Method for detecting electric quantity of battery of cleaning robot

Abstract

The invention discloses a cleaning robot battery electric quantity detection method, a cleaning robot comprises a sampling circuit used for detecting battery charging current and battery discharging current, and the method comprises the steps that the electric quantity of a battery of the cleaning robot before charging is acquired; in the charging process of the cleaning robot, the battery charging current of the cleaning robot is obtained through a sampling circuit; based on the battery charging current and the electric quantity before battery charging, the electric quantity after battery charging of the cleaning robot is determined; in the working process of the cleaning robot, the battery discharge current of the cleaning robot is obtained through a sampling circuit; and determining the current electric quantity of the cleaning robot based on the charged electric quantity of the battery and the battery discharge current. The battery charging current and the battery discharging current are obtained through the same sampling circuit, so that the deviation directions of the battery charging current and the battery discharging current are consistent, the influence of current errors is reduced when the electric quantity is calculated through charging battery discharging current integration, and a more accurate electric quantity monitoring result is obtained.

Description

Technical Field

[0001] This application relates to the field of cleaning robots, and particularly to a method for detecting the battery power of a cleaning robot. Background Art

[0002] The power detection function of a cleaning robot is an important function point. When a cleaning robot performs cleaning work, it is mainly powered by its internal battery. When the battery power is insufficient, the cleaning robot needs to return to the charging dock for charging. The power detection function can ensure that the cleaning robot can return to charge when the battery power is low, so that the robot will not be unable to return to the charging dock. In addition, the power detection function can also ensure that the cleaning robot has sufficient working time, so that it will not return to charge when the battery power is relatively high. Power detection is also used for other functions, such as power detection when starting cleaning, APP display, etc.

[0003] There are currently two main methods for detecting the battery power of a cleaning robot. One is that the controller of the cleaning robot collects the battery voltage to estimate the battery power; this method is simple to implement, but the deviation of the power calculation will be relatively large; the other is that an integrated coulomb counter is built into the battery pack, and the main control of the cleaning robot communicates with the battery pack to obtain the power. Although the power calculation is relatively accurate, because of the built-in coulomb counter, the cost is relatively high. Summary of the Invention

[0004] To solve the above problems, this application proposes a method for detecting the battery power of a cleaning robot. The cleaning robot includes a sampling circuit for detecting the battery charging current and the battery discharging current. The method includes: obtaining the battery power before charging of the cleaning robot; during the charging process of the cleaning robot, obtaining the battery charging current of the cleaning robot through the sampling circuit; based on the battery charging current and the battery power before charging, determining the battery power after charging of the cleaning robot; during the working process of the cleaning robot, obtaining the battery discharging current of the cleaning robot through the sampling circuit; based on the battery power after charging and the battery discharging current, determining the current power of the cleaning robot.

[0005] In one example, the obtaining the battery power before charging of the cleaning robot specifically includes: before the cleaning robot touches the charging dock and the battery has not started charging, determining the current open circuit voltage of the cleaning robot; based on the corresponding relationship between the preset open circuit voltage and the battery power, determining the battery power before charging corresponding to the current open circuit voltage.

[0006] In one example, obtaining the battery power before charging of the cleaning robot specifically includes: obtaining the percentage of the battery power before charging of the cleaning robot; based on the battery charging current and the battery power before charging, determining the battery power after charging of the cleaning robot specifically includes: integrating the battery charging current to obtain the charging power; after the battery is fully charged, based on the percentage of the battery power before charging, determining the percentage of the battery capacity corresponding to the charging power; based on the charging power and the percentage of the battery capacity, determining the current total battery capacity of the cleaning robot, and taking the current total battery capacity as the battery power after charging.

[0007] In one example, based on the charging power and the percentage of the battery capacity, determining the current total battery capacity of the cleaning robot specifically includes: based on historical detection tasks, obtaining the historical total battery capacity of the cleaning robot; based on the battery charging current and the percentage of the battery power before charging, determining the current calculated battery power of the robot; according to the historical total battery capacity and the current calculated battery power, determining the current total battery power of the cleaning robot.

[0008] In one example, based on the battery power after charging and the battery discharge current, determining the current power of the cleaning robot specifically includes: integrating the battery discharge current to obtain the discharge power; based on the battery power after charging and the discharge power, determining the current power of the cleaning robot.

[0009] In one example, it further includes: determining the standby duration of the cleaning robot; when the standby duration exceeds a preset duration threshold, obtaining the battery voltage, load current, and internal resistance value of the cleaning robot in the standby state; based on the battery voltage, the load current, and the internal resistance value, determining the estimated open-circuit voltage of the cleaning robot; based on the estimated open-circuit voltage, correcting the current power of the cleaning robot.

[0010] In one example, it further includes: obtaining the change amount of the current power and the interval duration of the change; according to the change amount of the current power and the interval duration of the change, determining the power change rate of the cleaning robot; controlling the power change rate of the cleaning robot to be lower than a preset power change rate.

[0011] In one example, it further includes: when the working state of the cleaning robot is the charging state, obtaining the first battery power of the cleaning robot at a first time point and the second battery power at a second time point, where the first time point is later than the second time point; if the second battery power is less than the first battery power, filtering out the second battery power; when the working state of the cleaning robot is the cleaning state, obtaining the third battery power of the cleaning robot at a third time point and the fourth battery power at a fourth time point, where the third time point is earlier than the fourth time point; if the third battery power is less than the fourth battery power, filtering out the fourth battery power.

[0012] In one example, the sampling circuit includes: an operational amplifier; an amplifying resistor, which is connected in series or in parallel with the input terminal of the operational amplifier and is used to control the amplification factor of the operational amplifier; a power supply filtering capacitor, one end of which is grounded and the other end is connected to the operational amplifier and is used to stabilize the power supply.

[0013] In one example, the sampling circuit further includes: a current sampling resistor, one end of which is connected to the power supply and the other end is connected to the load of the cleaning robot and is used to obtain the load current; a filtering resistor, one end of which is connected to the output signal and the other end is connected to the output terminal of the operational amplifier and is used to filter the output signal; a signal filtering capacitor, one end of which is arranged between the filtering resistor and the output signal and the other end is grounded and is used to filter the output signal.

[0014] The method proposed by this application can bring the following beneficial effects:

[0015] (1) By using the same sampling circuit to obtain the battery charging current and the battery discharging current of the cleaning robot, the deviation directions of the battery charging current and the battery discharging current are the same and the error precision is the same. Furthermore, when calculating the battery power through the charging and discharging current of the battery, the influence of current error is reduced, and a more accurate battery power monitoring result is obtained.

[0016] (2) When obtaining the battery power before charging, it is selected that before the sweeping robot touches the charging dock and the battery has not started charging yet. At this time, the battery output current is close to 0, that is, the battery voltage at this time is equal to the open-circuit voltage of the battery. After waiting for a period of time for the battery voltage to stabilize, the controller obtains the battery voltage and calculates the current battery power according to the relationship between the battery open-circuit voltage and the battery power, making the calculation result of the battery power before charging more accurate. Description of the Drawings

[0017] The accompanying drawings described herein are used to provide a further understanding of the present application and form a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0018] Figure 1 is a schematic flow chart of a method for detecting the battery power of a cleaning robot in an embodiment of the present application;

[0019] Figure 2 is a schematic diagram of a sampling circuit of a cleaning robot in an embodiment of the present application;

[0020] Figure 3 is a schematic diagram of a discharge circuit of a cleaning robot in an embodiment of the present application;

[0021] Figure 4 is a schematic diagram of a charging circuit of a cleaning robot in an embodiment of the present application;

[0022] Figure 5 is a schematic diagram of the relationship between the open-circuit voltage of a battery and the discharge capacity of the battery in an embodiment of the present application. Detailed Embodiments

[0023] To make the objectives, technical solutions, and advantages of the present application clearer, the technical solutions of the present application will be clearly and completely described below in conjunction with specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present application.

[0024] The following will describe in detail the technical solutions provided by each embodiment of the present application with reference to the accompanying drawings.

[0025] Figure 1 is a schematic flow chart of a method for detecting the battery power of a cleaning robot provided by one or more embodiments of this specification. This method can be applied to the cleaning robot for power detection, such as power detection during startup cleaning, APP display, etc. This process can be executed by a computing device provided inside the cleaning robot, and some input parameters or intermediate results in the process allow manual intervention and adjustment to help improve accuracy.

[0026] The implementation of the analysis method involved in the embodiments of the present application can be a terminal device or a server, and the present application does not make special restrictions on this. For the convenience of understanding and description, the following embodiments will be described in detail with the terminal device as an example.

[0027] Such as Figure 1As shown, the embodiment of the present application provides a cleaning robot battery power detection method, which is applied to a cleaning robot provided with a sampling circuit, wherein the sampling circuit is used to detect the battery charging current and the battery discharging current. Figure 2 As shown, the resistor R1 is used to represent the internal machine load of the robot, and the sampling circuit includes an operational amplifier U1A, amplifying resistors R5 and R2, and a power supply filter capacitor C2. The amplifying resistor is connected in series with the input end of the operational amplifier or in parallel with the operational amplifier to control the amplification factor of the operational amplifier; one end of the power supply filter capacitor is grounded, and the other end is connected to the operational amplifier to stabilize the power supply.

[0028] In one embodiment, the sampling circuit also includes: a current sampling resistor R4, a filter resistor R3 and a signal filter capacitor C1. Among them, one end of the current sampling resistor R4 is connected to the power supply, and the other end is connected to the cleaning robot load, for obtaining the load current. One end of the filter resistor is connected to the output signal, and the other end is connected to the output end of the operational amplifier, for filtering the output signal; one end of the signal filter capacitor is arranged between the filter resistor and the output signal, and the other end is grounded, for filtering the output signal. This scheme can collect the battery charging current and the battery discharging current through a port at the same time through a sampling circuit, so that although the charging and battery discharging currents have deviations, their deviations are consistent. In other words, if the collected battery charging current is high, the collected battery discharge current is also high, and the error accuracy is consistent. In the subsequent calculation process, the influence of the error on the calculation result can be offset to a greater extent.

[0029] In the above sampling circuit, there is a relationship:

[0030] V out =(V ref -I*R4)*(1+R5 / R2)

[0031] I=(V ref -V out / (1+R5 / R2)) / R4

[0032] Where I is the load current, V out is the output signal. When the load current I is positive or negative, the current value can be calculated based on the output signal. That is to say, the current when the battery is charging and discharging is calculated using the same signal.

[0033] Figure 2 VREF is the reference voltage, which is a fixed value and can be realized by the power supply voltage through the voltage divider resistor, or by other modules such as voltage reference chip, etc. The reference voltage value is generally selected to be slightly larger than the maximum load current of the system * sampling resistor R4.

[0034] Figure 3 This is a schematic diagram of the discharge circuit of a cleaning robot in an embodiment of the present application. As Figure 3 shown, during the discharge process of the cleaning robot battery, the battery P1 of the robot discharges, and the current returns from the positive electrode of the battery through the machine load and the sampling resistor R4 to the negative electrode of the battery, forming a discharge circuit. The sampling circuit can obtain the discharge current of the robot during discharge by calculating the current flowing through the sampling resistor R4.

[0035] Figure 4 This is a schematic diagram of the charging circuit of a cleaning robot in an embodiment of the present application. As Figure 4 shown, during the charging process of the cleaning robot battery, the cleaning robot is connected to the charging management circuit of the charging base, and the other side of the charging management circuit is connected to the charging power supply P2. The current is output from the positive electrode of the charging power supply, flows through the charging management circuit into the cleaning robot end, passes through the battery P1 and the sampling resistor R4 of the cleaning robot and then returns to the charging base end, and returns to the negative electrode of the charging power supply P2 through the charging management circuit, forming a charging circuit. The sampling circuit can obtain the charging current of the robot during discharge by calculating the current flowing through the sampling resistor R4. And the current flowing through the sampling resistor R4 during the charging and discharging processes has opposite directions, so the sampling circuit can distinguish the charging current and the discharge current according to the positive and negative of the load current I.

[0036] A method for detecting the battery power of a cleaning robot disclosed in the present application includes:

[0037] S101: Obtain the battery power before charging of the cleaning robot.

[0038] In one embodiment, the battery power before charging can be the actual power size or the percentage of the battery power before charging. The percentage of the battery power before charging here is the ratio between the battery power before charging and the total battery power.

[0039] Specifically, when obtaining the battery power before charging of the cleaning robot, it is necessary to switch the system power supply of the sweeper to the charging base when the sweeper returns to the charging base and touches the charging electrode plate, rather than being powered by the battery. Before the battery of the sweeper touches the charging base and has not started charging, the battery output current is close to 0 at this time, that is, the battery voltage at this time is equal to the open-circuit voltage of the battery. Keep this process for a period of time to wait for the battery voltage to stabilize (it takes a certain time for the voltage to be stable after the battery pack current changes, and it can generally be stable within 2 minutes). After the battery voltage is stable, the controller obtains the battery voltage and calculates the current battery power according to the relationship between the battery open-circuit voltage and the power.

[0040] The relationship between the open-circuit voltage and the battery charge of different battery cells will vary. Generally, the battery pack is tested in advance to obtain the relationship between the open-circuit voltage and the battery charge, and it is written into the internal record of the controller. The relationship between the open-circuit voltage and the battery charge is as Figure 5 shown. The calculation method of the open-circuit voltage is: the open-circuit voltage corresponding to each 1% of the battery charge is tested in advance and stored in the controller in advance. After the sweeping robot obtains the open-circuit voltage during operation, by comparing it with the voltage value stored in the controller, the current battery charge value can be obtained.

[0041] The above-mentioned correspondence between the open-circuit voltage and the battery charge can be stored in the storage device of the computer device in advance. When it is necessary to determine the current battery charge value of the cleaning robot, the computer device can select the correspondence between the open-circuit voltage and the battery charge from the storage device. Of course, the computer device can also obtain the correspondence between the open-circuit voltage and the battery charge from other external devices. For example, the correspondence between the open-circuit voltage and the battery charge is stored in the cloud. When it is necessary to determine the current battery charge value of the cleaning robot, the computer device can obtain the correspondence between the open-circuit voltage and the battery charge from the cloud. The present embodiment does not limit the acquisition method of the correspondence.

[0042] S102: During the charging process of the cleaning robot, through the sampling circuit, obtain the battery charging current of the cleaning robot.

[0043] After obtaining the battery charge percentage before charging, during the charging process of the cleaning robot, through the sampling circuit, obtain the battery charging current of the cleaning robot. It should be noted that the battery charging current here refers to the battery charging current value information corresponding to each time point during the charging process.

[0044] S103: Based on the battery charging current and the battery charge percentage before charging, determine the battery charge after charging of the cleaning robot.

[0045] Specifically, when calculating the battery charge after charging, first integrate the battery charging current to obtain the charging amount during the charging time period. Adding the battery charge before charging to the charging amount during the charging time period can obtain the battery charge after charging.

[0046] In one embodiment, when the charging is full, the battery charge at this time is 100%. Therefore, the battery capacity charge of the cleaning robot can be calculated through the obtained battery charging current and the battery charge percentage before charging. Based on the battery charge percentage before charging, determine the battery capacity percentage corresponding to the charging amount. Then, based on the charging amount and the battery capacity percentage, determine the total battery charge of the cleaning robot. When calculating, it can be calculated through the following formula:

[0047]

[0048] Among them, Q is the total current battery power of the cleaning robot, Q0 is the charging power, and S0 is the battery power percentage before charging. For example, if the battery power percentage before charging is 30%, then the charging power at this time corresponds to 70% of the battery capacity percentage, and then dividing the charging power by 70% can obtain the total battery power.

[0049] S104: During the operation of the cleaning robot, obtain the battery discharge current of the cleaning robot through the sampling circuit.

[0050] After determining the battery power after charging, it is also necessary to calculate the power consumption of the cleaning robot when performing cleaning tasks after self-charging. Therefore, during the operation of the cleaning robot, the battery discharge current of the cleaning robot needs to be obtained through the sampling circuit.

[0051] S105: Based on the battery power after charging and the battery discharge current, determine the current power of the cleaning robot.

[0052] After obtaining the battery power after charging and the battery discharge current, the current power of the cleaning robot can be obtained by subtracting the power consumption during operation from the battery power after charging.

[0053] Specifically, when calculating the current power, first integrate the battery discharge current to obtain the corresponding power consumption of the cleaning robot when performing cleaning tasks, and then determine the current power of the cleaning robot by subtracting the discharged power from the battery power after charging.

[0054] In one embodiment, when the working current of the sweeper is relatively low, such as when the sweeper is on standby, at this time, the open-circuit voltage of the battery can be estimated by the method of battery voltage + current * internal resistance. Because the current is small at this time, the relative error is also relatively small. After this state lasts for a period of time, when calculating the battery power by the voltage method, the cumulative error of the power calculated by integrating the corrected current can be corrected. Specifically, first determine the standby duration of the cleaning robot. When the standby duration exceeds the preset duration threshold, it is determined that the cleaning robot enters the standby state. At this time, obtain the battery voltage, load current, and internal resistance value of the cleaning robot in the standby state, and then determine the estimated value of the open-circuit voltage of the cleaning robot based on the battery voltage, load current, and internal resistance value. Then, the current power of the cleaning robot can be determined based on the estimated value of the open-circuit voltage.

[0055] In one embodiment, the calculated current battery power needs to be filtered to make the battery power more in line with the actual situation. For example, when the battery is charging, the battery power cannot decrease but can only increase; when the floor sweeper is working, the power can only decrease and cannot increase. When executing, first, the working state of the cleaning robot needs to be determined. Here, the working state includes the charging state and the cleaning state. When the working state of the cleaning robot is the charging state, obtain the first power of the cleaning robot at the first time point and the second power at the second time point, where the first time point is later than the second time point; if the second power is less than the first power, filter out the second power; when the working state of the cleaning robot is the cleaning state, obtain the third power of the cleaning robot at the third time point and the fourth power at the fourth time point, where the third time point is earlier than the fourth time point; if the third power is less than the fourth power, filter out the fourth power.

[0056] In one embodiment, in order to make the change of the battery power relatively stable, it is necessary to limit the change rate of the power and the minimum time for each change. For example, each change can only be 1%. At this time, it is necessary to obtain the change amount of the current power of the cleaning robot and the interval duration of the change, and then by setting the power change time threshold, make the power change rate of the cleaning robot lower than the preset power change rate to prevent the power from mutating and make the power change stable and accurate.

[0057] In one embodiment, after calculating the current total battery power of the cleaning robot, to prevent the calculation error of the current total battery power from being relatively large this time, the current total battery power of this time can be filtered by the historical total battery power to prevent the calculation error of the current total battery from being relatively large and then affecting the subsequent power calculation results. Specifically, it is necessary to obtain the historical total battery power of the cleaning robot based on the historical detection task, and then after determining the current calculated battery power of the robot based on the battery charging current and the battery power percentage before charging, perform a weighted average of the historical total battery capacity and the current calculated battery power to obtain the current total battery power of the cleaning robot. For example, if Q1 is the battery capacity after the last calculation and Q C is the battery capacity calculated currently, then the current total battery capacity Q n =(1 - a)*Q1 + a*Q C . Where the value range of a is 0 to 1.

[0058] Those skilled in the art can foresee that if there is a certain cleaning robot, in the case of no built-in fuel gauge, the battery charging current and the battery discharging current are collected through the same sampling circuit, and when the calculated current detected power has a relatively low deviation from the actual value, then a cleaning robot battery power detection method disclosed in this application is adopted.

[0059] The embodiments in the present application are all described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and for the relevant parts, reference can be made to the partial description of the method embodiments.

[0060] The devices and media provided in the embodiments of the present application correspond one by one to the methods. Therefore, the devices and media also have beneficial technical effects similar to those of the corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media will not be elaborated here.

[0061] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program code.

[0062] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the processes and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0063] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device realizes the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0064] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one process Figure 1 one process or multiple processes and / or boxes Figure 1 steps of the functions specified in one box or multiple boxes.

[0065] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0066] The memory may include non-permanent memory in the computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

[0067] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology for information storage. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.

[0068] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, commodity or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, commodity or device comprising the element.

[0069] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A method for detecting the battery power of a cleaning robot, characterized in that, The cleaning robot includes a sampling circuit for detecting the battery charging current and the battery discharging current, and the method includes: Obtain the battery power before charging of the cleaning robot; During the charging process of the cleaning robot, obtain the battery charging current of the cleaning robot through the sampling circuit; Based on the battery charging current and the battery power before charging, determine the battery power after charging of the cleaning robot; During the working process of the cleaning robot, obtain the battery discharging current of the cleaning robot through the sampling circuit; Based on the battery power after charging and the battery discharging current, determine the current battery power of the cleaning robot.

2. The method according to claim 1, characterized in that, The obtaining of the battery power before charging of the cleaning robot specifically includes: Before the cleaning robot touches the charging dock and the battery has not started charging, determine the current open-circuit voltage of the cleaning robot; Based on the corresponding relationship between the preset open-circuit voltage and the battery power, determine the battery power before charging corresponding to the current open-circuit voltage.

3. The method according to claim 1, characterized in that, The obtaining of the battery power before charging of the cleaning robot specifically includes: Obtain the percentage of the battery power before charging of the cleaning robot; The determining of the battery power after charging of the cleaning robot based on the battery charging current and the battery power before charging specifically includes: Integrate the battery charging current to obtain the charging power; After the battery is fully charged, based on the percentage of the battery power before charging, determine the percentage of the battery capacity corresponding to the charging power; Based on the charging power and the percentage of the battery capacity, determine the current total battery capacity of the cleaning robot, and use the current total battery capacity as the battery power after charging.

4. The method according to claim 3, characterized in that, The determining of the current total battery capacity of the cleaning robot based on the charging power and the percentage of the battery capacity specifically includes: Based on the historical detection task, obtain the historical total battery capacity of the cleaning robot; Based on the battery charging current and the percentage of the battery power before charging, determine the current calculated battery power of the robot; According to the historical total battery capacity and the current calculated battery power, determine the current total battery power of the cleaning robot.

5. The method according to claim 1, characterized in that, The determining of the current battery power of the cleaning robot based on the battery power after charging and the battery discharging current specifically includes: Integrate the battery discharging current to obtain the discharging power; Based on the battery power after charging and the discharging power, determine the current battery power of the cleaning robot.

6. The method according to claim 1, characterized in that, The method further includes: Determine the standby duration of the cleaning robot; When the standby duration exceeds the preset duration threshold, obtain the battery voltage, the load current, and the internal resistance value of the cleaning robot in the standby state; Based on the battery voltage, the load current, and the internal resistance value, determine the estimated open-circuit voltage of the cleaning robot; Based on the estimated open-circuit voltage, correct the current battery power of the cleaning robot.

7. The method according to claim 1, characterized in that, The method further includes: Obtain the change amount of the current battery power and the interval duration of the change; Determine the battery power change rate of the cleaning robot according to the change amount of the current battery power and the interval duration of the change. Control the power change rate of the cleaning robot to be lower than a preset power change rate.

8. The method according to claim 1, characterized in that, The method further includes: When the working state of the cleaning robot is the charging state, obtain the first power of the cleaning robot at a first time point and the second power at a second time point, where the first time point is later than the second time point; if the second power is less than the first power, filter out the second power. When the working state of the cleaning robot is the cleaning state, obtain the third power of the cleaning robot at a third time point and the fourth power at a fourth time point, where the third time point is earlier than the fourth time point; if the third power is less than the fourth power, filter out the fourth power.

9. The method according to claim 1, wherein The sampling circuit includes: An operational amplifier; An amplifying resistor, which is connected in series or in parallel with the input terminal of the operational amplifier and is used to control the amplification factor of the operational amplifier; A power supply filter capacitor, one end of which is grounded and the other end is connected to the operational amplifier for stabilizing the power supply.

10. The method according to claim 9, wherein The sampling circuit further includes: A current sampling resistor, one end of which is connected to the power supply and the other end is connected to the load of the cleaning robot for obtaining the load current; A filtering resistor, one end of which is connected to the output signal and the other end is connected to the output terminal of the operational amplifier for filtering the output signal; A signal filtering capacitor, one end of which is disposed between the filtering resistor and the output signal and the other end is grounded for filtering the output signal.

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