CN111904338A - Ultrasonic detection circuit and sweeping robot - Google Patents
Ultrasonic detection circuit and sweeping robot Download PDFInfo
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- CN111904338A CN111904338A CN202010848198.4A CN202010848198A CN111904338A CN 111904338 A CN111904338 A CN 111904338A CN 202010848198 A CN202010848198 A CN 202010848198A CN 111904338 A CN111904338 A CN 111904338A
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K5/00—Manipulating of pulses not covered by one of the other main groups of this subclass
- H03K5/01—Shaping pulses
- H03K5/02—Shaping pulses by amplifying
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K5/00—Manipulating of pulses not covered by one of the other main groups of this subclass
- H03K5/01—Shaping pulses
- H03K5/04—Shaping pulses by increasing duration; by decreasing duration
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Abstract
The invention provides an ultrasonic detection circuit and a sweeping robot, wherein the ultrasonic detection circuit comprises a controller, a drive shaping circuit, a signal processing circuit and an ultrasonic signal transceiver; the output end of the controller is connected with the input end of the drive shaping circuit, and the output end of the drive shaping circuit is connected with the input end of the signal processing circuit and the input end of the ultrasonic signal receiving and transmitting device; the output end of the ultrasonic signal receiving and transmitting device is connected with the input end of the signal processing circuit, and the output end of the signal processing circuit is connected with the first input end of the controller. The technical scheme of the invention aims to accurately detect the type of the ground so as to avoid that the floor sweeping robot cleans the ground in a wrong way.
Description
Technical Field
The invention relates to the technical field of living electric appliances, in particular to an ultrasonic detection circuit and a sweeping robot.
Background
Most sweeping robots often have the function of sweeping and mopping the floor, and in fact, not all floors need to be mopped, for example, if the floor is a soft floor, such as a soft floor with a carpet, mopping is not needed, and if the floor is a hard floor, such as a tile, mopping is needed.
However, the traditional sweeping robot is difficult to accurately identify the type of the ground, so that the sweeping robot can sweep the ground in an incorrect manner, and the ground is damaged.
Disclosure of Invention
The invention provides an ultrasonic detection circuit and a sweeping robot, aiming at accurately detecting the type of the ground and avoiding the sweeping robot from sweeping the ground in a wrong way.
In order to achieve the above object, the present invention provides an ultrasonic detection circuit, which is applied to a sweeping robot, and comprises a controller, a drive shaping circuit, a signal processing circuit and an ultrasonic signal transceiver;
the output end of the controller is connected with the input end of the drive shaping circuit, and the output end of the drive shaping circuit is connected with the input end of the signal processing circuit and the input end of the ultrasonic signal transceiver; the output end of the ultrasonic signal transceiver is connected with the input end of the signal processing circuit, and the output end of the signal processing circuit is connected with the first input end of the controller;
the controller is used for outputting a pulse signal to the drive shaping circuit;
the driving shaping circuit is used for driving the ultrasonic signal receiving and transmitting device to transmit ultrasonic signals to the ground according to the pulse signals;
the ultrasonic signal transceiver is used for feeding back the ultrasonic signal reflected by the ground to the controller through the signal processing circuit so that the controller can identify the ground type.
Optionally, the drive shaping circuit comprises a drive circuit and a shaping circuit;
the input end of the driving circuit is connected with the output end of the controller, the output end of the driving circuit is connected with the input end of the shaping circuit, and the output end of the shaping circuit is connected with the input end of the signal processing circuit and the input end of the ultrasonic signal receiving and transmitting device.
Optionally, the driving circuit includes a driving chip, a first resistor and a second resistor;
the output end of the controller is connected with the first input end of the driving chip through the first resistor, the first output end of the driving chip is connected with the second input end of the driving chip through the second resistor, and the second output end of the driving chip is connected with the input end of the shaping circuit;
the shaping circuit comprises a first diode and a second diode;
the anode of the first diode and the cathode of the second diode are connected with the second output end of the driving chip, and the cathode of the first diode and the anode of the second diode are connected with the input end of the signal processing circuit and the input end of the ultrasonic signal receiving and transmitting device.
Optionally, the ultrasonic detection circuit further comprises a voltage stabilizing circuit; the input end of the voltage stabilizing circuit is connected with a power supply module, and the output end of the voltage stabilizing circuit is connected with the power supply end of the driving chip;
and the voltage stabilizing circuit is used for stabilizing the voltage output by the power supply module to a preset voltage and then supplying power to the driving chip.
Optionally, the voltage stabilizing circuit comprises a three-terminal regulator, a first capacitor, a second capacitor, a third capacitor and a fourth capacitor;
the input end of the three-terminal voltage stabilizer is connected with the power supply module, the first end of the first capacitor and the first end of the second capacitor; the second end of the first capacitor and the second end of the second capacitor are grounded;
the output end of the three-terminal voltage stabilizer is connected with the power supply end of the driving chip, the first end of the third capacitor and the first end of the fourth capacitor; and the second end of the third capacitor and the second end of the fourth capacitor are grounded.
Optionally, the signal processing circuit comprises a signal amplifying circuit and a comparing circuit;
the input end of the signal amplification circuit is connected with the output end of the drive shaping circuit and the output end of the ultrasonic signal receiving and transmitting device; the output end of the signal amplification circuit is connected with the negative input end of the comparison circuit;
the positive input end of the comparison circuit is connected with a reference signal input end to receive an input reference signal, and the output end of the comparison circuit is connected with the first input end of the controller.
Optionally, the signal amplifying circuit includes a first operational amplifying circuit and a second operational amplifying circuit;
the output end of the drive shaping circuit and the output end of the ultrasonic signal transceiving device are connected with the inverted input end of the first operational amplification circuit; the non-inverting input end of the first operational amplification circuit is connected with the non-inverting input end of the second operational amplification circuit;
the output end of the first operational amplification circuit is connected with the inverting input end of the second operational amplification circuit; and the output end of the second operational amplification circuit is connected with the negative input end of the comparison circuit.
Optionally, the ultrasonic detection circuit further includes an interface circuit, and the interface circuit is electrically connected to the controller;
the interface circuit comprises a power supply input end, a third resistor, a fourth resistor, a fifth capacitor and a data interface;
the first end of the data interface is connected with the power supply input end, the first end of the third resistor and the first end of the fourth resistor; a second end of the data interface is connected with a second end of the fourth resistor and a second input end of the controller; a third end of the data interface is connected with a second end of the third resistor, a first end of the fifth capacitor and a reset end of the controller; and the second end of the fifth capacitor is grounded.
Optionally, the ultrasonic detection circuit is further provided with a communication interface;
the driving shaping circuit is connected with the ultrasonic signal receiving and transmitting device through the communication interface;
the signal amplification circuit is connected with the ultrasonic signal receiving and transmitting device through the communication interface.
In order to achieve the above object, the present invention further provides a sweeping robot, including the ultrasonic detection circuit as described in any one of the above.
According to the technical scheme, the controller outputs pulse signals to the driving shaping circuit, and the ultrasonic signal receiving and transmitting device is driven by the driving shaping circuit to transmit ultrasonic signals to the ground; the ultrasonic signal receiving and sending device receives ultrasonic signals reflected by the ground, the ultrasonic signals reflected by the ground are transmitted to the signal processing circuit, the signal processing circuit generates electric signals corresponding to the ground type to the controller according to the electric signals, the controller identifies the ground type according to the signal characteristics of the received electric signals, and the sweeping robot is controlled to perform sweeping operation corresponding to the ground type.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a block diagram of an embodiment of an ultrasonic detection circuit according to the present invention;
FIG. 2 is a block diagram of an embodiment of the drive shaping circuit of FIG. 1;
FIG. 3 is a schematic circuit diagram of an embodiment of the driving shaping circuit in FIG. 2;
FIG. 4 is a block diagram of another embodiment of the ultrasonic testing circuit of the present invention;
FIG. 5 is a schematic diagram of a circuit configuration of an embodiment of the voltage regulator circuit of FIG. 4;
FIG. 6 is a block diagram of an embodiment of the signal processing circuit of FIG. 1;
FIG. 7 is a block diagram of an embodiment of the signal amplification circuit of FIG. 6;
FIG. 8 is a block diagram of an ultrasonic testing circuit according to another embodiment of the present invention
FIG. 9 is a circuit diagram of an embodiment of the interface circuit of FIG. 8;
FIG. 10 is a block diagram of an ultrasonic testing circuit according to yet another embodiment of the present invention;
fig. 11 is a schematic circuit structure diagram of an ultrasonic detection circuit according to an embodiment of the present invention.
The reference numbers illustrate:
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Fig. 1 is a block diagram of an ultrasonic detection circuit according to an embodiment of the present invention.
Referring to fig. 1, the ultrasonic detection circuit is applied to a sweeping robot, and includes a controller 10, a drive shaping circuit 20, a signal processing circuit 40 and an ultrasonic signal transceiver 30; the output end PWM of the controller 10 is connected with the input end of the drive shaping circuit 20, and the output end of the drive shaping circuit 20 is connected with the input end of the signal processing circuit 40 and the input end of the ultrasonic signal transceiver 30; the output end of the ultrasonic signal transceiver 30 is connected to the input end of the signal processing circuit 40, and the output end of the signal processing circuit 40 is connected to the first input end AD of the controller 10.
The controller 10 may be a single chip, a DSP or an FPGA. The controller 10 is configured to generate a pulse signal to the driving shaping circuit 20, and the driving shaping circuit 20 drives the ultrasonic signal transceiver 30 to transmit an ultrasonic signal, i.e. an ultrasonic wave, to the ground according to the received pulse signal, wherein the transmission speed of the ultrasonic wave is 340 m/s.
The ultrasonic signal transceiver 30 has functions of transmitting and receiving ultrasonic waves, and may be an ultrasonic transceiver probe.
The signal processing circuit 40 is configured to generate an electrical signal corresponding to the ground type to the controller 10 according to the ultrasonic wave received by the ultrasonic signal transceiver 30, for example, generate a pulse signal corresponding to the ground type to the controller 10, so that the controller 10 can effectively identify the ground type according to the received electrical signal. The ground type is different, and the signal characteristics of the electrical signal generated by the signal processing circuit 40 are different.
The working principle of the ultrasonic detection circuit is as follows: during the operation of the sweeper robot, the output end PWM of the controller 10 outputs a pulse signal to the driving shaping circuit 20, and the driving shaping circuit 20 appropriately adjusts the pulse signal output by the controller 10, such as performing voltage conversion, current increase and waveform shaping, and then drives the ultrasonic signal transceiver 30 to transmit ultrasonic waves to the ground, so as to detect the type of the ground through the transmitted ultrasonic waves, for example, detect whether the ground is a carpet or a tile. After reaching the ground, the ultrasonic waves are reflected back by the ground and received by the ultrasonic signal transceiver 30. In this embodiment, one path of the pulse signal output by the driving shaping circuit 30 is transmitted to the ultrasonic signal transceiver 30 to drive the ultrasonic signal transceiver 30 to emit ultrasonic waves to the ground, and the other path is transmitted to the controller 10 through the signal processing circuit 40.
The ultrasonic signal transceiver 30 transmits the ultrasonic waves reflected by the ground to the signal processing circuit 40, and the signal processing circuit 40 generates an electric signal corresponding to the type of the ground to the controller 10. The ultrasonic signal transceiver 30 can be arranged on the chassis of the sweeping robot, if the ground is a soft ground, the wheels of the sweeping robot sink into the soft ground, and the effective distance between the ultrasonic signal transceiver 30 and the ground is shortened; if the ground is a hard ground, the wheels of the sweeping robot cannot sink into the hard ground. Therefore, different ground types have different effective distances from the ultrasonic signal transceiver 30 to the ground, and therefore, the time for the ultrasonic wave to be emitted and reflected back by the ground is different, and therefore, the signal characteristics of the electrical signal generated by the signal processing circuit 40 are different, for example, if the electrical signal generated by the signal processing circuit 40 is a pulse signal, and if the ground types are different, the width of the pulse signal generated by the signal processing circuit 40 is different. The controller 10 can effectively identify the floor type according to the signal characteristics of the received electrical signal, for example, identify whether the floor is a tile or a carpet, and perform corresponding operations, for example, if the floor is a tile, the sweeping robot is controlled to perform sweeping and mopping operations, and if the floor is a carpet, the sweeping robot is controlled to sweep without mopping. So set up, come the accurate ground type that detects through ultrasonic detection circuit to control the robot of sweeping the floor according to the ground type and adopt the correct mode to clean ground, when guaranteeing that ground is clean and tidy, can reduce the damage on ground.
Optionally, in this embodiment, the ultrasonic signal transceiver 30 may be disposed on a chassis of the sweeping robot, and the frequency of the pulse signal output by the controller 10 is set according to a vertical distance between the chassis of the sweeping robot and the ground; for example, assuming that the vertical distance between the chassis of the sweeping robot and the ground is 20mm, the controller 10 outputs a set of pulses with a fixed frequency at regular intervals, for example, outputs a set of pulses with a frequency of 300KHZ at every 4ms, where each set of pulses includes 6 pulses, and the interval between the front and rear pulse sets is 4 ms. Then, the transmission period T of the ultrasonic wave of 300KHZ is 100000/300000-3.3 ms, the time Ttotal of the group of pulses transmission is 3.3-6-19.8 ms, and the transmission speed of the ultrasonic wave is 340mm/ms, so the transmission distance S of the group of pulse signals is 19.8-340-6.732 mm. If the sweeping robot runs on the blanket, the wheels of the sweeping robot sink into the blanket by about 10mm, and the ultrasonic signal transceiver 30 sinks into the chassis of the sweeping robot by 10mm, then the effective distance between the ultrasonic signal transceiver 30 and the blanket is 20 mm; if the sweeping robot is operated on a hard floor such as a ceramic tile, since the wheels of the sweeping robot do not sink into the hard floor, the effective distance between the ultrasonic signal transceiver 30 and the hard floor is 30 mm. In this way, even if a group of 6 pulse signals with the frequency of 300KHZ is transmitted, the distance traveled by the first group of pulse signals is 6.732mm, and if the floor is a carpet, the ultrasonic signal transceiver 30 can work normally even if the carpet is pushed to the bottom case of the floor sweeping robot. That is, the frequency of the pulse signal output by the controller 10 can be set according to the vertical distance between the chassis of the sweeping robot and the ground, so as to ensure that the ultrasonic signal transceiver 30 can work normally, and the whole circuit can accurately detect the type of the ground.
Alternatively, when the output PWM of the controller 10 outputs a pulse signal, the first input AD of the controller 10 outputs a high level as a start identifier of each group of pulse groups in advance by 1ms, and when the transmission of the pulse groups ends, the first input AD of the controller 10 delays by 1.2ms and then outputs a low level as an end identifier of each group of pulse groups.
According to the technical scheme, the controller 10 outputs a pulse signal to the driving shaping circuit 20, and the driving shaping circuit 20 drives the ultrasonic signal receiving and transmitting device 30 to transmit an ultrasonic signal to the ground; subsequently, the ultrasonic signal transceiver 30 receives the ultrasonic signal reflected by the ground, and transmits the ultrasonic signal reflected by the ground to the signal processing circuit 40, the signal processing circuit 40 generates an electric signal corresponding to the ground type to the controller 10, so that the controller 10 can identify the ground type according to the signal characteristic of the received electric signal, and control the sweeping robot to perform a sweeping operation corresponding to the ground type.
In one embodiment, referring to fig. 2, the drive shaping circuit 20 includes a drive circuit 201 and a shaping circuit 202; the input end of the driving circuit 201 is connected to the output end PWM of the controller 10, the output end of the driving circuit 201 is connected to the input end of the shaping circuit 202, the output end of the shaping circuit 202 is connected to the input end of the signal processing circuit 40, and the output end of the shaping circuit 202 is connected to the input end of the ultrasonic signal transceiver 30.
The driving circuit 201 is used for performing voltage conversion and current amplification on the pulse signal output by the controller 10 to improve the driving capability.
The shaping circuit 202 is configured to shape the waveform of the pulse signal output by the driving circuit 201, and transmit one path of the shaped pulse signal to the ultrasonic signal transceiver 30, so as to drive the ultrasonic signal transceiver 30 to transmit ultrasonic waves to the ground; the other path is fed back to the controller 10 via the signal processing circuit 40.
In one embodiment, referring to fig. 3, the driving circuit 201 is composed of a driving chip U1, a first resistor R1 and a second resistor R2; the output end PWM of the controller 10 is connected to the first input end 2 of the driver chip U1 through the first resistor R1, the first output end 7 of the driver chip U1 is connected to the second input end 4 of the driver chip U1 through the second resistor R2, and the second output end 5 of the driver chip U1 is connected to the input end of the shaping circuit 202.
In one embodiment, referring to fig. 3, the shaping circuit 202 is composed of a first diode D1 and a second diode D2 connected in parallel; specifically, the anode of the first diode D1 and the cathode of the second diode D2 are both connected to the second output terminal 5 of the driving chip U1, and the cathode of the first diode D1 and the anode of the second diode D2 are both connected to the input terminal of the signal processing circuit 40 and the input terminal of the ultrasound signal transceiver 30.
In one embodiment, referring to fig. 4, the ultrasonic detection circuit further includes a voltage stabilizing circuit 60; the input terminal of the regulator 60 is connected to a power module 50, and the output terminal of the regulator 60 is connected to the power terminal 6 (i.e., VCC) of the driver chip U1 in the driver circuit 201.
In this embodiment, the ultrasonic detection circuit is further provided with a voltage stabilizing circuit 60, and the voltage stabilizing circuit 60 stabilizes a voltage of a power module 50 inside the sweeping robot to a preset voltage and supplies power to the driving chip U1, for example, after the voltage of 14V output by the power module 50 inside the sweeping robot is stabilized to 12V, the voltage stabilizing circuit supplies power to the driving chip U1, so as to ensure that the driving chip U1 operates normally. The power module 50 may be a rechargeable battery disposed inside the cleaning robot.
In one embodiment, referring to fig. 5, the voltage regulator 60 includes a three-terminal regulator U2, a first capacitor C1, a second capacitor C2, a third capacitor C3, and a fourth capacitor C4; the input end of the three-terminal voltage regulator U2 is connected with the power module 50 and is connected with the first end of the first capacitor C1 and the first end of the second capacitor C2; the second end of the first capacitor C1 and the second end of the second capacitor C2 are grounded; the output end of the three-terminal voltage regulator U2 is connected with the power supply end 6 of the driving chip U1, and is connected with the first end of the third capacitor C3 and the first end of the fourth capacitor C4; and the second terminal of the third capacitor C3 and the second terminal of the fourth capacitor C4 are grounded. The voltage stabilizing circuit 60 is formed by the three-terminal voltage regulator U2, and has the advantages of few external elements, convenience in use, stable performance, low price and the like.
In one embodiment, referring to fig. 6, the signal processing circuit 40 includes a signal amplifying circuit 401 and a comparing circuit 402; wherein, the input end of the signal amplifying circuit 401 is connected with the output end of the drive shaping circuit 20 and the output end of the ultrasonic signal transceiver 30; the output end of the signal amplification circuit 401 is connected with the negative input end of the comparison circuit 402; the positive input of the comparator 402 is connected to a reference signal input terminal Vref for receiving an input reference signal, and the output of the comparator 402 is connected to the first input terminal AD of the controller 10.
The signal amplifying circuit 401 can amplify the ultrasonic signal received by the ultrasonic signal transceiver 30 for effective identification by the controller 10, and the signal amplifying circuit 401 may be composed of a single or multiple operational amplifying circuits.
The comparison circuit 402 has the following characteristics: if the voltage at the positive input terminal of the comparator 402 is greater than the voltage at the negative input terminal, the comparator 402 outputs a first level; if the voltage at the positive input terminal of the comparator 402 is less than the voltage at the negative input terminal, the comparator 402 outputs a second level; and the successive first and second levels constitute a pulse signal fed back to the controller 10. Because the ground types are different, the time for the ultrasonic wave to be transmitted and reflected back by the ground is different, so that after the reflected ultrasonic wave is amplified by the signal amplification circuit 401 and transmitted to the comparison circuit 402, the widths of the pulse signals generated by the comparison circuit 402 are different, and the controller 10 can effectively identify the ground type according to the width of the received pulse signals.
In one embodiment, referring to fig. 7, the signal amplifying circuit 401 includes a first operational amplifying circuit 4011 and a second operational amplifying circuit 4012; the output end of the drive shaping circuit 20 and the output end of the ultrasonic signal transceiver 30 are both connected to the inverting input end of the first operational amplifier 4011; the non-inverting input terminal of the first operational amplifier 4011 is connected to the non-inverting input terminal of the second operational amplifier 4012; the output end of the first operational amplifier 4011 is connected to the inverting input end of the second operational amplifier 4012; the output terminal of the second operational amplifier 4012 is connected to the negative input terminal of the comparator 402.
In this embodiment, the ultrasonic waves received by the ultrasonic signal transceiver 30 are amplified by the first operational amplifier circuit 4011 and the second operational amplifier circuit 4012, so that the controller 10 can effectively identify the ultrasonic signals.
In one embodiment, referring to fig. 11, the first operational amplifier circuit 4011 comprises a sixth capacitor C6, a seventh resistor R7, an eighth resistor R8, and a first operational amplifier OP 1;
the output end of the drive shaping circuit 20 and the output end of the ultrasonic signal transceiver 30 are connected to the inverting input end of the first operational amplifier OP1 through a sixth capacitor C6 and a seventh resistor R7 which are connected in series, and the inverting input end of the first operational amplifier OP1 is connected to the output end thereof through an eighth resistor R8; and the non-inverting input terminal of the first operational amplifier OP1 is connected to the non-inverting input terminal of the second operational amplifier 4012.
The second operational amplifier circuit 4012 comprises a seventh capacitor C7, a ninth resistor R9, a tenth resistor R10 and a second operational amplifier OP 2;
the output end of the first operational amplifier OP1 is connected to the inverting input end of the second operational amplifier OP2 through a seventh capacitor C7 and a ninth resistor R9 connected in series, the inverting input end of the second operational amplifier OP2 is connected to the output end thereof through a tenth resistor R10, and the output end of the second operational amplifier OP2 is connected to the negative input end of the comparison circuit 402; the non-inverting input of the second operational amplifier OP2 is connected to the non-inverting input of the first operational amplifier OP 1.
The signal amplification circuit 401 further includes a fifth resistor R5, a sixth resistor R6, an eleventh resistor R11, a twelfth resistor R12, an eighth capacitor C8, a third diode D3, and a fourth diode D4;
the output end of the driving circuit 20 is connected to the inverting input end of the first operational amplifier 4011 through a sixth resistor R6, the first end of a fifth resistor R5 is also connected to the output end of the driving circuit 20, and the second end of the fifth resistor R5 is grounded;
the cathode of the third diode D3 and the anode of the fourth diode D4 are both connected to the inverting input terminal of the first operational amplifier circuit 4011; the anode of the third diode D3 and the cathode of the fourth diode D4 are grounded;
a first end of the eleventh resistor R11, a first end of the twelfth resistor R12, and a first end of the eighth capacitor C8 are all connected to the non-inverting input terminal of the first operational amplifier 4011 and the non-inverting input terminal of the second operational amplifier 4012; and the second end of the eleventh resistor R11, the second end of the twelfth resistor R12 and the second end of the eighth capacitor C8 are all grounded.
In an embodiment, referring to fig. 11, the comparing circuit 402 is composed of a fifth diode D5, a thirteenth resistor R13, a fourteenth resistor R14, a fifteenth resistor R15, a ninth capacitor C9 and a comparison flip-flop U3;
the output end of the signal amplifying circuit 401 is connected to the negative input end of the comparison flip-flop U3 through a fifth diode D5 and a thirteenth resistor R13, and the negative input end of the comparison flip-flop U3 is further connected to the first end of a fourteenth resistor R14 and the first end of a ninth capacitor C9; a second end of the fourteenth resistor R14 and a second end of the ninth capacitor C9 are grounded; the positive input terminal of the comparison flip-flop U3 is connected to a reference signal input terminal Vref, and the output terminal of the comparison flip-flop U3 is connected to the first input terminal AD of the controller 10 through a fifteenth resistor R15.
In one embodiment, referring to fig. 8, the ultrasonic detection circuit further includes an interface circuit 70, and the interface circuit 70 is electrically connected to the controller 10.
The interface circuit 70 is used to implement data interaction between the controller 10 and external devices, such as a computer, a mobile phone, a usb disk, a mobile hard disk, and the like, so that a user can upgrade programs in the controller 10 through the interface circuit 70.
In one embodiment, referring to fig. 9, the interface circuit 70 includes a power input terminal DC +, a third resistor R3, a fourth resistor R4, a fifth capacitor C5, and a data interface J1;
the first end of the data interface J1 is connected to the power input terminal DC +, the voltage inputted from the power input terminal DC + is optionally 3.3V, and the first end of the data interface J1 is further connected to the first end of the third resistor R3 and the first end of the fourth resistor R4; a second terminal of the data interface J1 is connected TO a second terminal of the fourth resistor R4 and a second input TO of the controller 10; the third end of the data interface J1 is connected to the second end of the third resistor R3, the first end of the fifth capacitor C5 and the reset RES of the controller 10; and a second terminal of the fifth capacitor C5 is connected to ground.
In this embodiment, the controller 10 is connected to an external device through a data interface J1 to implement data interaction, so that a user can upgrade a program in the controller 10 through the data interface J1, where the data interface J1 may be a 4pin interface.
In one embodiment, referring to fig. 10, the ultrasonic detection circuit further comprises a communication interface 80, and the communication interface 80 can be selected as a 2pin interface.
Wherein, the driving shaping circuit 20 is connected with the ultrasonic signal transceiver 30 through the communication interface 80; and the signal processing circuit 40 is connected to the ultrasonic signal transceiver 30 through the communication interface 80.
In this embodiment, the communication interface 80 is used to connect the ultrasonic signal transceiver 30 with the drive shaping circuit 20 and the signal processing circuit 40, so that the ultrasonic signal transceiver 30 does not need to be fixedly welded to a board where the ultrasonic detection circuit is located, thereby facilitating the replacement of the ultrasonic signal transceiver 30 by a user and facilitating subsequent maintenance.
The invention also provides a sweeping robot, which comprises the ultrasonic detection circuit. The detailed structure of the ultrasonic detection circuit can refer to the above embodiments, and is not described herein again; it can be understood that, because the sweeping robot of the present invention uses the ultrasonic detection circuit, embodiments of the sweeping robot of the present invention include all technical solutions of all embodiments of the ultrasonic detection circuit, and the achieved technical effects are also completely the same, and are not described herein again.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An ultrasonic detection circuit is applied to a sweeping robot and is characterized by comprising a controller, a drive shaping circuit, a signal processing circuit and an ultrasonic signal receiving and transmitting device;
the output end of the controller is connected with the input end of the drive shaping circuit, and the output end of the drive shaping circuit is connected with the input end of the signal processing circuit and the input end of the ultrasonic signal transceiver; the output end of the ultrasonic signal transceiver is connected with the input end of the signal processing circuit, and the output end of the signal processing circuit is connected with the first input end of the controller;
the controller is used for outputting a pulse signal to the drive shaping circuit;
the driving shaping circuit is used for driving the ultrasonic signal receiving and transmitting device to transmit ultrasonic signals to the ground according to the pulse signals;
the ultrasonic signal transceiver is used for feeding back the ultrasonic signal reflected by the ground to the controller through the signal processing circuit so that the controller can identify the ground type.
2. The ultrasonic detection circuit of claim 1, wherein the drive shaping circuit comprises a drive circuit and a shaping circuit;
the input end of the driving circuit is connected with the output end of the controller, the output end of the driving circuit is connected with the input end of the shaping circuit, and the output end of the shaping circuit is connected with the input end of the signal processing circuit and the input end of the ultrasonic signal receiving and transmitting device.
3. The ultrasonic detection circuit of claim 2, wherein the drive circuit comprises a drive chip, a first resistor and a second resistor;
the output end of the controller is connected with the first input end of the driving chip through the first resistor, the first output end of the driving chip is connected with the second input end of the driving chip through the second resistor, and the second output end of the driving chip is connected with the input end of the shaping circuit;
the shaping circuit comprises a first diode and a second diode;
the anode of the first diode and the cathode of the second diode are connected with the second output end of the driving chip, and the cathode of the first diode and the anode of the second diode are connected with the input end of the signal processing circuit and the input end of the ultrasonic signal receiving and transmitting device.
4. The ultrasonic detection circuit of claim 3, wherein the ultrasonic detection circuit further comprises a voltage regulator circuit; the input end of the voltage stabilizing circuit is connected with a power supply module, and the output end of the voltage stabilizing circuit is connected with the power supply end of the driving chip;
and the voltage stabilizing circuit is used for stabilizing the voltage output by the power supply module to a preset voltage and then supplying power to the driving chip.
5. The ultrasonic detection circuit of claim 4, wherein the voltage regulation circuit comprises a three-terminal regulator, a first capacitor, a second capacitor, a third capacitor, and a fourth capacitor;
the input end of the three-terminal voltage stabilizer is connected with the power supply module, the first end of the first capacitor and the first end of the second capacitor; the second end of the first capacitor and the second end of the second capacitor are grounded;
the output end of the three-terminal voltage stabilizer is connected with the power supply end of the driving chip, the first end of the third capacitor and the first end of the fourth capacitor; and the second end of the third capacitor and the second end of the fourth capacitor are grounded.
6. The ultrasonic detection circuit of claim 1, wherein the signal processing circuit comprises a signal amplification circuit and a comparison circuit;
the input end of the signal amplification circuit is connected with the output end of the drive shaping circuit and the output end of the ultrasonic signal receiving and transmitting device; the output end of the signal amplification circuit is connected with the negative input end of the comparison circuit;
the positive input end of the comparison circuit is connected with a reference signal input end to receive an input reference signal, and the output end of the comparison circuit is connected with the first input end of the controller.
7. The ultrasonic detection circuit of claim 6, wherein the signal amplification circuit comprises a first operational amplification circuit and a second operational amplification circuit;
the output end of the drive shaping circuit and the output end of the ultrasonic signal transceiving device are connected with the inverted input end of the first operational amplification circuit; the non-inverting input end of the first operational amplification circuit is connected with the non-inverting input end of the second operational amplification circuit;
the output end of the first operational amplification circuit is connected with the inverting input end of the second operational amplification circuit; and the output end of the second operational amplification circuit is connected with the negative input end of the comparison circuit.
8. The ultrasonic testing circuit of any of claims 1-7, further comprising an interface circuit, the interface circuit being electrically connected to the controller;
the interface circuit comprises a power supply input end, a third resistor, a fourth resistor, a fifth capacitor and a data interface;
the first end of the data interface is connected with the power supply input end, the first end of the third resistor and the first end of the fourth resistor; a second end of the data interface is connected with a second end of the fourth resistor and a second input end of the controller; a third end of the data interface is connected with a second end of the third resistor, a first end of the fifth capacitor and a reset end of the controller; and the second end of the fifth capacitor is grounded.
9. The ultrasonic testing circuit of claim 8, wherein the ultrasonic testing circuit is further provided with a communication interface;
the driving shaping circuit is connected with the ultrasonic signal receiving and transmitting device through the communication interface;
the signal amplification circuit is connected with the ultrasonic signal receiving and transmitting device through the communication interface.
10. A sweeping robot comprising an ultrasonic detection circuit according to any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010848198.4A CN111904338A (en) | 2020-08-21 | 2020-08-21 | Ultrasonic detection circuit and sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010848198.4A CN111904338A (en) | 2020-08-21 | 2020-08-21 | Ultrasonic detection circuit and sweeping robot |
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| Publication Number | Publication Date |
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| CN111904338A true CN111904338A (en) | 2020-11-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010848198.4A Pending CN111904338A (en) | 2020-08-21 | 2020-08-21 | Ultrasonic detection circuit and sweeping robot |
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| CN (1) | CN111904338A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114675109A (en) * | 2022-03-28 | 2022-06-28 | 湖南炬神电子有限公司 | Automatic test fixture for roller brush performance of sweeper |
| CN114675109B (en) * | 2022-03-28 | 2024-05-14 | 湖南鹏耀科技有限公司 | Automatic test fixture for rolling brush performance of sweeper |
-
2020
- 2020-08-21 CN CN202010848198.4A patent/CN111904338A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114675109A (en) * | 2022-03-28 | 2022-06-28 | 湖南炬神电子有限公司 | Automatic test fixture for roller brush performance of sweeper |
| CN114675109B (en) * | 2022-03-28 | 2024-05-14 | 湖南鹏耀科技有限公司 | Automatic test fixture for rolling brush performance of sweeper |
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