A power supplementing system for a battery of an unmanned vehicle and a power supplementing method, device and medium thereof

Abstract

The application discloses a power supplement system and method, device and medium for a storage battery of an unmanned vehicle. The power supplement method for the storage battery of the unmanned vehicle comprises the following steps: obtaining a voltage value of the storage battery at a preset period, and obtaining a warning voltage threshold, a power supplement voltage threshold and a planned task time of the unmanned vehicle; determining a historical average voltage change amount according to the voltage value obtained at each preset period; determining a theoretical power supplement time according to the current voltage value, the warning voltage threshold, the power supplement voltage threshold and the historical average voltage change amount; determining an actual power supplement time according to the theoretical power supplement time and the planned task time; and controlling the high-voltage battery to supplement power for the storage battery at the actual power supplement time. The technical scheme of the application can optimize the power supplement time of the storage battery and prolong the service life of the storage battery.

Description

Technical Field

[0001] This invention relates to the field of unmanned vehicle technology, and in particular to a battery charging system for unmanned vehicles, as well as the charging method, device and medium thereof. Background Technology

[0002] When an autonomous vehicle is in standby mode, its onboard low-voltage battery continuously consumes electrical energy, causing the battery voltage to gradually decrease. Current technology typically uses a voltage detection module to periodically collect battery voltage data. When the battery voltage falls below a threshold, a charging system is activated to maintain stable battery power.

[0003] However, traditional charging methods do not dynamically adjust the timing of charging based on the real-time voltage decay rate of the battery. This can easily lead to problems such as charging too early, causing the battery to float for a long time, or charging too late, causing the battery to be deeply discharged, which affects the battery's lifespan. In addition, the timing of battery charging is not combined with the autonomous vehicle's mission time, which can easily affect the normal operation of the autonomous vehicle. Summary of the Invention

[0004] This invention provides a battery charging system for unmanned vehicles, as well as a charging method, device, and medium, which can optimize the charging time of the battery and improve its service life.

[0005] In a first aspect, the present invention provides a method for replenishing the battery of an unmanned vehicle, comprising: The battery voltage value is obtained at a preset cycle, as well as the warning voltage threshold, the charging voltage threshold, and the planned task time of the unmanned vehicle. Based on the voltage values ​​obtained in each preset period, the historical average voltage change is determined; The theoretical recharge time is determined based on the current voltage value, the warning voltage threshold, the recharge voltage threshold, and the historical average voltage change. The actual power replenishment time is determined based on the theoretical power replenishment time and the planned task time. The high-voltage battery is controlled to recharge the storage battery during the actual recharge time.

[0006] Optionally, the theoretical replenishment time is determined based on the current voltage value, the warning voltage threshold, the replenishment voltage threshold, and the historical average voltage change, including: When the current voltage value is less than the warning voltage threshold and greater than or equal to the replenishment voltage threshold, the voltage difference is determined based on the current voltage value and the replenishment voltage threshold. The theoretical recharging time is determined based on the voltage difference and the historical average voltage change.

[0007] Optionally, determining the theoretical recharging time based on the current voltage value, the warning voltage threshold, the recharging voltage threshold, and the historical average voltage change further includes: When the current voltage value is less than the replenishment voltage threshold, the current time is determined as the theoretical replenishment time.

[0008] Optionally, determining the theoretical recharging time based on the current voltage value, the warning voltage threshold, the recharging voltage threshold, and the historical average voltage change further includes: When the current voltage value is greater than or equal to the warning voltage threshold, return to the steps of obtaining the battery voltage value at a preset period, as well as obtaining the warning voltage threshold, the charging voltage threshold, and the planned task time of the unmanned vehicle.

[0009] Optionally, the method for replenishing the battery of the unmanned vehicle further includes: Based on the current voltage value, determine the current charge level of the battery; Based on the theoretical power replenishment time and the planned task time, the actual power replenishment time is determined, including: When the theoretical power replenishment time is earlier than the planned task time, and the interval between the planned task time and the theoretical power replenishment time is greater than the preset power replenishment duration, the theoretical power replenishment time is determined as the actual power replenishment time. When the planned task time is earlier than the theoretical charging time, and the current battery power is greater than the preset task power consumption, after the planned task is completed, return to the steps of obtaining the battery voltage value at a preset period, as well as obtaining the warning voltage threshold, the charging voltage threshold and the planned task time of the unmanned vehicle. When the planned task time is earlier than the theoretical charging time, and the current battery power is less than or equal to the preset task power consumption, the first time is determined as the actual charging time; wherein, the first time is the time before the planned task time and the difference between the first time and the planned task time is the preset charging duration.

[0010] Optionally, controlling the high-voltage battery to recharge the storage battery during the actual recharge time includes: The health status of the battery is determined based on the historical average voltage change. Based on the health status of the battery, determine the safe voltage value and the charging current of the battery; The high-voltage battery is controlled to replenish the storage battery with the replenishing current until the voltage value of the storage battery reaches the safe voltage value; Adjust the charging current of the high-voltage battery to charge the storage battery, so as to control the voltage value of the storage battery to be maintained at the safe voltage value; When the adjusted replenishing current is less than a preset current threshold, the duration for which the replenishing current is less than the preset current threshold is obtained in real time. When the current duration reaches the first preset duration, the high-voltage battery is controlled to stop replenishing the storage battery.

[0011] Optionally, the method for replenishing the battery of the unmanned vehicle further includes: When controlling the high-voltage battery to replenish the storage battery, the battery replenishment information is acquired in real time and uploaded to the cloud platform for storage; wherein, the replenishment information includes: time information, voltage information and temperature information.

[0012] Optionally, the method for replenishing the battery of the unmanned vehicle further includes: The preset period, the warning voltage threshold, and the replenishment voltage threshold are obtained from the cloud platform based on the replenishment information.

[0013] Optionally, before determining the historical average voltage change based on the voltage values ​​obtained in each preset period, the method further includes: Obtain the temperature of the battery; The voltage value is calibrated based on the temperature of the battery.

[0014] Optionally, the method for replenishing the battery of the unmanned vehicle further includes: Based on the current voltage value, determine the current voltage change. When the current voltage change exceeds the voltage change threshold, an abnormality alert is generated.

[0015] Secondly, the present invention also provides a charging device for an unmanned vehicle battery, comprising: The information acquisition module is used to acquire the battery voltage value at a preset cycle, as well as the warning voltage threshold, the charging voltage threshold, and the planned task time of the unmanned vehicle. The voltage change determination module is used to determine the historical average voltage change based on the voltage value of each preset period. The first-time determination module is used to determine the theoretical replenishment time based on the current voltage value, the warning voltage threshold, the replenishment voltage threshold, and the historical average voltage change. The second time determination module is used to determine the actual power replenishment time based on the theoretical power replenishment time and the planned task time. The charging module is used to control the high-voltage battery to charge the storage battery during the actual charging time.

[0016] Thirdly, the present invention also provides a computer storage medium storing computer instructions, which are used to cause the controller to implement the battery charging method for the unmanned vehicle described in the first aspect.

[0017] Fourthly, the present invention also provides a battery charging system for unmanned vehicles, comprising: a battery, a high-voltage battery, a voltage detection unit, and a controller; The controller is connected to the storage battery, the high-voltage battery and the voltage detection unit respectively. The voltage detection unit is connected to the storage battery and the high-voltage battery is connected to the storage battery. The controller is used to wake up the voltage detection unit at a preset period to collect the voltage value of the battery and execute the battery charging method of the unmanned vehicle described in the first aspect.

[0018] Optionally, the voltage detection unit includes an analog-to-digital converter; the charging and discharging terminals of the battery are provided with voltage dividing resistors; The analog-to-digital converter is connected in parallel with the voltage divider resistor to the charging and discharging terminals of the battery; the analog-to-digital converter is used to determine the voltage value of the battery based on the analog voltage value of the voltage divider resistor.

[0019] The technical solution of this invention obtains the battery voltage value at preset intervals, as well as the warning voltage threshold, the replenishment voltage threshold, and the planned task time of the unmanned vehicle. Based on the voltage values ​​obtained at each preset interval, the historical average voltage change is determined. Based on the current voltage value, the warning voltage threshold, the replenishment voltage threshold, and the historical average voltage change, the theoretical replenishment time is determined. Based on the theoretical replenishment time and the planned task time, the actual replenishment time is determined. This allows the high-voltage battery to replenish the battery at the actual replenishment time, thereby optimizing the battery replenishment time and improving the battery's service life. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of a battery charging system for an unmanned vehicle provided in an embodiment of the present invention; Figure 2 This is a schematic flowchart of a method for replenishing the battery of an unmanned vehicle according to Embodiment 2 of the present invention; Figure 3 This is a flowchart illustrating a method for replenishing the battery of an unmanned vehicle according to Embodiment 3 of the present invention. Figure 4 This is a flowchart illustrating a method for replenishing the battery of an unmanned vehicle according to Embodiment 4 of the present invention. Figure 5 This is a flowchart illustrating a method for replenishing the battery of an unmanned vehicle according to Embodiment 5 of the present invention. Figure 6This is a schematic flowchart of a method for replenishing the battery of an unmanned vehicle provided in Embodiment Six of the present invention; Figure 7 This is a flowchart illustrating a method for replenishing the battery of an unmanned vehicle according to Embodiment 7 of the present invention. Figure 8 This is a flowchart illustrating a method for replenishing the battery of an unmanned vehicle according to Embodiment 8 of the present invention. Figure 9 This is a schematic diagram of the structure of a battery charging device for an unmanned vehicle provided in an embodiment of the present invention. Detailed Implementation

[0021] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0022] The terminology used in the embodiments of this invention is for the purpose of describing specific embodiments only and is not intended to limit the invention. It should be noted that directional terms such as "upper," "lower," "left," and "right" described in the embodiments of this invention are used to describe the angles shown in the accompanying drawings and should not be construed as limiting the embodiments of this invention. Furthermore, in the context, it should be understood that when referring to an element being formed "on" or "below" another element, it can be formed not only directly on or below the other element, but also indirectly on or below it through intermediate elements. The terms "first," "second," etc., are used for descriptive purposes only and do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] The term "comprising" and its variations as used in this invention are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment".

[0024] It should be noted that the concepts of "first" and "second" mentioned in this invention are only used to distinguish the corresponding contents and are not used to limit the order or interdependence.

[0025] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0026] Example 1 Figure 1This is a schematic diagram of a battery charging system for an unmanned vehicle provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the battery charging system for an unmanned vehicle includes: a battery 10, a high-voltage battery 20, a voltage detection unit 30, and a controller (not shown in the figure); the controller is connected to the battery 10, the high-voltage battery 20, and the voltage detection unit 30, respectively. The voltage detection unit 30 is connected to the battery 10, and the high-voltage battery 20 is connected to the battery 10; the controller is used to wake up the voltage detection unit 30 at a preset period to collect the voltage value of the battery 10, and to execute the battery charging method for an unmanned vehicle according to any embodiment of the present invention.

[0027] Among them, battery 10 is the battery that supplies power to the low-voltage electrical system of the unmanned vehicle, and high-voltage battery 20 is the battery that replenishes the battery 10. When high-voltage battery 20 receives a replenishment trigger command, it converts high-voltage electricity into low-voltage electricity through a DC-DC converter, thereby providing power to battery 10. Voltage detection unit 30 is connected to battery 10 and can detect the voltage value of battery 10 in real time. The controller can wake up voltage detection unit 30 at a preset period to collect the voltage value of battery 10, and then determine the voltage change of battery 10 based on the voltage value of battery 10. Based on the voltage value and voltage change of battery 10, the controller determines the replenishment time of high-voltage battery 20 for battery 10. At the same time, the battery charge of battery 10 can also be determined based on the voltage value of battery 10, thereby realizing real-time monitoring and intelligent replenishment of battery charge.

[0028] Optional, continue to refer to Figure 1 The voltage detection unit 30 includes an analog-to-digital converter; a voltage divider resistor is provided at the charging and discharging terminals of the battery 10; the analog-to-digital converter and the voltage divider resistor are connected in parallel at the charging and discharging terminals of the battery 10; the analog-to-digital converter is used to determine the voltage value of the battery 10 based on the analog voltage value of the voltage divider resistor.

[0029] The voltage divider resistors may include a first voltage divider resistor R1 and a second voltage divider resistor R2. The first voltage divider resistor R1 and the second voltage divider resistor R2 are connected in parallel to the charging and discharging terminals of the battery 10. The analog-to-digital converter (ADC) is connected in parallel across the first voltage divider resistor R1. The voltage of the battery 10 is divided by the first voltage divider resistor R1 and the second voltage divider resistor R2. The ADC can sample the analog voltage value across the first voltage divider resistor R1 and convert it into a digital value. The controller can calculate the voltage value of the battery 10 based on the resistance ratio of the first voltage divider resistor R1 to the second voltage divider resistor R2 and the digital value. For example, when the voltage of the battery 10 is 12V and the resistance ratio of the first voltage divider resistor R1 and the second voltage divider resistor R2 is 1:10, the analog-to-digital converter (ADC) acquires an analog voltage value of 1.09V across the first voltage divider resistor R1. If the digital values ​​corresponding to the voltages of 0-3.3V are integers between 0 and 4095, the ADC can convert 1.09V into the digital value 1353. The controller can then calculate the voltage value of the battery 10 as (1353 / 4095) × 3.3V × 11 ≈ 11.99V. The voltage value of the battery 10 acquired by the ADC can achieve an accuracy of ±0.01V and is less affected by temperature drift, thus reducing the static power consumption of the voltage detection unit 30.

[0030] The controller in this embodiment wakes up the voltage detection unit at a preset cycle to obtain the battery voltage value, determines the battery voltage value and voltage change, and determines the high-voltage battery charging time based on the battery voltage value and voltage change. This realizes real-time monitoring and intelligent charging of the battery power, and reduces the static power consumption of the battery charging system.

[0031] It is understood that the controller in the unmanned vehicle battery charging system provided in the embodiments of the present invention can be used to execute the unmanned vehicle battery charging method provided in any embodiment of the present invention. Therefore, the controller in the unmanned vehicle battery charging system has the relevant functional structure for executing the unmanned vehicle battery charging method provided in any embodiment of the present invention, and can achieve the same beneficial effect as the unmanned vehicle battery charging method provided in the embodiments of the present invention. For details, please refer to the following description.

[0032] Example 2 Figure 2 This is a flowchart illustrating a method for replenishing the battery of an unmanned vehicle according to Embodiment 2 of the present invention. This embodiment can be used to determine the battery replenishment time. This method for replenishing the battery of an unmanned vehicle can be executed by a battery replenishment device. This battery replenishment device can be implemented in software and / or hardware, and is generally integrated into the controller of the battery replenishment system of the unmanned vehicle. Figure 2 As shown, the methods for replenishing the battery of an autonomous vehicle include: S110: Obtain the battery voltage value at a preset cycle, as well as the warning voltage threshold, the charging voltage threshold, and the planned task time of the unmanned vehicle.

[0033] The preset cycle is a fixed time interval pre-configured by the controller, such as 5 minutes, which can be set as needed; this embodiment of the invention does not limit this. The warning voltage threshold is the protection threshold of the battery. When the battery voltage is less than the warning voltage threshold, it is determined that the battery is at risk of being depleted. The charging voltage threshold is the critical value for charging the battery. When the battery voltage is less than the charging voltage threshold, it is determined that the battery power is insufficient and the battery should be charged immediately. The planned task time of the unmanned vehicle refers to the time point when the unmanned vehicle will next perform its operational task. For example, the warning voltage threshold can be the battery voltage value corresponding to 60% battery power; the charging voltage threshold can be the battery voltage value corresponding to 50% battery power.

[0034] Specifically, the controller can wake up the voltage detection unit at a preset cycle to collect the battery voltage value to avoid increasing system power consumption due to continuous sampling; at the same time, it also synchronously acquires the warning voltage threshold, the charging voltage threshold, and the planned task time of the unmanned vehicle, thereby providing data support for subsequent calculation of the battery charging time.

[0035] S120. Determine the historical average voltage change based on the voltage values ​​obtained in each preset period.

[0036] The historical average voltage change refers to the average of the voltage changes over multiple preset periods, reflecting the voltage decay pattern of the battery. The voltage change can be determined by differentiating the voltage difference between adjacent periods with respect to time.

[0037] Specifically, after determining the voltage value obtained in each preset period, the voltage change can be determined by differentiating the voltage difference between adjacent periods with respect to time; after determining the voltage change in multiple preset periods, the average of the voltage change in multiple preset periods can be used as the historical average voltage change.

[0038] S130. Determine the theoretical recharge time based on the current voltage value, the warning voltage threshold, the recharge voltage threshold, and the historical average voltage change.

[0039] The theoretical charging time refers to the time it takes for the battery voltage to drop to the charging voltage threshold, based on the battery's discharge characteristics.

[0040] Specifically, based on the current voltage value and the warning voltage threshold, it can be determined whether the battery needs to be recharged immediately; it can also be determined whether the theoretical recharge time needs to be calculated based on the current voltage value and the warning voltage threshold. If the current voltage value is greater than or equal to the warning voltage threshold, it means that the current voltage value of the battery is high and the battery charge is high, so there is no need to recharge the battery. Then, the process returns to the steps of obtaining the battery voltage value at a preset period, as well as obtaining the warning voltage threshold, the recharge voltage threshold, and the planned task time of the autonomous vehicle. If the current voltage value is less than the warning voltage threshold but greater than or equal to the recharge voltage threshold, it means that the current voltage value of the battery is low and the battery charge is low. Then, based on the current voltage value, the warning voltage threshold, the recharge voltage threshold, and the historical average voltage change, the time it takes for the battery voltage value to drop to the recharge voltage threshold under natural discharge is calculated, and the theoretical recharge time is determined.

[0041] S140. Determine the actual power replenishment time based on the theoretical power replenishment time and the planned task time.

[0042] The actual charging time refers to the final determined time for the battery to be charged.

[0043] Specifically, based on the planned mission time of the autonomous vehicle, and assuming that the battery has sufficient power before the autonomous vehicle performs the mission, the theoretical charging time can be optimized and adjusted to ultimately determine the actual charging time.

[0044] S150 controls the high-voltage battery to recharge the storage battery during the actual recharge time.

[0045] Specifically, after determining the actual charging time, the high-voltage battery can be controlled to convert the high-voltage electricity into the low-voltage electricity required by the battery through the DC-DC converter at the actual charging time, thereby charging the battery. This allows the battery to be charged, avoiding ineffective charging and float charging, and improving the battery's service life.

[0046] This embodiment acquires the battery voltage value at preset intervals, as well as the warning voltage threshold, the replenishment voltage threshold, and the planned task time of the unmanned vehicle. Based on the voltage values ​​acquired at each preset interval, it determines the historical average voltage change. Based on the current voltage value, the warning voltage threshold, the replenishment voltage threshold, and the historical average voltage change, it determines the theoretical replenishment time. Based on the theoretical replenishment time and the planned task time, it determines the actual replenishment time, thereby controlling the high-voltage battery to replenish the battery at the actual replenishment time. This optimizes the battery replenishment time and improves the battery's service life.

[0047] Example 3 Figure 3This is a flowchart illustrating a method for replenishing the battery of an unmanned vehicle according to Embodiment 3 of the present invention. Based on the above embodiments, this embodiment provides a detailed explanation of the method for determining the theoretical replenishment time, such as... Figure 3 As shown, the battery charging method for this unmanned vehicle includes: S210: Obtain the battery voltage value at a preset cycle, as well as the warning voltage threshold, the charging voltage threshold, and the planned task time of the unmanned vehicle.

[0048] S220. Determine the historical average voltage change based on the voltage values ​​obtained in each preset period.

[0049] S230. When the current voltage value is less than the warning voltage threshold and greater than or equal to the supplementary voltage threshold, determine the voltage difference based on the current voltage value and the supplementary voltage threshold.

[0050] Specifically, when the current voltage value is less than the warning voltage threshold but greater than or equal to the replenishment voltage threshold, it indicates that the battery's charge is low. The difference between the current voltage value and the replenishment voltage threshold can be calculated to obtain the voltage difference, thereby determining the remaining discharge range of the battery and facilitating the subsequent calculation of the theoretical replenishment time.

[0051] S240. Determine the theoretical recharging time based on the voltage difference and the historical average voltage change.

[0052] Specifically, after determining the voltage difference and the historical average voltage change, the voltage difference can be divided by the historical average voltage change to calculate the theoretical power replenishment time.

[0053] S250. When the current voltage value is less than the compensation voltage threshold, the current moment is determined as the theoretical compensation time.

[0054] Specifically, when the current voltage value is lower than the charging voltage threshold, it indicates that the battery is not charged enough and the battery should be charged immediately. The current moment is determined as the theoretical charging time.

[0055] S260. When the current voltage value is greater than or equal to the warning voltage threshold, return to the steps of obtaining the battery voltage value at a preset cycle, as well as obtaining the warning voltage threshold, the charging voltage threshold, and the planned task time of the unmanned vehicle.

[0056] Specifically, when the current voltage value is greater than or equal to the warning voltage threshold, it indicates that the battery has sufficient power and there is no risk of depletion. In this case, the battery voltage value will continue to be obtained at the preset cycle, and no warning or recharging operation will be performed.

[0057] S270. Determine the actual power replenishment time based on the theoretical power replenishment time and the planned task time.

[0058] S280 controls the high-voltage battery to recharge the storage battery during the actual recharge time.

[0059] This embodiment determines the voltage difference based on the current voltage value and the replenishment voltage threshold when the current voltage value is less than the warning voltage threshold but greater than or equal to the replenishment voltage threshold. It then determines the theoretical replenishment time based on the voltage difference and the historical average voltage change. When the current voltage value is less than the replenishment voltage threshold, the current moment is determined as the theoretical replenishment time. When the current voltage value is greater than or equal to the warning voltage threshold, the process returns to the steps of obtaining the battery voltage value at a preset cycle, as well as obtaining the warning voltage threshold, the replenishment voltage threshold, and the planned task time of the unmanned vehicle. By combining the warning voltage threshold with the replenishment voltage threshold to determine the theoretical replenishment time of the battery, the prediction and warning capabilities of battery power are improved, the timing of replenishment is optimized, and the battery life is extended.

[0060] Example 4 Figure 4 This is a flowchart illustrating a method for replenishing the battery of an unmanned vehicle according to Embodiment 4 of the present invention. Based on the above embodiments, this embodiment provides a detailed explanation of the method for determining the actual replenishment time, such as... Figure 4 As shown, the battery charging method for this unmanned vehicle includes: S310: Obtain the battery voltage value at a preset cycle, as well as the warning voltage threshold, the charging voltage threshold, and the planned task time of the unmanned vehicle.

[0061] S320. Determine the current battery charge based on the current voltage value.

[0062] Specifically, after determining the current voltage value of the battery, the current battery level can be determined based on the mapping formula or table between the battery voltage value and the battery charge, which facilitates the subsequent determination of the actual charging time.

[0063] S330. Determine the historical average voltage change based on the voltage values ​​obtained in each preset period.

[0064] S340. Determine the theoretical recharge time based on the current voltage value, the warning voltage threshold, the recharge voltage threshold, and the historical average voltage change.

[0065] S350. When the theoretical power replenishment time is earlier than the planned task time, and the interval between the planned task time and the theoretical power replenishment time is greater than the preset power replenishment duration, the theoretical power replenishment time shall be determined as the actual power replenishment time.

[0066] The preset charging time refers to the time required for the battery to charge from its current charge level to a safe charge level. The safe charge level refers to the charge level of the battery when charging stops. For example, the safe charge level can be 95% of the battery's charge level.

[0067] Specifically, when the theoretical charging time is earlier than the planned task time, and the interval between the planned task time and the theoretical charging time is greater than the preset charging time, it means that the interval between the planned task time and the theoretical charging time is sufficient to complete the charging of the battery. Therefore, the theoretical charging time can be determined as the actual charging time to avoid charging in advance and causing energy waste.

[0068] For example, if the current time is 10:00 AM on the first day, the theoretical charging time is 6:00 AM on the second day, the planned task time is 9:00 AM on the second day, the preset charging duration is 2 hours, and the interval between the planned task time and the theoretical charging time is greater than the preset charging duration, then 6:00 AM on the second day can be determined as the actual charging time. The battery starts charging at 6:00 AM on the second day and completes charging at 8:00 AM on the second day, without affecting the planned task at 9:00 AM on the second day.

[0069] S360. When the planned task time is earlier than the theoretical charging time, and the current battery charge is less than or equal to the preset task power consumption, the first time will be determined as the actual charging time.

[0070] The first time is the time before the planned task time and the time between the planned task time and the preset power replenishment duration.

[0071] Specifically, if the planned task time is earlier than the theoretical recharge time, and the current battery charge is less than or equal to the preset task power consumption, it means that the battery charge is insufficient to support the autonomous vehicle to complete the next task. Therefore, the battery charge needs to be replenished to a safe charge before the next planned task begins.

[0072] For example, if the current time is 10:00 AM on the first day, the theoretical charging time is 6:00 AM on the second day, the planned task time is 3:00 AM on the second day, and the preset charging duration is 2 hours, the planned task time is earlier than the theoretical charging time. At this time, the battery charge may be 70%. The battery charge is less than or equal to the preset task power consumption. Therefore, the battery needs to be charged before 3:00 AM on the second day. Since the preset charging duration is 2 hours, the time between the battery charge and the planned task time can be determined as the preset charging duration, which is either 1:00 AM or 5:00 AM on the second day. Since the charging needs to be done before the planned task time, the first time is 1:00 AM on the second day. Therefore, 1:00 AM on the second day can be determined as the actual charging time. The battery starts charging at 1:00 AM on the second day and finishes charging at 3:00 AM on the second day to ensure that the battery has sufficient power when the autonomous vehicle performs the planned task.

[0073] S370. When the planned task time is earlier than the theoretical charging time, and the current battery charge is greater than the preset task power consumption, after the planned task is completed, return to execute the steps of obtaining the battery voltage value at a preset cycle, as well as obtaining the warning voltage threshold, the charging voltage threshold, and the planned task time of the unmanned vehicle.

[0074] Specifically, if the planned task time is earlier than the theoretical recharge time, and the current battery charge is greater than the preset task power consumption, it means that the battery charge is sufficient to complete the next task of the autonomous vehicle. The actual recharge time can be re-determined after the planned task is completed.

[0075] For example, if the current time is 10:00 AM on the first day, the theoretical charging time is 6:00 AM on the second day, and the planned task time is 2:00 PM on the first day, and the planned task time is earlier than the theoretical charging time, then the battery power is greater than the preset task power consumption, so the charging can be skipped and the actual charging time can be re-determined after the planned task is completed.

[0076] S380 controls the high-voltage battery to recharge the storage battery during the actual recharge time.

[0077] This embodiment determines the current battery charge based on the current voltage value. When the theoretical charging time is earlier than the planned task time, and the interval between the planned task time and the theoretical charging time is greater than the preset charging time, the theoretical charging time is determined as the actual charging time. When the planned task time is earlier than the theoretical charging time, and the current battery charge is less than or equal to the preset task power consumption, the first time is determined as the actual charging time. And when the planned task time is earlier than the theoretical charging time, and the current battery charge is greater than the preset task power consumption, after the planned task is completed, the process returns to the steps of obtaining the battery voltage value at a preset cycle, as well as obtaining the warning voltage threshold, the charging voltage threshold, and the planned task time of the unmanned vehicle, thereby realizing on-demand charging and improving the battery's service life.

[0078] Example 5 Figure 5 This is a flowchart illustrating a battery charging method for an unmanned vehicle according to Embodiment 5 of the present invention. Based on the above embodiments, this embodiment provides a detailed description of the battery charging method, such as... Figure 5 As shown, the battery charging method for this unmanned vehicle includes: S410: Obtain the battery voltage value at a preset cycle, as well as the warning voltage threshold, the charging voltage threshold, and the planned task time of the unmanned vehicle.

[0079] S420. Determine the historical average voltage change based on the voltage values ​​obtained in each preset period.

[0080] S430. Determine the theoretical recharge time based on the current voltage value, the warning voltage threshold, the recharge voltage threshold, and the historical average voltage change.

[0081] S440. Determine the actual power replenishment time based on the theoretical power replenishment time and the planned task time.

[0082] S450. Determine the health status of the battery based on the historical average voltage change.

[0083] Specifically, based on the historical average voltage change, the degree of battery degradation and aging level can be quantitatively assessed, thereby determining the current health status of the battery. The greater the historical average voltage change, the worse the battery's health status.

[0084] S460. Determine the safe voltage and charging current of the battery based on its health status.

[0085] The safe voltage value of a battery refers to the cutoff voltage at which the battery stops being charged. Maintaining the battery voltage at a safe value avoids the risk of overcharging and extends the battery's lifespan. For example, the safe voltage range for a 12V lead-acid battery is 12V-13.8V.

[0086] Specifically, after determining the battery's health status, the safe voltage and charging current can be determined based on that status. For example, for batteries in good health, the charging current can be increased to speed up the charging process; for batteries in poor health, the charging current can be reduced to avoid impacting the battery; for severely aged batteries with high internal resistance, the safe voltage can be increased to accommodate the additional voltage drop caused by the internal resistance, ensuring that the battery is charged with sufficient power.

[0087] S470 controls the high-voltage battery to replenish the battery with the replenishing current until the battery voltage reaches the safe voltage value.

[0088] Specifically, after determining the safe voltage value and charging current of the battery, the high-voltage battery can be controlled to charge the battery with a constant charging current, quickly increasing the battery voltage value until the battery voltage value reaches the safe voltage value, so as to avoid overcharging the battery.

[0089] S480. Adjust the charging current of the high-voltage battery to charge the storage battery, so as to control the voltage value of the storage battery to be maintained at a safe voltage value.

[0090] Specifically, once the battery voltage reaches a safe voltage level, the charging current can be dynamically reduced to maintain the battery voltage at a safe level, thereby offsetting the battery's self-discharge and ensuring it is in a healthy float charging state.

[0091] S490. When the adjusted compensation current is less than the preset current threshold, obtain the duration for which the compensation current is less than the preset current threshold in real time.

[0092] Specifically, when the adjusted charging current is less than the preset current threshold, it indicates that the battery has stabilized at a safe voltage value. Real-time monitoring of the duration the charging current remains below the preset threshold helps determine when to stop charging. For example, the preset current threshold could be 0.5A.

[0093] S4100: When the current duration reaches the first preset duration, control the high-voltage battery to stop replenishing the storage battery.

[0094] Specifically, when the current duration reaches the first preset duration, the high-voltage battery can be controlled to stop charging the storage battery to avoid overcharging and affecting the battery's lifespan.

[0095] This embodiment determines the battery's health status based on historical average voltage changes. Based on the battery's health status, it determines the battery's safe voltage and charging current, and controls the high-voltage battery to charge the battery with the charging current until the battery voltage reaches the safe voltage. The charging current of the high-voltage battery is adjusted to maintain the battery voltage at the safe value. When the adjusted charging current is less than a preset current threshold, the duration of this period is acquired in real time. When the current duration reaches a first preset duration, the high-voltage battery stops charging the battery, thereby improving the battery's charging efficiency and extending its lifespan.

[0096] Example 6 Figure 6 This is a flowchart illustrating a method for replenishing the battery of an unmanned vehicle according to Embodiment Six of the present invention. Based on the above embodiments, this embodiment provides a detailed description of the storage and acquisition methods for replenishment information, such as... Figure 6 As shown, the battery charging method for this unmanned vehicle includes: S510 acquires the battery voltage value at a preset cycle, as well as the warning voltage threshold, the charging voltage threshold, and the planned task time of the unmanned vehicle.

[0097] S520. Determine the historical average voltage change based on the voltage values ​​obtained in each preset period.

[0098] S530. Determine the theoretical recharge time based on the current voltage value, the warning voltage threshold, the recharge voltage threshold, and the historical average voltage change.

[0099] S540. Determine the actual power replenishment time based on the theoretical power replenishment time and the planned task time.

[0100] S550 controls the high-voltage battery to recharge the storage battery during the actual recharge time.

[0101] S560: When controlling the high-voltage battery to replenish the storage battery, it acquires the battery replenishment information in real time and uploads the replenishment information to the cloud platform for storage.

[0102] The charging information includes time information, voltage information, and temperature information. Voltage information refers to the battery's warning voltage threshold and charging voltage threshold; temperature information refers to the battery's temperature value; and time information is the time corresponding to the acquired voltage and temperature information, which allows us to determine how the battery's voltage and temperature change over time.

[0103] Specifically, when controlling the high-voltage battery to replenish the storage battery, the battery replenishment information is acquired in real time and uploaded to the cloud platform for storage via the vehicle-mounted T-Box. The cloud platform updates the preset cycle, warning voltage threshold and replenishment voltage threshold in real time based on the replenishment information.

[0104] For example, if the historical average voltage change is large based on voltage information, it indicates that the battery voltage decay rate is high, the battery health is poor, or there may be dark current, and the risk of battery depletion is high. If the battery is found to be in a low-temperature environment for a long time based on temperature information, it will lead to the decay of the battery's effective capacity and a decrease in the charging rate. Therefore, the warning voltage threshold and the charging voltage threshold can be increased, while the preset cycle can be shortened and the voltage detection frequency can be increased to avoid battery depletion.

[0105] S570: Obtain the preset cycle, warning voltage threshold, and replenishment voltage threshold updated by the cloud platform based on the replenishment information.

[0106] Specifically, the controller obtains the preset cycle, warning voltage threshold, and replenishment voltage threshold updated by the cloud platform based on the replenishment information, and determines the actual replenishment time according to the updated preset cycle, warning voltage threshold, and replenishment voltage threshold, so that the battery replenishment strategy is adapted to the battery health status and the accuracy of battery replenishment is improved.

[0107] This embodiment acquires battery charging information in real time when the high-voltage battery is charging the storage battery, and uploads the charging information to the cloud platform for storage. At the same time, it acquires the preset cycle, warning voltage threshold and charging voltage threshold updated by the cloud platform based on the charging information, so that the battery charging strategy is adapted to the battery health status and the accuracy of battery charging is improved.

[0108] Example 7 Figure 7This is a flowchart illustrating a method for replenishing the battery of an unmanned vehicle according to Embodiment 7 of the present invention. Based on the above embodiments, this embodiment provides a detailed description of the voltage calibration method, such as... Figure 7 As shown, the battery charging method for this unmanned vehicle includes: S610 acquires the battery voltage value at a preset cycle, as well as the warning voltage threshold, the charging voltage threshold, and the planned task time of the unmanned vehicle.

[0109] S620: Obtain the temperature of the battery.

[0110] Specifically, the temperature of the battery can be obtained through a temperature sensor.

[0111] S630: The voltage value is calibrated according to the battery temperature.

[0112] Specifically, after determining the battery temperature, the voltage value can be calibrated to the equivalent voltage at the standard temperature, thereby enabling a more accurate determination of the actual charging time.

[0113] For example, the voltage value is calibrated based on the battery voltage value, temperature compensation coefficient, battery temperature, and standard temperature, using a first calculation formula; the first calculation formula is: V compensated =V measured +K×(T measured- T ref ); Among them, V compensated The calibrated voltage value, V measured Where is the battery voltage, K is the temperature compensation coefficient, and T is the temperature value. measured For the temperature of the storage battery, T ref The standard temperature is used. The temperature compensation coefficient can be determined by the type of battery. For example, for lead-acid batteries, the temperature compensation coefficient is approximately -0.002V / ℃ to -0.005V / ℃, meaning that for every 1℃ increase in temperature, the battery voltage drops by approximately 2-5mV. If the estimated battery capacity does not match the actual capacity after calibrating the voltage value using the voltage compensation coefficient, the temperature compensation coefficient can be adjusted to improve calibration accuracy. The standard temperature can be 25℃. After determining the battery voltage value, temperature compensation coefficient, battery temperature, and standard temperature, these parameters can be substituted into the first calculation formula mentioned above to calibrate the voltage value to the equivalent voltage at the standard temperature, thereby enabling a more accurate determination of the actual charging time.

[0114] S640. Determine the historical average voltage change based on the voltage values ​​obtained in each preset period.

[0115] S650. Determine the theoretical recharge time based on the current voltage value, the warning voltage threshold, the recharge voltage threshold, and the historical average voltage change.

[0116] S660. Determine the actual power replenishment time based on the theoretical power replenishment time and the planned task time.

[0117] S670 controls the high-voltage battery to recharge the storage battery during the actual recharge time.

[0118] This embodiment obtains the temperature of the battery and calibrates the voltage value based on the battery temperature, eliminating the influence of temperature on the voltage value. This makes the battery voltage measurement result closer to the true voltage, and thus enables a more accurate determination of the actual charging time.

[0119] Example 8 Figure 8 This is a flowchart illustrating a method for replenishing the battery of an unmanned vehicle according to Embodiment 8 of the present invention. Based on the above embodiments, this embodiment provides a detailed description of the method for generating abnormal alert information, such as... Figure 8 As shown, the battery charging method for this unmanned vehicle includes: S710 acquires the battery voltage value at a preset cycle, as well as the warning voltage threshold, the charging voltage threshold, and the planned task time of the unmanned vehicle.

[0120] S720. Determine the current voltage change based on the current voltage value.

[0121] The current voltage change refers to the rate of change of battery voltage per unit time, which is used to characterize the rate at which the battery voltage value decreases.

[0122] Specifically, the current voltage change can be determined by differentiating the voltage difference between adjacent cycles with respect to time.

[0123] S730: When the current voltage change exceeds the voltage change threshold, generate an abnormal alert message.

[0124] Specifically, if the current voltage change is greater than the voltage change threshold, it indicates that the battery voltage is dropping at a rapid rate, and there may be an abnormal dark current in the battery. An abnormality alert message will be generated to remind technicians to troubleshoot the fault and prevent the battery from being damaged due to depletion.

[0125] S740. Determine the historical average voltage change based on the voltage values ​​obtained in each preset period.

[0126] S750: Determine the theoretical recharge time based on the current voltage value, the warning voltage threshold, the recharge voltage threshold, and the historical average voltage change.

[0127] S760. Determine the actual power replenishment time based on the theoretical power replenishment time and the planned task time.

[0128] S770 controls the high-voltage battery to recharge the storage battery during the actual recharge time.

[0129] This embodiment determines the current voltage change based on the current voltage value, and generates an abnormality alert when the current voltage change exceeds the voltage change threshold, thereby reminding technicians to troubleshoot the fault and prevent the battery from being damaged due to low charge.

[0130] Example 9 Figure 9 This is a schematic diagram of a battery charging device for an unmanned vehicle provided in an embodiment of the present invention. This device can be used to determine the battery charging time. The device can be implemented in software and / or hardware, and is generally integrated into the controller of the unmanned vehicle battery charging system, such as... Figure 9 As shown, the battery charging device for the unmanned vehicle includes: The information acquisition module 910 is used to acquire the battery voltage value at a preset cycle, as well as the warning voltage threshold, the charging voltage threshold, and the planned task time of the unmanned vehicle. The voltage change determination module 920 is used to determine the historical average voltage change based on the voltage value of each preset period. The first-time determination module 930 is used to determine the theoretical recharge time based on the current voltage value, the warning voltage threshold, the recharge voltage threshold, and the historical average voltage change. The second time determination module 940 is used to determine the actual power replenishment time based on the theoretical power replenishment time and the planned task time. The 950 charging module is used to control the high-voltage battery to charge the storage battery during the actual charging time.

[0131] Optionally, the first time determination module 930 includes a voltage difference determination unit and a first theoretical time determination unit; the voltage difference determination unit is used to determine the voltage difference based on the current voltage value and the supplementary voltage threshold when the current voltage value is less than the warning voltage threshold and greater than or equal to the supplementary voltage threshold; the first theoretical time determination unit is used to determine the theoretical supplementary time based on the voltage difference and the historical average voltage change.

[0132] Optionally, the first time determination module 930 further includes a second theoretical time determination unit; the second theoretical time determination unit is used to determine the current time as the theoretical compensation time when the current voltage value is less than the compensation voltage threshold.

[0133] Optionally, the first-time determination module 930 further includes a first-cycle execution unit; the first-cycle execution unit is used to return to the steps of obtaining the battery voltage value at a preset cycle, and obtaining the warning voltage threshold, the charging voltage threshold and the planned task time of the unmanned vehicle when the current voltage value is greater than or equal to the warning voltage threshold.

[0134] Optionally, the battery charging device for the unmanned vehicle also includes a power determination module; the power determination module is used to determine the current power of the battery based on the current voltage value; the second time determination module 950 includes a first actual time determination unit, a second actual time determination unit, and a second cycle execution unit; the first actual time determination unit is used to determine the theoretical charging time as the actual charging time when the theoretical charging time is earlier than the planned task time, and the interval between the planned task time and the theoretical charging time is greater than the preset charging time; the second actual time determination unit is used to determine the first time as the actual charging time when the planned task time is earlier than the theoretical charging time, and the current power of the battery is less than or equal to the preset task power consumption; the second cycle execution unit is used to, when the planned task time is earlier than the theoretical charging time, and the current power of the battery is greater than the preset task power consumption, return to execute the steps of obtaining the battery voltage value at a preset cycle, and obtaining the warning voltage threshold, the charging voltage threshold, and the planned task time of the unmanned vehicle after the planned task is completed.

[0135] Optionally, the charging module 950 includes a health status determination unit, a parameter determination unit, a first charging unit, a second charging unit, a time acquisition unit, and a stop charging unit. The health status determination unit is used to determine the health status of the battery based on the historical average voltage change. The parameter determination unit is used to determine the safe voltage value and charging current of the battery based on the battery's health status. The first charging unit is used to control the high-voltage battery to charge the battery with the charging current until the battery voltage reaches the safe voltage value. The second charging unit is used to adjust the charging current of the high-voltage battery to charge the battery, so as to control the battery voltage to be maintained at the safe voltage value. The time acquisition unit is used to acquire the duration for which the charging current is less than the preset current threshold in real time when the adjusted charging current is less than the preset current threshold. The stop charging unit is used to control the high-voltage battery to stop charging the battery when the current duration reaches a first preset duration.

[0136] Optionally, the battery charging device for the unmanned vehicle also includes a cloud storage module and an information update module; the cloud storage module is used to obtain the battery charging information in real time when controlling the high-voltage battery to charge the battery, and upload the charging information to the cloud platform for storage; the information update module is used to obtain the preset cycle, warning voltage threshold and charging voltage threshold updated by the cloud platform according to the charging information.

[0137] Optionally, the battery charging device for the autonomous vehicle also includes a temperature acquisition module and a voltage calibration module; the temperature acquisition module is used to acquire the temperature of the battery; the voltage calibration module is used to calibrate the voltage value according to the temperature of the battery.

[0138] Optionally, the battery charging device for the unmanned vehicle also includes a current voltage change determination module and an alarm module; the current voltage change determination module is used to determine the current voltage change based on the current voltage value; the alarm module is used to generate an abnormal reminder message when the current voltage change is greater than the voltage change threshold.

[0139] It is understood that, since the above-described unmanned vehicle battery charging device is capable of executing the unmanned vehicle battery charging method in the embodiments of the present invention, those skilled in the art can understand the specific implementation and various variations of the unmanned vehicle battery charging device in this embodiment based on the unmanned vehicle battery charging method described in the embodiments of the present invention. Therefore, how the unmanned vehicle battery charging device implements the unmanned vehicle battery charging method in the embodiments of the present invention will not be described in detail here. Any device used by those skilled in the art to implement the unmanned vehicle battery charging method in the embodiments of the present invention falls within the scope of protection of this application.

[0140] Example 10 This invention also provides a computer storage medium storing computer instructions. These instructions are used to cause a controller to execute the battery charging method for an unmanned vehicle according to any embodiment of this invention. Therefore, it possesses the beneficial effects of the corresponding battery charging method for unmanned vehicles. Similarities can be found in the above description, and will not be repeated here.

[0141] In the context of this invention, a computer storage medium can be a tangible medium that may contain or store computer programs for use by or in conjunction with an instruction execution system, apparatus, or device. The computer storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof.

[0142] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, combinations, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A method for replenishing the battery of an unmanned vehicle, characterized in that, include: The battery voltage value is obtained at a preset cycle, as well as the warning voltage threshold, the charging voltage threshold, and the planned task time of the unmanned vehicle. Based on the voltage values ​​obtained in each preset period, the historical average voltage change is determined; The theoretical recharge time is determined based on the current voltage value, the warning voltage threshold, the recharge voltage threshold, and the historical average voltage change. The actual power replenishment time is determined based on the theoretical power replenishment time and the planned task time. The high-voltage battery is controlled to recharge the storage battery during the actual recharge time.

2. The method for replenishing the battery of an unmanned vehicle according to claim 1, characterized in that, Based on the current voltage value, the warning voltage threshold, the replenishment voltage threshold, and the historical average voltage change, the theoretical replenishment time is determined, including: When the current voltage value is less than the warning voltage threshold and greater than or equal to the replenishment voltage threshold, the voltage difference is determined based on the current voltage value and the replenishment voltage threshold. The theoretical recharging time is determined based on the voltage difference and the historical average voltage change.

3. The method for replenishing the battery of an unmanned vehicle according to claim 2, characterized in that, Determining the theoretical recharging time based on the current voltage value, the warning voltage threshold, the recharging voltage threshold, and the historical average voltage change also includes: When the current voltage value is less than the replenishment voltage threshold, the current time is determined as the theoretical replenishment time.

4. The method for replenishing the battery of an unmanned vehicle according to claim 2, characterized in that, Determining the theoretical recharging time based on the current voltage value, the warning voltage threshold, the recharging voltage threshold, and the historical average voltage change also includes: When the current voltage value is greater than or equal to the warning voltage threshold, return to the steps of obtaining the battery voltage value at a preset period, as well as obtaining the warning voltage threshold, the charging voltage threshold, and the planned task time of the unmanned vehicle.

5. The method for replenishing the battery of an unmanned vehicle according to claim 1, characterized in that, Also includes: Based on the current voltage value, determine the current charge level of the battery; Based on the theoretical power replenishment time and the planned task time, the actual power replenishment time is determined, including: When the theoretical power replenishment time is earlier than the planned task time, and the interval between the planned task time and the theoretical power replenishment time is greater than the preset power replenishment duration, the theoretical power replenishment time is determined as the actual power replenishment time. When the planned task time is earlier than the theoretical charging time, and the current battery power is greater than the preset task power consumption, after the planned task is completed, return to the steps of obtaining the battery voltage value at a preset period, as well as obtaining the warning voltage threshold, the charging voltage threshold and the planned task time of the unmanned vehicle. When the planned task time is earlier than the theoretical charging time, and the current battery power is less than or equal to the preset task power consumption, the first time is determined as the actual charging time; wherein, the first time is the time before the planned task time and the difference between the first time and the planned task time is the preset charging duration.

6. The method for replenishing the battery of an unmanned vehicle according to claim 1, characterized in that, Controlling the high-voltage battery to recharge the storage battery during the actual recharging time includes: The health status of the battery is determined based on the historical average voltage change. Based on the health status of the battery, determine the safe voltage value and the charging current of the battery; The high-voltage battery is controlled to replenish the storage battery with the replenishing current until the voltage value of the storage battery reaches the safe voltage value; Adjust the charging current of the high-voltage battery to charge the storage battery, so as to control the voltage value of the storage battery to be maintained at the safe voltage value; When the adjusted replenishing current is less than a preset current threshold, the duration for which the replenishing current is less than the preset current threshold is obtained in real time. When the current duration reaches the first preset duration, the high-voltage battery is controlled to stop replenishing the storage battery.

7. The method for replenishing the battery of an unmanned vehicle according to claim 1, characterized in that, Also includes: When controlling the high-voltage battery to replenish the storage battery, the battery replenishment information is acquired in real time and uploaded to the cloud platform for storage; wherein, the replenishment information includes: time information, voltage information and temperature information.

8. The method for replenishing the battery of an unmanned vehicle according to claim 7, characterized in that, Also includes: The preset period, the warning voltage threshold, and the replenishment voltage threshold are obtained from the cloud platform based on the replenishment information.

9. The method for replenishing the battery of an unmanned vehicle according to claim 1, characterized in that, Before determining the historical average voltage change based on the voltage values ​​obtained from each preset period, the process also includes: Obtain the temperature of the battery; The voltage value is calibrated based on the temperature of the battery.

10. The method for replenishing the battery of an unmanned vehicle according to claim 1, characterized in that, Also includes: Based on the current voltage value, determine the current voltage change. When the current voltage change exceeds the voltage change threshold, an abnormality alert is generated.

11. A charging device for an unmanned vehicle battery, characterized in that, include: The information acquisition module is used to acquire the battery voltage value at a preset cycle, as well as the warning voltage threshold, the charging voltage threshold, and the planned task time of the unmanned vehicle. The voltage change determination module is used to determine the historical average voltage change based on the voltage value of each preset period. The first-time determination module is used to determine the theoretical replenishment time based on the current voltage value, the warning voltage threshold, the replenishment voltage threshold, and the historical average voltage change. The second time determination module is used to determine the actual power replenishment time based on the theoretical power replenishment time and the planned task time. The charging module is used to control the high-voltage battery to charge the storage battery during the actual charging time.

12. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which are used to cause the controller to implement the battery charging method for the unmanned vehicle as described in any one of claims 1-10.

13. A battery charging system for an unmanned vehicle, characterized in that, include: Storage batteries, high-voltage batteries, voltage detection units, and controllers; The controller is connected to the storage battery, the high-voltage battery and the voltage detection unit respectively. The voltage detection unit is connected to the storage battery and the high-voltage battery is connected to the storage battery. The controller is used to wake up the voltage detection unit at a preset period to collect the voltage value of the battery, and to execute the battery charging method for unmanned vehicles according to any one of claims 1-10.

14. The battery charging system for unmanned vehicles according to claim 13, characterized in that, The voltage detection unit includes an analog-to-digital converter; the charging and discharging terminals of the battery are provided with voltage dividing resistors; The analog-to-digital converter is connected in parallel with the voltage divider resistor to the charging and discharging terminals of the battery; the analog-to-digital converter is used to determine the voltage value of the battery based on the analog voltage value of the voltage divider resistor.

Images