CN114520526A - Charging control method and system - Google Patents

Charging control method and system Download PDF

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Publication number
CN114520526A
CN114520526A CN202011310540.1A CN202011310540A CN114520526A CN 114520526 A CN114520526 A CN 114520526A CN 202011310540 A CN202011310540 A CN 202011310540A CN 114520526 A CN114520526 A CN 114520526A
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China
Prior art keywords
charging
battery pack
battery
control unit
charge
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CN202011310540.1A
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Chinese (zh)
Inventor
兰彬财
黄庆展
易俊华
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Positec Power Tools Suzhou Co Ltd
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Positec Power Tools Suzhou Co Ltd
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Priority to CN202011310540.1A priority Critical patent/CN114520526A/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/007—Regulation of charging or discharging current or voltage
    • H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
    • H02J7/00714—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters in response to battery charging or discharging current
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
    • H02J7/00036—Charger exchanging data with battery
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/007—Regulation of charging or discharging current or voltage
    • H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
    • H02J7/007182—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters in response to battery voltage
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The present disclosure relates to a charging control method and a system, wherein the method is applied to a charging control system, the system comprises an automatic walking device and a charging station, the automatic walking device comprises a first micro control unit, a battery pack and a charging control unit, the charging station comprises a second micro control unit, and the method comprises the following steps: the second micro control unit periodically acquires the battery state information of the battery pack; if the battery state information meets a first preset condition, controlling the charging control unit to charge the battery pack in a first mode, wherein in the first mode, the charging current for the battery pack is subjected to step change; and if the battery state information meets a second preset condition, controlling the charging control unit to be switched from the first mode to a second mode to charge the battery pack. The embodiment of the disclosure can fully charge the battery pack, and improve the charging quality.

Description

Charging control method and system
Technical Field
The present disclosure relates to the field of charging technologies, and in particular, to a charging control method and system.
Background
At present, when a rechargeable battery is charged, only a single constant current charging mode is adopted, when the voltage instantly reaches a specified voltage value, the rechargeable battery is judged to be fully charged, and the rechargeable battery cannot be charged continuously, but at the moment, the battery capacity is not charged to the maximum value, namely the rechargeable battery is not actually fully charged, the electric quantity of the battery can be misjudged, so that the battery pack is slightly charged and slightly discharged, and the actual working time is short.
Disclosure of Invention
In view of the above, the present disclosure proposes a charging control method, which is applied to a charging control system, the system including an automatic traveling apparatus, a charging station, and a charging control unit, the automatic traveling apparatus including a first micro control unit and a battery pack, the charging station including a second micro control unit, the method including:
the second micro control unit periodically acquires battery state information of the battery pack, wherein the battery state information is used for indicating the battery voltage and the charging current at two ends of the battery pack at the current moment;
if the battery state information meets a first preset condition, controlling the charging control unit to charge the battery pack in a first mode, wherein in the first mode, the charging current for the battery pack is subjected to step change;
and if the battery state information meets a second preset condition, controlling the charging control unit to be switched from the first mode to a second mode to charge the battery pack.
In a possible embodiment, before the second micro control unit periodically acquires the battery state information of the battery pack, the method further includes:
and the second micro control unit acquires equipment state information, wherein the equipment state information is used for indicating the configuration information of the automatic walking equipment and the state information of the battery pack.
In a possible embodiment, before the second micro control unit periodically acquires the battery state information of the battery pack, the method further includes:
and according to the received equipment state information, the second micro control unit calculates to obtain a first charging parameter suitable for the automatic walking equipment.
In a possible embodiment, the device state information includes a device model of the automatic traveling device, operating time information, a model of the battery pack, electric quantity information, and a docking state of the automatic traveling device and the charging station.
In one possible embodiment, the first charging parameter includes a charge cutoff voltage, an initial charging current, and a charge cutoff current for the self-propelled device.
In a possible implementation manner, before controlling the charging control unit to charge the battery pack in the first mode if the battery state information satisfies the first preset condition, the method further includes:
the method comprises the steps of obtaining battery voltages at two ends of the battery pack, judging whether the battery pack needs to be charged or not based on the battery voltages and a preset electricity supplementing voltage, indicating that the battery pack needs to be charged if the battery voltages are smaller than or equal to the preset electricity supplementing voltage, and indicating that the battery pack does not need to be charged if not.
In a possible embodiment, if it is indicated that the battery pack needs to be charged and the battery state information satisfies a first preset condition, the method controls the charge control unit to charge the battery pack in a first mode, where in the first mode, the step-wise change of the charging current for the battery pack includes:
when the acquired battery voltage at two ends of the battery pack meets a first preset value under the condition of meeting a first preset condition, attenuating the charging current of the battery pack once according to a first rule, wherein the total attenuation time is N, the value of N is determined according to the current charging current and the charging cut-off current, and N is a positive integer greater than or equal to 1;
wherein the first preset condition is as follows: the battery voltage is less than the charge cutoff voltage and the charge current is greater than or equal to the charge cutoff current;
wherein the charge cut-off current is a minimum current for charging in the first mode.
In a possible embodiment, the self-propelled device further includes a communication unit, and the communication unit is configured to send the battery status information to the second micro control unit when the self-propelled device is in a docked state with the charging station.
In a possible implementation manner, if the battery state information satisfies a second preset condition, the controlling the charging control unit to switch from the first mode to a second mode to charge the battery pack includes:
when the second preset condition is met, the battery pack is charged at a constant voltage by the first charging voltage,
wherein the second preset condition is: the battery voltage is less than the charge cutoff voltage and the charge current is less than the charge cutoff current.
In a possible embodiment, after controlling the charging control unit to switch from the first mode to the second mode to charge the battery pack, the method further includes:
and if the battery voltage is equal to the charging cut-off voltage, stopping charging the battery pack.
According to another aspect of the present disclosure, a charging control system is provided, the system including an automatic walking device, a charging station and a charging control unit, the automatic walking device including a first micro control unit and a battery pack, the charging station including a second micro control unit, wherein:
the second micro control unit is used for periodically acquiring battery state information of the battery pack, and the battery state information is used for indicating the battery voltage and the charging current at two ends of the battery pack at the current moment;
if the battery state information meets a first preset condition, the second micro control unit is further configured to control the charging control unit to charge the battery pack in a first mode, wherein in the first mode, the charging current for the battery pack is changed in a stepwise manner;
and if the battery state information meets a second preset condition, the second micro control unit is further used for controlling the charging control unit to be switched from the first mode to a second mode to charge the battery pack.
In a possible embodiment, before periodically acquiring the battery state information of the battery pack, the second micro control unit is further configured to acquire device state information indicating configuration information of the automatic walking device and state information of the battery pack.
In a possible embodiment, before periodically acquiring the battery status information of the battery pack, the second micro control unit is further configured to:
and calculating to obtain a first charging parameter suitable for the automatic walking equipment according to the received equipment state information.
In a possible embodiment, the device state information includes a device model of the automatic traveling device, operating time information, a model of the battery pack, electric quantity information, and a docking state of the automatic traveling device and the charging station.
In one possible embodiment, the first charging parameter includes a charging cutoff voltage, an initial charging current, and a charging cutoff current for the autonomous walking device.
In a possible embodiment, before controlling the charging control unit to charge the battery pack in the first mode if the battery status information satisfies the first preset condition, the second micro control unit is further configured to:
the method comprises the steps of obtaining battery voltages at two ends of the battery pack, judging whether the battery pack needs to be charged or not based on the battery voltages and a preset electricity supplementing voltage, indicating that the battery pack needs to be charged if the battery voltages are smaller than or equal to the preset electricity supplementing voltage, and indicating that the battery pack does not need to be charged if not.
In a possible embodiment, if it is indicated that the battery pack needs to be charged and the battery status information satisfies a first preset condition, the second micro control unit is further configured to control the charging control unit to charge the battery pack in a first mode, where in the first mode, the step-wise change of the charging current for the battery pack includes:
when the acquired battery voltages at two ends of the battery pack meet a first preset value under the condition that a first preset condition is met, attenuating the charging current of the battery pack once according to a first rule, wherein the total number of times of attenuation is N, the value of N is determined according to the current charging current and the charging cutoff current, and N is a positive integer greater than or equal to 1;
wherein the first preset condition is as follows: the battery voltage is less than the charge cutoff voltage and the charge current is greater than or equal to the charge cutoff current;
wherein the charge cut-off current is a minimum current for charging in the first mode.
In a possible embodiment, the automatic walking device further comprises a communication unit, and the communication unit is configured to send the battery state information to the second micro control unit in a docking state of the automatic walking device and the charging station.
In a possible implementation manner, if the battery state information satisfies a second preset condition, the controlling the charging control unit to switch from the first mode to a second mode to charge the battery pack includes:
when the second preset condition is met, the battery pack is charged at a constant voltage by the first charging voltage,
wherein the second preset condition is: the battery voltage is less than the charge cutoff voltage and the charge current is less than the charge cutoff current.
In a possible embodiment, after controlling the charging control unit to switch from the first mode to the second mode to charge the battery pack, the second micro control unit is further configured to:
and if the battery voltage is equal to the charging cut-off voltage, stopping charging the battery pack.
Through the method, the battery state information of the battery pack can be periodically acquired, the charging mode is determined according to the condition met by the battery state information, if the battery state information meets the first preset condition, the charging control unit is controlled to charge the battery pack in the first mode, and if the battery state information meets the second preset condition, the charging control unit is controlled to be switched from the first mode to the second mode to charge the battery pack, so that the battery pack can be fully charged by switching the charging mode, and the charging quality is improved.
Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.
Fig. 1 shows a flowchart of a charge control method according to an embodiment of the present disclosure.
Fig. 2 shows a schematic diagram of a charge control system according to an embodiment of the present disclosure.
Fig. 3 shows a flow chart of a charge control method according to an embodiment of the present disclosure.
Fig. 4 shows a flow chart of a charge control method according to an embodiment of the present disclosure.
Detailed Description
Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.
Referring to fig. 1, fig. 1 is a flowchart illustrating a charging control method according to an embodiment of the disclosure.
Referring to fig. 2, fig. 2 is a schematic diagram illustrating a charging control system according to an embodiment of the disclosure.
As shown in fig. 1 and 2, the method may be applied to a charging control system, the system includes an automatic traveling apparatus 1, a charging station 2 and a charging control unit, the automatic traveling apparatus 1 includes a first micro control unit (MCU1)11 and a battery pack 10, the charging station 2 includes a second micro control unit (MCU2)21, and the method includes:
step S11, the second mcu 21 periodically obtains battery status information of the battery pack 10, where the battery status information is used to indicate the battery voltage and the charging current at the two ends of the battery pack 10 at the current moment;
step S12, if the battery status information satisfies a first preset condition, controlling the charging control unit to charge the battery pack in a first mode, where in the first mode, the charging current for the battery pack 10 changes stepwise;
step S13, if the battery status information satisfies a second preset condition, the charging control unit is controlled to switch from the first mode to a second mode to charge the battery pack 10.
Through the method, the battery state information of the battery pack can be periodically acquired, the charging mode is determined according to the condition met by the battery state information, if the battery state information meets the first preset condition, the charging control unit is controlled to charge the battery pack in the first mode, and if the battery state information meets the second preset condition, the charging control unit is controlled to be switched from the first mode to the second mode to charge the battery pack, so that the battery pack can be fully charged by switching the charging mode, and the charging quality is improved.
In a possible embodiment, the self-propelled device 1 may comprise one of a mower, a sweeping robot, a patrol robot, and a transport robot.
In one possible embodiment, the first and second micro control units 11 and 21 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components.
In one possible implementation, the battery pack 10 may be a rechargeable battery of various types, for example, a lithium battery, a lithium ion battery, a lithium polymer battery, and the like, and the disclosed embodiment is not limited to the battery type of the battery pack 10.
In a possible embodiment, the interfaces are further provided on the automatic traveling device 1 and the charging station 2, the interface of the automatic traveling device 1 and the interface of the charging station 1 may be connected, when the connection is successful, the charging station 2 and the automatic traveling device 1 may communicate, the charging station 2 may also charge the automatic traveling device 1, of course, the charging station 2 and the automatic traveling device 1 may also communicate in a wireless communication manner, or may also charge in a wireless charging manner.
In a possible embodiment, the self-propelled device 1 can automatically travel to the position of the charging station 2 under various conditions and is coupled to the charging station 2, for example, the self-propelled device can return to the position of the charging station 2 when the voltage of the battery pack is low to prepare for charging, and when the self-propelled device 1 travels to the correct position for electric charging, the interface of the self-propelled device 1 and the interface of the charging station 2 face each other, and the coupling can be completed. In one example, the automated walking device may be regressive according to a regression instruction, for example, the automated walking device 1 may automatically walk to the location of the charging station 2 when receiving a regression instruction issued by the user; or the weather condition returns, for example, when the weather suddenly becomes bad, rain, snow, hail and fog suddenly come, the automatic walking device 1 can automatically walk to the position of the charging station 2; the return may be completed when the operation time is finished, and when the automatic traveling apparatus 1 completes the predetermined operation, the automatic traveling apparatus 1 may automatically travel to the position of the charging station 2, or may return for another reason. When the automatic walking equipment returns to the position of the charging station 2, the automatic walking equipment can be matched with the charging station 2.
In one possible embodiment, as shown in fig. 2, both the autonomous walking device 1 and the charging station 2 may include a position detection unit.
In one example, during the process of mating, the position detection unit 13 and the position detection unit 23 may both obtain the position information of their own interface relative to the interface of the other party, for example, the position detection unit 13 may determine the position information of the interface of the automatic walking device 1 relative to the interface of the charging station 2, and the first micro control unit may adjust their own position according to the determined position information to implement the mating with the interface of the charging station; for example, the position detection unit 23 may output a mating completion instruction to notify the second micro control unit 21 of completion of mating in a case where it is detected that the mating of the interface of the automatic walking apparatus and the interface of the apparatus main body is completed, thereby establishing connection with the automatic walking apparatus 1.
In an example, the position detection unit may include at least one of a mechanical travel switch, a hall sensor, and a square wave generator, and the embodiment of the present disclosure may implement position detection through at least one of the mechanical travel switch, the hall sensor, and the square wave generator, and of course, in other embodiments, the embodiment of the present disclosure may also use other methods to perform position detection, and thus, the embodiment of the present disclosure is not limited.
In a possible embodiment, as shown in fig. 2, the charging control unit may be disposed in the charging station (the charging control unit 22), or may be disposed in the automatic walking device 1, and the charging control method according to the embodiment of the present disclosure will be described below by taking the charging control unit 22 disposed in the charging station as an example.
In one possible embodiment, the charging control unit 22 may include an alternating current/direct current (AC/DC) module to convert the mains AC power into DC power; a direct current/direct current (DC/DC) module may also be included to convert between direct currents; a wireless charging component may be further included, and in the case where the automatic walking device 1 supports wireless charging, the battery pack 10 is wirelessly charged through the wireless charging component. The charge control unit 22 may output the instruction pair of the second micro control unit 21 to output power to charge the battery pack 10 in the first mode or the second mode.
The embodiment of the present disclosure does not limit the specific implementation of the charging control unit 22.
Referring to fig. 3, fig. 3 is a flowchart illustrating a charging control method according to an embodiment of the disclosure.
In a possible embodiment, before the second mcu periodically acquires the battery status information of the battery pack at step S11 in fig. 3, the method may further include:
step S14, the second micro control unit obtains device status information, where the device status information is used to indicate configuration information of the automatic walking device and status information of the battery pack.
In one possible embodiment, the device state information may include a device model of the automatic traveling device 1, operating time information, a model of the battery pack 10, power information, and a docking state of the automatic traveling device 1 and the charging station 2.
The device model, the working time information, and the like of the automatic walking device 1 may be used to indicate configuration information of the automatic walking device 1, the model, the electric quantity information, and the like of the battery pack 10 may be used to indicate state information of the battery pack 10, and the docking state of the automatic walking device 1 and the charging station 2 may be the docking state of the interface of the automatic walking device 1 and the interface of the charging station 2.
In one example, when the automatic traveling device 1 returns, the user can automatically travel to the position of the charging station 2, if the automatic traveling device 1 automatically travels to the correct position of the charging station 2, the interface of the automatic traveling device 1 is connected with the interface of the charging station 2, the connection state can be the connection completion, otherwise, the connection fails, and the automatic traveling device 1 can adjust the position according to the position information fed back by the position detecting unit 13 to complete the connection.
In one example, the second mcu 21 may communicate with the automatic walking device 1 and the charging station 2 to obtain the device model, the operating time information, the model of the battery pack 10, and the power information of the automatic walking device 1 when the docking is completed, or may obtain the above information by wireless communication before the docking is completed. The wireless communication may be a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof, and may also include a Near Field Communication (NFC) module to facilitate short-range communication. In one example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
In a possible embodiment, the self-propelled device 1 and the charging station 2 may further include a communication unit (not shown in fig. 2) based on a wired communication technology and/or a wireless communication technology, wherein the self-propelled device 1 (the first microprocessor unit 11) may obtain the battery status information through the communication unit, for example, in a docking state of the self-propelled device and the charging station, the communication unit obtains the battery status information of the battery pack 10 and may be used to send the battery status information to the second microcontroller unit. The communication unit of the charging station 2 can acquire the battery state information.
In a possible embodiment, as shown in fig. 3, before the second mcu 21 periodically acquires the battery status information of the battery pack 10 at step S11, the method may further include:
step S15, according to the received device status information, the second micro control unit 21 calculates a first charging parameter suitable for the automatic walking device 1.
In one example, the charging station 2 may include a memory, wherein the memory may be implemented by any type of volatile or non-volatile storage device or combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
In one example, the correspondence between the model of the automatic walking device, the model of the battery pack, and the charging parameter may be stored in the memory, and the second micro control unit 21 may quickly determine the corresponding charging parameter according to the correspondence and the model of the automatic walking device, the model of the battery pack, and the charging parameter.
In a possible embodiment, the first charging parameter may include a charge cut-off voltage V for the self-propelled device0Initial charging current I0And a charge cutoff current IminSupply voltage V1And the like.
In a possible implementation manner, as shown in fig. 3, before controlling the charging control unit to charge the battery pack in the first mode if the battery state information satisfies the first preset condition at step S12, the method may further include:
step S16, obtaining a battery voltage V at two ends of the battery pack 10, based on the battery voltage V and a preset power compensation voltage V1Judging whether the battery pack 10 needs to be charged or not, and if the battery voltage V is less than or equal to a preset electricity supplementing voltage V1It indicates that the battery pack 10 needs charging, otherwise, it indicates that charging is not needed.
In one example, the preset complementary voltage V1Can be obtained from a memory, for example, the second micro-control unit 21 can determine the corresponding supplementary voltage V according to the model of the self-propelled device 1 and the model of the battery pack 101。
In an example, different models of the automatic walking device and different models of the battery pack may correspond to different complementary voltages, and may also correspond to the same complementary voltage, so that the embodiment of the present disclosure may also directly store a preset complementary voltage in the memory, and when the battery voltages at the two ends of the battery pack are obtained, the pre-complementary voltage may be directly obtained for determination regardless of the types of the battery pack and the types of the automatic walking device.
In one possible embodiment, if it is indicated that the battery pack 10 needs to be charged (the battery voltage V of the battery pack is less than the charging voltage V1) And the battery state information meets a first preset condition, and controls the charging controlThe control unit 22 charges the battery pack 10 in a first mode.
In one example, the first mode may be a constant current charging mode.
In one example, as shown in fig. 2, a charge control unit may be provided in the self-propelled traveling apparatus 1, for example, the charge control unit may be a Constant Current/Constant Voltage charging module CC (Constant Current)/CV (Constant Voltage) module, and the self-propelled traveling apparatus 1 configured with the CC/CV module may perform Constant Current charging (first mode) or Constant Voltage charging (second mode).
In one example, in the first mode, the step-wise change of the charging current for the battery pack 10 may include:
when the acquired battery voltage V at two ends of the battery pack 10 meets a first preset value under the condition of meeting a first preset condition, the charging current I for the battery pack 10 is attenuated once according to a first rule, the total attenuation time is N, and the value of N is determined according to the current charging current I and the charging cutoff current IminDetermining that N is a positive integer greater than or equal to 1;
wherein the first preset condition is as follows: the battery voltage V is less than the charge cut-off voltage V0And the charging current I is greater than or equal to the charging cut-off current Imin；
Wherein the charging cutoff current IminThe minimum current for charging in the first mode.
In one example, the battery voltage V across the battery pack 10 satisfying the first preset value may include: the battery voltage V and the charge cut-off voltage V0The second micro control unit 21 periodically obtains battery status information, where the battery status information includes battery voltages V at two ends of the battery pack, and the second micro control unit 21 obtains the battery voltages V and the charging cut-off voltage V0And comparing, and when the two are equal, determining that the battery voltage at the two ends of the battery pack meets a first preset value.
In one example, the first rule may include: the charging current is gradually attenuated by a first value between 0 and 1.
In one example, successively decaying the charging current by a first value between 0-1 may include:
the charging current is attenuated as follows:
I＝(A)nI1，
wherein n represents the number of decays, A represents the first value, I1Representing the charging current of the previous charging cycle and I representing the charging current of the next charging cycle.
In one example, the first value a may be 1/2.
In one example, assume that the previous charge cycle was at an initial charge current I0Charging the charging current by detecting that the battery voltage V of the battery pack satisfies a first predetermined value, such as the battery voltage V and a charging cut-off voltage V0When they are equal, the initial charging current I is adjusted0Decay is performed to obtain the charging current I ═ of the next charging period (1/2)nI0. In the next charging cycle, the second micro control unit 21 may control the charging control unit 22 to charge the battery pack 10 with the determined charging current I attenuated until it is detected that the battery voltage of the battery pack 10 satisfies the preset condition.
In one example, the total number of decays N may be determined according to the present charging current I and the charging cutoff current IminIt is determined, for example, that the charging current (initial charging current I) for charging the battery pack 10 for the first time can be calculated0) Decaying to equal to or less than the charge cut-off current IminTo determine the total number of times N.
Through the method, when the battery pack is charged in the first mode, the embodiment of the disclosure can ensure that the battery pack is fully charged on one hand, and can prevent overcharging on the other hand, thereby preventing the battery pack from being damaged and prolonging the service life of the battery pack by a sectional attenuation charging mode.
The above description exemplifies charging in the first mode, and the following description exemplarily describes a charging manner of switching from the first mode to the second mode.
In a possible embodiment, the step S13, if the battery status information satisfies a second preset condition, the controlling the charging control unit 22 to switch from the first mode to a second mode to charge the battery pack 10 includes:
when the second preset condition is satisfied, the battery pack 10 is charged at a constant voltage by the first charging voltage,
wherein the second preset condition is: the battery voltage is less than the charge cut-off voltage V0And the charging current I is less than the charging cut-off current Imin。
In one example, in the first mode, when the charging current I is equal to or less than the charge cutoff current I after decaying N timesminMeanwhile, the embodiment of the present disclosure may switch the first mode to the second mode to charge the battery pack 10, that is, switch from the constant current charging mode to the constant voltage charging mode to charge the battery pack 10.
In one possible implementation, as shown in fig. 3, after the step S13 controls the charging control unit to switch from the first mode to the second mode to charge the battery pack, the method may further include:
in step S17, if the battery voltage V is equal to the charge cut-off voltage V0Then the charging of the battery pack 10 is stopped.
In the second mode, the second mcu 21 controls the charge control unit 22 to charge the battery pack with the first voltage, when the second mcu 21 detects that the battery voltage across the battery pack 10 reaches the cut-off voltage V0Meanwhile, the second control unit 21 may control the charging control unit 22 to stop charging, i.e., in this case, the second micro control unit 21 may determine that the battery pack 10 has been fully charged.
The charging process is described below by way of example.
Referring to fig. 4, fig. 4 is a flowchart illustrating a charging control method according to an embodiment of the disclosure.
In a possible embodiment, when the self-propelled device 1 returns and stays on the charging station 2, the second micro control unit 21(MCU2) of the charging station 2 reads the data (position information) of the position detection unit 13 of the self-propelled device 1, determines whether the self-propelled device 1 stays at the correct position of the charging station 2 (i.e., whether the mating is completed) according to the acquired position information, and if the self-propelled device 1 stays at the correct position of the charging station 2, the second micro control unit 21 acquires the model number of the self-propelled device 1 and the model number of the battery pack 10, and determines the charging cut-off voltage V accordingly0Initial charging current I0And a charge cutoff current IminSupply voltage V1And the like, and periodically acquires the battery voltage V of the battery pack 10, when the second micro-control unit 21 determines that the battery voltage is less than the compensation voltage V1In this case, the second mcu 21 may determine that the battery pack 10 needs to be charged first in the first mode (CC mode) according to the received command from the first mcu 11 or decide itself, for example, to charge the battery pack 10 first in the initial charging current I0 whenever it is determined that the battery voltage V of the battery pack 10 is equal to the charge cut-off voltage V0And the charging current is larger than the charging cut-off current IminThen, the charging current is attenuated until the charging current is less than or equal to the charging cutoff current IminOr, upon determining that the condition is not satisfied: the battery voltage V of the battery pack 10 is less than the charge cut-off voltage V0And the charging current is less than the charging cut-off current IminIn time, the electrical current is attenuated until the condition is satisfied: the battery voltage V of the battery pack 10 is less than the charge cut-off voltage V0And the charging current is less than the charging cut-off current IminSwitching the charging mode from the first mode to the second mode to perform constant voltage charging of the battery pack 10 when it is detected that the battery voltage of the battery pack 10 is equal to the charge cut-off voltage V0And, stopping the charging process.
Through the method, the battery state information of the battery pack can be acquired periodically, the charging mode is determined according to the condition met by the battery state information, if the battery state information meets the first preset condition, the charging control unit is controlled to charge the battery pack in the first mode, and if the battery state information meets the second preset condition, the charging control unit is controlled to be switched from the first mode to the second mode to charge the battery pack.
The embodiment of the present disclosure further provides a charging control system, the system includes an automatic walking device, a charging station and a charging control unit, the automatic walking device includes a first micro control unit and a battery pack, the charging station includes a second micro control unit, wherein:
the second micro control unit is used for periodically acquiring battery state information of the battery pack, and the battery state information is used for indicating the battery voltage and the charging current at two ends of the battery pack at the current moment;
if the battery state information meets a first preset condition, the second micro control unit is further configured to control the charging control unit to charge the battery pack in a first mode, wherein in the first mode, the charging current for the battery pack is changed in a stepwise manner;
and if the battery state information meets a second preset condition, the second micro control unit is further used for controlling the charging control unit to be switched from the first mode to a second mode to charge the battery pack.
Through above system, this disclosed embodiment can periodically acquire the battery state information of battery package, confirms the mode of charging according to the condition that battery state information satisfies, if battery state information satisfies first preset condition, control charge the control unit with first mode right the battery package charges, if battery state information satisfies the second preset condition, control charge the control unit follow first mode switches to the second mode is right the battery package charges, like this, through switching the charge mode, this disclosed embodiment can fully charge the battery package to can charge for different models, different battery packages, improve the charging quality.
In a possible embodiment, before periodically acquiring the battery state information of the battery pack, the second micro control unit is further configured to acquire device state information indicating configuration information of the automatic walking device and state information of the battery pack.
In a possible embodiment, before periodically acquiring the battery status information of the battery pack, the second micro control unit is further configured to:
and calculating to obtain a first charging parameter suitable for the automatic walking equipment according to the received equipment state information.
In a possible embodiment, the device state information includes a device model of the automatic traveling device, operating time information, a model of the battery pack, electric quantity information, and a docking state of the automatic traveling device and the charging station.
In one possible embodiment, the first charging parameter includes a charge cutoff voltage, an initial charging current, and a charge cutoff current for the self-propelled device.
In a possible embodiment, before controlling the charging control unit to charge the battery pack in the first mode if the battery status information satisfies the first preset condition, the second micro control unit is further configured to:
the method comprises the steps of obtaining battery voltages at two ends of the battery pack, judging whether the battery pack needs to be charged or not based on the battery voltages and a preset electricity supplementing voltage, indicating that the battery pack needs to be charged if the battery voltages are smaller than or equal to the preset electricity supplementing voltage, and indicating that the battery pack does not need to be charged if not.
In a possible embodiment, if it is indicated that the battery pack needs to be charged and the battery status information satisfies a first preset condition, the second micro control unit is further configured to control the charging control unit to charge the battery pack in a first mode, where in the first mode, the step-wise change of the charging current for the battery pack includes:
when the acquired battery voltage at two ends of the battery pack meets a first preset value under the condition of meeting a first preset condition, attenuating the charging current of the battery pack once according to a first rule, wherein the total attenuation time is N, the value of N is determined according to the current charging current and the charging cut-off current, and N is a positive integer greater than or equal to 1;
wherein the first preset condition is as follows: the battery voltage is less than the charge cutoff voltage and the charge current is greater than or equal to the charge cutoff current;
wherein the charge cut-off current is a minimum current for charging in the first mode.
In a possible embodiment, the automatic walking device further comprises a communication unit, and the communication unit is configured to send the battery state information to the second micro control unit in a docking state of the automatic walking device and the charging station.
In a possible implementation manner, if the battery state information satisfies a second preset condition, the controlling the charging control unit to switch from the first mode to a second mode to charge the battery pack includes:
when the second preset condition is met, the battery pack is charged at a constant voltage by the first charging voltage,
wherein the second preset condition is: the battery voltage is less than the charge cutoff voltage and the charge current is less than the charge cutoff current.
In a possible embodiment, after controlling the charging control unit to switch from the first mode to the second mode to charge the battery pack, the second micro control unit is further configured to:
and if the battery voltage is equal to the charging cut-off voltage, stopping charging the battery pack.
It should be noted that the above charging control system corresponds to the charging control method, and for specific introduction, reference is made to the description of the method before, and details are not repeated here.
The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (10)

1. A charging control method is applied to a charging control system, and is characterized in that the system comprises an automatic walking device, a charging station and a charging control unit, the automatic walking device comprises a first micro control unit and a battery pack, the charging station comprises a second micro control unit, and the method comprises the following steps:
the second micro control unit periodically acquires battery state information of the battery pack, wherein the battery state information is used for indicating the battery voltage and the charging current at two ends of the battery pack at the current moment;
if the battery state information meets a first preset condition, controlling the charging control unit to charge the battery pack in a first mode, wherein in the first mode, the charging current for the battery pack is subjected to step change;
and if the battery state information meets a second preset condition, controlling the charging control unit to be switched from the first mode to a second mode to charge the battery pack.
2. The method of claim 1, wherein prior to the second micro-control unit periodically obtaining battery status information for the battery pack, the method further comprises:
and the second micro control unit acquires equipment state information, wherein the equipment state information is used for indicating the configuration information of the automatic walking equipment and the state information of the battery pack.
3. The method of claim 2, wherein prior to the second micro-control unit periodically obtaining battery status information for the battery pack, the method further comprises:
and according to the received equipment state information, the second micro control unit calculates to obtain a first charging parameter suitable for the automatic walking equipment.
4. The method of claim 2, wherein the device status information includes a device model of the self-propelled device, a model of the battery pack, power information, and a docking status of the self-propelled device and the charging station.
5. The method of claim 3, wherein the first charging parameter comprises a charge cutoff voltage, an initial charge current, and a charge cutoff current for the autonomous walking device.
6. The method of claim 1, wherein before controlling the charging control unit to charge the battery pack in the first mode if the battery status information satisfies a first predetermined condition, the method further comprises:
the method comprises the steps of obtaining battery voltages at two ends of the battery pack, judging whether the battery pack needs to be charged or not based on the battery voltages and a preset electricity supplementing voltage, indicating that the battery pack needs to be charged if the battery voltages are smaller than or equal to the preset electricity supplementing voltage, and indicating that the battery pack does not need to be charged if not.
7. The method of claim 5, wherein if the battery pack is indicated to be charged and the battery status information satisfies a first predetermined condition, controlling the charging control unit to charge the battery pack in a first mode, wherein in the first mode, the step-wise changing the charging current for the battery pack comprises:
when the acquired battery voltage at two ends of the battery pack meets a first preset value under the condition of meeting a first preset condition, attenuating the charging current of the battery pack once according to a first rule, wherein the total attenuation time is N, the value of N is determined according to the current charging current and the charging cut-off current, and N is a positive integer greater than or equal to 1;
wherein the first preset condition is as follows: the battery voltage is less than the charge cutoff voltage and the charge current is greater than or equal to the charge cutoff current;
wherein the charge cut-off current is a minimum current for charging in the first mode.
8. The method of claim 1, wherein the self-propelled device further comprises a communication unit configured to send the battery status information to the second micro-control unit when the self-propelled device is docked with the charging station.
9. The method of claim 5, wherein the controlling the charging control unit to switch from the first mode to a second mode to charge the battery pack if the battery status information satisfies a second predetermined condition comprises:
when the second preset condition is met, the battery pack is charged at a constant voltage by the first charging voltage,
wherein the second preset condition is: the battery voltage is less than the charge cutoff voltage and the charge current is less than the charge cutoff current.
10. The method of claim 1, wherein after controlling the charging control unit to switch from the first mode to a second mode to charge the battery pack, the method further comprises:
and if the battery voltage is equal to the charging cut-off voltage, stopping charging the battery pack.
CN202011310540.1A 2020-11-20 2020-11-20 Charging control method and system Pending CN114520526A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115549266A (en) * 2022-11-30 2022-12-30 广东新宝电器股份有限公司 Charging control system and charging control method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115549266A (en) * 2022-11-30 2022-12-30 广东新宝电器股份有限公司 Charging control system and charging control method

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