Charging and discharging circuit, charging and discharging system, and robot

Abstract

Embodiments of the present application provide a charging and discharging circuit, a charging and discharging system and a robot. The charging and discharging circuit comprises a main controller and a plurality of battery packs, the main controller being connected with each battery pack; each battery pack is provided with a charging interface and a discharging interface, the charging interface of each battery pack being connected with a charger; the discharging interface of each battery pack is connected in series with a first one-way output circuit, and the discharging interfaces of the battery packs are connected in parallel and then connected with a system load, wherein, in a discharging phase, the main controller is configured to control the charging interfaces of the battery packs to be closed, so as to supply power to the system load through the discharging interfaces of the battery packs; the first one-way output circuit is configured to control the current to flow from the corresponding battery pack to the system load in one direction; in a charging phase, the main controller is configured to sequentially open and close the charging interfaces of the battery packs, so as to charge the battery packs through the charger in stages. The scheme of the embodiments of the present application is used to achieve the effect of improving the reliability of the system.

Description

Technical Field

[0001] This application relates to the field of battery pack charging and discharging control, and more particularly to a charging and discharging circuit, a charging and discharging system, and a robot. Background Technology

[0002] For scenarios requiring high endurance, load capacity, and power supply stability, robots typically need to integrate multiple battery packs to meet high power demands.

[0003] In existing technologies, the main controller monitors the power status of each battery pack in real time and switches to the second battery pack for power supply via software commands when the power of the first battery pack falls below a threshold. However, voltage differences during battery pack switching can cause secondary power surges in the bus capacitors, resulting in lower system reliability. Summary of the Invention

[0004] This application provides charging and discharging circuits, charging and discharging systems, and robots to improve the reliability of the system.

[0005] In a first aspect, embodiments of this application provide a charging and discharging circuit, the charging and discharging circuit including a main controller, a charger, and multiple battery packs, the main controller being connected to each battery pack; each battery pack being provided with a charging interface and a discharging interface, the charging interface of each battery pack being connected to the charger; the discharging interface of each battery pack being connected in series with a first unidirectional output circuit, and then connected in parallel with the discharging interfaces of each battery pack to a system load, wherein...

[0006] During the discharge phase, the main controller is used to control the shutdown of the charging interfaces of each battery pack so as to supply power to the system load through the discharge interfaces of each battery pack; the first unidirectional output circuit is used to control the current to flow unidirectionally from its corresponding battery pack to the system load;

[0007] During the charging phase, the main controller is used to sequentially turn on and off the charging interfaces of each battery pack, so as to charge each battery pack in stages through the charger.

[0008] In one possible implementation, the plurality of battery packs includes a first battery pack and a second battery pack, wherein the battery capacity of the first battery pack is greater than the battery capacity of the second battery pack.

[0009] The main controller is used to control the closing of the charging interface of the first battery pack and the opening of the charging interface of the second battery pack, so as to charge the second battery pack through the charger;

[0010] After the second battery pack has finished charging, the main controller is used to close the charging port of the second battery pack and open the charging port of the first battery pack so as to charge the first battery pack through the charger.

[0011] In one possible implementation, the charger is also used to supply power to the system load while charging the plurality of battery packs;

[0012] If the load current demand of the system load increases, the current supplied by the charger to the system load increases, while the current supplied to each battery pack decreases.

[0013] If the load current demand of the system load is greater than the charging current of the charger, then each battery pack and the charger will supply power to the system load.

[0014] In one possible implementation, a second unidirectional output circuit is further included. One end of the second unidirectional output circuit is connected to the charging interface of the charger and each battery pack, and the other end of the second unidirectional output circuit is connected to the system load and the discharging interface of each battery pack.

[0015] The second unidirectional output circuit is used to control the flow of current from the charger and / or each battery pack to the system load, so as to prevent the current of each battery pack from flowing to the charger and charging path when the charger and / or each battery pack supplies power to the system load.

[0016] In one possible implementation, the first unidirectional output circuit and the second unidirectional output circuit are ideal diode driving circuits or single-unit diode driving circuits.

[0017] In one possible implementation, the ideal diode driving circuit includes a main power switch and an ideal diode driving chip, wherein,

[0018] The source of the main power switch is connected to the anode input terminal (ANODE) ​​of the charger and the ideal diode driver chip, the drain of the main power switch is connected to the system load and the cathode output terminal (CATHODE) of the ideal diode driver chip, and the gate of the main power switch is connected to the gate drive terminal (GATE) of the ideal diode driver chip.

[0019] The ideal diode driver chip is used to control the on and off of the main power switch.

[0020] In one possible implementation, the first unidirectional output circuit of each battery pack is further configured to prevent the current of the first battery pack from flowing back to the second battery pack when a voltage difference is generated among the battery packs, wherein the voltage of the first battery pack is greater than the voltage of the second battery pack.

[0021] In one possible implementation, the first unidirectional output circuit of each battery pack is further configured to adjust the power supply path of the system load among the plurality of battery packs when a voltage difference is generated among the battery packs.

[0022] In one possible implementation, the main controller is further configured to configure the charging current of the charger, such that the charger charges each battery pack using the charging current.

[0023] Secondly, embodiments of this application provide a charging and discharging system, including a charger, a main controller and multiple battery packs, as described in the first aspect and / or various possible implementations of the first aspect, wherein the main controller is connected to each battery pack, and each battery pack is provided with a charging interface and a discharging interface.

[0024] The charging interface of each battery pack is used to connect to the charger;

[0025] The discharge interface of each battery pack is connected in series with the first unidirectional output circuit, and then connected in parallel with the discharge interfaces of each battery pack to the system load.

[0026] Thirdly, embodiments of this application provide a robot, including a system load, a main controller and multiple battery packs, as described in the first aspect and / or various possible implementations of the first aspect. The main controller is communicatively connected to each battery pack, and each battery pack is provided with a charging interface and a discharging interface.

[0027] The charging interface of each battery pack is used to connect to the charger;

[0028] The discharge interface of each battery pack is connected in series with the first unidirectional output circuit, and then connected in parallel with the discharge interfaces of each battery pack to the system load.

[0029] The charging and discharging circuit, charging and discharging system, and robot provided in this application embodiment can ensure that high-capacity battery packs are given priority in power supply and low-capacity battery packs automatically shut off their output through independently set charging and discharging interfaces, a unidirectional input circuit connected in series with the charging interface, and a first unidirectional output circuit connected in series with the discharging interface. During the discharging process, the current of the high-voltage battery pack flows to the load first, while the low-voltage battery pack cannot conduct due to insufficient voltage difference. During the charging process, the charging interfaces of each battery pack are managed sequentially for staged charging, ensuring that each battery pack automatically switches to the next battery pack after being fully charged, avoiding the current competition problem caused by multiple battery packs charging at the same time, thereby achieving hardware-driven autonomous balancing and improving the reliability of the system. Attached Figure Description

[0030] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0031] Figure 1 A schematic diagram illustrating an application scenario provided in an embodiment of this application;

[0032] Figure 2 This is a schematic diagram of a charging and discharging circuit provided in an embodiment of this application;

[0033] Figure 3 This is a schematic diagram of another charging and discharging circuit provided in an embodiment of this application;

[0034] Figure 4 This is a schematic diagram of the structure of a single diode provided in an embodiment of this application;

[0035] Figure 5 This is a schematic diagram of an ideal diode driving circuit provided in an embodiment of this application.

[0036] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0037] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0038] Figure 1This is a schematic diagram illustrating an application scenario provided by an embodiment of this application. Please refer to [link / reference]. Figure 1 As shown, this application scenario includes a mobile robot 101 and a charger 102. The mobile robot 101 can integrate multiple battery packs (e.g., one large-capacity battery pack and two small-capacity battery packs), a main controller, and a system load. The main controller can interact with the multiple battery packs and the charger 102 via Controller Area Network (CAN). The charger 102 is configured with output parameters through the CAN1 interface, the battery packs report their power status through the CAN0 interface, and the system load (Load Resistance, RL) of the mobile robot 101 obtains power from the multiple battery packs connected in parallel.

[0039] During the operation of the mobile robot 101, multiple battery packs need to meet the instantaneous power supply requirements of high-power loads, while avoiding deep discharge of low-charge battery packs and secondary power-on shocks to the bus capacitors. The mobile robot 101 can be an industrial automation robot, a logistics handling robot, a service robot, or a humanoid robot. The main controller can be a microcontroller unit (MCU) or a central processing unit (CPU).

[0040] In existing technologies, the main controller can monitor the power status of each battery pack in real time and switch to the second battery pack for power supply via software commands when the power of the first battery pack falls below a threshold. During charging, the first and second battery packs are switched via software commands. However, during discharging, voltage differences when switching power supply battery packs can cause secondary power surges to the bus capacitors, resulting in lower system reliability.

[0041] This application provides a charging and discharging circuit, including a main controller, a charger, and multiple battery packs. The main controller is connected to each battery pack. Each battery pack has an independent charging interface and a discharging interface. The charging interface of each battery pack is connected to the charger. The discharging interface of each battery pack is connected in series with a first unidirectional output circuit, and the discharging interfaces of each battery pack are connected in parallel to the system load. During the discharging phase, the main controller controls the closing of the charging interfaces of each battery pack to supply power to the system load through the discharging interfaces of each battery pack. The first unidirectional output circuit controls the current to flow unidirectionally from its corresponding battery pack to the system load. During the charging phase, the main controller sequentially opens and closes the charging interfaces of each battery pack to charge each battery pack in stages through the charger.

[0042] The above execution process can be achieved through independently configured charging and discharging interfaces and a first unidirectional output circuit connected in series with the discharging interface. This ensures that high-capacity battery packs are given priority in power supply, while low-capacity battery packs automatically shut off their output. During discharging, the current from the high-voltage battery pack flows preferentially to the load, while the low-voltage battery pack cannot conduct due to insufficient voltage difference. During charging, the charging interfaces of each battery pack are managed sequentially for staged charging, ensuring that each battery pack automatically switches to the next battery pack after it is fully charged. This avoids current competition caused by multiple battery packs charging simultaneously, thereby achieving hardware-driven autonomous balancing and improving system reliability.

[0043] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0044] Figure 2 This is a schematic diagram of a charging and discharging circuit provided in an embodiment of this application. Please refer to... Figure 2 As shown, the charging and discharging system may include a main controller, a charger, and multiple battery packs. The main controller is connected to each battery pack, and each battery pack is provided with a charging interface and a discharging interface. The charging interface of each battery pack is connected to the charger. The discharging interface of each battery pack is connected in series with a first unidirectional output circuit, and is connected to the system load after being connected in parallel with the discharging interfaces of each battery pack.

[0045] The communication methods between the main controller and the battery pack and charger are not limited to CAN communication; RS485, Ethernet, and other methods are also available.

[0046] Please see Figure 2 During the discharge phase, the main controller controls the shutdown of the charging interfaces of each battery pack, so that power can be supplied to the system load through the discharge interfaces of each battery pack. The charging interface and the discharge interface are physically separated; the charging interface is only used for inputting charging current, and the discharge interface is only used to achieve unidirectional output of discharge current through a unidirectional output circuit.

[0047] Please see Figure 2 The first unidirectional output circuit is indicated by D9. This circuit controls the unidirectional flow of current from its corresponding battery pack to the system load. A first unidirectional output circuit refers to a circuit structure that allows current to flow in only one direction, such as an ideal diode or diode circuit.

[0048] Multiple battery packs have the same voltage specifications, and there is no limit to the number or capacity of the battery packs. The settings can be adjusted according to the robot's limited space and other actual conditions. That is, under the condition that the rated voltage specifications of the battery packs are the same, the capacities of the multiple battery packs can be the same or different.

[0049] The battery pack can be a lithium battery pack. A typical battery pack uses a design approach where multiple cells are connected in series to increase voltage, and multiple cells are connected in parallel to increase capacity. The capacity of a single cell is directly proportional to its voltage. Common 18650 and 21700 cells typically have a full-charge voltage of 4.2V and a 60% charge voltage of 3.6V. Therefore, the capacity of the battery pack is also directly proportional to its voltage.

[0050] It is worth noting that the type of battery pack is not limited to lithium battery packs, but can be other types of battery packs applicable to the present invention. The lithium battery pack is used as an example for illustration only.

[0051] During the charging phase, the main controller is used to sequentially turn on and off the charging interfaces of each battery pack, so as to charge each battery pack in stages through the charger.

[0052] After the main controller detects that the current battery pack has reached the full charge threshold, it automatically switches to the next battery pack. The phased charging of the charging interface and the dynamic power supply path of the discharging interface are interconnected. During the discharging process, the power supply demand of the system load is met by the high-capacity battery pack of the current power supply path, while the charging process ensures balanced charging of all battery packs through phased management.

[0053] The charging and discharging interfaces of each battery pack are completely separated. The charging interface is connected to the charger only through a unidirectional input circuit, and the discharging interface is connected to the system bus only after being connected in series with the first unidirectional output circuit. This avoids mutual interference between charging and discharging currents from a hardware structure perspective, and also eliminates the risk of high-capacity battery packs reversing to low-capacity battery packs through a shared interface, providing a physical prerequisite for unidirectional power supply.

[0054] The first unidirectional output circuit can adopt an integrated structure of an ideal diode driver chip and a MOSFET. This circuit has a built-in voltage difference detection function and sets a clear turn-on threshold (e.g., the voltage at the ANODE terminal is >20mV higher than that at the CATHODE terminal) and a turn-off threshold (e.g., the voltage at the ANODE terminal is <-12mV lower than that at the CATHODE terminal).

[0055] The discharge ports of all battery packs are connected in parallel to the same system bus after passing through the first unidirectional output circuit. The voltage of the system bus is determined by the voltage of the currently powered battery pack.

[0056] When the battery packs have different capacities, the voltage of the high-capacity battery pack is higher than that of the low-capacity battery pack. The output voltage of the high-capacity battery pack meets the conduction threshold of the first unidirectional output circuit, and the circuit is automatically turned on. The current flows to the system load through the MOSFET. At this time, the system bus voltage is clamped at the high voltage level.

[0057] When the voltage of the low-power battery pack is lower than the system bus voltage, its corresponding first unidirectional output circuit reaches the turn-off threshold, the MOSFET turns off quickly, and it cannot output current to the load, thus realizing the automatic shutdown of the low-power battery pack output.

[0058] When the high-capacity battery pack discharges to the same voltage as other battery packs (voltage difference ≤ 20mV), the corresponding first unidirectional output circuit meets the conduction condition, and all battery packs synchronously supply power to the load to achieve balanced discharge.

[0059] The entire process requires no instructions from the main controller and is driven entirely by the hardware characteristics of the unidirectional output circuit and the voltage difference between the battery packs. It has a fast response speed, which can ensure that the high-capacity battery pack prioritizes the power supply needs of the load, avoid deep discharge of the low-capacity battery pack, and suppress the inrush current of the bus capacitor.

[0060] The charging and discharging circuit provided in this application embodiment avoids mutual interference between charging and discharging currents by physically isolating the independent charging and discharging interfaces. This ensures that the charging process only uses input from a dedicated charger, while the discharging process dynamically adjusts the power supply path through a unidirectional output circuit. A first unidirectional output circuit connected in series with the independent charging and discharging interfaces ensures that high-capacity battery packs are prioritized for power supply, while low-capacity battery packs automatically shut off their output. During discharging, since the discharging interfaces of each battery pack are connected in parallel to the same system bus, the first unidirectional output circuit corresponding to the high-voltage battery pack meets the conduction threshold and turns on, allowing current to flow preferentially to the load. The voltage of the low-voltage battery pack is lower than the system bus voltage, so the corresponding first unidirectional output circuit reaches the turn-off threshold and turns off, thus preventing current output to the load. During charging, the charging interfaces of each battery pack are managed sequentially for staged charging, ensuring that each battery pack automatically switches to the next battery pack after being fully charged. This avoids current competition caused by multiple battery packs charging simultaneously, thereby achieving hardware-driven autonomous balancing and improving system reliability.

[0061] Figure 3 This is a schematic diagram of another charging and discharging circuit provided in an embodiment of this application. Please refer to... Figure 3 ,exist Figure 2 Based on this, the multiple battery packs include a first battery pack and a second battery pack, wherein the battery capacity of the first battery pack is greater than that of the second battery pack.

[0062] Please see Figure 3 The first battery pack can have a capacity of 50AH, the second battery pack can have a capacity of 9AH or 4.5AH, and all battery packs have the same rated voltage specifications.

[0063] The main controller is used to control the closing of the charging port of the first battery pack and the opening of the charging ports of each of the second battery packs, so that the second battery packs can be charged by the charger. After the second battery packs have finished charging, the main controller is used to close the charging ports of each of the second battery packs and open the charging ports of the first battery packs, so that the first battery packs can be charged by the charger.

[0064] Please see Figure 3 The charger can be a dedicated charger with CAN communication function, and the main controller communicates with the charger.

[0065] During the charging process of at least one second battery pack through the charger, the main controller configures the charging current output of the charger through the CAN1 interface, and at the same time reads the power, temperature and actual charging current of the second battery pack in real time through the CAN0 interface. After confirming that it is consistent with the configured charging current, the charging is maintained.

[0066] The main controller's dual CAN bus closed-loop monitoring and charging parameter verification mechanism can achieve precise matching of charging current, real-time early warning of battery status, and dynamic control of the charging process, thereby improving the safety of charging the second battery pack.

[0067] After the second battery pack has finished charging (i.e., the power reaches the full charge threshold, such as the voltage reaching the rated full charge voltage), the main controller is used to close the charging port of the second battery pack and open the charging port of the first battery pack so that the first battery pack can be charged by the charger. The charging control logic of the first battery pack is the same as that of the second battery pack.

[0068] In this application, a charging strategy of prioritizing the charging of the second battery pack and subsequently supplementing the charging of the first battery pack, combined with the independent charging and discharging interfaces of each battery pack and the series-connected first unidirectional output circuit, can achieve no current competition during the charging process and autonomous hardware-balanced power supply during the discharging process. This not only meets the instantaneous power supply requirements of mobile robots for high-power loads, but also avoids the risks of deep discharge of low-power battery packs, secondary power-on impact of bus capacitors, and reverse charging of battery packs. At the same time, it improves charging efficiency and battery cycle life, and significantly enhances the reliability, stability, and safety of the entire charging and discharging system.

[0069] Please see Figure 3 The charger is connected to the positive terminal of the system load bus (Batter_v+) via the terminal block on the power board. The system load and each battery pack are connected in parallel to the positive terminal of the same bus (Batter_v+). The charger is also used to simultaneously supply power to the system load when charging multiple battery packs.

[0070] If the load current demand of the system load increases, the current supplied by the charger to the system load increases, while the current supplied to each battery pack decreases. If the load current demand of the system load is greater than the charging current of the charger, then both the battery pack and the charger supply power to the system load.

[0071] The charging current is the charger's maximum output current.

[0072] For example, when the robot is carrying heavy objects, the load demand current of the system increases. According to the physical characteristic of parallel circuits where high voltage is prioritized for power supply, the charger current prioritizes power supply to the system, and the battery charging current decreases. When the robot is carrying heavy objects under overload, the load demand current of the system may be greater than the maximum output current of the charger. That is, the charger output voltage is pulled down by the load to below the battery pack voltage. The battery pack automatically outputs current to power the system by meeting the conduction threshold through its own series-connected first unidirectional output circuit. At this time, the voltage difference between the battery pack voltage and the system bus voltage is determined only by the conduction threshold of the unidirectional output circuit.

[0073] Based on the capacitor current formula Because the unidirectional output circuit strictly limits the voltage difference between the battery pack and the system bus. When the system load fluctuates or the power supply main body switches, the bus capacitor The voltage change at both ends is precisely clamped. Compared to large voltage difference switching without a unidirectional output circuit (such as a voltage difference of over 0.5V controlled by software), the voltage change in this solution is significantly reduced. Significantly reduced (only 12mV in an ideal diode drive circuit scenario, only 1 / 41 of the traditional solution), in capacitor capacitance Under fixed conditions, inrush current With voltage change It is directly proportional, thus significantly reducing the charging current surge of the bus capacitor.

[0074] In this application, a collaborative mechanism of parallel power supply between the charger and the battery pack, combined with a hardware design of independent charging and discharging interfaces and unidirectional output circuits, can be used to achieve dynamic current distribution for simultaneous charging and power supply, automatic regulation of high-voltage priority power supply, improve the continuity and reliability of system power supply, avoid the impact of load fluctuations on the charging process, and reduce the risk of deep battery discharge.

[0075] Please see Figure 3 The charging and discharging circuit also includes a second unidirectional output circuit (D10). One end of the second unidirectional output circuit is connected to the charger and the charging interface of each battery pack, and the other end of the second unidirectional output circuit is connected to the system load and the discharging interface of each battery pack.

[0076] The second unidirectional output circuit is used to control the current flow from the charger and / or each battery pack to the positive terminal (Batter_v+) of the system load bus, so as to prevent the current of each battery pack from flowing to the charger and charging path when the charger and / or each battery pack supplies power to the system load, and to prevent the battery packs from charging each other on the charging path.

[0077] The charging path refers to the current path from the charger to the charging interface of each battery pack when the charger charges the battery pack.

[0078] The discharge ports of each battery pack are connected between the second unidirectional output circuit and the system load, so that the discharge ports of each battery pack are connected in parallel to the same system load bus. The second unidirectional output circuit also prevents current from flowing from each battery pack to the charger and charging path when each battery pack is supplying power to the system load, thus avoiding mutual charging between battery packs on the charging path.

[0079] In this application, the second unidirectional output circuit can work in conjunction with the first unidirectional output circuit connected in series with the discharge interface of each battery pack to achieve physical isolation between the charging path and the discharging path, and dual protection of unidirectional current flow, thereby improving the safety and reliability of the system power supply and completely avoiding the risk of reverse charging or current backflow of the battery pack.

[0080] Please see Figure 3 When discharging the system load through multiple battery packs, the first unidirectional output circuit of each battery pack is also used to prevent the current of the first battery pack from flowing back to the second battery pack when a voltage difference is generated between the battery packs, so that the voltage of the first battery pack is greater than the voltage of the second battery pack.

[0081] Voltage difference refers to the voltage difference between multiple battery packs. For example, when the voltage of the large battery pack is 3.6V and the voltage of the small battery pack is 3.5V, the voltage difference is 100mV.

[0082] The first unidirectional output circuit has a built-in voltage difference detection function, with preset clear turn-on thresholds (e.g., the voltage at the ANODE terminal on the battery pack side is >20mV higher than the voltage at the CATHODE terminal on the system bus side) and turn-off thresholds (e.g., the voltage at the ANODE terminal is <-12mV lower than the voltage at the CATHODE terminal). The circuit will only turn on the allowable current output when the turn-on threshold is met.

[0083] The discharge ports of all battery packs are connected in parallel to the positive terminal (Batter_v+) of the same system bus after passing through the first unidirectional output circuit. The system bus voltage is clamped by the currently conducting high-voltage battery pack.

[0084] When there is a voltage difference between multiple battery packs (e.g., the voltage of the first battery pack > the voltage of the second battery pack), the first battery pack with higher voltage meets the conduction threshold of its own series-connected first unidirectional output circuit, the circuit is turned on, and the current flows to the system load. At this time, the system bus voltage is clamped at the high voltage level of the first battery pack.

[0085] The voltage of the low-voltage second battery pack is lower than the system bus voltage. Its corresponding first unidirectional output circuit reaches the turn-off threshold, and the MOSFET turns off quickly. It can neither output current to the load nor prevent the current of the first battery pack from flowing back to the second battery pack through the parallel bus.

[0086] As the high-voltage battery pack discharges, its voltage gradually decreases. When the voltage difference between it and the low-voltage battery pack narrows to within the conduction threshold range (e.g., ≤20mV), the first unidirectional output circuit corresponding to the low-voltage battery pack meets the conduction condition and automatically turns on, enabling multiple battery packs to supply power to the load synchronously and completing the dynamic adjustment of the power supply path.

[0087] In this application, the threshold on / off mechanism of the first unidirectional output circuit can be used to block backflow of current between battery packs and dynamically adjust the power supply path, thereby improving the safety and balance of parallel discharge of multiple battery packs.

[0088] The first unidirectional output circuit of each battery pack is also used to adjust the power supply path of the system load among multiple battery packs when a voltage difference is generated among the battery packs.

[0089] The power supply path refers to the current transmission path from the battery pack to the system load. For example, the current from a high-capacity battery pack flows preferentially to the system load, while a low-capacity battery pack cannot conduct due to insufficient voltage difference.

[0090] After integrating the first unidirectional output circuit into the discharge interface, the power supply path can be dynamically adjusted based on the voltage difference between each battery pack.

[0091] Specifically, when the voltage of a high-capacity battery pack is higher than that of other battery packs, its current preferentially flows to the system load; low-capacity battery packs cannot conduct due to insufficient voltage difference, thus achieving autonomous dynamic power balancing. For example, when the capacity of the large battery pack drops to the same level as the small battery pack, both supply power simultaneously, ensuring the continuous power supply stability of the system load.

[0092] In this application, dynamic power supply path adjustment driven by voltage difference ensures that high-capacity battery packs are always prioritized for power supply, while low-capacity battery packs automatically shut off their output. This effectively avoids the problem of deep discharge of low-capacity battery packs, and at the same time, the hardware-based autonomous management logic eliminates the risk of switching errors caused by software control, further improving power supply reliability and extending battery life.

[0093] The unidirectional input circuit, the first unidirectional output circuit, and the second unidirectional output circuit are either single-unit diode driving circuits or ideal diode driving circuits.

[0094] When the system requires low current and has low power, the first and second unidirectional output circuits can select a single diode as the unidirectional control circuit device.

[0095] Figure 4 This is a schematic diagram of the structure of a single diode provided in an embodiment of this application. Please refer to [link / reference]. Figure 4 The single diode consists of diode D14 and filter capacitor C3. The left side of diode D14 is the positive terminal, and the right side is the negative terminal. The anode of diode D14 is connected to the positive terminal of the battery pack (V_BAT+), and the cathode is connected to the system load terminal (To_RL). Filter capacitor C3 is connected in parallel between the system load terminal (To_RL) and ground, with one end connected to To_RL and the other end grounded.

[0096] Diode D14 operates on the principle of forward conduction and reverse non-conductivity. When a voltage is applied across the diode, the difference between the positive and negative voltages is calculated. When the diode is forward-biased, it conducts in the forward direction, and current flows from the positive terminal of the battery pack through the diode to supply power to the downstream load; when... When a diode is forward-biased, it is in reverse bias and does not conduct. This is because when forward-biased, current flows through the diode itself. On-state voltage Diodes generate power consumption Common silicon-based diodes The voltage is 0.5V~0.7V, and the current is... Depending on the system current, if the system current is large, the power consumption of the diode will increase. Therefore, for low-current, low-power systems, diode circuits are used as unidirectional control circuits.

[0097] When a single diode is used as the first unidirectional output circuit, it is connected in series between the discharge port of the corresponding battery pack and the positive terminal (Batter_v+) of the system load bus. The anode of the diode is connected to the positive terminal of the battery pack discharge port, and the cathode is connected to Batter_v+.

[0098] When a single diode is used as the second unidirectional output circuit, it is connected in series between the charger output terminal (charge+(54.6V+)) and the positive terminal of the system load bus (Batter_v+). The anode of the diode is connected to the positive terminal of the charger, and the cathode is connected to Batter_v+.

[0099] As a unidirectional conducting element, diode D14 only allows current to flow from the anode to the cathode and prevents reverse current.

[0100] In the first unidirectional output circuit, the high-voltage battery pack is prevented from charging the low-voltage battery pack, while ensuring that the high-capacity battery pack is given priority in power supply; in the second unidirectional output circuit, the battery pack current is prevented from flowing back to the charger, thus protecting the charger's safety.

[0101] The filter capacitor C3 can filter out the high-frequency ripple of the output current, stabilize the load voltage, and improve the smoothness of the system power supply and its anti-interference ability.

[0102] In this application, a simple single-diode driving circuit can be formed by using a single diode as a unidirectional control element and combining it with a filter capacitor to achieve unidirectional conduction and reverse blocking in low-current scenarios. At the same time, it can filter out high-frequency ripple and stabilize voltage, improve the safety and stability of power supply for low-power systems, and has the advantages of low cost and high reliability.

[0103] When the system requires a large current and has high power, the first and second unidirectional output circuits can be selected as unidirectional control circuit devices by using an ideal diode drive circuit.

[0104] Figure 5 This is a schematic diagram of an ideal diode driving circuit provided in an embodiment of this application. Please refer to... Figure 5 The ideal diode driving circuit includes a main power switch Q1 (N-channel MOSFET), an ideal diode driving chip, input filter capacitors C1 / C2, and output filter capacitor C3.

[0105] The source of the main power switch is connected to the positive terminal of the battery pack (or the positive terminal of the charger) and the anode input (ANODE) ​​of the ideal diode driver chip. The drain of the main power switch is connected to the system load and the cathode output (CATHODE) of the ideal diode driver chip. The gate of the main power switch is connected to the gate driver output (GATE) of the ideal diode driver chip. The ideal diode driver chip is used to control the on and off of the main power switch.

[0106] Input filter capacitors C1 and C2 are connected in parallel between the positive terminal (V_BAT+) of the battery pack and ground, with one end connected to V_BAT+ and the other end grounded. Output filter capacitor C3 is connected in parallel between the system load terminal (To_RL) and ground, with one end connected to To_RL and the other end grounded. The enable pin (EN) of the ideal diode driver chip is grounded to keep the chip continuously operating, and the voltage capacitor (VCAP) pin is used to connect an external capacitor to power the internal circuitry of the chip.

[0107] The ideal diode driver circuit serves as the first unidirectional output circuit, with its source connected to the positive terminal of the battery pack discharge interface and its drain connected to the system load bus (Batter_v+). The ANODE pin is connected to the positive terminal of the battery pack, and the CATHODE pin is connected to Batter_v+. The ideal diode driver circuit also serves as the second unidirectional output circuit, with its source connected to the positive terminal of the charger (charge+(54.6V+)) and its drain connected to the system load bus (Batter_v+). The ANODE pin is connected to the positive terminal of the charger, and the CATHODE pin is connected to Batter_v+.

[0108] The main power switch Q1, acting as a high-current electronic switch, replaces the diode, achieving a forward voltage drop of only 20-50mV, significantly reducing power consumption under high current conditions. An ideal diode driver chip detects the voltage difference between the anode and cadhode, driving the MOSFET gate for rapid on / off switching with a microsecond-level response. Input filter capacitors C1 / C2 filter out high-frequency ripple from the battery pack output, stabilizing the chip's power supply voltage. Output filter capacitor C3 smooths load current fluctuations, improving system power supply stability.

[0109] When the ideal diode driver chip circuit detects that the voltage difference U3 between the ANODE (positive terminal) and CATHODE is greater than 20mV, the ideal diode driver chip drives the gate of the MOS transistor, turning on the MOS transistor and using it to power the system. Under the condition that the system requires a large current, the power consumption of the MOS transistor is lower than that of a single diode.

[0110] When the voltage difference between the ANODE (positive terminal) and the CATHODE is detected to be U4 < -12mV, the ideal diode drive circuit turns off the MOS. That is, when there is a battery pack with a higher voltage at the positive terminal (Batter_v+) of the system load bus, the ideal diode circuit turns off the battery pack output, realizing the unidirectional output function. The discharge ports of multiple battery packs are connected together, and different voltages have no effect on the battery pack.

[0111] Using an ideal diode circuit for unidirectional control management, the battery pack voltage difference in the system is maintained at around 12mV. This contrasts sharply with many software-implemented discharge management systems for battery packs, where the monitoring voltage difference is generally above 0.5V. Given that the load capacitor C is consistent across the same system, the voltage difference is... When automatically switching the battery pack to the same bus capacitor during discharge, the ideal diode circuit can reduce the inrush current by 41 times.

[0112] In this application, by adopting an integrated structure of an ideal diode driver chip and an N-channel MOSFET, combined with a filter capacitor and a threshold detection mechanism, low-power unidirectional conduction, microsecond-level dynamic response, and autonomous balanced power supply of the battery pack can be achieved under high-current scenarios. At the same time, the inrush current of the bus capacitor is significantly reduced, the continuity and reliability of the power supply of the high-power system are improved, the battery life is effectively extended, and the overall system safety is enhanced.

[0113] In some embodiments, this application provides a charging and discharging system, including a charger, a main controller and multiple battery packs as described in the above embodiments, wherein the main controller is connected to each battery pack, and each battery pack is provided with a charging interface and a discharging interface.

[0114] Each battery pack has a charging port for connecting to the charger;

[0115] The discharge interface of each battery pack is connected in series with the first unidirectional output circuit, and then connected in parallel with the discharge interfaces of each battery pack to the system load.

[0116] In some embodiments, this application provides a mobile robot, including a system load, a main controller and multiple battery packs as described in the above embodiments, the main controller being communicatively connected to each battery pack, each battery pack being provided with a charging interface and a discharging interface, wherein the charging interface of each battery pack is used to connect to a charger; the discharging interface of each battery pack is connected in series with a first unidirectional output circuit, and is connected to the system load after being connected in parallel with the discharging interfaces of each battery pack.

[0117] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0118] The foregoing has provided a detailed description of a switch control circuit provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this application. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A charging and discharging circuit, characterized in that, The charging and discharging circuit includes a main controller and multiple battery packs. The main controller is connected to each battery pack. Each battery pack is provided with a charging interface and a discharging interface. The charging interface of each battery pack is connected to a charger. The discharging interface of each battery pack is connected in series with a first unidirectional output circuit, and then connected in parallel with the discharging interfaces of each battery pack to the system load. During the discharge phase, the main controller is used to control the shutdown of the charging interfaces of each battery pack so as to supply power to the system load through the discharge interfaces of each battery pack; the first unidirectional output circuit is used to control the current to flow unidirectionally from its corresponding battery pack to the system load; During the charging phase, the main controller is used to sequentially turn on and off the charging interfaces of each battery pack, so as to charge each battery pack in stages through the charger.

2. The charging and discharging circuit according to claim 1, characterized in that, The plurality of battery packs includes a first battery pack and a second battery pack, wherein the battery capacity of the first battery pack is greater than the battery capacity of the second battery pack. The main controller is used to control the closing of the charging interface of the first battery pack and the opening of the charging interface of the second battery pack, so as to charge the second battery pack through the charger; After the second battery pack has finished charging, the main controller is used to close the charging port of the second battery pack and open the charging port of the first battery pack so as to charge the first battery pack through the charger.

3. The charging and discharging circuit according to claim 1 or 2, characterized in that, The charger is also used to supply power to the system load while charging the plurality of battery packs; If the load current demand of the system load increases, the current supplied by the charger to the system load increases, while the current supplied to each battery pack decreases. If the load current demand of the system load is greater than the charging current of the charger, then each battery pack and the charger will supply power to the system load.

4. The charging and discharging circuit according to claim 3, characterized in that, It also includes a second unidirectional output circuit, one end of which is connected to the charger and the charging interface of each battery pack, and the other end of which is connected to the system load and the discharging interface of each battery pack. The second unidirectional output circuit is used to control the flow of current from the charger and / or each battery pack to the system load, so as to prevent the current of each battery pack from flowing to the charger and charging path when the charger and / or each battery pack supplies power to the system load.

5. The charging and discharging circuit according to claim 4, characterized in that, The first unidirectional output circuit and the second unidirectional output circuit are ideal diode driving circuits or single-unit diode driving circuits.

6. The charging and discharging circuit according to claim 5, characterized in that, The ideal diode driving circuit includes a main power switch and an ideal diode driving chip, wherein... The source of the main power switch is connected to the anode input terminal of the charger and the ideal diode driver chip, the drain of the main power switch is connected to the system load and the cathode output terminal of the ideal diode driver chip, and the gate of the main power switch is connected to the gate drive terminal of the ideal diode driver chip. The ideal diode driver chip is used to control the on and off of the main power switch.

7. The charging and discharging circuit according to claim 2, characterized in that, The first unidirectional output circuit of each battery pack is also used to prevent the current of the first battery pack from flowing back to the second battery pack when a voltage difference is generated among the battery packs, wherein the voltage of the first battery pack is greater than the voltage of the second battery pack.

8. The charging and discharging circuit according to claim 7, characterized in that, The first unidirectional output circuit of each battery pack is further configured to adjust the power supply path of the system load among the plurality of battery packs when a voltage difference is generated among the battery packs.

9. The charging and discharging circuit according to claim 1, characterized in that, The main controller is also configured to configure the charging current of the charger, so that the charger charges each battery pack through the charging current.

10. A charging and discharging system, characterized in that, The system includes a charger, a main controller as described in any one of claims 1-9, and multiple battery packs, wherein the main controller is connected to each battery pack, and each battery pack is provided with a charging interface and a discharging interface. The charging interface of each battery pack is used to connect to the charger; The discharge interface of each battery pack is connected in series with the first unidirectional output circuit, and then connected in parallel with the discharge interfaces of each battery pack to the system load.

11. A robot, characterized in that, The system includes a system load, a main controller as described in any one of claims 1-9, and multiple battery packs, wherein the main controller is connected to each battery pack, and each battery pack is provided with a charging interface and a discharging interface, wherein... The charging interface of each battery pack is used to connect to the charger; The discharge interface of each battery pack is connected in series with the first unidirectional output circuit, and then connected in parallel with the discharge interfaces of each battery pack to the system load.

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