuation is qualified, Ubat2 and U2 are respectively the second total voltage sampling value and the second partial voltage sampling value of the insulation detection circuit in the second detection mode for the mth time, and the fluctuation is qualified.

[0028] In some embodiments, after obtaining the positive insulation resistance of the positive electrode of the energy storage power supply relative to the system ground and the negative insulation resistance of the negative electrode of the energy storage power supply relative to the system ground based on the first total voltage sampling value and the first divided voltage sampling value of the insulation detection circuit in the first detection mode for the nth time and the second total voltage sampling value and the second divided voltage sampling value of the insulation detection circuit in the second detection mode for the mth time, the insulation detection method further includes:

[0029] Based on the positive electrode insulation resistance and the negative electrode insulation resistance, it is determined whether the insulation resistance of the energy storage power supply relative to the system ground is abnormal.

[0030] In some embodiments, judging whether the insulation resistance of the energy storage power source relative to the system ground is abnormal based on the positive electrode insulation resistance and the negative electrode insulation resistance includes:

[0031] Determining whether the positive electrode insulation resistance and the negative electrode insulation resistance are both greater than a preset resistance threshold;

[0032] If both the positive electrode insulation resistance and the negative electrode insulation resistance are greater than the preset resistance threshold, it is determined that the insulation resistance of the energy storage power supply relative to the system ground is normal; and

[0033] If the positive electrode insulation resistance is less than the preset resistance threshold, or the negative electrode insulation resistance is less than the preset resistance threshold, it is determined that the insulation resistance of the energy storage power supply relative to the system ground is abnormal.

[0034] In some embodiments, the insulation detection circuit further includes an alarm module. After determining whether the insulation resistance of the energy storage power supply relative to the system ground is abnormal based on the positive electrode insulation resistance and the negative electrode insulation resistance, the insulation detection method further includes:

[0035] When the insulation resistance of the energy storage power source relative to the system ground is abnormal, the alarm module is controlled to send out an alarm signal.

[0036] A second aspect of the present application further provides an insulation detection circuit, the insulation detection circuit comprising:

[0037] a memory for storing a computer program; and

[0038] A processor, wherein the processor is used to execute the computer program in the memory to implement the steps in the insulation detection method as described in the first aspect above.

[0039] A third aspect of the present application further provides a vehicle, the vehicle comprising:

[0040] Energy storage power supply; and

[0041] The insulation detection circuit described in the second aspect above; wherein, the insulation detection circuit is electrically connected to the energy storage power supply.

[0042] The fourth aspect of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein the computer program is used for being called and executed by a processor to implement the steps in the insulation detection method described in the first aspect above.

[0043] 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

[0044] Figure 1 to Figure 3 Schematic diagram of the circuit structure of the insulation detection circuit provided in the embodiment of the present application;

[0045] Figure 4 is a flow chart of the insulation detection method provided in an embodiment of the present application;

[0046] Figure 5-6 This is a timing diagram of the insulation detection circuit provided in an embodiment of the present application when performing mode switching.

[0047] The following are the descriptions of the reference numerals:

[0048] Vehicle 1

[0049] Insulation detection circuit 100

[0050] Positive insulation resistance Rp

[0051] Negative insulation resistance Rn

[0052] Energy storage power supply BAT

[0053] The first resistance module R1

[0054] The second resistance module R2

[0055] The third resistor module R3

[0056] The fourth resistor module R4

[0057] The fifth resistor module R5

[0058] The sixth resistor module R6

[0059] The first switch module S1

[0060] The second switch module S2

[0061] The third switch module S3

[0062] Distributed capacitance Cp, Cn

[0063] System ground GND

[0064] The following specific implementation methods will illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0065] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0066] In addition, the terms "first", "second", etc. in the specification of the present invention are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0067] It should be noted that, in the absence of conflict, the features in the embodiments of the present application may be combined with each other.

[0068] The present application provides an insulation detection circuit 100, the insulation detection circuit 100 is electrically connected to the positive electrode, the negative electrode and the system ground GND of the energy storage power supply BAT, and alternately operates in a first detection mode and a second detection mode. When the insulation detection circuit 100 is in the first detection mode, the resistance value between the positive electrode of the energy storage power supply BAT and the system ground GND is a first resistance value, and the resistance value between the negative electrode of the energy storage power supply BAT and the system ground GND is a second resistance value. When the insulation detection circuit 100 is in the second detection mode, at least one of the resistance value between the positive electrode of the energy storage power supply BAT and the system ground GND and the resistance value between the negative electrode of the energy storage power supply BAT and the system ground GND changes.

[0069] Among them, causing at least one of the resistance value between the positive electrode of the energy storage power supply BAT and the system ground GND and the resistance value between the negative electrode of the energy storage power supply BAT and the system ground GND to change means that the resistance value between the positive electrode of the energy storage power supply BAT and the system ground GND is a third resistance value, and the resistance value between the negative electrode of the energy storage power supply BAT and the system ground GND is a fourth resistance value, wherein the third resistance value is not equal to the first resistance value, and / or the fourth resistance value is not equal to the second resistance value.

[0070] The insulation detection circuit 100 includes a resistor module and a switch module. Figure 1 and Figure 2 In some embodiments, the insulation detection circuit 100 may include a first resistor module R1 and a first switch module S1 connected in series between the positive electrode of the energy storage power supply BAT and the system ground GND, and a second resistor module R2 and a second switch module S2 connected in series between the negative electrode of the energy storage power supply BAT and the system ground GND.

[0071] Among them, the first switch module S1 and the second switch module S2 can be selected from at least one of IGBT, triode or MOSFET tube but not limited to. The energy storage power supply BAT can be a power battery in a vehicle. Specifically, the positive electrode of the energy storage power supply BAT is electrically connected to the positive bus, the negative electrode of the energy storage power supply BAT is electrically connected to the negative bus, the first resistor module R1 and the first switch module S1 are connected in series between the positive bus and the system ground GND, and the second resistor module R2 and the second switch module S2 are connected in series between the negative bus and the system ground GND.

[0072] The insulation detection circuit 100 operates alternately in the first detection mode and the second detection mode. Figure 1As shown, when the first switch module S1 is turned on and the second switch module S2 is turned off, the insulation detection circuit 100 enters the first detection mode, and the insulation detection circuit 100 is used to obtain the first total voltage sampling value between the positive and negative electrodes of the energy storage power supply BAT and the first divided voltage sampling value between the first electrode of the energy storage power supply BAT and the system ground GND in the first detection mode. At this time, the resistance value between the positive electrode of the energy storage power supply BAT and the system ground GND is (Rp×R1) / (Rp+R1), that is, the first resistance value=(Rp×R1) / (Rp+R1), and the resistance value between the negative electrode of the energy storage power supply BAT and the system ground GND is Rn, that is, the second resistance value=Rn. Among them, Rp is the positive electrode insulation resistance of the positive electrode of the energy storage power supply BAT relative to the system ground GND, Rn is the negative electrode insulation resistance of the negative electrode of the energy storage power supply BAT relative to the system ground GND, R1 is the resistance value of the first resistance module R1, and R2 is the resistance of the second resistance module R2.

[0073] like Figure 2 As shown, when the second switch module S2 is turned on and the first switch module S1 is turned off, the insulation detection circuit 100 enters the second detection mode. The insulation detection circuit 100 is used to obtain the second total voltage sampling value between the positive and negative poles of the energy storage power supply BAT and the second divided voltage sampling value between the second pole of the energy storage power supply BAT and the system ground GND in the second detection mode, and calculate the insulation resistance of the energy storage power supply BAT relative to the system ground GND according to the first total voltage sampling value, the first divided voltage sampling value, the second total voltage sampling value and the second divided voltage sampling value. At this time, the resistance value between the positive pole of the energy storage power supply BAT and the system ground GND is Rp, that is, the third resistance value = Rp is not equal to the first resistance value, and the resistance value between the negative pole of the energy storage power supply BAT and the system ground GND is (Rn×R2) / (Rn+R2), that is, the fourth resistance value = (Rn×R2) / (Rn+R2) is not equal to the second resistance value.

[0074] See also Figure 3 In some embodiments, the insulation detection circuit 100 may include a third resistor module R3 and a fourth resistor module R4 connected in series between the positive electrode of the energy storage power supply BAT and the system ground GND, a fifth resistor module R5 and a sixth resistor module R6 connected in series between the negative electrode of the energy storage power supply BAT and the system ground GND, and a third switch module S3, wherein one end of the third switch module S3 is electrically connected to a connection point between the third resistor module R3 and the fourth resistor module R4, and the other end of the third switch module S3 is electrically connected to the negative electrode of the energy storage power supply BAT.

[0075] When the third switch module S3 is disconnected, the insulation detection circuit 100 enters the first detection mode. At this time, the resistance value between the positive electrode of the energy storage power supply BAT and the system ground GND is Rp×(R3+R4) / (Rp+R3+R4), that is, the first resistance value=Rp×(R3+R4) / (Rp+R3+R4), and the resistance value between the negative electrode of the energy storage power supply BAT and the system ground GND is Rn×(R5+R6) / (Rn+R5+R6), that is, the second resistance value=Rn×(R5+R6) / (Rn+R5+R6). Among them, R3 is the resistance value of the third resistance module R3, R4 is the resistance of the fourth resistance module R4, R5 is the resistance value of the fifth resistance module R5, and R6 is the resistance of the sixth resistance module R6.

[0076] When the third switch module S3 is turned on, the insulation detection circuit 100 enters the second detection mode. At this time, the resistance value between the positive electrode of the energy storage power supply BAT and the system ground GND is Rp, that is, the third resistance value = Rp is not equal to the first resistance value, and the resistance value between the negative electrode of the energy storage power supply BAT and the system ground GND is Rn / / R4 / / (R5+R6), that is, the fourth resistance value = Rn / / R4 / / (R5+R6) is not equal to the second resistance value.

[0077] It should be noted that, in other embodiments, the insulation detection circuit 100 may also be other circuit structures, as long as the third resistance value is not equal to the first resistance value, and / or the second resistance value is not equal to the fourth resistance value.

[0078] It is not difficult to understand that only when the first total voltage sampling value, the first sub-voltage sampling value, the second total voltage sampling value and the second sub-voltage sampling value are stable, the calculated value of the insulation resistance of the energy storage power supply BAT relative to the system ground GND can accurately reflect the actual resistance value. Figure 1-2As shown, in actual application, there is a distributed capacitance Cp between the positive bus and the system ground GND, and there is a distributed capacitance Cn between the negative bus and the system ground GND. When the insulation detection circuit 100 performs mode switching, the insulation detection circuit 100 puts the resistance module into the system, so that the voltage of the positive bus to the system ground GND and the voltage of the negative bus to the system ground GND will also change. Therefore, it is necessary to charge and discharge the distributed capacitance Cp and the distributed capacitance Cn until the system reaches equilibrium, that is, the first total voltage sampling value, the first sub-voltage sampling value, the second total voltage sampling value and the second sub-voltage sampling value will reach a stable value after a period of fluctuation time. It has been found that the fluctuation time of the insulation detection circuit 100 during mode switching is determined by the system impedance, and the system impedance is affected by factors such as the operating conditions, structure and electrical aging of the vehicle. For example, the system capacitance and resistance will change when the vehicle is charged and discharged, and the system capacitance and resistance will also change when the vehicle is accelerated and decelerated. However, the existing insulation detection cycles (i.e., the duration of the first detection mode and the duration of the second detection mode) are fixed cycles, and it is possible that the fluctuation time is longer than the detection cycle. In this case, the first total voltage sampling value, the first partial voltage sampling value, the second total voltage sampling value, and the second partial voltage sampling value obtained by the insulation detection circuit 100 are not stable values, so that the insulation resistance calculated based on these sampling values ​​will be inaccurate and the detection accuracy will be low.

[0079] In view of this, please refer to Figure 4 , the present application provides an insulation detection method, which is applied to the insulation detection circuit 100 in the above embodiment.

[0080] like Figure 4 As shown, the insulation detection method includes steps S1 to S5, which are specifically as follows:

[0081] Step S1, when the insulation detection circuit 100 is in the first detection mode, synchronously obtain a first total voltage sampling value between the positive and negative electrodes of the energy storage power supply BAT and a first partial voltage sampling value between the first electrode of the energy storage power supply BAT and the system ground GND according to a first preset period, and determine whether the volatility of the first total voltage sampling value and the volatility of the first partial voltage sampling value are both qualified.

[0082] Wherein, the first electrode is the positive electrode or the negative electrode of the energy storage power supply BAT.

[0083] Step S2, when the volatility of the first total voltage sampling value and the volatility of the first partial voltage sampling value are both qualified, controlling the insulation detection circuit 100 to switch to the second detection mode.

[0084] Step S3, when the insulation detection circuit 100 is in the second detection mode, synchronously obtain a second total voltage sampling value between the positive and negative electrodes of the energy storage power supply BAT and a second partial voltage sampling value between the second electrode of the energy storage power supply BAT and the system ground GND according to a second preset period, and determine whether the volatility of the second total voltage sampling value and the volatility of the second partial voltage sampling value are both qualified.

[0085] Wherein, the second electrode is the positive electrode or the negative electrode of the energy storage power supply BAT.

[0086] Step S4, when the volatility of the second total voltage sampling value and the volatility of the second partial voltage sampling value are both qualified, controlling the insulation detection circuit 100 to switch to the first detection mode.

[0087] Step S5, based on the first total voltage sampling value, the first partial voltage sampling value, the second total voltage sampling value and the second partial voltage sampling value, all of which have qualified fluctuations, obtain the positive electrode insulation resistance Rp of the positive electrode of the energy storage power supply BAT relative to the system ground GND and the negative electrode insulation resistance Rn of the negative electrode of the energy storage power supply BAT relative to the system ground GND.

[0088] The insulation detection method provided by the present application switches to the second detection mode only when it is determined that the volatility of the first total voltage sampling value and the volatility of the first sub-voltage sampling value are both qualified, and switches to the first detection mode only when it is determined that the volatility of the second total voltage sampling value and the volatility of the second sub-voltage sampling value are both qualified, and calculates the ground resistance of the energy storage power supply BAT based on the first total voltage sampling value, the first sub-voltage sampling value, the second total voltage sampling value and the second sub-voltage sampling value whose volatility is qualified. On the one hand, it can ensure that the voltage sampling value obtained in each detection mode can be used for the calculation of insulation resistance, which can improve the availability of sampling data and the accuracy of insulation detection. On the other hand, the duration of the first detection mode and the duration of the second detection mode are variable, which can improve the robustness of insulation detection and can be applied to more application scenarios.

[0089] In the embodiment of the present application, after determining whether the volatility of the first total voltage sampling value and the volatility of the first partial voltage sampling value are both qualified, the insulation detection method further includes:

[0090] When the volatility of the first total voltage sampling value is unqualified or the volatility of the first partial voltage sampling value is unqualified, step S1 is continued.

[0091] In the embodiment of the present application, after determining whether the volatility of the second total voltage sampling value and the volatility of the second partial voltage sampling value are both qualified, the insulation detection method further includes:

[0092] When the volatility of the second total voltage sampling value is unqualified or the volatility of the second partial voltage sampling value is unqualified, continue to execute step S3.

[0093] The first preset period and the second preset period may be equal or unequal, for example, both are between 10 ms and 50 ms.

[0094] In some embodiments, the duration of the first detection mode is greater than or equal to twice the first preset period, and the determining whether the volatility of the first total voltage sampling value and the volatility of the first partial voltage sampling value are both qualified includes:

[0095] Obtaining a first total voltage sampling value change rate based on the first total voltage sampling values ​​obtained two most recently;

[0096] Based on the first sub-voltage sampling values ​​obtained two most recently, a first sub-voltage sampling value change rate is obtained;

[0097] Determine whether the change rate of the first total voltage sampling value is greater than a first preset change rate, and whether the change rate of the first partial voltage sampling value is greater than a second preset change rate;

[0098] If the change rate of the first total voltage sampling value is less than or equal to the first preset change rate, and the change rate of the first partial voltage sampling value is less than or equal to the second preset change rate, it is determined that the volatility of the first total voltage sampling value and the volatility of the first partial voltage sampling value are both qualified.

[0099] For example, assuming that the first total voltage sampling value currently acquired is Ubat1 i , the first voltage sampling value is U1 i The first total voltage sampling value obtained last time is Ubat1 i-1 , the first voltage sampling value is U1 i-1 , then the first total voltage sampling value change rate at the current moment = (Ubat1 i -Ubat1 i-1 ) / Ubat1 i-1 , the change rate of the first voltage sampling value at the current moment

[0100] =(U1 i -U1 i-1 ) / U1 i-1 Assuming that the change rate of the first total voltage sampling value at the current moment is less than the first preset change rate, and the change rate of the first sub-voltage sampling value at the current moment is less than the second preset change rate, then Ubat1 i 、U1 iThe first total voltage sampling value and the first partial voltage sampling value are both qualified in terms of fluctuation.

[0101] In other embodiments, the determining whether the volatility of the first total voltage sampling value and the volatility of the first partial voltage sampling value are both qualified may also include:

[0102] Obtaining a first total voltage sampling value change based on the first total voltage sampling values ​​obtained two most recently;

[0103] Based on the first partial voltage sampling values ​​obtained two most recently, obtaining a first partial voltage sampling value change amount;

[0104] Determine whether the change in the first total voltage sampling value is greater than a first preset change, and whether the change in the first partial voltage sampling value is greater than a second preset change;

[0105] If the change in the first total voltage sampling value is less than or equal to the first preset change, and the change in the first partial voltage sampling value is less than or equal to the second preset change, it is determined that the volatility of the first total voltage sampling value and the volatility of the first partial voltage sampling value are both qualified.

[0106] In some embodiments, the duration of the second detection mode is greater than or equal to twice the second preset period, and the determining whether the volatility of the second total voltage sampling value and the volatility of the second partial voltage sampling value are both qualified includes:

[0107] Obtaining a second total voltage sampling value change rate based on the second total voltage sampling values ​​obtained two most recently;

[0108] Based on the second divided voltage sampling values ​​obtained two most recently, a second divided voltage sampling value change rate is obtained;

[0109] Determine whether the change rate of the second total voltage sampling value is greater than a third preset change rate, and whether the change rate of the second partial voltage sampling value is greater than a fourth preset change rate;

[0110] If the change rate of the second total voltage sampling value is less than or equal to the third preset change rate, and the change rate of the second partial voltage sampling value is less than or equal to the fourth preset change rate, it is determined that the volatility of the second total voltage sampling value and the volatility of the second partial voltage sampling value are both qualified.

[0111] The first preset change rate may be equal to or different from the third preset change rate, and the second preset change rate may be equal to or different from the fourth preset change rate.

[0112] For example, assuming that the second total voltage sampling value currently acquired is Ubat2i , the second voltage sampling value is U2 i The previous total voltage sampling value is Ubat2 i-1 , the second voltage sampling value is U2 i-1 , then the first total voltage sampling value change rate at the current moment = (Ubat2 i -Ubat2 i-1 ) / Ubat2 i-1 , the current second voltage sampling value change rate

[0113] =(U2 i -U2 i-1 ) / U2 i-1 Assuming that the change rate of the first total voltage sampling value at the current moment is less than the third preset change rate, and the change rate of the second sub-voltage sampling value at the current moment is less than the fourth preset change rate, then Ubat2 i 、U2 i The second total voltage sampling value and the second partial voltage sampling value are both qualified in terms of fluctuation.

[0114] In other embodiments, the determining whether the volatility of the second total voltage sampling value and the volatility of the second partial voltage sampling value are both qualified may also include:

[0115] Based on the second total voltage sampling values ​​obtained two most recently, obtaining a second total voltage sampling value change;

[0116] Based on the second divided voltage sampling values ​​obtained two most recently, obtaining a second divided voltage sampling value change amount;

[0117] Determine whether the change amount of the second total voltage sampling value is greater than a third preset change amount, and whether the change amount of the second partial voltage sampling value is greater than a fourth preset change amount;

[0118] If the change in the second total voltage sampling value is less than or equal to the third preset change, and the change in the second partial voltage sampling value is less than or equal to the fourth preset change, it is determined that the volatility of the second total voltage sampling value and the volatility of the second partial voltage sampling value are both qualified.

[0119] In some embodiments, the first total voltage sampling value, the first divided voltage sampling value, the second total voltage sampling value, and the second divided voltage sampling value, all of which are qualified in volatility, are used to obtain the positive electrode insulation resistance Rp of the positive electrode of the energy storage power supply BAT relative to the system ground GND and the negative electrode insulation resistance Rn of the negative electrode of the energy storage power supply BAT relative to the system ground GND, including:

[0120] Based on the first total voltage sampling value and the first partial voltage sampling value of the insulation detection circuit 100 that are both qualified in the first detection mode for the nth time in terms of fluctuation, and the second total voltage sampling value and the second partial voltage sampling value of the insulation detection circuit 100 that are both qualified in the second detection mode for the mth time in terms of fluctuation, the positive electrode insulation resistance Rp of the positive electrode of the energy storage power supply BAT relative to the system ground GND and the negative electrode insulation resistance Rn of the negative electrode of the energy storage power supply BAT relative to the system ground GND are obtained.

[0121] Here, n and m are two adjacent integer values ​​or the same integer value, for example, n=m, or n=m+1, or n=m-1.

[0122] For example, in one embodiment, Figure 5 As shown, assuming that when the insulation detection circuit 100 is in the first detection mode for the first time and in the second detection mode for the first time, the system impedance is normal impedance, and when the insulation detection circuit 100 is in the first detection mode for the second time and in the second detection mode for the second time, the system impedance increases (for example, the Y capacitor increases), then the duration of the insulation detection circuit 100 being in the first detection mode for the second time and the duration of the insulation detection circuit 100 being in the second detection mode for the second time will be extended accordingly.

[0123] In another embodiment, if Figure 6 As shown, assuming that when the insulation detection circuit 100 is in the first detection mode for the first time and in the second detection mode for the second time, the system impedance is normal impedance, and after the insulation detection circuit 100 is in the first detection mode for the second time, the system has problems such as material degradation and leakage, causing the system impedance to decrease, then the duration of each detection mode after the insulation detection circuit 100 is in the first detection mode for the second time will be shortened. In this way, by switching the mode according to the volatility of the voltage sampling value, the sampling period can be dynamically adjusted according to the fluctuation of the voltage sampling value, and the accuracy of insulation detection is higher.

[0124] like Figure 5-6As shown, the insulation detection circuit 100 can calculate the insulation resistance of the energy storage power supply BAT based on the first total voltage sampling value and the first divided voltage sampling value whose fluctuations are all qualified in the first detection mode for the first time, and the second total voltage sampling value and the second divided voltage sampling value whose fluctuations are all qualified in the second detection mode for the first time; can calculate the insulation resistance of the energy storage power supply BAT based on the first total voltage sampling value and the first divided voltage sampling value whose fluctuations are all qualified in the first detection mode for the second time, and the second total voltage sampling value and the second divided voltage sampling value whose fluctuations are all qualified in the second detection mode for the first time; can calculate the insulation resistance of the energy storage power supply BAT based on the first total voltage sampling value and the first divided voltage sampling value whose fluctuations are all qualified in the first detection mode for the second time, and the second total voltage sampling value and the second divided voltage sampling value whose fluctuations are all qualified in the second detection mode for the second time, and the cycle continues.

[0125] On the one hand, by calculating the insulation resistance of the energy storage power supply BAT based on the voltage sampling values ​​in the first detection mode and the second detection mode that are adjacent in time, it is possible to ensure that the working conditions when obtaining the first total voltage sampling value and the first divided voltage sampling value are the same as the working conditions when obtaining the second total voltage sampling value and the second divided voltage sampling value, and the synchronization of the first total voltage sampling value and the first divided voltage sampling value with the second total voltage sampling value and the second divided voltage sampling value can be ensured, thereby further improving the accuracy of resistance detection. On the other hand, the insulation resistance can be calculated once each time the detection mode is switched, which can improve the availability of sampling data and the continuity of resistance detection, thereby improving the timeliness of leakage fault reporting.

[0126] For example, Figure 1-2 Taking the insulation detection circuit 100 shown as an example, in one embodiment, the first pole and the second pole are both the negative pole of the energy storage power supply BAT, and the first partial voltage sampling value and the second partial voltage sampling value are both sampling values ​​of the voltage of the system ground GND relative to the negative pole of the energy storage power supply BAT. Based on the first total voltage sampling value and the first partial voltage sampling value of the insulation detection circuit 100 that are both qualified in the first detection mode for the nth time in terms of volatility, and the second total voltage sampling value and the second partial voltage sampling value of the insulation detection circuit 100 that are both qualified in the second detection mode for the mth time in terms of volatility, the positive pole insulation resistance Rp of the positive pole of the energy storage power supply BAT relative to the system ground GND and the negative pole insulation resistance Rn of the negative pole of the energy storage power supply BAT relative to the system ground GND are obtained, including:

[0127] Through the first relational expression and the second relational expression, the positive electrode insulation resistance Rp of the positive electrode of the energy storage power supply BAT relative to the system ground GND and the negative electrode insulation resistance Rn of the negative electrode of the energy storage power supply BAT relative to the system ground GND are calculated.

[0128] Among them, the first relationship is (Rp×R1) / [Rn×(Rp+R1)]=(Ubat1-U1) / U1.

[0129] The second relationship is [Rp×(Rn+R2)] / (Rn×R2)=(Ubat2-U2) / U2, wherein Ubat1 and U1 are respectively the first total voltage sampling value and the first partial voltage sampling value of the insulation detection circuit 100 when the fluctuation is qualified for the nth time in the first detection mode, and Ubat2 and U2 are respectively the second total voltage sampling value and the second partial voltage sampling value of the insulation detection circuit 100 when the fluctuation is qualified for the mth time in the second detection mode.

[0130] In some embodiments, the insulation detection method further includes:

[0131] Based on the positive electrode insulation resistance Rp and the negative electrode insulation resistance Rn, it is determined whether the insulation resistance of the energy storage power source BAT relative to the system ground GND is abnormal.

[0132] Specifically, judging whether the insulation resistance of the energy storage power supply BAT relative to the system ground GND is abnormal based on the positive electrode insulation resistance Rp and the negative electrode insulation resistance Rn includes:

[0133] Determine whether the positive electrode insulation resistance Rp and the negative electrode insulation resistance Rn are both greater than a preset resistance threshold;

[0134] If the positive electrode insulation resistance Rp and the negative electrode insulation resistance Rn are both greater than the preset resistance threshold, it is determined that the insulation resistance of the energy storage power supply BAT relative to the system ground GND is normal;

[0135] If the positive electrode insulation resistance Rp is less than the preset resistance threshold, or the negative electrode insulation resistance Rn is less than the preset resistance threshold, it is determined that the insulation resistance of the energy storage power supply BAT relative to the system ground GND is abnormal.

[0136] In some embodiments, the insulation detection circuit 100 further includes an alarm module (not shown in the figure). After judging whether the insulation resistance of the energy storage power supply BAT relative to the system ground GND is abnormal based on the positive electrode insulation resistance Rp and the negative electrode insulation resistance Rn, the insulation detection method further includes:

[0137] When the insulation resistance of the energy storage power source BAT relative to the system ground GND is abnormal, the alarm module is controlled to send out an alarm signal.

[0138] In this way, when the energy storage power supply BAT leaks electricity, the alarm module can send out an alarm signal in time to remind the user, which can improve the safety of the system.

[0139] Based on the same inventive concept, the present application also provides an insulation detection circuit 100, and the insulation detection circuit 100 includes a memory and a processor.

[0140] The memory is used to store a computer program, and the processor is used to execute the computer program in the memory to implement the steps of the insulation detection method described in any one of the above embodiments.

[0141] Please refer again Figure 1-2 Based on the same inventive concept, the present application also provides a vehicle 1, the vehicle 1 comprising an energy storage power supply BAT and an insulation detection circuit 100 as described in any of the above embodiments. The insulation detection circuit 100 is electrically connected to the energy storage power supply BAT.

[0142] The insulation detection circuit 100 and vehicle 1 provided in the present application switch to the second detection mode only when it is determined that the volatility of the first total voltage sampling value and the volatility of the first sub-voltage sampling value are both qualified, and switch to the first detection mode only when it is determined that the volatility of the second total voltage sampling value and the volatility of the second sub-voltage sampling value are both qualified, and calculate the ground resistance of the energy storage power supply BAT based on the first total voltage sampling value, the first sub-voltage sampling value, the second total voltage sampling value and the second sub-voltage sampling value whose volatility is qualified. On the one hand, it can ensure that the voltage sampling value obtained in each detection mode can be used for the calculation of insulation resistance, which can improve the availability of sampling data and the accuracy of insulation detection. On the other hand, the duration of the first detection mode and the duration of the second detection mode are variable, which can improve the robustness of insulation detection and can be applied to more application scenarios.

[0143] Based on the same inventive concept, the present application also provides a computer-readable storage medium, in which a computer program is stored. The computer program is used for being called and executed by a processor to implement the steps of the insulation detection method described in any of the above embodiments.

[0144] The computer storage medium of the embodiment of the present application can adopt any combination of one or more computer-readable media. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples (non-exhaustive lists) of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this document, computer-readable storage media can be any tangible medium containing or storing programs, which can be used by instruction execution systems, devices or devices or used in combination with them.

[0145] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0146] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0147] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as C or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer or may be connected to an external computer (e.g., via the Internet using an Internet service provider) through any type of network, including a local area network (LAN) or a wide area network (WAN).

[0148] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

[0149] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. An insulation detection method, characterized in that: The insulation detection method is applied to an insulation detection circuit, the insulation detection circuit is electrically connected to the positive electrode, the negative electrode and the system ground of the energy storage power supply, and alternately operates in a first detection mode and a second detection mode. When the insulation detection circuit is in the first detection mode, the resistance value between the positive electrode of the energy storage power supply and the system ground is a first resistance value, and the resistance value between the negative electrode of the energy storage power supply and the system ground is a second resistance value; when the insulation detection circuit is in the second detection mode, at least one of the resistance value between the positive electrode of the energy storage power supply and the system ground and the resistance value between the negative electrode of the energy storage power supply and the system ground changes; The insulation detection method comprises: When the insulation detection circuit is in the first detection mode, a first total voltage sampling value between the positive electrode and the negative electrode of the energy storage power supply and a first partial voltage sampling value between the first electrode of the energy storage power supply and the system ground are synchronously obtained according to a first preset period, and it is determined whether the volatility of the first total voltage sampling value and the volatility of the first partial voltage sampling value are both qualified; wherein the first electrode is the positive electrode or the negative electrode of the energy storage power supply; When the volatility of the first total voltage sampling value and the volatility of the first partial voltage sampling value are both qualified, controlling the insulation detection circuit to switch to the second detection mode; When the insulation detection circuit is in the second detection mode, a second total voltage sampling value between the positive electrode and the negative electrode of the energy storage power supply and a second partial voltage sampling value between the second electrode of the energy storage power supply and the system ground are synchronously obtained according to a second preset period, and it is determined whether the volatility of the second total voltage sampling value and the volatility of the second partial voltage sampling value are both qualified; wherein the second electrode is the positive electrode or the negative electrode of the energy storage power supply; When the volatility of the second total voltage sampling value and the volatility of the second partial voltage sampling value are both qualified, controlling the insulation detection circuit to switch to the first detection mode; and Based on the first total voltage sampling value, the first partial voltage sampling value, the second total voltage sampling value and the second partial voltage sampling value, all of which have qualified fluctuations, the positive insulation resistance of the positive electrode of the energy storage power supply relative to the system ground and the negative insulation resistance of the negative electrode of the energy storage power supply relative to the system ground are obtained.

2. The insulation detection method according to claim 1, characterized in that: The duration of the first detection mode is greater than or equal to twice the first preset period, and the determining whether the volatility of the first total voltage sampling value and the volatility of the first partial voltage sampling value are both qualified includes: Obtaining a first total voltage sampling value change rate based on the first total voltage sampling values ​​obtained two most recently; Based on the first sub-voltage sampling values ​​obtained two most recently, a first sub-voltage sampling value change rate is obtained; Determine whether the change rate of the first total voltage sampling value is greater than a first preset change rate, and whether the change rate of the first partial voltage sampling value is greater than a second preset change rate; and If the change rate of the first total voltage sampling value is less than or equal to the first preset change rate, and the change rate of the first partial voltage sampling value is less than or equal to the second preset change rate, it is determined that the volatility of the first total voltage sampling value and the volatility of the first partial voltage sampling value are both qualified.

3. The insulation detection method according to claim 1, characterized in that: The duration of the second detection mode is greater than or equal to twice the second preset period, and the determining whether the volatility of the second total voltage sampling value and the volatility of the second partial voltage sampling value are both qualified includes: Obtaining a second total voltage sampling value change rate based on the second total voltage sampling values ​​obtained two most recently; Based on the second divided voltage sampling values ​​obtained two most recently, a second divided voltage sampling value change rate is obtained; Determine whether the change rate of the second total voltage sampling value is greater than a third preset change rate, and whether the change rate of the second partial voltage sampling value is greater than a fourth preset change rate; and If the change rate of the second total voltage sampling value is less than or equal to the third preset change rate, and the change rate of the second partial voltage sampling value is less than or equal to the fourth preset change rate, it is determined that the volatility of the second total voltage sampling value and the volatility of the second partial voltage sampling value are both qualified.

4. The insulation detection method according to claim 1, characterized in that: The method of obtaining the positive insulation resistance of the positive electrode of the energy storage power supply relative to the system ground and the negative insulation resistance of the negative electrode of the energy storage power supply relative to the system ground based on the first total voltage sampling value, the first sub-voltage sampling value, the second total voltage sampling value and the second sub-voltage sampling value, all of which are qualified in terms of volatility, includes: Based on the first total voltage sampling value and the first partial voltage sampling value of the insulation detection circuit in the first detection mode for the nth time, which are both qualified in terms of fluctuation, and the second total voltage sampling value and the second partial voltage sampling value of the insulation detection circuit in the second detection mode for the mth time, which are both qualified in terms of fluctuation, the positive insulation resistance of the positive electrode of the energy storage power supply relative to the system ground and the negative insulation resistance of the negative electrode of the energy storage power supply relative to the system ground are obtained; wherein n and m are two adjacent integer values ​​or the same integer value.

5. The insulation detection method according to claim 4, characterized in that: The insulation detection circuit includes a first resistor module and a first switch module connected in series between the positive electrode of the energy storage power supply and the system ground, and a second resistor module and a second switch module connected in series between the negative electrode of the energy storage power supply and the system ground; the insulation detection circuit works alternately in a first detection mode and a second detection mode, when the first switch module is turned on and the second switch module is turned off, the insulation detection circuit enters the first detection mode, and when the second switch module is turned on and the first switch module is turned off, the insulation detection circuit enters the second detection mode.

6. The insulation detection method according to claim 5, characterized in that: The first pole and the second pole are both negative poles of the energy storage power supply; the insulation resistance of the positive pole of the energy storage power supply relative to the system ground and the insulation resistance of the negative pole of the energy storage power supply relative to the system ground are obtained based on the first total voltage sampling value and the first partial voltage sampling value of the insulation detection circuit in the first detection mode for the nth time, which are both qualified in terms of volatility, and the second total voltage sampling value and the second partial voltage sampling value of the insulation detection circuit in the second detection mode for the mth time, which are both qualified in terms of volatility, including: By using the first relational expression and the second relational expression, the positive electrode insulation resistance of the positive electrode of the energy storage power supply relative to the system ground and the negative electrode insulation resistance of the negative electrode of the energy storage power supply relative to the system ground are calculated; Among them, the first relationship is (Rp×R1) / [Rn×(Rp+R1)]=(Ubat1-U1) / U1, the second relationship is [Rp×(Rn+R2)] / (Rn×R2)=(Ubat2-U2) / U2, Rp is the positive insulation resistance of the positive electrode of the energy storage power supply relative to the system ground, Rn is the negative insulation resistance of the negative electrode of the energy storage power supply relative to the system ground, R1 is the resistance of the first resistance module, R2 is the resistance of the second resistance module, Ubat1 and U1 are respectively the first total voltage sampling value and the first partial voltage sampling value of the insulation detection circuit in the first detection mode for the nth time, and the fluctuation is qualified, Ubat2 and U2 are respectively the second total voltage sampling value and the second partial voltage sampling value of the insulation detection circuit in the second detection mode for the mth time, and the fluctuation is qualified.

7. The insulation detection method according to claim 4, characterized in that: After obtaining the positive insulation resistance of the positive electrode of the energy storage power supply relative to the system ground and the negative insulation resistance of the negative electrode of the energy storage power supply relative to the system ground based on the first total voltage sampling value and the first divided voltage sampling value of the insulation detection circuit in the first detection mode for the nth time and the second total voltage sampling value and the second divided voltage sampling value of the insulation detection circuit in the second detection mode for the mth time, the insulation detection method further includes: Based on the positive electrode insulation resistance and the negative electrode insulation resistance, it is determined whether the insulation resistance of the energy storage power supply relative to the system ground is abnormal.

8. The insulation detection method according to claim 7, characterized in that: The determining whether the insulation resistance of the energy storage power source relative to the system ground is abnormal based on the positive electrode insulation resistance and the negative electrode insulation resistance includes: Determining whether the positive electrode insulation resistance and the negative electrode insulation resistance are both greater than a preset resistance threshold; If both the positive electrode insulation resistance and the negative electrode insulation resistance are greater than the preset resistance threshold, it is determined that the insulation resistance of the energy storage power supply relative to the system ground is normal; and If the positive electrode insulation resistance is less than the preset resistance threshold, or the negative electrode insulation resistance is less than the preset resistance threshold, it is determined that the insulation resistance of the energy storage power supply relative to the system ground is abnormal.

9. The insulation detection method according to claim 8, characterized in that: The insulation detection circuit further includes an alarm module. After judging whether the insulation resistance of the energy storage power supply relative to the system ground is abnormal based on the positive electrode insulation resistance and the negative electrode insulation resistance, the insulation detection method further includes: When the insulation resistance of the energy storage power source relative to the system ground is abnormal, the alarm module is controlled to send out an alarm signal.

10. An insulation detection circuit, characterized in that: include: Memory for storing computer programs; as well as A processor, wherein the processor is used to execute the computer program in the memory to implement the steps in the insulation detection method according to any one of claims 1 to 9.

11. A vehicle, characterized in that: include: Energy storage power supply; as well as The insulation detection circuit as claimed in claim 10; wherein the insulation detection circuit is electrically connected to the energy storage power supply.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is used for being called and executed by a processor to implement the steps in the insulation detection method according to any one of claims 1 to 9.

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