Charging control method, charging control device, cleaning equipment and cleaning system

Abstract

The invention belongs to the technical field of charging equipment, and provides a charging control method, a charging control device, cleaning equipment and a cleaning system.The method comprises the steps that charging input voltage and battery voltage are obtained; determining a target charging current based on the charging input voltage and the battery voltage in combination with the current charging stage; wherein the charging stage comprises a charging initial stage and a charging proceeding stage; and controlling a battery of the cleaning equipment to be charged with the target charging current. The problems of temperature rise and energy loss in a charging loop are optimized by distinguishing charging stages and utilizing two factors of charging input voltage and battery voltage, so that the safety current in the initial charging stage can be ensured, the charging current can be adjusted in real time in the charging process, the influence of poor contact of charging contact pieces or voltage fluctuation of a base station on the charging process is reduced, and the charging efficiency is improved. The charging energy conversion efficiency is improved, heat generated in the charging process is reduced, the target charging current is better matched with battery characteristics, the charging efficiency is improved, and the service life of the battery is prolonged.

Description

Technical Field

[0001] This application belongs to the field of charging equipment technology, and more specifically, relates to a charging control method, a charging control device, a cleaning device, and a cleaning system. Background Technology

[0002] Cleaning devices such as robotic vacuum cleaners, floor scrubbers, and pool cleaning robots typically use charging contacts that connect to the charging base for autonomous charging. However, the contact area and pressure between the charging contacts and the charging base are affected by factors such as mechanical tolerances, dust contamination, and oxidation, exhibiting randomness and time-varying characteristics, leading to unstable contact impedance in the charging circuit. When contact is poor, the circuit impedance increases, causing the charging contacts and the entire charging loop to generate a large amount of heat, resulting in excessive temperature rise. This not only reduces the utilization rate of charging energy but also places stringent requirements on the temperature resistance of the materials surrounding the charging contacts, increasing product cost and safety risks. Summary of the Invention

[0003] The purpose of this application is to provide a charging control method, a charging control device, a cleaning equipment, and a cleaning system to solve the technical problems of high temperature rise and high energy consumption in the prior art.

[0004] To achieve the above objectives, the technical solution adopted in this application is: to provide a charging control method for a cleaning device, comprising:

[0005] Obtain the charging input voltage and battery voltage; Based on the charging input voltage and the battery voltage, and in conjunction with the current charging stage, the target charging current is determined; wherein the charging stage includes a charging start-up stage and a charging in progress stage; The battery of the cleaning equipment is charged at the target charging current.

[0006] Optionally, determining the target charging current based on the charging input voltage and the battery voltage, in conjunction with the current charging stage, includes: Based on the current determined charging stage, select the corresponding current decision table as the charging current lookup table; Based on the charging input voltage and the battery voltage, the target charging current is output by querying the charging current lookup table; The current decision table uses the charging input voltage and the battery voltage as input variables and the target charging current as output.

[0007] Optionally, the step of selecting the corresponding current decision table based on the currently determined charging stage includes: When the cleaning equipment is in the charging start-up stage, the first current decision table is selected as the charging current lookup table. When the cleaning equipment is in the charging process, if the charging input voltage is decreasing, the second current decision table is selected as the charging current lookup table; if the charging input voltage is increasing, the third current decision table is selected as the charging current lookup table. In the second current decision table and the third current decision table, the charging input voltage corresponding to the same target charging current is different.

[0008] Optionally, the current decision table is configured to: set a first target charging current when the charging input voltage is greater than a first input voltage threshold and when the battery voltage is lower than a first battery threshold; and set a second target charging current when the battery voltage is higher than a second battery threshold; wherein the first input voltage threshold is determined based on the base station's rated output voltage; the first target charging current is the maximum safe charging current, and the second target charging current is lower than the first target charging current; the first battery threshold is less than the second battery threshold; and when the charging input voltage does not exceed the first input voltage threshold, the same target charging current is set for the same charging input voltage and different battery voltages.

[0009] Optionally, the current decision table is configured to generate at least two target charging currents based on the different charging input voltages, provided that the charging input voltage does not exceed the first input voltage threshold.

[0010] Optionally, after obtaining the charging input voltage and battery voltage, the method further includes: Determine whether the charging input voltage is within the preset voltage range; If the charging input voltage is not within the preset voltage range, the charging current of the battery is controlled to be zero. If the charging input voltage is within a preset voltage range, the target charging current is determined based on the charging input voltage and the battery voltage, and in conjunction with the current charging stage.

[0011] Optionally, after the control battery is charged with the target charging current, the method further includes: Obtain the actual charging current of the battery; Based on the actual charging current, determine whether the charging current of the battery has been successfully set to the target charging current; If the battery charging current is not successfully set to the target charging current, then the battery charging current is set to the target charging current or the cleaning device is controlled to issue an alarm.

[0012] Secondly, this application also provides a charging control device, comprising: The acquisition module is used to acquire the charging input voltage and battery voltage; The control module is used to determine a target charging current based on the charging input voltage and the battery voltage, and in conjunction with the current charging stage; wherein the charging stage includes a charging start stage and a charging in progress stage; and to control the battery to charge at the target charging current.

[0013] Thirdly, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the charging control method as described in the first aspect.

[0014] Fourthly, this application also provides a computer program product that, when run on a cleaning device, causes the cleaning device to implement the charging control method as described in the first aspect.

[0015] Fifthly, this application also provides a cleaning device, comprising: Memory, used to store computer programs; A processor for executing a computer program stored in a memory to implement the charging control method as described in the first aspect, so as to control the charging process of the battery.

[0016] Sixthly, this application also provides a cleaning system, including a base station and a cleaning device as described in the fifth aspect, the cleaning device being able to interface with the base station.

[0017] The beneficial effects of the charging control method, charging control device, cleaning equipment, and cleaning system provided in this application are as follows: Compared with the prior art, this application optimizes the temperature rise and energy loss in the charging loop by distinguishing the charging stages and utilizing the two factors of charging input voltage and battery voltage. This ensures a safe current at the beginning of charging and allows for real-time adjustment of the charging current during the charging process. It reduces the impact of poor contact of charging contacts or base station voltage fluctuations on the charging process, improves the energy conversion efficiency of charging, reduces the heat generated during charging, makes the target charging current more compatible with battery characteristics, and improves charging efficiency and battery life. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 Flowchart of the charging control method provided in the embodiments of this application Figure 1 .

[0020] Figure 2 Flowchart of the charging control method provided in the embodiments of this application Figure 2 .

[0021] Figure 3 Flowchart of the charging control method provided in the embodiments of this application Figure 3 .

[0022] Figure 4 Flowchart of the charging control method provided in the embodiments of this application Figure 4 .

[0023] Figure 5 This is a complete flowchart of the charging control method provided in the embodiments of this application.

[0024] Figure 6 This is a schematic diagram of the structure of the charging control device provided in the embodiments of this application.

[0025] Figure 7 This is a schematic diagram of the structure of the cleaning equipment provided in the embodiments of this application.

[0026] Figure 8 This is a schematic diagram of the cleaning system provided in an embodiment of this application. Detailed Implementation

[0027] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0028] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0029] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0030] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0031] This application provides a charging control method for a cleaning device, such as... Figure 1 As shown, it includes: Step S110: Obtain the charging input voltage and battery voltage; Step S120: Determine the target charging current based on the charging input voltage and battery voltage, and in conjunction with the current charging stage; wherein the charging stage includes the charging start stage and the charging in progress stage. Step S130: Control the battery to charge at the target charging current.

[0032] Cleaning equipment includes robotic devices such as sweeping robots, floor scrubbers, and vacuum cleaners that require charging for cleaning. When the cleaning equipment's battery is low, it automatically returns to the base station for charging. If a large current is used for fast charging immediately after the cleaning equipment connects to the base station, it may cause a sudden large current surge to the battery, which is in a dormant or low-temperature state, accelerating battery aging and even causing safety issues. Therefore, this application determines the target charging current in conjunction with the current charging stage. For example, a small current is used for pre-charging at the beginning of charging. When the battery's charging characteristics are monitored, the charging smoothly transitions to the ongoing stage. This establishes a smooth charging state between the battery and the base station, reducing electrical and electrochemical risks. Alternatively, a different current decision table is used at the beginning of charging and another at the ongoing stage. By distinguishing between the beginning and ongoing stages, the current surge during the initial charging phase is avoided.

[0033] It should be noted that during the initial charging phase, the battery's charging current is set to the target charging current. After this, the cleaning device enters the charging in progress phase. That is, the battery's charging current is used as the basis for determining the current charging stage. If the cleaning device has just connected to the base station and the battery's charging current is zero, it indicates that the cleaning device is in the initial charging phase; if the battery's charging current is non-zero, it indicates that the cleaning device is in the charging in progress phase.

[0034] When the cleaning equipment is connected to the base station for charging, the charging contacts are connected to the charging terminal of the base station. If a fixed current charging method is used, meaning that a constant current is used throughout the entire charging process regardless of changes in battery status and charging environment, the charging speed will be too slow and inefficient when the charging contacts are in good contact; conversely, if the contact is poor, excessive current will cause severe overheating, posing a safety hazard. If charging is based on battery voltage, such as fast charging, slow charging, or trickle charging, or if only the charging input voltage is monitored for overvoltage / undervoltage protection, the overall state of the charging circuit is not comprehensively considered, and loop temperature rise caused by changes in contact resistance cannot be suppressed, resulting in poor adjustment accuracy and adaptability.

[0035] After the cleaning equipment connects to the base station, if the charging contacts don't make good contact with the base station during the initial and ongoing charging phases, the charging input voltage will drop. Therefore, the charging input voltage is considered when determining the target charging current. Furthermore, a higher target charging current results in a higher battery temperature rise. If the cleaning equipment's temperature rises too quickly during charging, it may damage surrounding components. Therefore, the battery voltage is considered when determining the target charging current to effectively control the heat generated during charging. Specifically, a higher charging input voltage corresponds to a higher target charging current. To reduce frequent adjustments to the target charging current, the charging input voltage is divided into multiple threshold ranges, with a corresponding target charging current set within each range. During charging, if the battery voltage is high, a lower charging current is used to reduce heat generation; if the battery voltage drops, the charging current can be appropriately increased to achieve a balance between heat generation and charging efficiency.

[0036] The charging control method for cleaning equipment provided in this application optimizes the temperature rise and energy loss in the charging loop by distinguishing the charging stages and utilizing the charging input voltage and battery voltage. This ensures a safe current at the beginning of charging and allows for real-time adjustment of the charging current during the charging process. It reduces the impact of poor contact of the charging contacts or fluctuations in base station voltage on the charging process, improves the energy conversion efficiency of charging, reduces the heat generated during charging, and makes the target charging current more compatible with the battery characteristics, thereby improving charging efficiency and battery life.

[0037] In some embodiments of this application, such as Figure 2 As shown, based on the charging input voltage and battery voltage, and in conjunction with the current charging stage, the target charging current is determined as follows: Step S210: Select the corresponding current decision table and charging current lookup table based on the current determined charging stage. Step S220: Based on the real-time collected charging input voltage and battery voltage, the target charging current is output by querying the charging current lookup table.

[0038] The current decision table uses the charging input voltage and battery voltage as input conditions and the target charging current as output.

[0039] Different current decision tables are used during the initial and ongoing charging phases. Each current decision table takes the charging input power supply and battery voltage as two input variables and the target charging current as the output. The target charging current can be obtained by consulting the corresponding current decision table based on the current charging input voltage and battery voltage.

[0040] Specifically, the charging input voltage is divided into multiple charging input voltage ranges, and the battery power supply is divided into multiple battery voltage ranges. Different target charging currents are configured for different charging input voltage ranges. Alternatively, the same or different target charging currents can be configured for different battery voltage ranges, thus forming multiple target charging currents.

[0041] For example, four input voltage ranges are defined by a first input voltage threshold, a second input voltage threshold, and a third input voltage threshold, with the first, second, and third input voltage thresholds decreasing sequentially. If the charging input voltage is greater than the first input voltage threshold, and the battery voltage is less than the first battery threshold, a first target charging current is set; if the battery voltage is greater than the second battery threshold, a second target charging current is set. If the charging input voltage is no greater than the first input voltage threshold but greater than the second input voltage threshold, a third target charging current is set. If the charging input voltage is no greater than the second input voltage threshold but greater than the third input voltage threshold, a fourth target charging current is set. If the charging input voltage is no greater than the third input voltage threshold, a fifth target charging current is set. The charging current corresponding to the first target charging current is the maximum safe charging current allowed for the battery in the cleaning device. The target charging currents corresponding to the first, second, third, fourth, and fifth target charging currents decrease sequentially.

[0042] The first input voltage threshold is determined based on the base station's rated output voltage. For example, if the base station's rated output voltage is 30V, then considering the voltage drop caused by the charging circuit's impedance, the first input voltage threshold is set to a value less than 30V, such as 28V or 28.3V. Optionally, the first, second, and third input voltage thresholds are 28V, 27.5V, and 27V, respectively. Taking a maximum safe charging current of 2A as an example, the first, second, third, fourth, and fifth target charging currents are 2A, 1.7A, 1.5A, and 1A, respectively. It should be noted that the second, third, fourth, and fifth target charging currents can be flexibly set as needed after balancing the heat generated by the cleaning equipment and the time required for full charging.

[0043] In some specific embodiments of this application, such as Figure 5 As shown, based on the currently determined charging stage, the corresponding current decision table is selected, including: When the cleaning equipment is in the initial charging stage, a first current decision table is selected as the charging current lookup table. When the cleaning equipment is in the charging process, if the charging input voltage is decreasing, a second current decision table is selected as the charging current lookup table; if the charging input voltage is increasing, a third current decision table is selected as the charging current lookup table. Note that the charging input voltage corresponding to the same target charging current is different in the second and third current decision tables.

[0044] The rising and falling states of the charging input voltage are determined based on the trend between the current charging input voltage and the previously collected charging input voltage. In one optional embodiment, if the current charging input voltage is less than the previously collected charging input voltage and the difference reaches a preset value, the charging input voltage is determined to be in a falling state; if the current charging input voltage is greater than the previously collected charging input voltage and the difference exceeds a preset value, the charging input voltage is determined to be in a rising state. During the charging process, based on the fluctuations in the charging input voltage, different current decision tables are consulted to determine the target charging current, thereby flexibly adjusting the charging current during the charging process to avoid excessive heat and improve charging efficiency. In other optional embodiments, if multiple collected charging input voltages are each greater than the previously collected charging input voltage and accumulate to a preset time, the charging input voltage is determined to be in a rising state; if multiple collected charging input voltages are each less than the previously collected charging input voltage and accumulate to a preset time, the charging input voltage is determined to be in a falling state, thereby avoiding interference caused by short-term fluctuations in the charging input voltage.

[0045] Optionally, the second current decision table and the first current decision table can be the same. When the cleaning device is in the charging initiation stage, the target charging current is determined by consulting the first current decision table based on the charging input voltage and battery voltage, and the battery is controlled to start charging according to the target charging current. At this time, the cleaning device is in the charging in progress stage, and the charging input voltage and battery voltage continue to be monitored. Because the charging circuit impedance increases after charging begins, the charging input voltage decreases. Therefore, the current decision table consulted when the charging input voltage is decreasing is the same as the current decision table consulted in the charging initiation stage to ensure the continuity of charging and avoid frequent adjustments to the charging current. At the same time, in the charging in progress stage, if the charging input voltage is decreasing, the target charging current is determined according to the second current decision table based on the charging input voltage and battery voltage. If the charging input voltage is increasing, the target charging current is determined according to the third current decision table based on the charging input voltage and battery voltage. Thus, when the target charging current is dynamically determined and may be triggered to switch the target charging current, a hysteresis control mechanism is introduced to prevent frequent jumps in the charging current due to small fluctuations in the charging input voltage or battery voltage.

[0046] In some optional embodiments of this application, the first input voltage threshold in the second current decision table is less than the first input voltage threshold in the third current decision table. Table 1 is an example of the first current decision table, Table 2 is an example of the second current decision table, and Table 3 is an example of the third current decision table. Here, VADP represents the charging input voltage. For example, in the first current decision table (as shown in Table 1) and the second current decision table (as shown in Table 2), the first input voltage threshold, the second input voltage threshold, and the third input voltage threshold are 28V, 27.5V, and 27V, respectively; in the third current decision table (as shown in Table 3), the first input voltage threshold, the second input voltage threshold, and the third input voltage threshold are 28.3V, 27.8V, and 27.3V, respectively.

[0047] Table 1 First Current Decision Table

[0048] Table 2 Second Current Decision Table

[0049] Table 3 Second Current Decision Table

[0050] In some alternative embodiments, the current decision table has multiple target charging currents, and for each target charging current, the input voltage range corresponding to the second current decision table and the third current decision table are different, thereby adding hysteresis control for each target charging current.

[0051] The charging control method provided in this application selects different current decision tables as charging current lookup tables based on whether the charging input voltage is rising or falling during the charging process. By using different charging input voltage settings in the two current decision tables, hysteresis control is added to prevent the charging current from frequently changing the charging level due to the charging voltage drop. This makes the battery current adjustment more suitable for the entire charging process and reduces charging current ripple.

[0052] In some specific embodiments, the current decision table is configured to set a first target charging current when the charging input voltage is greater than a first input voltage threshold and when the battery voltage is lower than a first battery threshold. A second target charging current is set when the battery voltage is higher than a second battery threshold; wherein the first target charging current is greater than the second target charging current, and the first battery threshold is less than the second battery threshold; and the same target charging current is set for different battery voltages when the charging input voltage does not exceed the first input voltage. The first input voltage threshold is determined based on the base station's rated output voltage; the first target charging current is the maximum safe charging current.

[0053] Specifically, the current decision table allocates higher charging currents for higher input voltage ranges. When the charging input voltage is stable above the first input voltage threshold, the configured charging current is the highest. However, this high current charging may lead to excessive heat generation, necessitating consideration of the battery voltage. Therefore, when the charging input voltage is greater than the first input voltage, different target charging currents are set based on the battery voltage. If the battery voltage is higher than the second battery threshold, the target charging current is reduced, thereby controlling heat generation while ensuring fast charging.

[0054] In the current decision table, when the charging input voltage is no greater than the first input voltage threshold and greater than the second input voltage threshold, the same target charging current is output for different battery voltages. That is, the third target charging current can be determined solely based on the charging input voltage. For example, as shown in Table 1, when the charging input voltage (VADP) is no greater than the first input voltage threshold (28V) and greater than the second input voltage threshold (27.5V), the target charging current is 1.5A regardless of whether the battery voltage is lower than the first or higher than the second battery threshold. When the charging input voltage is no greater than the second input voltage threshold and greater than the third input voltage threshold, the same target charging current is output for different battery voltages, so that the fourth target charging current can be determined solely based on the charging input voltage. When the charging input voltage is no greater than the third input voltage threshold, the same target charging current is output for different battery voltages, so that the fifth target charging current can be determined solely based on the charging input voltage, without distinguishing between battery voltages.

[0055] The charging control method provided in this application embodiment, when the charging input voltage is greater than the first input voltage threshold, if the battery is charged with the first target charging current, since the first target charging current is the maximum safe charging current of the battery, it generates a lot of heat, which will lead to an artificially high battery voltage. When the battery voltage rises and exceeds the second battery threshold, the charging current is reduced to balance the temperature rise during the charging process; and when the battery voltage drops to the first battery threshold, it is charged again with the first target charging current to accelerate the charging efficiency.

[0056] In some embodiments of this application, the current decision table is configured to: when the charging input voltage does not exceed a first input voltage threshold, generate at least two target charging currents based on the different charging input voltages, thereby subdividing the input voltage range and generating multiple target charging currents to more accurately adapt to battery characteristics.

[0057] In some embodiments of this application, such as Figure 3 and Figure 5 As shown, after obtaining the charging input voltage and battery voltage, the process also includes: Step S310: Determine whether the charging input voltage is within the preset voltage range; In step S320, if the charging input voltage is not within the preset voltage range, the charging current of the battery is controlled to be zero. If the charging input voltage is within the preset voltage range, the target charging current is determined based on the charging input voltage and the battery voltage, combined with the current charging stage.

[0058] At the start of charging, the charging input voltage is checked to ensure it is within the normal range. If an abnormality is detected, the charging current is set to zero to prevent damage from overvoltage or undervoltage. During charging, the charging input voltage is continuously monitored. If an abnormality is detected, charging can be quickly stopped. This system provides full-process voltage monitoring throughout the charging process, improving safety.

[0059] The charging control method provided in this application detects whether the charging input voltage is within a preset voltage range before determining the target charging current. When the charging input voltage is found to be outside the preset voltage range, the charging program can be quickly exited to avoid damage to the battery due to overvoltage or undervoltage.

[0060] In some specific embodiments of this application, such as Figure 4 and Figure 5 As shown, after controlling the battery to charge at the target charging current, the following steps are also included: Step S410: Obtain the actual charging current of the battery; Step S420: Determine whether the battery charging current has been successfully set to the target charging current based on the actual charging current. In step S430, if the battery charging current is not successfully set to the target charging current, the battery charging current is set to the target charging current or the cleaning equipment is controlled to issue an alarm.

[0061] After setting the target charging current for the battery, the success of the setting is determined by comparing the actual charging current with the target charging current. In some embodiments, if the setting fails, the battery charging current is reset to the target charging current to avoid abnormal current setting due to hardware or communication failures and to ensure the stability of the charging process. In other embodiments, if the actual charging current is still not set to the target charging current after a preset number of resets (i.e., the number of failures reaches a preset number), the cleaning equipment issues an alarm, and personnel investigate the problem before restarting charging.

[0062] This application also provides a charging control device, such as... Figure 6 As shown, it includes: The acquisition module 610 is used to acquire the charging input voltage and the battery voltage; The control module 630 is used to determine the target charging current based on the charging input voltage and the battery voltage, and in conjunction with the current charging stage; wherein the charging stage includes a charging start stage and a charging in progress stage; and to control the battery to charge at the target charging current.

[0063] In some embodiments of this application, the control module is further configured to select the corresponding current decision table as the charging current lookup table according to the currently determined charging stage; and output the target charging current by querying the charging current lookup table based on the real-time collected charging input voltage and battery voltage; wherein the current decision table uses the charging input voltage and battery voltage as input variables and the target charging current as output.

[0064] In some specific embodiments of this application, the control module is used to select a first current decision table as the charging current lookup table when the cleaning device is in the charging start stage; when the cleaning device is in the charging process stage, if the charging input voltage is decreasing, a second current decision table is selected as the charging current lookup table; if the charging input voltage is increasing, a third current decision table is selected as the charging current lookup table; wherein, the charging input voltage corresponding to the same target charging current is different in the second current decision table and the third current decision table.

[0065] In some specific embodiments of this application, the charging control device further includes: The first judgment module 620 is used to determine whether the charging input voltage is within the preset voltage range; The control module 630 is used to control the battery charging current to zero when the charging input voltage is not within the preset voltage range; and when the charging input voltage is within the preset voltage range, it determines the target charging current based on the charging input voltage and the battery voltage, and in combination with the current charging stage.

[0066] In some specific embodiments of this application, the charging control device further includes: The second acquisition module 640 is used to acquire the actual charging current of the battery; The second judgment module 650 is used to determine whether the battery charging current has been successfully set to the target charging current based on the actual charging current. The control module 630 is used to set the battery charging current to the target charging current or to control the cleaning equipment to issue an alarm when the battery charging current is not successfully set to the target charging current.

[0067] like Figure 7 As shown in the illustration, this application also provides a cleaning device 700, comprising: Memory 720 is used to store computer program 730; The processor 710 executes the computer program 730 stored in the memory 720 to implement the charging control method described above, so as to control the charging process of the battery.

[0068] In applications, the cleaning device 700 may include, but is not limited to, a processor 710 and a memory 720. Those skilled in the art will understand that... Figure 7 This is merely an example of cleaning device 700 and does not constitute a limitation on cleaning device 700. It may include more or fewer components than shown, or combine certain components, or different components, such as facial recognition devices, input / output devices, network access devices, etc.

[0069] In applications, processor 710 can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0070] In applications, the memory 720 may be an internal storage unit of the cleaning device 700 in some embodiments, such as a hard disk or memory of the cleaning device 700. In other embodiments, the memory 720 may be an external storage device of the cleaning device 700, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., provided on the cleaning device 700. Furthermore, the memory 720 may include both internal and external storage units of the cleaning device 700. The memory 720 is used to store the operating system, applications, boot loader, data, and other programs, such as the program code of computer program 730. The memory 720 may also be used to temporarily store data that has been output or will be output.

[0071] It should be noted that the information interaction and execution process between the above-mentioned devices / modules are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0072] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The functional modules in the embodiments can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules can be implemented in hardware or as software functional modules. Furthermore, the specific names of the functional modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the modules in the above-described device can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0073] The cleaning device 700 can communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the cleaning device 700, and / or any device that enables the cleaning device 700 to communicate with one or more other computing devices (e.g., routers, modems, etc.). This communication can be performed via an input / output (I / O) interface. Furthermore, the cleaning device 700 can also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter. As shown in the figure, the network adapter communicates with other modules of the cleaning device 700 via a bus. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the cleaning device 700, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0074] Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the method according to the embodiments of this disclosure.

[0075] Figure 8 A cleaning system is shown, such as Figure 8 As shown, this application embodiment provides a cleaning system, including a base station 800 and a cleaning device 700 as described above, the cleaning device 700 being able to interface with the base station 800. The base station 800 is used to charge the cleaning device 700 and to place and accommodate the cleaning device 700. When the cleaning device 700 is a robotic vacuum cleaner, the base station 800 can also clean the cleaning components of the robotic vacuum cleaner.

[0076] This application also provides a computer-readable storage medium storing a computer program 730, which, when executed by a processor 710, implements the steps described in the above-described method embodiments.

[0077] This application provides a computer program product that, when run on a cleaning device 700, enables the cleaning device 700 to perform the steps described in the above-described method embodiments.

[0078] If an integrated module is implemented as 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, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program 730 instructing related hardware. The computer program 730 can be stored in a computer-readable storage medium. When executed by the processor 710, the computer program 730 can implement the steps of the various method embodiments described above. The computer program 730 includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to the cleaning device 700, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0079] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0080] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0081] In the embodiments provided in this application, it should be understood that the disclosed apparatus / device and method can be implemented in other ways. For example, the apparatus / device embodiments described above are merely illustrative. For instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or modules may be electrical, mechanical, or other forms.

[0082] The modules described as separate components may or may not be physically separate. Similarly, the components shown as modules may or may not be physical modules; they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0083] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A charging control method for a cleaning device, characterized in that, include: Obtain the charging input voltage and battery voltage; Based on the charging input voltage and the battery voltage, and in conjunction with the current charging stage, the target charging current is determined; wherein the charging stage includes a charging start-up stage and a charging in progress stage; The battery of the cleaning equipment is charged at the target charging current.

2. The charging control method as described in claim 1, characterized in that, Determining the target charging current based on the charging input voltage and the battery voltage, and in conjunction with the current charging stage, includes: Based on the current determined charging stage, select the corresponding current decision table as the charging current lookup table; Based on the charging input voltage and the battery voltage, the target charging current is output by querying the charging current lookup table; The current decision table uses the charging input voltage and the battery voltage as input variables and the target charging current as output.

3. The charging control method as described in claim 2, characterized in that, The step of selecting the corresponding current decision table based on the currently determined charging stage includes: When the cleaning equipment is in the charging start-up stage, the first current decision table is selected as the charging current lookup table. If the charging input voltage is decreasing when the cleaning equipment is in the charging process, then the second current decision table is selected as the charging current lookup table. If the charging input voltage is in a rising state, then the third current decision table is selected as the charging current lookup table. In the second current decision table and the third current decision table, the charging input voltage corresponding to the same target charging current is different.

4. The charging control method as described in claim 2, characterized in that, The current decision table is configured to: set a first target charging current when the charging input voltage is greater than a first input voltage threshold and when the battery voltage is lower than a first battery threshold; and set a second target charging current when the battery voltage is higher than a second battery threshold; wherein the first input voltage threshold is determined based on the base station's rated output voltage; the first target charging current is the maximum safe charging current, and the second target charging current is lower than the first target charging current; the first battery threshold is less than the second battery threshold; and when the charging input voltage does not exceed the first input voltage threshold, the same target charging current is set for the same charging input voltage and different battery voltages.

5. The charging control method as described in claim 4, characterized in that, The current decision table is configured to generate at least two target charging currents based on the different charging input voltages, provided that the charging input voltage does not exceed the first input voltage threshold.

6. The charging control method according to any one of claims 1 to 5, characterized in that, After obtaining the charging input voltage and battery voltage, the process also includes: Determine whether the charging input voltage is within the preset voltage range; If the charging input voltage is not within the preset voltage range, the charging current of the battery is controlled to be zero. If the charging input voltage is within a preset voltage range, the target charging current is determined based on the charging input voltage and the battery voltage, and in conjunction with the current charging stage.

7. The charging control method according to any one of claims 1 to 5, characterized in that, After the control battery is charged at the target charging current, the method further includes: Obtain the actual charging current of the battery; Based on the actual charging current, determine whether the charging current of the battery has been successfully set to the target charging current; If the battery charging current is not successfully set to the target charging current, then the battery charging current is set to the target charging current or the cleaning device is controlled to issue an alarm.

8. A charging control device, characterized in that, include: The acquisition module is used to acquire the charging input voltage and battery voltage; The control module is used to determine a target charging current based on the charging input voltage and the battery voltage, and in conjunction with the current charging stage; wherein the charging stage includes a charging start stage and a charging in progress stage; and to control the battery to charge at the target charging current.

9. A computer-readable storage medium, characterized in that, The device stores a computer program, which, when executed by a processor, implements the charging control method as described in any one of claims 1 to 7.

10. A computer program product, characterized in that, When the computer program product is run on the cleaning equipment, it causes the cleaning equipment to implement the charging control method as described in any one of claims 1 to 7.

11. A cleaning device, characterized in that, include: Memory, used to store computer programs; A processor for executing a computer program stored in a memory to implement the charging control method as described in any one of claims 1 to 7, thereby controlling the charging process of the battery.

12. A cleaning system, characterized in that, It includes a base station and the cleaning equipment as described in claim 11, wherein the cleaning equipment can interface with the base station.

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