Charging and discharging control circuit of cleaning robot and cleaning robot

Abstract

The utility model provides a charging and discharging control circuit of a cleaning robot and the cleaning robot, and relates to the field of self-moving cleaning equipment, the circuit comprises a pole piece, a switch protection module and a charging and discharging control module; the pole piece is electrically connected with the charging and discharging control module and is used for enabling a battery of the cleaning robot to obtain electric energy from a base station or supply power to the base station through the pole piece after being butted with the base station; the first end of the switch protection module is electrically connected with the charging and discharging control module, and the second end of the switch protection module is electrically connected with the battery and used for connecting or disconnecting the electric connection between the charging and discharging control module and the battery; and the charge-discharge control module is used for controlling the battery to obtain electric energy from the base station or supply power to the base station according to the type of the base station. The cleaning robot can provide power for the external base station and protect the internal chip at the same time.

Description

Technical Field

[0001] The utility model relates to the field of self-moving cleaning equipment, in particular to a charging and discharging control circuit of a cleaning robot and the cleaning robot. Background Art

[0002] The cleaning robot mainly has the functions of sweeping, mopping, path planning and navigation obstacle avoidance. After completing the cleaning, the cleaning robot needs to perform automatic cleaning tasks, such as: removing dust, replenishing water, cleaning the mop, drying the mop, replenishing power, etc. For this purpose, the cleaning robot will be equipped with a cleaning base station to complete the automatic cleaning functions mentioned above.

[0003] As the functions of base stations become more and more abundant, it is considered to equip a cleaning robot with multiple base stations. Different base stations have different functions. Some base stations require the cleaning robot to power the base stations, and some base stations can charge the cleaning robot. However, in the prior art, the cleaning robot can only be charged through the base station, and the cleaning robot cannot power the external base station. Utility Model Content

[0004] In view of this, the purpose of the present invention is to overcome the deficiencies in the prior art and provide a charging and discharging control circuit of a cleaning robot and a cleaning robot. The present invention provides the following technical solutions:

[0005] In a first aspect, the utility model provides a charge and discharge control circuit of a cleaning robot, the circuit comprising: a pole piece, a switch protection module and a charge and discharge control module;

[0006] The pole piece is electrically connected to the charge and discharge control module, and is used to enable the battery of the cleaning robot to obtain electric energy from the base station or supply power to the base station through the pole piece after docking with the base station;

[0007] The first end of the switch protection module is electrically connected to the charge and discharge control module, and the second end of the switch protection module is electrically connected to the battery, for switching on or off the electrical connection between the charge and discharge control module and the battery;

[0008] The charge and discharge control module is used to control the battery to obtain electric energy from the base station or to supply power to the base station according to the type of the base station.

[0009] In one embodiment, the circuit further comprises a main control module;

[0010] The main control module is electrically connected to the third end of the switch protection module;

[0011] When the base station is a base station to be charged, the main control module sends a first control signal to the switch protection module to electrically connect the battery with the charge and discharge control module so that the battery supplies power to the base station.

[0012] In one embodiment, the fourth end of the switch protection module is electrically connected to the electrode piece;

[0013] When the base station is a charging base station, the electrical signal of the charging base station is input into the switch protection module through the electrode, and the charge and discharge control module is electrically connected to the battery, so that the battery obtains electrical energy from the base station.

[0014] In one embodiment, the circuit further includes a first switch module and a second switch module;

[0015] The first end of the first switch module is electrically connected to the electrode piece, the second end of the first switch module is electrically connected to the first end of the second switch module, the third end of the first switch module is electrically connected to the charge and discharge control module, and the fourth end of the first switch module is grounded;

[0016] The second end of the second switch module is electrically connected to the battery, the third end of the second switch module is electrically connected to the charge and discharge control module, and the fourth end of the second switch module is grounded;

[0017] The main control module is electrically connected to the charge and discharge control module, and is also used to send a second control signal to the charge and discharge control module when the base station is a base station to be charged, and the second control signal is used to control the battery to discharge to the base station to be charged;

[0018] The charge and discharge control module is further used to send a first disconnection signal to the first switch module and a second disconnection signal to the second switch module according to the second control signal, so as to electrically connect the electrode to the battery and control the discharge current.

[0019] In one embodiment, the first switch module includes a first high-side switch and a first low-side switch, and the second switch module includes a second high-side switch and a second low-side switch;

[0020] The input end of the first high-side switch is the first end of the first switch module, and the output end of the first high-side switch is the second end of the first switch module;

[0021] The input end of the first low-side switch is electrically connected to the output end of the first high-side switch, and the output end of the first low-side switch is the fourth end of the first switch module;

[0022] The control end of the first high-side switch and the control end of the first low-side switch are the third end of the first switch module;

[0023] The input end of the second high-side switch is the second end of the second switch module, and the output end of the second high-side switch is the first end of the second switch module;

[0024] The input end of the second low-side switch is electrically connected to the output end of the second high-side switch, and the output end of the second low-side switch is the fourth end of the second switch module;

[0025] The control end of the second high-side switch and the control end of the second low-side switch are the third end of the second switch module;

[0026] The first disconnect signal controls the first high-side switch to be turned on and the first low-side switch to be turned off, and the second disconnect signal controls the second high-side switch and the second low-side switch to be turned on or off alternately, so that the battery discharges to the base station to be charged.

[0027] In one embodiment, the main control module is further used to send a third control signal to the charge and discharge control module when the base station is a charging base station, and the third control signal is used to control the battery to obtain electric energy from the charging base station;

[0028] The charge and discharge control module is further used to send a third disconnection signal to the second switch module and a fourth disconnection signal to the first switch module according to the third control signal, so as to electrically connect the electrode to the battery and control the charging current;

[0029] The third disconnection signal controls the second high-side switch to be turned on and the second low-side switch to be turned off;

[0030] The fourth disconnection signal controls the first high-side switch and the first low-side switch to be alternately turned on or off.

[0031] In one embodiment, the circuit further includes: a first current acquisition module and a second current acquisition module;

[0032] The first end of the first current acquisition module is electrically connected to the pole piece, the second end of the first current acquisition module is electrically connected to the first end of the first switch module, and the third end of the first current acquisition module is electrically connected to the charge and discharge control module, for collecting the pole piece end current;

[0033] The first end of the second current acquisition module is electrically connected to the second end of the second switch module, the second end of the second current acquisition module is electrically connected to the battery, and the third end of the second current acquisition module is electrically connected to the charge and discharge control module for collecting battery terminal current.

[0034] In one embodiment, the switch protection module includes: a first switch tube, a second switch tube and a third switch tube;

[0035] The output end of the first switch tube is the first end of the switch protection module, the input end of the first switch tube is the second end of the switch protection module, and the control end of the first switch tube is electrically connected to the input end of the second switch tube and the input end of the third switch tube respectively;

[0036] The output end of the second switch tube is grounded, and the control end of the second switch tube is the fourth end of the switch protection module;

[0037] The output end of the third switch tube is grounded, and the control end of the third switch tube is the third end of the switch protection module.

[0038] In one embodiment, the first switch tube is a first field effect tube, the source of the first field effect tube is the output end of the first switch tube, the drain of the first field effect tube is the input end of the first switch tube, and the gate of the first field effect tube is the control end of the first switch tube;

[0039] The second switch tube is a second field effect tube, the source of the second field effect tube is the input end of the second switch tube, the drain of the second field effect tube is the output end of the second switch tube, and the gate of the second field effect tube is the control end of the second switch tube;

[0040] The third switch tube is a third field effect tube, the source of the third field effect tube is the input end of the third switch, the drain of the third field effect tube is the output end of the third switch tube, and the gate of the third field effect tube is the control end of the third switch tube.

[0041] The charging and discharging control circuit of the cleaning robot provided by the utility model controls the battery of the cleaning robot to obtain electric energy from the base station or supply power to the base station through the charging and discharging control module according to the type of base station, so that the cleaning robot supplies power to the external base station, and turns on or off the electrical connection between the charging and discharging control module and the battery by turning on or off the switch protection module. When the charging and discharging control module needs to control the battery to obtain electric energy from the charging base station, or when the charging and discharging control module needs to control the battery to supply power to the base station to be charged, the switch protection module is turned on, so that the charging and discharging control module is electrically connected to the battery; when charging and discharging is not required, the switch protection module is disconnected, so that the charging and discharging control module is disconnected from the battery, thereby protecting the charging and discharging control module.

[0042] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 A schematic diagram of the structure of a charging and discharging control circuit of a cleaning robot provided in an embodiment of the present application is shown;

[0045] Figure 2 Another structural schematic diagram of the charging and discharging control circuit of the cleaning robot provided in an embodiment of the present application is shown;

[0046] Figure 3 Another structural schematic diagram of the charging and discharging control circuit of the cleaning robot provided in an embodiment of the present application is shown;

[0047] Figure 4 A circuit diagram of a charging and discharging control circuit of a cleaning robot provided in an embodiment of the present application is shown;

[0048] Figure 5 Another structural schematic diagram of the charging and discharging control circuit of the cleaning robot provided in an embodiment of the present application is shown;

[0049] Figure 6 A circuit diagram of a charging and discharging control circuit of a cleaning robot provided in an embodiment of the present application is shown;

[0050] Figure 7 Another structural schematic diagram of the charging and discharging control circuit of the cleaning robot provided in an embodiment of the present application is shown.

[0051] Description of main component symbols:

[0052] 100 - charging and discharging control circuit of the cleaning robot; 110 - pole piece; 120 - charging and discharging control module; 130 - switch protection module; 140 - main control module; 150 - first current acquisition module; 160 - second current acquisition module; Q1 - first switch module; Q2 - second switch module; 200 - battery. DETAILED DESCRIPTION

[0053] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0054] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0055] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of the template herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0056] In this embodiment, the charging and discharging control circuit of the cleaning robot can be installed on the cleaning robot, and the cleaning robot cooperates with the corresponding base station to have functions such as changing water, collecting dust, and adding water to the humidifier, which are not limited here. The cleaning robot can be docked with the base station, and the base station can be a charging base station (such as a dust collection base station, a humidifier) ​​or a base station to be charged (such as a water changing base station).

[0057] See also Figure 1 , this embodiment provides a charge and discharge control circuit 100 of a cleaning robot, including: a pole piece 110, a switch protection module 130 and a charge and discharge control module 120;

[0058] The pole piece 110 is electrically connected to the charge and discharge control module 120, and is used to enable the battery 200 of the cleaning robot to obtain electric energy from the base station or supply power to the base station through the pole piece 110 after docking with the base station;

[0059] The first end of the switch protection module 130 is electrically connected to the charge and discharge control module 120, and the second end of the switch protection module 130 is electrically connected to the battery 200, for connecting or disconnecting the electrical connection between the charge and discharge control module 120 and the battery 200;

[0060] The charge and discharge control module 120 is used to control the battery 200 to obtain power from the base station or to supply power to the base station according to the type of the base station.

[0061] In this embodiment, the base station can be a charging base station or a base station to be charged, and the base station includes a base station pole piece, which can be electrically connected to the pole piece 110 of the charge and discharge control circuit 100 of the cleaning robot. The charge and discharge control module 120 includes a charge and discharge control chip, and the charge and discharge control chip includes a plurality of pins. Specifically, the charge and discharge control chip includes a VBUS pin, which is electrically connected to the pole piece 110, and is used for when the base station is a charging base station, the charge and discharge control chip obtains electric energy from the pole piece 110 through the VBUS pin, so that the charge and discharge control chip controls the battery 200 to obtain electric energy from the base station through the pole piece 110; the charge and discharge control chip also includes a VBAT pin, which is electrically connected to the first end of the switch protection module 130, and is used for when the base station is a base station to be charged, the charge and discharge control chip obtains electric energy from the battery through the VBAT pin, so that the charge and discharge control chip controls the battery 200 to supply power to the base station through the pole piece 110.

[0062] When the charge and discharge control module 120 needs to control the battery 200 to obtain electric energy from the charging base station, or when the charge and discharge control module 120 needs to control the battery 200 to supply power to the base station to be charged, the switch protection module 130 is turned on, so that the charge and discharge control module 120 is electrically connected to the battery 200; when charging and discharging is not required, the switch protection module 130 is disconnected, so that the charge and discharge control module 120 is electrically disconnected from the battery 200, thereby avoiding damage to the charge and discharge control chip of the charge and discharge control module 120.

[0063] In one embodiment, see Figure 2 The circuit also includes a main control module 140; the main control module 140 is electrically connected to the third end of the switch protection module 130; when the base station is a base station to be charged, the main control module 140 sends a first control signal to the switch protection module 130 to conduct the electrical connection between the battery 200 and the charge and discharge control module 120, so that the battery 200 supplies power to the base station.

[0064] In this embodiment, the main control module 140 includes a main control chip, which includes multiple pins, wherein the PB15 pin of the main control chip is electrically connected to the third end of the switch protection module 130, and is used for when the base station is a base station to be charged, the main control chip outputs a high-level signal, i.e., a first control signal, to the switch protection module 130 through the PB15 pin to control the switch protection module 130 to be turned on, so that the battery 200 is electrically connected to the charge and discharge control module 120, so that the charge and discharge control module 120 controls the battery 200 to supply power to the base station. The switch protection module 130 is controlled to be turned on by the first control signal output by the main control module 140, so that the process of the battery 200 supplying power to the base station can be controlled. When it is identified that the base station is neither a charging base station nor a base station to be charged, the first control signal is not sent. At this time, the battery 200 is electrically disconnected from the charge and discharge control module 120, and the battery 200 can be more accurately controlled to supply power to the base station.

[0065] It should be noted that the pins through which the main control chip sends signals outward are only used for exemplary purposes and are not limiting. In other embodiments, the main control chip may select other pins to send signals outward according to actual conditions.

[0066] In one embodiment, see Figure 3 , the fourth end of the switch protection module 130 is electrically connected to the electrode 110; when the base station is a charging base station, the electrical signal of the charging base station is input into the switch protection module 130 through the electrode 110, and the charge and discharge control module 120 is electrically connected to the battery 200, so that the charge and discharge control module 120 controls the battery 200 to obtain electrical energy from the base station.

[0067] In this embodiment, when the base station is a charging base station, the switch protection module 130 obtains the charging voltage of the charging base station, such as 24V, through the electrode 110, and is directly turned on, so that the charge and discharge control module 120 is electrically connected to the battery 200.

[0068] It should be noted that the switch protection module 130 can obtain the charging voltage of the charging base station through the pole piece 110 and be directly turned on. Therefore, when the base station is a charging base station, even when the cleaning robot battery 200 is out of power, the high voltage input through the pole piece 110 can directly turn on the switch protection module 130, thereby realizing the charging function, and the battery 200 obtains electrical energy from the charging base station.

[0069] In one embodiment, see Figure 4The switch protection module 130 includes: a first switch tube T1, a second switch tube T2 and a third switch tube T3; the output end of the first switch tube T1 is the first end of the switch protection module 130, the input end of the first switch tube T1 is the second end of the switch protection module 130, and the control end of the first switch tube T1 is electrically connected to the input end of the second switch tube T2 and the input end of the third switch tube T3 respectively; the output end of the second switch tube T2 is grounded, and the control end of the second switch tube T2 is the fourth end of the switch protection module 130; the output end of the third switch tube T3 is grounded, and the control end of the third switch tube T3 is the third end of the switch protection module 130.

[0070] In this embodiment, when the base station is a base station to be charged, the main control chip of the main control module 140 outputs a high level to the control end of the third switch tube T3 through the PB15 pin, so that the third switch tube T3 is turned on, and the first switch tube T1 is also turned on. At this time, the charge and discharge control module 120 is electrically connected to the battery 200, and the charge and discharge control module 120 can control the current from the battery 200 to the base station to be charged, thereby realizing that the battery 200 supplies power to the base station to be charged; when the base station is a charging base station, after the base station electrode is electrically connected to the electrode 110 of the cleaning robot, the control end of the second switch tube T2 has a high voltage input, such as 24V. At this time, the second switch tube T2 is turned on, and the first switch tube T1 is also turned on. At this time, the charge and discharge control module 120 is electrically connected to the battery 200, and the charge and discharge control module 120 can control the current from the charging base station to the battery 200, thereby realizing that the charging base station charges the battery 200.

[0071] Furthermore, the switch protection module 130 further includes a first voltage-dividing resistor R1 and a second voltage-dividing resistor R2. The first end of the first voltage-dividing resistor R1 is electrically connected to the input end of the first switch tube T1, and the second end of the first voltage-dividing resistor R1 is electrically connected to the control end of the first switch tube T1; the first end of the second voltage-dividing resistor R2 is electrically connected to the control end of the first switch tube T1, and the second end of the second voltage-dividing resistor R2 is electrically connected to the input end of the second switch tube T2.

[0072] Furthermore, the switch protection module 130 further includes a first resistor R3, a second resistor R4, a third resistor R5 and a capacitor C1. The first end of the first resistor R3 is electrically connected to the second end of the second resistor R4 and the first end of the third resistor R5 respectively, and the second end of the first resistor R3 is grounded; the first end of the second resistor R4 is the fourth end of the switch protection module; the second end of the third resistor R5 is electrically connected to the control end of the second switch tube; the capacitor C1 is connected in parallel with the first resistor R3;

[0073] The switch protection module 130 further includes a fourth resistor R6 and a fifth resistor R7. The first end of the fourth resistor R6 is the third end of the switch protection module, the second end of the fourth resistor R6 is electrically connected to the control end of the third switch tube and the first end of the fifth resistor R7 respectively; the second end of the fifth resistor R7 is grounded.

[0074] It should be noted that the function of the first voltage-dividing resistor R1 and the second voltage-dividing resistor R2 is to ensure that when the first switch tube T1 is turned on, the voltage at the input end and the output end is greater than the turn-on threshold voltage of the first switch tube T1; the function of the first resistor R3, the second resistor R4, the third resistor R5 and the capacitor C1 is to control the turn-on threshold voltage of the second switch tube T2; the function of the fourth resistor R6 and the fifth resistor R7 is to control the turn-on threshold voltage of the third switch tube T3.

[0075] In one embodiment, the first switch tube T1 is a first field effect tube, the source of the first field effect tube is the output end of the first switch tube T1, the drain of the first field effect tube is the input end of the first switch tube T1, and the gate of the first field effect tube is the control end of the first switch tube T1;

[0076] The second switch tube T2 is a second field effect tube, the source of the second field effect tube is the input end of the second switch tube T2, the drain of the second field effect tube is the output end of the second switch tube T2, and the gate of the second field effect tube is the control end of the second switch tube T2;

[0077] The third switch tube T3 is a third field effect tube, the source of the third field effect tube is the input end of the third switch T3, the drain of the third field effect tube is the output end of the third switch tube T3, and the gate of the third field effect tube is the control end of the third switch tube T3.

[0078] It should be noted that since there is almost no voltage drop in the channel of the field effect tube and its high current carrying capacity is stronger than other switching devices, such as triodes, relays or thyristors, the field effect tube has more advantages than other switching devices in terms of usage scenarios and practical life.

[0079] In one embodiment, see Figure 5 , the circuit further includes a first switch module Q1 and a second switch module Q2;

[0080] The first end of the first switch module Q1 is electrically connected to the electrode 110, the second end of the first switch module Q1 is electrically connected to the first end of the second switch module Q2, the third end of the first switch module Q1 is electrically connected to the charge and discharge control module 120, and the fourth end of the first switch module Q1 is grounded;

[0081] The second end of the second switch module Q2 is electrically connected to the battery 200, the third end of the second switch module Q2 is electrically connected to the charge and discharge control module 120, and the fourth end of the second switch module Q2 is grounded;

[0082] The main control module 140 is electrically connected to the charge and discharge control module 120, and is also used to send a second control signal to the charge and discharge control module 120 when the base station is a base station to be charged, and the second control signal is used to control the battery 200 to discharge to the base station to be charged;

[0083] The charge and discharge control module 120 is further used to send a first disconnection signal to the first switch module Q1 and a second disconnection signal to the second switch module Q2 according to the second control signal, so as to electrically connect the electrode 110 to the battery 200 and control the discharge current.

[0084] In this example, see Figure 6 The main control chip of the main control module 140 also includes a PD7 pin, which is electrically connected to the DIR pin of the charge and discharge control chip of the charge and discharge control module 120. When the base station is a base station to be charged, the main control chip outputs a high level, i.e., a second control signal, to the charge and discharge control chip through the PD7 pin to control the cleaning robot to enter the discharge mode, and the current flows from the battery 200 to the base station to be charged, i.e., controls the battery 200 to discharge to the base station to be charged.

[0085] Furthermore, the charge and discharge control chip is electrically connected to the first switch module Q1 through the HD1 pin and the LD1 pin, and is electrically connected to the second switch module Q2 through the HD2 pin and the LD2 pin. After receiving the second control signal through the DIR pin, the charge and discharge control chip sends a first disconnection signal to the first switch module Q1 through the HD1 pin and the LD1 pin, and sends a second disconnection signal to the second switch module Q2 through the HD2 pin and the LD2 pin, so that the electrode 110 is electrically connected to the battery 200, and the magnitude and discharge speed of the discharge current are accurately controlled.

[0086] It is necessary to add that Figure 6 The connection point A in Figure 4 The connection point A in is the same connection point. Figure 6 The SIN2P pin of the charge and discharge control chip is connected to Figure 4 The connection point B in is electrically connected, Figure 6 The SIN2N pin in the Figure 4 The connection point C in the circuit is electrically connected, Figure 6 The VBAT pin in Figure 4 The connection point D in is electrically connected, thereby forming a complete charging and discharging control circuit diagram.

[0087] In one embodiment, see again Figure 6 , the first switch module Q1 includes a first high-side switch and a first low-side switch, and the second switch module Q2 includes a second high-side switch and a second low-side switch;

[0088] The input end of the first high-side switch is the first end of the first switch module Q1, and the output end of the first high-side switch is the second end of the first switch module Q1;

[0089] The input end of the first low-side switch is electrically connected to the output end of the first high-side switch, and the output end of the first low-side switch is the fourth end of the first switch module Q1;

[0090] The control end of the first high-side switch and the control end of the first low-side switch are the third end of the first switch module;

[0091] The input end of the second high-side switch is the second end of the second switch module Q2, and the output end of the second high-side switch is the first end of the second switch module Q2;

[0092] The input end of the second low-side switch is electrically connected to the output end of the second high-side switch, and the output end of the second low-side switch is the fourth end of the second switch module Q2;

[0093] The control end of the second high-side switch and the control end of the second low-side switch are the third end of the second switch module;

[0094] The first disconnect signal controls the first high-side switch to be turned on and the first low-side switch to be turned off, and the second disconnect signal controls the second high-side switch and the second low-side switch to be turned on or off alternately, so that the battery 200 discharges to the base station to be charged.

[0095] In this embodiment, after the charge and discharge control chip of the charge and discharge control module 120 receives a high level signal, i.e., the second control signal, it sends a high level signal to the first high-side switch through the HD1 pin, and sends a low level signal to the first low-side switch through the LD1 pin, so that the first high-side switch is turned on and the first low-side switch is turned off, thereby turning on the first switch module Q1.

[0096] At the same time, the charge and discharge control chip also sends a high level signal or a low level signal to the second high-side switch through the HD2 pin and sends a high level signal or a low level signal to the second low-side switch through the LD2 pin according to the preset frequency, so that the second high-side switch and the second low-side switch are alternately turned on or off to form a pulse signal, thereby accurately controlling the discharge current and discharge speed.

[0097] It should be noted that the longer the second high-side switch or the second low-side switch is turned on, that is, the longer the pulse high level time is, the greater the discharge current is, and vice versa, the shorter the second high-side switch is turned on, the smaller the discharge current is. In the initial state, the charge and discharge control chip outputs a low level signal by default through the HD1 pin, LD1 pin, HD2 pin and LD2 pin.

[0098] In one embodiment, the main control module 140 is further used to send a third control signal to the charge and discharge control module 120 when the base station is a charging base station, and the third control signal is used to control the battery 200 to obtain electric energy from the charging base station;

[0099] The charge and discharge control module 120 is further used to send a third disconnection signal to the second switch module Q2 and a fourth disconnection signal to the first switch module Q1 according to the third control signal, so as to electrically connect the electrode 110 to the battery 200 and control the charging current;

[0100] The third disconnection signal controls the second high-side switch to be turned on and the second low-side switch to be turned off;

[0101] The fourth disconnection signal controls the first high-side switch and the first low-side switch to be alternately turned on or off.

[0102] In this embodiment, when the base station is a charging base station, the main control chip of the main control module 140 outputs a low-level signal, i.e., the third control signal, to the charge and discharge control chip of the charge and discharge control module 120 through the PD7 pin, thereby controlling the cleaning robot to enter the charging mode, i.e., controlling the charging base station to supply power to the battery 200.

[0103] When the charging control chip receives a low-level signal, i.e., the third control signal, through the DIR pin, it sends a high-level signal to the second high-side switch and a low-level signal to the second low-side switch, so that the second high-side switch is turned on and the second low-side switch is turned off, thereby turning on the second switch module Q2. At the same time, the charge and discharge control chip also sends a high-level signal or a low-level signal to the first high-side switch and a high-level or low-level signal to the first low-side switch in turn according to the preset frequency, so that the first high-side switch or the first low-side switch is alternately turned on or off, thereby accurately controlling the charging current and charging speed.

[0104] It should be noted that the charge and discharge current magnitude and the charge and discharge current speed can be adjusted by adjusting the magnitude of the preset frequency.

[0105] It should be noted that the first control signal, the second control signal and the third control signal may be sent by the same pin of the main control chip of the main control module 140 , or may be sent by different pins of the main control chip respectively.

[0106] For further information, please see Figure 6 The main control chip of the main control module 140 also includes a PF12 pin. The PF12 pin of the main control chip is electrically connected to the / CE pin of the charge and discharge control chip of the charge and discharge control module 120. The level of the / CE pin of the charge and discharge control chip is controlled by the main control chip. When the / CE pin is at a low level, the charge and discharge control chip is in an enabled state and can perform charge and discharge operations; when the / CE pin is at a high level, the charge and discharge control chip is in a disabled state and cannot perform charge and discharge operations. In the process of the cleaning robot identifying the type of base station through the pole piece 110, in order to avoid interference from the voltage of the battery 200, the charge and discharge control chip needs to be in a disabled state. After the identification is completed, the charge and discharge control chip is controlled to enter an enabled state.

[0107] Furthermore, the main control chip of the main control module 140 also includes a PF14 pin, and the PF14 pin of the main control chip is electrically connected to the PG pin of the charge and discharge control chip of the charge and discharge control module 120, so that when the battery 200 is fully charged, the charge and discharge control chip outputs a high level to the main control chip through the PG pin, indicating that the charging is complete; when the battery 200 is charged abnormally, the charge and discharge control chip outputs a pulse signal to the main control chip through the PG pin, indicating that the charging is abnormal.

[0108] In one embodiment, see Figure 7 , the circuit further includes: a first current acquisition module 150 and a second current acquisition module 160;

[0109] The first end of the first current acquisition module 150 is electrically connected to the electrode 110, the second end of the first current acquisition module 150 is electrically connected to the first end of the first switch module Q1, and the third end of the first current acquisition module 150 is electrically connected to the charge and discharge control module 120;

[0110] The first end of the second current acquisition module 160 is electrically connected to the second end of the second switch module Q2 , the second end of the second current acquisition module 160 is electrically connected to the battery 200 , and the third end of the second current acquisition module 160 is electrically connected to the charge and discharge control module 120 .

[0111] In this embodiment, the first current collection module 150 is used to collect the current at the end of the electrode 110 , and the second current collection module 160 is used to collect the current at the end of the battery 200 .

[0112] For details, please refer to Figure 6The first current acquisition module 150 includes: a first sampling resistor R8, a first current limiting resistor R9, a second current limiting resistor R10 and a first sampling capacitor C2; the first end of the first sampling resistor R8 is the first end of the first current acquisition module 150, and the second end of the first sampling resistor R8 is the second end of the first current acquisition module 150; the first end of the first current limiting resistor R9 is electrically connected to the first end of the first sampling resistor R8, and the second end of the first current limiting resistor R9 is electrically connected to the charge and discharge control module 120; the first end of the second current limiting resistor R10 is electrically connected to the second end of the first sampling resistor R8, and the second end of the second current limiting resistor R10 is electrically connected to the charge and discharge control module 120; the first end of the first sampling capacitor C2 is electrically connected to the second end of the first current limiting resistor R9, and the second end of the first sampling capacitor C2 is electrically connected to the second end of the second current limiting resistor R10.

[0113] For details, please refer to Figure 4 The second current acquisition module 160 includes: a second sampling resistor R11, a third current limiting resistor R12, a fourth current limiting resistor R13 and a second sampling capacitor C3; the first end of the second sampling resistor R11 is the first end of the second current acquisition module, and the second end of the second sampling resistor R11 is the second end of the second current acquisition module; the first end of the third current limiting resistor R12 is electrically connected to the first end of the second sampling resistor R11, and the second end of the third current limiting resistor R12 is electrically connected to the charge and discharge control module 120; the first end of the fourth current limiting resistor R13 is electrically connected to the second end of the second sampling resistor R11, and the second end of the fourth current limiting resistor R13 is electrically connected to the charge and discharge control module 120; the first end of the second sampling capacitor C3 is electrically connected to the second end of the third current limiting resistor R12, and the second end of the second sampling capacitor C3 is electrically connected to the second end of the fourth current limiting resistor R13.

[0114] In this embodiment, the first sampling resistor R8 is connected in parallel between the SIN1N pin and the SIN1P pin of the charge and discharge control chip of the charge and discharge control module 120. The charge and discharge control chip can calculate the current at the pole piece 110 end according to the voltage across the first sampling resistor R8 collected. The second sampling resistor R11 is connected in parallel between the SIN2N and SIN2P pins of the charge and discharge control chip. The charge and discharge control chip can calculate the current at the battery 200 end according to the voltage across the second sampling resistor R11 collected. The charge and discharge control chip can adjust the preset frequency in time according to the calculated current size at the pole piece 110 end and the current size at the battery 200 end, and then adjust the charge and discharge current size. For example, when the battery is about to be fully charged, in order to prevent overcharging, the charging current can be adjusted in time according to the collected current size. Further, if overcurrent is detected, the charge and discharge control chip will actively cut off the output charging current.

[0115] It should be noted that the first current limiting resistor R9, the second current limiting resistor R10, the third current limiting resistor R12 and the fourth current limiting resistor R13 are all current limiting resistors, and their main function is to prevent excessive current from damaging the charge and discharge control chip during the charge and discharge process; the function of the first sampling capacitor C2 and the second sampling capacitor C3 is to improve the sampling accuracy.

[0116] Please see again Figure 6 The charging and discharging control circuit 100 of the cleaning robot also includes: a buck conversion module, a first end of the buck conversion module is electrically connected to the second end of the first switch module, a second end of the buck conversion module is electrically connected to the first end of the second switch module, and a third end and a fourth end of the buck conversion module are grounded respectively.

[0117] The buck conversion module includes: an inductor L1, a sixth resistor R14, a first filter capacitor C4, a seventh resistor R15, and a second filter capacitor C5; the first end of the inductor L1 is the first end of the buck conversion module, and the second end of the inductor L1 is the second end of the buck conversion module; the first end of the sixth resistor R14 is electrically connected to the first end of the inductor L1, and the second end of the sixth resistor R14 is electrically connected to the first end of the first filter capacitor C4; the first end of the seventh resistor R15 is electrically connected to the second end of the inductor L1, and the second end of the seventh resistor R15 is electrically connected to the first end of the second filter capacitor C5; the second end of the first filter capacitor C4 and the second end of the second filter capacitor C5 are grounded respectively. Among them, the main function of the inductor L1 is to reduce the voltage; the sixth resistor R14, the first filter capacitor C4, the seventh resistor R15, and the second filter capacitor C5 form a filter circuit to filter the current flowing through the inductor L1.

[0118] Please see again Figure 6The charging and discharging control circuit 100 of the cleaning robot also includes: a third filter capacitor C6, a fourth filter capacitor C7, a fifth filter capacitor C8, a sixth filter capacitor C9, a seventh filter capacitor C10, an eighth filter capacitor C11, a ninth filter capacitor C12, a tenth filter capacitor C13, an eleventh filter capacitor C14, a twelfth filter capacitor C15, a thirteenth filter capacitor C16 and a first filter resistor R16. Among them, the first ends of the third filter capacitor C6, the fourth filter capacitor C7, the fifth filter capacitor C8, the sixth filter capacitor C9, the seventh filter capacitor C10, the eighth filter capacitor C11 and the ninth filter capacitor C12 after being connected in parallel are electrically connected to the pole piece 110, and the second ends after being connected in parallel are grounded; the first end of the tenth filter capacitor C13 is electrically connected to the pole piece 110, and the second end of the tenth filter capacitor C13 is grounded; the first end of the twelfth filter capacitor C15 and the first filter resistor R16 after being connected in parallel is electrically connected to the pole piece 110, and the second end after being connected in parallel is grounded; the first end of the eleventh filter capacitor C14 is electrically connected to the first end of the first switch module Q1, and the second end of the eleventh filter capacitor C14 is grounded; the first end of the thirteenth filter capacitor C16 is electrically connected to the second end of the second switch module Q2, and the second end of the thirteenth filter capacitor C16 is grounded. It should be noted that the functions of the above-mentioned capacitors and resistors are to filter the input current to optimize the electromagnetic compatibility of the circuit.

[0119] Please see again Figure 4The charging and discharging control circuit 100 of the cleaning robot also includes: a fourteenth filter capacitor C17, a fifteenth filter capacitor C18, a sixteenth filter capacitor C19, a seventeenth filter capacitor C20, an eighteenth filter capacitor C21, a nineteenth filter capacitor C22, a twentieth filter capacitor C23, a twenty-first filter capacitor C24, a twenty-second filter capacitor C25, a twenty-third filter capacitor C26 and a second filter resistor R17. Among them, the first ends of the fourteenth filter capacitor C17, the fifteenth filter capacitor C18, the sixteenth filter capacitor C19 and the seventeenth filter capacitor C20 after being connected in parallel are electrically connected to the positive electrode of the battery 200, and the second ends after being connected in parallel are grounded; the first end of the second filter resistor R17 is electrically connected to the negative electrode of the battery 200, and the second end of the second filter resistor R17 is grounded; the first end of the eighteenth filter capacitor C21 is electrically connected to the positive electrode of the battery 200, and the second end of the eighteenth filter capacitor C21 is electrically connected to the first end of the second voltage-dividing resistor R2; the first ends of the nineteenth filter capacitor C22, the twentieth filter capacitor C23 and the twenty-first filter capacitor C24 after being connected in parallel are electrically connected to the output end of the first switch tube T1, and the second ends after being connected in parallel are grounded; the first end of the twenty-second filter capacitor C25 and the first end of the twenty-third filter capacitor C26 are respectively electrically connected to the output end of the first switch tube T1, and the second end of the twenty-second filter capacitor C25 and the second end of the twenty-third filter capacitor C26 are respectively grounded. It should be noted that the functions of the above-mentioned capacitors and resistors are to filter the input current to optimize the electromagnetic compatibility of the circuit.

[0120] It should be noted that the connector J9 is used to be electrically connected to the battery 200 , the first end of the connector J9 is electrically connected to the positive electrode of the battery 200 , and the second end of the connector J9 is electrically connected to the negative electrode of the battery 200 .

[0121] Please see again Figure 4 , the charging and discharging control circuit 100 of the cleaning robot also includes a first diode TVS1 and a second diode TVS2, one end of the first diode TVS1 is electrically connected to the positive electrode of the battery 200, and the other end is electrically connected to the negative electrode of the battery 200, one end of the second diode TVS2 is electrically connected to the output end of the first switch tube T1, and the other end is grounded. It should be noted that the first diode TVS1 and the second diode TVS2 are both transient suppression diodes, which suppress voltage transient shocks. When a transient high-voltage shock occurs in the circuit, the first diode TVS1 and the second diode TVS2 can quickly start within a few nanoseconds or picoseconds to absorb the transient high energy, thereby protecting the safety of the subsequent circuit.

[0122] In summary, the charge and discharge control circuit of the cleaning robot provided by the embodiment of the utility model includes a pole piece, a switch protection module and a charge and discharge control module; the pole piece is electrically connected to the charge and discharge control module, and is used to enable the battery of the cleaning robot to obtain electrical energy from the base station or supply power to the base station through the pole piece after docking with the base station; the first end of the switch protection module is electrically connected to the charge and discharge control module, and the second end of the switch protection module is electrically connected to the battery, and is used to turn on or off the electrical connection between the charge and discharge control module and the battery; the charge and discharge control module is used to control the battery to obtain electrical energy from the base station or supply power to the base station according to the type of the base station. The utility model controls the battery of the cleaning robot to obtain electric energy from the base station or supply power to the base station through the charge and discharge control module according to the type of base station, thereby realizing that the cleaning robot supplies power to the external base station, and turns on or off the electrical connection between the charge and discharge control module and the battery by turning on or off the switch protection module. When the charge and discharge control module needs to control the battery to obtain electric energy from the charging base station, or when the charge and discharge control module needs to control the battery to supply power to the base station to be charged, the switch protection module is turned on, thereby electrically connecting the charge and discharge control module to the battery; when charging and discharging is not required, the switch protection module is disconnected, thereby disconnecting the electrical connection between the charge and discharge control module and the battery, thereby realizing protection of the charge and discharge control module.

[0123] In addition, the embodiment of the utility model further provides a cleaning robot, which includes the charging and discharging control circuit of the cleaning robot mentioned in the above embodiment. The cleaning robot can realize the functions that the charging and discharging control circuit of the cleaning robot in the above embodiment can realize and achieve the corresponding effects. To avoid repetition, it will not be described here.

[0124] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the utility model should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A charging and discharging control circuit for a cleaning robot, characterized in that: Including pole piece, switch protection module and charge and discharge control module; The pole piece is electrically connected to the charge and discharge control module, and is used to enable the battery of the cleaning robot to obtain electric energy from the base station or supply power to the base station through the pole piece after docking with the base station; The first end of the switch protection module is electrically connected to the charge and discharge control module, and the second end of the switch protection module is electrically connected to the battery, for switching on or off the electrical connection between the charge and discharge control module and the battery; The charge and discharge control module is used to control the battery to obtain electric energy from the base station or to supply power to the base station according to the type of the base station.

2. The charging and discharging control circuit of the cleaning robot according to claim 1, characterized in that: The circuit also includes a main control module; The main control module is electrically connected to the third end of the switch protection module; When the base station is a base station to be charged, the main control module sends a first control signal to the switch protection module to electrically connect the battery to the charge and discharge control module, so that the battery supplies power to the base station to be charged.

3. The charging and discharging control circuit of the cleaning robot according to claim 2, characterized in that: The fourth end of the switch protection module is electrically connected to the electrode piece; When the base station is a charging base station, the electrical signal of the charging base station is input into the switch protection module through the electrode, and the charge and discharge control module is electrically connected to the battery, so that the battery obtains electrical energy from the charging base station.

4. The charging and discharging control circuit of the cleaning robot according to claim 3, characterized in that: The circuit also includes a first switch module and a second switch module; The first end of the first switch module is electrically connected to the electrode piece, the second end of the first switch module is electrically connected to the first end of the second switch module, the third end of the first switch module is electrically connected to the charge and discharge control module, and the fourth end of the first switch module is grounded; The second end of the second switch module is electrically connected to the battery, the third end of the second switch module is electrically connected to the charge and discharge control module, and the fourth end of the second switch module is grounded; The main control module is electrically connected to the charge and discharge control module, and is also used to send a second control signal to the charge and discharge control module when the base station is a base station to be charged, and the second control signal is used to control the battery to discharge to the base station to be charged; The charge and discharge control module is further used to send a first disconnection signal to the first switch module and a second disconnection signal to the second switch module according to the second control signal, so as to electrically connect the electrode to the battery and control the discharge current.

5. The charging and discharging control circuit of the cleaning robot according to claim 4, characterized in that: The first switch module includes a first high-side switch and a first low-side switch, and the second switch module includes a second high-side switch and a second low-side switch; The input end of the first high-side switch is the first end of the first switch module, and the output end of the first high-side switch is the second end of the first switch module; The input end of the first low-side switch is electrically connected to the output end of the first high-side switch, and the output end of the first low-side switch is the fourth end of the first switch module; The control end of the first high-side switch and the control end of the first low-side switch are the third end of the first switch module; The input end of the second high-side switch is the second end of the second switch module, and the output end of the second high-side switch is the first end of the second switch module; The input end of the second low-side switch is electrically connected to the output end of the second high-side switch, and the output end of the second low-side switch is the fourth end of the second switch module; The control end of the second high-side switch and the control end of the second low-side switch are the third end of the second switch module; The first disconnect signal controls the first high-side switch to be turned on and the first low-side switch to be turned off, and the second disconnect signal controls the second high-side switch and the second low-side switch to be turned on or off alternately, so that the battery discharges to the base station to be charged.

6. The charging and discharging control circuit of the cleaning robot according to claim 5, characterized in that: The main control module is further used to send a third control signal to the charge and discharge control module when the base station is a charging base station, and the third control signal is used to control the battery to obtain electric energy from the charging base station; The charge and discharge control module is further used to send a third disconnection signal to the second switch module and a fourth disconnection signal to the first switch module according to the third control signal, so as to electrically connect the electrode to the battery and control the charging current; The third disconnection signal controls the second high-side switch to be turned on and the second low-side switch to be turned off; The fourth disconnection signal controls the first high-side switch and the first low-side switch to be alternately turned on or off.

7. The charging and discharging control circuit of the cleaning robot according to any one of claims 4 to 6, characterized in that: The circuit further includes: a first current acquisition module and a second current acquisition module; The first end of the first current acquisition module is electrically connected to the pole piece, the second end of the first current acquisition module is electrically connected to the first end of the first switch module, and the third end of the first current acquisition module is electrically connected to the charge and discharge control module, for collecting the pole piece end current; The first end of the second current acquisition module is electrically connected to the second end of the second switch module, the second end of the second current acquisition module is electrically connected to the battery, and the third end of the second current acquisition module is electrically connected to the charge and discharge control module for collecting battery terminal current.

8. The charging and discharging control circuit of the cleaning robot according to any one of claims 3 to 6, characterized in that: The switch protection module includes: a first switch tube, a second switch tube and a third switch tube; The output end of the first switch tube is the first end of the switch protection module, the input end of the first switch tube is the second end of the switch protection module, and the control end of the first switch tube is electrically connected to the input end of the second switch tube and the input end of the third switch tube respectively; The output end of the second switch tube is grounded, and the control end of the second switch tube is the fourth end of the switch protection module; The output end of the third switch tube is grounded, and the control end of the third switch tube is the third end of the switch protection module.

9. The charging and discharging control circuit of the cleaning robot according to claim 8, characterized in that: The first switch tube is a first field effect tube, the source of the first field effect tube is the output end of the first switch tube, the drain of the first field effect tube is the input end of the first switch tube, and the gate of the first field effect tube is the control end of the first switch tube; The second switch tube is a second field effect tube, the source of the second field effect tube is the input end of the second switch tube, the drain of the second field effect tube is the output end of the second switch tube, and the gate of the second field effect tube is the control end of the second switch tube; The third switch tube is a third field effect tube, the source of the third field effect tube is the input end of the third switch, the drain of the third field effect tube is the output end of the third switch tube, and the gate of the third field effect tube is the control end of the third switch tube.

10. A cleaning robot, characterized in that: A charging and discharging control circuit comprising the cleaning robot according to any one of claims 1 to 9.

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