Charging circuit of cleaning equipment and charging control method

Abstract

The invention provides a charging circuit and a charging control method of cleaning equipment, the cleaning equipment comprises a host and a work station, the work station is provided with a charging unit and a first electrode slice unit which are connected, the host is provided with a power utilization unit and a second electrode slice unit which are connected, and after the first electrode slice unit and the second electrode slice unit are in butt joint, the charging unit is connected with the power utilization unit. The charging unit, the first electrode plate unit, the second electrode plate unit and the power utilization unit form a charging circuit of the cleaning equipment; wherein a charging circuit of the cleaning equipment is provided with a current suppression unit, and the current suppression unit is used for suppressing transient current during butt joint. The current suppression unit is arranged on the charging circuit of the cleaning equipment, so that the spark phenomenon caused by large current generated at the butt joint moment of the first electrode plate unit and the second electrode plate unit is effectively avoided, the phenomena of color change and poor contact of the electrode plates are avoided, and it is fully ensured that the cleaning equipment can normally execute charging operation.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a charging circuit and a charging control method for a cleaning device. Background Art

[0002] With the development of science and technology, cleaning equipment such as sweeping robots have been widely used in people's lives. Specifically, cleaning equipment consists of two parts: a host and a base station. In practical applications, cleaning equipment generally has an automatic recharge function, that is, when the power of the host is too low, it will automatically return to the base station for the base station to charge it.

[0003] In the prior art, a group of electrode sheets are respectively provided on the host and the base station. Before charging, the electrode sheets of the host and the base station need to be docked. After successful docking, the base performs charging operation on the host.

[0004] However, in practice, sparks may appear on the electrodes of the host and the base station at the moment of docking. The appearance of sparks may cause the electrodes to change color. In severe cases, the sparks may cause poor contact between the electrodes of the host and the base when docking, making it impossible to perform the charging operation normally. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a charging circuit and a charging control method for a cleaning device, which effectively avoids the spark phenomenon caused by a large current generated instantly when a first electrode sheet unit and a second electrode sheet unit are connected.

[0006] In the first aspect, the present application provides a charging circuit for a cleaning device, the cleaning device comprising a main unit and a workstation, the workstation being provided with a charging unit and a first electrode sheet unit connected to each other, the main unit being provided with a power consumption unit and a second electrode sheet unit connected to each other, after the first electrode sheet unit and the second electrode sheet unit are docked, the charging unit, the first electrode sheet unit, the second electrode sheet unit and the power consumption unit form a charging circuit for the cleaning device; wherein, a current suppression unit is provided on the charging circuit of the cleaning device, and the current suppression unit is used to suppress instantaneous current during docking.

[0007] In one embodiment, a current suppression unit is disposed on the host, and the current suppression unit includes a first switching element and a current suppression resistor; wherein the first switching element is connected in series between the power-consuming unit and the second electrode sheet unit, and the first switching element is used to switch from an off state to an on state after the first electrode sheet unit and the second electrode sheet are successfully docked; the current suppression resistor is connected in parallel with the first switching element, and the current suppression resistor is used to suppress instantaneous current during docking.

[0008] In one embodiment, a first power module is provided in the workstation, and a second power module is provided in the host; the current suppression unit includes a first current limiting element, a second current limiting element and a second switch element; wherein, the first current limiting element is provided on the workstation, and the first current limiting element is connected to the first electrode sheet unit and the first power module; the second current limiting element is provided on the host, and the second current limiting element is connected to the second electrode sheet unit and the second power module; the second switch element is provided on the workstation, and the second switch element is connected in series between the charging unit and the first electrode sheet unit; the first current limiting element and the second current limiting element are used to suppress instantaneous current during docking; the second switch element is used to switch from a disconnected state to a conductive state after the first electrode sheet unit and the second electrode sheet are successfully docked, and when the second switch element is in the conductive state, the charging unit outputs a charging voltage to the power-consuming unit through the charging circuit; when the second switch element is in the disconnected state, the charging unit has no output.

[0009] In one embodiment, a first power module is provided in the workstation; a second power module is provided in the host; the charging circuit of the cleaning device also includes a first voltage detection unit, a second voltage detection unit and a current detection unit; wherein, the first voltage detection unit is provided on the workstation and connected to the first electrode sheet unit and the first power module, and the first voltage detection unit is used to detect the voltage information of the first electrode sheet unit; the second voltage detection unit is provided on the host and connected to the second electrode sheet unit and the second power module, and the second voltage detection unit is used to detect the voltage information of the second electrode sheet unit; the current detection unit is connected to the charging circuit of the cleaning device, and the current detection unit is used to detect the current information of the charging circuit of the cleaning device; the charging circuit of the cleaning device includes a combination of one or more of the first voltage detection unit, the second voltage detection unit and the current detection unit.

[0010] In one embodiment, the first voltage detection unit includes a first resistor, a first diode, a second resistor and a third resistor; wherein a first power supply module is provided in the workstation; the output end of the first power supply module is connected to one end of the first resistor; the anode of the first diode is connected to the other end of the first resistor; the second resistor is connected to the cathode of the first diode and one end of the third resistor, and the second resistor is connected in parallel with the first electrode sheet unit, and the other end of the third resistor is grounded.

[0011] In one embodiment, the second voltage detection unit includes a fourth resistor, a second diode and a fifth resistor; wherein a second power supply module is provided in the host; the output end of the second power supply module is connected to one end of the fourth resistor; the anode of the second diode is connected to the other end of the fourth resistor; the fifth resistor is connected to the cathode of the second diode, the fifth resistor is grounded, and the fifth resistor is connected in parallel with the second electrode sheet unit.

[0012] In a second aspect, the present application provides a charging control method for a cleaning device, wherein the cleaning device includes the charging circuit of the cleaning device described above, and the current suppression unit has a working state and a non-working state; the charging control method for the cleaning device includes:

[0013] When the first electrode sheet unit and the second electrode sheet unit are connected, the current suppression unit is controlled to switch from a non-working state to a working state;

[0014] When the current suppression unit is in a non-working state, the workstation does not output current, or the workstation outputs a first current; when the current suppression unit is in a working state, the workstation outputs a second current; and the first current is smaller than the second current.

[0015] In one embodiment, the charging control method of the cleaning device further includes:

[0016] Determine whether the first electrode sheet unit and the second electrode sheet unit are docked based on the characteristic information, wherein the characteristic information is a combination of one or more of the voltage information of the first electrode sheet unit, the voltage information of the second electrode sheet unit, and the current information of the charging circuit of the cleaning device.

[0017] In one embodiment, the current suppression unit includes a switch element, and controlling the current suppression unit to switch from a non-working state to a working state includes:

[0018] The control switch element is switched from an off state to an on state.

[0019] In one embodiment, the charging control method of the cleaning device further includes:

[0020] When the first electrode sheet unit and the second electrode sheet unit are connected, judging whether the workstation is powered on according to the voltage information of the second electrode sheet unit;

[0021] If the judgment result indicates that the workstation is not powered on, a prompt message is output.

[0022] In the present application scheme, the cleaning device includes a main unit and a workstation, the workstation is provided with a connected charging unit and a first electrode sheet unit, the main unit is provided with a connected power unit and a second electrode sheet unit, after the first motor sheet unit and the second electrode sheet unit are docked, the charging unit, the first electrode sheet unit, the second electrode sheet unit and the charging unit form a charging circuit for the cleaning device; the charging circuit of the cleaning device is provided with a current suppression unit, and the current suppression unit is used to suppress instantaneous current during docking.

[0023] From the above content, it can be seen that in this application, by setting a current suppression unit on the charging circuit of the cleaning equipment, the spark phenomenon caused by the large current generated at the moment of docking the first electrode sheet unit and the second electrode sheet unit is effectively avoided, the discoloration and poor contact of the electrode sheet are avoided, and it is fully ensured that the cleaning equipment can perform the charging operation normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solution of the embodiments of the present application, the drawings required for use in the embodiments of the present application are briefly introduced below.

[0025] Figure 1 A schematic diagram of the structure of a charging circuit for a cleaning device provided in the first embodiment of the present application;

[0026] Figure 2 A schematic diagram of the structure of a cleaning device provided in one embodiment of the present application;

[0027] Figure 3 A schematic diagram of the structure of a first main control unit provided in an embodiment of the present application;

[0028] Figure 4 A schematic diagram of the structure of a second main control unit provided in one embodiment of the present application;

[0029] Figure 5 A schematic flow chart of a charging control method for a cleaning device provided in the first embodiment of the present application;

[0030] Figure 6 A schematic diagram of the structure of a charging circuit for a cleaning device provided in a second embodiment of the present application;

[0031] Figure 7 A schematic flow chart of a charging control method for a cleaning device provided in the second embodiment of the present application;

[0032] Figure 8 A schematic diagram of the structure of a charging circuit for a cleaning device provided in a third embodiment of the present application;

[0033] Fig. 9 A schematic flow chart of a charging control method for a cleaning device provided in the third embodiment of the present application.

[0034] Reference numerals:

[0035] 1-charging circuit; 2-cleaning equipment; 10-workstation; 110-charging unit; 120-first electrode sheet unit; 121-first electrode sheet; 122-second electrode sheet; 130-first main control unit; 131-first bus; 132-first processor; 133-first memory; 140-first voltage detection unit; 150-first power module; 20-host; 210-second electrode sheet unit; 211-third electrode sheet; 212-fourth electrode sheet; 220-power unit; 230-second main control unit; 231-second bus; 232-second processor; 233-second memory; 240-second voltage detection unit; 250-second power module; 30-current suppression unit. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0037] Similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0038] Please refer to Figure 1 , which is a schematic diagram of the structure of the charging circuit 1 of the cleaning device provided in the first embodiment of the present application. Figure 2 , which is a schematic diagram of the structure of a cleaning device 2 provided in an embodiment of the present application. Figure 1 As shown, the cleaning device 2 includes a host 20 and a workstation 10, the workstation 10 is provided with a charging unit 110 and a first electrode sheet unit 120 connected thereto, the host 20 is provided with a power unit 220 and a second electrode sheet unit 210 connected thereto, after the first electrode sheet unit 120 and the second electrode sheet unit 210 are docked, the charging unit 110, the first electrode sheet unit 120, the second electrode sheet unit 210 and the power unit 220 form a charging circuit 1 of the cleaning device. For example, Figure 2 As shown, the first electrode sheet unit 120 may include two electrode sheets, namely a first electrode sheet 121 and a second electrode sheet 122; the second electrode sheet unit 210 may include two electrode sheets, namely a third electrode sheet 211 and a fourth electrode sheet 212. In the following embodiments, for ease of description, the charging circuit 1 of the cleaning device is referred to as the charging circuit 1.

[0039] In the prior art, when the host 20 performs cleaning tasks such as sweeping and mopping, the power unit 220 supplies power to the host 20. During the power supply process of the power unit 220, the host 20 monitors the remaining power of the power unit 220 in real time. When it is detected that the power of the power unit 220 is low, the host 20 automatically returns to the workstation 10, so that the workstation 10 charges the power unit 220. Specifically, the workstation 10 charges the power unit 220 in the following manner: the first electrode sheet unit 120 on the workstation 10 first docks with the second electrode sheet unit 210 on the host 20. After the docking is successful, the charging unit 110 in the workstation 10 continuously outputs the charging voltage and the charging current to the power unit 220 through the first electrode sheet unit 120 and the second electrode sheet unit 210. Among them, because the power unit 220 is generally composed of 4 lithium batteries connected in series, the voltage output by the charging unit 110 is generally about 18V to 26V.

[0040] However, in the prior art, there are electrical components such as capacitors in the power unit 220. When the first electrode unit 120 and the second electrode unit 210 are docked, the charging current output by the charging unit 110 will be directly used to charge the capacitor. This situation causes the first electrode unit 120 and the second electrode unit 210 to generate instantaneous current when docking, forming sparks. The spark phenomenon causes the first electrode unit 120 and the second electrode unit 210 to change color. More seriously, the spark phenomenon causes the first electrode unit 120 and the second electrode unit 210 to have poor contact when docking, and ultimately causes the workstation 10 to be unable to charge the host 20.

[0041] In order to solve the above problems, a current suppression unit 30 is set on the charging circuit 1 in the present application. By setting the current suppression unit 30, the instantaneous current generated by the first electrode sheet unit 120 and the second electrode sheet unit 210 when docking is suppressed, thereby effectively avoiding the spark phenomenon caused by the instantaneous current generated when the first electrode sheet unit 120 and the second electrode sheet unit 210 are docked, avoiding discoloration and poor contact of the electrode sheets, and fully ensuring that the cleaning equipment 2 can perform the charging operation normally.

[0042] In one embodiment, the workstation 10 further includes a first main control unit 130. Figure 3 , which is a schematic diagram of the structure of the first main control unit 130 provided in an embodiment of the present application. Figure 3 As shown, the first main control unit 130 includes: at least one first processor 132 and a first memory 133, Figure 3A first processor 132 is taken as an example. The first processor 132 and the first memory 133 are connected via a first bus 131. The first memory 133 stores instructions that can be executed by the first processor 132, and the instructions are executed by the first processor 132. The first main control unit 130 is used to execute the charging control method of the cleaning device 2 in the following embodiment.

[0043] In one embodiment, the host 20 further includes a second main control unit 230. Figure 4 , which is a schematic diagram of the structure of the second main control unit 230 provided in an embodiment of the present application. Figure 4 As shown, the second main control unit 230 includes: at least one second processor 232 and a second memory 233, Figure 4 A second processor 232 is taken as an example. The second processor 232 and the second memory 233 are connected via a second bus 231. The second memory 233 stores instructions that can be executed by the second processor 232, and the instructions are executed by the second processor 232. The second main control unit 230 is used to execute the charging control method of the cleaning device 2 in the following embodiment.

[0044] Please refer to Figure 5 , which is a flow chart of the charging control method of the cleaning device 2 provided in the first embodiment of the present application. Figure 5 As shown, the method includes the following step S210.

[0045] Step S210 : When the first electrode sheet unit 120 and the second electrode sheet unit 210 are connected to each other, the current suppression unit 30 is controlled to switch from the non-operating state to the operating state.

[0046] Among them, the charging circuit 1 is provided with a current suppression unit 30, and the current suppression unit 30 has a working state and a non-working state; when the current suppression unit 30 is in the non-working state, the workstation 10 does not output current, or the workstation 10 outputs a first current; when the current suppression unit 30 is in the working state, the workstation 10 outputs a second current; the first current is less than the second current, and the first current and the second current are both output by the charging unit 110. The second current is the charging current used by the charging unit 110 to charge the power unit 220.

[0047] In this step, the current suppression unit 30 may be disposed in the workstation 10 or the host 20 .

[0048] When the current suppression unit 30 is arranged in the workstation 10, the first main control unit 130 monitors whether the first electrode sheet unit 120 and the second electrode sheet unit 210 are docked. If the first main control unit 130 detects that the first electrode sheet unit 120 and the second electrode sheet unit 210 are not docked, the current suppression unit 30 is controlled to be in a non-working state. At this time, when the current suppression unit 30 is in a non-working state, the workstation 10 does not output current, or outputs a first current whose current value is less than the charging current value to the power unit 220. If the first main control unit 130 detects that the first electrode sheet unit 120 and the second electrode sheet unit 210 are docked, the current suppression unit 30 is switched from a non-working state to a working state. At this time, when the current suppression unit 30 is in a working state, the workstation 10 outputs a charging current to the power unit 220 to charge the power unit 220.

[0049] When the current suppression unit 30 is arranged in the host 20, the second main control unit 230 monitors whether the first electrode sheet unit 120 and the second electrode sheet unit 210 are docked. If the second main control unit 230 detects that the first electrode sheet unit 120 and the second electrode sheet unit 210 are not docked, the current suppression unit 30 is controlled to be in a non-working state. At this time, when the current suppression unit 30 is in a non-working state, the workstation 10 does not output current, or outputs a first current whose current value is less than the charging current value to the power unit 220. If the first main control unit 130 detects that the first electrode sheet unit 120 and the second electrode sheet unit 210 are docked, the current suppression unit 30 is switched from a non-working state to a working state. At this time, when the current suppression unit 30 is in a working state, the charging unit 110 outputs a charging current to the power unit 220 to charge the power unit 220.

[0050] It can be seen from the above that in this embodiment, when the first electrode sheet unit 120 and the second electrode sheet unit 210 are not fully docked, the workstation 10 does not output current or only outputs a first current whose current value is less than the charging current. When the workstation 10 does not output current, when the first electrode sheet unit 120 and the second electrode sheet unit 210 are docked, the workstation 10 will not charge the capacitor, and thus will not generate instantaneous current to form sparks. When the workstation 10 outputs a first current whose current value is less than the charging current, when the first electrode sheet unit 120 and the second electrode sheet unit 210 are docked, the first current output by the charging unit 110 will be directly used to charge the capacitor, but because the current value of the first current is relatively small, it will also not generate instantaneous current to form sparks.

[0051] In summary, it can be seen that in this embodiment, sparks are effectively avoided when the first electrode sheet unit 120 and the second electrode sheet unit 210 are connected, thereby effectively avoiding discoloration and poor contact of the first electrode sheet unit 120 and the second electrode sheet unit 210, fully ensuring the smooth progress of the charging operation, and at the same time, effectively improving the service life of the electrode sheet.

[0052] Please refer to Figure 6 , which is a schematic diagram of the structure of the charging circuit 1 of the cleaning device provided in the second embodiment of the present application. Figure 6 As shown, in this embodiment, the current suppression unit 30 includes a first switch element Q1 and a current suppression resistor R5; the first switch element Q1 is used to switch from an off state to an on state after successful docking; the current suppression resistor R5 is used to suppress instantaneous current during docking. Among them, the first switch element Q1 and the current suppression resistor R5 are both arranged on the host 20, and the first switch element Q1 is connected in series between the power unit 220 and the second electrode sheet unit 210; the current suppression resistor R5 is connected in parallel with the first switch element Q1; the first switch element Q1 is also connected to the second main control unit 230 at the same time, and the second main control unit 230 is connected to the second electrode sheet unit 210 through the current suppression resistor R5. Specifically, as Figure 6 As shown, the first switching element Q1 can be a MOS tube, the gate of the first switching element Q1 is connected to the second main control unit 230, the source of the first switching element Q1 is connected to the third electrode sheet 211 in the second electrode sheet unit 210, and the drain of the first switching element Q1 is connected to the power consumption unit 220; one end of the current suppression resistor R5 is connected to the source of the first switching element Q1, and the other end of the current suppression resistor R5 is connected to the drain of the first switching element Q1.

[0053] Please refer to Figure 7 , which is a flow chart of a charging control method for a cleaning device 2 provided in the second embodiment of the present application. The method is applied to Figure 6 In the cleaning device 2 shown, the method includes the following steps S310 to S320. The working principle of the method is explained in detail below:

[0054] Step S310: Determine whether the first electrode sheet unit 120 and the second electrode sheet unit 210 are connected to each other according to the characteristic information.

[0055] The characteristic information is the voltage information of the second electrode sheet unit 210 .

[0056] In this step, the second main control unit 230 can monitor the voltage information of the second electrode sheet unit 210 in real time, and determine whether the first electrode sheet unit 120 and the second electrode sheet unit 210 are connected according to the monitoring result. Specifically, the second main control unit 230 can compare the monitored voltage value of the second electrode sheet unit 210 with the pre-stored first set threshold value, and then determine whether the first electrode sheet unit 120 and the second electrode sheet unit 210 are connected according to the comparison result.

[0057] First, if the comparison result shows that the first electrode sheet unit 120 and the second electrode sheet unit 210 have not been docked, the second main control unit 230 can control the current suppression unit 30 to continue to be in a non-working state. Specifically, the way to control the current suppression unit 30 to be in a non-working state is to control the first switch element Q1 to be in an open state. Among them, in this embodiment, the first electrode sheet unit 120 and the second electrode sheet unit 210 have not been docked, which includes two situations. One is that the first electrode sheet unit 120 and the second electrode sheet unit 210 are not docked. In this case, the workstation 10 only outputs a charging voltage and does not output a current; the other is that the first electrode sheet unit 120 and the second electrode sheet unit 210 start to dock but have not completed the docking. In this case, under the current limiting effect of the current suppression resistor R5, the workstation 10 outputs a charging voltage and simultaneously outputs a first current whose current value is less than the charging current value.

[0058] Next, if the comparison result shows that the first electrode sheet unit 120 and the second electrode sheet unit 210 have been connected, the second main control unit 230 may continue to execute step S320 .

[0059] Step S320 : When the first electrode sheet unit 120 and the second electrode sheet unit 210 are connected to each other, the current suppression unit 30 is controlled to switch from the non-operating state to the operating state.

[0060] In this step, when the second main control unit 230 detects that the first electrode sheet unit 120 and the second electrode sheet unit 210 have been docked, the current suppression unit 30 is switched from the non-working state to the working state. The current suppression unit 30 is switched from the non-working state to the working state by controlling the first switch element Q1 to switch from the open state to the closed state. After the working state is successfully switched, the workstation 10 outputs the charging current and the charging voltage to charge the power unit 220.

[0061] Step S330: judging whether the first electrode sheet unit 120 and the second electrode sheet unit 210 are disconnected according to the characteristic information, and performing corresponding operations according to the judgment result.

[0062] The characteristic information is the voltage information of the second electrode sheet unit 210 and / or the current information of the charging circuit 1 .

[0063] In this step, when the current suppression unit 30 is in working state, the second main control unit 230 detects the voltage information of the second electrode sheet unit 210 in real time, and determines whether the first electrode sheet unit 120 and the second electrode sheet unit 210 are disconnected according to the detection result. Specifically, the second main control unit 230 can be integrated with a second voltage detection unit 240, and the second voltage detection unit 240 is connected to the second electrode sheet unit 210 through the current suppression resistor R5; the second main control unit 230 can obtain the voltage value of the second electrode sheet unit 210 through the second voltage detection unit 240, and after the acquisition is successful, the voltage value of the second electrode sheet unit 210 is compared with the pre-stored first set threshold value, and then determine whether the first electrode sheet unit 120 and the second electrode sheet unit 210 are disconnected according to the comparison result.

[0064] And / or, the second main control unit 230 can determine whether the second electrode sheet unit 210 and the second electrode sheet unit 210 are disconnected according to the current information of the charging circuit 1. Specifically, a current detection unit is integrated in the second main control unit 230, and the current detection unit is connected to the charging circuit 1; the second main control unit 230 can monitor the current information of the charging circuit 1 through the current detection unit; if the second main control unit 230 can detect the existence of charging current in the charging circuit 1, it indicates that the first electrode sheet unit 120 and the second electrode sheet unit 210 are not disconnected. If the second main control unit 230 does not detect the existence of charging current in the charging circuit 1, it indicates that the first electrode sheet unit 120 and the second electrode sheet unit 210 are disconnected.

[0065] Furthermore, if the first electrode sheet unit 120 and the second electrode sheet unit 210 are not disconnected, the second main control unit 230 can keep the current suppression unit 30 in the working state, that is, control the first switch element Q1 to continue to be in the closed state. If the first electrode sheet unit 120 and the second electrode sheet unit 210 are disconnected, the second main control unit 230 can switch the current suppression unit 30 from the working state to the non-working state, that is, switch the first switch element Q1 from the closed state to the open state, and end the charging operation in this way. After the charging operation is ended, the workstation 10 only outputs the charging voltage.

[0066] From the above content, it can be seen that in this embodiment, under the action of the current suppression resistor R5, when the first electrode sheet unit 120 and the second electrode sheet unit 210 are connected, the workstation 10 will output a first current whose current value is less than the charging current value. After the first current is output, it will be directly used to charge the capacitor. However, because the current value of the first current is relatively small, no instantaneous current will be generated to form sparks when the first electrode sheet unit 120 and the second electrode sheet unit 210 are connected.

[0067] Therefore, it can be seen from the above that the present embodiment effectively avoids the generation of sparks between the first electrode sheet unit 120 and the second electrode sheet unit 210 at the moment of docking, thereby effectively avoiding the discoloration and poor contact of the electrode sheets, fully ensuring the smooth charging operation and effectively improving the service life of the electrode sheets.

[0068] Please refer to Figure 8 , which is a schematic diagram of the structure of the charging circuit 1 of the cleaning device provided in the third embodiment of the present application. Figure 8 As shown, in this embodiment, the current suppression unit 30 includes a second switch element Q2, and the second switch element is used to switch from the disconnected state to the on state after the docking is successful. When the second switch element is in the on state, the charging unit 110 outputs the charging voltage to the power unit 220 through the charging circuit 1; when the second switch element is in the disconnected state, the charging unit 110 has no output. The second switch element Q2 is arranged on the workstation 10, and the second switch element Q2 is connected in series between the charging unit 110 and the first electrode sheet unit 120, and the second switch element Q2 is also connected to the first main control unit 130. Specifically, as Figure 8 As shown, the second switch element Q2 can be a MOS tube, the gate of the second switch element Q2 is connected to the first main control unit 130, the source of the second switch element Q2 is connected to the charging unit 110, and the drain of the second switch element Q2 is connected to the first electrode sheet 121 in the first electrode sheet unit 120.

[0069] like Figure 8 As shown, the workstation 10 is provided with a first power module 150, and the host 20 is provided with a second power module 250; the current suppression unit 30 also includes a first current limiting element and a second current limiting element, and the first current limiting element and the second current limiting element are used to suppress the instantaneous current during docking; wherein, the first current limiting element is provided on the workstation 10, the first current limiting element is a resistor R1, and the first current limiting element is connected to the first electrode sheet unit 120 and the first power module 150; the second current limiting element is provided on the host 20, the second current limiting element is a resistor R2, and the second current limiting element is connected to the second electrode sheet unit 210 and the second power module 250. Specifically, the first current limiting element is connected to the first electrode sheet 121 in the first electrode sheet unit 120; the second current limiting element is connected to the third electrode sheet 211 in the second electrode sheet unit 210.

[0070] like Figure 8As shown, the workstation 10 is provided with a first voltage detection unit 140, which is connected to the first electrode sheet unit 120, the first main control unit 130 and the first power module 150; the first voltage detection unit 140 is used to detect the voltage information of the first electrode sheet unit 120. And / or, the host 20 is provided with a second voltage detection unit 240240, which is connected to the second electrode sheet unit 210, the second main control unit 230 and the second power module 250; the second voltage detection unit 240 is used to detect the voltage information of the second electrode sheet unit 210.

[0071] In one embodiment, if Figure 8 As shown, the first voltage detection unit 140 includes a first resistor R1, a first diode D1, a second resistor R2 and a third resistor R3. Among them, the output end of the first power module 150 is connected to one end of the first resistor R1; the anode of the first diode D1 is connected to the other end of the first resistor R1; the second resistor R2 is connected to the cathode of the first diode D1 and one end of the third resistor R3, and the second resistor R2 is connected in parallel with the first electrode sheet unit 120, and the other end of the third resistor R3 is grounded. The first voltage detection unit 140 is connected to the first main control unit 130 through the V1 interface. Exemplarily, the resistance range of the first resistor R1 is 1KΩ~500KΩ, the resistance range of the second resistor R2 is 1KΩ~500KΩ, and the resistance range of the third resistor R3 is 1~10Ω; the output voltage of the first power module 150 is 4~6V. Preferably, the output voltage of the first power module 150 is 5V.

[0072] In one embodiment, the first main control unit 130 is integrated with a first current detection unit, the second main control unit 230 is integrated with a second current detection unit, the first current detection unit and the second current detection unit are both connected to the charging circuit 1, and the first current detection unit and the second current detection unit are used to monitor the current information in the charging circuit 1. Specifically, Figure 8 As shown, the first current detection unit is connected to the charging circuit 1 via the V2 interface; Figure 8 The connection interface between the second current detection unit and the charging circuit 1 is not shown.

[0073] In one embodiment, if Figure 8As shown, the second voltage detection unit 240240 includes a fourth resistor R4, a second diode D2 and a fifth resistor R6. Among them, the output end of the second power module 250 is connected to one end of the fourth resistor R4; the anode of the second diode D2 is connected to the other end of the fourth resistor R4; the fifth resistor R6 is connected to the cathode of the second diode D2, the fifth resistor R6 is grounded, and the fifth resistor R6 is connected in parallel with the second electrode sheet unit 210. The second voltage detection unit 240240 is connected to the second main control unit 230 via the V3 interface. Exemplarily, the resistance range of the fourth resistor R4 is 1KΩ~500KΩ and the resistance range of the fifth resistor R6 is 1KΩ~500KΩ; the output voltage of the second power module 250 is 3~4V. Preferably, the output voltage of the second power module 250 is 3.3V.

[0074] Please refer to Fig. 9 , which is a flow chart of a charging control method for a cleaning device 2 provided in the third embodiment of the present application. The method is applied to Figure 8 In the cleaning device 2 shown, the method includes the following steps S510 to S540. The working principle of the method is explained in detail below:

[0075] Step S510: Acquire characteristic information through the first voltage detection unit 140 and / or the second voltage detection unit 240240.

[0076] The characteristic information is the voltage information of the first electrode sheet unit 120 .

[0077] In this step, the first main control unit 130 may obtain the voltage information of the first electrode sheet unit 120 through the V1 interface, and execute the subsequent step S520 after successful acquisition.

[0078] Step S520: Determine whether the first electrode sheet unit 120 and the second electrode sheet unit 210 are connected to each other according to the characteristic information.

[0079] In this step, after the first main control unit 130 obtains the voltage information of the first electrode sheet unit 120, it can determine whether the first electrode sheet unit 120 and the second electrode sheet unit 210 are connected according to the voltage information of the first electrode sheet unit 120. Specifically, the first main control unit 130 can compare the obtained voltage value of the first electrode sheet unit 120 with the pre-stored third set threshold value, and then determine whether the first electrode sheet unit 120 and the second electrode sheet unit 210 are connected according to the comparison result.

[0080] When the first electrode sheet unit 120 and the second electrode sheet unit 210 are not connected, the first main control unit 130 can keep the current suppression unit 30 in a non-working state; specifically, the way to control the current suppression unit 30 to be in a non-working state is to control the first switch element Q1 to be in an open state. Among them, when the first switch element Q1 is in an open state, that is, the current suppression unit 30 is in a non-working state, the charging unit 110 does not output a charging voltage, and the first electrode sheet unit 120 and the second electrode sheet unit 210 output a detection voltage for detecting whether the two electrode sheet units are connected under the action of the first power module 150 and the second power module 250. At this time, although the two electrode sheet units output the detection voltage, under the current limiting action of the first current limiting element and the second current limiting element, the charging unit 110 will not output a charging current.

[0081] When the first electrode sheet unit 120 and the second electrode sheet unit 210 are connected to each other, the first main control unit 130 may continue to execute the following step S530 .

[0082] Step S530: When the first electrode sheet unit 120 and the second electrode sheet unit 210 are connected to each other, the current suppression unit 30 is controlled to switch from the non-operating state to the operating state.

[0083] In this step, when the first main control unit 130 detects that the first electrode sheet unit 120 and the second electrode sheet unit 210 are docked, the current suppression unit 30 can be switched from a non-working state to a working state. The way to switch the current suppression unit 30 from a non-working state to a working state is to control the first switch element Q1 to switch from an open state to a closed state. After the current suppression unit 30 is switched to a working state, the workstation 10 outputs a charging current and a charging voltage to the power unit 220 through a charging current to charge the power unit 220. Since the output voltage of the first power module 150 is less than the charging voltage, and the output voltage of the second power module 250 is less than the charging voltage, under the action of the first diode D1 and the second diode D2, when the charging unit 110 charges the power unit 220, the two electrode sheet units will no longer output a detection voltage for detecting whether the electrode sheet units are connected; at this time, only the charging unit 110 outputs a charging voltage and a charging current.

[0084] Step S540: judging whether the first electrode sheet unit 120 and the second electrode sheet unit 210 are disconnected according to the characteristic information, and performing corresponding operations according to the judgment result.

[0085] The characteristic information is the voltage information of the first electrode sheet unit 120 and / or the current information of the charging circuit 1 .

[0086] In this step, after the current suppression unit 30 is switched to the working state, the first main control unit 130 can monitor the current information of the charging circuit 1 through the first current detection unit, and then determine whether the first electrode sheet unit 120 and the second electrode sheet unit 210 are disconnected according to the monitoring of the current information.

[0087] And / or, in this step, the first main control unit 130 can obtain the voltage information of the first electrode sheet unit 120 through the V1 interface; then, by comparing the voltage information of the first electrode sheet unit 120 with the third set threshold value, it is determined whether the first electrode sheet unit 120 and the second electrode sheet unit 210 are disconnected according to the comparison result. If the first electrode sheet unit 120 and the second electrode sheet unit 210 are not disconnected, the first main control unit 130 can make the current suppression unit 30 continue to be in a working state, that is, control the first switch element Q1 to continue to be in a closed state. If the first electrode sheet unit 120 and the second electrode sheet unit 210 are disconnected, the first main control unit 130 can switch the current suppression unit 30 from a working state to a non-working state, that is, switch the first switch element Q1 from a closed state to an open state, and end the charging operation in this way. Wherein, after the charging operation is ended, the workstation 10 neither outputs a charging voltage nor a charging current.

[0088] It is worth noting that in this embodiment, when the workstation 10 and the host 20 are not docked, the workstation 10 does not output a charging voltage but only a small detection voltage, and the host 20 also only outputs a small detection voltage. At the same time, when the workstation 10 and the host 20 are not docked, it is necessary to ensure that the values ​​of the detection voltages output by the workstation 10 and the host 20 are different. Under this setting, it is possible to effectively detect whether the workstation 10 and the host 20 are successfully docked. Otherwise, the voltage change of the electrode sheet unit cannot be detected, and it is thus impossible to determine whether the host 20 and the workstation 10 are docked.

[0089] It can be seen from the above content that in this embodiment, when the first electrode sheet unit 120 and the second electrode sheet unit 210 are docked, the workstation 10 does not output a charging current. When the workstation 10 does not output a charging current, the workstation 10 will not charge the capacitor, and thus no instantaneous current will be generated to form sparks. Therefore, it can be seen that in this embodiment, the first electrode sheet unit 120 and the second electrode sheet unit 210 are effectively prevented from generating sparks at the moment of docking, thereby effectively preventing the electrode sheets from discoloring and poor contact, fully ensuring the smooth progress of the charging operation, and effectively improving the service life of the electrode sheets. Further, in this embodiment, when the first electrode sheet unit 120 and the second electrode sheet unit 210 are not docked, the workstation 10 does not output a charging voltage. In this case, if the user accidentally uses a conductive foreign object to connect between the two electrodes in the first electrode sheet unit 120, no large sparks will be generated on the two electrodes, thereby improving the user experience.

[0090] In one embodiment, the host 20 may have two states: powered on and not powered on. The following takes the output voltage Vdd1=5V of the first power module 150, the output voltage Vdd2=3.3V of the second power module 250, the first resistor R1=10KΩ, the second resistor R2=10KΩ, the third resistor R3=0.1Ω, the fourth resistor R4=10KΩ, the fifth resistor R6=10KΩ, the voltage drop value Vd1=0.7V of the first diode D1 and the voltage drop value Vd2=0.7V of the second diode D2 as an example to explain the working principle of the workstation 10 determining whether the first electrode sheet unit 120 and the second electrode sheet unit 210 are connected when the host 20 is in different states:

[0091] ① The workstation 10 is powered on, but the host 20 is not powered on.

[0092] In this case, when the first electrode sheet unit 120 and the second electrode sheet unit 210 are not connected, the first main control unit 130 obtains the voltage information V3=2.85V of the first electrode sheet unit 120 through the V1 interface; wherein the voltage information V3 of the first electrode sheet unit 120 can be determined by the following formula (1):

[0093] V3=(Vdd1–Vd1)*(R2 / (R1+R2))+Vd1 (1)

[0094] When the first electrode sheet unit 120 and the second electrode sheet unit 210 are connected, the first main control unit 130 obtains the voltage information V3=2.13V of the first electrode sheet unit 120 through the V1 interface; wherein the voltage information V3 of the first electrode sheet unit 120 can be determined by the following formula (2):

[0095] V3=(Vdd1–Vd1)*(Rb / (Rb+R1))+Vd1 (2)

[0096] The resistor Rb in formula (2) is the resistance of the second resistor R2 and the fifth resistor R6 connected in parallel. The resistance of the resistor Rb can be determined by the following formula (3):

[0097] Rb=R2*R6 / (R2+R6) (3)

[0098] ② Both the workstation 10 and the host 20 are powered on.

[0099] In this case, when the first electrode sheet unit 120 and the second electrode sheet unit 210 are not connected, the first main control unit 130 obtains the voltage information V3=2.85V of the first electrode sheet unit 120 through the V1 interface; wherein the voltage information V3 of the first electrode sheet unit 120 can be determined by the above formula (1).

[0100] When the first electrode sheet unit 120 and the second electrode sheet unit 210 are successfully connected, the first main control unit 130 obtains the voltage information V3=2.425V of the first electrode sheet unit 120 through the V1 interface; wherein the voltage information V3 of the first electrode sheet unit 120 can be determined by the following formulas (4)-(7):

[0101] I1*R1+Vd1+I2*R2=Vdd1 (4)

[0102] I4*R4+Vd2+I6*R6=Vdd2 (5)

[0103] I2*R2=I6*R6 (6)

[0104] I2+I5=I1+I4 (7)

[0105] Among them, in the above formula, I1 is the current flowing through the first resistor R1, I2 is the current flowing through the second resistor R2, I4 is the current flowing through the fourth resistor R4, and I6 is the current flowing through the fifth resistor R6. Formulas (4)-(6) are derived from Kirchhoff's voltage law, and formula (7) is derived from Kirchhoff's current law. According to the above formulas (4)-(7), I1=0.2575mA, I4=0.0875mA, I2=I5=0.1725mA can be calculated, and then V3=2.425V can be determined.

[0106] Based on the voltage information of the first electrode sheet unit 120 calculated according to ① and ② above, it can be seen that, regardless of whether the host 20 is powered on or not, when the first electrode sheet unit 120 and the second electrode sheet unit 210 are not docked, the voltage value V3 of the first electrode sheet unit 120 is 2.85V; when the host 20 is not powered on and the first electrode sheet unit 120 and the second electrode sheet unit 210 are docked, the voltage value V3 of the first electrode sheet unit 120 is 2.13V; when the host 20 is powered on and the first electrode sheet unit 120 and the second electrode sheet unit 210 are docked, the voltage value V3 of the first electrode sheet unit 120 is 2.425V.

[0107] Therefore, the third set threshold value can be set to 2.85-(2.85-2.425)*t, that is, the third set threshold value can be 2.47-2.8V, wherein t is a threshold coefficient, the threshold coefficient can be 0.1-0.9, preferably, the threshold coefficient can be 0.5, and the third set threshold value can be 2.6V. If the voltage value V3 of the first electrode sheet unit 120 is greater than the third set threshold value, it can be considered that the first electrode sheet unit 120 and the second electrode sheet unit 210 are not connected; if the voltage value of the first electrode sheet unit 120 is less than the third set threshold value, it can be considered that the first electrode sheet unit 120 and the second electrode sheet unit 210 are connected.

[0108] It is worth noting that the specific value of the third set threshold is related to the resistance value of each resistor and the diode voltage drop value in the first voltage detection unit 140 and the second voltage detection unit 240240. In practice, the specific value of the third set threshold can be set according to the corresponding situation.

[0109] In one embodiment, the host 20 may have two states: powered on and not powered on. The following takes the output voltage Vdd1=5V of the first power module 150, the output voltage Vdd2=3.3V of the second power module 250, the first resistor R1=10KΩ, the second resistor R2=10KΩ, the third resistor R3=0.1Ω, the fourth resistor R4=10KΩ, the fifth resistor R6=10KΩ, the voltage drop value Vd1=0.7V of the first diode D1 and the voltage drop value Vd2=0.7V of the second diode D2 as an example to explain the working principle of the workstation 10 determining whether the first electrode sheet unit 120 and the second electrode sheet unit 210 are disconnected when the host 20 is in different states:

[0110] ③ The workstation 10 is powered on, but the host 20 is not powered on.

[0111] When the first electrode sheet unit 120 is connected to the second electrode sheet unit 210, the first main control unit 130 obtains voltage information V3=2.13V of the first electrode sheet unit 120 through the V1 interface; wherein the voltage information V3 of the first electrode sheet unit 120 can be determined by the above formula (2).

[0112] When the first electrode sheet unit 120 is disconnected from the second electrode sheet unit 210, the first main control unit 130 obtains voltage information V3=2.85V of the first electrode sheet unit 120 through the V1 interface; wherein the voltage information V3 of the first electrode sheet unit 120 can be determined by the above formula (1).

[0113] ④Both the workstation 10 and the host 20 are powered on.

[0114] When the first electrode sheet unit 120 is connected to the second electrode sheet unit 210, the first main control unit 130 obtains the voltage information V3=2.425V of the first electrode sheet unit 120 through the V1 interface; wherein the voltage information V3 of the first electrode sheet unit 120 can be determined by the above formulas (4)-(7).

[0115] When the first electrode sheet unit 120 is disconnected from the second electrode sheet unit 210, the first main control unit 130 obtains voltage information V3=2.85V of the first electrode sheet unit 120 through the V1 interface; wherein the voltage information V3 of the first electrode sheet unit 120 can be determined by the above formula (1).

[0116] Based on the voltage information of the first electrode sheet unit 120 calculated by ③ and ④ above, it can be seen that, regardless of whether the host 20 is powered on or not, when the first electrode sheet unit 120 and the second electrode sheet unit 210 are disconnected, the voltage value V3 of the first electrode sheet unit 120 is 2.85V; when the host 20 is not powered on and the first electrode sheet unit 120 and the second electrode sheet unit 210 are not disconnected, the voltage value V3 of the first electrode sheet unit 120 is 2.13V; when the host 20 is powered on and the first electrode sheet unit 120 and the second electrode sheet unit 210 are not disconnected, the voltage value V3 of the first electrode sheet unit 120 is 2.425V. Therefore, when the third set threshold is set to 2.6V, if the voltage value V3 of the first electrode sheet unit 120 is greater than the third set threshold, it can be considered that the first electrode sheet unit 120 and the second electrode sheet unit 210 are disconnected; if the voltage value of the first electrode sheet unit 120 is less than the third set threshold, it can be considered that the first electrode sheet unit 120 and the second electrode sheet unit 210 are not disconnected. The principle of selecting the value of the third set threshold is detailed in the above embodiment, and will not be repeated in this embodiment.

[0117] In one embodiment, the first main control unit 130 can determine whether the first electrode sheet unit 120 and the second electrode sheet unit 210 are disconnected according to the voltage value V3 of the first electrode sheet unit 120, and can also determine whether the second electrode sheet unit 210 and the second electrode sheet unit 210 are disconnected according to the current information of the charging circuit 1. Specifically, the first main control unit 130 monitors the current information of the charging circuit 1 through the first current detection unit. If the first main control unit 130 can detect the presence of charging current in the charging circuit 1, it indicates that the first electrode sheet unit 120 and the second electrode sheet unit 210 are not disconnected. If the first main control unit 130 does not detect the presence of charging current in the charging circuit 1, it indicates that the first electrode sheet unit 120 and the second electrode sheet unit 210 are disconnected. Regardless of whether the host 20 is powered on, the first main control unit 130 can determine whether the first electrode sheet unit 120 and the second electrode sheet unit 210 are disconnected in this way.

[0118] It can be seen from the above content that no matter whether the host 20 is powered on or not, the workstation 10 can determine whether the first electrode sheet unit 120 and the second electrode sheet unit 210 are connected and disconnected, and the determination method is simple and convenient.

[0119] In one embodiment, the workstation 10 may have two states: powered on and not powered on. The following takes the output voltage Vdd1=5V of the first power module 150, the output voltage Vdd2=3.3V of the second power module 250, the first resistor R1=10KΩ, the second resistor R2=10KΩ, the third resistor R3=0.1Ω, the fourth resistor R4=10KΩ, the fifth resistor R6=10KΩ, the voltage drop value Vd1=0.7V of the first diode D1 and the voltage drop value Vd2=0.7V of the second diode D2 as an example to explain the working principle of the host 20 determining whether the first electrode sheet unit 120 and the second electrode sheet unit 210 are docked when the workstation 10 is in different states:

[0120] ⑤ Both the host 20 and the workstation 10 are powered on.

[0121] When the first electrode sheet unit 120 and the second electrode sheet unit 210 are not connected, the second main control unit 230 obtains the voltage information V4=2V of the second electrode sheet unit 210 through the V3 interface; wherein the voltage value V4 of the second electrode sheet unit 210 can be determined by the following formula (8):

[0122] V4=(Vdd2-Vd2)(R6 / (R4+R6))+Vd2 (8)

[0123] When the first electrode sheet unit 120 and the second electrode sheet unit 210 are connected, the second main control unit 230 obtains the voltage information V4=2.425V of the second electrode sheet unit 210 through the V3 interface; wherein the voltage information V4 of the second electrode sheet unit 210 can be determined by the above formulas (4)-(7).

[0124] ⑥Host 20 is powered on, but workstation 10 is not powered on.

[0125] When the first electrode sheet unit 120 and the second electrode sheet unit 210 are not connected, the second main control unit 230 obtains the voltage information V4=2V of the second electrode sheet unit 210 through the V3 interface; wherein the voltage value V4 of the second electrode sheet unit 210 can be determined by the above formula (8).

[0126] When the first electrode sheet unit 120 and the second electrode sheet unit 210 are connected, the second main control unit 230 obtains the voltage information V4=1.56V of the second electrode sheet unit 210 through the V3 interface; wherein the voltage information V4 of the second electrode sheet unit 210 can be determined by the following formula (9):

[0127] V3=(Vdd2–Vd2)(Rb / (Rb+R5))+Vd2 (9)

[0128] The resistor Rb in formula (9) is the resistance of the second resistor R2 and the fifth resistor R6 connected in parallel. The resistance of the resistor Rb can be determined by the following formula (10):

[0129] Rb=R2*R6 / (R2+R6) (10)

[0130] Based on the voltage information of the second electrode sheet unit 210 calculated based on the above ⑤ and ⑥, it can be seen that regardless of whether the workstation 10 is powered on or not, when the first electrode sheet unit 120 and the second electrode sheet unit 210 are not connected, the voltage value V4 of the second electrode sheet unit 210 is 2V; when the workstation 10 is powered on and the first electrode sheet unit 120 and the second electrode sheet unit 210 are connected, the voltage value V4 of the second electrode sheet unit 210 is 2.425; when the workstation 10 is not powered on and the first electrode sheet unit 120 and the second electrode sheet unit 210 are connected, the voltage value V4 of the second electrode sheet unit 210 is 1.56V.

[0131] Therefore, the threshold range can be set to A1-A2, wherein A1=1.56+(2-1.56)*h, A2=2+(2.425-2)*h; h is the threshold coefficient, which can be 0.1-0.9; preferably, the threshold coefficient can be 0.5; when the threshold coefficient is 0.5, the threshold range can be set to 1.8-2.2V. If the voltage value V4 of the second electrode sheet unit 210 is within the threshold range, it can be considered that the first electrode sheet unit 120 and the second electrode sheet unit 210 are not connected; if the voltage value V4 of the second electrode sheet unit 210 is not within the threshold range, it can be considered that the first electrode sheet unit 120 and the second electrode sheet unit 210 are connected.

[0132] It is worth noting that the specific value of the threshold range is related to the resistance value of each resistor and the diode voltage drop value in the first voltage detection unit 140 and the second voltage detection unit 240240. In practice, the specific value of the threshold range can be set according to the corresponding situation.

[0133] It can also be seen from the voltage value V4 of the second electrode sheet unit 210 calculated by the above ⑤ and ⑥ that when the first electrode sheet unit 120 and the second electrode sheet unit 210 are connected, the workstation 10 is powered on and when the workstation 10 is not powered on, the voltage value V4 of the second electrode sheet unit 210 will present different values. Based on this, after the second main control unit 230 determines that the first electrode sheet unit 120 and the second electrode sheet unit 210 have been connected, it can further determine whether the workstation 10 is powered on based on the voltage information of the second electrode sheet unit 210. When the threshold range is 1.8-2.2V, if the voltage value V4 of the second electrode sheet unit 210 is less than 1.8V, it indicates that the workstation 10 is not powered on. At this time, the second main control unit 230 can output a prompt message, which can be a voice message, vibration, and text message, etc.; if the voltage value V4 of the second electrode sheet unit 210 is greater than 2.2V, it indicates that the workstation 10 is powered on. When the workstation 10 is powered on, the above steps S510-S540 can be executed to charge the host 20.

[0134] In one embodiment, the second main control unit 230 can determine whether the first electrode sheet unit 120 and the second electrode sheet unit 210 are connected according to the voltage value V4 of the second electrode sheet unit 210, and can also determine whether the second electrode sheet unit 210 and the second electrode sheet unit 210 are connected according to the current information of the charging circuit 1. Specifically, the second main control unit 230 monitors the current information of the charging circuit 1 through the second current detection unit. If the second main control unit 230 can detect the presence of charging current in the charging circuit 1, it indicates that the first electrode sheet unit 120 and the second electrode sheet unit 210 have been connected. If the second main control unit 230 does not detect the presence of charging current in the charging circuit 1, it indicates that the first electrode sheet unit 120 and the second electrode sheet unit 210 have not been connected. Regardless of whether the host 20 is powered on, the second main control unit 230 can determine whether the first electrode sheet unit 120 and the second electrode sheet unit 210 are connected in this way.

[0135] In one embodiment, the workstation 10 may have two states: powered on and not powered on. The following takes the output voltage Vdd1=5V of the first power module 150, the output voltage Vdd2=3.3V of the second power module 250, the first resistor R1=10KΩ, the second resistor R2=10KΩ, the third resistor R3=0.1Ω, the fourth resistor R4=10KΩ, the fifth resistor R6=10KΩ, the voltage drop value Vd1=0.7V of the first diode D1 and the voltage drop value Vd2=0.7V of the second diode D2 as an example to explain the working principle of the host 20 determining whether the first electrode sheet unit 120 and the second electrode sheet unit 210 are disconnected when the workstation 10 is in different states:

[0136] ⑦ Both the host 20 and the workstation 10 are powered on.

[0137] When the first electrode sheet unit 120 is connected to the second electrode sheet unit 210, the second main control unit 230 obtains the voltage information V4=2.425V of the second electrode sheet unit 210 through the V3 interface; wherein the voltage information V4 of the second electrode sheet unit 210 can be determined by the above formulas (4)-(7).

[0138] When the first electrode sheet unit 120 is disconnected from the second electrode sheet unit 210, the second main control unit 230 obtains the voltage information V4=2V of the second electrode sheet unit 210 through the V3 interface; wherein the voltage value V4 of the second electrode sheet unit 210 can be determined by the above formula (8).

[0139] ⑧The host 20 is powered on, but the workstation 10 is not powered on.

[0140] When the first electrode sheet unit 120 is connected to the second electrode sheet unit 210, the second main control unit 230 obtains the voltage information V4=1.56V of the second electrode sheet unit 210 through the V3 interface; wherein the voltage information V4 of the second electrode sheet unit 210 can be determined by the above formula (9).

[0141] When the first electrode sheet unit 120 is disconnected from the second electrode sheet unit 210, the second main control unit 230 obtains the voltage information V4=2V of the second electrode sheet unit 210 through the V3 interface; wherein the voltage value V4 of the second electrode sheet unit 210 can be determined by the above formula (8).

[0142] Based on the voltage information of the second electrode sheet unit 210 calculated according to ⑦ and ⑧ above, it can be seen that, regardless of whether the host 20 is powered on or not, when the first electrode sheet unit 120 and the second electrode sheet unit 210 are disconnected, the voltage value V4 of the second electrode sheet unit 210 is 2V; when the workstation 10 is not powered on and the first electrode sheet unit 120 and the second electrode sheet unit 210 are not disconnected, the voltage value V4 of the second electrode sheet unit 210 is 1.56V; when the workstation 10 is powered on and the first electrode sheet unit 120 and the second electrode sheet unit 210 are not disconnected, the voltage value V4 of the second electrode sheet unit 210 is 2.425V. Therefore, when the threshold range is set to 1.8-2.2V, if the voltage value V4 of the second electrode sheet unit 210 is within the threshold range, it can be considered that the first electrode sheet unit 120 and the second electrode sheet unit 210 are disconnected; if the voltage value V4 of the second electrode sheet unit 210 is not within the threshold range, it can be considered that the first electrode sheet unit 120 and the second electrode sheet unit 210 are not disconnected. The principle of selecting the value of the threshold range is detailed in the above embodiment, and will not be repeated in this embodiment.

[0143] In one embodiment, the second main control unit 230 can determine whether the first electrode sheet unit 120 and the second electrode sheet unit 210 are disconnected according to the voltage value V4 of the second electrode sheet unit 210, and can also determine whether the first electrode sheet unit 120 and the second electrode sheet unit 210 are disconnected according to the current information of the charging circuit 1. Specifically, the second main control unit 230 monitors the current information of the charging circuit 1 through the second current detection unit. If the second main control unit 230 can detect the presence of charging current in the charging circuit 1, it indicates that the first electrode sheet unit 120 and the second electrode sheet unit 210 are not disconnected. If the second main control unit 230 does not detect the presence of charging current in the charging circuit 1, it indicates that the first electrode sheet unit 120 and the second electrode sheet unit 210 are disconnected. Regardless of whether the host 20 is powered on, the second main control unit 230 can determine whether the first electrode sheet unit 120 and the second electrode sheet unit 210 are disconnected in this way.

[0144] It can be seen from the above content that regardless of whether the workstation 10 is powered on, the host 20 can determine whether the first electrode sheet unit 120 and the second electrode sheet unit 210 are connected and disconnected, and the judgment method is simple and convenient. In addition, in the above embodiment, the host 20 can also determine whether the workstation 10 is powered on, and when the workstation 10 is not powered on, a prompt message is output, so that the user can power on the workstation 10 according to the prompt message, ensuring that the workstation 10 can smoothly charge the host 20.

[0145] In summary, the implementation provided in the present application can effectively avoid the spark phenomenon caused by the moment of docking the first electrode sheet unit 120 and the second electrode sheet unit 210. At the same time, in the implementation of the present application, there is no need for communication between the workstation 10 and the host 20, and the solution is simple, reliable, low-cost and stable.

[0146] In several embodiments provided in the present application, the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and a part of a module, a program segment or a code contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of boxes in the block diagram and / or the flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions. In addition, each functional module in each embodiment of the present application can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part. If the function is implemented in the form of a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.The aforementioned first memory 133 and second memory 233 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable red-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, disk or optical disk.

Claims

1. A charging circuit for a cleaning device, the cleaning device comprising a host and a workstation, the workstation being provided with a charging unit and a first electrode sheet unit connected thereto, the host being provided with a power unit and a second electrode sheet unit connected thereto, after the first electrode sheet unit and the second electrode sheet unit are docked, the charging unit, the first electrode sheet unit, the second electrode sheet unit and the power unit form a charging circuit for the cleaning device, characterized in that: A current suppression unit is provided on the charging circuit of the cleaning device, and the current suppression unit is used to suppress instantaneous current during docking.

2. The charging circuit of the cleaning device according to claim 1, characterized in that: The current suppression unit is disposed on the host, and the current suppression unit includes: A first switch element, the first switch element is connected in series between the power unit and the second electrode sheet unit, and the first switch element is used to switch from an off state to an on state after the first electrode sheet unit and the second electrode sheet are successfully connected; A current suppression resistor is connected in parallel with the first switch element, and is used to suppress instantaneous current when the first electrode sheet unit is connected to the second electrode sheet.

3. The charging circuit of the cleaning device according to claim 1, characterized in that: The workstation is provided with a first power module, and the host is provided with a second power module; The current suppression unit comprises: A first current limiting element, which is disposed on the workstation and connected to the first electrode sheet unit and the first power module; A second current limiting element, wherein the second current limiting element is disposed on the host and connected to the second electrode sheet unit and the second power module; A second switch element, the second switch element is disposed on the workstation, and the second switch element is connected in series between the charging unit and the first electrode sheet unit; Among them, the first current limiting element and the second current limiting element are used to suppress instantaneous current when the first electrode sheet unit is docked with the second electrode sheet; the second switch element is used to switch from an off state to an on state after the first electrode sheet unit and the second electrode sheet are successfully docked, and when the second switch element is in the on state, the charging unit outputs a charging voltage to the power-consuming unit through the charging circuit; when the second switch element is in the off state, the charging unit has no output.

4. The charging circuit of the cleaning device according to claim 1, characterized in that: The workstation is provided with a first power module; the host is provided with a second power module; The charging circuit of the cleaning device further includes a combination of one or more of a first voltage detection unit, a second voltage detection unit and a current detection unit: The first voltage detection unit is disposed on the workstation and connected to the first electrode sheet unit and the first power module, and the first voltage detection unit is used to detect voltage information of the first electrode sheet unit; The second voltage detection unit is disposed on the host and connected to the second electrode sheet unit and the second power supply module, and the second voltage detection unit is used to detect voltage information of the second electrode sheet unit; The current detection unit is connected to the charging circuit of the cleaning device, and the current detection unit is used to monitor the current information of the charging circuit of the cleaning device.

5. The charging circuit of the cleaning device according to claim 4, characterized in that: The first voltage detection unit comprises: a first resistor, wherein an output end of the first power module is connected to one end of the first resistor; a first diode, wherein an anode of the first diode is connected to the other end of the first resistor; A second resistor and a third resistor, wherein the second resistor is connected to the cathode of the first diode and one end of the third resistor, and the second resistor is connected in parallel with the first electrode sheet unit, and the other end of the third resistor is grounded.

6. The charging circuit of the cleaning device according to claim 4, characterized in that: The second voltage detection unit includes: a fourth resistor, wherein the output end of the second power supply module is connected to one end of the fourth resistor; a second diode, wherein an anode of the second diode is connected to the other end of the fourth resistor; A fifth resistor is connected to the cathode of the second diode, the fifth resistor is grounded, and the fifth resistor is connected in parallel with the second electrode sheet unit.

7. A charging control method for a cleaning device, characterized in that: The cleaning device comprises a charging circuit of the cleaning device according to any one of claims 1 to 6, the current suppression unit has a working state and a non-working state, and the charging control method of the cleaning device comprises: When the first electrode sheet unit and the second electrode sheet unit are connected, controlling the current suppression unit to switch from a non-working state to a working state; When the current suppression unit is in a non-working state, the workstation does not output current, or the workstation outputs a first current; when the current suppression unit is in a working state, the workstation outputs a second current; and the first current is smaller than the second current.

8. The charging control method for cleaning equipment according to claim 7, characterized in that: The charging control method of the cleaning device also includes: According to the characteristic information, determine whether the first electrode sheet unit and the second electrode sheet unit are docked; wherein the characteristic information is a combination of one or more of the voltage information of the first electrode sheet unit, the voltage information of the second electrode sheet unit and the current information of the charging circuit of the cleaning device.

9. The charging control method for cleaning equipment according to claim 7, characterized in that: The current suppression unit includes a switch element, and the controlling the current suppression unit to switch from a non-working state to a working state includes: The switch element is controlled to switch from an off state to an on state.

10. The charging control method of the cleaning equipment according to claim 7, characterized in that: The charging control method of the cleaning device also includes: When the first electrode sheet unit and the second electrode sheet unit are connected, judging whether the workstation is powered on according to the voltage information of the second electrode sheet unit; If the judgment result indicates that the workstation is not powered on, a prompt message is output.

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