Charging method and charging device of battery

Abstract

The invention discloses a method for charging a battery. The method comprises the following steps: detecting the voltage of the battery; determining a charging mode for charging the battery based on a comparison between the detected voltage and a first threshold voltage; and charging the battery in the determined charging mode, wherein the charging mode comprises at least one of a pulse charging mode and a constant-current and constant-voltage charging mode.

Description

Technical Field

[0001] The present application relates to the field of automatic pool cleaning, and particularly to a charging method and a charging device for a battery of an automatic pool cleaning device. Background Art

[0002] Automatic pool cleaning devices are generally used for cleaning pools. For example, they collect and clean garbage / debris on the bottom, side walls, and / or water surface of pools such as swimming pools, so as to filter and purify the water body in the pool, and the filtered and purified water can be discharged into the pool.

[0003] Automatic pool cleaning devices can be equipped with rechargeable batteries to provide power for driving mechanisms such as water pumps and drive motors. If the battery is charged improperly, it may affect the battery's endurance, service life, and even pose potential safety hazards. Summary of the Invention

[0004] According to one aspect of the present disclosure, a method for charging a battery is proposed, which includes: detecting the voltage of the battery; determining a charging mode for charging the battery based on a comparison between the detected voltage and a first threshold voltage; and charging the battery in the determined charging mode; wherein the charging mode includes at least one of a pulse charging mode and a constant current constant voltage charging mode.

[0005] According to at least one embodiment of the present disclosure, in the above method, determining the charging mode for charging the battery includes: when the detected voltage is lower than the first threshold voltage, determining to charge the battery in the pulse charging mode; and when the detected voltage is not lower than the first threshold voltage, determining to charge the battery in the constant current constant voltage charging mode.

[0006] According to at least one embodiment of the present disclosure, the above method may further include: when charging the battery in the pulse charging mode, switching the pulse charging mode to the constant current constant voltage charging mode when the current voltage of the battery reaches a second threshold voltage.

[0007] According to at least one embodiment of the present disclosure, the above method may further include: when charging the battery in the pulse charging mode, stopping charging the battery when the voltage of the battery is always less than the second threshold voltage within a predetermined period.

[0008] According to at least one embodiment of the present disclosure, the above method may further include: when stopping charging the battery, sending an alarm signal to remind of the abnormality of the battery.

[0009] According to at least one embodiment of the present disclosure, in the above method, the second threshold voltage is the same as the first threshold voltage.

[0010] According to at least one embodiment of the present disclosure, in the above method, when charging the battery in a pulse charging mode, at least one of the amplitude, period, and duty cycle of the charging current is adjustable.

[0011] According to at least one embodiment of the present disclosure, in the above method, when charging the battery in a pulse charging mode, the duty cycle of the charging current is 50%.

[0012] According to at least one embodiment of the present disclosure, in the above method, the battery is a lithium battery.

[0013] According to another aspect of the present disclosure, a charging device for a pool automatic cleaning device is also proposed, wherein a battery is provided inside the pool automatic cleaning device, and the charging device includes: a processor configured to detect the voltage of the battery and determine a charging mode for charging the battery based on a comparison between the detected voltage and a predetermined threshold voltage; and a switch that electrically connects the battery to a power source based on the determined charging mode; wherein the charging mode includes at least one of a pulse charging mode and a constant current constant voltage charging mode.

[0014] According to at least one embodiment of the present disclosure, the microprocessor includes a micro control unit MCU. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0016] Figure 1 Schematically shows the external shape of a pool automatic cleaning device according to an embodiment of the present disclosure.

[0017] Figure 2 Schematically shows the flow of a method for charging the battery of a pool automatic cleaning device according to an embodiment of the present disclosure.

[0018] Figure 3 Schematically shows the flow details of a method for charging the battery of a pool automatic cleaning device according to an embodiment of the present disclosure.

[0019] Figure 4 Is a schematic structural block diagram of a charging device for a pool cleaning device according to an embodiment of the present disclosure.

[0020] Figures 5A - 5BSchematically shows the current and / or voltage curves in the pulse charging mode and the constant current constant voltage charging mode, respectively.

[0021] Figures 6A - 6B Schematically shows the system architecture for charging a battery according to an embodiment of the present disclosure and the change curves of current and voltage during normal charging. Detailed implementation manners

[0022] The following detailed description presented in conjunction with the accompanying drawings is intended as a description of various configurations and is not intended to represent the only configurations in which the concepts described herein can be practiced. The detailed description includes specific details for the purpose of providing a thorough understanding of the various concepts. However, it will be apparent to those skilled in the art that these concepts can be practiced without these specific details.

[0023] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", "one side", "the other side", "front end", "rear end", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present disclosure.

[0024] In addition, the terms "first", "second", "third", etc. related to order are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with terms related to order such as "first", "second", "third", etc. may explicitly or implicitly include at least one such feature. In the description of the present disclosure, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0025] In addition, in the drawings, for the sake of clarity of illustration, the dimensions may be exaggerated and are not drawn to actual scale. Throughout the drawings, the same reference numerals generally refer to the same elements.

[0026] Figure 1 Schematically shows the external shape of a pool automatic cleaning device 100 according to an embodiment of the present disclosure. The pool automatic cleaning device 100 can perform cleaning operations on the bottom, pool wall, water, and water surface of a pool (such as a swimming pool) as needed. For example, it is used to clean the garbage in the water, at the bottom, and on the water surface, and clean the dirt on the pool bottom and pool wall. As Figure 1As shown, the automatic pool cleaning device 100 may include structures / components such as a housing 110, a traveling mechanism 120, a cleaning unit 130, etc. As an example, a control compartment, a power compartment, and a filtration compartment (not shown) may be provided within the housing 100. Among them, control circuits such as a microprocessor, a digital signal processor (DSP), a microcontroller, etc. may be installed in the control compartment, drive mechanisms such as a water pump, a drive motor, etc. may be provided in the power compartment, and a filtration unit may be provided in the filtration compartment to filter and purify the water entering the interior of the filtration compartment through the water inlet, remove debris therein, and discharge the cleaned water out of the automatic pool cleaning device through the water outlet. As an example, Figure 1 The traveling mechanism 120 of the automatic pool cleaning device 100 shown is a crawler-type traveling mechanism. However, the automatic pool cleaning device may also adopt a wheel-type traveling mechanism, which is not limited herein.

[0027] Although Figure 1 Schematically shows the overall appearance of an automatic pool cleaning device according to an embodiment of the present disclosure. It should be understood that this is only schematic and does not constitute any limitation to the principles of the present disclosure.

[0028] As an example, the automatic pool cleaning device may be equipped with a rechargeable battery to provide power for drive mechanisms such as a water pump, a drive motor, etc. Considering the size and weight limitations of the automatic pool cleaning device, the capacity of the equipped rechargeable battery is limited; therefore, when the automatic pool cleaning device performs cleaning operations in a pool such as a swimming pool for a period of time, the battery needs to be charged. However, if the battery is charged improperly, it may affect the battery's endurance, service life, and even pose potential safety hazards.

[0029] For this reason, according to an embodiment of the present disclosure, a method for charging the battery of the automatic pool cleaning device is proposed. This method is based on the dynamic detection of the battery voltage, selects a suitable charging mode to charge the battery, monitors the voltage change of the battery during the charging process, and switches the charging mode based on the change of the battery voltage, so as to ensure that the battery is in the optimal charging mode in different states, thereby being able to improve the battery's endurance, service life, and avoid safety hazards such as increased internal polarization of the battery or even thermal runaway caused by unreasonable charging of the battery.

[0030] As an example, Figure 2 Schematically shows the flow of a method for charging the battery of the automatic pool cleaning device according to an embodiment of the present disclosure. As Figure 2As shown, the method may include: S210, detecting the current voltage of the battery; S220, determining a charging mode for charging the battery based on a comparison between the detected voltage and a first threshold voltage, where the charging mode includes at least one of a pulse charging mode and a constant current constant voltage charging mode; and S230, charging the battery in the determined charging mode.

[0031] The following will Figure 3 describe in detail the method for charging a battery according to an embodiment of the present disclosure. As Figure 3 shown, the method may include: S310, detecting the current voltage of the battery. For example, depending on the configuration of the pool automatic cleaning device, the battery may be set to be detachable so that it can be removed from the pool automatic cleaning device during charging; or, the battery may be integrated with the pool automatic cleaning device, and a charging interface may be provided on the housing of the pool automatic cleaning device to connect to a power source for charging.

[0032] As an example, as Figure 4 shown, the charging device for the pool cleaning device may include: a processor 410 configured to detect the voltage of a battery provided inside the pool automatic cleaning device and determine a charging mode for charging the battery based on a comparison between the detected voltage and a predetermined threshold voltage; and a switch 420 configured to electrically connect the battery to a power source based on the determined charging mode; where the charging mode includes at least one of a pulse charging mode and a constant current constant voltage charging mode.

[0033] As an example, the above charging device may be integrated into the housing of the pool automatic cleaning device; or, the above charging device may also be a device separated from the pool automatic cleaning device, and the battery equipped with the pool automatic device may be charged through a charging interface provided on the housing of the pool automatic cleaning device.

[0034] As an example, the processor may continuously and real-time collect the current voltage signal of the battery by using a high-precision voltage sensor (for example, including a voltage dividing circuit and an ADC module). The collected voltage signal may be preprocessed. For example, after passing through a filtering circuit to remove high-frequency noise to obtain a relatively smooth voltage value, and then the preprocessed voltage value is input into the processor; the processor may perform digital processing on the input preprocessed voltage value and may perform various calibrations such as zero calibration and gain calibration as needed to eliminate measurement errors caused by environmental temperature and device aging, so as to ensure the detection accuracy of the current voltage of the battery.

[0035] As an example, the type of the battery may include lithium batteries, such as lithium iron phosphate batteries, ternary lithium batteries, lithium manganese oxide batteries, lithium cobalt oxide batteries, polymer lithium-ion batteries, etc.

[0036] AsFigure 3 Further shown, the method may further include: S320, comparing the detected battery voltage with a first threshold voltage; when the detected voltage is lower than the first threshold voltage, as shown in S320, the battery can be charged in a pulse charging mode; while when the detected battery voltage is not lower than the first threshold voltage, as shown in S350, the battery can be charged in a constant current and constant voltage (CC-CV) charging mode.

[0037] Those skilled in the art can understand that depending on the type of the battery and the battery's specification parameters, the specific value of the first threshold voltage can be set according to the actual situation and is not limited herein.

[0038] As an example, the pulse charging mode may include charging the battery with a charging current in the form of a pulse. For example, when it is detected that the battery voltage is lower than the first threshold voltage, a PWM (Pulse Width Modulation) signal can be generated by the processor of the charging device to drive the electronic switch, and the electronic switch can be controlled to perform pulse charging on the battery according to preset parameters (for example, the pulse period and the duty cycle).

[0039] Figure 5A Schematically shows the charging current curve in the pulse charging mode, as Figure 5A shown, the pulse period of the pulse charging mode can be set to T, and the charging period is t on， The non-charging period is t off , and the duty cycle is D = t on / T, that is, within the charging period t on within the pulse period T, the electronic switch is started to charge the battery, while during the non-charging period t off within, charging the battery is stopped.

[0040] As an example, T = 4 seconds, D = 50%. That is, the charging period t on = 2 seconds, and the non-charging period t off = 2 seconds.

[0041] Those skilled in the art can understand that the amplitude, period, and duty cycle of the charging current in the pulse charging mode can all be dynamically adjusted according to actual needs. For example, at least one of the amplitude, period, and duty cycle of the charging current can be dynamically adjusted according to the temperature of the battery or the voltage of the battery. For example, if the battery temperature exceeds a certain temperature threshold, the duty cycle and / or amplitude of the charging current can be automatically reduced to reduce the temperature rise rate, reduce the battery polarization effect, and avoid electrolyte decomposition and electrode material damage, thereby extending the cycle life of the battery. As another example, if the battery voltage exceeds a certain voltage threshold, the duty cycle and / or amplitude of the charging current can be automatically increased to increase the charging speed without affecting the battery life. Depending on the type of battery and the battery's specification parameters, the specific values of the temperature threshold and / or voltage threshold can be set according to the actual situation and are not limited herein.

[0042] As an example, the constant current constant voltage charging mode is a combination of constant current charging and constant voltage charging; specifically, Figure 5B schematically shows the relevant curves in the constant current constant voltage charging mode. As Figure 5B shown, during the charging process, the charging current first remains constant. When the voltage of the battery is charged to a certain threshold voltage (such as the rated voltage of the battery), it can be switched to the constant voltage charging method, that is, the charging voltage is kept constant, and the charging current is gradually reduced to a set value (for example, 0.1C of the nominal capacity of the battery. For example, if the nominal capacity of the battery is 20Ah, the set value can be 2A), and then the charging of the battery ends.

[0043] According to an embodiment of the present disclosure, in the low voltage state of the battery, for example, when the battery voltage is lower than the first threshold voltage, the battery can be charged using the pulse charging mode, while when the battery voltage is not lower than the first threshold voltage, the battery can be charged using the constant current constant voltage charging mode. Compared with directly using the constant current constant voltage charging mode to charge the battery in the low voltage state of the battery, the above embodiment can not only improve the service life of the battery but also improve the charging safety.

[0044] According to an embodiment of the present disclosure, as Figure 3 further shown, S340, when charging the battery in the pulse charging mode, the current voltage of the battery will be detected. When the current voltage of the battery reaches the second voltage threshold, it can proceed to S350, that is, switch the pulse charging mode to the constant current constant voltage charging mode.

[0045] In addition, as Figure 3As shown, in S360, when charging the battery in pulse charging mode, if the voltage of the battery is always less than the second voltage threshold within a predetermined period of time, then in S370, the charging of the battery is stopped. This is because potential abnormalities may occur inside the battery, and if charging continues, it may lead to safety accidents.

[0046] As an example, the method may further include, in S370, when charging of the battery is stopped considering safety, an alarm signal may be issued to remind the user of the battery abnormality.

[0047] For example, if the battery voltage is still less than the second threshold voltage after charging the battery in pulse charging mode for a predetermined period of time (the predetermined period of time can be set as needed, for example, 2 minutes, 5 minutes), it can be determined that the battery is abnormal, for example, caused by an internal short circuit or aging of the battery. At this time, charging can be stopped immediately and an alarm can be issued to the user through an audio or video device such as a buzzer, LED, etc.

[0048] According to an embodiment of the present disclosure, the second threshold voltage may be set to be equal to the first threshold voltage, for example.

[0049] In addition, in the constant current and constant voltage charging mode, the change in the battery temperature can be monitored as needed by using, for example, an integrated temperature sensor. Once it is found that the temperature exceeds the safety limit, cooling measures can be taken immediately or charging can be suspended to ensure that no safety accidents are caused by overheating during charging.

[0050] Figure 6A Schematically shows the system architecture for charging a battery according to an embodiment of the present disclosure. As Figure 6A shown, for example, the input terminal of switch 620 can be connected to the output terminal of power supply 650, the output terminal of switch 620 can be connected to battery 640, and the control terminal of switch 620 can be connected to processor 630 through a drive circuit; thus, the on and off of switch 620 can be controlled based on the signal generated by processor 630, so that battery 640 can be charged in pulse mode.

[0051] As Figure 6A further shown, the voltage of battery 640 can be detected by processor 610. Thus, processor 630 can determine the charging mode for charging battery 640 based on the comparison of the detected voltage with the first voltage threshold, and control switch 620 to charge battery 640 in the determined charging mode.

[0052] As an example, processor 610 acquires the voltage of battery 640 in real time by using, for example, a high-precision voltage sensor. Processor 630 can be, for example, a general-purpose or special-purpose integrated circuit such as a microcontroller, an embedded processor, a DSP chip, an FPGA, etc.

[0053] As an example, the above switch 620 may include an electronic switch or a mechanical switch. The specific type and quantity are not limited herein, as long as it can connect the battery 640 to the power supply 650 under the control of the processor 630 based on the determined charging mode.

[0054] As an example, the electronic switch 620 may be composed of components such as MOSFET (Metal-Oxide-Semiconductor Field-Effect Transistor), IGBT, relay, etc., and is controlled by the PWM signal of the processor to achieve periodic on / off.

[0055] As an example, the power supply 650 may include a constant current and constant voltage charging power supply, that is, its working modes include a constant current mode and a constant voltage mode; as Figure 6B shown, in the constant current mode, the battery is charged with a constant current, while in the constant voltage mode, the battery is charged with a constant voltage.

[0056] In addition, for example, through the PWM control of the switch 620, the charging current output by the power supply 650 in the constant current mode can be modulated into a pulsed charging current to charge the battery 640, so as to achieve charging the battery in a pulsed charging mode; and when the switch 620 is continuously conducting, this constant current and constant voltage charging power supply can charge the battery in the constant current mode or the constant voltage mode.

[0057] As an example, the mechanical switch may include, but is not limited to, a contact switch. Considering that the action speed of the mechanical switch is generally slow, a charging mode switching signal may be provided to the mechanical switch based on the charging mode determined by the processor; for example, when the processor determines to charge the battery in a pulsed charging mode, the charging mode switching signal can control the mechanical switch to connect the battery to a pulsed current source on one side of it to achieve the pulsed charging mode and charge the battery with a pulsed charging current; and when the processor determines to charge the battery in a constant current and constant voltage charging mode, the charging mode switching signal can control the mechanical switch to connect the battery to the constant current and constant voltage charging power supply on the other side of it to achieve constant current / constant voltage charging of the battery in the constant current and constant voltage charging mode.

[0058] As an example, the power supply may include a constant current and constant voltage charging power supply and a pulsed current source, and cooperate with the on / off of the switch to achieve the switching between the pulsed charging mode and the constant current and constant voltage charging mode.

[0059] Figure 6B Schematically shows the change of the relevant curves in the normal case of charging the battery according to the embodiment of the present disclosure. As Figure 6BAs shown, during the low-voltage stage of the battery, pulse charging mode is used for charging. After the battery voltage reaches the first threshold within a preset time period, it can be switched to constant-current constant-voltage charging mode for constant-current charging. As the battery voltage reaches the rated voltage, for example, constant-voltage charging can be carried out in the constant-current constant-voltage charging mode, that is, the charging current is reduced until the current drops to a set value, for example, 5% of the rated current, and the charging is completed.

[0060] As an example, as Figure 6B shown, the current amplitude in the pulse charging mode can be different from the current amplitude during constant-current charging in the constant-current constant-voltage charging mode. For example, the current amplitude A2 during constant-current charging can be set as the rated charging current of the battery, while the current amplitude A1 in the pulse charging mode can be 1.5 - 2 times the rated charging current, that is, A1 = 1.5 - 2 times A2, so as to improve the pre-charging efficiency. However, the relationship between the current amplitude in the pulse charging mode and the current amplitude during constant-current charging is not limited to this, and the two can also be the same; or, the current amplitude in the pulse charging mode can be reduced, but its duty cycle can be increased.

[0061] In addition, although Figure 6B shown that the amplitude of the charging current in the pulse charging mode is basically unchanged, according to other embodiments of the present disclosure, the amplitude of the pulse current can also be gradually reduced as the battery voltage increases, that is, the amplitude of the pulse charging current can be reduced in stages as the battery voltage increases, so as to effectively eliminate the oscillation phenomenon or overcharging problem caused in the later stage of charging.

[0062] In addition, although Figure 6B shown that the amplitude of the charging current in the pulse charging mode is positive, that is, the battery is charged with a positive-pulse current. However, according to other embodiments of the present disclosure, a positive and negative pulse mixing method can also be adopted, that is, after using a positive-pulse charging current for a period of time, a negative-pulse charging current is used for charging, that is, not only a rest time (i.e., non-charging period t off ) is inserted during the charging process, but also a discharge pulse (i.e., negative pulse) is inserted. Since the short rest time and discharge pulse can effectively eliminate the concentration polarization of lithium ions in the lithium-ion battery and increase the power transmission speed, thereby improving the utilization rate of the active material in the lithium-ion battery and accelerating the charging process.

[0063] As described above, according to the embodiments of the present disclosure, the charging mode can be dynamically adjusted according to different voltage levels of the battery. This not only protects the battery from damage and ensures the safety of the charging process, but also can improve the charging efficiency and extend the battery endurance and life.

[0064] In summary, compared with the prior art in which the pool automatic cleaning device of high-end products performs small-current pre-charging on the battery in a low-voltage state by integrating a dedicated charging management chip, according to the technical solution of the embodiments of the present disclosure, by adopting a pulse charging mode to charge the battery in a low-voltage state, a general microprocessor, electronic switch or mechanical switch can be directly used to control the dynamic switching between the pulse charging mode and the constant-current constant-voltage charging mode, reducing the hardware cost and design complexity, and improving the charging safety and charging efficiency. At the same time, compared with the prior art in which the pool automatic cleaning device of low-end products directly uses the constant-current or constant-voltage mode for charging, the polarization phenomenon of the lithium battery can be reduced, the charging efficiency can be improved, the charging time can be shortened, and the battery life can be extended. Thus, without adding dedicated hardware, low-cost refined pre-charging management is achieved, and the battery cycle life and charging safety are improved.

[0065] Thus, several aspects of the present disclosure are presented above with reference to various devices and methods. These devices and methods are illustrated in the drawings by various blocks, components, circuits, processes, algorithms, etc. (collectively referred to as "elements"). These elements can be implemented using electronic hardware, computer software, or any combination thereof. Whether these elements are implemented as hardware or software depends on the specific application and design constraints of the overall system.

[0066] Therefore, in one or more example embodiments, the described functions can be implemented using hardware, software, or any combination thereof. If implemented in software, these functions can be stored on or encoded as one or more instructions or codes on a computer-readable medium. A computer-readable medium includes a computer storage medium. The storage medium can be any available medium accessible by a computer. It should be understood that the specific order or hierarchy of the blocks in the disclosed process / flowchart is illustrative of example methods. Based on design preferences, it should be understood that the specific order or hierarchy of the blocks in the process / flowchart can be rearranged. Additionally, some blocks can be combined or omitted. The appended method claims present the elements of the various blocks in a sample order and are not meant to be limited to the specific order or hierarchy presented.

[0067] The embodiments described above are only a part of the embodiments of the present application, rather than all of the embodiments. The present application can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure content of the present application more thorough and comprehensive. Although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing specific embodiments, or perform equivalent replacements on some of the technical features. Any equivalent structure directly or indirectly using the content of the specification and drawings of the present application in other related technical fields is similarly within the scope of the patent protection of the present application.

Claims

1. A method for charging a battery, comprising: Detecting the voltage of the battery; Determining a charging mode for charging the battery based on a comparison between the detected voltage and a first threshold voltage; And Charging the battery in the determined charging mode; Wherein, the charging mode includes at least one of a pulse charging mode and a constant current constant voltage charging mode.

2. The method according to claim 1, wherein Determining the charging mode for charging the battery includes: When the detected voltage is lower than the first threshold voltage, determining to charge the battery in a pulse charging mode; and When the detected voltage is not lower than the first threshold voltage, determining to charge the battery in a constant current constant voltage charging mode.

3. The method according to claim 2, further comprising: When charging the battery in a pulse charging mode, when the current voltage of the battery reaches a second threshold voltage, switching the pulse charging mode to a constant current constant voltage charging mode.

4. The method according to claim 3, further comprising: When charging the battery in a pulse charging mode, when the voltage of the battery is always less than the second threshold voltage within a predetermined time period, stopping charging the battery.

5. The method according to claim 4 further comprises: Issuing an alarm signal to alert that the battery is abnormal.

6. The method according to claim 3, wherein, The second threshold voltage is the same as the first threshold voltage.

7. The method according to any one of claims 1-6, wherein, When charging the battery in a pulse charging mode, at least one of the amplitude, period, and duty cycle of the charging current is adjustable.

8. The method according to claim 7, wherein At least one of the amplitude, period, and duty cycle of the charging current is dynamically adjusted according to the temperature of the battery or the voltage of the battery.

9. The method according to any one of claims 1-6, wherein When charging the battery in a pulse charging mode, the duty cycle of the charging current is 50%.

10. The method according to any one of claims 1-9, wherein, The battery is a lithium battery.

11. A charging device for a pool automatic cleaning device, wherein, A battery is disposed inside the automatic pool cleaning device, and the charging device includes: A processor configured to detect the voltage of the battery and determine a charging mode for charging the battery based on a comparison between the detected voltage and a predetermined threshold voltage; and A switch that electrically connects the battery to a power source based on the determined charging mode; Wherein, the charging mode includes at least one of a pulse charging mode and a constant current constant voltage charging mode.

12. The charging device according to claim 11, wherein, The processor includes an MCU.

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