Charging equipment, charging control method and control method of self-moving working system

Abstract

The invention provides a charging device, a charging control method and a control method of a self-moving working system, the charging control method is applied to the charging device, the charging device is used for charging a battery on a self-moving device, and the method comprises the following steps: detecting charging indication information sent by the self-moving device; in response to successful detection of the charging indication information, charging a battery on the self-moving equipment according to a preset first charging mode based on the charging indication information; and charging a battery on the self-moving equipment according to a preset second charging mode in response to the situation that the charging indication information is not received. According to the charging control method provided by the invention, the charging equipment is controlled to detect the charging indication information sent by the self-moving equipment, and the preset charging mode is matched according to whether the charging indication information is detected or not, so that the corresponding charging mode is matched according to the actual demand of the self-moving equipment, a battery can be effectively protected, and the charging efficiency is improved. The service life of the battery is prolonged, and the safety of the charging process is ensured.

Description

Technical Field

[0001] The present disclosure relates to the field of charging technology, and in particular to a charging device and a charging control method, and a control method for a self-moving working system. Background Art

[0002] With the development of science and technology, mobile devices are widely used in people's work and life, such as smart lawn mowers, smart vacuum cleaners or smart robots. They move and walk in a preset working area in a set manner to perform work, and return to the charging station for charging when charging is needed. Summary of the invention

[0003] In view of this, the purpose of the present disclosure is to provide a charging device and a charging control method, and a control method for a self-moving working system, which can adjust the charging method according to the actual needs of the self-moving equipment.

[0004] In order to achieve one of the above disclosed purposes, the present disclosure provides a charging control method, which is applied to a charging device, wherein the charging device is used to charge a battery on a mobile device, and the charging control method includes:

[0005] Detecting the charging instruction information sent from the mobile device;

[0006] In response to successfully detecting the charging indication information, charging the battery on the mobile device according to a preset first charging method based on the charging indication information;

[0007] In response to not detecting the charging indication information, charging the battery on the mobile device according to a preset second charging method.

[0008] As a further improvement of an embodiment of the present disclosure, the detecting the charging indication information sent from the mobile device includes: detecting the charging indication information via wireless communication.

[0009] As a further improvement of the embodiment of the present disclosure, the wireless communication method includes a Bluetooth communication method.

[0010] As a further improvement of the embodiment of the present disclosure, the charging indication information includes one or more of the state of the self-mobile device, the state parameters of the battery and the charging parameters required for the battery; the charging parameters required for the battery are determined by the self-mobile device based on the state parameters of the battery.

[0011] As a further improvement of the embodiment of the present disclosure, the state of the self-moving device includes the on / off state of the self-moving device; the state parameter of the battery includes at least one of the battery temperature and the battery voltage.

[0012] As a further improvement of the embodiment of the present disclosure, when the self-moving device is in a shutdown state and the voltage of the battery is in a first preset interval, the charging device provides a first preset current to the self-moving device; the self-moving device converts the first preset current into a first trickle current to charge the battery; when the voltage of the battery is higher than the first preset interval, the self-moving device stops current conversion.

[0013] As a further improvement of the embodiment of the present disclosure, when the self-moving device is in a powered-on state and when the voltage of the battery is lower than a preset first threshold, the charging device provides a second trickle current to the self-moving device.

[0014] As a further improvement of the embodiment of the present disclosure, the pre-set second charging method includes: the charging device detects the battery voltage of the self-mobile device; when the battery voltage is higher than a preset second threshold, provides a second preset current to charge the battery on the self-mobile device.

[0015] In order to achieve one of the above disclosed purposes, the present disclosure provides a charging device for charging a battery on a mobile device, wherein the charging device runs the charging control method described in any of the above embodiments.

[0016] In order to achieve one of the above disclosed purposes, the present disclosure provides a control method of a self-moving working system, wherein the self-moving working system includes a self-moving device and a charging device for charging the self-moving device, and the control method of the self-moving working system includes:

[0017] The charging device detects the charging instruction information sent from the mobile device;

[0018] In response to successfully detecting the charging indication information, the charging device charges the battery on the mobile device according to a preset first charging method based on the charging indication information;

[0019] In response to not detecting the charging indication information, charging the battery on the mobile device according to a preset second charging method.

[0020] In order to achieve one of the above disclosed purposes, the present disclosure provides a control method, which is applied to a self-moving device, wherein the self-moving device has a battery module, including:

[0021] Acquiring information of the battery module;

[0022] Determining charging instruction information according to the information of the battery module;

[0023] The charging instruction information is sent to a charging device, so that the charging device charges the mobile device according to the charging method corresponding to the charging instruction information.

[0024] The charging control method provided by the present disclosure controls the charging device to detect the charging indication information sent by the mobile device, and matches the preset charging method according to whether the charging indication information is detected, thereby matching the corresponding charging method according to the actual needs of the mobile device, effectively protecting the battery, extending the battery life, and ensuring the safety of the charging process. The same charging station can be adapted to different types of mobile devices, improving the adaptability and versatility of the charging station. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A flow chart of a charging control method provided in one embodiment of the present disclosure;

[0026] Figure 2 A schematic diagram of a charging control system provided in one embodiment of the present disclosure;

[0027] Figure 3 This is a flow chart of a control method of a self-moving working system provided in one embodiment of the present disclosure. DETAILED DESCRIPTION

[0028] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific implementation methods and with reference to the accompanying drawings.

[0029] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the embodiments of the present disclosure do not represent any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0030] A self-moving device is a robot that comes with various necessary components, such as visual recognition components, controllers, batteries, etc., and can independently complete certain tasks without external human information input and control during operation. Among them, the battery is used to provide power to the self-moving device when it is working. Usually, the self-moving device is part of the self-moving device system; the self-moving device system also includes charging equipment that cooperates with the self-moving device, such as charging stations, charging warehouses, etc. The self-moving device walks and works in the working area. When the battery energy is insufficient, the self-moving device returns to the charging device to charge the battery to replenish energy. The self-moving device can be an automatic vacuum cleaner, an intelligent lawn mower, an automatic trimmer, etc., which automatically walk on the ground or surface of the working area to perform tasks such as cleaning, mowing or snow removal.

[0031] The inventors have found through research that existing charging devices all use a constant current mode when charging self-mobile devices, that is, a fixed current is used for charging throughout the entire charging process; in this charging mode, there is no communication or need for communication between the charging device and the self-mobile device, and the battery voltage only needs to be charged to a set cut-off voltage according to a preset current; and during the entire charging process, the charging device cannot obtain information such as the status of the self-mobile device, the status parameters of the battery, and cannot match the appropriate charging mode, thereby affecting the battery life, and the safety of the charging process cannot be guaranteed.

[0032] An embodiment of the present disclosure provides a control method, which is applied to a self-moving device, wherein the self-moving device has a battery module, and the control method includes:

[0033] Get the information of battery module;

[0034] Determine charging indication information according to information of the battery module;

[0035] Send charging instruction information to the charging device so that the charging device charges the mobile device according to the charging method corresponding to the charging instruction information.

[0036] The self-mobile device provided in the embodiments of the present disclosure may be an automatic lawn mower, an automatic sweeper, etc. The self-mobile device may monitor its own related information at all times, such as whether it has a wireless communication device, information about the battery module (battery voltage or battery temperature, etc.). The self-mobile device may determine the charging indication information based on its own related information, and the charging indication information represents the charging current / charging voltage / charging time / charging strategy required by the self-mobile device. The self-mobile device may send the charging indication information to the charging device. After receiving the charging indication information, the charging device may directly charge the self-mobile device according to the charging current / charging voltage / charging time / charging strategy required by the charging indication information.

[0037] The control method provided in the embodiment of the present disclosure can effectively protect the battery, extend the battery life, and ensure the safety of the charging process by controlling the charging device to detect the charging indication information sent by the self-mobile device, and charging according to whether the charging indication information is detected. Furthermore, the self-mobile device can determine different charging strategies when the self-mobile device is turned on or off, and when there is a communication connection or no communication connection when it is turned on. In different situations, the charging device can be instructed to provide the best charging method for the self-mobile device to protect its battery and ensure the safety of the battery in different situations. The same charging station can be adapted to different types of self-mobile devices, which improves the adaptability and versatility of the charging station.

[0038] like Figure 1 As shown, an embodiment of the present disclosure provides a charging control method, which is applied to a charging device, and the charging device is used to charge a battery on a mobile device. The charging control method includes the following steps:

[0039] Step S1, detecting the charging indication information sent by the self-mobile device. In one embodiment, the charging indication information is detected by wireless communication, without wiring, with high flexibility and lower cost. Furthermore, the wireless communication method includes Bluetooth communication, Wi-Fi communication, ZigBee communication, etc. Among them, Bluetooth communication is preferred. As a small-range wireless connection technology, Bluetooth communication can realize convenient, fast, flexible, safe, low-cost, and low-power data communication and voice communication between devices. Therefore, it is one of the mainstream technologies for realizing wireless personal area network communication. Connection with other networks can bring wider applications. It is a cutting-edge open wireless communication. In another embodiment, the self-mobile device can also detect the charging indication information by wired communication. The charging device can be connected to the self-mobile device by wires, optical fibers, etc. before charging, and communication is established between the charging device and the self-mobile device. Wired communication can ensure better signal stability.

[0040] In one embodiment, the charging indication information includes one or more of the state of the self-mobile device, the state parameters of the battery, and the charging parameters required by the battery; wherein the charging parameters required by the battery are determined by the self-mobile device based on the state parameters of the battery. Furthermore, the state of the self-mobile device includes the power on / off state of the self-mobile device; the state parameters of the battery include at least one of the battery temperature and the battery voltage; wherein the battery voltage is the total voltage of all the cells of the self-mobile device. Through multiple types of charging indication information, the charging device can grasp the various states of the self-mobile device in real time, ensure the safety of the charging process, and immediately adjust the charging strategy or even stop charging when there are abnormal states or parameters.

[0041] Step S2: in response to successfully detecting the charging indication information, charging the battery on the self-mobile device according to a pre-set first charging method based on the charging indication information. Detecting the charging indication information means successfully receiving the charging indication information, indicating that a communication connection has been established between the charging device and the self-mobile device.

[0042] Step S3: In response to not detecting the charging indication information, charging the battery on the mobile device according to a preset second charging method.

[0043] Among them, if the charging indication information is not detected, that is, if the charging indication information is not received, the self-mobile device may be in a shutdown state; in the shutdown state, the charging device is still connected to the self-mobile device, the charging device can supply power to the main control board of the self-mobile device, and the main control board can still obtain the battery voltage and transmit it to the charging device; shutdown means that the sensor module, mobile module, etc. of the self-mobile device do not work, but the main control board can still work when connected to the charging device. Preferably, if the self-mobile device is charged after being shut down, it remains in the shutdown state after being fully charged.

[0044] Furthermore, when the self-mobile device is in a shutdown state, a first situation that may occur is that the self-mobile device is in a shutdown state and the battery voltage is in a first preset range; a second situation that may occur is that the self-mobile device is in a shutdown state and the battery voltage is higher than the first preset range.

[0045] For ease of understanding, it is assumed that the self-mobile device automatically shuts down when the battery voltage is less than or equal to 14.5V, the above-mentioned first preset interval is greater than 10V and less than 14V, and the first preset current is 3A. For the first case, that is, when the battery voltage is greater than 10V and less than 14V, the charging device provides a current of 3A to the self-mobile device, and the self-mobile device converts the 3A current into a first trickle current to charge the self-mobile device; for the first case, that is, when the battery voltage is greater than or equal to 14V and less than 14.5V, the charging device still provides a current of 3A to the self-mobile device, and the self-mobile device charges the self-mobile device with a current of 3A.

[0046] Further, the current conversion includes adjusting the duty cycle of the first preset current. Optionally, the duty cycle can be 10%, 20%, 25%, etc., and is specifically set according to the size of the first trickle current as required. Among them, the shutdown voltage, the first preset interval, and the range and size of the first preset current of the above-mentioned self-equipped device can be set according to actual needs, and are not specifically limited.

[0047] In one embodiment, when the self-mobile device is in the on state, and when the voltage of the battery is lower than the preset first threshold, the charging device provides a second trickle current to the self-mobile device. Specifically, when the self-mobile device is in the on state, the self-mobile device can successfully receive the charging instruction information of the charging device and obtain the battery voltage information therein. When the voltage of the battery is lower than the preset first threshold (for example, 15V), the charging device provides a second trickle current (for example, 0.5A) to the self-mobile device; wherein the first threshold and the second trickle current can be set according to actual needs, and are not specifically limited.

[0048] If the charging indication information is not received, the third possible situation is that the self-mobile device is in the on state, but cannot communicate with the charging device. The reason may be that the communication module fails, or there is no communication module, etc. At this time, a pre-set second charging method is used for charging, specifically including: the charging device detects the battery voltage of the self-mobile device; when the battery voltage is higher than a preset second threshold value (for example, 14V), a second preset current (for example, 3A) is provided to charge the battery on the self-mobile device; wherein the second threshold value and the second preset current can be set according to actual needs, and there is no specific limitation.

[0049] In another embodiment, the voltage of the battery includes not only the total voltage of all the cells of the battery from the mobile device, but also the voltage of a single cell in the mobile device. That is, when the charging device is charging the mobile device, in addition to considering the total voltage of the battery, it also needs to consider the voltage of a single cell. This can achieve a response when the voltage of a single cell is abnormal, further improving the safety of charging.

[0050] In one embodiment, the first charging mode is to determine the charging current according to the temperature of the battery. For example, when the battery temperature is greater than or equal to 1°C and less than 10°C, the charging current provided by the charging device is 6A; when the battery temperature is greater than or equal to 10°C and less than or equal to 25°C, the charging current provided by the charging device is 18A; when the battery temperature is greater than 25°C and less than or equal to 60°C, the charging current provided by the charging device is 19A; wherein the size of the charging current corresponding to the battery at different temperatures can be set according to actual needs, and is not specifically limited.

[0051] The charging control method provided in the embodiment of the present disclosure controls the charging device to detect the charging indication information sent by the self-mobile device, and matches the preset charging method according to whether the charging indication information is detected, thereby matching the corresponding charging method according to the actual needs of the self-mobile device, which can effectively protect the battery, extend the battery life, and ensure the safety of the charging process. Furthermore, different charging strategies can be matched when the self-mobile device is turned on or off, and when there is a communication connection or no communication connection when it is turned on. In different situations, the best charging method can be provided for the self-mobile device to protect its battery and ensure the safety of the battery in different situations. The same charging station can be adapted to different types of self-mobile devices, which improves the adaptability and versatility of the charging station.

[0052] In one embodiment, the charging control method further includes the following steps:

[0053] Before charging and during charging, determine whether the battery of the mobile device meets the charging conditions. Specifically, collect information such as battery temperature, battery cell voltage, battery type, and battery cell serial and parallel information through the main control board of the mobile device, and determine whether the battery meets the charging conditions based on the collected information; if the charging regulation is met, execute step S1; otherwise, do not charge or stop charging. In a specific embodiment, the charging conditions include: the battery temperature is 1°C-60°C; the voltage of each battery cell in the battery is between 2V-4.15V. Furthermore, the battery temperature and battery cell voltage range in the charging conditions can be set as needed, without specific restrictions.

[0054] like Figure 2 As shown, an embodiment of the present disclosure provides a charging control system, which includes a self-moving device and a charging device for charging the self-moving device, the self-moving device includes a main control module and a BMS (battery management system) module, and the charging device includes a Bluetooth control module and a power module.

[0055] Specifically, the BMS module includes structures such as a microcontroller and an analog front end. The BMS module is used to collect and process information during the battery operation process in real time, and exchange information with the main control module to ensure the safe and reliable operation of the battery. The main control module is the main controller of the mobile device, which is used for charging management. The main control module is equipped with a Bluetooth module. During the charging process, the main control module can protect and control the battery by detecting the state and temperature of the battery. At the same time, it can automatically adjust the charging current according to the information of the BMS module to maximize the protection of the battery and extend its service life. Furthermore, in addition to the BMS module, the main control module can also directly detect the voltage at both ends of the battery to obtain temperature based on the resistance value of the thermistor. The Bluetooth control module integrates low-power Bluetooth in the 2.4G frequency band. The Bluetooth control module also takes into account the controller of the power module. The Bluetooth control module and the main control module realize Bluetooth communication. The power module integrates a step-down charging circuit. The Bluetooth control module controls the power module in real time and outputs different charging currents.

[0056] Another embodiment of the present disclosure provides a charging device, which is used to charge a battery on a mobile device, and the charging device runs the charging control method described in any of the above embodiments.

[0057] The charging device provided in the embodiment of the present disclosure detects the charging indication information sent from the mobile device and matches the preset charging method according to whether the charging indication information is detected, thereby matching the corresponding charging method according to the actual needs of the mobile device, which can effectively protect the battery, extend the battery life, and ensure the safety of the charging process.

[0058] like Figure 3 As shown, another embodiment of the present disclosure provides a control method for a self-moving working system, the self-moving working system includes a self-moving device and a charging device for charging the self-moving working system, and the control method for the self-moving working system includes:

[0059] S11, the charging device detects the charging instruction information sent from the mobile device. In one embodiment, the charging instruction information is received by wireless communication, which does not require wiring, has high flexibility and lower cost.

[0060] S21, in response to successfully detecting the charging instruction information, the charging device charges the battery on the self-mobile device according to a pre-set first charging method based on the charging instruction information. Detecting the charging instruction information means successfully receiving the charging instruction information, indicating that a communication connection has been established between the charging device and the self-mobile device.

[0061] S31: In response to not detecting the charging indication information, charging the battery on the mobile device according to a preset second charging method.

[0062] Among them, if the charging indication information is not detected, that is, if the charging indication information is not received, the self-mobile device may be in a shutdown state; in the shutdown state, the charging device is still connected to the self-mobile device, the charging device can supply power to the main control board of the self-mobile device, and the main control board can still obtain the battery voltage and transmit it to the charging device; shutdown means that the sensor module, mobile module, etc. of the self-mobile device do not work, but the main control board can still work when connected to the charging device. Preferably, if the self-mobile device is charged after being shut down, it remains in the shutdown state after being fully charged.

[0063] In the control method of the self-moving working system provided by the embodiment of the present disclosure, the charging device detects the charging instruction information sent by the self-moving device, and matches the preset charging method according to whether the charging instruction information is detected, so as to match the corresponding charging method according to the actual needs of the self-moving device, which can effectively protect the battery, extend the battery life, and ensure the safety of the charging process. The same charging station can be adapted to different types of self-moving devices, which improves the adaptability and versatility of the charging station.

[0064] It should be understood by those skilled in the art that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples; based on the concept of the present disclosure, the above embodiments or technical features in different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of simplicity.

[0065] It should be noted that "some body" or "some part" can be a part of the corresponding "component", that is, "some body" or "some part" can be integrally formed with the "other parts of the component"; or it can be an independent component that can be separated from the "other parts of the component", that is, "some body" or "some part" can be independently manufactured and then combined with the "other parts of the component" into a whole. The expression of the above-mentioned "some body" or "some part" in this disclosure is only one of the implementation methods, for the convenience of reading, rather than limiting the scope of protection of this disclosure, as long as it contains the above-mentioned features and has the same function, it should be understood as an equivalent technical solution of this disclosure.

[0066] It should be noted that the above describes some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired results.

[0067] The embodiments of the present disclosure are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A charging control method, applied to a charging device, wherein the charging device is used to charge a battery on a mobile device, characterized in that: The charging control method comprises: Detecting the charging instruction information sent from the mobile device; In response to successfully detecting the charging indication information, charging the battery on the mobile device according to a preset first charging method based on the charging indication information; In response to not detecting the charging indication information, charging the battery on the mobile device according to a preset second charging method.

2. The charging control method according to claim 1, characterized in that: The detecting the charging indication information sent from the mobile device includes: detecting the charging indication information via wireless communication.

3. The charging control method according to claim 1, characterized in that: The charging indication information includes one or more of the state of the self-equipment device, the state parameters of the battery, and the charging parameters required for the battery; the charging parameters required for the battery are determined by the self-equipment device based on the state parameters of the battery.

4. The charging control method according to claim 3, characterized in that: The state of the self-moving device includes the on / off state of the self-moving device; the state parameter of the battery includes at least one of the battery temperature and the battery voltage.

5. The charging control method according to claim 4, characterized in that: When the self-moving device is in a shutdown state and the voltage of the battery is in a first preset range, the charging device provides a first preset current to the self-moving device; the self-moving device converts the first preset current into a first trickle current to charge the battery; when the voltage of the battery is higher than the first preset range, the self-moving device stops current conversion.

6. The charging control method according to claim 4, characterized in that: When the self-moving device is in a powered-on state and when the voltage of the battery is lower than a preset first threshold, the charging device provides a second trickle current to the self-moving device.

7. The charging control method according to claim 1, characterized in that: The preset second charging mode includes: the charging device detecting the battery voltage of the self-moving device; when the battery voltage is higher than a preset second threshold, providing a second preset current to charge the battery on the self-moving device.

8. A charging device for charging a battery on a mobile device, characterized in that: The charging device runs the charging control method as described in any one of claims 1-7.

9. A control method for a self-moving working system, the self-moving working system comprising a self-moving device and a charging device for charging the self-moving device, characterized in that: The control method of the self-moving working system comprises: The charging device detects the charging instruction information sent from the mobile device; In response to successfully detecting the charging indication information, the charging device charges the battery on the mobile device according to a preset first charging method based on the charging indication information; In response to not detecting the charging indication information, charging the battery on the mobile device according to a preset second charging method.

10. A control method, applied to a self-moving device, the self-moving device having a battery module, characterized in that: Control methods include: Acquiring information of the battery module; Determining charging instruction information according to the information of the battery module; The charging instruction information is sent to a charging device, so that the charging device charges the mobile device according to the charging method corresponding to the charging instruction information.

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