CN116269045A - Self-moving cleaning equipment and cleaning system - Google Patents

Abstract

The embodiment of the invention discloses self-moving cleaning equipment and a cleaning system, wherein the self-moving cleaning equipment comprises a main body; the main body is provided with a charging and discharging circuit, an energy storage component, a charging interface for charging the energy storage component and a discharging interface for charging external equipment; the energy storage component is connected with the discharging interface through the charging and discharging circuit, and is also connected with the charging interface through the charging and discharging circuit.

Description

Self-moving cleaning equipment and cleaning system

Technical Field

The invention relates to the field of self-moving cleaning equipment, in particular to self-moving cleaning equipment and a cleaning system.

Background

Currently, in order to facilitate the use of users, some household appliances (such as night lamps or automatically opened and closed garbage cans) are powered by a storage battery. However, the user still needs to charge the storage battery of the home appliance after using the home appliance for a period of time, so that the user cannot use the home appliance conveniently.

Disclosure of Invention

In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the invention is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

In a first aspect, embodiments of the present invention provide a self-moving cleaning apparatus comprising a main body;

the main body is provided with a charging and discharging circuit, an energy storage component, a charging interface for charging the energy storage component and a discharging interface for charging external equipment; the energy storage component is connected with the discharging interface through the charging and discharging circuit, and is also connected with the charging interface through the charging and discharging circuit.

Optionally, the charging interface and the discharging interface are the same interface.

Optionally, a main controller connected with the charging and discharging circuit is further arranged on the main body, and the main controller is used for controlling the self-moving cleaning device to move to the position of the external device, and is in butt joint with the charging interface of the external device through the discharging interface, so that the electric energy of the energy storage component is transmitted to the external device through the charging and discharging circuit.

Optionally, the master controller is specifically configured to control the self-moving cleaning device to move to the position of the external device when receiving the charging request carrying the position information sent by the external device.

Optionally, the main controller is specifically configured to obtain a current time and a preset charging time, and if the current time, the preset charging time are the same, and the position information of the external device, control the self-moving cleaning device to move to the position of the external device according to the position information.

Optionally, the main controller is further configured to control the charge-discharge circuit to stop transmitting electric energy to the external device when the external device is fully charged or the electric quantity of the energy storage component reaches a first preset electric quantity, where the first preset electric quantity is a minimum electric quantity required by the self-mobile device to move from a current position to the charging pile.

Optionally, the main controller is further configured to control the self-moving cleaning device to move to the charging pile after the charging and discharging circuit stops delivering the electric energy to the external device, and dock with the discharging interface of the charging pile through the charging interface, so that the charging pile delivers the electric energy to the energy storage component through the charging and discharging circuit.

Optionally, the main controller is further configured to control the charge-discharge circuit to stop receiving the electric energy delivered by the charging pile when the electric quantity of the energy storage component is greater than or equal to a second preset electric quantity, where the second preset electric quantity is greater than the first preset electric quantity.

Optionally, the charge-discharge circuit comprises a charge-discharge control circuit, a charge-discharge information acquisition circuit, a discharge control switch and a charge control switch;

the energy storage component is connected with the discharging interface through the discharging control switch, and is also connected with the charging interface through the charging control switch; and the charge and discharge information acquisition circuit is respectively connected with the energy storage component and the charge and discharge control circuit.

Optionally, a discharging voltage stabilizing circuit is further arranged between the discharging control switch and the discharging interface, and a charging voltage stabilizing circuit is further arranged between the charging control switch and the charging interface.

Optionally, the charge and discharge information collection includes a current collection circuit, a voltage collection circuit block and an electric quantity collection circuit, and the charge and discharge control circuit is respectively connected with the current collection circuit, the voltage collection circuit and the electric quantity collection circuit.

Optionally, an access detection circuit is further provided on the main body, and the access detection circuit is respectively connected with the charge-discharge control circuit, the charge interface and the discharge interface.

Optionally, a charge-discharge indicator lamp is further arranged on the main body, and the charge-discharge control circuit is connected with the charge-discharge indicator lamp.

Optionally, a temperature sensor is further arranged on the energy storage component, and the temperature sensor is connected with the charge and discharge control circuit.

Optionally, the discharge interface comprises a wireless discharge interface.

Optionally, the charging interface and the discharging interface are both disposed on a side wall of the main body.

In a second aspect, an embodiment of the present invention provides a cleaning system, including a charging pile and the self-moving cleaning device described above, where the charging pile includes a base body and a power interface disposed on the base body; and under the condition that the base body and the self-moving cleaning equipment are successfully docked, the power interface is spliced with the charging interface of the self-moving cleaning equipment.

According to the self-moving cleaning device and the cleaning system provided by the embodiment of the invention, the main body of the self-moving cleaning device is provided with the discharging interface for charging the external device, so that the self-moving cleaning device can move to the position of the household appliance under the condition that the household appliance and the like need to be charged, and the discharging interface is in butt joint with the charging interface of the household appliance so as to charge the storage battery of the household appliance through the energy storage component of the self-moving cleaning device, thereby the household appliance is not required to be charged by a user, and the household appliance is convenient to use by the user.

Drawings

The following drawings of the present invention are included as part of the description of embodiments of the invention. The drawings illustrate embodiments of the invention and their description to explain the principles of the invention.

In the accompanying drawings:

fig. 1 is a perspective view of a sweeping robot according to an alternative embodiment of the present invention;

FIG. 2 is a bottom view of a sweeping robot according to an alternative embodiment of the present invention;

FIG. 3 is a perspective view of a wet cleaning system according to an alternative embodiment of the present invention;

fig. 4 is a schematic circuit diagram of the charging and discharging of an energy storage component according to an alternative embodiment of the present invention.

Reference numerals illustrate:

1-a sweeping robot; 110-a robot body; 111-forward portion; 112-a rearward portion; 120-perception system; 121-position determining means; 122-a buffer; 130-a control module; 140-a travelling mechanism; 150-cleaning system; 151-a dry cleaning system; 152-side brushing; 153-wet cleaning system; 160-energy system; 170-a human-computer interaction system; 2-an energy storage component; 3-a discharge control switch; 4-a discharge voltage stabilizing circuit; a 5-discharge interface; 6-a charge control switch; 7-a charging voltage stabilizing circuit; 8-a charging interface; 9-a charge-discharge control circuit; 10-a temperature sensor; 11-a voltage acquisition circuit; 12-a current acquisition circuit; 13-an electric quantity acquisition circuit; 14-access detection circuit.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the invention may be practiced without one or more of these details. In other instances, well-known features have not been described in detail in order to avoid obscuring the invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is intended to include the plural unless the context clearly indicates otherwise. Furthermore, it will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

Exemplary embodiments according to the present invention will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. It should be appreciated that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art.

In a first aspect, as shown in FIG. 4, an embodiment of the present invention provides a self-moving cleaning apparatus comprising a main body; the main body is provided with a charge-discharge circuit, an energy storage component 2, a charge interface 8 for charging the energy storage component 2 and a discharge interface 5 for charging external equipment; the energy storage component 2 is connected with the discharging interface 5 through a charging and discharging circuit, and the energy storage component 2 is also connected with the charging interface 8 through a charging and discharging circuit.

The energy storage component 2 is a storage battery, such as a nickel-metal hydride battery and a lithium battery. The external device may be any electronic device, such as a home appliance, and the application does not strictly limit the external device.

The self-moving robot of the present embodiment may be the sweeping robot 1, the mopping robot, the ground polishing robot, or the weeding robot. For convenience of description, the present embodiment describes the technical solution of the present disclosure taking the sweeping robot 1 as an example.

Further, as shown in fig. 1 and 2, the robot cleaner 1 may include a machine body 110, a sensing module 120, a main controller, a driving module, a cleaning system 150, an energy system, and a man-machine interaction module 130. As shown in fig. 1, the machine body 110 includes a forward portion 111 and a backward portion 112, and has an approximately circular shape (both front and rear are circular), and may have other shapes, including, but not limited to, an approximately D-shape of a front and rear circle and a rectangular or square shape of a front and rear.

As shown in fig. 1, the sensing module 120 includes a position determining device 121 on the machine body 110, a collision sensor provided on a front collision structure 122 of a forward portion 111 of the machine body 110, a proximity sensor (wall sensor) on a side of the machine, a carpet detecting device provided at a lower portion of the machine body 110, and sensing devices such as a magnetometer, an accelerometer, a gyroscope, an odometer, etc. provided inside the machine body 110 for providing various position information and movement state information of the machine to the main controller. The position determining device 121 includes, but is not limited to, a camera, a laser ranging device (LDS, full scale Laser Distance Sensor). In some preferred implementations, the position determining device 121 (e.g., camera, laser sensor) is located at the front side of the main body 110, i.e., the forefront end of the forward portion 111, to enable more accurate sensing of the environment in front of the cleaning robot for accurate positioning.

As shown in fig. 1, the forward portion 111 of the machine body 110 may carry a front impact structure 122, and the front impact structure 122 detects one or more events in the travel path of the cleaning robot 10 via a sensor system, such as a collision sensor or a proximity sensor (infrared sensor), provided thereon as the driving wheel module 141 advances the cleaning robot 10 to travel on the floor during cleaning, and the cleaning robot 10 may control the driving module to cause the cleaning robot 10 to respond to the events, such as performing obstacle avoidance operations away from the obstacles, etc., by the events detected by the front impact structure 122, such as an obstacle, a wall, etc.

The main controller is disposed on a circuit board in the machine body 110, and includes a non-transitory memory, such as a hard disk, a flash memory, a random access memory, a communication computing processor, such as a central processing unit, and an application processor, and the application processor draws an instant map of the environment in which the cleaning robot 10 is located according to the obstacle information fed back by the laser ranging device by using a positioning algorithm, such as an instant localization and mapping (SLAM, full name Simultaneous Localization And Mapping). And comprehensively judging what working state and position the cleaning robot 10 is currently in by combining distance information and speed information fed back by the sensor devices such as the sensor device, the carpet detection device, the magnetometer, the accelerometer, the gyroscope and the odometer arranged on the front collision structure 122, and the current pose of the cleaning robot 10, such as threshold, carpet, full dust box, being picked up and the like, and further giving specific next action strategies according to different conditions, so that the cleaning robot 10 has better cleaning performance and user experience.

As shown in fig. 2, the drive module may maneuver the machine body 110 to travel across the ground based on the drive commands with distance and angle information. The drive modules comprise a main drive wheel module which can control the left wheel 140 and the right wheel 141, preferably comprising a left drive wheel module and a right drive wheel module, respectively, in order to control the movement of the machine more accurately. The left and right drive wheel modules are disposed along a lateral axis defined by the machine body 110. In order for the cleaning robot 10 to be able to move more stably or with greater motion capabilities on the floor, the cleaning robot 10 may include one or more driven wheels 142, the driven wheels 142 including, but not limited to, universal wheels. The main driving wheel module comprises a driving motor and a control circuit for controlling the driving motor, and the main driving wheel module can be connected with a circuit for measuring driving current and an odometer. And the left wheel 140 and right wheel 141 may have biased drop down suspension systems movably secured, e.g., rotatably attached, to the machine body 110 and receiving spring biases biased downward and away from the machine body 110. The spring bias allows the drive wheel to maintain contact and traction with the floor with a certain footprint while the cleaning elements of the cleaning robot 10 also contact the floor with a certain pressure.

The man-machine interaction module 130 comprises keys on the panel of the host machine, wherein the keys are used for the user to select functions; the system also comprises a display screen and/or an indicator light and/or a loudspeaker, wherein the display screen, the indicator light and the loudspeaker show the mode or the function selection item of the current machine to a user; a cell phone client program may also be included. For the path navigation type automatic cleaning robot 10, a map of the environment where the equipment is located and the position where the robot is located can be displayed to the user at the mobile phone client, and more abundant and humanized functional items can be provided for the user. Specifically, the cleaning robot has various modes such as a work mode, a self-cleaning mode, and the like. The working mode refers to a mode in which the cleaning robot performs an automatic cleaning operation, and the self-cleaning mode refers to a mode in which the cleaning robot removes dirt on the rolling brush and the side brush 152 on the base and automatically collects the dirt and/or automatically cleans and dries a mop.

Cleaning system 150 may be a dry cleaning system 151 and/or a wet cleaning system 153.

As shown in fig. 2, the dry cleaning system 151 provided by the embodiments of the present disclosure may include a roller brush, a dust box, a blower, and an air outlet. The rolling brush with certain interference with the ground sweeps up the garbage on the ground and winds up the garbage in front of the dust collection opening between the rolling brush and the dust box, and then the dust box is sucked by the suction gas generated by the fan and passing through the dust box. The dry cleaning system 151 may also include a side brush 152 having a rotational axis that is angled relative to the floor for moving debris into the roller brush area of the cleaning system 150.

As shown in fig. 2 and 3, a wet cleaning system 153 provided by an embodiment of the present disclosure may include: a cleaning head 1531, a drive unit 1532, a water delivery mechanism, a reservoir, and the like. The cleaning head 1531 may be disposed below the liquid storage tank, and the cleaning liquid in the liquid storage tank is transferred to the cleaning head 1531 through the water delivery mechanism, so that the cleaning head 1531 performs wet cleaning on the surface to be cleaned. In other embodiments of the present disclosure, the cleaning liquid inside the liquid storage tank may also be sprayed directly onto the surface to be cleaned, and the cleaning head 1531 may uniformly clean the surface by applying the cleaning liquid.

Wherein the cleaning head 1531 is for cleaning a surface to be cleaned, and the driving unit 1532 is for driving the cleaning head 1531 to substantially reciprocate along a target surface, which is a part of the surface to be cleaned. The cleaning head 1531 reciprocates along the surface to be cleaned, a mop is arranged on the contact surface of the cleaning head 1531 and the surface to be cleaned, and the mop of the cleaning head 1531 is driven by the driving unit 1532 to reciprocate to generate high-frequency friction with the surface to be cleaned, so that stains on the surface to be cleaned are removed; or the mop may be floatably arranged to remain in contact with the cleaning surface throughout the cleaning process without the drive unit 1532 driving its reciprocating movement.

As shown in fig. 3, the driving unit 1532 may further include a driving platform 1533 and a supporting platform 1534, the driving platform 1533 is connected to the bottom surface of the machine body 110 for providing driving force, the supporting platform 1534 is detachably connected to the driving platform 1533 for supporting the cleaning head 1531, and may be lifted under the driving of the driving platform 1533.

The wet cleaning system 153 may be connected to the machine body 110 through an active lifting module. When the wet cleaning system 153 is temporarily not engaged, for example, the cleaning robot 10 stops at a base station to clean the cleaning head 1531 of the wet cleaning system 153 and fills the liquid tank with water; or when the surface to be cleaned, which cannot be cleaned by the wet cleaning system 153, is encountered, the wet cleaning system 153 is lifted up by the active lifting module.

Under the condition that a certain household appliance needs to be charged, the household appliance sends a charging request carrying position information to the sweeping robot 10, after receiving the charging request carrying position information, a main controller of the sweeping robot 10 switches a working mode to a discharging mode, and based on the position information, the main controller controls the sweeping robot to automatically move to the position where the household appliance is located and complete docking, so that a discharging interface 5 of the sweeping robot is plugged with a charging plug-in of the household appliance, and the battery of the household appliance can be charged by using the electric energy stored by an energy storage component 2 of the sweeping robot through a charging and discharging circuit, thereby realizing the purpose that the sweeping robot charges the household appliance. After the charging is finished, the main controller controls the sweeping robot to move to the charging pile and complete the butt joint, so that the charging plug-in of the sweeping robot is plugged with the power interface of the charging pile, and the charging pile is used for charging the energy storage component 2 of the sweeping robot through the charging and discharging circuit, so that the sweeping robot has enough electric quantity to execute subsequent work tasks.

According to the self-moving cleaning device provided by the embodiment, the discharging interface 5 for charging the external device is arranged on the main body of the self-moving cleaning device, so that the self-moving cleaning device can move to the position where the household appliance is located under the condition that the household appliance and the like need to be charged, and the discharging interface 5 is in butt joint with the charging interface of the household appliance, so that the storage battery of the household appliance is charged through the energy storage component 2 of the self-moving cleaning device, and the household appliance is not required to be charged by a user, so that the household appliance is convenient to use by the user.

In the above embodiment, the charging interface 8 and the discharging interface 5 are the same interface.

In this embodiment, the charging interface 8 and the discharging interface 5 are integrated into one interface, so that the structures of the charging interface 8 and the discharging interface 5 can be simplified, and the occupied space of the charging interface 8 and the discharging interface 5 on the main body can be reduced.

Specifically, a main controller connected with the charge-discharge circuit is further arranged on the main body, the main controller is used for controlling the self-moving cleaning device to move to the position of the external device, and the main controller is in butt joint with the charge interface of the external device through the discharge interface 5 so as to convey the electric energy of the energy storage component 2 to the external device through the charge-discharge circuit, wherein the first preset electric quantity is the minimum electric quantity required by the self-moving device to move from the current position to the charge pile.

In a specific application, the main controller controls the self-moving cleaning device to move to the position of the external device, the discharging interface 5 is in butt joint with the charging interface of the external device, and then the electric energy of the energy storage component 2 is transmitted to the external device through the charging and discharging circuit, so that the purpose of automatically charging the external device by using the self-moving cleaning device is achieved.

Further, in some implementations, the master controller is configured to control the self-moving cleaning device to move to the location of the external device when receiving a charging request carrying location information sent by the external device.

Specifically, the external device may include a monitoring component and a positioning device that can monitor the electric quantity, and when the electric quantity of the external device is insufficient, a charging request carrying position information is sent to the self-moving cleaning device, and when the self-moving device receives the charging request carrying position information sent by the external device, the main controller controls the self-moving cleaning device to move to the position of the external device, and makes the discharging interface 5 dock with the charging interface of the external device, then the electric energy of the energy storage component 2 is sent to the external device through a charging and discharging circuit, so that the purpose of automatically charging the external device by using the self-moving cleaning device is achieved.

In other implementations, the master controller is specifically configured to obtain the current time, the preset charging time, and the position information of the external device, and if the current time is the same as the preset charging time, control the self-moving cleaning device to move to the position of the external device according to the position information.

Specifically, the position information of the external device may be obtained in the process of building the map from the mobile cleaning device, or may be recorded by a user, or may be obtained by means of automatic positioning and then sending of the external device, which is not strictly limited in this embodiment. The preset charging time can be set by a user according to the electric quantity of the external equipment.

Under the condition that the current time reaches the preset charging time, the main controller controls the self-moving cleaning equipment to move to the position of the external equipment, the discharging interface 5 is in butt joint with the charging interface of the external equipment, then the electric energy of the energy storage component 2 is transmitted to the external equipment through the charging and discharging circuit, so that the purpose of automatically charging the external equipment by the self-moving cleaning equipment is achieved, the electric quantity of the external equipment is not required to be monitored by a user, and the user experience is improved.

Further, the main controller is further used for controlling the charge-discharge circuit to stop transmitting electric energy to the external equipment when the external equipment is fully charged or the electric quantity of the energy storage component 2 reaches a first preset electric quantity, and the first preset electric quantity is the minimum electric quantity required by the self-moving equipment to move from the current position to the charging pile.

In a specific application, the electric quantity of the self-moving cleaning device can meet the charging requirement of the external device, that is to say, after the self-moving cleaning device is fully charged with the external device, the charging circuit stops transmitting the electric energy to the external device, so that the situation of overcharge is avoided.

When the external equipment is not fully charged, the electric quantity of the self-moving cleaning equipment can only meet the minimum electric quantity required by the charging pile, the self-moving cleaning equipment needs to stop charging the external equipment, so that the situation that the self-moving cleaning equipment cannot move to the charging pile for charging due to insufficient electric quantity and cannot continue to work due to outage of the self-moving cleaning equipment can be effectively avoided.

It will be appreciated that the first preset electrical quantity may be determined by a worker according to the electrical energy capacity of the energy storage component 22 of the self-moving cleaning apparatus and the power of the self-moving cleaning robot, that is, the first preset electrical quantity needs to be greater than or equal to the minimum electrical quantity required for the self-moving robot to move from the position of the household appliance to be charged to the charging pile.

Further, the main controller is further used for controlling the self-moving cleaning device to move to the charging pile after the charging and discharging circuit stops transmitting the electric energy to the external device, and the charging pile is in butt joint with the discharging interface of the charging pile through the charging interface 8 so that the charging pile can transmit the electric energy to the energy storage component 2 through the charging and discharging circuit.

In a specific application, the electric quantity of the self-moving cleaning device can meet the charging requirement of the external device, that is, after the self-moving cleaning device is fully charged with the external device, some electric quantity can enable the self-moving cleaning device to move to the charging pile for charging, after the external device is fully charged with the electric quantity, the self-moving cleaning device is moved to the charging pile, and the charging pile charges the self-moving device, so that the self-moving cleaning device has sufficient electric quantity to perform subsequent tasks.

And when the external equipment is not fully charged yet, the electric quantity of the self-moving cleaning equipment can only meet the minimum electric quantity required by the charging pile, the self-moving cleaning equipment is required to stop charging the external equipment and then moves to the charging pile, and the self-moving cleaning equipment is charged by the charging pile, so that the situation that the self-moving cleaning equipment cannot be charged by the charging pile due to insufficient electric quantity, and the self-moving cleaning equipment cannot work continuously due to outage can be effectively avoided.

Further, the main controller is further used for controlling the charging and discharging circuit to stop receiving the electric energy conveyed by the charging pile when the electric quantity of the energy storage component 2 is larger than or equal to a second preset electric quantity, and the second preset electric quantity is larger than the first preset electric quantity.

In a specific application, after the self-mobile device is fully charged through the charging pile, the main controller stops receiving the electric energy conveyed by the charging pile, so that the energy storage component 2 of the self-mobile device is prevented from being overcharged, and the service life of the energy storage component is shortened.

It will be appreciated that the second predetermined amount of power may be determined by the operator based on the power capacity of the energy storage component 22 of the self-moving cleaning apparatus and the power of the self-moving cleaning robot, and in particular applications, the second predetermined amount of power is close to the highest amount of power that can be accommodated by the energy storage component 22 of the self-moving robot.

Specifically, the charge-discharge circuit comprises a charge-discharge control circuit 9, a charge-discharge information acquisition circuit, a discharge control switch 3 and a charge control switch 6; the energy storage component 2 is connected with the discharge interface 5 through the discharge control switch 3, and the energy storage component 2 is also connected with the charge interface 8 through the charge control switch 6; the charge and discharge information acquisition circuit is respectively connected with the energy storage component 2 and the charge and discharge control circuit 9.

The charge and discharge information acquisition circuit is used for acquiring information such as voltage, current, electric quantity and the like of the energy storage component 2 in the charge and discharge process.

The charge-discharge control circuit 9 comprises a processor and a peripheral circuit thereof, and the charge-discharge control circuit 9 is used for controlling the opening and closing of the discharge control switch 3 and the charge control switch 6 according to the charge-discharge information of the energy storage component 2 acquired by the charge-discharge information acquisition circuit, so as to control the process of charging the energy storage component 2 by the charge pile or the process of charging the household appliance to be charged by the energy storage component 2.

Specifically, when the energy storage component 2 of the self-moving cleaning device is charged, after the discharging interface 5 of the self-moving cleaning device is successfully plugged with the charging plug-in of the household appliance to be charged (namely, the external device), the charging and discharging control circuit 9 controls the charging control switch 6 to be closed, so that the energy storage component 2 can be connected with the discharging interface 5, and the electric energy of the energy storage component 2 is conveyed into the storage battery of the household appliance to be charged, so that the storage battery of the household appliance is charged. And in the process of charging the household appliance, the charge and discharge information acquisition circuit acquires information such as voltage, current, electric quantity and the like of the energy storage component 2 in the discharging process in real time, and when the information such as voltage, current and the like is abnormal or the electric quantity reaches a first preset electric quantity, the charge and discharge control circuit 9 controls the discharge control switch 3 to be turned off so as to finish the discharging process.

When the charging pile charges the energy storage component 2 of the self-moving cleaning equipment, after the charging interface 8 of the moving cleaning equipment is successfully plugged with the power interface of the charging pile, the charging and discharging control circuit 9 controls the discharging control switch 3 to be closed, so that the energy storage component 2 can be connected with the charging interface 8, and the electric energy of the charging pile can be conveyed to the energy storage component 2 to charge the energy storage component 2. And in the charging process, the charge and discharge information acquisition circuit acquires information such as voltage, current, electric quantity and the like of the energy storage component 2 in the charging process in real time, and when the information such as voltage, current and the like is abnormal or the electric quantity reaches a second preset electric quantity, the charge and discharge control circuit 9 controls the charge control switch 6 to be turned off so as to finish the charging process.

In this embodiment, the charge/discharge control circuit 9 controls the charge control switch 6 or the discharge control switch 3 according to the charge/discharge information of the energy storage component 2 collected by the charge/discharge information collection circuit, so that the charge/discharge process can be stopped when the charge/discharge of the energy storage component 2 is abnormal, or the charge quantity is full, or the discharge is lower, thereby improving the safety and reliability of the charge/discharge process.

Specifically, as shown in fig. 4, the charge and discharge information collection includes a current collection circuit 12, a voltage collection circuit 11 and an electric quantity collection circuit 13, and the charge and discharge control circuit 9 is respectively connected with the current collection circuit 12, the voltage collection circuit 11 and the electric quantity collection circuit 13.

The current collection circuit 12, the voltage collection circuit 11 and the electric quantity collection circuit 13 all comprise a collection resistor and peripheral circuits thereof, and collect the voltage, the current and the electric quantity of the energy storage component 2 through the collection circuit. In the process of charging the energy storage component 2 of the self-moving cleaning device by the charging pile, if the collected voltage is greater than a preset voltage value, or the collected current is greater than a preset current value, or the collected electric quantity value is greater than or equal to a second preset electric quantity, the charging and discharging control circuit 9 controls the charging control switch 6 to be turned off. Likewise, in the process of charging the storage battery of the home appliance from the energy storage part 2 of the mobile device, if the collected voltage is greater than a preset voltage value, or the collected current is greater than a preset current value, or the collected electric quantity value is less than or equal to a first preset electric quantity, the charge-discharge control circuit 9 controls the discharge control switch 3 to be turned off. The preset voltage value and the preset current value can be set by the staff, and the embodiment is not strictly limited.

In the charge and discharge process, the voltage and current values of the energy storage component 2 are collected through the current collection circuit and the voltage collection circuit 11 block, so that overvoltage or overcurrent phenomenon is avoided, and the protection of the energy storage battery is improved. The electric quantity acquisition circuit 13 acquires the electric quantity of the energy storage component 2, so that the power can be cut off under the condition that the energy storage component 2 is full of electric quantity, the overcharge of the energy storage component 2 is avoided, and the service life of the energy storage component 2 is prolonged. And guarantee that energy storage part 2 is by sufficient electric energy after discharging, can make from mobile cleaning equipment remove to fill electric pile department and charge to avoid the condition emergence that can't remove to fill electric pile department and charge because of the electric quantity is not enough from mobile cleaning equipment.

As shown in fig. 4, the energy storage component 2 is further provided with a temperature sensor 10, and the temperature sensor 10 is connected with a charge/discharge control circuit 9.

In the process of charging and discharging the energy storage component 2, the temperature sensor 10 is used for detecting the temperature on the energy storage component 2, and when the detected temperature is greater than or equal to a preset temperature, the charging and discharging control circuit 9 controls the charging control switch 6 or the discharging control switch 3 to be disconnected so as to interrupt the charging and discharging process, thereby avoiding accidents such as combustion and the like caused by continuous rising of the temperature of the energy storage component 2. The preset temperature value can be set by a worker, and the embodiment is not strictly limited.

Further, as shown in fig. 4, a discharge voltage stabilizing circuit 4 is further provided between the discharge control switch 3 and the discharge interface 5, and a charge voltage stabilizing circuit 7 is further provided between the charge control switch 6 and the charge interface 8.

The discharge voltage stabilizing circuit 4 comprises a DC-DC voltage stabilizing circuit, so as to regulate the output voltage of the energy storage component 2, thereby improving the stability of the output voltage of the energy storage component 2. Likewise, the charging voltage stabilizing circuit 7 includes a DC-DC voltage stabilizing circuit to adjust the output voltage of the charging post, thereby improving the stability of the input voltage of the energy storage part 2.

Further, as shown in fig. 4, the main body is further provided with an access detection circuit 14, and the access detection circuit 14 is connected to the charge/discharge control circuit 9, the charge interface 8, and the discharge interface 5, respectively.

The access detection circuit 14 is used for detecting whether the discharge interface 5 of the self-moving cleaning device is successfully plugged with the charging interface of the household appliance after the self-moving cleaning device is in butt joint with the household appliance to be charged, the charge-discharge control circuit 9 controls the charge control switch 6 to be closed after the plugging is successful, and whether the charging interface 8 of the self-moving cleaning device is successfully plugged with the power interface of the charging pile after the self-moving cleaning device is in butt joint with the charging pile, and the charge-discharge control circuit 9 controls the discharge control switch 3 to be closed after the plugging and the purchase are performed.

In this embodiment, the access detection circuit can detect whether the charging interface 8 and the discharging interface 5 of the self-moving cleaning device are successfully plugged, thereby improving the reliability of the charging and discharging process.

Further, a charge and discharge indicator lamp is further arranged on the main body, and the charge and discharge control circuit 9 is connected with the charge and discharge indicator lamp.

The charging and discharging indicator lamp can display different colors in the charging process and the discharging process so as to remind a user that the self-moving cleaning device is in the charging or discharging process. After the charge and discharge process is finished, the charge and discharge indicator lamp is extinguished to remind a user of completing charge and discharge.

Further, the discharge interface comprises a wireless discharge interface. The wireless discharging interface can effectively avoid the plug action during charging, thereby avoiding the abrasion of the interface and prolonging the service life.

Further, the charging interface 8 and the discharging interface 5 are both arranged on the side wall of the main body, so that the self-moving cleaning device is convenient to plug in the discharging interface 5 and the charging interface of the household appliance, and the self-moving cleaning device is convenient to plug in the charging interface 8 and the power interface of the charging pile.

In a second aspect, an embodiment of the present invention provides a cleaning system, including a charging pile and the self-moving cleaning device described above, where the charging pile includes a base body and a power interface disposed on the base body; in case that the base body is successfully docked with the self-moving cleaning device, the power interface is plugged with the charging interface 8 of the self-moving cleaning device.

The charging pile comprises a base body which is approximately L-shaped, an infrared receiver is arranged on the self-moving equipment, an infrared emitter is arranged on the outer wall of the base body of the charging pile, and when the self-moving equipment is recharged, the infrared receiver on the self-moving equipment is used for receiving infrared signals emitted by the infrared emitter on the charging pile, and the self-moving equipment is guided to be in butt joint with the charging pile for charging.

It should be noted that, the self-moving cleaning device according to the present embodiment may be the self-moving cleaning device according to the above embodiment, and the implementation and working principle of the self-moving cleaning device may be referred to the corresponding content in the above embodiment, which is not described herein again.

The present invention has been illustrated by the above-described embodiments, but it should be understood that the above-described embodiments are for purposes of illustration and description only and are not intended to limit the invention to the embodiments described. In addition, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications are possible in light of the teachings of the invention, which variations and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (10)

1. A self-moving cleaning apparatus comprising a main body;

the main body is provided with a charging and discharging circuit, an energy storage component, a charging interface for charging the energy storage component and a discharging interface for charging external equipment; the energy storage component is connected with the charging interface through the charging and discharging circuit, and is also connected with the discharging interface through the charging and discharging circuit.

2. The self-moving cleaning apparatus of claim 1, wherein the charging interface is the same interface as the discharging interface.

3. The self-moving cleaning device according to claim 1, wherein a main controller connected with the charging and discharging circuit is further arranged on the main body, and the main controller is used for controlling the self-moving cleaning device to move to the position of the external device and is in butt joint with a charging interface of the external device through the discharging interface so as to transmit the electric energy of the energy storage component to the external device through the charging and discharging circuit.

4. The self-moving cleaning device according to claim 3, wherein the master controller is specifically configured to control the self-moving cleaning device to move to the location of the external device when receiving a charging request carrying location information sent by the external device.

5. The self-moving cleaning device according to claim 3, wherein the main controller is specifically configured to obtain a current time, a preset charging time, and position information of the external device, and if the current time is the same as the preset charging time, control the self-moving cleaning device to move to the position of the external device according to the position information.

6. The self-moving cleaning device according to claim 3, wherein the main controller is further configured to control the charge-discharge circuit to stop supplying electric energy to the external device when the external device is fully charged or the electric quantity of the energy storage component reaches a first preset electric quantity, where the first preset electric quantity is a minimum electric quantity required for the self-moving device to move from a current position to a charging pile.

7. The self-moving cleaning device of claim 6, wherein the master controller is further configured to control the self-moving cleaning device to move to a charging post after the charging and discharging circuit stops delivering the electric energy to the external device, and to interface with a discharging interface of the charging post through the charging interface, so that the charging post delivers the electric energy to the energy storage component through the charging and discharging circuit.

8. The self-moving cleaning apparatus of claim 7, wherein the master controller is further configured to control the charge-discharge circuit to stop receiving the electrical energy delivered by the charging pile when the electrical energy of the energy storage component is greater than or equal to a second preset electrical energy, the second preset electrical energy being greater than the first preset electrical energy.

9. The self-moving cleaning apparatus according to claim 1, wherein the charge-discharge circuit includes a charge-discharge control circuit, a charge-discharge information acquisition circuit, a discharge control switch, and a charge control switch;

the energy storage component is connected with the discharging interface through the discharging control switch, and is also connected with the charging interface through the charging control switch; and the charge and discharge information acquisition circuit is respectively connected with the energy storage component and the charge and discharge control circuit.

10. A cleaning system comprising a charging post and a self-moving cleaning device according to any one of claims 1 to 9, the charging post comprising a base and a power interface provided on the base; and under the condition that the base body and the self-moving cleaning equipment are successfully docked, the power interface is spliced with the charging interface of the self-moving cleaning equipment.

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