A cleaning robot charging protection method and device

Abstract

The present invention relates to a charging protection method and device for a sweeping robot, which belongs to the field of sweeping robots and provides charging protection for the sweeping robot to prevent safety problems caused by overcharging. The charging protection method of the present invention determines that the battery is full, drives the driving wheel of the sweeping robot to move relative to a ground charging seat, and separates the positive and negative electrodes of the charging terminal of the sweeping robot from the positive and negative electrodes of the ground charging seat, thereby achieving charging protection. The present invention drives the driving wheel of the sweeping robot to move relative to the charger, so that the charging terminal at the bottom of the sweeping robot is physically isolated from the charging part on the charging seat, thereby preventing overcharging failures and greatly improving the safety of charging.

Description

Technical Field

[0001] The present invention relates to the technical field of sweeping robots, and in particular to a sweeping robot charging protection method and device. Background Art

[0002] When charging an existing sweeping robot, the charging terminal at the bottom contacts the charging portion on the charging base, thereby charging the power supply component in the sweeping robot. When the power supply component is fully charged, the power supply component stops receiving input power under the control of the control command. However, if there is a problem with the control command, the power supply component continues to receive power, causing the power supply component to be unable to withstand excessive power and malfunction, or even cause an explosion. Summary of the invention

[0003] In view of the above analysis, the present invention aims to provide a charging protection method and device for a sweeping robot, so as to realize charging protection of the sweeping robot and prevent problems caused by overcharging.

[0004] The purpose of the present invention is mainly achieved through the following technical solutions:

[0005] A cleaning robot charging protection method comprises: after confirming that the positive and negative electrodes of the charging terminal of the cleaning robot are connected to the positive and negative electrodes of the charging base, detecting whether the battery of the cleaning robot is fully charged;

[0006] When the battery is fully charged, the positive and negative electrodes of the charging terminal of the sweeping robot are controlled to separate from the positive and negative electrodes of the charging base; the separation is achieved by driving the driving wheels of the sweeping robot to move relative to the charging base.

[0007] Furthermore, while controlling the positive and negative electrodes of the charging terminal of the sweeping robot to separate from the positive and negative electrodes of the charging base, the charging circuit of the battery is controlled to be disconnected.

[0008] Furthermore, the driving wheel of the cleaning robot is provided with electric energy through the separation capacitor, so as to control the positive and negative electrodes of the charging terminal of the cleaning robot to be separated from the positive and negative electrodes of the charging base;

[0009] The separation capacitor is charged during the battery charging process; when it is detected that the battery is full, the separation capacitor is discharged, driving the driving wheel of the sweeping robot to rotate, so that the sweeping robot moves relative to the charging base; when the separation capacitor is discharged, the sweeping robot stops moving.

[0010] Furthermore, the capacitance of the separation capacitor is limited, and its capacitance ensures that the positive and negative electrodes of the charging terminal of the sweeping robot are separated from the positive and negative electrodes of the charging base, and the movement does not exceed a preset distance.

[0011] Furthermore, when the separation capacitor is discharged, if it is still detected that the positive and negative plates of the charging terminal of the sweeping robot are not separated from the positive and negative plates of the charging base, the sweeping robot will issue a non-separation alarm.

[0012] Furthermore, when the positive and negative electrodes of the charging terminal of the sweeping robot are normally connected to the positive and negative electrodes of the charging base, and the battery is not fully charged, the battery is charged and whether the battery is fully charged is continuously detected.

[0013] A cleaning robot charging protection device, comprising: a charging connection detection module, a battery power monitoring module and a separation drive module;

[0014] The charging connection detection module is connected to the positive and negative electrodes of the charging terminal of the sweeping robot, and is used to detect whether the positive and negative electrodes of the charging terminal of the sweeping robot are connected to the positive and negative electrodes of the charging base;

[0015] The battery power monitoring module is connected to the positive and negative electrodes of the battery of the sweeping robot to detect whether the battery is fully charged;

[0016] The separation drive module is connected to the battery power monitoring module. When the charging connection detection module detects that the positive and negative plates of the charging terminal of the sweeping robot are connected to the positive and negative plates of the charging base, and the detection result of the battery power monitoring module is that the battery is fully charged, the battery power monitoring module outputs a control signal to the separation drive module, controls the separation drive module to output a control signal to drive the driving wheel motor of the sweeping robot, controls the motor to rotate, and moves the driving wheel relative to the charging base.

[0017] Furthermore, it also includes a charging control module, which is connected to the charging connection detection module and the battery power monitoring module. When the detection result of the charging connection detection module is that the positive and negative electrodes of the charging terminal of the sweeping robot are connected to the positive and negative electrodes of the charging base, and the detection result of the battery power monitoring module is that the battery is not fully charged, the output control signal makes the charging circuit of the battery conductive, and the external power supply charges the battery through the connected positive and negative electrodes of the charging terminal of the sweeping robot and the positive and negative electrodes of the charging base.

[0018] Furthermore, when the detection result of the battery power monitoring module is that the battery is fully charged, the battery power monitoring module feeds back a control signal to the charging control module, and controls the charging control module to output a control signal to disconnect the charging circuit of the battery.

[0019] Furthermore, a separation capacitor is included, wherein the positive and negative electrodes of the separation capacitor are respectively connected to the positive and negative electrodes of the charging terminal of the sweeping robot, and are used to charge the separation capacitor during the battery charging process;

[0020] The positive electrode of the separation capacitor, the separation drive module, the drive motor, and the negative electrode of the separation capacitor form a discharge circuit; when the battery is fully charged, the separation drive module is controlled to conduct the discharge circuit, the separation capacitor discharges, the drive motor rotates, and the drive wheels of the sweeping robot are driven to move relative to the charging base.

[0021] Furthermore, the discharge circuit also includes an isolation diode, the cathode of the isolation diode is connected to the anode of the drive motor, the anode of the isolation diode is connected to the source of the separation switch tube included in the separation drive module, the drain of the separation switch tube is connected to the anode of the separation capacitor, and the gate of the separation switch tube is connected to the battery power monitoring module.

[0022] Furthermore, it also includes an alarm circuit, which is respectively connected to the separation capacitor and the charging connection detection module, and is used to detect and alarm when the positive and negative electrodes of the charging terminal of the sweeping robot are not separated from the positive and negative electrodes of the charging base. The alarm condition is that it is detected that the discharge of the separation capacitor has ended, and the charging connection detection module detects that the positive and negative electrodes of the charging terminal of the sweeping robot are still connected to the positive and negative electrodes of the charging base.

[0023] The present invention can achieve at least one of the following beneficial effects:

[0024] 1) After being fully charged, the driving wheels of the sweeping robot are driven to move relative to the charger so that the charging terminal at the bottom of the sweeping robot does not contact the charging part on the charging base, thereby avoiding malfunctions or even explosions due to overcharging.

[0025] 2) If separation is not achieved after full charging, an alarm is issued to remind the user that the sweeping robot has been charged but has not been separated from the charging base. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings are only for the purpose of illustrating specific embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0027] Figure 1 This is a flow chart of the cleaning robot charging protection method in the first embodiment;

[0028] Figure 2 This is a schematic diagram of the connection components of the cleaning robot charging protection device in the second embodiment;

[0029] Figure 3 This is a schematic diagram of the connection components of the cleaning robot charging protection device in the third embodiment;

[0030] Figure 4 This is a schematic diagram of the connection of the charging control components in the third embodiment. DETAILED DESCRIPTION

[0031] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used to illustrate the principles of the present invention together with the embodiments of the present invention.

[0032] Embodiment 1

[0033] The embodiment of the present invention discloses a charging protection method for a sweeping robot. Figure 1 As shown, the following steps are included:

[0034] Step S101, detecting whether the positive and negative electrodes of the charging terminal of the sweeping robot are connected to the positive and negative electrodes of the charging base, and whether the battery of the sweeping robot is fully charged;

[0035] Step S102: When the positive and negative electrodes of the charging terminal of the sweeping robot are properly connected to the positive and negative electrodes of the charging base, and the battery is not fully charged, the battery is charged and the battery is continuously checked to see if it is fully charged.

[0036] Step S103, when the battery is fully charged, the positive and negative electrodes of the charging terminal of the sweeping robot are controlled to separate from the positive and negative electrodes of the charging base; the separation is achieved by driving the driving wheels of the sweeping robot to move relative to the charging base.

[0037] After charging is completed, the cleaning robot is moved relative to the charging base to physically cut off the connection between the positive and negative electrodes of the charging terminal of the cleaning robot and the positive and negative electrodes of the charging base, thereby ensuring that there will be no malfunction due to overcharging.

[0038] Preferably, in order to prevent the sweeping robot from not moving relative to the charging base after charging is completed, the sweeping robot is still charged; while controlling the positive and negative electrodes of the charging terminal of the sweeping robot to separate from the positive and negative electrodes of the charging base, the charging circuit of the battery is controlled to be disconnected to stop charging the battery.

[0039] In order to avoid the power loss and increase of control complexity caused by using the battery of the sweeping robot to drive the driving wheel of the sweeping robot during the separation process, a separation capacitor is introduced to provide power for driving the driving wheel of the sweeping robot so that the positive and negative electrodes of the charging terminal of the sweeping robot are separated from the positive and negative electrodes of the charging base;

[0040] Specifically, the separation capacitor is charged during the battery charging process of the sweeping robot; when it is detected that the battery is full, the separation capacitor is controlled to discharge, power is supplied to the driving wheels of the sweeping robot, and the sweeping robot is driven to move relative to the charging base; when the separation capacitor is discharged, the sweeping robot naturally stops moving.

[0041] Preferably, in order to prevent the sweeping robot from walking aimlessly after charging, the capacitance of the separation capacitor is limited, and its capacitance ensures that the positive and negative electrodes of the charging terminal of the sweeping robot are separated from the positive and negative electrodes of the charging base, and do not move more than a preset distance. The preset distance can be set according to specific requirements, such as a distance of 0.5 to 1 robot body length.

[0042] In order to prevent the driving wheel from being unable to drive the sweeping robot to separate from the charging base due to obstruction or other reasons, preferably, after the separation capacitor is discharged, it is detected whether the positive and negative plates of the charging end of the sweeping robot are separated from the positive and negative plates of the charging base. If not separated, the sweeping robot will issue a non-separation alarm to notify the user to check the reason for not separating from the charging base to prevent the occurrence of malfunctions.

[0043] Embodiment 2

[0044] This embodiment discloses a cleaning robot charging protection device. Figure 2 As shown, it includes: a charging connection detection module, a battery power monitoring module, a charging control module and a separation drive module;

[0045] The charging connection detection module is connected to the positive and negative electrodes of the charging terminal of the sweeping robot, and is used to detect whether the positive and negative electrodes of the charging terminal of the sweeping robot are connected to the positive and negative electrodes of the charging base; and outputs a detection signal to the charging control module;

[0046] The battery power monitoring module is connected to the positive and negative electrodes of the battery of the sweeping robot to detect whether the battery is fully charged; and outputs a detection signal to the charging control module;

[0047] The charging control module is connected to the charging connection detection module and the battery power monitoring module. When the detection result of the charging connection detection module is that the positive and negative electrodes of the charging terminal of the sweeping robot are normally connected to the positive and negative electrodes of the charging stand; and the detection result of the battery power monitoring module is that the battery is not fully charged, a control signal is output to turn on the charging circuit of the battery, that is, the charging switch tube T1 is turned on, and the external power supply charges the battery through the connected positive and negative electrodes of the charging terminal of the sweeping robot and the positive and negative electrodes of the charging stand;

[0048] The separation drive module is connected to the battery power monitoring module and the charging connection detection module respectively. When the detection result of the battery power monitoring module is that the battery is fully charged, and the charging connection detection module detects that the positive and negative electrodes of the charging terminal of the sweeping robot are connected to the positive and negative electrodes of the charging base, a control signal is output to the separation drive module to control the separation drive module to output a control signal to the driving wheel motor that drives the sweeping robot, control the motor to rotate, and move the driving wheel relative to the charging base.

[0049] Preferably, in order to prevent the sweeping robot from moving relative to the charging base after charging is completed, the sweeping robot is still charged; when the detection result of the battery power monitoring module is that the battery is fully charged, the battery power monitoring module feeds back a control signal to the charging control module, and controls the charging control module to output a control signal to disconnect the charging circuit of the battery, that is, the charging switch tube T1 is disconnected.

[0050] Preferably, in order to avoid the power loss and increase of control complexity caused by using the battery of the sweeping robot to drive the driving wheel of the sweeping robot during the separation process, the charging protection device in this embodiment introduces a separation capacitor to provide power for driving the driving wheel of the sweeping robot so that the positive and negative plates of the charging terminal of the sweeping robot are separated from the positive and negative plates of the charging base;

[0051] The positive and negative electrodes of the separation capacitor are connected to the positive and negative electrodes of the charging terminal of the sweeping robot, so as to charge the separation capacitor during the battery charging process;

[0052] The positive electrode of the separation capacitor, the separation drive module, the drive motor, and the negative electrode of the separation capacitor form a discharge circuit; when the battery is fully charged, the separation drive module controls the discharge circuit to be connected, the separation capacitor is discharged, the drive motor rotates, and the drive wheel of the sweeping robot is driven to move relative to the charging base.

[0053] The separation drive module includes a separation switch tube T2, which is controlled by a battery power monitoring module. When the detection result of the battery power monitoring module is that the battery is fully charged, the battery power monitoring module feeds back a control signal to the separation drive module switch to close, and the separation capacitor supplies power to the drive motor through the separation switch.

[0054] Preferably, in order to prevent the battery from charging the separation capacitor through the positive electrode of the drive motor when powering the drive motor during the normal operation of the sweeping robot, the discharge circuit also includes an isolation diode, the cathode of the isolation diode is connected to the positive electrode of the drive motor, and the anode of the isolation diode is connected to the separation switch tube T2. Even if the separation switch tube T2 is turned on, the battery cannot charge the separation capacitor.

[0055] Furthermore, it also includes an alarm circuit, which is connected to the separation capacitor and the charging connection detection module respectively, and is used to detect that the positive and negative plates of the charging terminal of the sweeping robot are not separated from the positive and negative plates of the charging base, and the alarm condition is that the separation capacitor is detected to have finished discharging, and the charging connection detection module detects that the positive and negative plates of the charging terminal of the sweeping robot are still connected to the positive and negative plates of the charging base. The alarm circuit can alarm in a single way or in a combination of multiple ways, such as sound, light, and electricity, and the specific circuit can adopt a mature alarm circuit.

[0056] Embodiment 3

[0057] This embodiment discloses a cleaning robot charging protection device. Figure 3 As shown, it includes: a battery power monitoring component and a separation drive component;

[0058] Among them, the battery power monitoring component is connected to the positive and negative electrodes of the battery of the sweeping robot to detect whether the battery is fully charged; when the battery is fully charged, the battery power monitoring component outputs a high level; when the battery is not fully charged, the battery power monitoring component outputs a low level;

[0059] The separation drive component is connected to the battery power monitoring component. When the detection result of the battery power monitoring component is that the battery is fully charged, that is, when it outputs a high level, the separation drive component outputs a control signal to drive the driving wheel motor of the sweeping robot, controls the motor to rotate, and moves the driving wheel relative to the charging base.

[0060] Preferably, the battery power monitoring component includes resistors R1, R2, R3, R4 and MIC833, R1, R2 and R3 are connected in series between the positive and negative electrodes of the battery, the connection end between R1 and R2 is connected to pin 3 of MIC833, the connection end between R2 and R3 is connected to pin 1 of MIC833, pin 4 of MIC833 is the output end, and the pull-up resistor R4 is connected between the power supply VCC of MIC833 and pin 4 of MIC833; pin 2 of MIC833 is grounded, and pin 5 is connected to VCC; when the battery is fully charged, the sampling voltage of pin 1 of MIC833 is higher than the reference voltage inside MIC833, and pin 4 of MIC833 outputs a high level; when the battery is not fully charged, the sampling voltage of pin 1 of MIC833 is lower than the reference voltage inside MIC833, and pin 4 of MIC833 outputs a low level.

[0061] Preferably, the present embodiment further includes a charging connection detection component; the charging connection detection component is connected to the positive and negative electrodes of the charging terminal of the sweeping robot, and is used to detect whether the positive and negative electrodes of the charging terminal of the sweeping robot are connected to the positive and negative electrodes of the charging base.

[0062] More specifically, the charging connection detection component includes resistors R5 and R6, which are connected in series between the positive and negative electrodes of the charging terminal of the sweeping robot, and the connection end between the resistors R5 and R6 serves as the output end of the charging connection detection component.

[0063] By adjusting the voltage divider ratio of resistors R5 and R6, when the positive and negative electrodes of the charging terminal of the sweeping robot are connected to the positive and negative electrodes of the charging base, a voltage value that meets the high level requirement of the digital circuit is output at the output end of the charging connection detection component.

[0064] Preferably, the present embodiment further comprises a charging control component; the charging control component is connected to the charging connection detection component and the battery power monitoring component,

[0065] When the detection result of the charging connection detection component is that the positive and negative plates of the charging terminal of the sweeping robot are normally connected to the positive and negative plates of the charging base, and the detection result of the battery power monitoring component is that the battery is not fully charged, the output control signal makes the battery charging circuit conductive; when the detection result of the battery power monitoring component is that the battery is fully charged, the charging control component outputs a control signal to disconnect the battery charging circuit.

[0066] Preferably, this embodiment also includes a charging circuit switch tube T1, the drain and source of the switch tube T1 are connected in the charging circuit of the battery, between the negative electrode of the charging end of the sweeping robot and the positive electrode of the battery, and the gate of the switch tube T1 is connected to the output end of the charging control component; the gate of the switch tube T1 receives the control signal output by the charging control component, controls the on or off state of the drain and source of the switch tube T1, so as to control the on and off state of the battery charging circuit.

[0067] More preferably, Figure 4 As shown, the charging control component includes a two-input AND gate D1 and a NOT gate D2; one input end of the AND gate D1 is connected to the output end of the charging connection detection component, the other output end of the AND gate D1 is connected to the output end of the NOT gate D2, and the input end of the NOT gate D2 is connected to the output end of the battery power monitoring component; the output end of the AND gate D1 is connected to the gate of the switch tube T1;

[0068] When the positive and negative electrodes of the charging terminal of the sweeping robot are connected to the positive and negative electrodes of the charging base, the charging connection detection component outputs a high level to the input of the AND gate D1; when the battery is not fully charged, the battery power monitoring component outputs a low level to the input of the NOT gate D2, and after being inverted by the NOT gate, it outputs a high level to the other input of the AND gate D1. When both inputs of the AND gate D1 are high, the AND gate D1 outputs a high level to the gate of the switch tube T1, turning on the switch tube T1, turning on the battery charging circuit, and the external power supply charges the battery through the switch tube T1;

[0069] When the battery is fully charged, the battery power monitoring component outputs a high level to the input of the NOT gate D2. After being reversed by the NOT gate, it outputs a low level to the other input of the AND gate D1. When one input of the AND gate D1 is high and the other input is low, the AND gate D1 outputs a low level to the gate of the switch tube T1, turning off the switch tube T1, thereby disconnecting the battery charging circuit and stopping charging.

[0070] Preferably, a separation capacitor is also included; the positive and negative electrodes of the separation capacitor are respectively connected to the positive and negative electrodes of the charging terminal of the sweeping robot, so as to charge the separation capacitor during the battery charging process;

[0071] The positive electrode of the separation capacitor, the separation drive component, the drive motor, and the negative electrode of the separation capacitor form a discharge circuit; when the battery is fully charged, the separation drive component is controlled to conduct the discharge circuit, the separation capacitor is discharged, the drive motor rotates, and the drive wheels of the sweeping robot are driven to move relative to the charging base.

[0072] Specifically, the separation drive component includes a separation switch tube T2, the drain and source of the switch tube T2 are connected to the discharge circuit of the separation capacitor, and the gate of the switch tube T2 is connected to the output end of the battery power monitoring component; when the battery is fully charged, the battery power monitoring component outputs a high level to the gate of the switch tube T2, so that the drain and source of the switch tube T2 are turned on, and the separation capacitor supplies power to the drive motor through the drain and source of the switch tube T2, driving the motor to rotate.

[0073] More preferably, in order to prevent the normal operation of the sweeping robot, when the battery supplies power to the drive motor, the electricity is used to charge the separation capacitor through the positive electrode of the drive motor. The discharge circuit also includes an isolation diode, the cathode of the isolation diode is connected to the positive electrode of the drive motor, and the anode of the isolation diode is connected to the separation switch tube T2. Even if the separation switch tube T2 is turned on, the battery cannot charge the separation capacitor due to the unidirectional conductivity of the isolation diode.

[0074] Furthermore, it also includes an alarm circuit, which is connected to the separation capacitor, detects the voltage value of the separation capacitor, and is respectively connected to the charging connection detection component to detect whether the positive and negative plates of the charging terminal of the sweeping robot are connected to the positive and negative plates of the charging seat; when the voltage value of the separation capacitor is detected to be lower than the set threshold, it is determined that the separation capacitor has finished discharging, and the charging connection detection component still outputs a high level, that is, the positive and negative plates of the charging terminal of the sweeping robot are still connected to the positive and negative plates of the charging seat, then an alarm is issued. The alarm circuit can alarm in a single way or in a combination of sound, light, and electricity, and the specific circuit can adopt a mature alarm circuit.

[0075] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A cleaning robot charging protection method, characterized in that: include: After confirming that the positive and negative electrodes of the charging terminal of the sweeping robot are connected to the positive and negative electrodes of the charging base, check whether the battery of the sweeping robot is fully charged; When the battery is fully charged, the positive and negative electrodes of the charging terminal of the sweeping robot are controlled to separate from the positive and negative electrodes of the charging base; the separation is achieved by driving the driving wheels of the sweeping robot to move relative to the charging base; Providing electric energy to the driving wheels of the sweeping robot through the separation capacitor to control the positive and negative electrodes of the charging terminal of the sweeping robot to separate from the positive and negative electrodes of the charging base; The separation capacitor is charged during the battery charging process; when it is detected that the battery is fully charged, the separation capacitor is discharged to drive the driving wheel of the sweeping robot to rotate, so that the sweeping robot moves relative to the charging base; when the separation capacitor is discharged, the sweeping robot stops moving; The capacitance of the separation capacitor is limited, and its capacitance ensures that the positive and negative electrodes of the charging terminal of the sweeping robot are separated from the positive and negative electrodes of the charging base, and the movement does not exceed a preset distance.

2. The charging protection method according to claim 1, characterized in that: While controlling the positive and negative electrodes of the charging terminal of the sweeping robot to separate from the positive and negative electrodes of the charging base, the charging circuit of the battery is controlled to be disconnected.

3. The charging protection method according to claim 1, characterized in that: When the separation capacitor is discharged, if it is still detected that the positive and negative electrodes of the charging terminal of the cleaning robot are not separated from the positive and negative electrodes of the charging base, the cleaning robot will issue a non-separation alarm.

4. The charging protection method according to any one of claims 1 to 3, characterized in that: When the positive and negative electrodes of the charging terminal of the sweeping robot are properly connected to the positive and negative electrodes of the charging base, and the battery is not fully charged, the battery is charged and whether the battery is fully charged is continuously detected.

5. A cleaning robot charging protection device, characterized in that: include: Charging connection detection module, battery capacity monitoring module and separation drive module; The charging connection detection module is connected to the positive and negative electrodes of the charging terminal of the sweeping robot, and is used to detect whether the positive and negative electrodes of the charging terminal of the sweeping robot are connected to the positive and negative electrodes of the charging base; The battery power monitoring module is connected to the positive and negative electrodes of the battery of the sweeping robot to detect whether the battery is fully charged; The separation drive module is connected to the battery power monitoring module. When the positive and negative electrodes of the charging terminal of the sweeping robot are connected to the positive and negative electrodes of the charging base, and the detection result of the battery power monitoring module is that the battery is fully charged, the battery power monitoring module outputs a control signal to the separation drive module, controls the separation drive module to output a control signal to drive the driving wheel motor of the sweeping robot, controls the motor to rotate, and moves the driving wheel relative to the charging base; It also includes a separation capacitor, the positive and negative electrodes of which are respectively connected to the positive and negative electrodes of the charging terminal of the sweeping robot, so as to charge the separation capacitor during the battery charging process; The positive electrode of the separation capacitor, the separation drive module, the drive motor, and the negative electrode of the separation capacitor form a discharge circuit; when the battery is fully charged, the separation drive module is controlled to conduct the discharge circuit, the separation capacitor is discharged, the drive motor rotates, and the drive wheel of the sweeping robot is driven to move relative to the charging base; The capacitance of the separation capacitor is limited, and its capacitance ensures that the positive and negative electrodes of the charging terminal of the sweeping robot are separated from the positive and negative electrodes of the charging base, and the movement does not exceed a preset distance.

6. The cleaning robot charging protection device according to claim 5, characterized in that: It also includes a charging control module, which is connected to the charging connection detection module and the battery power monitoring module. When the detection result of the charging connection detection module is that the positive and negative electrodes of the charging terminal of the sweeping robot are connected to the positive and negative electrodes of the charging base, and the detection result of the battery power monitoring module is that the battery is not fully charged, the output control signal makes the charging circuit of the battery conductive, and the external power supply charges the battery through the connected positive and negative electrodes of the charging terminal of the sweeping robot and the positive and negative electrodes of the charging base.

7. The charging protection device according to claim 6, characterized in that: When the detection result of the battery power monitoring module is that the battery is fully charged, the battery power monitoring module feeds back a control signal to the charging control module, and controls the charging control module to output a control signal to disconnect the charging circuit of the battery.

8. The charging protection device according to claim 5, characterized in that: The discharge circuit also includes an isolation diode, the cathode of the isolation diode is connected to the anode of the drive motor, the anode of the isolation diode is connected to the source of the separation switch tube included in the separation drive module, the drain of the separation switch tube is connected to the anode of the separation capacitor, and the gate of the separation switch tube is connected to the battery power monitoring module.

9. The charging protection device according to claim 6, characterized in that: It also includes an alarm circuit, which is respectively connected to the separation capacitor and the charging connection detection module, and is used to detect that the positive and negative electrodes of the charging terminal of the sweeping robot are not separated from the positive and negative electrodes of the charging base, and the alarm condition is that it is detected that the discharge of the separation capacitor has ended, and the charging connection detection module detects that the positive and negative electrodes of the charging terminal of the sweeping robot are still connected to the positive and negative electrodes of the charging base.

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