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

Abstract

The application discloses a power supply control method and system, a battery pack, a robot and a storage medium, wherein 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 a positive electrode end of the battery pack and the voltage detection end, the voltage detection end is connected with the battery management system to send a collected measured voltage value to the battery management system, the battery management system comprises a communication device, the communication device is used for communication between the battery management system and a load device, and the method comprises the following steps: acquiring a measured voltage value collected by the voltage detection end in the case that the battery assembly is in a power supply state; and controlling the battery assembly to be in a non-power supply state in the case that the measured voltage value is greater than or equal to a voltage threshold value and it is determined that the communication between the battery management system and the load device is abnormal.

Description

Technical Field

[0001] This 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 Technology

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

[0003] To avoid this problem, the most common power supply control method is to detect whether the battery pack is inserted into the device by using the battery pack insertion detection terminal (i.e., voltage detection terminal) when the battery pack is in a power supply state. If the battery pack is not detected to be inserted into the device, the battery pack is controlled to be in a power-off state.

[0004] However, when the robot or robot dog vibrates, the connection between the body and the battery pack insertion detection end may become loose and not completely disconnected. In this case, because the insertion detection end is a hardware detection device that checks whether the battery pack is inserted into the body, it is highly sensitive to loosening. This could cause the insertion detection end to misjudge that the battery pack is not inserted, thus affecting the normal power supply from the battery pack to the body, impacting the normal operation of the robot or robot dog, and reducing the user experience. Summary of the Invention

[0005] One objective of this 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, applied to a battery management system, the battery management system being connected to a battery assembly, the battery assembly including a battery pack, a resistor, and a voltage detection terminal, the resistor being electrically connected between the positive terminal of the battery pack and the voltage detection terminal, the voltage detection terminal being connected to the battery management system to send a collected measured voltage value to the battery management system, the battery management system including a communication device for communication between the battery management system and a load device, the method comprising:

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

[0008] If 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 module is controlled to be in a non-power supply state.

[0009] Optionally, the method further includes:

[0010] The battery module remains powered if the measured voltage value is less than the voltage threshold, or if the communication between the battery management system and the load device is determined to be normal.

[0011] Optionally, the battery management system sends battery status information to the load device via a communication device, and receives a reception prompt message returned by the load device via the communication device. Determining a communication anomaly between the battery management system and the load device includes:

[0012] If no receiving prompt message is received from the load device, it is determined that there is a communication anomaly between the battery management system and the load device.

[0013] Optionally, the battery management system integrates a switching device, and the method further includes: before the battery assembly is in a powered state.

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

[0015] When the switching device is detected to be triggered, the measured voltage value collected by the voltage detection terminal is obtained;

[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] If 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 powered state, the method further includes:

[0020] When the switching device is detected to be 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 also provided, including a memory and a processor, the memory being used to store executable instructions; the processor being used to operate under the control of the instructions to perform the method as described in the first aspect.

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

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

[0024] According to a fifth aspect of the invention, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements the method as described in the first aspect.

[0025] One beneficial effect of this invention is that by controlling the battery module 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 can avoid the misjudgment that the battery module is not inserted into the load device due to the loose connection between the battery module and the load device in related technologies. This can improve the accuracy of power supply control and enhance the user's safety. Attached Figure Description

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

[0027] Figure 1 This is a schematic diagram of the structure of a battery pack according to an embodiment of the present invention;

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

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

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

[0031] Figure 5 This is a schematic diagram of the structure of a battery pack according to an embodiment of the present invention;

[0032] Figure 6 This is a schematic diagram of the structure of a robot according to an embodiment of the present invention. Detailed Implementation

[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, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention.

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

[0035] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

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

[0037] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0038] Figure 1 A schematic diagram of the structure of a battery pack according to one embodiment is shown. 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 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, etc., which are not limited here.

[0041] In one example, the battery assembly 21 also includes a connector. The connector connects to the battery assembly 21 and integrates the positive terminal, negative terminal, and voltage detection terminal of the battery assembly 21.

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

[0043] Based on the above structure, when the battery assembly 200 is not inserted into a load device, the voltage value at the positive terminal of the battery pack 21 is equal to the measured voltage value at the voltage detection terminal. When the battery assembly 200 is inserted into 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 a 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 time, the measured voltage value at the voltage detection terminal 23 is less than the voltage value 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 module 200 is plugged into the load device according to the measured voltage value.

[0045] Since the voltage detection terminal 23 is a hardware detection device for whether the battery component 200 is inserted into the load device, it is quite sensitive to looseness. As a result, if the connection between the battery component and the load device is loose, the voltage detection terminal 23 may misjudge that the battery component is not inserted into the load device, which will affect the normal power supply of the battery component to the load device.

[0046] To address this issue, this application includes a communication device 11 on the battery management system 100. The communication device 11 is used for communication between the battery management system 100 and the load device. Figure 1 Communication between (not shown in the image).

[0047] The communication device 11 can 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. This protocol has a certain degree of fault tolerance, enabling normal communication to be maintained even under a certain level of signal interference or loose connection. In other words, even if the connection between the serial communication port of the battery management system 100 and the serial communication port of the load device is loose but not completely disconnected, normal communication between the battery management system 100 and the load device is still possible.

[0049] Figure 2 This is a flowchart illustrating a power supply control method according to an embodiment of the present invention. The method can be implemented 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 powered state, the measured voltage value collected by the voltage detection terminal is obtained.

[0051] In this embodiment, the battery module being in a power supply state can mean that the battery module is in a state of outputting electrical energy.

[0052] The battery module is in a powered state either because the user triggers the battery switch or because the battery module is detected to be plugged into a load device; there is no limitation here.

[0053] In one embodiment, the battery management system can acquire 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., and is not limited here.

[0055] Step S2200: If 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-power supply state.

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

[0057] If the measured voltage value is greater than or equal to the voltage threshold, the connection between the battery pack and the load device may be loose, or the connection between the battery pack and the load device may be broken. In this case, if the communication between the battery management system and the load device is abnormal, it indicates a disconnection between the battery pack and the load device. The battery pack is susceptible to contact with other metal or conductive objects, potentially causing a fire. Therefore, the battery pack is controlled to be in a non-power supply state. A non-power supply state means the battery pack is not outputting electrical energy.

[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 sequentially; no limitation is made here.

[0059] By controlling the battery module to a non-powered state when the measured voltage value is greater than or equal to the voltage threshold and an abnormal communication is confirmed between the battery management system and the load device, the misjudgment that the battery module is not inserted into the load device due to loose connection between the battery module and the load device in related technologies can be avoided. This can improve the accuracy of power supply control and enhance the user's safety.

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

[0061] In this embodiment, if the measured voltage value is less than the voltage threshold, it indicates that the battery module is inserted into the load device and the battery management system communicates normally with the load device, indicating that the connection between the battery module and the load device is not broken. In both cases, the battery module remains in a power supply state.

[0062] It is important to note that if the measured voltage value is greater than or equal to the voltage threshold, and the battery management system (BMS) communicates normally with the load device, the battery pack should remain powered. This is because a measured voltage value greater than or equal to the voltage threshold indicates that the connection between the battery pack and the load device may be loose, or the connection may have been broken. In this case, if the communication between the BMS and the load device is normal, it means that the connection between the battery pack and the load device is loose (i.e., not broken), and the load device still requires the battery pack to supply power, thus keeping the battery pack powered. This improves the accuracy of power supply control.

[0063] If the measured voltage value is less than the voltage threshold and there is an abnormal communication between the battery management system and the load device, it indicates that the battery pack is plugged into the load device. However, there is a communication failure between the battery management system and the load device. In this case, the load device still needs to be powered. Therefore, keep the battery pack in a powered state.

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

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

[0066] If no receiving prompt message is received from the load device, it is determined that there is a communication anomaly between the battery management system and the load device.

[0067] In this embodiment, if the battery assembly is connected to the load device, the battery management system 100 can send battery status information to the load device in real time through the communication device. The load device can detect whether it has received the battery status information sent by the battery management system at a second time interval and return a receipt prompt message 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 a reception prompt message is received from the load device, it is determined that the communication between the battery management system and the load device is normal. If no reception prompt message is received from the load device, 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; this is not limited here.

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

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

[0071] The inventors discovered that the battery management system of robots or robotic dogs has a switch device. When the user presses the switch, the battery pack is in a powered state regardless of whether it is plugged into the device. In this situation, if the battery pack is not plugged into the device, the large DC voltage and current generated by the battery pack coming into contact with other metal or conductive objects can easily cause a fire.

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

[0073] Based on this, in one embodiment, such as Figure 3 As shown, the battery management system integrates a switching 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, detect whether the switching 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 the switching device is detected to be triggered, the measured voltage value collected by the voltage detection terminal is obtained.

[0077] In this embodiment, when the switching device is triggered, the measured voltage value is obtained for 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 at the time of power-on is less than the voltage threshold, it indicates that the battery module is inserted into the load device. At this time, controlling the battery module to be in a power supply state can avoid the problem of fire caused by directly controlling the battery module to be in a power supply state at the time of power-on in related technologies, and improve the safety of the power-on stage.

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

[0081] Step S3400: If 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, if the measured voltage value obtained during power-on is greater than or equal to the voltage threshold, it indicates that the battery module may not be connected to the load device. In this case, the battery module is kept in a non-powered state.

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

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

[0085] In this embodiment, the function of the switching device can be related to the state of the battery module. When the battery module is not supplying power, the switching device functions as an "on" function. When the battery module is supplying power, the switching device functions as a "off" function.

[0086] Therefore, if the switching device is detected to be triggered when the battery pack is in a powered state, the battery pack is controlled to be in a non-powered state.

[0087] According to the embodiments of this application, by controlling the battery module 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 that the battery module is not inserted into the load device due to the loose connection between the battery module and the load device in the related technology can be avoided. This can improve the accuracy of power supply control and enhance the user's safety.

[0088] According to one embodiment, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements the method described in any of the above method embodiments.

[0089] Figure 4 This is a schematic diagram of the structure of a battery management system 400 according to one 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 This is a schematic diagram of the structure of a battery pack 500 according to one embodiment.

[0092] according to Figure 5 As shown, the battery pack 500 in 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 as Figure 1 The battery management system shown, or as Figure 3 The battery management system shown.

[0094] In one embodiment, the battery assembly 510 can be as follows: Figure 1 The battery assembly shown.

[0095] Figure 6 This is a structural schematic diagram of a robot 600 according to one embodiment.

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

[0097] Among them, the fuselage equipment 620 is the load equipment.

[0098] In one embodiment, the battery pack 610 can be as follows: Figure 5 The battery pack shown.

[0099] This invention can be a system, method, and / or computer program product. A computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of the invention.

[0100] Computer-readable storage media can be tangible devices capable of holding and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combination thereof. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

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

[0102] The computer program instructions used to perform the operations of this invention may 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++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing state information from the computer-readable program instructions. This electronic circuitry can execute the computer-readable program instructions to implement various aspects of the invention.

[0103] Various aspects of the present invention are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations 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 apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of 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 to cause a series of operational steps to be 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 perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0106] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. It will be known to those skilled in the art that implementation in hardware, implementation in software, and implementation using a combination of software and hardware are equivalent.

[0107] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, and are 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 chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims

1. A power supply control method, characterized in that, An application is made in a battery management system (BMS), wherein the BMS 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, and the voltage detection terminal is connected to the BMS to send the acquired measured voltage value to the BMS. The BMS includes a communication device for communication between the BMS and a load device. The method includes: When the battery assembly is in a powered state, the measured voltage value collected by the voltage detection terminal is obtained; If 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 connection between the battery assembly and the load device is disconnected, and the battery assembly is controlled to be in a non-power supply state; wherein, if the measured voltage value is greater than or equal to the voltage threshold, the connection between the battery assembly and the load device is loose, or the connection between the battery assembly and the load device is disconnected. The battery management system sends battery status information to the load device via a communication device, and receives a reception prompt message returned by the load device via the communication device. Determining a communication anomaly between the battery management system and the load device includes: If no receiving prompt message is received from the load device, it is determined that there is a communication anomaly between the battery management system and the load device.

2. The method according to claim 1, characterized in that, The method further includes: If the measured voltage value is less than the voltage threshold, or if it is determined that the communication between the battery management system and the load device is normal, the battery assembly shall remain in a powered state.

3. The method according to claim 1, characterized in that, The battery management system integrates a switching device, and the method further includes the following steps before the battery assembly is in a powered state: When the battery assembly is in a non-powered state, detect whether the switching device is triggered; When the switching device is detected to be triggered, the measured voltage value collected by the voltage detection terminal is obtained; When the measured voltage value is less than the voltage threshold, the battery assembly is controlled to be in a power supply state.

4. The method according to claim 3, characterized in that, The method further includes: If the measured voltage value is greater than or equal to the voltage threshold, the battery assembly is kept in a non-powered state.

5. The method according to claim 3, characterized in that, After controlling the battery assembly to be in a powered state, the method further includes: When the switching device is detected to be triggered, the battery assembly is controlled to be in a non-powered state.

6. A battery management system, comprising a memory and a processor, the memory for storing executable instructions; the processor for operating under the control of the instructions to perform the method as claimed in any one of claims 1 to 5.

7. A battery pack, characterized in that, Includes a battery assembly and a battery management system as described in claim 6.

8. A robot, characterized in that, It includes the battery pack and fuselage equipment as described in claim 7, wherein the battery pack supplies power to the fuselage equipment.

9. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the method according to any one of claims 1-5.

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