Intelligent floor scrubber control system

Abstract

The present invention discloses an intelligent floor scrubber control system, which manages the charge and discharge of the battery through a charge and discharge management control circuit, and sends the battery information to a main control circuit, and the main control circuit plans the floor scrubbing path according to the battery information; the external power supply charging control circuit is connected to the main control circuit, and the external power supply charging control circuit is connected to the charge and discharge management control circuit through the main control circuit, so that under the control of the main control circuit, the external power supply charging control circuit moves to a charging base station, and automatically charges the battery through the charging base station; the peripheral control circuit is connected to the main control circuit, so that under the control of the main control circuit, the peripheral control circuit drives the peripheral to perform floor scrubbing operations. In this way, the automatic planning of the cleaning path is realized through path planning, and when the power is insufficient, it automatically moves to the charging base station for charging, the whole system has a high degree of automation, and the battery management and charging control are carried out through the charge and discharge management control circuit and the external power supply charging control circuit, so that the overall power supply of the battery can be highly reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning robot circuits, and in particular to a control system for an intelligent floor scrubber. Background Art

[0002] As people's requirements for quality of life and sanitary conditions continue to improve, various production sites and public places are paying more and more attention to cleaning and sanitation. As an efficient cleaning tool, floor scrubbers are widely used in families and places with large flow of people and logistics, such as supermarkets, subway stations, exhibition centers, airports, etc.

[0003] Traditional floor scrubbers are usually cleaned by manual operation or timed operation. However, due to the large area and high frequency of use, it often requires a lot of human resources and time and energy to control and manage the floor scrubbers, which is inefficient, costly and has high safety risks. Summary of the invention

[0004] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, one object of the present invention is to provide an intelligent floor scrubber control system.

[0005] To achieve the above object, the intelligent floor scrubber control system according to an embodiment of the present invention includes a main control circuit, a motor drive circuit and an obstacle detection circuit. The main control circuit is connected to the motor drive circuit and the obstacle detection circuit respectively, so as to detect obstacles on the path through the obstacle detection circuit, and control the motor drive circuit to drive the motor to rotate according to the fault condition, so as to drive the intelligent floor scrubber to move. It is characterized in that it also includes:

[0006] A charge and discharge management control circuit, the charge and discharge management control circuit is connected to the battery and the main control circuit respectively to manage the charge and discharge of the battery, and send the battery status information to the main control circuit, and the main control circuit plans the floor washing path according to the battery information;

[0007] An external power supply charging control circuit, the external power supply charging control circuit is connected to the main control circuit, the external power supply charging control circuit is connected to the charge and discharge management control circuit through the main control circuit, the main control circuit is also used to control the motor drive circuit to drive the motor to rotate, so as to drive the intelligent floor scrubber to move to the charging base station, and the external power supply charging control circuit is also under the control of the main control circuit, and automatically charges the battery through the charging base station;

[0008] The peripheral control circuit is connected to the main control circuit to drive the peripheral device to perform floor scrubbing operations under the control of the main control circuit.

[0009] Further, according to an embodiment of the present invention, the charge and discharge management control circuit includes:

[0010] Controller;

[0011] A communication circuit, wherein the controller is connected to the main control circuit for communication, the controller receives a power control signal sent by the main control circuit through the communication circuit, and sends the battery power information to the main control circuit;

[0012] a battery charging control circuit, wherein the battery charging control circuit is connected to the external power charging control circuit through the main control circuit, so as to control the charging of the battery by the charging power output by the external power charging control circuit;

[0013] A battery discharge control circuit, the battery discharge control circuit is connected to the battery charge control circuit and the battery respectively, so as to control the discharge of the battery;

[0014] A protection circuit, wherein the protection circuit is respectively connected to a battery charging control circuit and a battery discharging control circuit, or the protection circuit is respectively connected to the battery charging control circuit and the battery discharging control circuit through the controller, so as to perform overcharge protection, over-discharge protection, and / or overcurrent protection on the battery through the battery charging control circuit and the battery discharging control circuit.

[0015] Further, according to an embodiment of the present invention, the communication circuit includes:

[0016] A first transistor Q8, wherein the emitter of the first transistor Q8 is connected to the reference ground, the base of the first transistor Q8 is connected to the cathode of the first diode D10 through the first resistor R56, the anode of the first diode D10 is connected to the common signal terminal of the main control circuit, the collector of the first transistor Q8 is connected to the pull-up power supply through the second resistor R50, and the collector of the first transistor Q8 is also connected to the signal receiving terminal of the controller through the third resistor R49;

[0017] A second transistor Q10, the emitter of the second transistor Q10 is connected to the reference ground, the collector of the second transistor Q10 is connected to the pull-up power supply through a fourth resistor R57, the collector of the second transistor Q10 is also connected to the anode of a second diode D11, the cathode of the second diode D11 is connected to the common signal terminal of the main control circuit, and the base of the second transistor Q10 is also connected to the signal sending terminal of the controller through a fifth resistor R55.

[0018] Further, according to an embodiment of the present invention, the battery charging control circuit includes:

[0019] A first MOS transistor Q3, wherein a source of the first MOS transistor Q3 is connected to a charging power input terminal;

[0020] a second MOS transistor Q4, wherein the source of the second MOS transistor Q4 is connected to the drain of the first MOS transistor Q3, the gate of the second MOS transistor Q4 is connected to the source of the second MOS transistor Q4 through a sixth resistor R38, and the drain of the second MOS transistor Q4 outputs a battery charging power supply through a third diode D8 and a fourth diode D6 connected in parallel;

[0021] a third triode Q13, wherein the collector of the third triode Q13 is connected to one end of a seventh resistor R20, the other end of the seventh resistor R20 is connected to one end of an eighth resistor R19, the other end of the eighth resistor R19 is connected to the charging power input terminal, the common end of the seventh resistor R20 and the eighth resistor R19 is connected to the gate of the first MOS tube Q3, the emitter of the third triode Q13 is connected to the reference ground, and the base of the third triode Q13 is connected to the charging enable terminal of the controller through a ninth resistor R59;

[0022] A third MOS tube Q5, a source of the third MOS tube Q5 is connected to the reference ground, a gate of the third MOS tube Q5 is connected to the overcharge protection output end of the protection circuit / or the overcharge protection signal output end of the controller, a drain of the third MOS tube Q5 is connected to the cathode of the fifth diode D7, and an anode of the fifth diode D7 is connected to the gate of the second MOS tube Q4 through a tenth resistor R39.

[0023] Further, according to an embodiment of the present invention, the battery discharge control circuit includes:

[0024] a fourth MOS tube Q12, wherein the drain of the fourth MOS tube Q12 is connected to the battery charging power output terminal of the battery charging control circuit, and the source of the fourth MOS tube Q12 is connected to the positive terminal of the battery;

[0025] a fifth MOS tube Q11, wherein the drain of the fifth MOS tube Q11 is connected to the battery charging power output terminal of the battery charging control circuit, and the source of the fifth MOS tube Q11 is connected to the positive terminal of the battery;

[0026] a fourth triode Q6, wherein the base of the fourth triode Q6 is connected to the discharge control terminal of the controller through an eleventh resistor R44, the emitter of the fourth triode Q6 is connected to the reference ground, the collector of the fourth triode Q6 is connected to one end of a twelfth resistor R48, the other end of the twelfth resistor R48 is connected to one end of a thirteenth resistor R47, and the other end of the thirteenth resistor R47 is connected to the positive terminal of the battery;

[0027] a fifth triode Q7, wherein the base of the fifth triode Q7 is connected to the other end of the twelfth resistor R48, the collector of the fifth triode Q7 is connected to the positive end of the battery, the emitter of the fifth triode Q7 is connected to the gate of the fifth MOS tube Q11 and the gate of the fourth MOS tube Q12 through a fourteenth resistor R52, and the gate of the fifth MOS tube Q11 and the gate of the fourth MOS tube Q12 are also connected to the positive end of the battery through a fifteenth resistor R54;

[0028] A sixth transistor Q9, wherein the collector of the sixth transistor Q9 is connected to the reference ground, the emitter of the sixth transistor Q9 is connected to the emitter of the fifth transistor Q7, and the base of the sixth transistor Q9 is connected to the base of the fifth transistor Q7.

[0029] Further, according to an embodiment of the present invention, the protection circuit includes:

[0030] An overcharge and overdischarge controller U3, wherein the signal detection end of the overcharge and overdischarge controller U3 is respectively connected to each lithium battery of the battery, the overcharge detection output end of the overcharge and overdischarge controller U3 is connected to the battery charging control circuit, so as to perform overcharge protection control through the battery charging control circuit, and the overdischarge detection output end of the overcharge and overdischarge controller U3 is signal-connected to a detection end of the controller, so as to perform overdischarge protection control on the battery discharge control circuit through the controller;

[0031] A current detection resistor R58, wherein the current detection resistor R58 is connected in series to the charge and discharge circuit of the battery to detect the current in the charge and discharge circuit of the battery;

[0032] A first amplifier U4A, wherein a non-inverting input terminal of the first amplifier U4A is connected to one end of the current detection resistor R58 through a sixteenth resistor R37, an inverting input terminal of the first amplifier U4A is connected to the other end of the current detection resistor R58 through a seventeenth resistor R35, an output terminal of the first amplifier U4A is connected to a charging current detection terminal of the controller through an eighteenth resistor R40, and an output terminal of the first amplifier U4A is also connected to an inverting input terminal of the first amplifier U4A through a nineteenth resistor R34;

[0033] A second amplifier U4B, a non-inverting input terminal of the second amplifier U4B is connected to the other end of the current detection resistor R58 through a twentieth resistor R16, an inverting input terminal of the second amplifier U4B is connected to one end of the current detection resistor R58 through a twenty-first resistor R15, an output terminal of the second amplifier U4B is connected to the discharge current detection terminal of the controller through a twenty-second resistor R18, and an output terminal of the second amplifier U4B is also connected to the inverting input terminal of the second amplifier U4B through a twenty-third resistor R21.

[0034] Further, according to one embodiment of the present invention, the external power supply charging control circuit includes:

[0035] a sixth MOS transistor Q1A, wherein a source of the sixth MOS transistor Q1A is connected to the positive input terminal of the power input interface, a drain of the sixth MOS transistor Q1A outputs a charging power source, and a source of the sixth MOS transistor Q1A is also connected to a gate of the sixth MOS transistor Q1A through a twenty-fourth resistor R13A;

[0036] A seventh MOS tube Q4A, a drain of the seventh MOS tube Q4A is connected to the gate of the sixth MOS tube Q1A through a twenty-fifth resistor R3A, a source of the seventh MOS tube Q4A is connected to a reference ground, and a gate of the seventh MOS tube Q4A is connected to a charging control terminal of the controller through a twenty-sixth resistor R6A.

[0037] Further, according to an embodiment of the present invention, the peripheral control circuit includes:

[0038] A roller brush control circuit, the roller brush control circuit comprising an eighth MOS tube Q1B, a source of the eighth MOS tube Q1B connected to a reference ground through a twenty-seventh resistor R11B, a drain of the eighth MOS tube Q1B connected to a ground terminal of a roller brush motor through an interface, and a gate of the eighth MOS tube Q1B connected to a control terminal of a controller to control the roller brush;

[0039] A water pump control circuit, the water pump control circuit comprising a ninth MOS tube Q2B, a source of the ninth MOS tube Q2B being connected to a reference ground, a drain of the ninth MOS tube Q2B being connected to a ground terminal of the water pump, and a gate of the ninth MOS tube Q2B being connected to a control terminal of a controller to control the water pump;

[0040] A sewage level detection circuit, the sewage level detection circuit comprising a twenty-eighth resistor R18B, one end of the twenty-eighth resistor R18B is connected to the liquid level signal output end of the sewage level detector, and the other end of the twenty-eighth resistor R18B is connected to the sewage detection end of the control;

[0041] A clean water detection circuit, the clean water detection circuit includes a twenty-ninth resistor R17B and a thirtieth resistor R20B, one end of the twenty-ninth resistor R17B is connected to the pull-up power supply, the other end of the twenty-ninth resistor R17B is connected to the clean water detection sensor signal output end, one end of the thirtieth resistor R20B is connected to the clean water detection sensor signal output end, and the other end of the thirtieth resistor R20B is connected to a clean water detection signal end of the control.

[0042] Further, according to an embodiment of the present invention, the main control circuit comprises:

[0043] A power management module, the power management module is used to communicate with the charge and discharge management control circuit and the external power supply charging control circuit to obtain battery information through the charge and discharge management control circuit, and to charge the battery by controlling the charge and discharge management control circuit and the external power supply charging control circuit;

[0044] A path planning module, the path planning module is used to plan the floor washing path according to the battery power information; wherein the main control circuit stores a mapping relationship table of power consumption of multiple paths and multiple sections in each path, and the path planning module plans the floor washing path according to the current position, battery power and power consumption mapping relationship table;

[0045] An obstacle avoidance processing module, the obstacle avoidance processing module is used to adjust the floor scrubbing path according to the fault information output by the obstacle detection circuit to avoid obstacles;

[0046] A button processing module is used to receive the control signal input by the user to perform floor washing or stop control according to the control signal.

[0047] Further, according to an embodiment of the present invention, the main control circuit further includes:

[0048] A turbidity detection module, the turbidity detection module is used to obtain turbidity information of the water bucket through the clean water detection circuit, and when the turbidity exceeds a set value, control the motor drive circuit to move to the garbage collection station;

[0049] A sewage discharge module, the sewage discharge module is used to discharge the sewage on the bucket by controlling the water pump control circuit;

[0050] A clean water extraction module, the clean water extraction module is used to extract clean water into the water bucket by controlling the water pump control circuit;

[0051] A floor scrubbing control module is used to perform floor scrubbing operations by controlling the roller brush control circuit.

[0052] The intelligent floor scrubber control system provided by the embodiment of the present invention is connected to the battery and the main control circuit respectively through the charge and discharge management control circuit to manage the charge and discharge of the battery, and send the battery status information to the main control circuit, and the main control circuit plans the floor scrubber path according to the battery information; the external power supply charging control circuit is connected to the main control circuit, and the external power supply charging control circuit is connected to the charge and discharge management control circuit through the main control circuit, and the main control circuit is also used to control the motor drive circuit to drive the motor to rotate, so as to drive the intelligent floor scrubber to move to the charging base station, and the external power supply charging control circuit is also under the control of the main control circuit. Automatically charge the battery through the charging base station; the peripheral control circuit is connected to the main control circuit to drive the peripheral to perform floor scrubbing operations under the control of the main control circuit. In this way, the automatic planning of the cleaning path is realized through path planning, and when the power is insufficient, it automatically moves to the charging base station for charging. The whole system has a high degree of automation, and the battery management and charging control are carried out through the charge and discharge management control circuit and the external power supply charging control circuit, so that the overall power supply of the battery can be highly reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 This is a structural block diagram of the intelligent floor scrubber control system provided by the present invention;

[0054] Figure 2 A structural block diagram of the charge and discharge management control circuit provided by the present invention;

[0055] Figure 3 A schematic diagram of the structure of the charge and discharge management control circuit provided by the present invention;

[0056] Figure 4 A schematic diagram of the battery charging control circuit structure provided by the present invention;

[0057] Figure 5 A schematic diagram of the battery discharge control circuit structure provided by the present invention;

[0058] Figure 6 A schematic diagram of the battery protection circuit structure provided by the present invention;

[0059] Figure 7 A schematic diagram of the structure of a discharge current detection circuit provided by the present invention;

[0060] Figure 8 A structural block diagram of a charger voltage detection circuit, a battery pack voltage detection circuit, a temperature detection circuit and a discharge state detection circuit provided by the present invention;

[0061] Fig. 9 A schematic diagram of the structure of an external power supply charging control circuit provided by the present invention;

[0062] Fig.10 A schematic diagram of the structure of a roller brush control circuit provided by the present invention;

[0063] Fig.11 A schematic diagram of the structure of a water pump control circuit provided by the present invention;

[0064] Fig.12 A schematic diagram of the structure of a sewage level detection circuit provided by the present invention;

[0065] Fig.13 A schematic diagram of the structure of a clean water detection circuit provided by the present invention;

[0066] Fig.14 A flow chart of the main control circuit provided by the present invention controlling the corresponding module to perform turbidity and liquid level detection, return to the garbage collection station, discharge sewage and refill with clean water;

[0067] Fig.15 The main control circuit provided by the present invention controls the corresponding module to perform voltage processing, path planning, obstacle avoidance processing and key processing flow chart;

[0068] Fig.16 This is a schematic diagram of the segmented path planning provided by the present invention.

[0069] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. Implementation

[0070] In order to make those skilled in the art better understand the scheme of the present invention, the technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the present invention. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0071] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0072] See also Figure 1, an embodiment of the present invention provides a control system for an intelligent floor scrubber, comprising a main control circuit, a motor drive circuit and an obstacle detection circuit, wherein the main control circuit is respectively connected to the motor drive circuit and the obstacle detection circuit to detect obstacles on the path through the obstacle detection circuit, and controls the motor drive circuit to drive the motor to rotate according to the fault condition, so as to drive the intelligent floor scrubber to move, and further comprises: a charge and discharge management control circuit, an external power supply charging control circuit and a peripheral control circuit, wherein the charge and discharge management control circuit is respectively connected to a battery and the main control circuit to manage the charge and discharge of the battery, and sends the battery status information to the main control circuit, and the main control circuit plans the floor scrubbing path according to the battery information; Figure 1 As shown in , during the use of the floor scrubber, it is necessary to automatically sweep the floor according to the planned route, and during the use, it is necessary to automatically go to the charging base station for automatic charging to realize the continuous automatic floor scrubbing operation of the intelligent floor scrubber. In this process, a charge and discharge management control circuit is required to realize the management of the battery, obtain the battery information, and send the battery information to the main control circuit. The main control circuit can plan the operation route according to the remaining power of the battery to ensure that the floor scrubber can operate continuously and can be charged in time, avoiding the situation where the power is too low to return to the charging base station for automatic charging.

[0073] The external power supply charging control circuit is connected to the main control circuit, and the external power supply charging control circuit is connected to the charge and discharge management control circuit through the main control circuit. The main control circuit is also used to control the motor drive circuit to drive the motor to rotate, so as to drive the intelligent floor scrubber to move to the charging base station. The external power supply charging control circuit is also under the control of the main control circuit. The battery is automatically charged through the charging base station; specifically, the external power supply charging control circuit is used to connect to a charging power supply, and the charging power supply can be a charger, and the charger can provide power for the external power supply charging control circuit. The external power supply charging control circuit can output the charging power under the control of the controller, thereby powering each circuit module and providing charging power for the battery.

[0074] The peripheral control circuit is connected to the main control circuit to drive the peripheral device to perform floor scrubbing operations under the control of the main control circuit. Figure 1 As shown in , the peripheral control circuit may include a variety of peripherals, such as a brush, a roller brush, a water pump, a clean water detector, etc. Each peripheral can perform a floor scrubbing operation under the control of the controller.

[0075] The intelligent floor scrubber control system provided by the embodiment of the present invention is respectively connected to the battery and the main control circuit through the charge and discharge management control circuit to manage the charge and discharge of the battery, and send the battery status information (for example, the remaining power, current, voltage information, etc.) to the main control circuit, and the main control circuit plans the floor scrubbing path according to the battery information; the external power supply charging control circuit is connected to the main control circuit, and the external power supply charging control circuit is connected to the charge and discharge management control circuit through the main control circuit, and the main control circuit is also used to control the motor drive circuit to drive the motor to rotate, so as to drive the intelligent floor scrubber to move to the charging base station, and the external power supply charging control circuit is also under the control of the main control circuit. Automatically charge the battery through the charging base station; the peripheral control circuit is connected to the main control circuit to drive the peripheral to perform floor scrubbing operations under the control of the main control circuit. In this way, the cleaning route is automatically planned through path planning, and when the power is low, it automatically moves to the charging base station for charging. The whole system has a high degree of automation, and the battery is managed and charged through the charge and discharge management control circuit and the external power supply charging control circuit, so that the overall power supply of the battery can be highly reliable.

[0076] See also Figure 2 The charge and discharge management control circuit includes: a controller, a communication circuit, a battery charge control circuit, a battery discharge control circuit and a protection circuit. The controller is connected to the main control circuit through the communication circuit. The controller receives the power control signal sent by the main control circuit through the communication circuit and sends the battery power information to the main control circuit. Figure 2 As shown in , the charge and discharge management control circuit can communicate with the main control circuit through the communication circuit to receive information from the main control circuit, and send battery status information to the main control circuit, so that the main control circuit can obtain battery information.

[0077] The battery charging control circuit is connected to the external power supply charging control circuit through the main control circuit to control the charging of the battery using the charging power output by the external power supply charging control circuit; the battery charging control circuit can control the charging of the charging power transmitted from the main control circuit to charge the battery, and perform overcharge protection control when the battery is overcharged.

[0078] The battery discharge control circuit is connected to the battery charging control circuit and the battery respectively to control the discharge of the battery; the battery discharge control circuit can control the discharge of the battery and perform over-discharge protection control when the battery is over-discharged.

[0079] The protection circuit is connected to the battery charging control circuit and the battery discharging control circuit respectively, or the protection circuit is connected to the battery charging control circuit and the battery discharging control circuit respectively through the controller, so as to protect the battery from overcharge, over-discharge, and / or over-current through the battery charging control circuit and the battery discharging control circuit. Figure 2 As shown in , the protection circuit may include a battery protection circuit and a charging current detection circuit. The battery protection circuit is connected to the battery to detect overcharge and over-discharge of the battery, and transmit the overcharge and over-discharge signals to the battery charging control circuit and the battery discharging control circuit; or transmit the overcharge and over-discharge signals to the controller, and the controller transmits the overcharge and over-discharge signals to the battery charging control circuit and the battery discharging control circuit, so as to perform overcharge and over-discharge protection control through the battery charging control circuit and the battery discharging control circuit.

[0080] See also Figure 2 and Figure 3 The communication circuit includes: a first transistor Q8 and a second transistor Q10, wherein the emitter of the first transistor Q8 is connected to the reference ground, the base of the first transistor Q8 is connected to the cathode of the first diode D10 through the first resistor R56, the anode of the first diode D10 is connected to the common signal terminal of the main control circuit, the collector of the first transistor Q8 is connected to the pull-up power supply through the second resistor R50, and the collector of the first transistor Q8 is also connected to the signal receiving terminal of the controller through the third resistor R49; the emitter of the second transistor Q10 is connected to the reference ground, the collector of the second transistor Q10 is connected to the pull-up power supply through the fourth resistor R57, the collector of the second transistor Q10 is also connected to the anode of the second diode D11, the cathode of the second diode D11 is connected to the common signal terminal of the main control circuit, and the base of the second transistor Q10 is also connected to the signal sending terminal of the controller through the fifth resistor R55.

[0081] Specifically, Figure 3As shown in , the controller can transmit and receive signals through the BMS_RX signal terminal and the BMS_TX signal terminal. When the controller needs to send a signal, it sends the signal through the BMS_TX signal terminal. When the signal output by the controller through BMS_TX is a high-level signal, the second transistor Q10 is turned on, so that the collector of the transistor Q10 can be pulled down to a low level, and the signal common terminal COMM outputs a low-level signal. When the BMS_TX output signal is a low-level signal, the second transistor Q10 is turned off, and the signal common terminal COMM outputs a high-level signal. In the process of the controller receiving a signal, when the signal common terminal COMM outputs a high-level signal, the first diode D10 and the first transistor Q8 can be turned on, and the BMS_RX signal terminal outputs a low-level signal to the controller. When the signal common terminal COMM outputs a low-level signal, the first diode D10 and the first transistor Q8 are both turned off, and the BMS_RX signal terminal outputs a high-level signal to the controller. In this way, the controller can communicate with the main control circuit through the communication circuit to realize the output of battery information and the reception of the output signal of the main control circuit. In specific communication, the transmission and reception of data can be realized by setting a protocol. For example, after the controller sends data, it is in a data receiving state, waiting for the main controller to send data, and after receiving the data sent by the controller, it sends data again. In this way, the communication channel can be time-division multiplexed.

[0082] See also Figure 2 and Figure 4The battery charging control circuit includes: a first MOS tube Q3, a second MOS tube Q4, a third triode Q13 and a third MOS tube Q5, the source of the first MOS tube Q3 is connected to the charging power input terminal CH+; the source of the second MOS tube Q4 is connected to the drain of the first MOS tube Q3, the gate of the second MOS tube Q4 is connected to the source of the second MOS tube Q4 through a sixth resistor R38, and the drain of the second MOS tube Q4 outputs the battery charging power P+ through a third diode D8 and a fourth diode D6 connected in parallel; the collector of the third triode Q13 is connected to one end of the seventh resistor R20, the other end of the seventh resistor R20 is connected to one end of the eighth resistor R19, and the eighth resistor R19 is connected to one end of the eighth resistor R19. The other end is connected to the charging power input end, the common end of the seventh resistor R20 and the eighth resistor R19 is connected to the gate of the first MOS tube Q3, the emitter of the third triode Q13 is connected to the reference ground, and the base of the third triode Q13 is connected to the charging enable end CH_EN of the controller through the ninth resistor R59; the source of the third MOS tube Q5 is connected to the reference ground, the gate of the third MOS tube Q5 is connected to the overcharge protection output end CHG of the protection circuit and / or the overcharge protection signal output end of the controller, the drain of the third MOS tube Q5 is connected to the cathode of the fifth diode D7, and the anode of the fifth diode D7 is connected to the gate of the second MOS tube Q4 through the tenth resistor R39.

[0083] Specifically, Figure 4 As shown in , by setting the first MOS tube Q3 and the second MOS tube Q4 on the charging circuit of the battery, the charging of the battery can be controlled. The third triode Q13 and the third MOS tube Q5 can drive the first MOS tube Q3 and the second MOS tube Q4 to turn on or off quickly after power amplification of the charging control signal. In addition, the controller can output the charging control signal through the CH_EN signal terminal. When the charging control signal is a high-level signal, the third triode Q13 can be turned on, thereby driving the first MOS tube Q3 to turn on. At this time, if the overcharge protection output terminal CHG of the protection circuit is a high level, the third MOS tube Q5 can also be turned on, so that the second MOS tube Q4 can be driven to turn on. When the first MOS tube Q3 and the second MOS tube Q4 are both turned on, the charging circuit is turned on, the charging power supply CH+ can be output, and the battery is charged. When the controller detects abnormal charging, it can output a low-level signal through the CH_EN signal terminal, and turn off the third triode Q13 and the first MOS tube Q3, disconnect the charging circuit, and perform abnormal charging protection. In addition, when the protection circuit detects that the battery is overcharged, it can also output a low voltage signal through the CHG terminal. The low voltage signal can turn off the third MOS transistor Q5 and the second MOS transistor Q4, disconnecting the charging circuit, thereby performing overcharge protection.

[0084] See also Figure 2 and Figure 5 The battery discharge control circuit comprises: a fourth MOS tube Q12, a fifth MOS tube Q11, a fourth triode Q6, a fifth triode Q7 and a sixth triode Q9, the drain of the fourth MOS tube Q12 is connected to the battery charging power output end of the battery charging control circuit, and the source of the fourth MOS tube Q12 is connected to the positive end of the battery; the drain of the fifth MOS tube Q11 is connected to the battery charging power output end of the battery charging control circuit, and the source of the fifth MOS tube Q11 is connected to the positive end of the battery; the base of the fourth triode Q6 is connected to the discharge control end of the controller through an eleventh resistor R44, the emitter of the fourth triode Q6 is connected to the reference ground, the collector of the fourth triode Q6 is connected to one end of a twelfth resistor R48, and the the other end is connected to one end of a thirteenth resistor R47, and the other end of the thirteenth resistor R47 is connected to the positive end of the battery; the base of the fifth triode Q7 is connected to the other end of the twelfth resistor R48, the collector of the fifth triode Q7 is connected to the positive end of the battery, the emitter of the fifth triode Q7 is connected to the gate of the fifth MOS tube Q11 and the gate of the fourth MOS tube Q12 through a fourteenth resistor R52, and the gate of the fifth MOS tube Q11 and the gate of the fourth MOS tube Q12 are also connected to the positive end of the battery through a fifteenth resistor R54; the collector of the sixth triode Q9 is connected to the reference ground, the emitter of the sixth triode Q9 is connected to the emitter of the fifth triode Q7, and the base of the sixth triode Q9 is connected to the base of the fifth triode Q7.

[0085] Specifically, Figure 5As shown in , the fourth MOS tube Q12 and the fifth MOS tube Q11 are connected in parallel to the discharge circuit of the battery, so that the discharge of the battery can be turned on or off, and the fourth triode Q6, the fifth triode Q7 and the sixth triode Q9 constitute a push-pull drive circuit. When the controller outputs a high-level signal through the DSG signal terminal, the fourth triode Q6 and the sixth triode Q9 can be turned on at the same time, and then the gates of the fourth MOS tube Q12 and the fifth MOS tube Q11 are pulled down to a low level, so that the fourth MOS tube Q12 and the fifth MOS tube Q11 can be turned on at the same time, and the battery discharges to the outside through the fourth MOS tube Q12 and the fifth MOS tube Q11. When the controller detects abnormal discharge, it can output a low-level signal through the DSG signal terminal, and the low-level signal can turn off the fourth transistor Q6 and turn on the fifth transistor Q7, so that the gates of the fourth MOS transistor Q12 and the fifth MOS transistor Q11 are quickly pulled up to a high-level state, so that the fourth MOS transistor Q12 and the fifth MOS transistor Q11 are quickly turned off, thereby disconnecting the discharge circuit and realizing battery over-discharge or abnormal discharge protection.

[0086] See also Figure 2 , Figure 5 , Figure 6 and Figure 7 The protection circuit includes: an overcharge and overdischarge controller U3, a current detection resistor R58 ( Figure 5 As shown in ), a first amplifier U4A and a second amplifier U4B, the voltage detection terminals (B1, B2, B3, B4, B5, B+) of the overcharge and overdischarge controller U3 are respectively connected to each lithium battery of the battery, the overcharge detection output terminal CHG of the overcharge and overdischarge controller U3 is connected to the battery charging control circuit to perform overcharge protection control through the battery charging control circuit, and the overdischarge detection output terminal DO of the overcharge and overdischarge controller U3 is connected to a detection terminal signal of the controller to perform overdischarge protection control on the battery discharge control circuit through the controller.

[0087] More specifically, Figure 2 and Figure 6As shown in , the protection circuit includes a battery protection circuit, and the battery protection circuit includes an overcharge and overdischarge controller U3. The overcharge and overdischarge controller U3 can be connected to each lithium battery, and each lithium battery can be formed by connecting lithium batteries in series or in parallel. The voltage of each lithium battery is detected by the charge and overdischarge controller U3. When any lithium battery is overcharged or over-charged, an overcharge signal CHG or an over-discharge signal DO is output. The overcharge signal CHG and the over-discharge signal DO can be output to the battery charging control circuit and the battery discharging control circuit for overcharge or over-discharge protection. In other cases, the overcharge signal CHG or the over-discharge signal DO can also be output to the controller, and the controller outputs the overcharge and over-discharge signals to the battery charging control circuit and the battery discharging control circuit for overcharge and over-discharge control.

[0088] See also Figure 5 and Figure 7 , the current detection resistor R58 is connected in series to the charging and discharging circuit of the battery to detect the current in the charging and discharging circuit of the battery; the positive input terminal of the first amplifier U4A is connected to one end of the current detection resistor R58 through the sixteenth resistor R37, the inverting input terminal of the first amplifier U4A is connected to the other end of the current detection resistor R58 through the seventeenth resistor R35, the output terminal of the first amplifier U4A is connected to the charging current detection terminal of the controller through the eighteenth resistor R40, and the output terminal of the first amplifier U4A is also connected to the charging current detection terminal of the controller through the nineteenth resistor R3 4 is connected to the inverting input terminal of the first amplifier U4A; the non-inverting input terminal of the second amplifier U4B is connected to the other end of the current detection resistor R58 through the twentieth resistor R16, the inverting input terminal of the second amplifier U4B is connected to the one end of the current detection resistor R58 through the twenty-first resistor R15, the output terminal of the second amplifier U4B is connected to the discharge current detection terminal of the controller through the twenty-second resistor R18, and the output terminal of the second amplifier U4B is also connected to the inverting input terminal of the second amplifier U4B through the twenty-third resistor R21.

[0089] Specifically, Figure 5As shown in, the current detection resistor R58 can detect the current on the battery charge and discharge circuit, and the detection value is output to the two signal input ends of the first amplifier U4A and the second amplifier U4B. The first amplifier U4A and the second amplifier U4B constitute a linear operation circuit. After the current detection resistor R58 is subjected to linear operation and signal isolation, the current is detected by the discharge current detection end DSG_I_Det and the charging current detection end CHG_I_Det, and then output to the controller. In this way, the controller can obtain the charge and discharge current information on the battery charge and discharge circuit, and can determine whether an overcurrent or short circuit occurs. When an overcurrent or short circuit occurs, a protection signal can be output to the battery discharge control circuit and the battery charging control circuit to disconnect the battery charging circuit and the discharge circuit, thereby performing overcurrent short circuit protection. At the same time, according to the discharge current information, the battery voltage information and the battery power information, the remaining power information of the battery can be accurately obtained. These battery information can be sent to the main control circuit, so that the main control circuit can obtain the battery information and plan the path according to the remaining power information.

[0090] See also Figure 8 In one embodiment of the present invention, the charge and discharge management control circuit may also include a charger voltage detection circuit, a battery pack voltage detection circuit, a temperature detection circuit and a discharge state detection circuit. The charger voltage detection circuit, the battery pack voltage detection circuit, the temperature detection circuit and the discharge state detection circuit are respectively connected to the controller, and the charger voltage, the battery voltage, the temperature and the discharge state are output to the controller, so that the controller can obtain the battery information and the working state information of the charge and discharge circuit. For example, the real-time voltage information of the battery pack can be obtained through the battery pack voltage detection circuit, and the current information of the charge and discharge circuit can be obtained through the protection circuit. According to the real-time current and voltage information, the battery power information is calculated in real time, so that the main control circuit can obtain the remaining power information of the battery in real time and plan the path according to the remaining power information. In addition, the temperature detection circuit can detect the temperature and perform over-temperature protection processing through the controller.

[0091] See also Figure 1 and Fig. 9The external power supply charging control circuit includes: a sixth MOS tube Q1A and a seventh MOS tube Q4A, the source of the sixth MOS tube Q1A is connected to the positive input terminal of the power input interface, the drain of the sixth MOS tube Q1A outputs the charging power, the source of the sixth MOS tube Q1A is also connected to the gate of the sixth MOS tube Q1A through a twenty-fourth resistor R13A; the drain of the seventh MOS tube Q4A is connected to the gate of the sixth MOS tube Q1A through a twenty-fifth resistor R3A, the source of the seventh MOS tube Q4A is connected to the reference ground, and the gate of the seventh MOS tube Q4A is connected to a charging control terminal of the controller through a twenty-sixth resistor R6A.

[0092] Specifically, Fig. 9 As shown in , the external power supply charging control circuit can be connected to the charger through the CN3A interface, and the charging power supply is introduced. The sixth MOS tube Q1A is set in the loop of the charging power supply, and the charging power supply can be turned on or off. The resistor R2A and the resistor R10A constitute a voltage divider circuit, which can introduce the charger into the power supply for voltage division and then output it to the voltage detection end of the controller, so that the controller can detect whether a charger is inserted. When the controller detects that a charger is inserted, a high-level signal can be output through the CH_EN signal end. The high-level signal can turn on the seventh MOS tube Q4A and pull down the gate of the sixth MOS tube Q1A to a low level, so that the sixth MOS tube Q1A is turned on, and the power supply of the charger is output through the CH+ end, so as to provide charging power for the battery.

[0093] See also Figure 1 , Fig.10 , Fig.11 , Fig.12 and Fig.13 , the peripheral control circuit includes: a roller brush control circuit, a water pump control circuit, a sewage level detection circuit and a clean water detection circuit, the roller brush control circuit includes an eighth MOS tube Q1B, the source of the eighth MOS tube Q1B is connected to the reference ground through the twenty-seventh resistor R11B, the drain of the eighth MOS tube Q1B is connected to the ground terminal of the roller brush motor through the interface, and the gate of the eighth MOS tube Q1B is connected to a control terminal of the controller to control the roller brush; Fig.10 As shown in , the controller can output a switch control signal through the B_EN signal terminal to control the conduction or cutoff of the eighth MOS tube Q1B. When the eighth MOS tube Q1B is turned on, the roller brush power supply circuit is turned on, and the roller brush starts to work. When the eighth MOS tube Q1B is cut off, the roller brush stops working.

[0094] The water pump control circuit includes a ninth MOS tube Q2B, a source of the ninth MOS tube Q2B is connected to the reference ground, a drain of the ninth MOS tube Q2B is connected to the ground terminal of the water pump, and a gate of the ninth MOS tube Q2B is connected to a control terminal of the controller to control the water pump; Fig.11 As shown in , the controller can output a switch control signal through the PM_EN signal terminal to control the conduction or cutoff of the ninth MOS tube Q2B. When the ninth MOS tube Q2B is turned on, the water pump power supply circuit is turned on, and the water pump starts to work. When the ninth MOS tube Q2B is cut off, the water pump stops working.

[0095] The sewage level detection circuit includes a twenty-eighth resistor R18B, one end of the twenty-eighth resistor R18B is connected to the liquid level signal output end of the sewage level detector, and the other end of the twenty-eighth resistor R18B is connected to the sewage detection end of the control; Fig.12 As shown in , the sewage signal output by the sewage level detector is output to the controller through the twenty-eighth resistor R18B, and the controller can detect the sewage level through the WS_AD signal detection terminal. When the sewage level exceeds the set value, the controller can discharge the sewage.

[0096] The clean water detection circuit includes a 29th resistor R17B and a 30th resistor R20B, one end of the 29th resistor R17B is connected to the pull-up power supply, the other end of the 29th resistor R17B is connected to the clean water detection sensor signal output end, one end of the 30th resistor R20B is connected to the clean water detection sensor signal output end, and the other end of the 30th resistor R20B is connected to a clean water detection signal end of the control. Fig.13 As shown in , the output signal of the clean water detection circuit is output to the controller through the 30th resistor R20B, and the controller can detect the turbidity of the clean water through the SENSOR signal detection end. When the turbidity exceeds the set value, the controller can be used to discharge sewage and reload clean water. The detection can be detected by an infrared photoelectric sensor, and the signal is sent and received by the infrared photoelectric sensor. After the signal passes through clean water or sewage, the turbidity of the clean water can be judged according to the strength of the signal.

[0097] See also Figure 1 , Figure 2 and Fig.14The main control circuit includes: a turbidity detection module, a sewage discharge module, a clean water extraction module and a floor washing control module. The turbidity detection module is used to obtain the turbidity information of the bucket through the clean water detection circuit, and when the turbidity exceeds the set value, control the motor drive circuit to move to the garbage collection station; the sewage discharge module is used to discharge the sewage on the bucket by controlling the water pump control circuit; the clean water extraction module is used to extract clean water into the bucket by controlling the water pump control circuit; the floor washing control module is used to perform floor washing operations by controlling the roller brush control circuit.

[0098] See also Figure 1 , Figure 2 and Fig.15 , the main control circuit also includes: a power management module, a path planning module, an obstacle avoidance processing module and a key processing module, the power management module is used to communicate with the charge and discharge management control circuit and the external power supply charging control circuit to obtain battery information through the charge and discharge management control circuit, and charge the battery by controlling the charge and discharge management control circuit and the external power supply charging control circuit; Figure 1 and Fig.15 As shown in , the power management module on the main control circuit can communicate with the charge and discharge management control circuit through the communication interface and obtain information about the battery, such as the voltage and power of the battery. In addition, a signal can be sent to the charge and discharge management control circuit to manage and control the charge and discharge of the battery. In addition, the power management module can also communicate with the external power supply charging control circuit to control charging after the charger is connected.

[0099] The path planning module is used to plan the floor washing path according to the battery power information; wherein the main control circuit stores a plurality of paths and a power consumption mapping relationship table of a plurality of sections in each path, and the path planning module plans the floor washing path according to the current position, the battery power and the power consumption mapping relationship table; specifically, in the embodiment of the present invention, in order to ensure that the floor washing machine can operate normally and automatically, it is necessary to plan the floor washing path during the operation of the floor washing machine, so that when the floor washing machine moves along the route planned by the floor washing installation, it can be ensured that it moves to the charging base station for charging in the case of insufficient power. Before or during the normal operation of the floor washing machine, the power consumed by each section of the journey can be obtained, and the power information and the journey information can be stored, which can be stored in a table, so as to facilitate the planning of a new floor washing path according to the remaining power in the later stage. Since the length of the path is usually not necessarily linearly related to the power consumed. Therefore, it is often inaccurate to directly calculate the path length by linear proportion according to the power, because different paths may consume different amounts of power, for example, some paths are relatively inclined, and uphill will consume more power. Therefore, in the embodiment of the present invention, in order to improve the accuracy, the path and power information are stored in a table. That is, for a path of the same length, the power stored in the table is not necessarily the same power value. In this way, when scrubbing a certain section of the road, you can refer to the table information and the remaining battery power to make a decision. When the power is not enough to go back and forth on the path that needs to be scrubbed, you can choose to charge before starting the operation to avoid the situation where you cannot return to the charging base station due to insufficient power. The path and power meter information can be updated in time during the operation so that it can be obtained later and used as a reference for planning the path. For more details, please refer to Fig.16 When the floor washing area is circular, the floor washer can clean the entire circular floor by walking on multiple circular paths. Two circular paths are connected by a transition path. Each circular path is divided into multiple sections. When the floor washer starts working, the set circular path is installed and walked clockwise and counterclockwise. During this process, the power consumed clockwise and counterclockwise in each section is recorded in the table. After walking all the paths, the power consumption of multiple sections in each circular path can be recorded separately. In this way, in the subsequent floor washing process, the power required for returning to charge can be obtained by looking up the table according to the remaining power of the battery. Before returning to charge when the remaining power is insufficient, return to charge in time to avoid the situation where the battery runs out and stops, so as to improve work efficiency and ensure that the floor washer can return to the charging base station for charging normally.

[0100] The obstacle avoidance processing module is used to adjust the floor scrubbing path according to the fault information output by the obstacle detection circuit to avoid obstacles; when the floor scrubber is moving along the planned path, it may encounter obstacles, which can be detected by an ultrasonic sensor or an infrared sensor, and when the obstacles are detected, they are avoided and the path is fine-tuned.

[0101] The key processing module is used to receive the control signal input by the user to perform floor scrubbing or stop control according to the control signal. That is, during the operation, the floor scrubber can also receive the user's key control signal to stop or start the floor scrubbing operation.

[0102] The above are only embodiments of the present invention, but they do not limit the patent scope of the present invention. Although the present invention is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments, or replace some of the technical features with equivalent ones. Any equivalent structure made by using the contents of the present invention specification and drawings, directly or indirectly used in other related technical fields, is also within the scope of patent protection of the present invention.

[0103] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0104] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention without departing from the principles and intent of the present invention.

Claims

1. A control system for an intelligent floor scrubber, comprising a main control circuit, a motor drive circuit and an obstacle detection circuit, wherein the main control circuit is connected to the motor drive circuit and the obstacle detection circuit respectively, so as to detect obstacles on the path through the obstacle detection circuit, and control the motor drive circuit to drive the motor to rotate according to the fault condition, so as to drive the intelligent floor scrubber to move, characterized in that: Also includes: A charge and discharge management control circuit, the charge and discharge management control circuit is connected to the battery and the main control circuit respectively to manage the charge and discharge of the battery, and send the battery status information to the main control circuit, and the main control circuit plans the floor washing path according to the battery information; An external power supply charging control circuit, the external power supply charging control circuit is connected to the main control circuit, the external power supply charging control circuit is connected to the charge and discharge management control circuit through the main control circuit, the main control circuit is also used to control the motor drive circuit to drive the motor to rotate, so as to drive the intelligent floor scrubber to move to the charging base station, and the external power supply charging control circuit is also under the control of the main control circuit, and automatically charges the battery through the charging base station; A peripheral control circuit, the peripheral control circuit is connected to the main control circuit to drive the peripheral device to perform floor scrubbing operations under the control of the main control circuit; in, The charge and discharge management control circuit comprises: Controller; A communication circuit, wherein the controller is connected to the main control circuit for communication, the controller receives a power control signal sent by the main control circuit through the communication circuit, and sends the battery power information to the main control circuit; a battery charging control circuit, wherein the battery charging control circuit is connected to the external power charging control circuit through the main control circuit, so as to control the charging of the battery by the charging power output by the external power charging control circuit; A battery discharge control circuit, the battery discharge control circuit is connected to the battery charge control circuit and the battery respectively, so as to control the discharge of the battery; a protection circuit, wherein the protection circuit is respectively connected to a battery charging control circuit and a battery discharging control circuit, or the protection circuit is respectively connected to the battery charging control circuit and the battery discharging control circuit through the controller, so as to perform overcharge protection, over-discharge protection, and / or overcurrent protection on the battery through the battery charging control circuit and the battery discharging control circuit; in, The communication circuit comprises: A first triode (Q8), wherein the emitter of the first triode (Q8) is connected to a reference ground, the base of the first triode (Q8) is connected to the cathode of a first diode (D10) via a first resistor (R56), the anode of the first diode (D10) is connected to a common signal terminal of the main control circuit, the collector of the first triode (Q8) is connected to a pull-up power supply via a second resistor (R50), and the collector of the first triode (Q8) is also connected to a signal receiving terminal of the controller via a third resistor (R49); a second triode (Q10), wherein the emitter of the second triode (Q10) is connected to a reference ground, the collector of the second triode (Q10) is connected to a pull-up power supply via a fourth resistor (R57), the collector of the second triode (Q10) is also connected to an anode of a second diode (D11), the cathode of the second diode (D11) is connected to a common signal terminal of the main control circuit, and the base of the second triode (Q10) is also connected to a signal sending terminal of the controller via a fifth resistor (R55); in, The main control circuit comprises: A power management module, the power management module is used to communicate with the charge and discharge management control circuit and the external power supply charging control circuit to obtain information of the battery through the charge and discharge management control circuit, and to charge the battery by controlling the charge and discharge management control circuit and the external power supply charging control circuit; A path planning module, the path planning module is used to plan the floor washing path according to the battery power information; wherein the main control circuit stores a plurality of paths and a power consumption mapping relationship table of a plurality of sections in each path, and the path planning module plans the floor washing path according to the current position, the battery power and the power consumption mapping relationship table; An obstacle avoidance processing module, the obstacle avoidance processing module is used to adjust the floor scrubbing path according to the fault information output by the obstacle detection circuit to avoid obstacles; A button processing module is used to receive a control signal input by a user to perform floor washing or stop control according to the control signal.

2. The intelligent floor scrubber control system according to claim 1, characterized in that: The battery charging control circuit comprises: a first MOS transistor (Q3), wherein a source electrode of the first MOS transistor (Q3) is connected to a charging power input terminal; a second MOS tube (Q4), wherein the source of the second MOS tube (Q4) is connected to the drain of the first MOS tube (Q3), the gate of the second MOS tube (Q4) is connected to the source of the second MOS tube (Q4) via a sixth resistor (R38), and the drain of the second MOS tube (Q4) outputs a battery charging power supply via a third diode (D8) and a fourth diode (D6) connected in parallel; a third triode (Q13), wherein the collector of the third triode (Q13) is connected to one end of a seventh resistor (R20), the other end of the seventh resistor (R20) is connected to one end of an eighth resistor (R19), the other end of the eighth resistor (R19) is connected to the charging power input terminal, the common end of the seventh resistor (R20) and the eighth resistor (R19) is connected to the gate of the first MOS tube (Q3), the emitter of the third triode (Q13) is connected to a reference ground, and the base of the third triode (Q13) is connected to the charging enable terminal of the controller through a ninth resistor (R59); A third MOS transistor (Q5), wherein the source of the third MOS transistor (Q5) is connected to a reference ground, the gate of the third MOS transistor (Q5) is connected to an overcharge protection output terminal of the protection circuit and / or an overcharge protection signal output terminal of the controller, the drain of the third MOS transistor (Q5) is connected to a cathode of a fifth diode (D7), and the anode of the fifth diode (D7) is connected to the gate of the second MOS transistor (Q4) via a tenth resistor (R39).

3. The intelligent floor scrubber control system according to claim 2, characterized in that: The battery discharge control circuit comprises: a fourth MOS tube (Q12), wherein a drain of the fourth MOS tube (Q12) is connected to a battery charging power output terminal of the battery charging control circuit, and a source of the fourth MOS tube (Q12) is connected to a positive terminal of the battery; a fifth MOS transistor (Q11), wherein a drain electrode of the fifth MOS transistor (Q11) is connected to a battery charging power output terminal of the battery charging control circuit, and a source electrode of the fifth MOS transistor (Q11) is connected to a positive terminal of the battery; a fourth triode (Q6), wherein a base of the fourth triode (Q6) is connected to a discharge control terminal of the controller via an eleventh resistor (R44), an emitter of the fourth triode (Q6) is connected to a reference ground, a collector of the fourth triode (Q6) is connected to one end of a twelfth resistor (R48), the other end of the twelfth resistor (R48) is connected to one end of a thirteenth resistor (R47), and the other end of the thirteenth resistor (R47) is connected to a positive terminal of the battery; a fifth triode (Q7), wherein the base of the fifth triode (Q7) is connected to the other end of the twelfth resistor (R48), the collector of the fifth triode (Q7) is connected to the positive end of the battery, the emitter of the fifth triode (Q7) is connected to the gate of the fifth MOS tube (Q11) and the gate of the fourth MOS tube (Q12) through a fourteenth resistor (R52), and the gate of the fifth MOS tube (Q11) and the gate of the fourth MOS tube (Q12) are also connected to the positive end of the battery through a fifteenth resistor (R54); A sixth transistor (Q9), wherein the collector of the sixth transistor (Q9) is connected to the reference ground, the emitter of the sixth transistor (Q9) is connected to the emitter of the fifth transistor (Q7), and the base of the sixth transistor (Q9) is connected to the base of the fifth transistor (Q7).

4. The intelligent floor scrubber control system according to any one of claims 1 to 3, characterized in that: The protection circuit comprises: An overcharge and overdischarge controller (U3), wherein a signal detection end of the overcharge and overdischarge controller (U3) is respectively connected to each lithium battery of the battery, an overcharge detection output end of the overcharge and overdischarge controller (U3) is connected to the battery charging control circuit, so as to perform overcharge protection control through the battery charging control circuit, and an overdischarge detection output end of the overcharge and overdischarge controller (U3) is signal-connected to a detection end of the controller, so as to perform overdischarge protection control on the battery discharge control circuit through the controller; A current detection resistor (R58), wherein the current detection resistor (R58) is connected in series to the charge and discharge circuit of the battery to detect the current in the charge and discharge circuit of the battery; A first amplifier (U4A), wherein a non-phase input terminal of the first amplifier (U4A) is connected to one end of the current detection resistor (R58) through a sixteenth resistor (R37), an inverting input terminal of the first amplifier (U4A) is connected to the other end of the current detection resistor (R58) through a seventeenth resistor (R35), an output terminal of the first amplifier (U4A) is connected to a charging current detection terminal of the controller through an eighteenth resistor (R40), and an output terminal of the first amplifier (U4A) is also connected to an inverting input terminal of the first amplifier (U4A) through a nineteenth resistor (R34); A second amplifier (U4B), wherein a non-inverting input terminal of the second amplifier (U4B) is connected to the other end of the current detection resistor (R58) through a twentieth resistor (R16), an inverting input terminal of the second amplifier (U4B) is connected to one end of the current detection resistor (R58) through a twenty-first resistor (R15), an output terminal of the second amplifier (U4B) is connected to a discharge current detection terminal of the controller through a twenty-second resistor (R18), and an output terminal of the second amplifier (U4B) is also connected to an inverting input terminal of the second amplifier (U4B) through a twenty-third resistor (R21).

5. The intelligent floor scrubber control system according to any one of claims 1 to 3, characterized in that: The external power supply charging control circuit comprises: a sixth MOS tube (Q1A), wherein a source of the sixth MOS tube (Q1A) is connected to a positive input terminal of a power input interface, a drain of the sixth MOS tube (Q1A) outputs a charging power source, and a source of the sixth MOS tube (Q1A) is also connected to a gate of the sixth MOS tube (Q1A) via a twenty-fourth resistor (R13A); a seventh MOS tube (Q4A), wherein the drain of the seventh MOS tube (Q4A) is connected to the gate of the sixth MOS tube (Q1A) through a twenty-fifth resistor (R3A), the source of the seventh MOS tube (Q4A) is connected to a reference ground, and the gate of the seventh MOS tube (Q4A) is connected to a charging control terminal of the controller through a twenty-sixth resistor (R6A).

6. The intelligent floor scrubber control system according to any one of claims 1 to 3, characterized in that: The peripheral control circuit comprises: A roller brush control circuit, the roller brush control circuit comprising an eighth MOS tube (Q1B), a source of the eighth MOS tube (Q1B) connected to a reference ground via a twenty-seventh resistor (R11B), a drain of the eighth MOS tube (Q1B) connected to a ground terminal of a roller brush motor via an interface, and a gate of the eighth MOS tube (Q1B) connected to a control terminal of a controller to control the roller brush; A water pump control circuit, the water pump control circuit comprising a ninth MOS tube (Q2B), the source of the ninth MOS tube (Q2B) being connected to a reference ground, the drain of the ninth MOS tube (Q2B) being connected to a ground terminal of the water pump, and the gate of the ninth MOS tube (Q2B) being connected to a control terminal of a controller to control the water pump; A sewage level detection circuit, the sewage level detection circuit comprising a twenty-eighth resistor (R18B), one end of the twenty-eighth resistor (R18B) is connected to the liquid level signal output end of the sewage level detector, and the other end of the twenty-eighth resistor (R18B) is connected to the sewage detection end of the control; A clean water detection circuit, the clean water detection circuit includes a twenty-ninth resistor (R17B) and a thirtieth resistor (R20B), one end of the twenty-ninth resistor (R17B) is connected to the pull-up power supply, the other end of the twenty-ninth resistor (R17B) is connected to the clean water detection sensor signal output end, one end of the thirtieth resistor (R20B) is connected to the clean water detection sensor signal output end, and the other end of the thirtieth resistor (R20B) is connected to a clean water detection signal end of the control.

7. The intelligent floor scrubber control system according to claim 6, characterized in that: The main control circuit also includes: A turbidity detection module, the turbidity detection module is used to obtain turbidity information of the water bucket through the clean water detection circuit, and when the turbidity exceeds a set value, control the motor drive circuit to move to the garbage collection station; A sewage discharge module, the sewage discharge module is used to discharge the sewage on the bucket by controlling the water pump control circuit; A clean water extraction module, the clean water extraction module is used to extract clean water into the water bucket by controlling the water pump control circuit; A floor scrubbing control module is used to perform floor scrubbing operations by controlling the roller brush control circuit.

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