A power path management system for a pool robot

Abstract

The utility model discloses a power path management system for pool robot, include: power path control module is used for managing a plurality of independent power supply channel, including battery power supply channel, external power supply channel, external charging channel and internal charging channel, signal processing module is connected with power path control module through interface, is used for receiving the signal of power path control module and controls the switching of power path, power control module is used for switching power path automatically according to the detected power signal, to adapt to different working mode, power control module real -time detection each power supply channel's voltage and current, and signal processing module receives the signal of power path control module, judges current power state. The utility model has adopted the design of modular power path management system, through intelligent power path control, signal processing and power switching function, realized the flexible switching and efficient management of three power supply forms.

Description

Technical Field

[0001] This utility model belongs to the field of pool robot technology, specifically relating to a power path management system for pool robots. Background Technology

[0002] In the current pool robot market, underwater cleaning robots are mainly divided into two types: "tethered" and "cordless." Tethered robots typically use cables connected to a mother ship or shore power source for power, making them suitable for long-term operation and cleaning large, heavily polluted pools. However, the cables can cause interference in the pool, requiring careful storage and organization to avoid affecting cleaning performance or posing safety hazards to users. Cordless robots, on the other hand, rely on internal batteries for power and are suitable for daily cleaning of small to medium-sized pools. These robots are freed from the constraints of cables, making them more flexible and convenient to use. However, they rely on their own battery power to maintain operation, and the battery capacity limits their working time, generally suitable for short to medium-duration cleaning tasks. However, existing power management systems typically only support a single power supply mode, failing to adapt flexibly to various application scenarios. Tethered robots cannot operate without an external power source, while cordless robots cannot continue working after their batteries are depleted and are unsuitable for cleaning large, heavily polluted pools.

[0003] Furthermore, the existing power management systems for pool cleaning robots employ a fixed circuit topology design, which cannot dynamically adapt to different power models, resulting in poor product line compatibility. The power path is unidirectional and non-reconfigurable, failing to support hybrid power supply or solve the problem of wasted braking energy. The static threshold management system cannot automatically identify different types of batteries such as lithium batteries and lead-acid batteries, nor can it dynamically adjust the power supply strategy according to real-time load requirements. This easily leads to abnormal shutdowns of the pool cleaning machine and the inability to obtain the optimal power supply solution. This also results in the incompatibility of power components among different pool cleaning machines. This rigid power architecture severely restricts the product iteration and update of pool cleaning machines and their adaptability to various scenarios.

[0004] To address the shortcomings of existing power management systems for swimming pool robots, such as their inability to dynamically adapt to multiple models and scenarios and their lack of intelligent adjustment capabilities, a novel power path management system is proposed. This system supports multiple power supply modes, automatically switches power paths, and provides efficient charging, making it suitable for different types of swimming pool robots. This is a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] The purpose of this invention is to provide a power path management system for swimming pool robots, addressing the problems in the prior art.

[0006] Therefore, the above-mentioned objective of this utility model is achieved through the following technical solution:

[0007] A power path management system for a swimming pool robot, characterized in that it includes:

[0008] The power path control module manages multiple independent power channels, including a battery power channel, an external power channel, an external charging channel, and an internal charging channel.

[0009] The signal processing module is connected to the power path control module via an interface and is used to receive signals from the power path control module and control the switching of the power path.

[0010] The power control module is used to automatically switch the power path according to the detected power signal to adapt to different working modes;

[0011] The power control module monitors the voltage and current of each power channel in real time. The signal processing module receives signals from the power path control module and determines the current power status. When the signal processing module does not detect battery voltage, the system determines it to be a towed robot. When only battery voltage is detected, the system determines it to be a cordless robot. When both battery voltage and external power supply voltage are detected, the system determines it to be a hybrid robot, using external power as the main power source and charging the internal battery. The power control module automatically switches the power path to ensure that the pool robot automatically switches power in different working modes and obtains a stable power supply.

[0012] While adopting the above technical solutions, this utility model may also adopt or combine the following technical solutions:

[0013] As a preferred embodiment of this utility model, the power path control module includes:

[0014] The battery power supply channel has two analog signals, "battery voltage" and "battery current", as well as a "battery switch" switch signal;

[0015] The external power supply channel has two analog signals, "external voltage" and "external current", as well as an "external switch" digital signal;

[0016] The external charging channel has two analog signals, "external charging voltage" and "external charging current", as well as a "external charging switch" switch signal;

[0017] The internal charging channel has an analog signal of "internal charging current" and a switch signal of "internal charging switch". The internal charging current monitors the charging current in real time, and the internal charging switch controls the on / off state of the internal charging channel to start or stop charging.

[0018] As a preferred embodiment of this invention: the internal charging channel is distributed across the signal processing module and the power path control module. Its current detection and regulation section is located on the signal processing module, while the basic circuit architecture is located in the power path control module. The internal charging channel is detachably connected via a standardized interface for replacing charging modules adapted to different battery capacities. As a preferred embodiment of this invention: the internal charging channel includes two types of charging modules:

[0019] Type A charging module, with a maximum charging current of 2.5A, is suitable for small-capacity batteries;

[0020] The Type B charging module has a maximum charging current of 5A and is suitable for high-capacity batteries.

[0021] As a preferred technical solution of this utility model: the power control module automatically switches the power path according to the detected power signal, specifically including:

[0022] When no "battery voltage" signal is detected, the system determines that it is in cable-operated mode and turns on the external power supply channel;

[0023] When only the "battery voltage" signal is detected, the system determines that it is in cordless working mode and turns on the battery power supply channel;

[0024] When both the "battery voltage" signal and the "external power supply voltage" signal are detected simultaneously, the system determines that it is in a hybrid operating mode and opens the external power supply channel and the internal charging channel.

[0025] As a preferred technical solution of this utility model: the signal processing module includes a switch signal interface, an analog signal interface and a power control interface, which are connected to the power path control module to realize signal transmission and power path switching control.

[0026] As a preferred technical solution of this utility model: the power path control module combines multiple analog signals into one output through an analog switch to reduce the resource occupation of the MCU.

[0027] Compared with existing technologies, the power path management system for pool robots of this utility model has the following beneficial effects: This utility model adopts an independent modular multi-channel architecture, with physical isolation between the battery / external / charging channels. Combined with standardized interface communication connections, the same power system can be adapted to different power models ranging from 20-100W. This unified power path management system improves the universality of pool robots' use of various power sources, enhances the compatibility of pool cleaning machines, and facilitates the promotion and application of pool cleaning machines. In this utility model, the three-state mode recognition of towed robots, cordless robots, and hybrid robots, combined with dynamic control technology, accurately determines the working mode rate, expanding the application scenarios and scope of the same pool cleaning machine. The innovative 0.5-channel distributed charging management achieves intelligent switching between 2.5A and 5A through a separate design, realizing intelligent separation of charging management functions and precise matching charging for batteries of different capacities. This utility model also incorporates analog multiplexing technology to simplify the sampling channels.

[0028] This utility model discloses a power path management system for pool robots. Through a hybrid reconfigurable structure, it supports different models and a three-state pattern recognition algorithm. For the first time, it achieves full-dimensional adaptive management of the power system for model, battery, and scene. It effectively solves the problems of difficult model adaptation, poor battery compatibility, and limited scene applicability. It provides the possibility of realizing a collaborative charging network for multiple pool cleaning robots and has great application prospects in the field of pool cleaning robots. Attached Figure Description

[0029] Figure 1 The analog circuit portion of the power path control system of this utility model demonstrates the battery power supply channel;

[0030] Figure 2 The internal charging channel is shown in the analog circuit part of the power path control system of this utility model.

[0031] Figure 3 The analog circuit portion of the power path control system of this utility model demonstrates an external charging channel;

[0032] Figure 4 The analog circuit portion of the power path control system of this utility model demonstrates the external power supply channel;

[0033] Figure 5 The analog circuit part of the power path control system of this utility model is shown, illustrating the analog connection part in the control system.

[0034] Figure 6 Internal charging module A is the internal charging module in the circuit of this utility model;

[0035] Figure 7This is a schematic diagram of the external interface of the power control unit in the circuit of the internal charging module of this utility model.

[0036] Figure 8 Internal charging module B is the internal charging module in the circuit of this utility model.

[0037] Figure 9 This is a schematic diagram of the connector control analog connection part of the signal processing module of this utility model.

[0038] Figure 10 The circuit diagram of the signal processing module of the underwater cleaning robot of this utility model shows the power path control module and the battery connection interface.

[0039] Figure 11 The circuit diagram of the signal processing module of the underwater cleaning robot of this utility model shows the interface diagram of the charging connection of the power path control module.

[0040] Figure 12 The circuit diagram of the signal processing module of the underwater cleaning robot of this utility model shows the connection between the power path control module and the power control module.

[0041] Figure 13 This is a schematic diagram illustrating the working principle of the follower in this utility model;

[0042] Figure 14 This is a schematic diagram of the external power supply protection in this utility model. Detailed Implementation

[0043] The present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.

[0044] This utility model discloses a power path management system for a swimming pool robot, comprising a motherboard, on which the following components are integrated:

[0045] Power Path Control Module: This is a multi-channel management unit containing multiple independent power channels, including a battery power channel, an external power channel, an external charging channel, and an internal charging channel. Each channel is equipped with a voltage and current acquisition module and outputs one analog signal through an analog switch to reduce MCU resource consumption. The power path control module manages multiple independent power channels through a multi-channel power switching circuit and a logic controller.

[0046] Signal processing module: The signal processing module is equipped with an interface link and an analog control interface (Link & Analog Control) and a power control interface (Power Control) for connection to the power path control module. The MCU obtains information from the power path control module through this interface and controls the switching of the power path.

[0047] Power Control Module: The power control module automatically switches the power path based on the power signal detected by the MCU to adapt to different operating modes. For example, when the MCU detects an external power supply voltage, the system automatically switches to a cable-operated mode; when only the battery voltage is detected, the system switches to a cordless mode; and when both the battery voltage and the external power supply voltage are detected simultaneously, the system switches to a hybrid mode.

[0048] The power control module is connected to the power path control module via a CAN bus to collect electrical parameters such as voltage and current of each power channel in real time and perform power path switching.

[0049] The signal processing module receives signals from the power path control module and determines the current power status. When the signal processing module does not detect battery voltage, the system identifies it as a towed robot; when only battery voltage is detected, the system identifies it as a cordless robot; when both battery voltage and external power supply voltage are detected simultaneously, the system identifies it as a hybrid robot, using external power as the main power source and charging the internal battery. The power control module automatically switches the power path to ensure automatic power switching for the pool robot in different working modes and to obtain a stable power supply.

[0050] 3. Detailed design of the power path control module

[0051] Battery power supply channel: includes two analog signals, "battery voltage" and "battery current", as well as a "battery switch" switch signal.

[0052] External power supply channel: includes two analog signals, "external voltage" and "external current", as well as an "external switch" digital signal.

[0053] External charging channel: includes two analog signals, "external charging voltage" and "external charging current", as well as a "external charging switch" switch signal.

[0054] Internal charging channels: These include an analog signal for "internal charging current" and a digital signal for "internal charging switch". The internal charging channels are designed with 0.5 channels, with the battery charging portion separated onto the signal processing module to accommodate the battery capacity requirements of different host devices.

[0055] 4. Work Mode

[0056] Cable-dragging working mode: When the MCU does not detect battery voltage, the system determines that it is a cable-dragging robot, turns on the external power supply channel, and uses the external power supply as the main power supply.

[0057] Cordless working mode: When the MCU only detects the battery voltage, the system determines that it is a cordless robot, turns on the battery power supply channel, and controls the indicator light according to the battery level, with the goal of extending the working time.

[0058] Hybrid Operating Mode: When the MCU simultaneously detects both battery voltage and external power supply voltage, the system identifies itself as a hybrid robot. In operating mode, the system turns off the battery switch, turns on the external switch and internal charging switch, uses the external power supply as the primary power source, and charges the internal battery. In charging mode, the system enters a high-power charging state, charging the battery with maximum current.

[0059] 5. Internal charging module

[0060] The internal charging modules come in two types: Type A and Type B. Type A charging modules have a maximum charging current of 2.5A and are suitable for small-capacity batteries; Type B charging modules have a maximum charging current of 5A and are suitable for large-capacity batteries. Users can choose the appropriate charging module based on their battery capacity.

[0061] This utility model discloses a power path management system for swimming pool robots. This system is a hardware design platform that can include two mainstream underwater cleaning robots and a unique power supply method for underwater robots: a "towed cable" type underwater robot, a "cordless" type underwater robot, and a unique "hybrid" type underwater robot. The "towed cable" type underwater robot uses an external power source for continuous power, suitable for long-term operation and cleaning large, heavily polluted swimming pools. The "cordless" type underwater robot uses an internal battery, suitable for daily cleaning of small to medium-sized pools. The "hybrid" type underwater robot combines the characteristics of both, capable of long-term, high-power towing operation when the pool is heavily polluted, providing strong cleaning power and a long cleaning time. When special cleaning is not required, this model can also detach the tow cable and operate using its internal battery, which is very convenient. This system is applicable to "towed cable," "cordless," and "hybrid" type underwater cleaning robots, and can automatically switch power supply modes according to different power requirements, improving the system's versatility, stability, and cost-effectiveness. Specifically:

[0062] 1. High versatility: The power path management system of this utility model can adapt to "towed cable", "cordless" and "hybrid" underwater cleaning robots, and can achieve automatic switching of multiple power supply modes without changing hardware.

[0063] 2. Low cost: By separating the battery charging section onto the signal processing module, the power path control module design is simpler, reducing production costs.

[0064] 3. High stability: The system automatically controls the power path switching through the MCU, reducing human error and improving system stability.

[0065] 4. High flexibility: Users can select the appropriate internal charging module according to the battery capacity, and the system can automatically adapt to different application scenarios.

[0066] Example 1

[0067] like Figure 1 As shown, the analog circuit section of the power path control system for a pool robot power path management system of this utility model has 3.5 independent channels, including 1 battery power supply channel, 1 external power supply channel, 1 external charging channel, and 0.5 internal charging channels. The reason for 0.5 internal charging channels instead of 1 is to make the current source path board more universal. We separate the battery charging part, which varies with different host machines, onto the signal processing module. Different host machines will definitely have different signal processing modules. This way, the "variables" are concentrated in the signal processing module, while the unchanging "constants" are concentrated on the power path board.

[0068] Each channel in the power path board has corresponding voltage and current acquisition. The battery channel has two analog signals, 'battery voltage' and 'battery current', and one 'battery switch' switch signal. The external power supply channel has two analog signals, 'external voltage' and 'external current', and one 'external switch' switch signal. The external charging channel has two analog signals, 'external charging voltage' and 'external charging current', and one 'external charging switch' switch signal. The internal charging channel has one analog signal, 'internal charging current', and one 'internal charging switch' switch signal. The analog signals enter the analog switch and ultimately output a single analog signal. This is to prevent too many analog signals from competing for MCU resources. These analog signals, switch signals, and the power output after switching by the power path control module are transmitted to the pool robot's signal processing module through the Link & Analog Control and Power Control interfaces.

[0069] Figure 2 The diagram shows the remaining '0.5' portion of the aforementioned 0.5 internal charging channels. It illustrates two types of internal charging modules, 'Internal charge module A' and 'Internal charge module B'. During the host design, two different charging modules can be selected based on the battery capacity. The maximum charging current of type A is only 2.5A, while the maximum charging current of type B is 5A. The larger charging current is suitable for fully charging the battery in a shorter time.

[0070] Figure 3 The signal processing module circuit of the underwater cleaning robot shows that it also has Link & Analog Control and Power Control interfaces. These interfaces are used to connect to the power path board. In this way, the MCU can obtain relevant information from the path control board through the interface and control the path control board to switch between different power channels, thereby automatically switching to a specific model according to different hardware components.

[0071] like Figures 1-14 The circuit design is as follows:

[0072] (1) Battery power path:

[0073] BATT IN: Battery input terminal, connected to the battery to receive electrical energy from the battery.

[0074] BAT CURRENT: Battery current detection point, used to monitor the charging and discharging current of the battery in real time.

[0075] CHG OUT: Charging output terminal, connected to a load or charger to power the load or charge the battery.

[0076] BAT CONTROL: Battery power control signal, used to start the battery to power the subsequent circuitry.

[0077] OTC4375A: A charging controller chip used to manage and control the battery charging process, ensuring charging safety and efficiency.

[0078] (2) Internal charging path:

[0079] INT CHG IN: Internal charging input terminal, connected to the battery or other power source to receive charging power.

[0080] INT CHA CURRENT: Internal charging current detection point, used to monitor the internal charging current.

[0081] INT CHA CONTROL: Internal charging control signal, used to adjust the internal charging status (such as charging mode switching).

[0082] EXT AUX: External auxiliary power input terminal, connected to an auxiliary power source to provide additional power support.

[0083] POWER OUT: Power output terminal, connected to the load or other devices to supply power to the load.

[0084] (3) External power supply path:

[0085] EXT IN: External input terminal, connected to an external power supply box for receiving external power.

[0086] EXT VOLTAGE: External voltage sensing point used to monitor the voltage of an external power source.

[0087] EXT CURRENT: External current sensing point used to monitor the current of an external power source.

[0088] EXT CONTROL: External control signal used to regulate the output of an external power supply (such as voltage and current).

[0089] (4) Internal charging module:

[0090] ICM SET: Integrated circuit setting pin, used to configure charging mode and other parameters (such as charging current and charging voltage).

[0091] ICM STAT: Integrated circuit status pin, used to indicate charging status and fault information, such as charging complete, overvoltage protection, etc.

[0092] (5) Control section:

[0093] Link Control: This section includes multiple control pins, such as:

[0094] POWER BUTTON: Power button used to turn the device on or off.

[0095] BATT AUX CONTROL: Battery Auxiliary Control, used to adjust the battery power mode.

[0096] Analog Control: The analog control section includes multiple analog input pins, such as:

[0097] ANALOG MIX1: Analog Mix 1, used to receive sensor signals (such as temperature, current).

[0098] Power Control: This section includes multiple power control pins, such as:

[0099] CHG OUT: Charging output, used to control the charging status.

[0100] POWER RST: Power Reset, used to reset the power system.

[0101] 1. Installation and connection of power path control module: Connect the power path control module and the signal processing module through the Link & Analog Control and Power Control interfaces to ensure that the MCU can obtain information from the power path control module and control the switching of power paths.

[0102] 2. Power Control Module Configuration: The power control module is configured to automatically switch power paths according to the different types of underwater cleaning robots. For example, towed robots are configured to prioritize external power, while cordless robots are configured to prioritize internal batteries.

[0103] 3. Selection of internal charging module: Select the appropriate internal charging module (Type A or Type B) according to the battery capacity to ensure that the charging efficiency matches the battery capacity.

[0104] 4. System Testing and Debugging: In practical applications, test the system's performance under different operating modes to ensure the accuracy and stability of power path switching.

[0105] If the MCU does not detect the 'battery voltage', the system determines that the model is a 'tethered' underwater cleaning robot, and the system will turn on the 'external switch' to use external power as the main power source. If the MCU only detects the 'battery voltage', the system determines that it is currently in cordless operation mode, and the MCU will turn on the 'battery switch'. The MCU will control the indicator light according to the battery level, prioritizing maximizing working time. If both the 'battery voltage' and 'external charging voltage' are detected when the system is stopped, the MCU considers it to be in a charging state, and the MCU will control the indicator light to show the charging status, but the system will not respond to the power-on command. If both the 'battery voltage' and 'external power supply voltage' are detected when the system is running or stopped, the MCU considers it to be in a hybrid battery + tow cable operation mode. In this mode, if the underwater cleaning robot is in running mode, the MCU will turn off the 'battery switch', turn on the 'external switch' and the 'internal charging switch'. The system will use the 'external power supply' as the main power source and use the external power supply to charge the battery inside the main unit. At this time, the internal charging current will be controlled by the MCU within a small range to allocate more input power to power components such as the water pump. If the user turns off the power under these circumstances, the MCU will enter a high-power charging state, and the MCU will control the current of the internal charging module to reach the maximum value to fully charge the battery as quickly as possible.

[0106] The three use cases mentioned above correspond to "towed cable" type underwater robots, "cordless" type underwater robots, and "hybrid" type underwater robots, respectively. These switching actions can be completed automatically using a power path control module, signal processing module, and control module. Of course, in real-world situations, the type of underwater cleaning robot is determined during the production process and will not change during operation.

[0107] This feature allows the power path control system to be highly flexible in adapting to various application scenarios without having to change different materials and circuit schemes.

[0108] This utility model adopts a modular power path management system design. Through intelligent power path control, signal processing, and power switching functions, it realizes flexible switching and efficient management of three power supply modes. The power path control module manages multiple independent power channels, each equipped with a voltage and current acquisition module to monitor the power status in real time. Multiple analog signals are combined into one output through an analog switcher. The signal processing module obtains information from the power path control module through an interface and automatically switches the power path according to the detected power signal to adapt to different working models. It can automatically switch the power supply mode according to the external power supply and battery status, reducing manual intervention and supporting cable-type, cordless, and hybrid working modes.

[0109] This invention realizes power supply forms for towed, cordless, and unique "hybrid" underwater robots, meeting cleaning needs in different scenarios, while improving the system's intelligence level and user experience, and has great application prospects in the field of pool cleaning technology.

[0110] The above specific embodiments are used to explain and illustrate the present utility model, and are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc. made to the present utility model within the spirit and protection scope of the claims shall fall within the protection scope of the present utility model.

Claims

1. A power path management system for a swimming pool robot, characterized in that: include: The power path control module manages multiple independent power channels, integrating battery power supply channels, external power supply channels, external charging channels, and internal charging channels; The signal processing module is communicatively connected to the power path control module and is used to receive signals from the power path control module and control the switching of the power path. The power control module automatically switches the power path based on detected power signals to adapt to different operating modes. It monitors the voltage and current of each power channel in real time. The signal processing module receives signals from the power path control module and determines the current power status. When the signal processing module does not detect battery voltage, the system identifies it as a cable-driven robot; when only battery voltage is detected, the system identifies it as a cordless robot; and when both battery voltage and external power supply voltage are detected simultaneously, the system identifies it as a hybrid robot, using external power as the primary power source and charging the internal battery. The power control module automatically switches the power path to ensure a stable power supply for the pool robot during different operating modes.

2. The power path management system according to claim 1, characterized in that: The power path control module includes: The battery power supply channel includes two analog signals, battery voltage and battery current, as well as a "battery switch" switching signal; The external power supply channel includes two analog signals, external voltage and external current, as well as an "external switch" digital signal; The external charging channel includes two analog signals: external charging voltage and external charging current, as well as an external charging switch signal. The internal charging channel has an analog signal of "internal charging current" and a switch signal of "internal charging switch". The internal charging current monitors the charging current in real time, and the internal charging switch controls the on / off state of the internal charging channel to start or stop charging. Each channel is equipped with a voltage and current acquisition module and outputs one analog signal through an analog switcher.

3. The power path management system according to claim 2, characterized in that: The internal charging channels are distributed across the signal processing module and the power path control module. The current detection and regulation part is located on the signal processing module, and the basic circuit architecture is located in the power path control module. The internal charging channels are detachably connected via a standardized interface for replacing charging modules adapted to different battery capacities.

4. The power path management system according to claim 1, characterized in that: The internal charging channel includes two types of charging modules: Type A charging module, with a maximum charging current of 2.5A, is suitable for small-capacity batteries; The Type B charging module has a maximum charging current of 5A and is suitable for high-capacity batteries.

5. The power path management system according to claim 1, characterized in that: Analog signals, digital signals, and the power output after switching via the power path control module are transmitted to the signal processing module of the pool robot through links to the analog control interface and the power control interface.

6. The power path management system according to claim 1, characterized in that: The signal processing module includes a switch signal interface, an analog signal interface, and a power control interface, which are connected to the power path control module to realize signal transmission and power path switching control.

7. The power path management system according to claim 1, characterized in that: The power path control module combines multiple analog signals into a single output through an analog switch to reduce the resource consumption of the microcontroller unit (MCU).

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