Power supply control method and system, battery pack, robot and storage medium

Abstract

The invention discloses a power supply control method and system, a battery pack, a robot and a storage medium, the method is applied to a battery management system, the battery management system is connected with a battery assembly, the battery assembly comprises a battery pack, a resistor and a voltage detection end, the resistor is electrically connected between the positive electrode end of the battery pack and the voltage detection end, and the voltage detection end is electrically connected with the battery pack. The voltage detection end is connected with the battery management system so as to send a collected actually measured voltage value to the battery management system, the battery management system comprises a communication device, and the communication device is used for communication between the battery management system and load equipment. The method comprises the following steps: when the battery assembly is in a power supply state, acquiring an actually measured voltage value acquired by the voltage detection end; and when the actually measured voltage value is greater than or equal to a voltage threshold value and communication between the battery management system and load equipment is determined to be abnormal, controlling the battery assembly to be in a non-power-supply state.

Description

Technical Field

[0001] The present invention relates to the field of battery management technology, and more specifically, to a power supply control method, a battery management system, a battery pack, a robot, and a computer-readable storage medium. Background Art

[0002] When the robot or robot dog's battery pack is powered, it can provide a large DC voltage and current. If the battery pack is not inserted into the device, it can easily come into contact with other metal or conductive objects, potentially causing a fire.

[0003] To avoid this problem, the currently more commonly used power supply control method is: when the battery assembly is in the power supply state, the insertion detection end of the battery assembly (i.e., the voltage detection end) is used to detect whether the battery assembly is inserted into the body device. If it is detected that the battery assembly is not inserted into the body device, the battery assembly is controlled to be in the non-power supply state.

[0004] However, when the robot or robot dog vibrates, the connection between the main device and the battery pack's insertion detection terminal may become loose and not completely disconnected. In this case, because the insertion detection terminal is a hardware detection to determine whether the battery pack is inserted into the main device, it is more sensitive to looseness, causing the insertion detection terminal to mistakenly determine that the battery pack is not inserted into the main device, thereby affecting the battery pack's normal power supply to the main device, affecting the normal use of the robot or robot dog, and reducing the user experience. Summary of the Invention

[0005] An object of the embodiments of the present invention is to provide a new technical solution for power supply control.

[0006] According to a first aspect of the present invention, a power supply control method is provided, which is applied to a battery management system. The battery management system is connected to a battery assembly, and the battery assembly includes a battery pack, a resistor, and a voltage detection terminal. The resistor is electrically connected between the positive terminal of the battery pack and the voltage detection terminal. The voltage detection terminal is connected to the battery management system to send a collected measured voltage value to the battery management system. The battery management system includes a communication device, and the communication device is used for communication between the battery management system and a load device. The method includes:

[0007] When the battery assembly is in a power supply state, obtaining a measured voltage value collected by the voltage detection terminal;

[0008] When the measured voltage value is greater than or equal to the voltage threshold and it is determined that the communication between the battery management system and the load device is abnormal, the battery assembly is controlled to be in a non-powered state.

[0009] Optionally, the method further includes:

[0010] When the measured voltage value is less than the voltage threshold, or when it is determined that the communication between the battery management system and the load device is normal, the battery assembly is kept in a power supply state.

[0011] Optionally, the battery management system sends battery status information to the load device through a communication device, and receives reception prompt information returned by the load device through the communication device, and determining that the communication between the battery management system and the load device is abnormal includes:

[0012] If no reception prompt information returned by the load device is received, it is determined that the communication between the battery management system and the load device is abnormal.

[0013] Optionally, the battery management system is integrated with a switch device, and before the battery assembly is in a power supply state, the method further includes:

[0014] When the battery assembly is in a non-powered state, detecting whether the switch device is triggered;

[0015] When it is detected that the switch device is triggered, obtaining a measured voltage value collected by the voltage detection terminal;

[0016] When the measured voltage value is less than the voltage threshold, the battery assembly is controlled to be in a power supply state.

[0017] Optionally, the method further includes:

[0018] When the measured voltage value is greater than or equal to the voltage threshold, the battery assembly is kept in a non-powered state.

[0019] Optionally, after controlling the battery assembly to be in a power supply state, the method further includes:

[0020] When it is detected that the switch device is triggered, the battery assembly is controlled to be in a non-powered state.

[0021] According to a second aspect of the present invention, a battery management system is further provided, comprising a memory and a processor, wherein the memory is used to store executable instructions; the processor is used to operate under the control of the instructions to execute the method as described in the first aspect.

[0022] According to a third aspect of the present invention, there is further provided a battery pack comprising a battery assembly and the battery management system as described in the second aspect.

[0023] According to a fourth aspect of the present invention, there is further provided a robot comprising the battery pack and a body device as described in the third aspect, wherein the battery pack supplies power to the body device.

[0024] According to a fifth aspect of the present invention, there is further provided a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the method according to the first aspect when executed by a processor.

[0025] One beneficial effect of the present invention is that by controlling the battery assembly to be in a non-powered state when the measured voltage value is greater than or equal to the voltage threshold and it is determined that the communication between the battery management system and the load device is abnormal, it is possible to avoid the misjudgment in the related art that the battery assembly is not inserted into the load device due to loose connection between the battery assembly and the load device, thereby improving the accuracy of power supply control while enhancing user safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0027] Figure 1 is a schematic structural diagram of a battery pack according to one embodiment of the present invention;

[0028] Figure 2 is a flow chart of a power supply control method according to an embodiment of the present invention;

[0029] Figure 3 is a schematic structural diagram of a battery pack according to another embodiment of the present invention;

[0030] Figure 4 is a schematic structural diagram of a battery management system according to an embodiment of the present invention;

[0031] Figure 5 is a schematic structural diagram of a battery pack according to one embodiment of the present invention;

[0032] Figure 6 2 is a schematic structural diagram of a robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention.

[0034] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0035] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0036] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0037] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0038] Figure 1 FIG. 1 shows a schematic diagram of the structure of a battery pack according to an embodiment of the present invention. Figure 1 As shown, the battery pack 10 includes a battery management system 100 and a battery assembly 200. The battery management system 100 is connected to the battery assembly 200, and the battery management system 100 performs battery management on the battery assembly 200.

[0039] Specifically, the battery assembly 200 includes a battery pack 21, a resistor 22, and a voltage detection terminal 23. The battery management system 100 is connected to the battery pack 21 to control the battery pack 21.

[0040] For example, the battery management system 100 controls the external power supply of the battery pack 21 and collects information such as the voltage of the battery pack 21 , which is not limited here.

[0041] In one example, the battery assembly 21 further includes a connector. The connector is connected to the battery pack 21 and has the positive terminal, negative terminal, and voltage detection terminal of the battery pack 21 integrated thereon.

[0042] The resistor 22 is electrically connected between the positive terminal of the battery pack 21 and the voltage detection terminal 23 . The voltage detection terminal 23 is connected to the battery management system 100 to send the collected measured voltage value to the battery management system 100 .

[0043] Based on the above structure, when the battery pack 200 is not connected to a load device, the voltage at the positive terminal of the battery pack 21 is equal to the voltage measured at the voltage detection terminal. When the battery pack 200 is connected to a load device, current flows from the positive terminal of the battery pack 21 through the load device and then into the negative terminal of the battery pack 21, thus forming one current path. Furthermore, the voltage detection terminal 23 is connected to the negative terminal of the battery pack 21, forming another current path. At this point, the voltage measured at the voltage detection terminal 23 is lower than the voltage at the positive terminal of the battery pack 21.

[0044] Based on this, the voltage detection terminal 23 can send the collected measured voltage value to the battery management system 100, so that the battery management system 100 can detect whether the battery assembly 200 is inserted into the load device according to the measured voltage value.

[0045] Since the voltage detection terminal 23 is a hardware detection to determine whether the battery assembly 200 is inserted into the load device, it is relatively sensitive to looseness. As a result, when the connection between the battery assembly and the load device is loose, the voltage detection terminal 23 may mistakenly determine that the battery assembly is not inserted into the load device, affecting the normal power supply of the battery assembly to the load device.

[0046] To solve this problem, the present application sets a communication device 11 on the battery management system 100, and the communication device 11 is used for the battery management system 100 to communicate with the load device ( Figure 1 Communication between (not shown).

[0047] The communication device 11 may be a serial communication terminal.

[0048] The serial communication port of the battery management system 100 can communicate with the serial communication port of the load device via a serial communication protocol. The serial communication protocol has a certain degree of fault tolerance, which can ensure that normal communication can be maintained under certain conditions of signal interference or loose connection. In other words, if the serial communication port of the battery management system 100 and the serial communication port of the load device are loose but not completely disconnected, the battery management system 100 and the load device can still communicate normally.

[0049] Figure 2 is a flow chart of a power supply control method according to an embodiment of the present invention. The method can be performed by Figure 1 The battery management system 100 is implemented according to Figure 2 As shown, the power supply control method of this embodiment may include the following steps S2100 to S2200:

[0050] Step S2100: When the battery assembly is in a power supply state, obtain the measured voltage value collected by the voltage detection end.

[0051] In this embodiment, the battery assembly being in the power supply state may be a state in which the battery assembly is outputting electrical energy.

[0052] The battery assembly can be in the power supply state based on the battery switch being triggered by the user, or it can be in the power supply state based on detecting that the battery assembly is inserted into the load device, which is not limited here.

[0053] In one embodiment, the battery management system may obtain the measured voltage value collected by the voltage detection terminal at a first time interval.

[0054] The first time interval can be, for example, 1 second, 2 seconds, etc., which is not limited here.

[0055] Step S2200: When the measured voltage value is greater than or equal to the voltage threshold and it is determined that the communication between the battery management system and the load device is abnormal, the battery assembly is controlled to be in a non-powered state.

[0056] In this embodiment, the voltage threshold may be the maximum voltage value of the voltage detection terminal when the battery assembly is inserted into the load device.

[0057] If the measured voltage is greater than or equal to the voltage threshold, the connection between the battery pack and the load device may be loose, or the battery pack and the load device may be disconnected. In this case, if communication between the battery management system and the load device is abnormal, indicating a disconnection between the battery pack and the load device, the battery pack may come into contact with other metal or conductive objects, potentially causing a fire. In this case, the battery pack is controlled to a power-off state. The power-off state means that the battery pack is not outputting power.

[0058] It should be noted that determining whether the measured voltage value is greater than or equal to the voltage threshold and determining whether there is a communication abnormality between the battery management system and the load device can be performed simultaneously or one after the other, which is not limited here.

[0059] By controlling the battery assembly to be in a non-powered state when the measured voltage value is greater than or equal to the voltage threshold and it is determined that the communication between the battery management system and the load device is abnormal, the misjudgment of the battery assembly not being inserted into the load device due to loose connection between the battery assembly and the load device in related technologies can be avoided, thereby improving the accuracy of power supply control while enhancing user safety.

[0060] In some embodiments, the method further includes: when the measured voltage value is less than the voltage threshold, or when it is determined that the communication between the battery management system and the load device is normal, keeping the battery assembly in a power supply state.

[0061] In this embodiment, the measured voltage value is less than the voltage threshold, indicating that the battery assembly is inserted into the load device and the battery management system communicates normally with the load device, indicating that the connection between the battery assembly and the load device is not disconnected. In both cases, the battery assembly is kept in a powered state.

[0062] It should be noted that if the measured voltage value is greater than or equal to the voltage threshold, and the battery management system communicates normally with the load device, the battery assembly is kept in a powered state. This is because if the measured voltage value is greater than or equal to the voltage threshold, it means that the connection between the battery assembly and the load device may be loose, or the battery assembly and the load device may be disconnected. At this time, if the communication between the battery management system and the load device is normal, it means that the connection between the battery assembly and the load device is loose (that is, not disconnected), and the load device still needs the battery assembly to power it, keeping the battery assembly in a powered state. In this way, the accuracy of power supply control can be improved.

[0063] If the measured voltage value is less than the voltage threshold and there is an abnormality in the communication between the battery management system and the load device, it means that the battery assembly is inserted into the load device, but there is a communication failure between the battery management system and the load device. At this time, the load device still needs power, so the battery assembly is kept in the power supply state.

[0064] In some embodiments, the battery management system 100 transmits battery status information to the load device via the communication device 11 and receives a receipt prompt message from the load device via the communication device 11. The receipt prompt message indicates whether the load device has received the battery status information sent by the battery management system. The battery status information may include information such as the voltage and current of the battery pack, which is not limited here.

[0065] In these embodiments, determining in step S2200 that the communication between the battery management system and the load device is abnormal includes:

[0066] If no reception prompt information returned by the load device is received, it is determined that the communication between the battery management system and the load device is abnormal.

[0067] In this embodiment, if the battery assembly is connected to a load device, the battery management system 100 can send battery status information to the load device in real time through a communication device. The load device can detect whether the battery status information sent by the battery management system is received at a second time interval and return a receipt prompt information to the battery management system.

[0068] Based on this, the battery management system can detect whether it has received a reception prompt message from the load device at a second time interval. If the reception prompt message from the load device is received, it is determined that the communication between the battery management system and the load device is normal. If the reception prompt message from the load device is not received, it is determined that the communication between the battery management system and the load device is abnormal. The second time interval can be equal to or different from the first time interval, which is not limited here.

[0069] In one embodiment, in order to improve the synchronization between the insertion detection and the communication detection, and thus improve the accuracy of the power supply control, the second time interval is equal to the first time interval.

[0070] For example, the second time interval and the first time interval are both 1 second.

[0071] The inventors discovered that the battery management system of a robot or robot dog includes a switch. When the user presses the switch, the battery pack remains powered, regardless of whether the battery pack is inserted into the device. In this case, if the battery pack is not inserted into the device, the high DC voltage and current generated by the battery pack could come into contact with other metal or conductive objects, potentially causing a fire.

[0072] To address this issue, the inventors have designed a method of triggering insertion detection during power-on to improve the safety of the battery assembly during power-on.

[0073] Based on this, in one embodiment, Figure 3 As shown, the battery management system is integrated with a switch device 12. Before the battery assembly is in a power supply state in step S2100, the method further includes: steps S3100 to S3300.

[0074] Step S3100: When the battery assembly is in a non-powered state, detecting whether the switch device is triggered.

[0075] In this embodiment, when the battery assembly is in a non-powered state, the user can start the execution of the power supply control method by operating the switch device.

[0076] Step S3200: When it is detected that the switch device is triggered, the measured voltage value collected by the voltage detection terminal is obtained.

[0077] In this embodiment, when the switch device is triggered, a measured voltage value is obtained to perform insertion detection.

[0078] Step S3300: When the measured voltage value is less than the voltage threshold, control the battery assembly to be in a power supply state.

[0079] In this embodiment, if the measured voltage value collected when the power is turned on is less than the voltage threshold, it means that the battery assembly is inserted into the load device. At this time, the battery assembly is controlled to be in a power supply state, which can avoid the problem of fire easily occurring when the battery assembly is directly controlled to be in a power supply state when the power is turned on in the related technology, thereby improving the safety of the power-on stage.

[0080] In some embodiments, the method further includes: step S3400.

[0081] Step S3400: When the measured voltage value is greater than or equal to the voltage threshold, keep the battery assembly in a non-powered state.

[0082] In this embodiment, when the power is turned on, if the measured voltage value obtained is greater than or equal to the voltage threshold, it means that the battery assembly and the load device may not be connected. At this time, the battery assembly is kept in a non-powered state.

[0083] In some embodiments, after controlling the battery assembly to be in a power supply state in step S3300, the method further includes:

[0084] When it is detected that the switch device is triggered, the battery assembly is controlled to be in a non-powered state.

[0085] In this embodiment, the function of the switch device may be related to the state of the battery assembly. When the battery assembly is in a non-powered state, the function of the switch device is to turn on the battery assembly. When the battery assembly is in a powered state, the function of the switch device is to turn off the battery assembly.

[0086] Based on this, when the battery assembly is in a power supply state, if it is detected that the switch device is triggered, the battery assembly is controlled to be in a non-power supply state.

[0087] According to an embodiment of the present application, by controlling the battery assembly to be in a non-powered state when the measured voltage value is greater than or equal to the voltage threshold and it is determined that the communication between the battery management system and the load device is abnormal, the misjudgment of the battery assembly not being inserted into the load device due to loose connection between the battery assembly and the load device in the related art can be avoided, thereby improving the accuracy of power supply control while enhancing user safety.

[0088] According to one embodiment, a computer-readable storage medium is further provided, on which a computer program is stored. When the computer program is executed by a processor, the method according to any of the above method embodiments is implemented.

[0089] Figure 4 FIG. 4 is a schematic structural diagram of a battery management system 400 according to an embodiment.

[0090] according to Figure 4 As shown, the battery management system 400 of this embodiment includes a memory 410 and a processor 420. The memory 410 is used to store executable instructions, and the processor 420 is used to operate according to the control of the instructions to execute the method described in any of the above method embodiments.

[0091] Figure 5 FIG. 5 is a schematic structural diagram of a battery pack 500 according to an embodiment.

[0092] according to Figure 5 As shown, the battery pack 500 of this embodiment includes a battery assembly 510 and a battery management system 520 .

[0093] In one embodiment, the battery management system 520 is as follows Figure 4 The battery management system shown, or Figure 1 The battery management system shown, or Figure 3 The battery management system shown.

[0094] In one embodiment, the battery assembly 510 may be Figure 1 The battery assembly shown.

[0095] Figure 6 Schematic diagram of the structure of a robot 600 according to one embodiment.

[0096] according to Figure 6 As shown, the robot 600 of this embodiment includes a battery pack 610 and a body device 620 , and the battery pack 610 supplies power to the body device 620 .

[0097] The body device 620 is the load device.

[0098] In one embodiment, the battery pack 610 may be Figure 5 Battery pack shown.

[0099] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0100] A computer-readable storage medium can be a tangible device that can hold and store instructions for use by an instruction execution device. A computer-readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination thereof. As used herein, a computer-readable storage medium is not to be construed as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through an electrical wire.

[0101] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions to be stored in the computer-readable storage medium in each computing / processing device.

[0102] The computer program instructions for performing the operation of the present invention can be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, and conventional procedural programming languages ​​such as "C" language or similar programming languages. The computer readable program instructions can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), is personalized by utilizing the state information of the computer readable program instructions, and the electronic circuit can execute the computer readable program instructions, thereby realizing various aspects of the present invention.

[0103] Various aspects of the present invention are described herein with reference to flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present invention. It should be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer-readable program instructions.

[0104] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device is generated that implements the functions / actions specified in one or more blocks in the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium, where these instructions cause the computer, programmable data processing device, and / or other device to operate in a specific manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing various aspects of the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0105] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0106] The flowcharts and block diagrams in the accompanying drawings show the possible implementation architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, program segment or part of an instruction, and the module, program segment or part of the instruction contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are all equivalent.

[0107] While various embodiments of the present invention have been described above, the foregoing description is intended to be illustrative, non-exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or technological improvements in the marketplace, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A power supply control method, characterized in that: Applied to a battery management system, the battery management system is connected to a battery assembly, the battery assembly includes a battery pack, a resistor and a voltage detection terminal, the resistor is electrically connected between the positive terminal of the battery pack and the voltage detection terminal, the voltage detection terminal is connected to the battery management system to send the collected measured voltage value to the battery management system, the battery management system includes a communication device, the communication device is used for communication between the battery management system and the load device, the method includes: When the battery assembly is in a power supply state, obtaining a measured voltage value collected by the voltage detection terminal; When the measured voltage value is greater than or equal to the voltage threshold and it is determined that the communication between the battery management system and the load device is abnormal, the battery assembly is controlled to be in a non-powered state.

2. The method according to claim 1, characterized in that The method further comprises: When the measured voltage value is less than the voltage threshold, or when it is determined that the communication between the battery management system and the load device is normal, the battery assembly is kept in a power supply state.

3. The method according to claim 1, characterized in that The battery management system sends battery status information to the load device through the communication device, and receives reception prompt information returned by the load device through the communication device. The determining that the communication between the battery management system and the load device is abnormal includes: If no reception prompt information returned by the load device is received, it is determined that the communication between the battery management system and the load device is abnormal.

4. The method according to claim 1, wherein The battery management system is integrated with a switch device. Before the battery assembly is in a power supply state, the method further includes: When the battery assembly is in a non-powered state, detecting whether the switch device is triggered; When it is detected that the switch device is triggered, obtaining a measured voltage value collected by the voltage detection terminal; When the measured voltage value is less than the voltage threshold, the battery assembly is controlled to be in a power supply state.

5. The method according to claim 4, characterized in that The method further comprises: When the measured voltage value is greater than or equal to the voltage threshold, the battery assembly is kept in a non-powered state.

6. The method according to claim 4, characterized in that After controlling the battery assembly to be in a power supply state, the method further includes: When it is detected that the switch device is triggered, the battery assembly is controlled to be in a non-powered state.

7. A battery management system, comprising a memory and a processor, wherein the memory is used to store executable instructions; and the processor is used to operate under the control of the instructions to execute the method according to any one of claims 1 to 6.

8. A battery pack, characterized in that: The invention comprises a battery assembly and a battery management system as claimed in claim 7.

9. A robot, characterized in that: It comprises the battery pack and a body device as claimed in claim 8, wherein the battery pack supplies power to the body device.

10. A computer-readable storage medium, characterized in that A computer program is stored thereon, which implements the method according to any one of claims 1 to 6 when executed by a processor.

Images