A power supply circuit of a cleaning robot and a cleaning robot

Abstract

This application discloses a power supply circuit for a cleaning robot and the cleaning robot itself. The power supply circuit includes: a power supply circuit and an auxiliary power supply; a first voltage conversion circuit connected to both the power supply circuit and the load, wherein the power supply circuit supplies power to the load through the first voltage conversion circuit; a second voltage conversion circuit connected to both the auxiliary power supply and the load, wherein the auxiliary power supply supplies power to the load through the second voltage conversion circuit; an energy recovery circuit connected to both the load and the second voltage conversion circuit; and a control circuit connected to the first voltage conversion circuit, the second voltage conversion circuit, and the load. The control circuit is used to control the second voltage conversion circuit to receive the back electromotive force (EMF) through the energy recovery circuit when the load generates a back EMF, and to charge the auxiliary power supply based on the back EMF. Through this method, energy reuse is achieved, reducing damage to the cleaning robot.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a power supply circuit for a cleaning robot and the cleaning robot itself. Background Technology

[0002] With the rapid development of smart homes, robotics technology, and the cleaning equipment market, cleaning robots are being used more and more widely in home environments. Modern cleaning robots are no longer limited to simple vacuuming or sweeping functions, but are gradually developing towards the integration of multiple functions. For example, cleaning robots need to drive multiple high-power motors simultaneously, such as large fans and roller brushes, to achieve efficient cleaning results. However, this mode of simultaneous operation of multiple motors places extremely high demands on the power supply system.

[0003] During the actual operation of cleaning robots, the starting, acceleration, stable operation, and emergency stop of the motor generate high-rate pulse discharges and frequent power fluctuations. In traditional pure lithium battery power supply solutions, the DC motors used in cleaning robots generate back electromotive force (EMF) when they stop or decelerate. Currently, the method for handling back EMF is to transfer its energy into heat. However, this heat dissipation method not only wastes energy but may also damage the cleaning robot, thereby affecting its reliability and stability. Utility Model Content

[0004] This application mainly provides a power supply circuit for a cleaning robot and a cleaning robot, solving the problem that current methods of handling back electromotive force not only waste energy but may also damage the cleaning robot, thereby affecting its reliability and stability.

[0005] This application provides a power supply circuit for a cleaning robot, which is applied to the cleaning robot and includes:

[0006] Power supply circuit and auxiliary power supply;

[0007] A first voltage conversion circuit is connected to the power supply circuit and the load respectively, and the power supply circuit supplies power to the load through the first voltage conversion circuit.

[0008] The second voltage conversion circuit is connected to the auxiliary power supply and the load respectively, and the auxiliary power supply supplies power to the load through the second voltage conversion circuit.

[0009] An energy recovery circuit is connected to the load and the second voltage conversion circuit, respectively.

[0010] A control circuit is connected to the first voltage conversion circuit, the second voltage conversion circuit, and the load, respectively. The control circuit is used to control the second voltage conversion circuit to receive the back electromotive force through the energy recovery circuit when the load generates a back electromotive force, and to charge the auxiliary power supply based on the back electromotive force.

[0011] The energy recovery circuit includes a rectifier circuit and a voltage limiting circuit. The rectifier circuit is connected to the load and the voltage limiting circuit, respectively. The voltage limiting circuit is connected to the second voltage conversion circuit and receives a preset reference voltage. The rectifier circuit is used to rectify the back electromotive force generated by the load. The voltage limiting circuit is used to limit the voltage of the auxiliary power supply.

[0012] Wherein, when the voltage of the auxiliary power supply is greater than or equal to the reference voltage, the control circuit is used to control the voltage limiting circuit to disconnect, so that the energy recovery circuit stops charging the auxiliary power supply;

[0013] When the voltage of the auxiliary power supply is less than the reference voltage, the control circuit controls the voltage limiting circuit to turn on, and the energy recovery circuit charges the auxiliary power supply.

[0014] The rectifier circuit includes a first diode, a second diode, a third diode, and a fourth diode. The first diode, the third diode, the fourth diode, and the second diode are connected in a bridge configuration. The first output terminal of the load is connected between the anode of the first diode and the cathode of the second diode. The second output terminal of the load is connected between the anode of the third diode and the cathode of the fourth diode. The first terminal of the voltage limiting circuit is connected between the cathode of the first diode and the cathode of the third diode. The second terminal of the voltage limiting circuit is connected between the anode of the second diode and the anode of the fourth diode. The rectifier circuit is used to adjust the reverse electromotive force voltage direction of the load in forward rotation and the reverse electromotive force voltage direction of the load in reverse rotation to unidirectional.

[0015] The voltage limiting circuit includes a first switching transistor and a voltage reference circuit. The first terminal of the first switching transistor is connected to the first output terminal of the rectifier circuit, the second terminal of the first switching transistor is connected to the first terminal of the second voltage conversion circuit, the third terminal of the first switching transistor is connected to the first terminal of the voltage reference circuit, the second terminal of the voltage reference circuit is grounded, the third terminal of the voltage reference circuit is connected to the control circuit, the voltage reference circuit receives the reference voltage, and the second terminal of the second voltage conversion circuit is connected to the second output terminal of the rectifier circuit.

[0016] The power supply circuit further includes a bus, which is connected to the first voltage conversion circuit, the second voltage conversion circuit, and the load. The power supply circuit supplies power to the load through the first voltage conversion circuit and the bus, and the auxiliary power supply supplies power to the load through the second voltage conversion circuit and the bus. The control circuit is used to control the first voltage conversion circuit to disconnect when the load generates back electromotive force, and the second voltage conversion circuit receives the back electromotive force through the energy recovery circuit.

[0017] The power supply circuit further includes a sampling circuit, and the control circuit is connected to the auxiliary power supply through the sampling circuit. The sampling circuit is used to collect the voltage and current of the auxiliary power supply.

[0018] The control circuit is also used to acquire the voltage and current of the load, obtain the power of the load based on the voltage and current of the load, and control the charging and discharging of the auxiliary power supply based on the power of the load.

[0019] The control circuit is used to control the first voltage conversion circuit to output mode when the power of the load is less than a preset power threshold, and the power supply circuit supplies power to the load through the first voltage conversion circuit and the bus.

[0020] The control circuit is used to control the power supply circuit to supply power to the load through the first voltage conversion circuit and the bus when the power of the load is greater than the power threshold and the voltage of the auxiliary power supply is greater than or equal to a preset second voltage threshold, and to control the auxiliary power supply to supply power to the load through the second voltage conversion circuit and the bus.

[0021] The control circuit is used to control the second voltage conversion circuit to step-down mode when the power of the load is less than the power threshold and the voltage of the auxiliary power supply is less than a preset first voltage threshold. The power supply circuit charges the auxiliary power supply through the first voltage conversion circuit, the bus and the second voltage conversion circuit.

[0022] The control circuit is used to control the auxiliary power supply to standby mode when the power of the load is less than the power threshold and the voltage of the auxiliary power supply is greater than or equal to the second voltage threshold.

[0023] The power supply circuit further includes an external power supply circuit, which is connected to the control circuit and the bus respectively. The external power supply circuit is used to charge the power supply circuit through the bus and the first voltage conversion circuit, and to charge the auxiliary power supply through the bus and the second voltage conversion circuit.

[0024] The power supply circuit includes a battery pack, which supplies power to the load through the first voltage conversion circuit; the auxiliary power supply includes a capacitor, which supplies power to the load through the second voltage conversion circuit.

[0025] This application also provides a cleaning robot, including a load and a power supply circuit as described above.

[0026] The beneficial effects of this application are as follows: In this application, the energy recovery circuit is connected to the load and the second voltage conversion circuit respectively. The control circuit is used to control the second voltage conversion circuit to receive the back electromotive force through the energy recovery circuit when the load generates back electromotive force, and to charge the auxiliary power supply based on the back electromotive force. The energy recovery circuit can recover and store the energy generated by the load's back electromotive force in the auxiliary power supply, realize the reuse of energy, reduce damage to the power supply circuit and the power supply circuit, thereby reducing the damage to the cleaning robot and improving the reliability and stability of the cleaning robot. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0028] Figure 1 This is a circuit diagram of one embodiment of the power supply circuit for the cleaning robot provided in this application;

[0029] Figure 2 This is a circuit diagram of an embodiment of energy recovery provided in this application;

[0030] Figure 3 This is a circuit diagram of one embodiment of the energy recovery circuit provided in this application;

[0031] Figure 4 This is a circuit diagram of one embodiment of the voltage reference circuit provided in this application;

[0032] Figure 5 This is a circuit diagram of one embodiment of the sampling circuit provided in this application;

[0033] Figure 6 This is a circuit diagram of an embodiment of the power supply circuit and auxiliary power charging provided in this application;

[0034] Figure 7 This is a circuit diagram of one embodiment of the power supply circuit, first voltage conversion circuit, load, auxiliary power supply and second voltage conversion circuit provided in this application. Detailed Implementation

[0035] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0037] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly indicating the number, specific order, or primary and secondary relationship of the indicated technical features.

[0038] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment 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 refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0039] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0040] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a connection between two components or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0041] Please see Figure 1 and Figure 2 As shown, Figure 1This is a circuit diagram of one embodiment of the power supply circuit for the cleaning robot provided in this application; Figure 2 This is a circuit diagram of an embodiment of energy recovery provided in this application. The power supply circuit 100 of the cleaning robot in this embodiment includes a power supply circuit 10, an auxiliary power supply 20, a first voltage conversion circuit 30, a second voltage conversion circuit 40, an energy recovery circuit 50, and a control circuit 60.

[0042] The power supply circuit 10 includes, but is not limited to, a lithium battery; the auxiliary power supply 20 includes, but is not limited to, a supercapacitor, a double-layer capacitor, a supercapacitor, and an electrolytic capacitor. In this application, the auxiliary power supply 20 is an example of a supercapacitor.

[0043] The first voltage conversion circuit 30 is connected to the power supply circuit 10 and the load 80 respectively. The power supply circuit 10 supplies power to the load 80 through the first voltage conversion circuit 30. The second voltage conversion circuit 40 is connected to the auxiliary power supply 20 and the load 80 respectively. The auxiliary power supply 20 supplies power to the load 80 through the second voltage conversion circuit 40.

[0044] In some embodiments, one end of the first voltage conversion circuit 30 is connected to the power supply circuit 10, and the other end of the first voltage conversion circuit 30 is connected to the load 80, so that the power supply circuit 10 supplies power to the load 80 through the first voltage conversion circuit 30; one end of the second voltage conversion circuit 40 is connected to the auxiliary power supply 20, and the other end of the second voltage conversion circuit 40 is connected to the load 80, so that the auxiliary power supply 20 supplies power to the load 80 through the second voltage conversion circuit 40; at this time, the power supply circuit 10 and the auxiliary power supply 20 are connected in parallel and can work together to supply power to the load 80.

[0045] In this embodiment, the power supply circuit 10 supplies power to the load 80 through the first voltage conversion circuit 30, and the auxiliary power supply 20 supplies power to the load 80 through the second voltage conversion circuit 40. Through the synergistic effect of the power supply circuit 10 and the auxiliary power supply 20, a dual power supply is formed. For example, when the power supply circuit 10 is a lithium battery and the auxiliary power supply 20 is a supercapacitor, the auxiliary power supply 20 can share the high-power load, reduce the high-rate discharge of the power supply circuit 10, extend the life of the power supply circuit 10, and provide instantaneous high-power support, thereby improving the start-up and acceleration performance of the cleaning robot.

[0046] The first voltage conversion circuit 30 and the second voltage conversion circuit 40 include, but are not limited to, bidirectional DC-DC converters; the load 80 includes, but is not limited to, motor 81 and peripheral components.

[0047] The energy recovery circuit 50 is connected to the load 80 and the second voltage conversion circuit 40.

[0048] The control circuit 60 is connected to the first voltage conversion circuit 30, the second voltage conversion circuit 40 and the load 80 respectively. When the load 80 generates a back electromotive force, the control circuit 60 controls the second voltage conversion circuit 40 to receive the back electromotive force through the energy recovery circuit 50 and charge the auxiliary power supply 20 based on the back electromotive force.

[0049] In some embodiments, when the motor 81 of the load 80 brakes or stops, it generates a back electromotive force. At this time, the power supply circuit 10 and the auxiliary power supply 20 can stop supplying power to the load 80. Since the energy recovery circuit 50 is connected to the load 80 and the second voltage conversion circuit 40 respectively, the back electromotive force generated by the load 80 can be recovered through the energy recovery circuit 50 and transmitted to the second voltage conversion circuit 40. The second voltage conversion circuit 40 can convert the back electromotive force to charge the auxiliary power supply 20.

[0050] In this embodiment, the energy recovery circuit 50 is connected to the load 80 and the second voltage conversion circuit 40 respectively. The control circuit 60 is used to control the second voltage conversion circuit 40 to receive the back electromotive force through the energy recovery circuit 50 and charge the auxiliary power supply 20 based on the back electromotive force. The energy recovery circuit 50 can recover the energy generated by the back electromotive force of the load 80 and store it in the auxiliary power supply 20, realize the reuse of energy, reduce the damage to the power supply circuit 10 and the power supply circuit 100, thereby reducing the damage to the cleaning robot and improving the reliability and stability of the cleaning robot.

[0051] According to some embodiments of this application, see Figure 3 As shown, Figure 3 This is a circuit diagram of an embodiment of the energy recovery circuit provided in this application. The energy recovery circuit 50 of this embodiment includes a rectifier circuit 51 and a voltage limiting circuit 52. The rectifier circuit 51 is connected to the load 80 and the voltage limiting circuit 52, respectively. The voltage limiting circuit 52 is connected to the second voltage conversion circuit 40, and the voltage limiting circuit 52 receives a preset reference voltage V. REF The rectifier circuit 51 is used to rectify the back electromotive force generated by the load 80; the voltage limiting circuit 52 is used to limit the voltage of the auxiliary power supply 20.

[0052] In some embodiments, after receiving the back electromotive force, the rectifier circuit 51 rectifies the back electromotive force and converts it into a unidirectional DC signal, which is then used to charge the auxiliary power supply 20 through the voltage limiting circuit 52 and the second voltage conversion circuit 40. As the auxiliary power supply 20 is charged, its voltage increases. At this time, the voltage limiting circuit 52 limits the voltage of the auxiliary power supply 20, for example, by limiting the charging voltage of the auxiliary power supply 20, to ensure that the voltage of the auxiliary power supply 20 remains within a safe range.

[0053] In this embodiment, the voltage limiting circuit 52 ensures that the voltage of the auxiliary power supply 20 is kept within a safe range, preventing damage to the auxiliary power supply 20 due to excessive voltage.

[0054] According to some embodiments of this application, the voltage Vcap of the auxiliary power supply 20 is greater than or equal to the reference voltage V. REF At this time, the control circuit 60 is used to control the voltage limiting circuit 52 to disconnect, so that the energy recovery circuit 50 stops charging the auxiliary power supply 20.

[0055] The voltage Vcap of the auxiliary power supply 20 is less than the reference voltage V. REF At this time, the control circuit 60 controls the voltage limiting circuit 52 to conduct, and the energy recovery circuit 50 charges the auxiliary power supply 20.

[0056] In some embodiments, the voltage limiting circuit 52 acquires the voltage Vcap of the auxiliary power supply 20 and compares the voltage Vcap of the auxiliary power supply 20 with the reference voltage V. REF Comparison; the voltage Vcap of auxiliary power supply 20 is greater than or equal to the reference voltage V. REF When the voltage limit circuit 52 is disconnected by the control circuit 60, the connection between the rectifier circuit 51 and the second voltage conversion circuit 40 is broken, and the auxiliary power supply 20 stops charging; when the voltage Vcap of the auxiliary power supply 20 is less than the reference voltage V... REF At this time, the control circuit 60 controls the voltage limiting circuit 52 to conduct, and the auxiliary power supply 20 receives back electromotive force through the rectifier circuit 51, the voltage limiting circuit 52 and the second voltage conversion circuit 40 to charge the auxiliary power supply 20.

[0057] In this embodiment, the control circuit 60 controls the conduction or disconnection of the voltage limiting circuit 52, which can determine whether to charge the auxiliary power supply 20 based on the voltage Vcap of the auxiliary power supply 20. This not only protects the auxiliary power supply 20 from overvoltage damage, but also maximizes the utilization of the energy of the back electromotive force generated by the load 80.

[0058] According to some embodiments of this application, see Figure 3 and Figure 4 As shown, Figure 4 This is a circuit diagram of one embodiment of the voltage reference circuit provided in this application. The rectifier circuit 51 of this embodiment includes a first diode D1, a second diode D2, a third diode D3, and a fourth diode D4.

[0059] The first diode D1, the third diode D3, the fourth diode D4, and the second diode D2 are connected in a bridge configuration. The first output terminal of the load 80 is connected between the positive terminal of the first diode D1 and the negative terminal of the second diode D2. The second output terminal of the load 80 is connected between the positive terminal of the third diode D3 and the negative terminal of the fourth diode D4. The first terminal of the voltage limiting circuit 52 is connected between the negative terminals of the first and third diodes, and the second terminal of the voltage limiting circuit 52 is connected between the positive terminals of the second diode D2 and the fourth diode D4. The rectifier circuit 51 is used to adjust the reverse electromotive force voltage direction of the load 80 when it is rotating in the forward direction and the reverse electromotive force voltage direction of the load 80 when it is rotating in the reverse direction to be unidirectional.

[0060] In some embodiments, the positive terminal of the first diode D1 is connected to the first output terminal of the load 80 and the negative terminal of the second diode D2, the positive terminal of the third diode D3 is connected to the second output terminal of the load 80 and the negative terminal of the fourth diode D4, the positive terminal of the second diode D2 is connected to the positive terminal of the fourth diode D4, and the negative terminal of the first diode D1 is connected to the negative terminal of the third diode D3.

[0061] In this embodiment, a rectifier circuit 51 for directional electromotive force voltage is formed by a first diode D1, a second diode D2, a third diode D3, and a fourth diode D4, which can adjust the direction of the reverse electromotive force voltage to unidirectional in both forward and reverse rotation scenarios of the load 80 (motor 81).

[0062] According to some embodiments of this application, see Figure 3 and Figure 4 As shown, the voltage limiting circuit 52 in this embodiment includes a first switching transistor Q1 and a voltage reference circuit U20.

[0063] The first terminal of the first switching transistor Q1 is connected to the first output terminal of the rectifier circuit 51, and the second terminal of the first switching transistor Q1 is connected to the first terminal of the second voltage conversion circuit 40. The third terminal of the first switching transistor Q1 is connected to the first terminal of the voltage reference circuit U20, the second terminal of the voltage reference circuit U20 is grounded, and the third terminal of the voltage reference circuit U20 is connected to the control circuit 60. The voltage reference circuit U20 receives the reference voltage V. REF The second terminal of the second voltage conversion circuit 40 is connected to the second output terminal of the rectifier circuit 51.

[0064] like Figure 3 As shown, the cathode of the first diode D1 and the cathode of the third diode D3 serve as the first output terminal of the rectifier circuit 51, and the anode of the second diode D2 and the anode of the fourth diode D4 serve as the second output terminal of the rectifier circuit 51.

[0065] In some embodiments, the voltage limiting circuit 52 further includes a first capacitor C1, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a fifth resistor R5, and a fifth diode D5.

[0066] One end of the first capacitor C1 is connected between the cathodes of the first diode D1 and the third diode D3, and the other end of the first capacitor C1 is connected between the anodes of the second diode D2 and the fourth diode D4. The first terminal of the first switch Q1 is connected to one end of the first capacitor C1 and the first terminal of the first resistor R1. The second terminal of the first switch Q1 is connected to one end of the third resistor R3 and the first terminal of the second voltage conversion circuit 40. The other end of the first capacitor C1 is connected to the second terminal of the second voltage conversion circuit 40. The third terminal of the second voltage conversion circuit 40 is connected to one end of the auxiliary power supply 20. The fourth terminal of the second voltage conversion circuit 40 is connected to the other terminal of the auxiliary power supply 20, and the other terminal of the auxiliary power supply 20 is grounded. The third terminal of the first switching transistor Q1 is connected to the first terminal of the voltage reference circuit U20 through the second resistor R2. The other terminal of the first resistor R1 is connected between the second resistor R2 and the first terminal of the voltage reference circuit U20. The second terminal of the voltage reference circuit U20 is grounded. The other terminal of the third resistor R3 is grounded through the fourth resistor R4. The third terminal of the voltage reference circuit U20 is connected between the other terminal of the third resistor R3 and the fourth resistor R4. The voltage reference circuit U20 receives the reference voltage V. REF The positive terminal of the fifth diode D5 is connected to the control circuit 60, and the negative terminal of the fifth diode D5 is connected to the other end of the third resistor R3 and the fourth resistor R4 through the fifth resistor R5.

[0067] Among them, the voltage reference circuit U20 includes, but is not limited to, a voltage reference chip, and its internal schematic diagram is as follows: Figure 4 As shown; the voltage reference circuit U20 includes a third operational amplifier U3, a twelfth switch Q12, and a sixth diode D6. Optionally, the third operational amplifier U3 receives a reference voltage V. REF Reference voltage V REF The voltage is 2.5V; the voltage Vcap of auxiliary power supply 20 is related to the third resistor R3 and the fourth resistor R4. The formula for the voltage Vcap of auxiliary power supply 20 is as follows: Vcap = V REF (1+R3 / R4).

[0068] In some embodiments, the voltage Vcap of the auxiliary power supply 20 is greater than or equal to the reference voltage V. REF When the control circuit 60 controls the first switch Q1 of the voltage limiting circuit 52 to turn off, the auxiliary power supply 20 stops charging; when the voltage Vcap of the auxiliary power supply 20 is less than the reference voltage V... REFWhen the control circuit 60 controls the first switch Q1 of the voltage limiting circuit 52 to conduct, the auxiliary power supply 20 receives back electromotive force through the rectifier circuit 51, the voltage limiting circuit 52 and the second voltage conversion circuit 40 to charge the auxiliary power supply 20, thereby achieving voltage stabilization.

[0069] Optionally, the first switch Q1 is an NMOS transistor, with its first terminal being the drain, its second terminal being the source, and its third terminal being the gate. In other embodiments, the first switch Q1 is a bipolar transistor.

[0070] According to some embodiments of this application, see Figure 1 and Figure 2 As shown, the power supply circuit 100 in this embodiment also includes a bus 70, which is connected to the first voltage conversion circuit 30, the second voltage conversion circuit 40 and the load 80 respectively. The power supply circuit 10 supplies power to the load 80 through the first voltage conversion circuit 30 and the bus 70, and the auxiliary power supply 20 supplies power to the load 80 through the second voltage conversion circuit 40 and the bus 70.

[0071] The control circuit 60 is used to control the first voltage conversion circuit 30 to disconnect when the load 80 generates back electromotive force, and the second voltage conversion circuit 40 receives the back electromotive force through the energy recovery circuit 50.

[0072] like Figure 2 As shown, for example, load 80 includes motor 81. When motor 81 brakes or stops, it generates back electromotive force. Control circuit 60 can control the first voltage conversion circuit 30 to disconnect via pulse width modulation signal, and power supply circuit 10 stops supplying power to load 80. Control circuit 60 also controls the second voltage conversion circuit 40 to receive back electromotive force through energy recovery circuit 50, and charges auxiliary power supply 20 based on back electromotive force. At this time, auxiliary power supply 20 is used for energy recovery and stops supplying power to load 80.

[0073] In this embodiment, the configuration of bus 70 provides a common connection point for the power supply circuit 10 and the auxiliary power supply 20, reducing the potential fault points that may be introduced due to excessive wiring or too many connection points.

[0074] According to some embodiments of this application, see Figure 5 As shown, Figure 5 This is a circuit diagram of one embodiment of the sampling circuit provided in this application. The power supply circuit 100 of this embodiment also includes a sampling circuit 61. The control circuit 60 is connected to the auxiliary power supply 20 through the sampling circuit 61. The sampling circuit 61 is used to collect the voltage Vcap and the current Icap of the auxiliary power supply 20.

[0075] like Figure 5As shown, the sampling circuit 61 includes, but is not limited to, an ADC sampling circuit; the sampling circuit 61 includes a voltage sampling circuit 611 and a current sampling circuit 612. The voltage sampling circuit 611 includes a seventeenth resistor R17, an eighteenth resistor R18, a fifth capacitor C5, a first operational amplifier U1, a sixth capacitor C6, a nineteenth resistor R19, and a seventh capacitor C7. The output terminal of the first operational amplifier U1 is connected to the control circuit 60 through the nineteenth resistor R19, so that the control circuit 60 can sample the voltage Vcap of the auxiliary power supply 20. The current sampling circuit 612 includes a twentieth resistor R20, an eighth capacitor C8, a twenty-first resistor R21, a twenty-second resistor R22, a twenty-third resistor R23, a ninth capacitor C9, a tenth capacitor C10, an eleventh capacitor C11, a second operational amplifier U2, a twenty-fourth resistor R24, a twelfth capacitor C12, a thirteenth capacitor C13, a twenty-fifth resistor R25, and a fourteenth capacitor C14. The second operational amplifier U2 is connected to the control circuit 60 through the twenty-fifth resistor R25, so that the control circuit 60 can sample the current Icap of the auxiliary power supply 20.

[0076] The control circuit 60 is also used to acquire the voltage Vo and current Io of the load 80, and to obtain the power P of the load 80 based on the voltage Vo and current Io of the load 80. load Based on the power P of the load 80 load Control the charging and discharging of auxiliary power supply 20.

[0077] In some embodiments, the power P of the load 80 is obtained by multiplying the voltage Vo of the load 80 by the current Io of the load 80. load .

[0078] According to some embodiments of this application, the control circuit 60 is used to control the power P of the load 80. load When the power is less than the preset power threshold, the first voltage conversion circuit 30 is controlled to output mode, and the power supply circuit 10 supplies power to the load 80 through the first voltage conversion circuit 30 and the bus 70.

[0079] Control circuit 60 is used to control the power P of load 80 load When the voltage of the auxiliary power supply 20 is greater than the power threshold and the voltage Vcap of the auxiliary power supply 20 is greater than or equal to the preset second voltage threshold (such as the maximum voltage Vcap-max of the auxiliary power supply 20), the control power supply circuit 10 supplies power to the load 80 through the first voltage conversion circuit 30 and the bus 70, and controls the auxiliary power supply 20 to supply power to the load 80 through the second voltage conversion circuit 40 and the bus 70.

[0080] In some embodiments, at a power P of load 80 loadWhen the power is less than the preset power threshold, the power supply circuit 100 is in low-load mode, and the power supply circuit 10 supplies power to the load 80; when the power P of the load 80 is less than the preset power threshold, the power supply circuit 100 is in low-load mode, and the power supply circuit 10 supplies power to the load 80. load When the power exceeds the power threshold, the power supply circuit 100 is in high-load mode, and the power supply circuit 10 and the auxiliary power supply 20 jointly supply power to the load 80; the control circuit 60 controls the power supply circuit 10 and the auxiliary power supply 20 to supply power to the load 80 through the control formulas of the first voltage conversion circuit 30 and the second voltage conversion circuit 40, respectively. The control formula is: Vo = Vcap / (1-D M3 ) = Vbat / (1-D M1 ), D M3 The auxiliary power supply 20 uses the PWM output duty cycle D of the second voltage conversion circuit 40 to achieve the duty cycle of the second voltage conversion circuit 40. M3 Provides transient high power output; D M1 The PWM output duty cycle of the first voltage conversion circuit 30 is given by the power supply circuit 10. M1 Provides stable power output.

[0081] This embodiment uses a power P at a load of 80. load When demand is low, the control power supply circuit 10 supplies power to the load 80 through the first voltage conversion circuit 30, and the auxiliary power supply 20 does not participate in the power supply of the load 80; when the power P of the load 80 is low... load When demand is high, the control power supply circuit 10 and the auxiliary power supply 20 work together to supply power to the load 80, which improves the overall energy utilization efficiency of the power supply circuit 100.

[0082] According to some embodiments of this application, the control circuit 60 is used to control the power P of the load 80. load When the voltage Vcap of the auxiliary power supply 20 is less than the power threshold and is less than the preset first voltage threshold, the second voltage conversion circuit 40 is controlled to step-down mode, and the power supply circuit 10 charges the auxiliary power supply 20 through the first voltage conversion circuit 30, the bus 70 and the second voltage conversion circuit 40.

[0083] Control circuit 60 is used to control the power P of load 80 load When the power is less than the preset power threshold and the voltage Vcap of the auxiliary power supply 20 is greater than or equal to the second voltage threshold, the auxiliary power supply 20 is controlled to be in standby mode.

[0084] In some embodiments, at a power P of load 80 loadWhen the power output is less than a preset power threshold and the voltage Vcap of the auxiliary power supply 20 is less than a preset first voltage threshold (e.g., the minimum voltage Vcap-min of the auxiliary power supply 20), the control circuit 60 controls the second voltage conversion circuit 40 to step-down mode so that the power supply circuit 10 charges the auxiliary power supply 20; when the voltage Vcap of the auxiliary power supply 20 is greater than or equal to the second voltage threshold (e.g., the maximum voltage Vcap-max of the auxiliary power supply 20), the control circuit 60 controls the auxiliary power supply 20 to be in standby mode; that is, in low load mode, the power supply circuit 100 only supplies power to the load 80 through the power supply circuit 10, and the auxiliary power supply 20 is charged at low power or in standby mode.

[0085] According to some embodiments of this application, see Figure 1 and Figure 6 As shown, Figure 6 This is a circuit diagram of an embodiment of the power supply circuit and auxiliary power charging provided in this application. The power supply circuit 100 of this embodiment also includes an external power supply circuit 90, which is connected to the control circuit 60 and the bus 70 respectively. The external power supply circuit 90 is used to charge the power supply circuit 10 through the bus 70 and the first voltage conversion circuit 30, and to charge the auxiliary power supply 20 through the bus 70 and the second voltage conversion circuit 40.

[0086] Among them, the external power supply circuit 90 is an external power source, including but not limited to mains power (AC power), DC power or solar power.

[0087] According to some embodiments of this application, the control circuit 60 is also used to obtain the maximum charging current I of the external power supply circuit 90. MAX The difference between the maximum voltage Vbat-max and the voltage Vbat of the power supply circuit 10 is divided by the difference between the maximum voltage Vbat-max and the minimum voltage Vbat-min of the power supply circuit 10, and then multiplied by the maximum charging current I of the external power supply circuit 90. MAX The charging current I of power supply circuit 10 is obtained. BAT That is, the charging current I of power supply circuit 10. BAT The calculation formula is: I BAT =(Vbat-max-Vba) / (Vbat-max-Vbat-min)*I MAX .

[0088] The control circuit 60 is also used to divide the difference between the maximum voltage Vcap-max of the auxiliary power supply 20 and the voltage Vcap of the auxiliary power supply 20 by the difference between the maximum voltage Vcap-max of the auxiliary power supply 20 and the minimum voltage Vcap-min of the auxiliary power supply 20, and then multiply it by the maximum charging current I of the external power supply circuit 90. MAXThe charging current I of the auxiliary power supply 20 is obtained. CAP That is, the charging current I of the auxiliary power supply 20. CAP The calculation formula is: I CAP =(Vcap-max-Vcap) / (Vcap-max-Vcap-min)*I MAX .

[0089] In some embodiments, the control circuit 60 further adjusts the PWM input duty cycle D of the first voltage conversion circuit 30. BAT The PWM input duty cycle D of the second voltage conversion circuit 40 CAP The charging current I of the power supply circuit 10 is dynamically adjusted. BAT and the charging current I of auxiliary power supply 20 CAP Among them, the PWM input duty cycle D of the first voltage conversion circuit 30 BAT The charging current I of power supply circuit 10 BAT Divide by the maximum charging current I of the external power supply circuit 90 MAX D BAT =I BAT / I MAX The PWM input duty cycle D of the second voltage conversion circuit 40 CAP The charging current I of the auxiliary power supply 20 CAP Divide by the maximum charging current I of the external power supply circuit 90 MAX D CAP =I CAP / I MAX .

[0090] In this embodiment, the charging current I of the power supply circuit 10 is dynamically distributed by the voltage Vbat of the power supply circuit 10 and the voltage Vcap of the auxiliary power supply 20. BAT and the charging current I of the auxiliary power supply CAP This ensures that the power supply circuit 10 and the auxiliary power supply 20 can be charged efficiently and safely.

[0091] According to some embodiments of this application, see Figure 7 As shown, Figure 7 This is a circuit diagram of an embodiment of the power supply circuit, first voltage conversion circuit, load, auxiliary power supply, and second voltage conversion circuit provided in this application. The first voltage conversion circuit 30 of this embodiment includes a first inductor L1, a second switch Q2, a third switch Q3, a fourth switch Q4, a fifth switch Q5, a sixth switch Q6, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, a ninth resistor R9, a tenth resistor R10, and a third capacitor C3.

[0092] One end of the first inductor L1 is connected to one end of the power supply circuit 10, and the other end of the power supply circuit 10 is grounded. The other end of the first inductor L1 is connected to the first end of the second switch Q2. The second end of the second switch Q2 is connected to one end of the load 80, and the other end of the load 80 is connected to the other end of the power supply circuit 10. One end of the third capacitor C3 is connected between the second end of the second switch Q2 and one end of the load 80, and the other end of the third capacitor C3 is connected between the other end of the load 80 and the other end of the power supply circuit 10. The first end of the third switch Q3 is connected between the other end of the first inductor L1 and the first end of the second switch Q2. The second end of the third switch Q3 is connected between the other end of the third capacitor C3 and the other end of the power supply circuit 10. The third end of the third switch Q3 is connected to the first end of the fourth switch Q4 and the first end of the fifth switch Q5 through the fifth resistor R5. The third end of the third switch Q3 is connected to the second end of the third switch Q3 through the sixth resistor R6.

[0093] The second terminal of the fourth switch Q4 receives the input voltage VCC, the second terminal of the fifth switch Q5 is grounded, one end of the seventh resistor R7 is connected to the control circuit 60, and the other end of the seventh resistor R7 is connected to the third terminal of the fourth switch Q4 and the third terminal of the fifth switch Q5 respectively; the first terminal of the second switch Q2 is connected to the third terminal of the second switch Q2 through the eighth resistor R8, the first terminal of the sixth switch Q6 is connected to the third terminal of the second switch Q2 through the ninth resistor R9, the second terminal of the sixth switch Q6 is connected to the third terminal of the third switch Q3, and the third terminal of the sixth switch Q6 is connected to the control circuit 60 through the tenth resistor R10.

[0094] For example, such as Figure 7 As shown, PWM1 is the energy output of power supply circuit 10, and PWM2 is the energy input of power supply circuit 10. When power supply circuit 10 supplies power to load 80, the first voltage conversion circuit 30 is in boost mode. When external power supply circuit 90 charges power supply circuit 10, the first voltage conversion circuit 30 is in buck mode.

[0095] Optionally, the second switch Q2 and the third switch Q3 are NMOS transistors, with the first terminal of the second switch Q2 and the second terminal of the third switch Q3 serving as the source, the second terminal of the second switch Q2 and the first terminal of the third switch Q3 serving as the drain, and the third terminal of the second switch Q2 and the third terminal of the third switch Q3 serving as the gate; the fourth switch Q4 and the sixth switch Q6 are NPN transistors, with the first terminal of the fourth switch Q4 and the second terminal of the sixth switch Q6 serving as the emitter, the second terminal of the fourth switch Q4 and the first terminal of the sixth switch Q6 serving as the collector, and the third terminal of the fourth switch Q4 and the third terminal of the sixth switch Q6 serving as the base; the fifth switch Q5 is a PNP transistor, with the first terminal of the fifth switch Q5 serving as the emitter, the second terminal of the fifth switch Q5 serving as the collector, and the third terminal of the fifth switch Q5 serving as the base.

[0096] According to some embodiments of this application, such as Figure 7 As shown, the second voltage conversion circuit 40 in this embodiment includes a second inductor L2, a seventh switch Q7, an eighth switch Q8, a ninth switch Q9, a tenth switch Q10, an eleventh switch Q11, an eleventh resistor R11, a twelfth resistor R12, a thirteenth resistor R13, a fourteenth resistor R14, a fifteenth resistor R15, a sixteenth resistor R16, and a fourth capacitor C4.

[0097] One end of the second inductor L2 is connected to one end of the auxiliary power supply 20, and the other end of the auxiliary power supply 20 is grounded. The other end of the second inductor L2 is connected to the first end of the seventh switch Q7. The second end of the seventh switch Q7 is connected to one end of the load 80. The other end of the load 80 is connected to the other end of the auxiliary power supply 20. One end of the fourth capacitor C4 is connected between the second end of the seventh switch Q7 and one end of the load 80. The other end of the fourth capacitor C4 is connected between the other end of the load 80 and the other end of the auxiliary power supply 20. The first end of the eighth switch Q8 is connected between the other end of the second inductor L2 and the first end of the seventh switch Q7. The second end of the eighth switch Q8 is connected between the other end of the fourth capacitor C4 and the other end of the auxiliary power supply 20. The third end of the eighth switch Q8 is connected to the first end of the ninth switch Q9 and the first end of the tenth switch Q10 through the eleventh resistor R11. The third end of the eighth switch Q8 is connected to the second end of the eighth switch Q8 through the twelfth resistor R12. In addition, one end of the fourth capacitor C4 is connected to the first end of the first switching transistor Q1, and the other end of the fourth capacitor C4 is connected to the second end of the first switching transistor Q1, so as to realize the connection between the second voltage conversion circuit 40 and the voltage limiting circuit 52.

[0098] The second terminal of the ninth switch Q9 receives the input voltage VCC and is grounded. One end of the thirteenth resistor R13 is connected to the control circuit 60, and the other end of the thirteenth resistor R13 is connected to the third terminal of the ninth switch Q9 and the third terminal of the tenth switch Q10. The third terminal of the seventh switch Q7 is connected to the first terminal of the eleventh switch Q11 through the fourteenth resistor R14. The first terminal of the seventh switch Q7 is connected to the third terminal of the seventh switch Q7 through the fifteenth resistor R15. The second terminal of the eleventh switch Q11 is connected to the second terminal of the eighth switch Q8. The third terminal of the eleventh switch Q11 is connected to the control circuit 60 through the sixteenth resistor R16.

[0099] For example, such as Figure 7 As shown, PWM3 is the energy output of auxiliary power supply 20, and PWM4 is the energy input of auxiliary power supply 20. When auxiliary power supply 20 supplies power to load 80, the second voltage conversion circuit 40 is in boost mode; when external power supply circuit 90 charges auxiliary power supply 20, the second voltage conversion circuit 40 is in buck mode.

[0100] Optionally, the seventh switch Q7 and the eighth switch Q8 are NMOS transistors, with the first terminal of the seventh switch Q7 and the second terminal of the eighth switch Q8 serving as the source, the second terminal of the seventh switch Q7 and the first terminal of the eighth switch Q8 serving as the drain, and the third terminal of the seventh switch Q7 and the third terminal of the eighth switch Q8 serving as the gate; the ninth switch Q9 and the eleventh switch Q11 are NPN transistors, with the first terminal of the ninth switch Q9 and the second terminal of the eleventh switch Q11 serving as the emitter, the second terminal of the ninth switch Q9 and the first terminal of the eleventh switch Q11 serving as the collector, and the third terminal of the ninth switch Q9 and the third terminal of the eleventh switch Q11 serving as the base; the tenth switch Q10 is a PNP transistor, with the first terminal of the tenth switch Q10 serving as the emitter, the second terminal of the tenth switch Q10 serving as the collector, and the third terminal of the tenth switch Q10 serving as the base.

[0101] This application also provides a cleaning robot, including a load 80 and a power supply circuit 100 as described in the above embodiment. The load 80 includes, but is not limited to, a motor 81 and peripheral components. For example, the motor 81 is connected to a first voltage conversion circuit 30 and a second voltage conversion circuit 40 via a bus 70. The power supply circuit 10 supplies power to the motor 81 via the first voltage conversion circuit 30 and the bus 70, and the auxiliary power supply 20 supplies power to the motor 81 via the second voltage conversion circuit 40 and the bus 70.

[0102] The above are merely embodiments of this application and do not limit the scope of this patent application. Any equivalent structural or procedural changes made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of this application.

Claims

1. A power supply circuit for a cleaning robot, characterized in that, Applications in cleaning robots, including: Power supply circuit and auxiliary power supply; A first voltage conversion circuit is connected to the power supply circuit and the load respectively, and the power supply circuit supplies power to the load through the first voltage conversion circuit. The second voltage conversion circuit is connected to the auxiliary power supply and the load respectively, and the auxiliary power supply supplies power to the load through the second voltage conversion circuit. An energy recovery circuit is connected to the load and the second voltage conversion circuit, respectively. A control circuit is connected to the first voltage conversion circuit, the second voltage conversion circuit, and the load, respectively. The control circuit is used to control the second voltage conversion circuit to receive the back electromotive force through the energy recovery circuit when the load generates a back electromotive force, and to charge the auxiliary power supply based on the back electromotive force.

2. The power supply circuit according to claim 1, characterized in that, The energy recovery circuit includes a rectifier circuit and a voltage limiting circuit. The rectifier circuit is connected to the load and the voltage limiting circuit, respectively. The voltage limiting circuit is connected to the second voltage conversion circuit and receives a preset reference voltage. The rectifier circuit is used to rectify the back electromotive force generated by the load. The voltage limiting circuit is used to limit the voltage of the auxiliary power supply.

3. The power supply circuit according to claim 2, characterized in that, When the voltage of the auxiliary power supply is greater than or equal to the reference voltage, the control circuit controls the voltage limiting circuit to disconnect, so that the energy recovery circuit stops charging the auxiliary power supply; When the voltage of the auxiliary power supply is less than the reference voltage, the control circuit controls the voltage limiting circuit to turn on, and the energy recovery circuit charges the auxiliary power supply.

4. The power supply circuit according to claim 2, characterized in that, The rectifier circuit includes a first diode, a second diode, a third diode, and a fourth diode. The first diode, the third diode, the fourth diode, and the second diode are connected in a bridge configuration. The first output terminal of the load is connected between the anode of the first diode and the cathode of the second diode. The second output terminal of the load is connected between the anode of the third diode and the cathode of the fourth diode. The first terminal of the voltage limiting circuit is connected between the cathode of the first diode and the cathode of the third diode. The second terminal of the voltage limiting circuit is connected between the anode of the second diode and the anode of the fourth diode. The rectifier circuit is used to adjust the reverse electromotive force voltage direction of the load in forward rotation and the reverse electromotive force voltage direction of the load in reverse rotation to unidirectional.

5. The power supply circuit according to claim 2, characterized in that, The voltage limiting circuit includes a first switching transistor and a voltage reference circuit. The first terminal of the first switching transistor is connected to the first output terminal of the rectifier circuit, the second terminal of the first switching transistor is connected to the first terminal of the second voltage conversion circuit, the third terminal of the first switching transistor is connected to the first terminal of the voltage reference circuit, the second terminal of the voltage reference circuit is grounded, the third terminal of the voltage reference circuit is connected to the control circuit, the voltage reference circuit receives the reference voltage, and the second terminal of the second voltage conversion circuit is connected to the second output terminal of the rectifier circuit.

6. The power supply circuit according to claim 1, characterized in that, The power supply circuit also includes a bus, which is connected to the first voltage conversion circuit, the second voltage conversion circuit, and the load respectively. The power supply circuit supplies power to the load through the first voltage conversion circuit and the bus, and the auxiliary power supply supplies power to the load through the second voltage conversion circuit and the bus. The control circuit is used to control the first voltage conversion circuit to disconnect when the load generates back electromotive force, and the second voltage conversion circuit receives the back electromotive force through the energy recovery circuit.

7. The power supply circuit according to claim 6, characterized in that, The power supply circuit further includes a sampling circuit, and the control circuit is connected to the auxiliary power supply through the sampling circuit. The sampling circuit is used to collect the voltage and current of the auxiliary power supply. The control circuit is also used to acquire the voltage and current of the load, and control the charging and discharging of the auxiliary power supply based on the voltage and current of the load.

8. The power supply circuit according to claim 7, characterized in that, The control circuit is used to control the first voltage conversion circuit to output mode when the power of the load is less than a preset power threshold, and the power supply circuit supplies power to the load through the first voltage conversion circuit and the bus. The control circuit is used to control the power supply circuit to supply power to the load through the first voltage conversion circuit and the bus, and to control the auxiliary power supply to supply power to the load through the second voltage conversion circuit and the bus, when the power of the load is greater than the power threshold and the voltage of the auxiliary power supply is greater than or equal to a preset second voltage threshold.

9. The power supply circuit according to claim 8, characterized in that, The control circuit is used to control the second voltage conversion circuit to step-down mode when the power of the load is less than the power threshold and the voltage of the auxiliary power supply is less than a preset first voltage threshold. The power supply circuit charges the auxiliary power supply through the first voltage conversion circuit, the bus and the second voltage conversion circuit. The control circuit is used to control the auxiliary power supply to standby mode when the power of the load is less than the power threshold and the voltage of the auxiliary power supply is greater than or equal to the second voltage threshold.

10. The power supply circuit according to claim 7, characterized in that, The power supply circuit also includes an external power supply circuit, which is connected to the control circuit and the bus respectively. The external power supply circuit is used to charge the power supply circuit through the bus and the first voltage conversion circuit, and to charge the auxiliary power supply through the bus and the second voltage conversion circuit.

11. The power supply circuit according to any one of claims 1-10, characterized in that, The power supply circuit includes a battery pack, which supplies power to the load through the first voltage conversion circuit; the auxiliary power supply includes a capacitor, which supplies power to the load through the second voltage conversion circuit.

12. A cleaning robot, characterized in that, Includes the load and the power supply circuit as described in any one of claims 1-11.

Images