CN105559700A - Capacity monitoring system based on mixed signal processing circuit and applied to robotic vacuum cleaner - Google Patents
Capacity monitoring system based on mixed signal processing circuit and applied to robotic vacuum cleaner Download PDFInfo
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- CN105559700A CN105559700A CN201510963840.2A CN201510963840A CN105559700A CN 105559700 A CN105559700 A CN 105559700A CN 201510963840 A CN201510963840 A CN 201510963840A CN 105559700 A CN105559700 A CN 105559700A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2889—Safety or protection devices or systems, e.g. for prevention of motor over-heating or for protection of the user
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- Mechanical Engineering (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses a capacity monitoring system based on a mixed signal processing circuit and applied to a robotic vacuum cleaner. The capacity monitoring system is characterized by mainly comprising a microprocessor, an A/D converter, a capacity reminding circuit, a storage unit, a display, a power supply, the signal processing circuit connected with the A/D converter, a position sensor connected with the signal processing circuit, a voltage stabilizing circuit connected in series between the power supply and the position sensor and a booster circuit connected in series between the power supply and the capacity reminding circuit, wherein the A/D converter, the capacity reminding circuit, the storage unit, the display and the power supply are connected with the microprocessor. The capacity monitoring system is simple in structure and low in cost and can remind a user through the capacity reminding circuit when a rubbish box of the robotic vacuum cleaner is full of rubbish, so that the robotic vacuum cleaner can work continuously after the user cleans the rubbish box; meanwhile, the capacity monitoring system can stop other actions of the robotic vacuum cleaner and prevent electricity consumption and consumption of electrical appliance elements, and accordingly, the robotic vacuum cleaner can be more intelligent, more humanized and suitable for popularization and application.
Description
Technical field
The present invention relates to a kind of capacity monitoring system, specifically refer to a kind of robot cleaner capacity monitoring system based on hybrid signal processing circuit.
Background technology
Robot cleaner can be clean by reservation timing, effectively can keep the cleannes in family.
Along with improving constantly of domestic level, robot cleaner progressively enters into ordinary citizen house, and progressively accept by increasing people, robot cleaner will become the requisite clean helper of each family in the near future as white domestic appliances.
Set high intelligent chip in robot cleaner, the size of the sufficient calculated room of meeting and barrier region, coordinate predetermined cleaning mode, automatically regulate sweep-out pattern.The situation of Auto-Sensing floor surface, from carpet to hardstand, or from hardstand to carpet, it all can turn speed and suction automatically, better cleans room, can automatically return to cradle charging after cleaning task completes.
The robot cleaner fuselage of current use is equipped with steps on empty sensor, can prevent from eminence drop; Also have anti-winding function, when limit brush is snarled by some objects (such as carpet, tasselled or cable), it stops the rotation and reversely rotates to break away from winding; Robot cleaner fuselage is equipped with inductor when can recognize furniture or the barrier in front, and its can automatic retarding, to alleviate collision.
The robot cleaner intelligent of current use, but these robot cleaners all cannot monitor the capacity of dustbin on dust catcher, therefore can not inform the capacity situation of rubbish in dustbin after user's dust suction in time; When dustbin is filled, each electric component of robot cleaner also will work on, and can not load more rubbish due to dustbin, robot cleaner can not do cleaning, so robot cleaner just flogs a dead horse, wastes power resource, also causes consuming cost to machine itself.
Summary of the invention
The object of the invention is to overcome the capacity that the robot cleaner used at present cannot monitor dustbin on dust catcher, therefore the defect of the capacity situation of rubbish in dustbin after user's dust suction can not be informed in time, not only structure is simple to provide one, and with low cost, the robot cleaner capacity monitoring system based on hybrid signal processing circuit of the capacity situation of rubbish in user's dustbin can also be informed in time.
The present invention is achieved through the following technical solutions:
Based on the robot cleaner capacity monitoring system of hybrid signal processing circuit, primarily of microprocessor, the A/D converter be all connected with microprocessor, capacity alert circuit, memory cell, display and power supply, the signal processing circuit be connected with A/D converter, the position sensor be connected with signal processing circuit, be serially connected in the mu balanced circuit between power supply and position sensor, and the booster circuit be serially connected between power supply and capacity alert circuit forms; The power circuit that described capacity alert circuit is connected with booster circuit by input, the circuits for triggering that input is connected with microprocessor, and the alert circuit be connected with circuits for triggering with power circuit respectively forms; Described power circuit is also connected with circuits for triggering.
Further, described booster circuit is by transformer T, diode rectifier U1, triode VT6, triode VT7, positive pole is connected with the positive output end of diode rectifier U1, the electric capacity C7 that negative pole is connected with the negative output terminal of diode rectifier U1, positive pole is connected with the positive pole of electric capacity C7 after resistance R13, the electric capacity C8 that negative pole is connected with the negative pole of electric capacity C7, positive pole is connected with the emitter stage of triode VT6 after resistance R16, the electric capacity C9 of minus earth, P pole is connected with the positive pole of electric capacity C8, the Zener diode D9 that N pole is connected with the colelctor electrode of triode VT7, N pole is connected with the colelctor electrode of triode VT6 after resistance R14, the Zener diode D11 that P pole is connected with the positive pole of electric capacity C7, positive pole is connected with the emitter stage of triode VT6 after resistance R15, the electric capacity C10 that negative pole is connected with the base stage of triode VT7, one end is connected with the colelctor electrode of triode VT7, the resistance R17 that the other end is connected with the negative pole of electric capacity C7, N pole is connected with the colelctor electrode of triode VT7, the Zener diode D11 that P pole is connected with the negative pole of electric capacity C7, positive pole is connected with the emitter stage of triode VT7, the electric capacity C11 of minus earth, one end is connected with the emitter stage of triode VT7, the resistance R18 that the other end is connected with the positive pole of electric capacity C7, and N pole is connected with the positive pole of electric capacity C7, the Zener diode D12 that P pole is connected with the negative pole of electric capacity C7 after slide rheostat R19 forms, the base stage of described triode VT6 is connected with the positive pole of electric capacity C7 respectively with the colelctor electrode of triode VT7, an input of described diode rectifier U1 is connected with the non-same polarity of the secondary coil of transformer T, and its another input is connected with the Same Name of Ends of the secondary coil of transformer T, the Same Name of Ends of the primary coil of described transformer T is with the input of non-common composition power supply stabilization circuit of the same name and be connected with power supply, and the positive pole of described electric capacity C7 jointly forms the output of booster circuit with negative pole and is connected with power circuit.
Further, described signal processing circuit is by amplifier P1, amplifier P2, triode VT8, triode VT9, positive pole is connected with the positive input terminal of amplifier P1 after inductance L 2 through slide rheostat R21 in turn, the electric capacity C12 of minus earth, be serially connected in the resistance R19 between the positive input terminal of amplifier P1 and output, P pole is connected with the output of amplifier P1 after resistance R20, the diode D14 that N pole is connected with the emitter stage of triode VT9, P pole is connected with the negative input end of amplifier P1, the diode D13 that N pole is connected with the base stage of triode VT8 after resistance R22, positive pole is connected with the negative input end of amplifier P2, the electric capacity C13 of minus earth, P pole is connected with the base stage of triode VT9 after resistance R24, the diode D15 that N pole is connected with the output of amplifier P2, positive pole is connected with the colelctor electrode of triode VT8, the electric capacity C14 that negative pole is connected with the colelctor electrode of triode VT9 after slide rheostat R23, and P pole is connected with the base stage of triode VT9, the diode D16 that N pole is connected with the negative pole of electric capacity C14 forms, the negative input end of described amplifier P1 is connected with the sliding end of slide rheostat R21, and its output is connected with the positive input terminal of amplifier P2, the emitter stage of described triode VT8 is connected with the sliding end of slide rheostat R23 with the output of amplifier P2 respectively, and the negative input end of described amplifier P2 is connected with the N pole of diode D13, the tie point of described slide rheostat R21 and inductance L 2 as signal processing circuit input and be connected with position sensor, the base stage of described triode VT9 as signal processing circuit output and be connected with A/D converter.
Further, described mu balanced circuit is by diode rectifier U2, FET Q, triode VT10, triode VT11, positive pole is connected with the positive output end of diode rectifier U2, the electric capacity C15 that negative pole is connected with the negative output terminal of diode rectifier U2, positive pole is connected with the positive pole of electric capacity C15, the electric capacity C16 that negative pole is connected with the negative pole of electric capacity C15, N pole is connected with the positive pole of electric capacity C15 after slide rheostat R25, the Zener diode D17 that P pole is connected with the negative pole of electric capacity C15, positive pole is connected with the source electrode of FET Q, the electric capacity C17 of minus earth, positive pole is connected with the drain electrode of FET Q, the electric capacity C18 that negative pole is connected with the negative pole of electric capacity C15, P pole is connected with the emitter stage of triode VT10, the Zener diode D18 that N pole is connected with the source electrode of FET Q, be serially connected in the resistance R26 between the base stage of triode VT10 and emitter stage, and the resistance R27 be serially connected between the source electrode of FET Q and the emitter stage of triode VT11 forms, the grid of described FET Q is connected with the N pole of Zener diode D17, and its drain electrode is connected with the sliding end of the base stage of triode VT10 with the colelctor electrode of triode VT11 and slide rheostat R25 respectively, the base stage of described triode VT11 is connected with the emitter stage of triode VT10, and its emitter stage is connected with the negative pole of electric capacity C15, and the colelctor electrode of described triode VT10 is connected with the positive pole of electric capacity C15, two inputs of described diode rectifier U2 jointly form the input of mu balanced circuit and are connected with power supply, and the base stage of described triode VT11 jointly forms the output of mu balanced circuit with emitter stage and is connected with position sensor.
Simultaneously, described power circuit is by triode VT1, P pole is connected with the base stage of triode VT1, N pole is in turn through diode D2 that inductance L 1 is connected with the emitter stage of triode VT1 after resistance R2 and diode D3, one end is connected with the positive pole of electric capacity C7, the resistance R1 that the other end is connected with the emitter stage of triode VT1 after electric capacity C1, P pole is connected with the tie point of electric capacity C1 with resistance R1, the diode D1 that N pole is connected with the colelctor electrode of triode VT1 after resistance R3, and positive pole is connected with the base stage of triode VT1, the electric capacity C2 of minus earth forms, the N pole of described diode D2 is also connected with the negative pole of electric capacity C7, and the colelctor electrode of described triode VT1 is connected with circuits for triggering, and the N pole of described diode D1 is connected with alert circuit with circuits for triggering respectively.
Described circuits for triggering are by triode VT2, triode VT3, relay K, positive pole is connected with the base stage of triode VT2 after resistance R5, the electric capacity C3 of minus earth, one end is connected with the emitter stage of triode VT4, the resistance R4 that the other end is connected with the colelctor electrode of triode VT1, P pole is connected with the emitter stage of triode VT2, the diode D4 that N pole is connected with the emitter stage of triode VT3 after resistance R8, positive pole is connected with the N pole of diode D4, the electric capacity C4 that negative pole is connected with the colelctor electrode of triode VT3, one end is connected with the positive pole of electric capacity C3, the resistance R6 that the other end is connected with the emitter stage of triode VT3, and N pole is connected with the colelctor electrode of triode VT2, the diode D5 of P pole ground connection after resistance R7 forms, the positive pole of described electric capacity C4 is connected with the N pole of diode D1, and the base stage of described triode VT2 is as the input of circuits for triggering, and the base stage of described triode VT3 is connected with alert circuit after relay K.
In order to ensure effect, described alert circuit is by triode VT4, triode VT5, one end is connected with the base stage of triode VT4, the resistance R11 that the other end is connected with the base stage of triode VT3 after relay K, resistance R10 between the colelctor electrode being serially connected in triode VT4 base stage and triode VT5, positive pole is connected with the emitter stage of triode VT4, the electric capacity C6 of minus earth, positive pole is connected with the base stage of triode VT5 after resistance R9 through diode D6 in turn, the electric capacity C5 that negative pole is connected with the emitter stage of triode VT5 after diode D7, N pole is connected with the emitter stage of triode VT5, the diode D8 that P pole is connected with the colelctor electrode of triode VT4, and one end is connected with the emitter stage of triode VT4, the resistance R12 that the other end is connected with the negative pole of electric capacity C5 after LED forms, the base stage of described triode VT5 is connected with the N pole of diode D1 after the normally opened contact K-1 of relay K.
The present invention compared with prior art, has the following advantages and beneficial effect:
(1) the present invention's not only simple in structure and low in cost, when the dustbin of robot cleaner fills rubbish also by capacity alert circuit reminding user, makes robot cleaner work on after box so that user removes rubbish; Other actions of robot cleaner can also be stopped simultaneously, comprise the actions such as walking, dust suction, detection, namely stop the work of the inner electric elements of robot cleaner, prevent power consumption and consume each electrical equipment original paper, robot cleaner therefore can be made more intelligent more humane.
(2) capacity alert circuit of the present invention is the combination of power circuit, circuits for triggering and alert circuit three, and power circuit is used for processing supply voltage, for whole capacity alert circuit provides stable voltage, ensures the stable operation of whole circuit; Circuits for triggering can receive microprocessor-based control signal and turning circuit when dustbin is filled; Alert circuit removes rubbish by light emitting diode reminding user after circuits for triggering must conduct.
(3) booster circuit of the present invention can carry out boosting process to power supply, so that provide suitable operating voltage for capacity alert circuit.
(4) signal processing circuit of the present invention can carry out amplification and filtration treatment to the waste volumes signal of position sensor collection, can be the waste volumes signal that A/D converter provides superior in quality, so that A/D converter provides data signal more accurately for microprocessor after carrying out analog-to-digital conversion.
(5) mu balanced circuit of the present invention can carry out voltage stabilizing process to power supply, so that provide stable supply voltage for position sensor.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention.
Fig. 2 is the electrical block diagram of capacity alert circuit of the present invention.
Fig. 3 is the electrical block diagram of booster circuit of the present invention.
Fig. 4 is the electrical block diagram of signal processing circuit of the present invention.
Fig. 5 is the electrical block diagram of mu balanced circuit of the present invention.
Detailed description of the invention
Below in conjunction with embodiment, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Embodiment
As shown in Figure 1, capacity monitoring system of the present invention, primarily of microprocessor, the A/D converter be all connected with microprocessor, capacity alert circuit, memory cell, display and power supply, the signal processing circuit be connected with A/D converter, the position sensor be connected with signal processing circuit, is serially connected in the mu balanced circuit between power supply and position sensor, and the booster circuit be serially connected between power supply and capacity alert circuit forms.During enforcement, described power supply is the charge power supply on robot cleaner, and described microprocessor can be existing microprocessor on robot cleaner, also can be the microprocessor of new configuration.
During use, described position sensor is arranged on the dustbin of robot cleaner, for gathering the capacity signal of rubbish in dustbin.The waste volumes information of collection is sent to A/D converter and carries out analog-to-digital conversion by described position sensor, the waste volumes signal of position sensor collection is converted to the signal that microprocessor can carry out computing by A/D converter, and this signal is sent to microprocessor.What the A/D converter in the present embodiment adopted is ADC0809A/D converter, and what described microprocessor adopted is SOP8 integrated chip.The waste volumes data message drawn after computing shows over the display by described microprocessor, and display of the present invention is the high-definition liquid crystal display with touch function.
Capacity due to dustbin is limited, and dustbin just can not continue after filling to load rubbish again, before use capacity monitoring system of the present invention, needs the maximum presetting waste volumes.The present invention can complete presetting of waste volumes maximum by the touch function of display, and simultaneously preset value will be preserved in the memory unit, the memory cell employing in the present embodiment be the data storage of C8051F020 model.Microprocessor is in the real-time waste volumes information obtaining position sensor collection and draw corresponding capacity data after computing, the real time capacity data obtained and the maximum capacity preset compare by microprocessor, when real time capacity value reaches default maximum capacity, microprocessor sends and controls signal to capacity alert circuit, and the capacity alert circuit of making makes the reaction reminding dustbin full.Meanwhile, microprocessor, by stopping other actions of robot cleaner, comprises the actions such as walking, dust suction, detection, namely stops the work of the inner electric elements of robot cleaner, prevents power consumption and consume each electrical equipment original paper.
During enforcement, the power circuit that described capacity alert circuit is connected with booster circuit by input, the circuits for triggering that input is connected with microprocessor, and the alert circuit be connected with circuits for triggering with power circuit respectively forms; Described power circuit is also connected with circuits for triggering.Concrete, as shown in Figure 2, described power circuit is by triode VT1, and inductance L 1, diode D1, diode D2, diode D3, electric capacity C1, electric capacity C2, resistance R1, resistance R2 and resistance R3 form.Described power circuit can process power supply, so that provide the supply voltage of stable operation for whole capacity alert circuit.
During connection, the P pole of described diode D2 is connected with the base stage of triode VT1, and its N pole is connected with the emitter stage of triode VT1 after resistance R2 and diode D3 through inductance L 1 in turn.Wherein, the P pole of described diode D3 is connected with resistance R2, and its N pole is connected with the emitter stage of triode VT1.One end of described resistance R1 and the N of diode D2 form the input of power circuit extremely jointly, and its other end is connected with the emitter stage of triode VT1 after electric capacity C1.Wherein, the positive pole of described electric capacity C1 is connected with resistance R1, and its negative pole is connected with the emitter stage of triode VT1.The P pole of described diode D1 is connected with the tie point of electric capacity C1 with resistance R1, and its N pole is connected with the colelctor electrode of triode VT1 after resistance R3.The positive pole of described electric capacity C2 is connected with the base stage of triode VT1, its minus earth.The colelctor electrode of described triode VT1 is connected with circuits for triggering, and the N pole of described diode D1 is connected with alert circuit with circuits for triggering respectively.
Described circuits for triggering are by triode VT2, and triode VT3, relay K, diode D4, diode D5, electric capacity C3, electric capacity C4, resistance R4, resistance R5, resistance R6, resistance R7 and resistance R8 form.During connection, the positive pole of described electric capacity C3 is connected with the base stage of triode VT2 after resistance R5, its minus earth.One end of described resistance R4 is connected with the emitter stage of triode VT4, and its other end is connected with the colelctor electrode of triode VT1.The P pole of described diode D4 is connected with the emitter stage of triode VT2, and its N pole is connected with the emitter stage of triode VT3 after resistance R8.The positive pole of described electric capacity C4 is connected with the N pole of diode D4, and its negative pole is connected with the colelctor electrode of triode VT3.One end of described resistance R6 is connected with the positive pole of electric capacity C3, and its other end is connected with the emitter stage of triode VT3.The N pole of described diode D5 is connected with the colelctor electrode of triode VT2, its P pole ground connection after resistance R7.
Simultaneously, the positive pole of described electric capacity C4 is connected with the N pole of diode D1, the base stage of described triode VT3 is connected with alert circuit after relay K, and the base stage of described triode VT2 is connected with the ZCD pin of SOP8 integrated chip as the input of circuits for triggering.A/D converter in the present embodiment is connected with the MULT pin of SOP8 integrated chip, and described display is connected with the COMP pin of SOP8 integrated chip, and described power supply is then connected with VCC pin with the INV pin of SOP8 integrated chip respectively.
When the waste volumes numerical value that microprocessor calculates reaches default maximum capacity, microprocessor sends control signal to circuits for triggering, relay K obtains electric and conducting circuits for triggering, the control signal input capacity alert circuit that microprocessor can send by circuits for triggering, and point out user by alert circuit.When the waste volumes numerical value that microprocessor calculates does not reach default maximum capacity, microprocessor does not send control signal, and relay K must not be electric, and whole capacity alert circuit is in resting state, and robot dust suction is inhaled and proceeded dust suction work.
Described alert circuit is by triode VT4, and triode VT5, LED, diode D6, diode D7, diode D8, electric capacity C5, electric capacity C6, resistance R9, resistance R10, resistance R11 and resistance R12 form.During connection, one end of described resistance R11 is connected with the base stage of triode VT4, and its other end is connected with the base stage of triode VT3 after relay K.Described resistance R10 is serially connected between the colelctor electrode of triode VT4 base stage and triode VT5.The positive pole of described electric capacity C6 is connected with the emitter stage of triode VT4, its minus earth.The positive pole of described electric capacity C5 is connected with the base stage of triode VT5 after resistance R9 through diode D6 in turn, and its negative pole is connected with the emitter stage of triode VT5 after diode D7.Wherein, the N pole of described diode D6 is connected with resistance R9, and the positive pole of its P electrode capacitance C5 is connected; The N pole of described diode D7 is connected with the negative pole of electric capacity C5, and its P pole is connected with the emitter stage of triode VT5.The N pole of described diode D8 is connected with the emitter stage of triode VT5, and its P pole is connected with the colelctor electrode of triode VT4.One end of described resistance R12 is connected with the emitter stage of triode VT4, and its other end is connected with the negative pole of electric capacity C5 after LED.Meanwhile, the base stage of described triode VT5 is connected with the N pole of diode D1 after the normally opened contact K-1 of relay K.
After microprocessor sends control signal, relay K obtains electric, the normally opened contact K-1 of relay K closes, alert circuit of the present invention is namely luminous full with the dustbin of reminding user robot cleaner by LED, and after the rubbish that user removes rubbish in box, robot cleaner can work on again.
As shown in Figure 3, described booster circuit by transformer T, diode rectifier U1, triode VT6, triode VT7, Zener diode D9, Zener diode D10, Zener diode D11, Zener diode D12, electric capacity C7, electric capacity C8, electric capacity C9, electric capacity C10, electric capacity C11, resistance R13, resistance R14, resistance R15, resistance R16, resistance R17, resistance R18 and slide rheostat R19 form.Described booster circuit can carry out boosting process to power supply, so that provide suitable operating voltage for capacity alert circuit.
During connection, the positive pole of described electric capacity C7 is connected with the positive output end of diode rectifier U1, and negative pole is connected with the negative output terminal of diode rectifier U1.The positive pole of described electric capacity C8 is connected with the positive pole of electric capacity C7 after resistance R13, and negative pole is connected with the negative pole of electric capacity C7.The positive pole of described electric capacity C9 is connected with the emitter stage of triode VT6 after resistance R16, minus earth.The P pole of described Zener diode D9 is connected with the positive pole of electric capacity C8, and its N pole is connected with the colelctor electrode of triode VT7.The N pole of described Zener diode D11 is connected with the colelctor electrode of triode VT6 after resistance R14, and its P pole is connected with the positive pole of electric capacity C7.The positive pole of described electric capacity C10 is connected with the emitter stage of triode VT6 after resistance R15, and its negative pole is connected with the base stage of triode VT7.One end of described resistance R17 is connected with the colelctor electrode of triode VT7, and its other end is connected with the negative pole of electric capacity C7.The N pole of described Zener diode D11 is connected with the colelctor electrode of triode VT7, and its P pole is connected with the negative pole of electric capacity C7.The positive pole of described electric capacity C11 is connected with the emitter stage of triode VT7, its minus earth.One end of described resistance R18 is connected with the emitter stage of triode VT7, and its other end is connected with the positive pole of electric capacity C7.The N pole of described Zener diode D12 is connected with the positive pole of electric capacity C7, and its P pole is connected with the negative pole of electric capacity C7 after slide rheostat R19.
Meanwhile, the base stage of described triode VT6 is connected with the positive pole of electric capacity C7 respectively with the colelctor electrode of triode VT7, and the base stage of described triode VT7 is also connected with the sliding end of slide rheostat R19.An input of described diode rectifier U1 is connected with the non-same polarity of the secondary coil of transformer T, and its another input is connected with the Same Name of Ends of the secondary coil of transformer T.The Same Name of Ends of the primary coil of described transformer T is with the input of non-common composition power supply stabilization circuit of the same name and be connected with power supply, and the positive pole of described electric capacity C7 is connected with the P pole of diode D1 after resistance R1, and its negative pole is connected with the N pole of diode D2.
As shown in Figure 4, described signal processing circuit by amplifier P1, amplifier P2, triode VT8, triode VT9, inductance L 2, diode D13, diode D14, diode D15, diode D16, electric capacity C12, electric capacity C13, electric capacity C14, resistance R19, resistance R20, slide rheostat R21, resistance R22, slide rheostat R23 and resistance R24 form.Described signal processing circuit can carry out amplification and filtration treatment to the waste volumes signal of position sensor collection, can be the waste volumes signal that A/D converter provides superior in quality, so that A/D converter provides data signal more accurately for microprocessor after carrying out analog-to-digital conversion.
During connection, the positive pole of described electric capacity C12 is connected with the positive input terminal of amplifier P1 after inductance L 2 through slide rheostat R21 in turn, its minus earth.Between the positive input terminal that described resistance R19 is serially connected in amplifier P1 and output.The P pole of described diode D14 is connected with the output of amplifier P1 after resistance R20, and its N pole is connected with the emitter stage of triode VT9.The P pole of described diode D13 is connected with the negative input end of amplifier P1, and its N pole is connected with the base stage of triode VT8 after resistance R22.The positive pole of described electric capacity C13 is connected with the negative input end of amplifier P2, its minus earth.The P pole of described diode D15 is connected with the base stage of triode VT9 after resistance R24, and its N pole is connected with the output of amplifier P2.The positive pole of described electric capacity C14 is connected with the colelctor electrode of triode VT8, and its negative pole is connected with the colelctor electrode of triode VT9 after slide rheostat R23.The P pole of described diode D16 is connected with the base stage of triode VT9, and its N pole is connected with the negative pole of electric capacity C14.
Meanwhile, the negative input end of described amplifier P1 is connected with the sliding end of slide rheostat R21, and its output is connected with the positive input terminal of amplifier P2; The emitter stage of described triode VT8 is connected with the sliding end of slide rheostat R23 with the output of amplifier P2 respectively, and the negative input end of described amplifier P2 is connected with the N pole of diode D13; The tie point of described slide rheostat R21 and inductance L 2 as signal processing circuit input and be connected with position sensor, the base stage of described triode VT9 as signal processing circuit output and be connected with A/D converter.
As shown in Figure 5, described mu balanced circuit by diode rectifier U2, FET Q, triode VT10, triode VT11, Zener diode D17, Zener diode D18, electric capacity C15, electric capacity C16, electric capacity C17, electric capacity C18, slide rheostat R25, resistance R26 and resistance R27 form.Described mu balanced circuit can carry out voltage stabilizing process to power supply, so that provide stable supply voltage for position sensor.
During connection, the positive pole of described electric capacity C15 is connected with the positive output end of diode rectifier U2, and its negative pole is connected with the negative output terminal of diode rectifier U2.The positive pole of described electric capacity C16 is connected with the positive pole of electric capacity C15, and its negative pole is connected with the negative pole of electric capacity C15.The N pole of described Zener diode D17 is connected with the positive pole of electric capacity C15 after slide rheostat R25, and its P pole is connected with the negative pole of electric capacity C15.Described electric capacity C17 positive pole is connected with the source electrode of FET Q, its minus earth.The positive pole of described electric capacity C18 is connected with the drain electrode of FET Q, and its negative pole is connected with the negative pole of electric capacity C15.The P pole of described Zener diode D18 is connected with the emitter stage of triode VT10, and its N pole is connected with the source electrode of FET Q.Between the base stage that described resistance R26 is serially connected in triode VT10 and emitter stage, described resistance R27 is serially connected between the source electrode of FET Q and the emitter stage of triode VT11.
The grid of described FET Q is connected with the N pole of Zener diode D17, and its drain electrode is connected with the sliding end of the base stage of triode VT10 with the colelctor electrode of triode VT11 and slide rheostat R25 respectively; The base stage of described triode VT11 is connected with the emitter stage of triode VT10, and its emitter stage is connected with the negative pole of electric capacity C15, and the colelctor electrode of described triode VT10 is connected with the positive pole of electric capacity C15; Two inputs of described diode rectifier U2 jointly form the input of mu balanced circuit and are connected with power supply, and the base stage of described triode VT11 jointly forms the output of mu balanced circuit with emitter stage and is connected with position sensor.
As mentioned above, just the present invention can be realized preferably.
Claims (7)
1. based on the robot cleaner capacity monitoring system of hybrid signal processing circuit, it is characterized in that: primarily of microprocessor, the A/D converter be all connected with microprocessor, capacity alert circuit, memory cell, display and power supply, the signal processing circuit be connected with A/D converter, the position sensor be connected with signal processing circuit, be serially connected in the mu balanced circuit between power supply and position sensor, and the booster circuit be serially connected between power supply and capacity alert circuit forms; The power circuit that described capacity alert circuit is connected with booster circuit by input, the circuits for triggering that input is connected with microprocessor, and the alert circuit be connected with circuits for triggering with power circuit respectively forms; Described power circuit is also connected with circuits for triggering.
2. the robot cleaner capacity monitoring system based on hybrid signal processing circuit according to claim 1, it is characterized in that: described booster circuit is by transformer T, diode rectifier U1, triode VT6, triode VT7, positive pole is connected with the positive output end of diode rectifier U1, the electric capacity C7 that negative pole is connected with the negative output terminal of diode rectifier U1, positive pole is connected with the positive pole of electric capacity C7 after resistance R13, the electric capacity C8 that negative pole is connected with the negative pole of electric capacity C7, positive pole is connected with the emitter stage of triode VT6 after resistance R16, the electric capacity C9 of minus earth, P pole is connected with the positive pole of electric capacity C8, the Zener diode D9 that N pole is connected with the colelctor electrode of triode VT7, N pole is connected with the colelctor electrode of triode VT6 after resistance R14, the Zener diode D11 that P pole is connected with the positive pole of electric capacity C7, positive pole is connected with the emitter stage of triode VT6 after resistance R15, the electric capacity C10 that negative pole is connected with the base stage of triode VT7, one end is connected with the colelctor electrode of triode VT7, the resistance R17 that the other end is connected with the negative pole of electric capacity C7, N pole is connected with the colelctor electrode of triode VT7, the Zener diode D11 that P pole is connected with the negative pole of electric capacity C7, positive pole is connected with the emitter stage of triode VT7, the electric capacity C11 of minus earth, one end is connected with the emitter stage of triode VT7, the resistance R18 that the other end is connected with the positive pole of electric capacity C7, and N pole is connected with the positive pole of electric capacity C7, the Zener diode D12 that P pole is connected with the negative pole of electric capacity C7 after slide rheostat R19 forms, the base stage of described triode VT6 is connected with the positive pole of electric capacity C7 respectively with the colelctor electrode of triode VT7, an input of described diode rectifier U1 is connected with the non-same polarity of the secondary coil of transformer T, and its another input is connected with the Same Name of Ends of the secondary coil of transformer T, the Same Name of Ends of the primary coil of described transformer T is with the input of non-common composition power supply stabilization circuit of the same name and be connected with power supply, and the positive pole of described electric capacity C7 jointly forms the output of booster circuit with negative pole and is connected with power circuit.
3. the robot cleaner capacity monitoring system based on hybrid signal processing circuit according to claim 2, it is characterized in that: described signal processing circuit is by amplifier P1, amplifier P2, triode VT8, triode VT9, positive pole is connected with the positive input terminal of amplifier P1 after inductance L 2 through slide rheostat R21 in turn, the electric capacity C12 of minus earth, be serially connected in the resistance R19 between the positive input terminal of amplifier P1 and output, P pole is connected with the output of amplifier P1 after resistance R20, the diode D14 that N pole is connected with the emitter stage of triode VT9, P pole is connected with the negative input end of amplifier P1, the diode D13 that N pole is connected with the base stage of triode VT8 after resistance R22, positive pole is connected with the negative input end of amplifier P2, the electric capacity C13 of minus earth, P pole is connected with the base stage of triode VT9 after resistance R24, the diode D15 that N pole is connected with the output of amplifier P2, positive pole is connected with the colelctor electrode of triode VT8, the electric capacity C14 that negative pole is connected with the colelctor electrode of triode VT9 after slide rheostat R23, and P pole is connected with the base stage of triode VT9, the diode D16 that N pole is connected with the negative pole of electric capacity C14 forms, the negative input end of described amplifier P1 is connected with the sliding end of slide rheostat R21, and its output is connected with the positive input terminal of amplifier P2, the emitter stage of described triode VT8 is connected with the sliding end of slide rheostat R23 with the output of amplifier P2 respectively, and the negative input end of described amplifier P2 is connected with the N pole of diode D13, the tie point of described slide rheostat R21 and inductance L 2 as signal processing circuit input and be connected with position sensor, the base stage of described triode VT9 as signal processing circuit output and be connected with A/D converter.
4. the robot cleaner capacity monitoring system based on hybrid signal processing circuit according to claim 3, it is characterized in that: described mu balanced circuit is by diode rectifier U2, FET Q, triode VT10, triode VT11, positive pole is connected with the positive output end of diode rectifier U2, the electric capacity C15 that negative pole is connected with the negative output terminal of diode rectifier U2, positive pole is connected with the positive pole of electric capacity C15, the electric capacity C16 that negative pole is connected with the negative pole of electric capacity C15, N pole is connected with the positive pole of electric capacity C15 after slide rheostat R25, the Zener diode D17 that P pole is connected with the negative pole of electric capacity C15, positive pole is connected with the source electrode of FET Q, the electric capacity C17 of minus earth, positive pole is connected with the drain electrode of FET Q, the electric capacity C18 that negative pole is connected with the negative pole of electric capacity C15, P pole is connected with the emitter stage of triode VT10, the Zener diode D18 that N pole is connected with the source electrode of FET Q, be serially connected in the resistance R26 between the base stage of triode VT10 and emitter stage, and the resistance R27 be serially connected between the source electrode of FET Q and the emitter stage of triode VT11 forms, the grid of described FET Q is connected with the N pole of Zener diode D17, and its drain electrode is connected with the sliding end of the base stage of triode VT10 with the colelctor electrode of triode VT11 and slide rheostat R25 respectively, the base stage of described triode VT11 is connected with the emitter stage of triode VT10, and its emitter stage is connected with the negative pole of electric capacity C15, and the colelctor electrode of described triode VT10 is connected with the positive pole of electric capacity C15, two inputs of described diode rectifier U2 jointly form the input of mu balanced circuit and are connected with power supply, and the base stage of described triode VT11 jointly forms the output of mu balanced circuit with emitter stage and is connected with position sensor.
5. the robot cleaner capacity monitoring system based on hybrid signal processing circuit according to claim 4, it is characterized in that: described power circuit is by triode VT1, P pole is connected with the base stage of triode VT1, N pole is in turn through diode D2 that inductance L 1 is connected with the emitter stage of triode VT1 after resistance R2 and diode D3, one end is connected with the positive pole of electric capacity C7, the resistance R1 that the other end is connected with the emitter stage of triode VT1 after electric capacity C1, P pole is connected with the tie point of electric capacity C1 with resistance R1, the diode D1 that N pole is connected with the colelctor electrode of triode VT1 after resistance R3, and positive pole is connected with the base stage of triode VT1, the electric capacity C2 of minus earth forms, the N pole of described diode D2 is also connected with the negative pole of electric capacity C7, and the colelctor electrode of described triode VT1 is connected with circuits for triggering, and the N pole of described diode D1 is connected with alert circuit with circuits for triggering respectively.
6. the robot cleaner capacity monitoring system based on hybrid signal processing circuit according to claim 5, it is characterized in that: described circuits for triggering are by triode VT2, triode VT3, relay K, positive pole is connected with the base stage of triode VT2 after resistance R5, the electric capacity C3 of minus earth, one end is connected with the emitter stage of triode VT4, the resistance R4 that the other end is connected with the colelctor electrode of triode VT1, P pole is connected with the emitter stage of triode VT2, the diode D4 that N pole is connected with the emitter stage of triode VT3 after resistance R8, positive pole is connected with the N pole of diode D4, the electric capacity C4 that negative pole is connected with the colelctor electrode of triode VT3, one end is connected with the positive pole of electric capacity C3, the resistance R6 that the other end is connected with the emitter stage of triode VT3, and N pole is connected with the colelctor electrode of triode VT2, the diode D5 of P pole ground connection after resistance R7 forms, the positive pole of described electric capacity C4 is connected with the N pole of diode D1, and the base stage of described triode VT2 is as the input of circuits for triggering, and the base stage of described triode VT3 is connected with alert circuit after relay K.
7. the robot cleaner capacity monitoring system based on hybrid signal processing circuit according to claim 6, it is characterized in that: described alert circuit is by triode VT4, triode VT5, one end is connected with the base stage of triode VT4, the resistance R11 that the other end is connected with the base stage of triode VT3 after relay K, resistance R10 between the colelctor electrode being serially connected in triode VT4 base stage and triode VT5, positive pole is connected with the emitter stage of triode VT4, the electric capacity C6 of minus earth, positive pole is connected with the base stage of triode VT5 after resistance R9 through diode D6 in turn, the electric capacity C5 that negative pole is connected with the emitter stage of triode VT5 after diode D7, N pole is connected with the emitter stage of triode VT5, the diode D8 that P pole is connected with the colelctor electrode of triode VT4, and one end is connected with the emitter stage of triode VT4, the resistance R12 that the other end is connected with the negative pole of electric capacity C5 after LED forms, the base stage of described triode VT5 is connected with the N pole of diode D1 after the normally opened contact K-1 of relay K.
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| CN201510963840.2A CN105559700A (en) | 2015-12-20 | 2015-12-20 | Capacity monitoring system based on mixed signal processing circuit and applied to robotic vacuum cleaner |
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| CN201510963840.2A CN105559700A (en) | 2015-12-20 | 2015-12-20 | Capacity monitoring system based on mixed signal processing circuit and applied to robotic vacuum cleaner |
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Application publication date: 20160511 |