Self-moving cleaning device and cleaning system

Abstract

The self-moving cleaning device comprises a main body, a charging and discharging circuit, an energy storage component, a charging interface for charging the energy storage component, and a discharging interface for charging an external device. The energy storage component is connected with the discharging interface through the charging and discharging circuit, and the energy storage component is also connected with the charging interface through the charging and discharging circuit.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of self-moving cleaning equipment, in particular to a self-moving cleaning equipment and a cleaning system. BACKGROUND

[0002] At present, in order to facilitate the use of users, some household appliances (such as night lights or automatically opening and closing garbage cans, etc.) use storage batteries for power supply. However, the user still needs to charge the storage battery of the household appliance after using the household appliance for a period of time, thereby being inconvenient for the user to use the household appliance. SUMMARY

[0003] A series of simplified concepts are introduced in the summary section, which will be further described in detail in the specific embodiment section. The summary section of the present application does not mean to attempt to limit the key features and necessary technical features of the claimed technical solution, nor does it mean to attempt to determine the protection scope of the claimed technical solution.

[0004] In a first aspect, an embodiment of the present application provides a self-moving cleaning equipment, comprising a main body;

[0005] The main body is provided with a charge-discharge circuit, an energy storage component, a charging interface for charging the energy storage component, and a discharging interface for charging an external device; the energy storage component is connected with the discharging interface through the charge-discharge circuit, and the energy storage component is also connected with the charging interface through the charge-discharge circuit.

[0006] Optionally, the charging interface and the discharging interface are the same interface.

[0007] Optionally, the main body is further provided with a master controller connected with the charge-discharge circuit, and the master controller is used to control the self-moving cleaning equipment to move to the position of the external device and to dock with the charging interface of the external device through the discharging interface, so as to deliver the electric energy of the energy storage component to the external device through the charge-discharge circuit.

[0008] Optionally, the master controller is specifically used to control the self-moving cleaning equipment to move to the position of the external device when receiving the charging request sent by the external device and carrying the position information.

[0009] Optionally, the master controller is specifically used to acquire the current time and the preset charging time, and if the current time, the preset charging time and the position information of the external device are the same, then according to the position information, the self-moving cleaning equipment is controlled to move to the position of the external device.

[0010] Optionally, the main controller is further configured to control the charging and discharging circuit to stop delivering electric energy to the external device when the external device is fully charged or the electric quantity of the energy storage component reaches a first preset electric quantity, the first preset electric quantity being a minimum electric quantity required for the self-moving device to move from a current location to a charging pile.

[0011] Optionally, the main controller is further configured to control the self-moving cleaning device to move to the charging pile and dock with a discharging interface of the charging pile through the charging interface after the charging and discharging circuit stops delivering electric energy to the external device, so that the charging pile delivers electric energy to the energy storage component through the charging and discharging circuit.

[0012] Optionally, the main controller is further configured to control the charging and discharging circuit to stop receiving electric energy delivered by the charging pile when the electric quantity of the energy storage component is greater than or equal to a second preset electric quantity, the second preset electric quantity being greater than the first preset electric quantity.

[0013] Optionally, the charging and discharging circuit comprises a charging and discharging control circuit, a charging and discharging information acquisition circuit, a discharging control switch and a charging control switch.

[0014] The energy storage component is connected with the discharging interface through the discharging control switch, and the energy storage component is further connected with the charging interface through the charging control switch; the charging and discharging information acquisition circuit is connected with the energy storage component and the charging and discharging control circuit, respectively.

[0015] Optionally, a discharging voltage stabilizing circuit is further arranged between the discharging control switch and the discharging interface, and a charging voltage stabilizing circuit is further arranged between the charging control switch and the charging interface.

[0016] Optionally, the charging and discharging information acquisition comprises a current acquisition circuit, a voltage acquisition circuit block and an electric quantity acquisition circuit, and the charging and discharging control circuit is connected with the current acquisition circuit, the voltage acquisition circuit and the electric quantity acquisition circuit, respectively.

[0017] Optionally, an access detection circuit is further arranged on the main body, and the access detection circuit is connected with the charging and discharging control circuit, the charging interface and the discharging interface, respectively.

[0018] Optionally, a charging and discharging indicator light is further arranged on the main body, and the charging and discharging control circuit is connected with the charging and discharging indicator light.

[0019] Optionally, a temperature sensor is further arranged on the energy storage component, and the temperature sensor is connected with the charging and discharging control circuit.

[0020] Optionally, the discharging interface comprises a wireless discharging interface.

[0021] Optionally, the charging interface and the discharging interface are arranged on the side wall of the main body.

[0022] In a second aspect, an embodiment of the present application provides a cleaning system, comprising a charging pile and the self-moving cleaning device, the charging pile comprising a base body and a power supply interface arranged on the base body; in the case that the base body and the self-moving cleaning device are successfully docked, the power supply interface is plugged with the charging interface of the self-moving cleaning device.

[0023] According to the self-moving cleaning device and the cleaning system provided by the embodiment of the present application, the main body of the self-moving cleaning device is provided with a discharging interface for charging an external device, so that in the case that the household appliance needs to be charged, the self-moving cleaning device can be moved to the position of the household appliance, and the discharging interface is docked with the charging interface of the household appliance, so as to charge the battery of the household appliance through the energy storage component of the self-moving cleaning device, thereby eliminating the need for the user to charge the household appliance, so as to facilitate the use of the household appliance by the user. BRIEF DESCRIPTION OF DRAWINGS

[0024] The following drawings of the present application are hereby incorporated as part of the present application for the purpose of understanding the present application. The drawings of the embodiments of the present application and the description thereof are used to explain the principles of the present application.

[0025] In the drawings:

[0026] Figure 1 A perspective view of a robotic vacuum cleaner according to an alternative embodiment of the present application;

[0027] Figure 2 A bottom view of a robotic vacuum cleaner according to an alternative embodiment of the present application;

[0028] Figure 3 A perspective view of a wet cleaning device according to an alternative embodiment of the present application;

[0029] Figure 4 A circuit schematic diagram of the energy storage component charging and discharging according to an alternative embodiment of the present application.

[0030] Explanation of reference signs:

[0031] 1-Sweeping robot; 110-Robot body; 111-Forward section; 112-Reverse section; 120-Sensing system; 121-Position determination device; 122-Buffer; 130-Control module; 140-Walking mechanism; 150-Cleaning device; 151-Dry cleaning device; 152-Side brush; 153-Wet cleaning device; 160-Energy system; 170-Human-machine interaction system; 2-Energy storage component; 3-Discharge control switch; 4-Discharge voltage regulator circuit; 5-Discharge interface; 6-Charging control switch; 7-Charging voltage regulator circuit; 8-Charging interface; 9-Charging and discharging control circuit; 10-Temperature sensor; 11-Voltage acquisition circuit; 12-Current acquisition circuit; 13-Power acquisition circuit; 14-Connection detection circuit. Detailed Implementation

[0032] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0033] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0034] Exemplary embodiments according to the present invention will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of the invention is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art.

[0035] Firstly, such as Figure 4 As shown, this embodiment of the invention provides a self-moving cleaning device, including a main body; the main body is provided with a charging and discharging circuit, an energy storage component 2, a charging interface 8 for charging the energy storage component 2, and a discharging interface 5 for charging an external device; the energy storage component 2 is connected to the discharging interface 5 through the charging and discharging circuit, and the energy storage component 2 is also connected to the charging interface 8 through the charging and discharging circuit.

[0036] The energy storage component 2 is a battery, such as a nickel-hydrogen battery or a lithium battery. The external device can be any electronic device, such as a household appliance, and the present application does not strictly limit the external device.

[0037] The self-moving robot of the embodiment can be a sweeping robot 1, a mopping robot, a floor polishing robot, or a weeding robot. For ease of description, the embodiment takes the sweeping robot 1 as an example to describe the technical solutions of the present disclosure.

[0038] Further, as shown in Figure 1 and Figure 2 , the sweeping robot 1 can include a robot body 110, a perception module 120, a master controller, a driving module, a cleaning device 150, an energy system, and a human-computer interaction module 130. As shown in Figure 1 , the robot body 110 includes a front portion 111 and a rear portion 112, and has an approximately circular shape (circular in front and rear), or other shapes, including but not limited to an approximately D-shaped shape with a circular rear and a rectangular or square shape in front and rear.

[0039] As shown in Figure 1 , the perception module 120 includes a position determination device 121 located on the robot body 110, a collision sensor arranged on a front collision structure 122 of the front portion 111 of the robot body 110, a wall sensor located on the side of the robot, a carpet detection device arranged at the lower part of the robot body 110, and a magnetometer, an accelerometer, a gyroscope, an odometer, and other sensing devices arranged inside the robot body 110, for providing various position information and motion state information of the robot to the master controller. The position determination device 121 includes but is not limited to a camera and a laser distance sensor (LDS). In some preferred implementations, the position determination device 121 (such as a camera and a laser sensor) is located on the front side of the robot body 110, that is, the frontmost end of the front portion 111, so as to more accurately sense the environment in front of the cleaning robot and achieve accurate positioning.

[0040] As shown in Figure 1 , the front portion 111 of the robot body 110 can carry the front collision structure 122. When the driving wheel module 141 propels the cleaning robot 10 to walk on the ground during the cleaning process, the front collision structure 122 detects one or more events in the travel path of the cleaning robot 10 via the sensor system arranged thereon, such as a collision sensor or a proximity sensor (infrared sensor). The cleaning robot 10 can control the driving module to make the cleaning robot 10 respond to the events, such as obstacles, walls, and the like, for example, by performing an obstacle avoidance operation away from the obstacles.

[0041] The main controller is disposed on a circuit board within the machine body 110, including a computing processor, such as a central processing unit, an application processor, in communication with a non-transitory memory, such as a hard disk, a flash memory, a random access memory. The application processor uses a positioning algorithm, such as Simultaneous Localization And Mapping (SLAM), to draw an instant map of the environment in which the cleaning robot 10 is located according to the obstacle information fed back by the laser ranging device. And combined with the distance information, speed information fed back by the sensors, carpet detection device, magnetometer, accelerometer, gyroscope, odometer, etc. sensor devices arranged on the front collision structure 122, the cleaning robot 10 comprehensively judges the current working state, the location, and the current pose of the cleaning robot 10, such as crossing the threshold, laying on the carpet, the dust box is full, being picked up, etc. And give specific next action strategy for different situations, so that the cleaning robot 10 has better cleaning performance and user experience.

[0042] As shown in Figure 2 The drive module can maneuver the machine body 110 across the ground based on drive commands having distance and angle information. The drive module includes a main drive wheel module that can control the left wheel 140 and the right wheel 141. To more accurately control the movement of the machine, the main drive wheel module preferably includes a left drive wheel module and a right drive wheel module. The left and right drive wheel modules are disposed along a lateral axis defined by the machine body 110. To enable the cleaning robot 10 to move more stably or with more power across the ground, the cleaning robot 10 can include one or more driven wheels 142, including but not limited to a universal wheel. The main drive wheel module includes a drive motor and control circuitry to control the drive motor. The main drive wheel module can also be connected to circuitry to measure drive current and an odometer. The left wheel 140 and the right wheel 141 can have a biased drop suspension system that is movably secured, such as rotatably attached to the machine body 110, and receives a spring bias that biases downward and away from the machine body 110. The spring bias allows the drive wheels to maintain contact and traction with the ground with a certain amount of ground force, while the cleaning elements of the cleaning robot 10 also contact the ground with a certain amount of pressure.

[0043] The human-computer interaction module 130 includes keys on the host panel for the user to select functions, and can also include a display screen and / or an indicator light and / or a loudspeaker to show the user the current mode of the machine or the function selection item, and can also include a mobile phone client program. For the path navigation type automatic cleaning robot 10, the mobile phone client can show the user a map of the environment where the device is located, and the position of the machine, and can provide the user with more rich and personalized function items. Specifically, the cleaning robot has multiple modes, such as a working mode, a self-cleaning mode, etc. Among them, the working mode refers to the mode in which the cleaning robot performs automatic cleaning work, and the self-cleaning mode refers to the mode in which the cleaning robot removes dirt on the roller brush and the side brush 152 on the base, and automatically collects the dirt, and / or automatically washes and dries the mop.

[0044] The cleaning device 150 can be a dry cleaning device 151 and / or a wet cleaning device 153.

[0045] As shown in Figure 2 , the dry cleaning device 151 provided by the embodiment of the present disclosure can include a roller brush, a dust box, a fan, and an air outlet. The roller brush with a certain interference with the ground sweeps the garbage on the ground and brings it to the front of the dust suction port between the roller brush and the dust box, and then the garbage is sucked into the dust box by the suction gas generated by the fan and passing through the dust box. The dry cleaning device 151 can also include a side brush 152 with a rotating shaft, which is at a certain angle relative to the ground, for moving debris into the roller brush area of the cleaning device 150.

[0046] As shown in Figure 2 and Figure 3 , the wet cleaning device 153 provided by the embodiment of the present disclosure can include a cleaning head 1531, a driving unit 1532, a water feeding mechanism, a liquid storage tank, etc. Among them, the cleaning head 1531 can be arranged below the liquid storage tank, and the cleaning liquid inside the liquid storage tank is transmitted to the cleaning head 1531 by the water feeding mechanism, so that the cleaning head 1531 performs wet cleaning on the cleaning plane. In other embodiments of the present disclosure, the cleaning liquid inside the liquid storage tank can also be directly sprayed to the cleaning plane, and the cleaning head 1531 realizes cleaning of the plane by uniformly applying the cleaning liquid.

[0047] The cleaning head 1531 is used to clean the surface to be cleaned, and the drive unit 1532 is used to drive the cleaning head 1531 to reciprocate substantially along a target surface, which is a part of the surface to be cleaned. The cleaning head 1531 reciprocates along the surface to be cleaned, and a mop is provided on the contact surface between the cleaning head 1531 and the surface to be cleaned. The drive unit 1532 drives the mop of the cleaning head 1531 to reciprocate and generate high-frequency friction with the surface to be cleaned, thereby removing stains from the surface to be cleaned; or the mop can be floated and maintain contact with the surface to be cleaned throughout the cleaning process without the need for the drive unit 1532 to drive its reciprocating motion.

[0048] like Figure 3 As shown, the drive unit 1532 may also include a drive platform 1533 and a support platform 1534. The drive platform 1533 is connected to the bottom surface of the machine body 110 and is used to provide driving force. The support platform 1534 is detachably connected to the drive platform 1533 and is used to support the cleaning head 1531. It can be raised and lowered under the drive of the drive platform 1533.

[0049] The wet cleaning device 153 can be connected to the main body 110 via an active lifting module. When the wet cleaning device 153 is not in operation, for example, when the cleaning robot 10 docks at the base station to clean the cleaning head 1531 of the wet cleaning device 153 or fill the liquid tank with water; or when encountering a surface that cannot be cleaned by the wet cleaning device 153, the wet cleaning device 153 can be raised via the active lifting module.

[0050] When a household appliance needs charging, it sends a charging request carrying its location information to the robotic vacuum cleaner 10. Upon receiving the charging request, the main controller of the robotic vacuum cleaner 10 switches its operating mode to discharge mode. Based on the location information, the main controller controls the robotic vacuum cleaner to automatically move to the location of the household appliance and dock, allowing the robotic vacuum cleaner's discharge interface 5 to connect with the household appliance's charging connector. This allows the energy stored in the robotic vacuum cleaner's energy storage component 2 to charge the household appliance's battery through the charging and discharging circuit, thus achieving the purpose of charging the household appliance. After charging is complete, the main controller controls the robotic vacuum cleaner to move to the charging dock and dock, allowing the robotic vacuum cleaner's charging connector to connect with the charging dock's power interface. This allows the charging dock to charge the robotic vacuum cleaner's energy storage component 2 through the charging and discharging circuit, ensuring the robotic vacuum cleaner has sufficient power to perform subsequent tasks.

[0051] The self-moving cleaning device provided in the embodiment is provided with a discharging interface 5 for charging an external device on the main body, so that when a household appliance needs to be charged, the self-moving cleaning device can move to the position of the household appliance and dock the discharging interface 5 with the charging interface of the household appliance to charge the battery of the household appliance through the energy storage component 2 of the self-moving cleaning device, so that the user does not need to charge the household appliance, thereby facilitating the use of the household appliance by the user.

[0052] In the above embodiment, the charging interface 8 and the discharging interface 5 are the same interface.

[0053] In the embodiment, the charging interface 8 and the discharging interface 5 are integrated into one interface, so that the structure of the charging interface 8 and the discharging interface 5 can be simplified, and the occupied space of the charging interface 8 and the discharging interface 5 on the main body can be reduced.

[0054] Specifically, the main body is further provided with a master controller connected with the charging and discharging circuit, and the master controller is used to control the self-moving cleaning device to move to the position of the external device and dock the discharging interface 5 with the charging interface of the external device to deliver the electric energy of the energy storage component 2 to the external device through the charging and discharging circuit, wherein the first preset electric quantity is the minimum electric quantity required for the self-moving device to move from the current position to the charging pile.

[0055] In specific application, the master controller controls the self-moving cleaning device to move to the position of the external device and dock the discharging interface 5 with the charging interface of the external device, and then the electric energy of the energy storage component 2 is delivered to the external device through the charging and discharging circuit, so as to achieve the purpose of automatically charging the external device by the self-moving cleaning device.

[0056] Further, in some implementations, the master controller is used to control the self-moving cleaning device to move to the position of the external device when receiving the charging request carrying the position information sent by the external device.

[0057] Specifically, the external device can include a monitoring component capable of monitoring the electric quantity and a positioning device, and when the electric quantity of the external device is insufficient, the external device sends a charging request carrying the position information to the self-moving cleaning device, and when the self-moving device receives the charging request carrying the position information sent by the external device, the master controller controls the self-moving cleaning device to move to the position of the external device and dock the discharging interface 5 with the charging interface of the external device, and then the electric energy of the energy storage component 2 is delivered to the external device through the charging and discharging circuit, so as to achieve the purpose of automatically charging the external device by the self-moving cleaning device.

[0058] In other implementations, the main controller is specifically configured to acquire current time, preset charging time, and location information of the external device, and if the current time is the same as the preset charging time, then according to the location information, the main controller controls the self-moving cleaning device to move to the location of the external device.

[0059] Specifically, the location information of the external device can be obtained in the process of the self-moving cleaning device constructing a map, can be input by the user, or can be obtained by the external device automatically positioning and sending, and the present embodiment is not strictly limited. The preset charging time can be set by the user according to the power of the external device.

[0060] In the case that the current time reaches the preset charging time, the main controller controls the self-moving cleaning device to move to the location of the external device, and makes the discharging interface 5 and the charging interface of the external device butt joint, and then the power of the energy storage component 2 is transmitted to the external device through the charging and discharging circuit, so as to realize the purpose of automatically charging the external device by the self-moving cleaning device, and also without the need for the user to monitor the power of the external device, improving the user experience.

[0061] Further, the main controller is also configured to control the charging and discharging circuit to stop transmitting power to the external device when the external device is fully charged or the power of the energy storage component 2 reaches a first preset power, and the first preset power is the minimum power required for the self-moving device to move from the current location to the charging pile.

[0062] In specific applications, when the power of the self-moving cleaning device can meet the charging demand of the external device, that is, the self-moving cleaning device stops transmitting power to the external device after fully charging the external device, so as to avoid the situation of overcharging.

[0063] When the external device is not fully charged and the power of the self-moving cleaning device can only meet the minimum power required to move to the charging pile, the self-moving cleaning device needs to stop charging the external device, so as to effectively avoid the situation that the self-moving cleaning device cannot move to the charging pile for charging due to insufficient power, resulting in the self-moving cleaning device being powered off and unable to continue working.

[0064] It can be understood that the first preset power can be determined by the staff according to the power capacity of the energy storage component 22 of the self-moving cleaning device and the power of the self-moving cleaning robot, that is, the first preset power needs to be greater than or equal to the minimum power required for the self-moving robot to move from the location of the household appliance to be charged to the charging pile.

[0065] Further, the master controller is further configured to control the self-moving cleaning device to move to the charging pile after the charging and discharging circuit stops delivering electric energy to the external device, and to connect the charging interface 8 with the discharging interface of the charging pile, so that the charging pile delivers electric energy to the energy storage component 2 through the charging and discharging circuit.

[0066] In a specific application, when the electric quantity of the self-moving cleaning device can meet the charging demand of the external device, that is, the self-moving cleaning device has some electric quantity to move to the charging pile for charging after charging the external device to full capacity, the self-moving device moves to the charging pile for charging after the external device is fully charged, so that the self-moving cleaning device has sufficient electric quantity to perform subsequent tasks.

[0067] When the external device is not fully charged and the electric quantity of the self-moving cleaning device can only meet the minimum electric quantity required for moving to the charging pile, the self-moving cleaning device needs to stop charging the external device and then move to the charging pile for charging, so that the self-moving cleaning device can effectively avoid the situation that the self-moving cleaning device cannot move to the charging pile for charging due to insufficient electric quantity, resulting in the self-moving cleaning device being powered off and unable to continue working.

[0068] Further, the master controller is further configured to control the self-moving cleaning device to move to the charging pile after the charging and discharging circuit stops delivering electric energy to the external device, and to connect the charging interface 8 with the discharging interface of the charging pile, so that the charging pile delivers electric energy to the energy storage component 2 through the charging and discharging circuit.

[0069] In a specific application, after the self-moving device is fully charged by the charging pile, the master controller stops receiving electric energy delivered by the charging pile, thereby avoiding overcharging the energy storage component 2 of the self-moving device and reducing the service life of the energy storage component.

[0070] It can be understood that the second preset electric quantity can be determined by the staff according to the electric energy capacity of the energy storage component 22 of the self-moving cleaning device and the power of the self-moving cleaning robot. In a specific application, the second preset electric quantity is close to the maximum electric quantity that can be accommodated by the energy storage component 22 of the self-moving robot.

[0071] Specifically, the charging and discharging circuit includes a charging and discharging control circuit 9, a charging and discharging information acquisition circuit, a discharging control switch 3, and a charging control switch 6; the energy storage component 2 is connected with the discharging interface 5 through the discharging control switch 3, and the energy storage component 2 is also connected with the charging interface 8 through the charging control switch 6; the charging and discharging information acquisition circuit is connected with the energy storage component 2 and the charging and discharging control circuit 9, respectively.

[0072] The charging and discharging information acquisition circuit is configured to acquire information such as voltage, current, and electric quantity of the energy storage component 2 during the charging and discharging process.

[0073] The charging and discharging control circuit 9 includes a processor and its peripheral circuits. The charging and discharging control circuit 9 is used to control the opening and closing of the discharge control switch 3 and the charging control switch 6 according to the charging and discharging information of the energy storage component 2 collected by the charging and discharging information acquisition circuit, thereby controlling the charging process of the charging pile to the energy storage component 2, or the charging process of the energy storage component 2 to the household appliances to be charged.

[0074] Specifically, when the energy storage component 2 of the self-propelled cleaning device is charging, after the discharge interface 5 of the self-propelled cleaning device is successfully connected to the charging plug of the household appliance to be charged (i.e., the external device), the charge / discharge control circuit 9 controls the charging control switch 6 to close. This allows the energy storage component 2 to connect to the discharge interface 5, thereby transferring the electrical energy of the energy storage component 2 to the battery of the household appliance to charge it. During the charging process, the charge / discharge information acquisition circuit collects real-time information such as voltage, current, and charge level of the energy storage component 2 during the discharge process. If the voltage or current is abnormal, or if the charge level reaches the first preset level, the charge / discharge control circuit 9 controls the discharge control switch 3 to open, thus ending the discharge process.

[0075] When the charging pile charges the energy storage component 2 of the mobile cleaning equipment, after the charging interface 8 of the mobile cleaning equipment is successfully connected to the power interface of the charging pile, the charging and discharging control circuit 9 controls the discharging control switch 3 to close. This allows the energy storage component 2 to connect to the charging interface 8, enabling the charging pile's electrical energy to be delivered to the energy storage component 2 for charging. Furthermore, during the charging process, the charging and discharging information acquisition circuit collects real-time information such as voltage, current, and power level of the energy storage component 2. If the voltage or current is abnormal, or if the power level reaches the second preset level, the charging and discharging control circuit 9 controls the charging control switch 6 to open, thus ending the charging process.

[0076] In this embodiment, the charging and discharging control circuit 9 controls the charging control switch 6 or the discharging control switch 3 based on the charging and discharging information of the energy storage component 2 collected by the charging and discharging information acquisition circuit. This allows the charging and discharging process to be stopped when the energy storage component 2 is abnormally charged or discharged, or when it is fully charged or discharged to a low level, thereby improving the safety and reliability of the charging and discharging process.

[0077] Specifically, such as Figure 4 As shown, the charging and discharging information acquisition includes a current acquisition circuit 12, a voltage acquisition circuit 11, and a power acquisition circuit 13. The charging and discharging control circuit 9 is connected to the current acquisition circuit 12, the voltage acquisition circuit 11, and the power acquisition circuit 13, respectively.

[0078] The current acquisition circuit 12, voltage acquisition circuit 11, and power acquisition circuit 13 all include acquisition resistors and their peripheral circuits, acquiring the voltage, current, and power of the energy storage component 2. During the charging process of the charging pile to the energy storage component 2 of the self-propelled cleaning equipment, if the acquired voltage is greater than a preset voltage value, or the acquired current is greater than a preset current value, or the acquired power is greater than or equal to a second preset power value, the charging / discharging control circuit 9 controls the charging control switch 6 to open. Similarly, during the charging process of the self-propelled equipment's energy storage component 2 to the battery of a household appliance, if the acquired voltage is greater than a preset voltage value, or the acquired current is greater than a preset current value, or the acquired power is less than or equal to a first preset power value, the charging / discharging control circuit 9 controls the discharging control switch 3 to open. The preset voltage and preset current values ​​can be set by the operator; this embodiment does not impose strict limitations on them.

[0079] During charging and discharging, the voltage and current values ​​of the energy storage component 2 are collected by the current acquisition circuit and voltage acquisition circuit 11 to avoid overvoltage or overcurrent and improve the protection of the energy storage battery. The power acquisition circuit 13 collects the power of the energy storage component 2, so that the power can be cut off when the energy storage component 2 is fully charged, thereby avoiding overcharging and improving the service life of the energy storage component 2. Furthermore, it ensures that the energy storage component 2 has sufficient power after discharging to enable the self-propelled cleaning device to move to the charging station for charging, preventing the self-propelled cleaning device from being unable to move to the charging station for charging due to insufficient power.

[0080] like Figure 4 As shown, the energy storage component 2 is also equipped with a temperature sensor 10, which is connected to the charge and discharge control circuit 9.

[0081] During the charging and discharging process of the energy storage component 2, the temperature sensor 10 is used to detect the temperature on the energy storage component 2. When the detected temperature is greater than or equal to the preset temperature, the charging and discharging control circuit 9 controls the charging control switch 6 or the discharging control switch 3 to disconnect, thereby interrupting the charging and discharging process and preventing the temperature of the energy storage component 2 from continuously rising and causing accidents such as combustion. The preset temperature value can be set by the operator, and this embodiment does not impose strict limitations.

[0082] Furthermore, such as Figure 4 As shown, a discharge voltage regulator circuit 4 is provided between the discharge control switch 3 and the discharge interface 5, and a charging voltage regulator circuit 7 is provided between the charging control switch 6 and the charging interface 8.

[0083] The discharging voltage stabilizing circuit 4 comprises a DC-DC voltage stabilizing circuit, so as to regulate the output voltage of the energy storage component 2, thereby improving the stability of the output voltage of the energy storage component 2. Similarly, the charging voltage stabilizing circuit 7 comprises a DC-DC voltage stabilizing circuit, so as to regulate the output voltage of the charging pile, thereby improving the stability of the input voltage of the energy storage component 2.

[0084] Further, as shown in Figure 4 The main body is further provided with an access detection circuit 14, which is connected with the charging / discharging control circuit 9, the charging interface 8 and the discharging interface 5.

[0085] The access detection circuit 14 is used to detect whether the discharging interface 5 of the self-moving cleaning device is successfully plugged with the charging interface of the household appliance after the self-moving cleaning device is docked with the household appliance to be charged, and whether the charging interface 8 of the self-moving cleaning device is successfully plugged with the power interface of the charging pile after the self-moving cleaning device is docked with the charging pile, and control the charging control switch 6 to be closed after successful plugging in the former case and control the discharging control switch 3 to be closed after successful plugging in the latter case.

[0086] In the embodiment, the access detection circuit can detect whether the charging interface 8 and the discharging interface 5 of the self-moving cleaning device are successfully plugged, thereby improving the reliability of the charging / discharging process.

[0087] Further, the main body is further provided with a charging / discharging indicator, and the charging / discharging control circuit 9 is connected with the charging / discharging indicator.

[0088] The charging / discharging indicator can display different colors in the charging process and the discharging process to remind the user that the self-moving cleaning device is in the charging or discharging process. After the charging / discharging process is completed, the charging / discharging indicator is turned off to remind the user that the charging / discharging is completed.

[0089] Further, the discharging interface comprises a wireless discharging interface. The wireless discharging interface can effectively avoid the plugging action during charging, thereby avoiding the wear of the interface and improving the service life.

[0090] Further, the charging interface 8 and the discharging interface 5 are arranged on the side wall of the main body, thereby facilitating the plugging of the discharging interface 5 of the self-moving cleaning device with the charging interface of the household appliance and the plugging of the charging interface 8 of the self-moving device with the power interface of the charging pile.

[0091] In a second aspect, the embodiment of the present application provides a cleaning system, which comprises a charging pile and the self-moving cleaning device described above, and the charging pile comprises a base body and a power interface arranged on the base body; in the case that the base body is successfully docked with the self-moving cleaning device, the power interface is plugged with the charging interface 8 of the self-moving cleaning device.

[0092] The charging pile comprises a base body in a substantially L shape, an infrared receiver is arranged on the self-moving device, and an infrared emitter is arranged on the outer wall of the base body of the charging pile; when the self-moving device is recharged, the infrared signal emitted by the infrared emitter on the charging pile is received by the infrared receiver on the self-moving device, so as to guide the self-moving device to be connected with the charging pile for charging.

[0093] It should be noted that the self-moving cleaning device involved in the present embodiment can adopt the self-moving cleaning device of the above-mentioned embodiments, and the implementation and working principle of the specific self-moving cleaning device can be referred to the corresponding content in the above-mentioned embodiments, which will not be described here.

[0094] The present application has been described by the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and illustration, and are not intended to limit the present application to the scope of the described embodiments. Furthermore, those skilled in the art can understand that the present application is not limited to the above-mentioned embodiments, and more kinds of variations and modifications can be made according to the teachings of the present application, which all fall within the scope of the present application. The protection scope of the present application is defined by the attached claims and their equivalent scope.

Claims

1. A self-moving cleaning device, characterized in that, The self-moving cleaning device comprises a main body and a perception module; The main body is provided with a charging and discharging circuit, an energy storage component, a charging interface for charging the energy storage component, and a discharging interface for charging an external device; the energy storage component is connected with the charging interface through the charging and discharging circuit, and the energy storage component is also connected with the discharging interface through the charging and discharging circuit; The main body is also provided with a master controller connected with the charging and discharging circuit, and the master controller is used for controlling the self-moving cleaning device to move to the position of the external device and to dock with the charging interface of the external device through the discharging interface, so as to deliver the electric energy of the energy storage component to the external device through the charging and discharging circuit; The master controller is also used for stopping the delivery of electric energy from the charging and discharging circuit to the external device when the external device is fully charged or the electric quantity of the energy storage component reaches a first preset electric quantity, and the first preset electric quantity is the minimum electric quantity required for the self-moving cleaning device to move from the current position to a charging pile; The perception module is used for providing the master controller with position information and motion state information of the main body.

2. The self-moving cleaning device according to claim 1, characterized in that, The charging interface and the discharging interface are the same interface.

3. The self-moving cleaning device according to claim 1, characterized in that, The master controller is specifically used for controlling the self-moving cleaning device to move to the position of the external device when receiving a charging request sent by the external device and carrying position information.

4. The self-moving cleaning device according to claim 1, characterized in that, The master controller is specifically used for acquiring a current time, a preset charging time, and position information of the external device, and if the current time is the same as the preset charging time, controlling the self-moving cleaning device to move to the position of the external device according to the position information.

5. The self-moving cleaning device of claim 1, wherein, The master controller is also used for controlling the self-moving cleaning device to move to the charging pile after the charging and discharging circuit stops delivering electric energy to the external device, and to dock with the discharging interface of the charging pile through the charging interface, so as to make the charging pile deliver electric energy to the energy storage component through the charging and discharging circuit.

6. The self-moving cleaning device according to claim 5, characterized in that, The master controller is also used for controlling the charging and discharging circuit to stop receiving the electric energy delivered by the charging pile when the electric quantity of the energy storage component is greater than or equal to a second preset electric quantity, and the second preset electric quantity is greater than the first preset electric quantity.

7. The self-moving cleaning device of claim 1, wherein, The charging and discharging circuit comprises a charging and discharging control circuit, a charging and discharging information acquisition circuit, a discharging control switch, and a charging control switch; The energy storage component is connected with the discharging interface through the discharging control switch, and the energy storage component is also connected with the charging interface through the charging control switch; the charging and discharging information acquisition circuit is connected with the energy storage component and the charging and discharging control circuit.

8. The self-moving cleaning device according to claim 7, characterized in that, A discharging voltage stabilizing circuit is further arranged between the discharging control switch and the discharging interface, and a charging voltage stabilizing circuit is further arranged between the charging control switch and the charging interface.

9. The self-moving cleaning device according to claim 7, characterized in that, The charging and discharging information acquisition circuit comprises a current acquisition circuit, a voltage acquisition circuit block, and an electric quantity acquisition circuit, and the charging and discharging control circuit is connected with the current acquisition circuit, the voltage acquisition circuit, and the electric quantity acquisition circuit.

10. The self-moving cleaning device according to claim 7, characterized in that, The main body is further provided with an access detection circuit, which is connected with the charge-discharge control circuit, the charging interface and the discharging interface respectively.

11. The self-moving cleaning device according to claim 7, wherein, The main body is further provided with a charge-discharge indicator, and the charge-discharge control circuit is connected with the charge-discharge indicator.

12. The self-moving cleaning device according to claim 7, wherein, The energy storage component is further provided with a temperature sensor, and the temperature sensor is connected with the charge-discharge control circuit.

13. The self-moving cleaning device of claim 1, wherein, The discharging interface comprises a wireless discharging interface.

14. The self-moving cleaning device of claim 1, wherein, The charging interface and the discharging interface are arranged on the side wall of the main body.

15. A cleaning system characterized by, The self-moving cleaning equipment comprises a charging pile and a self-moving cleaning equipment according to any one of claims 1-14, the charging pile comprises a base body and a power supply interface arranged on the base body; in the case that the base body and the self-moving cleaning equipment are successfully docked, the power supply interface is plugged with the charging interface of the self-moving cleaning equipment.

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