Methods for controlling the charging and discharging of robotic vacuum cleaners and robotic vacuum cleaner systems

Abstract

This invention discloses a charging and discharging control method and a robotic vacuum cleaner system. The method includes steps S101 and S102. In step S101, the robotic vacuum cleaner uses its solar panel to capture sunlight during operation and stores the converted electricity inside the robot. In step S102, the robotic vacuum cleaner determines whether it is connected to the energy storage base. If it is connected, the intelligent control system monitors the battery level inside the robot. The intelligent control system has a discharge threshold and a first charging threshold, where the discharge threshold is greater than the first charging threshold. When the battery level inside the robot is not less than the discharge threshold, the robot automatically starts powering to the energy storage base. When the battery level inside the robot is not greater than the first charging threshold and there is no sunlight for charging, the robot automatically triggers power extraction from the energy storage base.

Description

Technical Field

[0001] This invention relates to the field of smart home cleaning equipment technology, and in particular to a charging and discharging control method and a sweeping robot system. Background Technology

[0002] With the increasing popularity of smart homes, robotic vacuum cleaners have become a common household cleaning device. Most robotic vacuum cleaners have an automatic recharging function; when the battery level drops below a certain threshold, the robot will automatically search for its charging dock. Currently, the charging docks for household robotic vacuum cleaners are usually installed indoors, using a power source to directly charge the robot.

[0003] However, current robotic vacuum cleaners have the following pain points: 1. Reliance on mains power: Most robotic vacuum cleaners need to be frequently connected to mains power for charging, resulting in high electricity costs over the long term, and are not in line with the trend of low carbon and environmental protection. 2. Limited battery life: The built-in battery capacity is small, and it is easy to lose power midway when cleaning large houses, requiring it to return to the charging dock to recharge, which affects cleaning efficiency; 3. Low energy efficiency: Some robotic vacuum cleaners with solar panels can only charge themselves and cannot store excess power. They still need to rely on mains power in situations without sunlight, such as cloudy or rainy days. Summary of the Invention

[0004] The purpose of this invention is to provide a charging and discharging control method and a robot vacuum system to solve the technical problems of existing robot vacuums relying on mains power, most of which need to be frequently connected to mains power for charging, resulting in high electricity costs in the long term and not conforming to the trend of low carbon and environmental protection; in addition, the energy utilization rate is low, some robot vacuums with solar panels can only charge themselves, and excess power cannot be stored, and they still need to rely on mains power in scenarios without sunlight such as cloudy or rainy days.

[0005] This invention provides a charging and discharging control method for a robotic vacuum cleaner. The method is applied to a robotic vacuum cleaner system including a robotic vacuum cleaner and an energy storage base. The method includes the following steps: Step S101: During the operation of the sweeping robot, the sweeping robot uses the solar panel to capture sunlight and stores the electricity converted by the solar panel inside the sweeping robot for use. Step S102: The sweeping robot determines whether it is connected to the energy storage base. If the sweeping robot is connected to the energy storage base, the robot monitors the power level inside the sweeping robot through the intelligent control system. The intelligent control system has a discharge threshold and a first charging threshold. The value of the discharge threshold is greater than the value of the first charging threshold. When the battery level in the robotic vacuum cleaner is not less than the discharge threshold, the robotic vacuum cleaner will automatically start the power supply mode to the energy storage base, and the energy storage base will store the battery level. When the battery level in the robot vacuum is not greater than the first charging threshold and there is no sunlight for charging, the robot vacuum will automatically trigger the power-drawing mode from the energy storage base, and the energy storage base will output power.

[0006] Furthermore, the discharge threshold is set to 80% of the robot vacuum's full battery level; and / or, The first charging threshold is set to 20% of the full charge of the robotic vacuum cleaner.

[0007] Furthermore, the robot vacuum cleaner is equipped with a first rechargeable battery pack, and the electricity converted by the solar panel is stored in the first rechargeable battery pack. The energy storage base is equipped with a second rechargeable battery pack. Both the first rechargeable battery pack and the second rechargeable battery pack are electrically connected to the intelligent control system. The capacity of the second rechargeable battery pack is greater than that of the first rechargeable battery pack. When the charge in the first rechargeable battery pack is not less than the discharge threshold, the first rechargeable battery pack will automatically start the power supply mode to the second rechargeable battery pack, and the second rechargeable battery pack will store the charge. When the charge in the first rechargeable battery pack is not greater than the first charging threshold and there is no sunlight for charging, the first rechargeable battery pack will automatically trigger the power draw mode from the second rechargeable battery pack.

[0008] Furthermore, both the first and second rechargeable battery packs are lithium iron phosphate battery packs, and the amount of electricity converted by the solar panel on the robot vacuum cleaner during one operation is equal to the capacity of the first rechargeable battery pack.

[0009] Further, in step S101, the amount of electricity stored internally by the sweeping robot before cleaning is no more than half of the electricity converted by the solar panels on the sweeping robot during one operation; and / or, The power consumption of the sweeping robot for one cleaning cycle is no more than half of the power converted by the solar panel on the sweeping robot during one operation.

[0010] Furthermore, in step S102, when the power in the sweeping robot is not less than the discharge threshold, the sweeping robot will input half of its internal power to the energy storage base.

[0011] Furthermore, it also includes step S103, in which the energy storage base is also connected to the mains power, and the intelligent control system is also provided with a second charging threshold, the value of which is greater than the value of the discharging threshold. When the power in the energy storage base is not greater than the second charging threshold and the robot vacuum cleaner has not charged the energy storage base for several consecutive days, the mains power is activated to charge the energy storage base.

[0012] Furthermore, the second charging threshold is set to 10% of the full charge of the energy storage base. When the charge in the energy storage base is not greater than 10% of the full charge of the energy storage base and the robot vacuum cleaner has not charged the energy storage base for seven consecutive days, the mains power is activated to charge the energy storage base.

[0013] The present invention also provides a sweeping robot system, the sweeping robot system including a sweeping robot and an energy storage base, the sweeping robot system being used to execute the sweeping robot charging and discharging control method as described above.

[0014] Furthermore, the robotic vacuum cleaner or the energy storage base is also equipped with an intelligent interactive panel, which is electrically connected to the intelligent control system. The intelligent interactive panel can display the real-time battery level and charging / discharging status of the robotic vacuum cleaner, display the real-time battery level and charging / discharging status of the energy storage base, and support users to manually change and set the charging / discharging threshold.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: The sweeping robot of this invention captures sunlight using its solar panel during operation and stores the converted electricity inside the robot. Excess electricity can be stored in the energy storage base, which can also charge the robot when its battery is low. The robot and the energy storage base have a bidirectional charging and discharging mechanism, enabling energy storage on sunny days and discharging on cloudy days, forming a closed-loop energy system. Daily cleaning is completely free from dependence on mains electricity, significantly improving energy utilization, reducing electricity costs, conforming to the low-carbon and environmentally friendly trend, and facilitating widespread promotion. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating the charging and discharging control method for a sweeping robot provided in an embodiment of the present invention. Figure 2 This is a partial structural diagram of a sweeping robot system provided in an embodiment of the present invention.

[0017] In the picture: 10. Robot vacuum cleaner; 11. Body; 12. Solar panel; 13. First rechargeable battery pack; 14. First circuit board; 15. First bidirectional charging and discharging interface; 20. Energy storage base; 21. Base; 22. Second rechargeable battery pack; 23. Second circuit board; 24. Second bidirectional charging and discharging interface; 30. Intelligent control system; 31. Power monitoring chip. Detailed Implementation

[0018] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0019] Please see Figures 1 to 2 As shown in the figure, an embodiment of the present invention discloses a charging and discharging control method for a sweeping robot, which is mainly applied to sweeping robot systems.

[0020] The robotic vacuum cleaner system includes a robotic vacuum cleaner 10 with a solar panel 12 for power generation and an energy storage base 20 with high-capacity energy storage. The robotic vacuum cleaner 10 includes a body 11, a solar panel 12, a first rechargeable battery pack 13, and a first circuit board 14. The solar panel 12, the first rechargeable battery pack 13, and the first circuit board 14 are all mounted on the body 11. The top of the body 11 is covered with a high-efficiency monocrystalline silicon solar panel 12. The solar panel 12 and the first rechargeable battery pack 13 are electrically connected to the first circuit board 14. The robotic vacuum cleaner 10 can capture sunlight in real time during the cleaning process and convert solar energy into electrical energy. During the cleaning process, the solar panel 12 continuously generates electricity, giving priority to powering its own cleaning system. Excess electricity can be stored in the built-in first rechargeable battery pack 13.

[0021] The energy storage base 20 includes a base 21, a second rechargeable battery pack 22, and a second circuit board 23. Both the second rechargeable battery pack 22 and the second circuit board 23 are mounted on the base 21. When the robot vacuum cleaner 10 returns to the energy storage base 20, the first circuit board 14 and the second rechargeable battery pack 22 are electrically connected to the second circuit board 23. The first circuit board 14 and the second circuit board 23 constitute an intelligent control system 30. The power monitoring chip 31 built into the intelligent control system 30 monitors the power in real time and automatically switches the charging and discharging modes without the need for manual intervention by the user, thus realizing intelligent power management.

[0022] A method for controlling the charging and discharging of a robotic vacuum cleaner (hereinafter referred to as the "method") includes the following steps: In step S101, during the operation of the robot vacuum cleaner 10, the robot vacuum cleaner 10 uses the solar panel 12 to capture sunlight and stores the electricity converted by the solar panel 12 inside the robot vacuum cleaner 10. The robot vacuum cleaner 10 has its own energy storage function, and the solar panel 12 generates and uses its own electricity to power the cleaning system of the robot vacuum cleaner 10, such as the fan, roller brush, and walking motor.

[0023] In step S102, after cleaning, the robot vacuum cleaner 10 returns to the energy storage base 20. The robot vacuum cleaner 10 determines whether it is connected to the energy storage base 20. If the robot vacuum cleaner is connected to the energy storage base 20, the power monitoring chip 31 in the intelligent control system 30 monitors the power of the robot vacuum cleaner 10 in real time. The intelligent control system 30 has a discharge threshold and a first charging threshold. The value of the discharge threshold is greater than the value of the first charging threshold. Some components of the intelligent control system 30 are located on the robot vacuum cleaner 10 and other components are located on the energy storage base 20.

[0024] When the battery level in the robotic vacuum cleaner 10 is not less than the discharge threshold, the robotic vacuum cleaner 10 will automatically start the power supply mode to the energy storage base 20, and the energy storage base 20 will store the battery level. When the battery level in the robotic vacuum cleaner 10 is not greater than the first charging threshold and there is no sunlight for charging, the robotic vacuum cleaner 10 will automatically trigger the power extraction mode from the energy storage base 20, and the energy storage base 20 will output the battery level. The two-way power transmission between the robotic vacuum cleaner 10 and the energy storage base 20 realizes the two-way energy storage function and solves the problem of solar energy storage and allocation.

[0025] When the battery level in the robotic vacuum cleaner 10 is between the first charging threshold and the discharging threshold, the robotic vacuum cleaner 10 will not be connected to the energy storage base 20.

[0026] Specifically, the discharge threshold is set to 80% of the full charge of the robot vacuum cleaner 10. When the robot vacuum cleaner 10 has a sufficient charge of ≥80% and returns to the energy storage base 20, the robot vacuum cleaner 10 automatically starts the power supply mode to the energy storage base 20, transferring the excess power to the energy storage base 20 to achieve energy storage. The first charging threshold is set to 20% of the full charge of the robot vacuum cleaner 10. When the robot vacuum cleaner 10 has a charge of ≤20% and there is no sunlight for charging, the robot vacuum cleaner 10 automatically triggers the power draw mode from the energy storage base 20, and the energy storage base 20 automatically replenishes its power to ensure the completion of the cleaning task.

[0027] In some embodiments, the robotic vacuum cleaner 10 further includes a first bidirectional charging and discharging interface 15, which is located at the bottom of the body 11 and is electrically connected to the first circuit board 14. The energy storage base 20 further includes a second bidirectional charging and discharging interface 24, which is located on the base 21 and can be connected to the second circuit board 23. During charging and discharging, the first bidirectional charging and discharging interface 15 and the second bidirectional charging and discharging interface 24 engage to facilitate bidirectional power transmission between the robotic vacuum cleaner 10 and the energy storage base 20, supporting the reception and output of power.

[0028] In this embodiment, the robotic vacuum cleaner 10 is equipped with a first rechargeable battery pack 13, and the electricity converted by the solar panel 12 is stored in the first rechargeable battery pack 13. The energy storage base 20 is equipped with a second rechargeable battery pack 22. Both the first rechargeable battery pack 13 and the second rechargeable battery pack 22 are electrically connected to the intelligent control system 30. The capacity of the second rechargeable battery pack 22 is greater than that of the first rechargeable battery pack 13. The energy storage base 20 can store a large amount of solar energy to support the robotic vacuum cleaner 10 to continuously complete multiple cleaning tasks.

[0029] When the charge in the first rechargeable battery pack 13 is not less than the discharge threshold, the first rechargeable battery pack 13 will automatically start the power supply mode to the second rechargeable battery pack 22, and the second rechargeable battery pack 22 will store the charge. When the charge in the first rechargeable battery pack 13 is not greater than the first charging threshold and there is no sunlight for charging, the first rechargeable battery pack 13 will automatically trigger the power draw mode from the second rechargeable battery pack 22, and the energy storage base 20 will automatically replenish the charge to ensure the completion of the cleaning task.

[0030] In some embodiments, the first rechargeable battery pack 13 is a 300W lithium iron phosphate battery pack. On a sunny day, the amount of electricity converted by the solar panel 12 on the robot vacuum cleaner 10 during one operation is equal to the capacity of the first rechargeable battery pack 13, and the amount of electricity converted by the solar panel 12 in one operation is also 300W. The second rechargeable battery pack 22 is a 4000W lithium iron phosphate battery pack. The energy storage base 20 is equipped with a large-capacity energy storage battery pack, which can store the excess solar power delivered by the robot vacuum cleaner 10. The large-capacity energy storage of the storage base solves the problems of battery life and cleaning efficiency, extends the continuous cleaning ability of the robot vacuum cleaner 10, and meets the one-time cleaning needs of large houses and multiple rooms.

[0031] In this embodiment, the method further includes step S103, where the energy storage base 20 is also connected to the mains power supply, the mains power supply switch is normally in the off state, and the intelligent control system 30 is also provided with a second charging threshold, the value of which is greater than the value of the discharging threshold.

[0032] Only in special extreme scenarios, when the power in the energy storage base 20 is not greater than the second charging threshold and the robot vacuum cleaner 10 has not charged the energy storage base 20 for several consecutive days, will the mains power be activated to charge the energy storage base 20, so as to maximize the use of solar energy resources, reduce the mains power consumption, and reduce the long-term use cost for users.

[0033] Specifically, the second charging threshold is set to 10% of the full charge of the energy storage base 20. Only when the charge in the energy storage base 20 is no more than 10% of the full charge of the energy storage base 20 and the robot vacuum cleaner 10 has not charged the energy storage base 20 for seven consecutive days will the mains power be activated to charge the energy storage base 20, thus avoiding reliance on mains power.

[0034] In this embodiment, the robotic vacuum cleaner 10 or the energy storage base 20 is also equipped with an intelligent interactive panel. The intelligent interactive panel is electrically connected to the intelligent control system 30. The intelligent interactive panel can monitor and display the real-time power and charging / discharging status of the robotic vacuum cleaner 10 and the energy storage base 20 in real time. It also supports users to manually change and set the charging / discharging threshold, change the values ​​of the discharging threshold, the first charging threshold, and the second charging threshold, and automatically switch the charging / discharging mode to achieve efficient energy allocation.

[0035] On a sunny day, the internal power storage of the robotic vacuum cleaner 10 before cleaning is no more than half of the power converted by its solar panel 12 during one operation. Furthermore, the power consumption of the robotic vacuum cleaner 10 during one cleaning cycle is no more than half of the power converted by its solar panel 12 during one operation. Specifically, in a typical household scenario with a floor area of ​​120 square meters, the robotic vacuum cleaner 10 consumes 150W of power during one cleaning cycle. During the cleaning process, the solar panel 12 generates approximately 300W of electricity, of which 150W is directly used to maintain the cleaning operation, and the remaining 1... The robot vacuum 10 stores 50W of power in its own battery. After cleaning, it returns to the energy storage base 20 and connects its fully charged 300W power (including the 150W remaining before cleaning and the 150W stored during cleaning) to the energy storage base 20. After three consecutive sunny days, the robot vacuum 10 will transfer half of its internal power to the energy storage base 20 each time. The energy storage base 20 can store up to 450W of power, which can support the robot vacuum 10 to clean three times in a row. If there are two consecutive cloudy or rainy days, the robot vacuum 10 will draw power from the energy storage base 20 to complete the cleaning. The energy storage base 20 will still have 150W of power remaining, so there is no need to recharge it with mains power.

[0036] In an extreme rainy weather scenario, during seven consecutive days of rain in a certain region, both the robot vacuum cleaner 10 and the initial battery level of the energy storage base 20 were at full capacity (robot vacuum cleaner 300W, energy storage base 4000W). For the first 5 days, the robot vacuum cleaner 10 draws 150W of power from the energy storage base 20 each day to complete cleaning. The remaining power of the energy storage base 20 is 4000W - 150W × 5 = 3250W. On the 6th day, the remaining power of the energy storage base 20 is 3250W - 150W = 3100W, which can still support the cleaning of the robot vacuum cleaner 10. On the 7th day, the remaining power of the energy storage base 20 is 3100W - 150W = 2950W, and the mains power replenishment is not triggered. Until the 27th day, there is still no sunlight. When the power of the energy storage base 20 drops to 4000W × 8% = 320W, the mains power replenishment is automatically activated. This establishes an energy replenishment mechanism for cloudy and rainy days and other scenarios without sunlight. The energy stored in the energy storage base 20 is used to power the robot vacuum cleaner 10, eliminating the daily dependence on mains power.

[0037] The core technological advantage of this application lies in realizing the self-generation and self-consumption of solar energy and the two-way energy storage cycle, which significantly improves energy utilization efficiency, endurance, and system intelligence. The specific advantages are as follows: 1. High-efficiency energy recycling: Traditional robotic vacuum cleaners 10 can only rely on mains power or one-way solar charging, and excess energy cannot be stored. This proposal uses a bidirectional charging and discharging mechanism between the robotic vacuum cleaner 10 (300W energy storage) and the energy storage base 20 (4000W energy storage) to achieve energy storage on sunny days and discharge on cloudy days, forming a closed-loop energy system. Daily cleaning can completely get rid of dependence on mains power, and the energy utilization rate is increased by more than 60%.

[0038] 2. Significantly enhanced battery life: Ordinary models can only support 1-2 cleaning tasks on a single charge, and large homes require multiple charging interruptions. In this system, the energy storage base 20 can store a large amount of solar power, supporting the robot vacuum cleaner 10 to complete 15-20 cleaning tasks continuously (based on a power consumption of 200W per task). It is especially suitable for large homes and multi-room scenarios, significantly improving cleaning efficiency.

[0039] 3. Intelligent power management, fully automatic operation, built-in intelligent control system monitors power status in real time: When the robot vacuum cleaner 10 has an internal battery level of ≥80% and returns to the energy storage base 20, it automatically supplies power to the energy storage base 20. When the battery level is ≤20% and there is no sunlight, it automatically draws power from the energy storage base 20 to replenish energy, requiring no manual intervention throughout the process, truly achieving "unattended" cleaning.

[0040] 4. Strong adaptability to extreme weather. In the face of continuous rainy days, the system prioritizes the use of energy storage base 20 for power supply; only when the power of energy storage base 20 is ≤10% and there is no sunshine for several consecutive days will the mains power be activated to supplement power, so as to minimize the dependence on mains power and ensure the stable operation of the system.

[0041] 5. Low carbon and environmentally friendly, reducing usage costs. Utilizing solar energy as the primary energy source can reduce carbon emissions by approximately 150 kg per year (calculated at 0.617 kg carbon emissions per kilowatt-hour). Based on an average household usage of 2 hours per day, it can save on electricity bills annually, resulting in significant long-term economic benefits.

[0042] 6. Safe and reliable with optimized structure, using lithium iron phosphate batteries, which have high safety and long life; the bidirectional charging and discharging interface has overcurrent, overvoltage and short circuit protection mechanisms to ensure safe and stable charging and discharging process; the robot vacuum cleaner 10 has anti-fall and anti-collision design to adapt to complex home environments.

[0043] In summary, the sweeping robot 10 of the present invention captures sunlight using its solar panel 12 during operation and stores the electricity converted by the solar panel 12 inside the sweeping robot 10 for use. Excess electricity of the sweeping robot 10 can be stored in the energy storage base 20. The energy storage base 20 can also charge the sweeping robot 10 when its power is low. The sweeping robot 10 and the energy storage base 20 have a bidirectional charging and discharging mechanism, realizing power storage on sunny days and discharging on cloudy days, forming a closed-loop energy system. Daily cleaning is completely free from dependence on mains electricity, and the energy utilization rate can be greatly improved, reducing electricity costs. It conforms to the trend of low carbon and environmental protection and is easy to promote on a large scale.

[0044] The above embodiments are merely preferred embodiments of the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. A charging and discharging control method for a robotic vacuum cleaner, characterized in that, The method is applied to a robotic vacuum cleaner system including a robotic vacuum cleaner and an energy storage base, and the method includes the following steps: Step S101: During the operation of the sweeping robot, the sweeping robot uses the solar panel to capture sunlight and stores the electricity converted by the solar panel inside the sweeping robot for use. Step S102: The sweeping robot determines whether it is connected to the energy storage base. If the sweeping robot is connected to the energy storage base, the robot monitors the power level inside the sweeping robot through the intelligent control system. The intelligent control system has a discharge threshold and a first charging threshold. The value of the discharge threshold is greater than the value of the first charging threshold. When the battery level in the robotic vacuum cleaner is not less than the discharge threshold, the robotic vacuum cleaner will automatically start the power supply mode to the energy storage base, and the energy storage base will store the battery level. When the battery level in the robot vacuum is not greater than the first charging threshold and there is no sunlight for charging, the robot vacuum will automatically trigger the power-drawing mode from the energy storage base, and the energy storage base will output power.

2. The charging and discharging control method for a sweeping robot according to claim 1, characterized in that, The discharge threshold is set to 80% of the robot vacuum's full battery level; and / or, The first charging threshold is set to 20% of the full charge of the robotic vacuum cleaner.

3. The method for controlling the charging and discharging of a sweeping robot according to claim 1, characterized in that, The robot vacuum cleaner is equipped with a first rechargeable battery pack inside, and the electricity converted by the solar panel is stored in the first rechargeable battery pack. The energy storage base is equipped with a second rechargeable battery pack. Both the first rechargeable battery pack and the second rechargeable battery pack are electrically connected to the intelligent control system. The capacity of the second rechargeable battery pack is greater than that of the first rechargeable battery pack. When the charge in the first rechargeable battery pack is not less than the discharge threshold, the first rechargeable battery pack will automatically start the power supply mode to the second rechargeable battery pack, and the second rechargeable battery pack will store the charge. When the charge in the first rechargeable battery pack is not greater than the first charging threshold and there is no sunlight for charging, the first rechargeable battery pack will automatically trigger the power draw mode from the second rechargeable battery pack.

4. The method for controlling the charging and discharging of a sweeping robot according to claim 3, characterized in that, Both the first and second rechargeable battery packs are lithium iron phosphate battery packs. During one operation of the sweeping robot, the amount of electricity converted by the solar panel is equal to the capacity of the first rechargeable battery pack.

5. The method for controlling the charging and discharging of a sweeping robot according to claim 1, characterized in that, In step S101, the amount of electricity stored inside the sweeping robot before cleaning is no more than half of the electricity converted by the solar panel on the sweeping robot during one operation; and / or, The power consumption of the sweeping robot for one cleaning cycle is no more than half of the power converted by the solar panel on the sweeping robot during one operation.

6. The method for controlling the charging and discharging of a sweeping robot according to claim 1, characterized in that, In step S102, when the power in the sweeping robot is not less than the discharge threshold, the sweeping robot will input half of its internal power to the energy storage base.

7. The method for controlling the charging and discharging of a sweeping robot according to claim 1, characterized in that, It also includes step S103, in which the energy storage base is also connected to the mains power, and the intelligent control system is also provided with a second charging threshold, the value of which is greater than the value of the discharge threshold. When the power in the energy storage base is not greater than the second charging threshold and the robot vacuum cleaner has not charged the energy storage base for several consecutive days, the mains power is activated to charge the energy storage base.

8. The method for controlling the charging and discharging of a sweeping robot according to claim 7, characterized in that, The second charging threshold is set to 10% of the full charge of the energy storage base. When the charge in the energy storage base is not greater than 10% of the full charge of the energy storage base and the robot vacuum cleaner has not charged the energy storage base for seven consecutive days, the mains power is activated to charge the energy storage base.

9. A robotic vacuum cleaner system, characterized in that, The sweeping robot system includes a sweeping robot and an energy storage base, and the sweeping robot system is used to execute the sweeping robot charging and discharging control method as described in any one of claims 1 to 8.

10. The sweeping robot system according to claim 9, characterized in that, The robotic vacuum cleaner or the energy storage base is also equipped with an intelligent interactive panel, which is electrically connected to the intelligent control system. The intelligent interactive panel can display the real-time battery level and charging / discharging status of the robotic vacuum cleaner, the real-time battery level and charging / discharging status of the energy storage base, and supports users to manually change and set the charging / discharging threshold.

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