Cleaning robot and charging management circuit thereof

Abstract

The utility model relates to a cleaning robot and a charging management circuit thereof. A charge and discharge current detection module in the circuit detects charge and discharge current of a battery module and provides the charge and discharge current to a main control chip MCU of the cleaning robot, so that the main control chip MCU performs electric quantity management on the battery module according to the charge and discharge current; the charging and discharging current detection module is also used for providing the charging current to the charging current control module; and the charging current control module is used for controlling the charging current output by the step-down DC-DC conversion module according to the charging current provided by the charging and discharging current detection module and a charging current control signal provided by the main control chip MCU. According to the utility model, the problem of high cost caused by the adoption of a special charging IC chip for the cleaning robot is solved, and the manufacturing cost of the cleaning robot is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of circuit, in particular to a cleaning robot and a charging management circuit thereof. BACKGROUND

[0002] Currently, battery charging management usually adopts a dedicated charging integrated circuit (IC) chip. However, in the field where the master control chip (MCU) has a deep involvement in battery charging management (for example, the field of floor cleaning robots), part of the functions originally integrated in the dedicated charging IC chip (for example, functions such as battery high and low temperature processing and input current detection) are not utilized, but the circuit complexity and manufacturing cost of the dedicated charging IC chip are increased. CONTENT OF THE UTILITY MODEL

[0003] The cleaning robot and the charging management circuit thereof provided by the embodiments of the present application at least solve the problem of high cost of the cleaning robot caused by the use of the dedicated charging IC chip in the related art.

[0004] A charging management circuit of a cleaning robot, comprising: a charging and discharging current detection module and a charging current control module; wherein,

[0005] The output side of the charging and discharging current detection module is connected to a battery module, the charging and discharging current detection module is configured to detect the charging and discharging current of the battery module and provide the charging and discharging current to a master control chip (MCU) of the cleaning robot, so that the master control chip (MCU) performs power management of the battery module according to the charging and discharging current; and the charging and discharging current detection module is further configured to provide the charging current to the charging current control module.

[0006] The charging current control module is configured to control the charging current according to the charging current provided by the charging and discharging current detection module and a charging current control signal provided by the master control chip (MCU).

[0007] In some of the embodiments, the circuit further comprises: a step-down DC-DC conversion module and a unidirectional isolation module;

[0008] The input side of the step-down DC-DC conversion module is connected to an external direct current power supply, and the output side is connected to the input side of the unidirectional isolation module; the output side of the unidirectional isolation module is connected to the input side of the charging and discharging current detection module.

[0009] The charging current control module is configured to control the charging current output by the step-down DC-DC conversion module according to the charging current provided by the charging and discharging current detection module and the charging current control signal provided by the master control chip (MCU).

[0010] In some of the embodiments, the charging management circuit further comprises:

[0011] The overvoltage protection and delay start module is connected between the external DC power supply and the input side of the step-down DC-DC conversion module. The overvoltage protection and delay start module comprises a first circuit and a second circuit. The first circuit is used to realize the slow start of the circuit connected after the overvoltage protection and delay start module when power is turned on. The second circuit is used to protect the second circuit connected after the overvoltage protection and delay start module when overvoltage occurs.

[0012] In some embodiments, the first circuit comprises:

[0013] One end of the first resistor R14 is grounded, and the other end is connected to the anode of the first zener diode D3. The cathode of the first zener diode D3 is connected to the external DC power supply.

[0014] The emitter of the first transistor Q1 with a freewheeling diode is connected to the external DC power supply, the collector is connected to the input side of the step-down DC-DC conversion module, the base is grounded through the second resistor R6, and the collector and the ground are also connected in series with the first capacitor C3. The emitter and the base are connected in parallel with the second zener diode D2.

[0015] The emitter of the second transistor Q3 is connected to the external DC power supply, the base is connected in parallel with the emitter through the third resistor R7, and the collector is connected to the base of the first transistor Q1.

[0016] The emitter of the third transistor Q4 is grounded, the collector is grounded, and the collector is also connected to the base of the second transistor Q3. The base of the third transistor Q4 is connected in series with the anode of the first zener diode D3 through the fifth resistor R13.

[0017] In some embodiments, the second circuit comprises: a second capacitor C4 connected in series between the collector of the third transistor Q4 and the ground, and a fourth resistor R12 connected in series between the base of the third transistor Q4 and the first zener diode D3.

[0018] In some embodiments, the step-down DC-DC conversion module further comprises an enable input end for controlling the opening or closing of the step-down DC-DC conversion module. The enable input end is connected to the enable control end CHANGE_EN of the master control chip MCU.

[0019] In some embodiments, the unidirectional isolation module includes a first diode D1, an anode of the first diode D1 being connected to an output side of the step-down DC-DC conversion module, and a cathode being connected to an input side of the charge-discharge current detection module; or the unidirectional isolation module includes: a fourth transistor Q2 with a freewheeling diode, a collector of the fourth transistor Q2 being connected to the output side of the step-down DC-DC conversion module, an emitter being connected to the input side of the charge-discharge current detection module, and a base and the emitter being connected in parallel with a sixth resistor R5; a fifth transistor Q5, a collector of the fifth transistor Q5 being connected to the base of the fourth transistor Q2, an emitter being connected to a reference voltage output terminal VREF2 of the master control chip MCU, and a base being connected to an output side of the charge-discharge current detection module through a seventh resistor R15 to obtain the charging current.

[0020] In some embodiments, the charge-discharge current detection module includes:

[0021] A power supply end V+ of the current detection amplifier U1 is connected to a power supply, a ground end G is grounded, a reference voltage input end REF is connected to a reference voltage output terminal VREF of the master control chip MCU, a positive voltage input end IN+ is connected to an input side of a current sampling resistor R1 through an eighth resistor R2, a negative voltage input end IN- is connected to an output end of the current sampling resistor R1 through a ninth resistor R3, the positive voltage input end IN+ and the negative voltage input end IN- are connected in parallel with a third capacitor C1, and an output end OUT is used for outputting the charge-discharge current, and the output end OUT is further connected to a charge-discharge current detection terminal IBAT_ADC of the master control chip MCU through a tenth resistor R11.

[0022] The current sampling resistor R1 is connected in series between a positive electrode of the battery module and an output side of the unidirectional isolation module.

[0023] In some embodiments, the charging current control module includes:

[0024] A positive voltage input end V+ of the operational amplifier U2 is connected to an output end OUT of the charge-discharge current detection module through an eleventh resistor R4, so as to obtain the charging current from the charge-discharge current detection module;

[0025] A power supply end Vcc of the operational amplifier U2 is connected to a power supply, a ground end GND is grounded, the positive voltage input end V+ and the ground end GND are connected in parallel with a fourth capacitor C2, a negative voltage input end V- is connected to the power supply through a twelfth resistor R9, the negative voltage input end V- is further connected to a charging current control terminal CTR_CURRENT of the master control chip MCU through a thirteenth resistor R10, and a voltage output end Vout is connected to a current control input terminal of the step-down DC-DC conversion module; the negative voltage input end V- and the voltage output end Vout are further connected in parallel with a fourteenth resistor R8 and a fifth capacitor C6, respectively.

[0026] In some embodiments, the charging current control module comprises:

[0027] The positive voltage input end V+ of the operational amplifier U4 is connected to the negative pole of the external DC power supply in series with the fifteenth resistor R16 and the sixteenth resistor R20, for obtaining the real-time charging and discharging current;

[0028] The power supply end Vcc of the operational amplifier U4 is connected to the power supply, the grounding end GND is grounded, the connection node of the fifteenth resistor R16 and the sixteenth resistor R20 is grounded, the negative voltage input end V- is connected to the negative pole of the external DC power supply via the seventeenth resistor R18, the negative voltage input end V- is also connected to the charging current control end CTR_CURRENT of the master control chip MCU via the eighteenth resistor R19, the voltage output end Vout and the current control input end of the step-down DC-DC conversion module are connected in series with the forward connection of the second diode D4; the negative voltage input end V- and the voltage output end Vout are also connected in parallel with the nineteenth resistor R17 and the sixth capacitor C7, respectively.

[0029] A cleaning robot comprises a master control chip and an electrochemical energy storage device, and the electrochemical energy storage device comprises a battery module and the charging management circuit.

[0030] The cleaning robot and the charging management circuit thereof provided by the embodiments of the present application detect the charging and discharging current of the battery module through the charging and discharging current detection module and provide the charging and discharging current to the master control chip MCU of the cleaning robot, so that the master control chip MCU manages the power of the battery module according to the charging and discharging current; and the charging and discharging current detection module is also used for providing the charging current to the charging current control module; the charging current control module is used for controlling the charging current output by the step-down DC-DC conversion module according to the charging current provided by the charging and discharging current detection module and the charging current control signal provided by the master control chip MCU, thereby solving the problem of high cost caused by the use of a special charging IC chip by the cleaning robot and reducing the manufacturing cost of the cleaning robot. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other embodiments can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0032] Figure 1 is the structure block diagram of the charging management circuit of the present embodiment.

[0033] Figure 2 is the preferred structure block diagram of the charging management circuit of the present embodiment.

[0034] Figure 3 is a preferred structure block diagram of the charging management circuit of the present embodiment.

[0035] Figure 4 is a circuit topology diagram of the over-voltage protection and delay start module 50 of the present embodiment.

[0036] Figure 5 is a circuit topology diagram of the unidirectional isolation module of the present embodiment.

[0037] Figure 6 is a circuit topology diagram of the charge and discharge current detection module of the present embodiment.

[0038] Figure 7 is a circuit topology diagram of the charging current control module of the present embodiment.

[0039] Figure 8 is another circuit topology diagram of the charging current control module of the present embodiment.

[0040] Figure 9 is another circuit topology diagram of the unidirectional isolation module of the present embodiment.

[0041] Figure 10 is a charging curve diagram of the battery module of the present embodiment.

[0042] Figure 11 is another charging curve diagram of the battery module of the present embodiment.

[0043] Figure 12 is a preferred circuit topology diagram of the power and charging management module of the present embodiment.

[0044] Figure 13 is a structure block diagram of the cleaning robot of the present embodiment. DETAILED DESCRIPTION

[0045] Embodiments of the present application will be described in more detail by referring to the drawings. Although certain embodiments of the present application are shown in the drawings, it is understood that the present application can be implemented in various forms and should not be interpreted as being limited to the embodiments set forth herein, but rather these embodiments are provided so as to more completely and thoroughly understand the present application. It is understood that the drawings and embodiments of the present application are for exemplary purposes only and are not intended to limit the scope of protection of the present application.

[0046] Figure 1 is a structure block diagram of the charging management circuit of the present embodiment, Figure 1 The thick solid line indicates the power connection or flow direction, and the thin dotted line indicates the connection or flow direction of the control signal or measurement. As Figure 1As shown, the circuit includes a charge-discharge current detection module 30 and a charging current control module 40; wherein the output side of the charge-discharge current detection module 30 is connected to the battery module BAT, the charge-discharge current detection module 30 is used to detect the charge-discharge current of the battery module and provide the charge-discharge current to the main control chip MCU of the cleaning robot, so that the main control chip MCU manages the power of the battery module BAT according to the charge-discharge current; and the charge-discharge current detection module 30 is also used to provide the charging current to the charging current control module 40; the charging current control module 40 is used to control the charging current according to the charging current provided by the charge-discharge current detection module and the charging current control signal provided by the main control chip MCU.

[0047] In some embodiments, a preferred structure of a charging management circuit of a cleaning robot is also provided, Figure 2 is a preferred structure block diagram of the charging management circuit of the embodiment, as Figure 2 As shown, the charging management circuit further includes a step-down DC-DC conversion module 10 and a one-way isolation module 20. Wherein the input side of the step-down DC-DC conversion module 10 is connected to the external DC power supply, and the output side is connected to the input side of the one-way isolation module 20; the output side of the one-way isolation module 20 is connected to the input side of the charge-discharge current detection module 30.

[0048] The above-mentioned step-down DC-DC conversion module 10 adopts a general switching power converter, which mainly functions to convert a higher DC voltage into a lower DC voltage while maintaining high efficiency as much as possible during the conversion process. Specifically, in the embodiment, the step-down DC-DC conversion module selects a DC-DC conversion chip with adjustable output voltage, the input voltage meets the requirements of the external DC power supply, and the output power meets the maximum charging power required by the battery module. The step-down DC-DC conversion module 10 changes its working state according to the charging current control signal of the charging current control module 40, so as to realize constant current and constant voltage charging of the battery module.

[0049] The main function of the above-mentioned one-way isolation module 20 is to prevent the power leakage of the battery module BAT. The one-way isolation module can adopt a diode or a transistor.

[0050] The above charging and discharging current detection module 30 adopts a bidirectional current detection amplifier based on a zero drift architecture. The bidirectional current detection amplifier based on the zero drift architecture has low input offset voltage and low bias current characteristics, thereby providing accurate current measurement in a wide dynamic range. The input offset voltage refers to the non-zero voltage value at the output end of the amplifier when the input end voltage is zero. The lower this value, the smaller the error of the amplifier itself. The input bias current is a small current flowing into or out of the input end of the amplifier, which causes an additional voltage drop. This effect is amplified when connected in series with a high resistance detection resistor, affecting the measurement accuracy.

[0051] The above charging current control module 40 can adopt a general operational amplifier as the main component, and preferably selects an operational amplifier with rail-to-rail output capability to provide more effective signal processing in a wide dynamic range.

[0052] The above master control chip MCU refers to the master control chip of the device in which the charging management circuit is located. For example, when the device is a sweeping robot, the master control chip MCU refers to the master control chip / microcontroller of the sweeping robot.

[0053] The above circuit structure replaces the dedicated charging IC chip, and the advantages are as follows: the chips involved in the main modules of the above circuit structure are DC-DC chips, current detection amplifier chips, and operational amplifier chips. There is no very strict requirement for the selection of these chips, and there are general-purpose chips that can be selected or replaced. The cost of components is much lower than that of the dedicated charging IC chip, but with the assistance of the master control chip of the device, the main functions of the dedicated charging IC chip can be realized, especially suitable for the demand of battery module management in the scene where the master control chip such as the sweeping robot is involved in battery management. In addition, the above circuit also has the advantages of simple circuit structure, general components, and good interchangeability, thereby reducing production cost and facilitating maintenance. At the same time, the above circuit has stronger compatibility than the dedicated charging IC chip, and can be personalized and functional according to the actual application scene.

[0054] In addition, unlike the difficulty of cut-off voltage and thermal runaway management of ternary lithium battery modules, the lithium iron phosphate battery module has better thermal stability and more relaxed charging cut-off voltage, so the charging strategy of the lithium iron phosphate battery module is simpler than that of the ternary lithium battery module. The charging management circuit provided in the embodiment is especially suitable for lithium iron phosphate battery modules, and provides an extremely cost-effective power and charging management scheme for lithium iron phosphate battery modules.

[0055] To enhance system reliability, in some embodiments, the charging management circuit also includes an overvoltage protection and delayed start module. Figure 3 This is a preferred structural block diagram of the charging management circuit in this embodiment. For example... Figure 3 As shown, the overvoltage protection and time-delay soft-start module 50 is connected between the external DC power supply and the input side of the buck DC-DC converter module. The overvoltage protection and time-delay soft-start module includes a first circuit 501 and a second circuit 502. The first circuit is used to achieve a soft start of the circuits connected after the overvoltage protection and time-delay soft-start module when powered on. The second circuit is used to protect the second circuit of the circuits connected after the overvoltage protection and time-delay soft-start module when an overvoltage occurs. The main function of the overvoltage protection and time-delay soft-start module 50 is to protect the circuits connected after the overvoltage protection and time-delay soft-start module 50 when powered on or when an overvoltage occurs, thus solving the problem of dedicated charging IC chips in related technologies failing to self-protect during overvoltage.

[0056] Continue to refer to Figure 3 The voltage supplied for charging standby is taken from the output side of the overvoltage protection and delayed start module 50 to protect the standby circuit. The voltage supplied for system operation is taken from the output side of the unidirectional isolation module 20, which is also protected by the overvoltage protection and delayed start module 50.

[0057] The modules involved in the above circuit are described and explained in detail below. It should be noted that the specific circuits used in the modules shown below are intended to illustrate one or more possible examples of implementing the above modules. In some embodiments, the specific circuits may be further simplified or replaced by other circuits with similar functions, and are not intended to limit this application.

[0058] Figure 4 This is a circuit topology diagram of the overvoltage protection and time-delayed soft start module 50 in this embodiment.

[0059] like Figure 4As shown, in the first circuit 501 of the overvoltage protection and delay start module 50, one end of the first resistor R14 is grounded, and the other end is connected to the anode of the first zener diode D3; the cathode of the first zener diode D3 is connected to the external DC power supply; the emitter of the first transistor Q1 with a freewheeling diode is connected to the external DC power supply, the collector is connected to the input side of the step-down DC-DC conversion module, the base is grounded through the second resistor R6, and the collector and the ground are further connected in series with the first capacitor C3; the emitter and the base are connected in parallel with the second zener diode D2; the emitter of the second transistor Q3 is connected to the external DC power supply, the base and the emitter are connected in parallel with the third resistor R7, and the collector is connected to the base of the first transistor Q1; the emitter of the third transistor Q4 is grounded, the collector is grounded, and the collector is further connected to the base of the second transistor Q3; the base of the third transistor Q4 and the anode of the first zener diode D3 are connected in series with the fifth resistor R13.

[0060] As shown in the circuit topology, Figure 4 the second circuit 502 of the overvoltage protection and delay start module 50 includes the second capacitor C4 connected in series between the collector of the third transistor Q4 and the ground, and the fourth resistor R12 connected in series between the base of the third transistor Q4 and the first zener diode D3.

[0061] In the circuit topology shown in the circuit topology, Figure 4 when the external DC power supply DC_IN (positive) is higher than the threshold set by the first zener diode D3, the third transistor Q4 and the second transistor Q3 are turned on, the first transistor Q1 is turned off, and the high voltage of the external DC power supply DC_IN will not be conducted to the later stage of the overvoltage protection and delay start module 50, realizing overvoltage protection.

[0062] When the external DC power supply DC_IN outputs a normal voltage, at the beginning of power-on, the second capacitor C4 is charged through the base and emitter of the second transistor Q3 and the fourth resistor R12, the second transistor Q3 is turned on, the first transistor Q1 is turned off, and the charging time of the second capacitor C4 depends on the resistance value of the fourth resistor R12 and the capacitance value of the second capacitor C4. When the second capacitor C4 is close to full, the second transistor Q3 is turned off, and the first transistor Q1 is turned on, thereby realizing the delay start of the later stage circuit.

[0063] In some embodiments, the buck DC-DC conversion module 10 further comprises an enable input for controlling the opening or closing of the buck DC-DC conversion module, the enable input being connected to the enable control end CHANGE_EN of the master chip MCU, so as to be opened or closed by the enable signal output by the enable control end CHANGE_EN of the master chip MCU. The DCDC_FB- end of the buck DC-DC conversion module 10 is connected to the voltage output end of the charging current control module 40 to receive the charging current control signal. The no-load voltage (output voltage when no load is connected) of the buck DC-DC conversion module 10 is set to be equal to or slightly higher than the sum of the protection voltage of the battery module and the isolation voltage of the unidirectional isolation module 20, so as to ensure that the battery module can be properly charged, and the charging process can be automatically stopped after the battery module is fully charged, protecting the battery module from damage and prolonging the service life of the battery module.

[0064] Figure 5 is the circuit topology diagram of the unidirectional isolation module of the present embodiment, as shown in Figure 5 The unidirectional isolation module 20 comprises a first diode D1, the anode of the first diode D1 being connected to the output side of the buck DC-DC conversion module, and the cathode being connected to the input side of the charging and discharging current detection module. Figure 5 A simplest unidirectional isolation module is realized.

[0065] Figure 6 is the circuit topology diagram of the charging and discharging current detection module of the present embodiment, as shown in Figure 6 In the charging and discharging current detection module 30, the power supply end V+ of the current detection amplifier U1 is connected to the power supply, the ground end G is grounded, the reference voltage input end REF is connected to the reference voltage output end VREF of the master chip MCU, the positive voltage input end IN+ is connected to the input side of the current sampling resistor R1 through the eighth resistor R2, the negative voltage input end IN- is connected to the output end of the current sampling resistor R1 through the ninth resistor R3, the positive voltage input end IN+ and the negative voltage input end IN- are connected in parallel with the third capacitor C1, the output end OUT is used for outputting the charging and discharging current, and the output end OUT is further connected to the charging and discharging current detection end IBAT_ADC of the master chip MCU through the tenth resistor R11; the current sampling resistor R1 is connected in series between the positive electrode of the battery module and the output side of the unidirectional isolation module.

[0066] Referring to Figure 6 , VREF is the reference voltage provided by the external circuit (such as MCU), the charging and discharging current is converted into a voltage value by the current sampling resistor R1 and input into the current detection amplifier U1 for amplification by a multiple Av, to obtain a charging and discharging current detection value, which is output by the output end OUT of the current detection amplifier U1. The charging current is represented by Ic, and the discharging current is represented by Id.

[0067] In the charging process, IBAT_AN = VREF + Ic * R1 * Av.

[0068] After the main control chip MCU detects IBAT_AN through the charge and discharge current detection end IBAT_ADC, the charging current Ic(t) = IBAT_AN - VREF is calculated, and the current SOC of the battery module can be obtained as: SOC = SOC0 + ∫Ic(t)dt / Q. Wherein, Q is the rated capacity of the battery module, SOC0 is the last remaining SOC value; when the battery is discharged to the discharge cut-off voltage, SOC0 = 0.

[0069] In the discharging process, IBAT_AN = VREF - Id * R1 * Av.

[0070] After the main control chip MCU detects IBAT_AN through the charge and discharge current detection end IBAT_ADC, the real-time discharge current Id(t) = VREF - IBAT_AN is calculated, and the current SOC of the battery module can be obtained as: SOC = SOC0 - ∫Id(t)dt / Q. Wherein, Q is the rated capacity of the battery module, SOC0 is the last remaining SOC value; when the battery is charged to the charging cut-off voltage, SOC0 = 1.

[0071] Through the above manner, on the basis of realizing real-time high-precision current detection in the charge and discharge current detection module 30, the main control chip MCU realizes high-precision charge and discharge process power management.

[0072] In addition, some constant current constant voltage DC-DC conversion chips used in some related technologies sample the current at the negative terminal of the battery module, and the current sampling resistor is arranged between the ground of the battery module and the mainboard ground wire, which has the defect of affecting the collection of other analog quantities of the mainboard. In the above charge and discharge current detection module 30, the current sampling resistor R1 samples the current at the positive terminal of the battery module, which does not affect the performance of the mainboard.

[0073] Figure 7 is the circuit topology diagram of the charging current control module of the embodiment, as Figure 7As shown in the charging current control module 40, the supply end Vcc of the operational amplifier U2 is connected to the power supply, the ground end GND is grounded, the positive voltage input end V+ is connected to the output end OUT of the charge-discharge current detection module via the eleventh resistor R4 for obtaining the charging current from the charge-discharge current detection module, the positive voltage input end V+ and the ground end GND are connected in parallel with the fourth capacitor C2, the negative voltage input end V- is connected to the power supply via the twelfth resistor R9, the negative voltage input end V- is also connected to the charging current control end CTR_CURRENT of the master control chip MCU via the thirteenth resistor R10, and the voltage output end Vout is connected to the current control input end of the step-down DC-DC conversion module; the negative voltage input end V- and the voltage output end Vout are also connected in parallel with the fourteenth resistor R8 and the fifth capacitor C6, respectively.

[0074] In Figure 7 In the circuit topology shown, the operational amplifier U2 is a general-purpose operational amplifier satisfying the output rail-to-rail, and the fourth capacitor C2 and the fifth capacitor C6 serve to stabilize the charging current. The master control chip MCU controls the voltage output by the charging current control module through the charging current control end CTR_CURRENT, and in turn controls the charging current of the step-down DC-DC conversion module.

[0075] When the charging current control end CTR_CURRENT of the master control chip MCU outputs a high level, VT1 = [3V3_MCU / (R9+R8 / / R10)]*R8; and the charging current Ic output by the step-down DC-DC conversion module is (VT1-VREF) / (R1*Av).

[0076] When the charging current control end CTR_CURRENT of the master control chip MCU outputs a low level, VT2 = [3V3_MCU / (R9+R8 / / R10)]*(R8 / / R10); and the charging current Ic output by the step-down DC-DC conversion module is (VT2-VREF) / (R1*Av).

[0077] Some alternative embodiments of the above modules are described and explained below.

[0078] Figure 8 Another circuit topology diagram of the charging current control module of the present embodiment is shown in FIG. 4. As shown in the charging current control module 40, the supply end Vcc of the operational amplifier U2 is connected to the power supply, the ground end GND is grounded, the positive voltage input end V+ is connected to the output end OUT of the charge-discharge current detection module via the eleventh resistor R4 for obtaining the charging current from the charge-discharge current detection module, the positive voltage input end V+ and the ground end GND are connected in parallel with the fourth capacitor C2, the negative voltage input end V- is connected to the power supply via the twelfth resistor R9, the negative voltage input end V- is also connected to the charging current control end CTR_CURRENT of the master control chip MCU via the thirteenth resistor R10, and the voltage output end Vout is connected to the current control input end of the step-down DC-DC conversion module; the negative voltage input end V- and the voltage output end Vout are also connected in parallel with the fourteenth resistor R8 and the fifth capacitor C6, respectively. Figure 8As shown, in some embodiments, the power supply end Vcc of the operational amplifier U4 in the charging current control module 40 is connected to the power supply, the ground end GND is grounded, and the positive voltage input end V+ is connected to the negative pole of the external DC power supply in series with the fifteenth resistor R16 and the sixteenth resistor R20 for obtaining the real-time charging and discharging current, the connection node of the fifteenth resistor R16 and the sixteenth resistor R20 is grounded, the negative voltage input end V- is connected to the negative pole of the external DC power supply via the seventeenth resistor R18, and the negative voltage input end V- is also connected to the charging current control end CTR_CURRENT of the master control chip MCU via the eighteenth resistor R19. The voltage output end Vout and the current control input end of the step-down DC-DC conversion module are connected in series with the forward connection of the second diode D4. The negative voltage input end V- and the voltage output end Vout are also connected in parallel with the nineteenth resistor R17 and the sixth capacitor C7, respectively.

[0079] In the charging current control module 40 described above, the sixteenth resistor R20 instead of the current sampling resistor R1 provides the voltage input for the charging current detection of the charging and discharging current detection module. Since the sixteenth resistor R20 is connected between the negative pole of the external DC power supply and the main board ground, it has no effect on the performance of the main board. The main board current Is returns to the negative pole of the external DC power supply to generate a negative voltage on the sixteenth resistor R20, and the voltage output end Vout of the charging current control module 40 is connected to the current control input end of the step-down DC-DC conversion module. Figure 8 In the circuit topology shown, the single power amplifier U4 is used to process the negative signal. Through the control of the master control chip MCU, the charging power is constant during the charging process, and the charging power is constant until the constant voltage stage is entered.

[0080] Figure 9 Another circuit topology diagram of the unidirectional isolation module of the present embodiment is shown in FIG. 6. Figure 9 As shown, in some other embodiments, a plurality of transistors can also be used to realize the unidirectional isolation module 20 described above. In the unidirectional isolation module 20, the collector of the fourth transistor Q2 with a freewheeling diode is connected to the output side of the step-down DC-DC conversion module, the emitter is connected to the input side of the charging and discharging current detection module, and the base and the emitter are connected in parallel with the sixth resistor R5; the collector of the fifth transistor Q5 is connected to the base of the fourth transistor Q2, the emitter is connected to the reference voltage output end VREF2 of the master control chip MCU, and the base is connected to the output side of the charging and discharging current detection module via the seventh resistor R15 to obtain the charging current.

[0081] The voltage Vbe between the emitter and the base of the fifth transistor Q5 is 0.6V.

[0082] During normal charging, VREF+Ic*R1*Av>VREF2+Vbe is satisfied, and the fourth transistor Q2 is fully turned on.

[0083] When the charging current Ic is less than the threshold, VREF+Ic*R1*AvVREF2+Vbe. The fourth transistor Q2 is turned off, the internal freewheeling diode of the fourth transistor is turned on, and the charging is quickly terminated.

[0084] The unidirectional isolation module shown in Figure 9 When the battery module is full, the voltage of the battery module must fall to a certain value before charging is started again to prevent frequent charging of the battery module. When the charging current is less than the threshold, the charging is quickly turned off. The voltage drop loss caused by the isolation element is reduced during the charging process.

[0085] Figure 12 The preferred circuit topology of the power and charging management module of the present embodiment is shown in Figure 12 The circuit topology shown in Figure 5 adopts a unidirectional isolation module as shown in Figure 7 and a charging current control module as shown in

[0086] In the present embodiment, a lithium iron phosphate battery with a rated capacity of 3000mAh is used to verify the charging effect. The four 21700 cells are connected in parallel (commonly known as 4S1P).

[0087] Verification 1: The unidirectional isolation module adopts the circuit topology shown in Figure 5 The constant current is 1.39A, the constant voltage is 14.1V, and the main control chip MCU controls the charging to stop at a charging current of 0.25A. Figure 10 is a charging curve of the battery module of the present embodiment. The verification results show that the total charging time is 2h17min, the constant voltage charging lasts for 10min, the total charging capacity during the charging process is 3055mAh, and the average voltage is 13.6249V.

[0088] Verification 2: The unidirectional isolation module adopts the circuit topology shown in Figure 9 The constant current is 1.36A, the constant voltage is 14.1V, and the unidirectional isolation module automatically turns off the charging. Figure 11 is another charging curve of the battery module of the present embodiment. The verification results show that the total charging time is 2h12min, the constant voltage charging lasts for 6min, the total charging capacity during the charging process is 2992mAh, and the average voltage is 13.6116V.

[0089] The present embodiment also provides a cleaning robot. Figure 13 is a structural diagram of the cleaning robot of the present embodiment, as shown in Figure 13 The cleaning robot comprises a main control chip 100 and an electrochemical energy storage device 200, wherein the electrochemical energy storage device comprises a battery module 210 and a charging management circuit 220.

[0090] It should be noted that the term "comprising" and its variations used in the embodiments of this application are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; and the term "some embodiments" means "at least some embodiments". The modifications of "one" and "multiple" mentioned in the embodiments of this application are illustrative and not restrictive. Those skilled in the art should understand that, unless explicitly indicated otherwise in the context, they should be understood as "one or more".

[0091] The steps described in the method implementations provided in the embodiments of this application can be performed in different orders and / or in parallel. Furthermore, the method implementations may include additional steps and / or omit the steps shown. The scope of protection of this application is not limited in this respect.

[0092] The term "embodiment" in this specification refers to a specific feature, structure, or characteristic described in connection with an embodiment that may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily imply the same embodiment, nor does it imply independence from or alternative to other embodiments. The various embodiments in this specification are described in a related manner, with reference to each other for similar or identical parts. In particular, for apparatus, device, and system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, and relevant details are referred to in the description of the method embodiments.

[0093] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of protection. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

1. A charge management circuit of a cleaning robot, characterized by The charging management circuit comprises: a charging and discharging current detection module and a charging current control module; wherein, an output side of the charging and discharging current detection module is connected to a battery module, the charging and discharging current detection module is configured to detect a charging and discharging current of the battery module and provide the charging and discharging current to a main control chip (MCU) of a cleaning robot, so that the main control chip (MCU) manages an electric quantity of the battery module according to the charging and discharging current; and the charging and discharging current detection module is further configured to provide a charging current to the charging current control module; the charging current control module is configured to control the charging current according to the charging current provided by the charging and discharging current detection module and a charging current control signal provided by the main control chip (MCU).

2. The charge management circuit of claim 1, wherein, The circuit further comprises a step-down DC-DC conversion module and a one-way isolation module; an input side of the step-down DC-DC conversion module is connected to an external DC power supply, and an output side of the step-down DC-DC conversion module is connected to an input side of the one-way isolation module; an output side of the one-way isolation module is connected to an input side of the charging and discharging current detection module; the charging current control module is configured to control the charging current output by the step-down DC-DC conversion module according to the charging current provided by the charging and discharging current detection module and the charging current control signal provided by the main control chip (MCU).

3. The charge management circuit of claim 2, wherein, The charging management circuit further comprises: an overvoltage protection and delay buffer starting module, which is connected between the external DC power supply and the input side of the step-down DC-DC conversion module; the overvoltage protection and delay buffer starting module comprises a first circuit and a second circuit, the first circuit is configured to buffer the starting of a circuit connected after the overvoltage protection and delay buffer starting module when power is turned on, and the second circuit is configured to protect the circuit connected after the overvoltage protection and delay buffer starting module when overvoltage occurs.

4. The charge management circuit of claim 3, wherein, The first circuit comprises: one end of a first resistor (R14) is grounded, and the other end is connected to an anode of a first zener diode (D3); a cathode of the first zener diode (D3) is connected to the external DC power supply; an emitter of a first transistor (Q1) with a freewheeling diode is connected to the external DC power supply, a collector is connected to the input side of the step-down DC-DC conversion module, a base is grounded through a second resistor (R6), and a first capacitor (C3) is further connected in series between the collector and the ground; a second zener diode (D2) is connected in parallel between the emitter and the base; an emitter of a second transistor (Q3) is connected to the external DC power supply, a base is connected in parallel to the emitter through a third resistor (R7), and a collector is connected to the base of the first transistor (Q1); an emitter of a third transistor (Q4) is grounded, a collector is grounded, and the collector is further connected to the base of the second transistor (Q3); a fifth resistor (R13) is connected in series between the base of the third transistor (Q4) and the anode of the first zener diode (D3).

5. The charge management circuit of claim 4, wherein, The second circuit comprises a second capacitor (C4) connected in series between the collector of the third transistor (Q4) and the ground, and a fourth resistor (R12) connected in series between the base of the third transistor (Q4) and the first voltage stabilizing diode (D3).

6. The charge management circuit of claim 2, wherein, The step-down DC-DC conversion module further comprises an enable input end for controlling the opening or closing of the step-down DC-DC conversion module, and the enable input end is connected to an enable control end (CHANGE_EN) of the master control chip (MCU).

7. The charge management circuit of claim 2, wherein The unidirectional isolation module comprises a first diode (D1), an anode of the first diode (D1) being connected to an output side of the step-down DC-DC conversion module, and a cathode being connected to an input side of the charge and discharge current detection module. Or The unidirectional isolation module comprises: a collector of a fourth transistor (Q2) with a freewheeling diode, the collector being connected to an output side of the step-down DC-DC conversion module, an emitter being connected to an input side of the charge and discharge current detection module, and a base and the emitter being connected in parallel with a sixth resistor (R5); a collector of a fifth transistor (Q5) being connected to the base of the fourth transistor (Q2), an emitter being connected to a reference voltage output end (VREF2) of the master control chip (MCU), and a base being connected to an output side of the charge and discharge current detection module through a seventh resistor (R15) to obtain the charging current.

8. The charge management circuit of claim 2, wherein, The charge and discharge current detection module comprises: A supply end (V+) of a current detection amplifier (U1) is connected to a power supply, a ground end (G) is grounded, a reference voltage input end (REF) is connected to a reference voltage output end (VREF) of the master control chip (MCU), a positive voltage input end (IN+) is connected to an input side of a current sampling resistor (R1) through an eighth resistor (R2), a negative voltage input end (IN-) is connected to an output end of the current sampling resistor (R1) through a ninth resistor (R3), the positive voltage input end (IN+) and the negative voltage input end (IN-) are connected in parallel with a third capacitor (C1), and an output end (OUT) is used for outputting the charge and discharge current, and the output end (OUT) is further connected to a charge and discharge current detection end (IBAT_ADC) of the master control chip (MCU) through a tenth resistor (R11). The current sampling resistor (R1) is connected in series between the positive electrode of the battery module and the output side of the unidirectional isolation module.

9. The charge management circuit of claim 2, wherein, The charge current control module comprises: A positive voltage input end (V+) of an operational amplifier (U2) is connected to an output end (OUT) of the charge and discharge current detection module through an eleventh resistor (R4) to obtain the charging current from the charge and discharge current detection module. The power supply end (Vcc) of the operational amplifier (U2) is connected to a power supply, the grounding end (GND) is grounded, the positive voltage input end (V+) and the grounding end (GND) are connected in parallel with a fourth capacitor (C2), the negative voltage input end (V-) is connected to the power supply via a twelfth resistor (R9), the negative voltage input end (V-) is also connected to the charging current control end (CTR_CURRENT) of the master control chip (MCU) via a thirteenth resistor (R10), and the voltage output end (Vout) is connected to the current control input end of the step-down DC-DC conversion module; the negative voltage input end (V-) and the voltage output end (Vout) are also connected in parallel with a fourteenth resistor (R8) and a fifth capacitor (C6), respectively.

10. The charge management circuit of claim 2, wherein, The charging current control module comprises: The positive voltage input end (V+) of the operational amplifier (U4) is connected to the negative pole of the external DC power supply in sequence via a fifteenth resistor (R16) and a sixteenth resistor (R20) connected in series, for obtaining the charging and discharging current; The power supply end (Vcc) of the operational amplifier (U4) is connected to a power supply, the grounding end (GND) is grounded, the connection node of the fifteenth resistor (R16) and the sixteenth resistor (R20) is grounded, the negative voltage input end (V-) is connected to the negative pole of the external DC power supply via a seventeenth resistor (R18), the negative voltage input end (V-) is also connected to the charging current control end (CTR_CURRENT) of the master control chip (MCU) via an eighteenth resistor (R19), and the voltage output end (Vout) and the current control input end of the step-down DC-DC conversion module are connected in series with a forwardly connected second diode (D4); the negative voltage input end (V-) and the voltage output end (Vout) are also connected in parallel with a nineteenth resistor (R17) and a sixth capacitor (C7), respectively.

11. A cleaning robot comprising a master control chip and an electrochemical energy storage device, characterized in that, The electrochemical energy storage device comprises a battery module and the charging management circuit according to any one of claims 1 to 10. The electrochemical energy storage device comprises a battery module and the charging management circuit according to any one of claims 1 to 10.

Images