A power supply circuit module, window cleaning robot and control method

Abstract

The application discloses a power supply circuit module, a window cleaning robot and a control method. The power supply circuit module comprises a controller, a charging circuit, a selection switch, a battery, a current feedback control voltage output circuit and a current detection circuit. The controller is used for controlling each module to perform corresponding work. The charging circuit is used for receiving the power of an external adapter to charge the battery through the selection switch. The current detection circuit is used for detecting the current output to an external working unit and sending the detection value to the current feedback control voltage output circuit and the controller. The current feedback control voltage output circuit is used for adjusting the output voltage of the battery, so that the battery and the external adapter are connected in parallel to supply power to the external working unit. Through parallel power supply of the adapter and the battery, the power demand of the robot on the adapter is reduced, and the overall cost of the robot is reduced.

Description

Technical Field

[0001] This invention relates to the field of intelligent robot technology, specifically to a power supply circuit module, a window cleaning robot, and a control method. Background Technology

[0002] For window cleaning robots, because they need to adhere to the glass using vacuum motors and overcome gravity to move, the power input requirements are relatively high. Therefore, window cleaning robots generally require adapters with relatively high output current. The output voltage of the adapters is 24V or below, and the output current needs to be greater than or equal to 3.75A, with some adapters even requiring 5A. In reality, however, window cleaning robots only consume a significant amount of current when climbing or standing still. In most cases, the current consumption is less than 3A. Using a large adapter to cover all working scenarios of window cleaning robots would increase production costs. Summary of the Invention

[0003] This invention provides a power circuit module, a window cleaning robot, and a control method. The specific technical solution of this invention is as follows:

[0004] A power supply circuit module includes a controller, a charging circuit, a selection switch, a battery, a current feedback control voltage output circuit, and a current detection circuit. The controller controls each module to perform corresponding operations based on signals sent by an external working unit or detection values ​​from the current detection circuit. The charging circuit receives electrical energy from an external adapter to charge the battery via the selection switch. The selection switch supplies electrical energy from the charging circuit to the battery or supplies current from the battery to the current feedback control voltage output circuit. The current detection circuit detects the current output to the external working unit and sends the detection value to the current feedback control voltage output circuit and the controller. The current feedback control voltage output circuit adjusts the battery's output voltage based on signals sent by the controller and the current detection circuit, enabling the battery to power the external working unit when connected in parallel with the external adapter.

[0005] Furthermore, the current feedback control voltage output circuit includes a first comparator, a second comparator, a PID control circuit, and a boost circuit. The two input terminals of the first comparator are respectively connected to the current detection circuit and the controller. The two input terminals of the second comparator are respectively connected to the output terminal of the first comparator and the selector switch. The output terminal of the second comparator is connected to the boost circuit through the PID control circuit.

[0006] Furthermore, after receiving the signal sent by the external working unit, the controller controls the selection switch to supply the battery current to the current feedback control voltage output circuit and sends the maximum output current of the adapter to the input of the first comparator. The two inputs of the first comparator receive the maximum output current of the adapter sent by the controller and the detection value sent by the current detection circuit, respectively. Then, the output of the first comparator outputs the difference between the maximum output current of the adapter sent by the controller and the detection value sent by the current detection circuit to the input of the second comparator. The two inputs of the second comparator receive the battery current and the difference output by the first comparator, respectively. Then, the output of the second comparator outputs the difference between the battery current and the difference output by the first comparator to the PID control circuit. The PID control circuit sends a corresponding reference voltage to the boost circuit based on the received difference between the battery current output by the second comparator and the difference output by the first comparator. The boost circuit boosts the battery voltage based on the received reference voltage, so that the battery and the external adapter are connected in parallel to supply power to the external working unit.

[0007] Furthermore, after receiving the detection value from the current detection circuit, if the detection value is greater than a set threshold, the controller controls the selection switch to supply the battery current to the current feedback control voltage output circuit and sends a current adjustment value to the input of the first comparator. The two inputs of the first comparator receive the current adjustment value sent by the controller and the detection value sent by the current detection circuit, respectively. Then, the output of the first comparator outputs the difference between the current adjustment value sent by the controller and the detection value sent by the current detection circuit to the input of the second comparator. The two inputs of the second comparator receive the battery current and the difference output by the first comparator, respectively. Then, the output of the second comparator outputs the difference between the battery current and the difference output by the first comparator to the PID control circuit. The PID control circuit sends a corresponding reference voltage to the boost circuit based on the received difference between the battery current output by the second comparator and the difference output by the first comparator. The boost circuit boosts the battery voltage based on the received reference voltage, so that the battery and the external adapter are connected in parallel to supply power to the external working unit.

[0008] Furthermore, after receiving the detection value from the current detection circuit, if the detection value is less than or equal to a set threshold, the controller controls the selection switch to stop working, causing the charging circuit and the current feedback control voltage output circuit to also stop working. The controller obtains the current value delivered by the external adapter to the external working unit through the current detection circuit.

[0009] Furthermore, after receiving the detection value from the current detection circuit and the output value of the battery current, if the detection value from the current detection circuit is less than or equal to a set threshold and the output value of the battery current is less than the charging threshold, the controller controls the selection switch to deliver the electrical energy from the charging circuit to the battery, and obtains the current value delivered by the external adapter to the external working unit through the current detection circuit.

[0010] A window cleaning robot includes a main body, an adapter, and the aforementioned power circuit module, wherein the adapter is connected to the main body via the power circuit module.

[0011] A control method for a window cleaning robot, wherein the window cleaning robot is the aforementioned window cleaning robot, the control method includes the following steps: during the operation of the window cleaning robot, when moving horizontally or downward, the window cleaning robot obtains electrical energy through an adapter; during the operation of the window cleaning robot, when moving upward or getting stuck, the window cleaning robot sends control information to the controller of the power circuit module, so that the battery of the power circuit module and the adapter are connected in parallel to supply power to the window cleaning robot.

[0012] Furthermore, when the window cleaning robot moves horizontally or downwards, if it detects that the output value of the battery current is less than the charging threshold, the controller controls the selector switch to deliver electrical energy from the charging circuit to the battery.

[0013] Compared with existing technologies, the beneficial effects of the present invention are as follows: the power supply circuit module described in this application can reduce the robot's power demand on the adapter by connecting the adapter and the battery in parallel when the working unit consumes a lot of power, thereby reducing the overall cost of the robot. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the power supply circuit module in one embodiment of the present invention;

[0015] Figure 2 This is a schematic diagram of the current feedback control voltage output circuit in one embodiment of the present invention;

[0016] Figure 3 This is a flowchart illustrating the control method of a window cleaning robot in one embodiment of the present invention. Detailed Implementation

[0017] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout.

[0018] In the description of this invention, it should be noted that the directional terms such as "center", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation and positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. They should not be construed as limiting the specific protection scope of this invention.

[0019] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features. Thus, the use of "first" and "second" to define a feature may explicitly or implicitly include one or more of that feature, and in the description of this invention, "at least" means one or more, unless otherwise explicitly specified.

[0020] In this invention, unless otherwise explicitly specified and limited, the terms "assembly," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can also refer to a mechanical connection; they can refer to a direct connection or a connection through an intermediate medium; or they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0021] In this invention, unless otherwise specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "below," and "over" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Above," "below," and "below" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0022] The following description, in conjunction with the accompanying drawings, further illustrates specific embodiments of the present invention, making the technical solution and its beneficial effects clearer and more explicit. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, but should not be construed as limiting the invention.

[0023] A PID controller (proportional, integral, and differential) is a common feedback loop component in industrial control applications, consisting of a proportional unit (P), an integral unit (I), and a differential unit (D). The foundation of PID control is proportional control; integral control can eliminate steady-state error but may increase overshoot; differential control can accelerate the response speed of large inertia systems and reduce overshoot tendency. A boost converter is one of the six basic chopper circuits, a switching DC-DC boost circuit that allows the output voltage to be higher than the input voltage. It is mainly used in DC motor drives, single-phase power factor correction (PFC) circuits, and other AC / DC power supplies.

[0024] The cost of an adapter is directly proportional to the current; using a higher-power adapter increases the cost of the window cleaning robot. The window cleaning robot itself has a battery, which is originally designed to prevent the robot from falling immediately in the event of an abnormal power outage, thus avoiding safety issues. This patent utilizes this battery to compensate for peak power, reducing the current requirements of the adapter and allowing a lower-power adapter to meet the needs of the window cleaning robot.

[0025] A power supply circuit module includes a controller, a charging circuit, a selection switch, a battery, a current feedback control voltage output circuit, and a current detection circuit. The controller is connected to the selection switch, battery, current feedback control voltage output circuit, and current detection circuit. The controller controls each module to perform corresponding operations based on signals sent by an external working unit or detection values ​​from the current detection circuit. The charging circuit, selection switch, and battery are connected sequentially, and then connected to an external adapter through the charging circuit to form a charging line. The charging circuit receives electrical energy from the external adapter to charge the battery via the selection switch. The selection switch supplies electrical energy from the charging circuit to the battery or supplies current from the battery to the current feedback control voltage output circuit. The battery serves to prevent abnormal power loss from the adapter and also provides parallel power supply to the adapter when the external working unit consumes a large amount of power. The current detection circuit is located between the external adapter and the working unit. When the current feedback control voltage output circuit is not working, it only detects the adapter's operating current and sends the detected current value to the controller. The current detection circuit also detects the current output to the external working unit and sends the detected value to the current feedback control voltage output circuit and the controller. The current feedback control voltage output circuit is connected to the controller, the selector switch, and the current detection circuit. This circuit adjusts the battery's output voltage based on signals from the controller and the current detection circuit, allowing the battery to power the external working unit in parallel with the external adapter. This parallel power supply reduces the robot's power requirements on the adapter, thereby lowering the robot's production cost.

[0026] In one embodiment, the current feedback control voltage output circuit includes a first comparator A, a second comparator B, a PID control circuit, and a boost circuit. The two input terminals of the first comparator A are connected to the current detection circuit and the controller, respectively. That is, the input terminal IA of the first comparator A receives the detection value of the current detection circuit, and the input terminal I_REF of the first comparator A receives the signal sent by the controller. The two input terminals of the second comparator B are connected to the output terminal of the first comparator A and the selector switch, respectively. That is, the input terminal I_SET of the second comparator B is connected to the output terminal of the first comparator A, and the input terminal IB of the second comparator B is connected to the selector switch to receive the output current of the battery. The output terminal of the second comparator B is connected to the boost circuit through the PID control circuit.

[0027] In one embodiment, after receiving a signal from an external working unit, the controller controls a selection switch to connect the battery and the current feedback control voltage output circuit, supplying the battery current to the current feedback control voltage output circuit, and sending the maximum output current of the adapter to the input terminal of the first comparator A, i.e., the input terminal I_REF of the first comparator A. The two input terminals of the first comparator A respectively receive the maximum output current of the adapter sent by the controller and the detection value sent by the current detection circuit; that is, input terminal IA of the first comparator A receives the detection value of the current detection circuit, and input terminal I_REF of the first comparator A receives the maximum output current of the adapter. Then, the output terminal of the first comparator A outputs the difference between the maximum output current of the adapter sent by the controller and the detection value sent by the current detection circuit to the input terminal of the second comparator B. The two input terminals of the second comparator B receive the difference between the battery current and the output of the first comparator A, respectively. Specifically, the input terminal I_SET of the second comparator B receives the difference between the maximum output current of the adapter sent by the controller and the detected value sent by the current detection circuit. The input terminal IB of the second comparator B receives the battery current. Then, the output terminal of the second comparator B outputs the difference between the battery current and the output of the first comparator A to the PID control circuit. The PID control circuit sends a corresponding reference voltage vref to the boost circuit based on the received difference between the battery current output by the second comparator B and the output of the first comparator A. The boost circuit boosts the battery voltage vout based on the received reference voltage, bringing it close to the voltage of the external adapter. This allows the battery and external adapter to be connected in parallel to power the external working unit, meeting the power consumption requirements of the external working unit. The power supply from the battery and external adapter to the external working unit passes through the current detection circuit, allowing real-time monitoring of whether the power received by the external working unit meets the requirements. By connecting the adapter and battery in parallel, the robot's power requirements for the adapter are reduced, thereby lowering the robot's production costs.

[0028] In one embodiment, after receiving the detection value from the current detection circuit, the controller compares the received detection value with a set threshold. The set threshold can be 3A (most window cleaning robots operate at 3A, so setting the threshold to 3A is appropriate, but it can also be set according to actual conditions). If the detection value from the current detection circuit is greater than the set threshold, it indicates that the adapter may be overloaded when working alone (when the controller receives a signal from the working unit to connect the adapter and battery in parallel, the detection value from the current detection circuit will exceed the set threshold, but the adapter is not overloaded, so when the controller receives a signal from the working unit, it does not compare the detection value from the current detection circuit with the set threshold). In this case, the controller controls the selection switch to supply the battery current to the current feedback control voltage output circuit and sends the current adjustment value to the first comparator A. The first comparator A receives the current adjustment value sent by the controller and the detection value sent by the current detection circuit at its two input terminals, respectively. Then, the output terminal of the first comparator A outputs the difference between the current adjustment value sent by the controller and the detection value sent by the current detection circuit to the input terminal of the second comparator B. The second comparator B receives the difference between the battery current and the output terminal of the first comparator A at its two input terminals, respectively. Then, the output terminal of the second comparator B outputs the difference between the battery current and the output terminal of the first comparator A to the PID control circuit. The PID control circuit sends a corresponding reference voltage to the boost circuit based on the received difference between the battery current output by the second comparator B and the output terminal of the first comparator A. The boost circuit boosts the battery voltage based on the received reference voltage, so that the battery and the external adapter are connected in parallel to power the external working unit. When the controller detects that the current supplied to the working unit by the external adapter is too large, it adjusts the output current of the external adapter through the current feedback control voltage output circuit to prevent the external adapter from overloading and increase its service life.

[0029] In one embodiment, after receiving the detection value from the current detection circuit, if the detection value is less than or equal to a set threshold, the controller controls the selector switch to stop working, causing the charging circuit and the current feedback control voltage output circuit to also stop working. The controller obtains the current value supplied by the external adapter to the external working unit through the current detection circuit. When the controller detects that the current supplied by the external adapter to the working unit is within the set range, it can control the selector switch to stop working, causing the charging circuit and the current feedback control voltage output circuit to stop working, or control the selector switch to supply the battery current to the current feedback control voltage output circuit, but the controller does not send a signal to the first comparator A.

[0030] In one embodiment, after receiving the detection value from the current detection circuit and the battery's current output value, if the detection value from the current detection circuit is less than or equal to a set threshold, and the battery's current output value is less than a charging threshold, the controller controls the selection switch to supply power from the charging circuit to the battery, and obtains the current value supplied by the external adapter to the external working unit through the current detection circuit. When the battery is not working and its charge is low, the controller controls the selection switch to supply power from the charging circuit to the battery, so that the external adapter simultaneously supplies power to the external working unit and charges the battery.

[0031] A window cleaning robot includes a main body, an adapter, and the aforementioned power circuit module, wherein the adapter is connected to the main body via the power circuit module.

[0032] A control method for a window cleaning robot, wherein the window cleaning robot is as described above, the control method includes the following steps: During the operation of the window cleaning robot, when moving horizontally or downward, the window cleaning robot obtains power only through the adapter and does not require battery power; During the operation of the window cleaning robot, when moving upward or getting stuck, the window cleaning robot cannot move due to handles or other structures on the window, the window cleaning robot increases its power to increase the probability of getting stuck, or the window cleaning robot cannot move because its wires are tangled with other things, i.e., due to various reasons, when the working unit requires more power, control information is sent to the controller of the power circuit module, so that the battery of the power circuit module and the adapter are connected in parallel to power the window cleaning robot.

[0033] In one embodiment, when the window cleaning robot moves horizontally or downwards, if it detects that the battery current output value is less than the charging threshold, i.e., the battery is not fully charged, the controller can detect the battery level or the battery output current. Alternatively, a battery level output detection circuit can be set up to detect the battery output current and send the detected value to the controller. The controller then controls the selection switch to supply power from the charging circuit to the battery.

[0034] Compared with existing technologies, the beneficial effects of the present invention are as follows: the power supply circuit module described in this application can reduce the robot's power demand on the adapter by connecting the adapter and the battery in parallel when the working unit consumes a lot of power, thereby reducing the robot's production cost.

[0035] In the description of this specification, the terms "in one embodiment," "preferred," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. The illustrative expressions of the above terms in this specification do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples. The connection methods linked in the description of this specification have significant effects and practical utility.

[0036] Based on the above description of the structure and principle, those skilled in the art should understand that the present invention is not limited to the specific embodiments described above. Improvements and substitutions made using techniques known in the art based on the present invention all fall within the protection scope of the present invention and should be defined by the claims.

Claims

1. A power supply circuit module, characterized in that, The power supply circuit module includes a controller, a charging circuit, a selection switch, a battery, a current feedback control voltage output circuit, and a current detection circuit. The controller is used to control each module to perform corresponding work based on the signals sent by the external working unit or the detection values ​​of the current detection circuit. The charging circuit is used to receive electrical energy from an external adapter to charge the battery via a selection switch. The selection switch is used to supply electrical energy from the charging circuit to the battery or to supply current from the battery to the current feedback control voltage output circuit. The current detection circuit is used to detect the current output to the external working unit and send the detected value to the current feedback control voltage output circuit and the controller. The current feedback control voltage output circuit is used to adjust the battery output voltage according to the signals sent by the controller and the current detection circuit, so that the battery and the external adapter are connected in parallel to supply power to the external working unit. The current feedback control voltage output circuit includes a first comparator, a second comparator, a PID control circuit, and a boost circuit. The two input terminals of the first comparator are connected to the current detection circuit and the controller, respectively. The two input terminals of the second comparator are connected to the output terminal of the first comparator and the selector switch, respectively. The output terminal of the second comparator is connected to the boost circuit through the PID control circuit. The controller receives a signal from an external working unit, controls the selection switch to supply the battery current to the current feedback control voltage output circuit, and sends the maximum output current of the adapter to the input of the first comparator. The two input terminals of the first comparator receive the maximum output current of the adapter sent by the controller and the detection value sent by the current detection circuit, respectively. Then, the output terminal of the first comparator outputs the difference between the maximum output current of the adapter sent by the controller and the detection value sent by the current detection circuit to the input terminal of the second comparator. The two input terminals of the second comparator receive the difference between the battery current and the output of the first comparator, respectively. Then, the output of the second comparator outputs the difference between the battery current and the output of the first comparator to the PID control circuit. The PID control circuit sends a corresponding reference voltage to the boost circuit based on the difference between the battery current output from the output of the second comparator and the difference between the output of the first comparator. The boost circuit boosts the battery voltage based on the received reference voltage, so that the battery and the external adapter are connected in parallel to supply power to the external working unit.

2. The power supply circuit module according to claim 1, characterized in that, After receiving the detection value from the current detection circuit, if the detection value of the current detection circuit is greater than the set threshold, the controller controls the selection switch to send the battery current to the current feedback control voltage output circuit and sends the current adjustment value to the input terminal of the first comparator. The two input terminals of the first comparator receive the current adjustment value sent by the controller and the detection value sent by the current detection circuit, respectively. Then, the output terminal of the first comparator outputs the difference between the current adjustment value sent by the controller and the detection value sent by the current detection circuit to the input terminal of the second comparator. The two input terminals of the second comparator receive the difference between the battery current and the output of the first comparator, respectively. Then, the output of the second comparator outputs the difference between the battery current and the output of the first comparator to the PID control circuit. The PID control circuit sends a corresponding reference voltage to the boost circuit based on the difference between the battery current output from the output of the second comparator and the difference between the output of the first comparator. The boost circuit boosts the battery voltage based on the received reference voltage, so that the battery and the external adapter are connected in parallel to supply power to the external working unit.

3. The power supply circuit module according to claim 1, characterized in that, After receiving the detection value from the current detection circuit, if the detection value is less than or equal to the set threshold, the controller controls the selector switch to stop working, causing the charging circuit and the current feedback control voltage output circuit to also stop working. The controller obtains the current value delivered by the external adapter to the external working unit through the current detection circuit.

4. The power supply circuit module according to claim 3, characterized in that, After receiving the detection value from the current detection circuit and the output value of the battery current, if the detection value from the current detection circuit is less than or equal to a set threshold and the output value of the battery current is less than the charging threshold, the controller controls the selection switch to deliver electrical energy from the charging circuit to the battery, and obtains the current value delivered by the external adapter to the external working unit through the current detection circuit.

5. A window cleaning robot, characterized in that, The window cleaning robot includes a main body, an adapter, and a power circuit module as described in any one of claims 1 to 4, wherein the adapter is connected to the main body via the power circuit module.

6. A control method for a window cleaning robot, characterized in that, The window cleaning robot is the window cleaning robot according to claim 5, and the control method includes the following steps: During operation, the window cleaning robot obtains power through an adapter when moving horizontally or downwards. When the window cleaning robot moves upward or gets stuck during operation, it sends control information to the controller of the power circuit module, so that the battery and adapter of the power circuit module are connected in parallel to power the window cleaning robot.

7. The control method for the window cleaning robot according to claim 6, characterized in that, When the window cleaning robot moves horizontally or downwards, if it detects that the battery current output value is less than the charging threshold, the controller controls the selector switch to deliver electrical energy from the charging circuit to the battery.

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