CN113341851A - AI voice interaction and visual positioning recharging sweeper control circuit - Google Patents
AI voice interaction and visual positioning recharging sweeper control circuit Download PDFInfo
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- CN113341851A CN113341851A CN202110892721.8A CN202110892721A CN113341851A CN 113341851 A CN113341851 A CN 113341851A CN 202110892721 A CN202110892721 A CN 202110892721A CN 113341851 A CN113341851 A CN 113341851A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
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- G05B2219/24215—Scada supervisory control and data acquisition
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Abstract
The invention discloses a sweeper control circuit for AI voice interaction and visual positioning recharging, which comprises a power supply circuit, a touch control and display circuit, a WIFI wireless network circuit, an obstacle avoidance and acceleration sensor circuit, a recharging positioning circuit, a walking motor driving circuit, a brush and dust collection motor driving circuit and a main control circuit.
Description
Technical Field
The invention belongs to the field of intelligent home furnishing, and particularly relates to a control circuit of a sweeper with AI voice interaction and visual positioning recharging.
Background
With the continuous development of the technology level, the intellectualization gradually deepens into various fields. The intelligent application in the electric automation control not only accelerates the realization pace of the electric automation to a great extent, greatly reduces the waste of manpower and material resources, and facilitates the work and life of people. Nowadays, various complex algorithms and advanced technical means enable things which cannot be imagined before to become reality, for example, a bank self-service robot, an automatic sweeping robot, a robot for automatically selling tickets on a bus and the like, and people can realize the convenience brought by artificial intelligence.
At present, the domestic living standard is continuously improved, the sweeping robot which is originally sold in the markets of Europe and America gradually enters common families and is gradually accepted by more and more people, and the sweeping robot becomes an indispensable cleaning helper of each family like white household appliances in the near future. Products will also be developed from the current primary intelligence to a higher degree of intelligence, gradually replacing manual cleaning.
In practical use, the sweeper generally cannot drag a wire to supply power to the sweeper during ground cleaning work, and the rechargeable battery is arranged in the sweeper to supply power, so that the sweeper is inconvenient to take back manually for recharging when the electric quantity is exhausted during cleaning work. The conventional understanding that the floor sweeping machine can set a plurality of fixed time for cleaning the household floor, but another situation exists, such as that the floor is garbage at present, the floor sweeping machine can be cleaned only when the specific time is up, and the situation and the defect that the floor sweeping machine needs to be manually operated to be charged when the floor sweeping machine is not powered are the floor sweeping machine.
Disclosure of Invention
In order to overcome the defects of the sweeper, the invention discloses a sweeper control circuit for AI voice interaction and visual positioning recharging.
Simultaneously the machine of sweeping the floor is not at specific time quantum but needs the cleaning work temporarily, and the operation of adoption is, this circuit arrangement by WIFI wireless network transceiver circuit, can operate and connect intelligent audio amplifier with cell-phone APP, if this meeting ground needs cleaning operation cell-phone APP alright require the machine of sweeping the floor to clear up, because of intelligent audio amplifier all is connected the wireless WIFI in family with the machine of sweeping the floor, consequently calls intelligent audio amplifier alright start the machine of sweeping the floor through specific word and cleans work.
The invention adopts the technical scheme that the power supply circuit comprises a charging circuit and a voltage stabilizing circuit, the core device of the charging circuit is a CN3703 chip U27, the 15 th pin of the CN3703 chip U27 is connected with a TP1 contact under the filtering of C132 and C131 capacitors, the 3 rd, 2 th and 10 th pins of the CN3703 chip U27 are connected with the battery power ground, the 1 st pin of the CN3703 chip U27 is connected with a C135 capacitor to the TP1 contact in series, the 4 th pin of the CN3703 chip U27 is connected with the cathode end of an LED8 light-emitting diode, the anode of the CN3703 chip U27 is connected with the cathode end of an LED9 light-emitting diode, the anode of the CN3703 chip U27 is connected with an R129 resistor to the TP1 contact in series, the 6 th pin of the CN3703 chip U27 is connected with the R131 resistor to the battery power ground in series, the CN3703 chip U27 is connected with the power resistor in series to the CN3703 chip U4611 th pin and the battery power ground, the 8 th pin of the CN3703 chip U27 is serially connected with the C143 capacitor to the battery power ground, the 9 th pin of the CN3703 chip U27 is serially connected with the 1 st pin of the R130 resistor, the 2 nd pin thereof is serially connected with the C144 capacitor to the battery power ground, the TP2 contact is connected with the battery power ground, the TP1 and the TP2 are recharging contacts, the 16 th pin of the CN3703 chip U27 is connected with the grid of the Q21 FET, the source of the Q21 FET is connected with the TP1 contact, the drain of the Q21 FET is connected with the anode of the D16 diode, the cathode of the D16 diode is serially connected with the D17 diode to the battery power ground, the cathode of the D16 diode is serially connected with the L7 inductor to the 13 th pin of the CN3703 chip U27, the 13 th pin of the CN3703 chip U27 is serially connected with the R127 resistor to the 14 th pin of the CN3703 chip U27, the BAT3 chip U4614 pin of the CN3703 chip U4614, the battery 4614 pin is connected with the battery pin 45, the battery 462 pin, the 14 th pin of the CN3703 chip U27 is connected in series with an F2 fuse output battery pack for power supply under the filtering of C130, C128 and C129 capacitors, the battery power supply ground is connected in series with an L9 inductor to a power ground, the power supply of the battery pack is connected with the 1 st pin of an L8 inductor through the filtering of C133 and C136 capacitors, the 2 nd pin of the battery pack is connected with the 3 rd pin of a U25 voltage stabilization block through the filtering of C134 and C137 capacitors, the 3 rd pin of the U25 voltage stabilization block is connected with C124 and C125 capacitors for filtering, the 1 st pin of the U25 voltage stabilization block is connected with the power ground, the 2 nd pin and the 4 th pin of the U25 voltage stabilization block are filtered through C126 and C127 capacitors for outputting a 5V power supply, the 5V power supply is connected with the 3 rd pin of the U26 voltage stabilization block through the filtering of C138 and C139 capacitors, the 1 st pin of the U26 voltage stabilization block is connected with the power ground, and the 2 nd pin and the 4 th pin of the U26 voltage stabilization block is filtered through C140 and C141 capacitors for outputting a 3.3V power supply.
The core devices of the touch control and display circuit are a BS814A-1 chip U22 and an LX-12864G10 liquid crystal LCD1, a 1 st pin of the BS814A-1 chip U22 is connected with an R109 resistor to a 3.3V power supply in series after being filtered by C98 and C97 capacitors, a 10 th pin of the BS814A-1 chip U22 is connected with a power ground, a 2 nd pin of the BS814A-1 chip U22 is connected with a TOUH1 touch contact after being filtered by C102 capacitors, a 3 rd pin of the BS814A-1 chip U22 is connected with a TOUH2 touch contact after being filtered by C103 capacitors, a 4 th pin of the BS814A-1 chip U22 is connected with a TOUH3 touch contact after being filtered by C104 capacitors, a 5 th pin of the BS 814-1 chip U22 is connected with a TOUH4 touch contact after being filtered by C105 capacitors, a 5 th pin of the BS 814-1 chip U4, a master control chip U368, a LX-1286 pin of the BS814, a chip 4, a master control chip U4, a LX-1286 pin of the BS814 chip U4, a chip, The C111 capacitor is filtered and then serially connected with an R117 resistor to a 3.3V power supply, the 7 th pin of the LX-12864G10 liquid crystal LCD1 is connected with a power ground, the 8 th and 9 th pins of the LX-12864G10 liquid crystal LCD1 are serially connected with a C112 capacitor, the 10 th and 11 th pins of the LX-12864G10 liquid crystal LCD1 are serially connected with a C113 capacitor, and the 1 st, 2 nd, 3 th and 4 th pins of a U22 of a BS814A-1 chip are sequentially connected with the 70 th, 71 th, 77 th, 46 th and 47 th pins of the main control chip.
The core device of the WIFI wireless network circuit is an ESP-12F module U28, the 8 th pin of the ESP-12F module U28 is filtered by capacitors C148 and C149 and then serially connected with an R138 resistor to a 3.3V power supply, the 17 th, 18 th, 3 th and 1 th pins of the ESP-12F module U28 are serially connected with Rb7, Rb6, Rb8 and Rb9 resistors to a 3.3V power supply in sequence, the 21 st and 22 th pins of the ESP-12F module U28 are sequentially connected with the 87 th and 86 th pins of the main control chip, and the 15 th pin of the ESP-12F module U28 is connected with a power ground.
The obstacle avoidance and acceleration sensor circuit is mainly used for detecting obstacles and the angle position of the sweeper on the ground when the sweeper walks on the ground, the obstacle avoidance circuit comprises a detection sensor consisting of an infrared transmitting diode and an infrared receiving tube, the infrared transmitting diode is an IR333C part with the number of IR4, the cathode of IR4 is connected with a power supply ground, the anode of the IR4 is connected with a resistor R154 in series to a 3.3V power supply, the infrared receiving tube is a PT333-3B part with the number of CGQ4, the No. 1 pin of CGQ4 is connected with the power supply ground, the No. 2 pin of CGQ4 is connected with a resistor R155 in series to a 3.3V power supply, the No. 2 pin of CGQ4 is connected with the No. 5 pin of LM ADT operational amplifier U33, the No. 6 pin of LM393ADT operational amplifier U33 is connected with the No. 2 pin of an adjustable resistor R156, the No. 1 pin of the adjustable resistor is connected with the power supply ground, the No. 3 pin of the adjustable resistor R156 is connected with the No. 3V power supply ground, the No. 3 pin of the LM393ADT operational amplifier U35153, the 7 th pin of the LM393ADT operational amplifier U33 is connected with the cathode of the LED14 light-emitting diode, the anode of the LM393ADT operational amplifier U33 is connected with the R152 resistor in series to a 3.3V power supply, and the 7 th pin of the LM393ADT operational amplifier U33 is connected with the 33 th pin of the main control chip; the cathode of the IR transmitting diode IR333C with the part number IR5 is connected with the power ground, the anode is connected with the resistor R162 in series to the 3.3V power supply, the 1 st pin of the PT333-3B infrared receiving tube with the part number CGQ5 is connected with the power ground, the 2 nd pin of the CGQ5 is connected with a resistor R162 in series to a 3.3V power supply, the 2 nd pin of the CGQ5 is connected with the 3 rd pin of an LM393ADT operational amplifier U36, the 2 nd pin of the LM393ADT op amp U36 is connected to the 2 nd pin of the R163 adjustable resistor, the 1 st pin of the R163 adjustable resistor is connected with the power ground, the 3 rd pin of the R163 adjustable resistor is connected with the 3.3V power supply, the 8 th pin of the LM393ADT operational amplifier U36 is connected with a 3.3V power supply, the 4 th pin of the LM393ADT operational amplifier U36 is connected with the power ground, the 1 st pin of the LM393ADT op amp U36 is connected in series with the R160 resistor to the 3.3V supply, the No. 1 pin of the LM393ADT operational amplifier U36 is connected with the cathode of the LED15 light-emitting diode, the anode of the LM393ADT operational amplifier is connected with an R159 resistor to a 3.3V power supply in series, and the 1 st pin of the LM393ADT operational amplifier U36 is connected with the 31 st pin of the main control chip; the cathode of an IR333C infrared transmitting diode with the part number of IR6 is connected with the power ground, the anode of the IR333C infrared transmitting diode is connected with an R168 resistor in series to a 3.3V power supply, the 1 st pin of a PT333-3B infrared receiving tube with the part number of CGQ6 is connected with the power ground, the 2 nd pin of the CGQ5 is connected with a resistor R169 in series to a 3.3V power supply, the 2 nd pin of the CGQ5 is connected with the 3 rd pin of an LM393ADT operational amplifier U39, the No. 2 pin of the LM393ADT operational amplifier U39 is connected with the No. 2 pin of the adjustable resistor R170, the 1 st pin of the R170 adjustable resistor is connected with the power ground, the 3 rd pin of the R170 adjustable resistor is connected with the 3.3V power supply, the 8 th pin of the LM393ADT operational amplifier U39 is connected with a 3.3V power supply, the 4 th pin of the LM393ADT operational amplifier U36 is connected with the power ground, the 1 st pin of the LM393ADT op amp U39 is connected in series with the R167 resistor to the 3.3V supply, the No. 1 pin of the LM393ADT operational amplifier U39 is connected with the cathode of the LED16 light-emitting diode, the anode of the resistor is connected with an R166 resistor in series to a 3.3V power supply, and the No. 1 pin of the LM393ADT operational amplifier U39 is connected with the No. 34 pin of the main control chip.
The recharging positioning circuit mainly comprises an OV2640 visual camera U07 and a SIC553-04 photoelectric receiver U23, pins 4 and 11 of the OV2640 visual camera U07 are connected with a 3.3V power supply, a pin 10 of the OV2640 visual camera U07 is connected with a 2.8V power supply, pins 2 and 15 of the OV2640 visual camera U07 are connected with a power supply ground, pins 3 and 5 of the OV2640 visual camera U07 are sequentially connected with an upper resistor R119 and a R118 to 3.3V power supply in series, pins 3 and 5 of the OV2640 visual camera U07 are sequentially connected with pins 96 and 95 of the main control chip, and pins 5, 12, 14, 16, 18, 20, 22, 21, 19, 7, 9, 17, 13, 8 and 6 of the OV2640 visual camera U07 are sequentially connected with pins 5, 4, 92, 3, 98, 97, 64, 93, 88, 69, 67 and 67; the 4 th pin of the CARD1 storage CARD is connected with a 3.3V power supply under the filtering of C108 and C109 capacitors, the 6 th pin of the CARD1 is connected with a power ground, the 9 th, 3 th, 2 th, 1 th, 8 th and 7 th pins of the CARD1 are sequentially connected with R114, R116, R115, R113, R112 and R111 resistors to the 3.3V power supply, and the 9 th, 3 th, 2 th, 1 th, 8 th, 7 th and 5 th pins of the CARD1 are sequentially connected with the 81 th, 83 th, 79 th, 78 th, 66 th, 65 th and 80 th pins of the main control chip; a 3 rd pin of the SIC553-04 photoelectric receiver U23 is connected with a 5V power supply after being filtered by a C115 capacitor, a 1 st pin of the SIC553-04 photoelectric receiver U23 is connected with a power supply ground, a 2 nd pin of the SIC553-04 photoelectric receiver U23 is connected with a pull-up resistor R120 in series to the 5V power supply, a 2 nd pin of the SIC553-04 photoelectric receiver U23 is connected with a resistor R121 in series to a D15 light-emitting diode cathode, and an anode of the SIC553-04 photoelectric receiver U23 is connected with the 5V power supply; a grid electrode of a Q20 field effect is connected with a resistor in series with R105 to the 1 st pin of the main control chip, a grid electrode of a Q20 field effect is connected with a resistor in series with R107 to the power ground, a source electrode of a Q20 field effect is connected with the power ground, a drain electrode of a Q20 field effect is connected with R108 in series with the resistor to the cathode of the LED6 light-emitting diode, the anode of the Q20 field effect is connected with the cathode of the LED7 light-emitting diode, and the anode of the LED7 light-emitting diode is connected with a 5V power supply; pins 1 and 3 of TPS73101DBVR with the part number of LDOU1 are connected with a 5V power supply under the capacitive filtering of CL3 and CL2, pin 2 of the TPS73101DBVR is connected with the power ground, pin 5 of the TPS73101DBVR outputs the 2.8V power supply under the capacitive filtering of CL1, pin 5 of the TPS73101DBVR is connected with pin 1 of RL1 resistor, and pin 2 is connected with RL2 resistor in series to the power ground.
The 5 th pin of a DRV8870DDAR chip with the part number of U34 in the walking motor driving circuit is connected with the battery pack for power supply under the filtering of C166 and C165 capacitors, the 1 st and 9 th pins of U34 are connected with the battery power ground, the 4 th pin of U34 is connected with a 3.3V power supply, the 2 nd and 3 th pins of U34 are sequentially connected with R157 and R158 resistors to a power ground, the 2 nd and 3 th pins of U34 are sequentially connected with the 36 th and 89 th pins of the main control chip, the 8 th and 6 th pins of U34 are sequentially connected with the 2 nd and 1 st pins of a J3 connector, a C163 capacitor is connected in parallel between the 8 th and 6 th pins of U34, the 7 th pin connector number of U34 is the 1 st and 2 nd pins of a CC6902SO-10A chip of U35, the 3 rd and 4 th pins of U35 are connected with the battery power ground, the 8 th pin of U35 is connected with the filtering capacitor under the C5V 5 th pin of the main control chip 68515, the 5 th pin of the DRV8870DDAR chip with the part number of U37 is connected with the battery pack for power supply under the capacitive filtering of C169 and C170, the 1 st and 9 th pins of the U37 are connected with the battery power ground, the 4 th pin of the U37 is connected with a 3.3V power supply, the 2 nd and 3 rd pins of the U37 are connected with the resistors R164 and R165 to the power ground in turn, the 2 nd and 3 rd pins of the U37 are sequentially connected with the 90 th and 91 th pins of the main control chip, the 8 th pin and the 6 th pin of the U37 are sequentially connected with the 2 nd pin and the 1 st pin of the J4 connector, a C167 capacitor is connected between the 8 th pin and the 6 th pin of the U37 in parallel, the No. 7 pin connector of the U37 is the No. 1 and No. 2 pins of the CC6902SO-10A chip of U38, the 3 rd pin and the 4 th pin of the U38 are connected with the battery power ground, the 8 th pin of the U38 is connected with a 5V power supply under the filtering of a C168 capacitor, and the 7 th pin of the U38 is connected with the 16 th pin of the main control chip; the 1 st pin of the P5 connector is connected with a 5V power supply under the filtering of C146 and C145 capacitors, the 2 nd pin of the P5 connector is connected with a power ground, and the 3 rd pin and the 4 th pin of the P5 connector are sequentially connected with the 41 th pin and the 42 th pin of the main control chip; the 1 st pin of the P7 connector is connected with a 5V power supply under the filtering of C151 and C152 capacitors, the 2 nd pin of the P7 connector is connected with a power ground, and the 3 rd and 4 th pins of the P7 connector are sequentially connected with the 24 th and 25 th pins of the main control chip.
The brush and the 8 th and 17 th pins of a DRV11873PWPR chip with the part number of U29 in the dust absorption motor driving circuit are connected with a battery power ground, the 11 th pin of the U29 is connected with the 3 rd and 4 th pins of a CC6902SO-10A chip with the part number of U30 under the filtering of C153 and C154 capacitors, the 1 st and 2 th pins of the U30 are connected with the power supply of the battery pack, the 14 th pin of the U29 is connected with an R139 resistor in series to the power ground, the 12 th pin of the U29 is connected with a 3.3V power supply under the filtering of a C155 capacitor, the 4 th pin of the U29 is connected with a C147 capacitor in series to the power supply of the battery pack, a C150 capacitor is connected in parallel between the 5 th and 6 th pins of the U29, the 2 nd pin of the U29 is connected with an R135 resistor to a 3.3V power supply, the 2 nd and 15 th pins of the U29 are connected with the 43 and 44 th pins of the master control chip in turn, the 10 th, 9 th and 6 th pins of the U637 are connected with a P1 and 6 th pins of the master control chip in turn, the 1 st pin, the 2 nd pin and the 3 rd pin of the P6 connector are sequentially connected with R140, R141 and R142 resistors in series to the 13 th pin of the U29, the 8 th pin of the U30 is connected with a 5V power supply under the filtering of a C156 capacitor, the 5 th pin of the U30 is connected with a power ground, and the 7 th pin of the U30 is connected with the 18 th pin of the main control chip; the 8 th and 17 th pins of a DRV11873PWPR chip with the part number of U31 are connected with a battery power ground, the 11 th pin of U31 is connected with the 3 rd and 4 th pins of a CC 6902-10A chip with the part number of U32 under the capacitive filtering of C159 and C161, the 1 st and 2 th pins of U32 are connected with the battery power supply, the 14 th pin of U31 is connected with a resistor in series to the power ground, the 12 th pin of U31 is connected with a 3.3V power supply under the capacitive filtering of C159, the 4 th pin of U31 is connected with a capacitor in series C157 to the battery power supply, a capacitor in parallel C158 is connected between the 5 th and 6 th pins of U31, a resistor R145 to a 3.3V power supply at the 2 nd pin 2 and 15 th pin of U31 is connected with the 45 th and 58 th pins of the main control chip in turn, the 10 th, 9 th and 7 th pins of the U31 are connected with the 1 th, 2 rd, 3 and 84 th pins of a P9 connector in turn, and the P84 are connected with the 1 st pin 3 and P463 in turn, R149 and R150 are connected to the 13 th pin of the U31, the 8 th pin of the U32 is connected with a 5V power supply under the filtering of a C160 capacitor, the 5 th pin of the U32 is connected with a power ground, and the 7 th pin of the U32 is connected with the 17 th pin of the main control chip.
The core device of the main control circuit is an STM32H743VIT6 chip U20, pins 11, 27, 50, 75, 100, 6 and 21 of the STM32H743VIT6 chip U20 are sequentially connected with a 3.3V power supply under the filtering of C20, C20 and C20 capacitors, a 20 th pin of the STM32H743VIT 20 chip U20 senses the 3.3V power supply electrically, pins 10, 26, 74, 99, 49 and 19 of the STM32H743VIT 20 chip U20 are connected with a power ground, a 48 th pin of the STM32H 743T 20 chip U20 is connected with a capacitor C118 to a power ground in series, a 73 th pin of the STM32H743VIT 20 chip U20 is connected with a capacitor C119 to the power ground in series, the series is connected between a third pin 13 and a 12 of the STM32H743VIT 20U 20, a power supply capacitor from the STM32H743VIT 20 to the power supply pin 20 to the power ground, a power supply capacitor from the STM32H 72 to the STM32H 20U 20 and a fourth pin of the STM32H 20, a power supply capacitor from the STM32H 20 to the STM32H 20 and a power supply pin 20U 20, a power supply pin of the STM32H 20 and a chip U20, a power supply pin is connected in parallel connection between the STM32H 20 and a power supply pin 20, a chip V20, a crystal oscillator, a crystal, the 9 th pin of the STM32H743VIT6 chip U20 serially connected the C5 capacitor to power ground.
The invention has the beneficial effects that:
(1) when the circuit of the sweeper provided by the invention is used, the condition of low electric quantity occurs, the recharging function can be realized by combining a visual positioning technology and a laser sensor, and people do not need to participate in charging.
(2) The sweeper circuit also has an AI voice recognition function, and can be connected with an intelligent sound box through a WIFI wireless network to realize voice control.
(3) The sweeper circuit provided by the invention has the advantages that the APP wireless remote control operation is realized, and the function selection and operation are more convenient.
Drawings
FIG. 1 is a power supply circuit diagram of an embodiment of the present application;
FIG. 2 is a circuit diagram of a touch and display circuit according to an embodiment of the present disclosure;
fig. 3 is a circuit diagram of a WIFI wireless network according to an embodiment of the present application;
FIG. 4 is a circuit diagram of an obstacle avoidance and acceleration sensor according to an embodiment of the present application;
FIG. 5 is a circuit diagram of a recharge positioning circuit according to an embodiment of the present application;
FIG. 6 is a circuit diagram of a walking motor driving circuit according to an embodiment of the present application;
FIG. 7 is a circuit diagram of a brush and a dust suction motor according to an embodiment of the present invention;
FIG. 8 is a diagram of a master control circuit according to an embodiment of the present application;
fig. 9 is a functional schematic of an embodiment of the present application.
Detailed Description
For the purposes of promoting an understanding of the circuits of the invention, reference will now be made in detail to the circuits of the invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present, that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present, and that the terms "vertical", "horizontal", "left", "right" and the like may be used herein for descriptive purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, and the terms used in the specification of the present invention are for the purpose of describing particular embodiments only and are not intended to limit the present invention.
The working principle is as follows:
the invention relates to a control circuit of a sweeper with AI voice interaction and visual positioning recharging, which can continuously detect the electric quantity of a battery when the sweeper works on the ground, adjust the angle of the sweeper body when the sweeper needs to be charged, enable a camera carried on a circuit to shoot the position of a charging seat, cooperate with the angle given by an acceleration sensor through visual calculation and analysis to plan the walking route of the sweeper, and utilize a laser sensor to receive and send a light source when the sweeper approaches the charging seat, accurately align a charging contact and complete the butt joint between the sweeper and the charging seat.
Simultaneously the machine of sweeping the floor is not in specific time quantum but needs the clearance temporarily, and the technical scheme who adopts is, this circuit arrangement is by WIFI wireless network transceiver circuit, can operate and connect intelligent audio amplifier to control with cell-phone APP, if this meeting ground needs clearance operation cell-phone APP alright require the machine of sweeping the floor to clear up, because of intelligent audio amplifier all is connected the wireless WIFI in the house with the machine of sweeping the floor, consequently calls intelligent audio amplifier alright start the machine of sweeping the floor through specific word and cleans work.
The walking motor is independently controlled to be composed of two motor driving units and is divided into a left motor driving unit and a right motor driving unit, so that the sweeper can turn smoothly, the brush motor driving unit drives the brush to rotate sundries on the indoor ground to a suction inlet of the sweeper, and the dust collection unit sucks the sundries into the storage bag.
The implementation mode is as follows:
as shown in fig. 9, the circuit of the invention includes a power circuit, a touch and display circuit, a WIFI wireless network circuit, an obstacle avoidance and acceleration sensor circuit, a recharging positioning circuit, a walking motor driving circuit, a brush and dust collection motor driving circuit, and a main control circuit, wherein the power circuit is responsible for docking a charging stand and charging a battery inside the sweeper, meanwhile, the power circuit stabilizes the voltage of a battery pack at a corresponding voltage value to supply power to each unit circuit, the touch circuit in the touch and display circuit sends the touch operation instruction of a user to a main control chip to execute the operation instruction of the user, the display circuit in the touch and display circuit displays the operation state of the sweeper, the WIFI wireless network circuit is connected with a WIFI wireless network to realize wireless remote control of a mobile phone and connect an intelligent sound box for voice control, and the obstacle avoidance and acceleration sensor circuit is connected with the obstacle avoidance circuit, the sweeper is used for avoiding indoor articles when the sweeper is used for cleaning indoors, the acceleration sensor circuit is used for realizing the angle position of the sweeper on the ground, and the recharging positioning circuit is used for realizing the positioning function when the sweeper is returned to a charging seat when the sweeper is used for cleaning and aligning to a charging contact; the walking motor driving circuit is responsible for the forward and backward turning action of the sweeper on the ground, the brush and the dust collection motor driving circuit are responsible for the garbage cleaning work of the sweeper on the ground, and the main control circuit coordinates the work of the whole circuit.
As shown in fig. 1, the power circuit includes a charging circuit and a voltage regulator circuit, the core device of the charging circuit is CN3703 chip U27, pin 15 of CN3703 chip U27 is connected to TP1 contact under C132 and C131 capacitive filtering, pin 3, 2 and 10 of CN3703 chip U27 is connected to battery power ground, pin 1 of CN3703 chip U27 is connected in series to C135 capacitive filtering to TP1 contact, pin 4 of CN3703 chip U27 is connected to the cathode terminal of LED8 light emitting diode, the anode thereof is connected in series to R128 to TP1 contact, pin 5 of CN3703 chip U27 is connected to the cathode terminal of LED9 light emitting diode, the anode thereof is connected in series to R129 resistive filtering to TP1 contact, pin 6 of CN3703 chip U27 is connected to battery power ground, pin 7 of CN3703 chip U27 is connected in series to the battery power ground, and pin 3703 of CN3703 chip U4642 is connected to battery power ground, the 8 th pin of the CN3703 chip U27 is serially connected with the C143 capacitor to the battery power ground, the 9 th pin of the CN3703 chip U27 is serially connected with the 1 st pin of the R130 resistor, the 2 nd pin thereof is serially connected with the C144 capacitor to the battery power ground, the TP2 contact is connected with the battery power ground, the TP1 and the TP2 are recharging contacts, the 16 th pin of the CN3703 chip U27 is connected with the grid of the Q21 FET, the source of the Q21 FET is connected with the TP1 contact, the drain of the Q21 FET is connected with the anode of the D16 diode, the cathode of the D16 diode is serially connected with the D17 diode to the battery power ground, the cathode of the D16 diode is serially connected with the L7 inductor to the 13 th pin of the CN3703 chip U27, the 13 th pin of the CN3703 chip U27 is serially connected with the R127 resistor to the 14 th pin of the CN3703 chip U27, the BAT3 chip U4614 pin of the CN3703 chip U4614, the battery 4614 pin is connected with the battery pin 45, the battery 462 pin, the 14 th pin of the CN3703 chip U27 is connected in series with an F2 fuse output battery pack for power supply under the filtering of C130, C128 and C129 capacitors, the battery power supply ground is connected in series with an L9 inductor to a power ground, the power supply of the battery pack is connected with the 1 st pin of an L8 inductor through the filtering of C133 and C136 capacitors, the 2 nd pin of the battery pack is connected with the 3 rd pin of a U25 voltage stabilization block through the filtering of C134 and C137 capacitors, the 3 rd pin of the U25 voltage stabilization block is connected with C124 and C125 capacitors for filtering, the 1 st pin of the U25 voltage stabilization block is connected with the power ground, the 2 nd pin and the 4 th pin of the U25 voltage stabilization block are filtered through C126 and C127 capacitors for outputting a 5V power supply, the 5V power supply is connected with the 3 rd pin of the U26 voltage stabilization block through the filtering of C138 and C139 capacitors, the 1 st pin of the U26 voltage stabilization block is connected with the power ground, and the 2 nd pin and the 4 th pin of the U26 voltage stabilization block is filtered through C140 and C141 capacitors for outputting a 3.3V power supply.
As shown in fig. 2, core devices of the touch control and display circuit are BS814A-1 chip U22 and LX-12864G10 liquid crystal LCD1, the 1 st pin of the BS814A-1 chip U22 is filtered by C98 and C97 capacitors and then serially connected with R109 to provide 3.3V power, the 10 th pin of the BS814A-1 chip U22 is connected to power ground, the 2 nd pin of the BS814A-1 chip U22 is filtered by C102 capacitors and then connected with TOUH1 touch contacts, the 3 rd pin of the BS814 58A-1 chip U22 is filtered by C103 capacitors and then connected with TOUH2 touch contacts, the 4 th pin of the BS814A-1 chip U22 is filtered by C104 capacitors and then connected with TOUH3 touch contacts, the 5 th pin of the BS814 7-1 chip U3687458 is filtered by C105 capacitors and then connected with TOUH4 touch contacts, the U814-1 chip U4, the U367 th pin 4, the LX chip U4, the LX chip U3638, the LX chip 4, the LX controller 4, the LX chip 4, the LX controller 4, the LX chip 4, the LX controller, the LX chip 4, the LX chip 1286, the LX chip 4, the h chip, the chip 24, the chip, the, The C111 capacitor is filtered and then serially connected with an R117 resistor to a 3.3V power supply, the 7 th pin of the LX-12864G10 liquid crystal LCD1 is connected with a power ground, the 8 th and 9 th pins of the LX-12864G10 liquid crystal LCD1 are serially connected with a C112 capacitor, the 10 th and 11 th pins of the LX-12864G10 liquid crystal LCD1 are serially connected with a C113 capacitor, and the 1 st, 2 nd, 3 th and 4 th pins of a U22 of a BS814A-1 chip are sequentially connected with the 70 th, 71 th, 77 th, 46 th and 47 th pins of the main control chip.
As shown in fig. 3, the core device of the WIFI wireless network circuit is an ESP-12F module U28, the 8 th pin of the ESP-12F module U28 is filtered by C148 and C149 capacitors and then serially connected with R138 resistors to 3.3V power, the 17 th, 18 th, 3 th and 1 th pins of the ESP-12F module U28 are serially connected with Rb7, Rb6, Rb8 and Rb9 resistors to 3.3V power, the 21 st and 22 th pins of the ESP-12F module U28 are serially connected with the 87 th and 86 th pins of the main control chip, and the 15 th pin of the ESP-12F module U28 is connected with the power ground.
As shown in fig. 4, the obstacle avoidance and acceleration sensor circuit is mainly used for detecting the angle position of the obstacle and the sweeper on the ground when the sweeper walks on the ground, the obstacle avoidance circuit is a detection sensor composed of an infrared transmitting diode and an infrared receiving tube, the type of the infrared transmitting diode is IR333C, the type of the infrared transmitting diode is IR4, the cathode of the IR4 is connected to the power ground, the anode of the IR4 is connected in series with the R154 resistor to the 3.3V power supply, the type of the infrared receiving tube is PT333-3B, the type of the infrared receiving tube is CGQ4, the 1 st pin of the CGQ4 is connected to the power ground, the 2 nd pin of the CGQ4 is connected in series with the R155 resistor to the 3.3V power supply, the 2 nd pin of the CGQ4 is connected to the 5 th pin of the LM393ADT operational amplifier U33, the 6 th pin of the LM393ADT operational amplifier U33 is connected to the 2 nd pin of the R156 adjustable resistor, the 1 st pin of the R156 is connected to the power ground, the 3 rd pin of the adjustable resistor is connected to the 3.3V power supply ground, the 7 th pin of the LM393ADT operational amplifier U33 is connected with a resistor of R153 to a 3.3V power supply in series, the 7 th pin of the LM393ADT operational amplifier U33 is connected with the cathode of an LED14 light-emitting diode, the anode of the LM393ADT operational amplifier U33 is connected with a resistor of R152 to the 3.3V power supply in series, and the 7 th pin of the LM393ADT operational amplifier U33 is connected with the 33 th pin of the main control chip; the cathode of the IR transmitting diode IR333C with the part number IR5 is connected with the power ground, the anode is connected with the resistor R162 in series to the 3.3V power supply, the 1 st pin of the PT333-3B infrared receiving tube with the part number CGQ5 is connected with the power ground, the 2 nd pin of the CGQ5 is connected with a resistor R162 in series to a 3.3V power supply, the 2 nd pin of the CGQ5 is connected with the 3 rd pin of an LM393ADT operational amplifier U36, the 2 nd pin of the LM393ADT op amp U36 is connected to the 2 nd pin of the R163 adjustable resistor, the 1 st pin of the R163 adjustable resistor is connected with the power ground, the 3 rd pin of the R163 adjustable resistor is connected with the 3.3V power supply, the 8 th pin of the LM393ADT operational amplifier U36 is connected with a 3.3V power supply, the 4 th pin of the LM393ADT operational amplifier U36 is connected with the power ground, the 1 st pin of the LM393ADT op amp U36 is connected in series with the R160 resistor to the 3.3V supply, the No. 1 pin of the LM393ADT operational amplifier U36 is connected with the cathode of the LED15 light-emitting diode, the anode of the LM393ADT operational amplifier is connected with an R159 resistor to a 3.3V power supply in series, and the 1 st pin of the LM393ADT operational amplifier U36 is connected with the 31 st pin of the main control chip; the cathode of an IR333C infrared transmitting diode with the part number of IR6 is connected with the power ground, the anode of the IR333C infrared transmitting diode is connected with an R168 resistor in series to a 3.3V power supply, the 1 st pin of a PT333-3B infrared receiving tube with the part number of CGQ6 is connected with the power ground, the 2 nd pin of the CGQ5 is connected with a resistor R169 in series to a 3.3V power supply, the 2 nd pin of the CGQ5 is connected with the 3 rd pin of an LM393ADT operational amplifier U39, the No. 2 pin of the LM393ADT operational amplifier U39 is connected with the No. 2 pin of the adjustable resistor R170, the 1 st pin of the R170 adjustable resistor is connected with the power ground, the 3 rd pin of the R170 adjustable resistor is connected with the 3.3V power supply, the 8 th pin of the LM393ADT operational amplifier U39 is connected with a 3.3V power supply, the 4 th pin of the LM393ADT operational amplifier U36 is connected with the power ground, the 1 st pin of the LM393ADT op amp U39 is connected in series with the R167 resistor to the 3.3V supply, the No. 1 pin of the LM393ADT operational amplifier U39 is connected with the cathode of the LED16 light-emitting diode, the anode of the resistor is connected with an R166 resistor in series to a 3.3V power supply, and the No. 1 pin of the LM393ADT operational amplifier U39 is connected with the No. 34 pin of the main control chip.
As shown in fig. 5, the recharging positioning circuit mainly comprises an OV2640 vision camera U07 and a SIC553-04 photoelectric receiver U23, pins 4 and 11 of the OV2640 vision camera U07 are connected with a 3.3V power supply, pin 10 of the OV2640 vision camera U07 is connected with a 2.8V power supply, pins 2 and 15 of the OV2640 vision camera U07 are connected with a power supply ground, pins 3 and 5 of the OV2640 vision camera U07 are sequentially connected with upper resistors R119, R118 to 3.3V power supplies in series, pins 3 and 5 of the OV2640 vision camera U07 are sequentially connected with pins 96 and 95 of the main control chip, and pins 12, 14, 16, 18, 20, 22, 21, 19, 7, 9, 17, 13, 8 and 6 of the OV2640 vision camera U07 are sequentially connected with pins 5, 4, 92, 3, 98, 97, 88, 69, 64, 69, 67, 93 and 67 of the main control chip; the 4 th pin of the CARD1 storage CARD is connected with a 3.3V power supply under the filtering of C108 and C109 capacitors, the 6 th pin of the CARD1 is connected with a power ground, the 9 th, 3 th, 2 th, 1 th, 8 th and 7 th pins of the CARD1 are sequentially connected with R114, R116, R115, R113, R112 and R111 resistors to the 3.3V power supply, and the 9 th, 3 th, 2 th, 1 th, 8 th, 7 th and 5 th pins of the CARD1 are sequentially connected with the 81 th, 83 th, 79 th, 78 th, 66 th, 65 th and 80 th pins of the main control chip; a 3 rd pin of the SIC553-04 photoelectric receiver U23 is connected with a 5V power supply after being filtered by a C115 capacitor, a 1 st pin of the SIC553-04 photoelectric receiver U23 is connected with a power supply ground, a 2 nd pin of the SIC553-04 photoelectric receiver U23 is connected with a pull-up resistor R120 in series to the 5V power supply, a 2 nd pin of the SIC553-04 photoelectric receiver U23 is connected with a resistor R121 in series to a D15 light-emitting diode cathode, and an anode of the SIC553-04 photoelectric receiver U23 is connected with the 5V power supply; a grid electrode of a Q20 field effect is connected with a resistor in series with R105 to the 1 st pin of the main control chip, a grid electrode of a Q20 field effect is connected with a resistor in series with R107 to the power ground, a source electrode of a Q20 field effect is connected with the power ground, a drain electrode of a Q20 field effect is connected with R108 in series with the resistor to the cathode of the LED6 light-emitting diode, the anode of the Q20 field effect is connected with the cathode of the LED7 light-emitting diode, and the anode of the LED7 light-emitting diode is connected with a 5V power supply; pins 1 and 3 of TPS73101DBVR with the part number of LDOU1 are connected with a 5V power supply under the capacitive filtering of CL3 and CL2, pin 2 of the TPS73101DBVR is connected with the power ground, pin 5 of the TPS73101DBVR outputs the 2.8V power supply under the capacitive filtering of CL1, pin 5 of the TPS73101DBVR is connected with pin 1 of RL1 resistor, and pin 2 is connected with RL2 resistor in series to the power ground.
As shown in fig. 6, in the walking motor driving circuit, the 5 th pin of the DRV8870DDAR chip with the part number U34 is connected to the battery pack for power supply under the filtering of C166 and C165 capacitors, the 1 st and 9 th pins of the U34 are connected to the battery power ground, the 4 th pin of the U34 is connected to the 3.3V power supply, the 2 nd and 3 th pins of the U34 are sequentially connected to the R157 and R158 resistors to the power ground, the 2 nd and 3 rd pins of the U34 are sequentially connected to the 36 th and 89 th pins of the main control chip, the 8 th and 6 th pins of the U34 are sequentially connected to the 2 nd and 1 st pins of the J3 connector, a C163 capacitor is connected in parallel between the 8 th and 6 th pins of the U34, the 7 th pin connector number of the U34 is the 1 st and 2 nd pins of the CC6902SO-10A chip of the U35, the 3 rd and 4 th pins of the U35 are connected to the battery power ground, the 3 th and 4 th pins of the U35 are connected to the V35 th pin of the main control chip under the C capacitor and the 5 th pin 68515, the 5 th pin of the DRV8870DDAR chip with the part number of U37 is connected with the battery pack for power supply under the capacitive filtering of C169 and C170, the 1 st and 9 th pins of the U37 are connected with the battery power ground, the 4 th pin of the U37 is connected with a 3.3V power supply, the 2 nd and 3 rd pins of the U37 are connected with the resistors R164 and R165 to the power ground in turn, the 2 nd and 3 rd pins of the U37 are sequentially connected with the 90 th and 91 th pins of the main control chip, the 8 th pin and the 6 th pin of the U37 are sequentially connected with the 2 nd pin and the 1 st pin of the J4 connector, a C167 capacitor is connected between the 8 th pin and the 6 th pin of the U37 in parallel, the No. 7 pin connector of the U37 is the No. 1 and No. 2 pins of the CC6902SO-10A chip of U38, the 3 rd pin and the 4 th pin of the U38 are connected with the battery power ground, the 8 th pin of the U38 is connected with a 5V power supply under the filtering of a C168 capacitor, and the 7 th pin of the U38 is connected with the 16 th pin of the main control chip; the 1 st pin of the P5 connector is connected with a 5V power supply under the filtering of C146 and C145 capacitors, the 2 nd pin of the P5 connector is connected with a power ground, and the 3 rd pin and the 4 th pin of the P5 connector are sequentially connected with the 41 th pin and the 42 th pin of the main control chip; the 1 st pin of the P7 connector is connected with a 5V power supply under the filtering of C151 and C152 capacitors, the 2 nd pin of the P7 connector is connected with a power ground, and the 3 rd and 4 th pins of the P7 connector are sequentially connected with the 24 th and 25 th pins of the main control chip.
As shown in fig. 7, the 8 th and 17 th pins of a DRV11873PWPR chip with the part number U29 in the brush and dust collection motor driving circuit are connected to a battery power ground, the 11 th pin of U29 is connected to the 3 rd and 4 th pins of a CC6902SO-10A chip with the part number U30 under the capacitive filtering of C153 and C154, the 1 st and 2 th pins of U30 are connected to the battery pack for power supply, the 14 th pin of U29 is connected in series with R139 resistor to the power ground, the 12 th pin of U29 is connected to a 3.3V power supply under the capacitive filtering of C155, the 4 th pin of U29 is connected in series with a C capacitor for power supply to the battery pack, a C150 capacitor is connected in parallel between the 5 th and 6 th pins of U29, the 2 nd pin of U29 is connected in series with R135 resistor to 3.3V power supply, the 2 nd and 15 th pins of U29 are connected in series with the 43 and 44 th pins of the main control chip, and the 10 th and 9 th pins of U29 are connected in series with P1 and P1 of the P6, 2. The 1 st pin, the 2 nd pin and the 3 rd pin of the P6 connector are sequentially connected with R140, R141 and R142 resistors in series to the 13 th pin of the U29, the 8 th pin of the U30 is connected with a 5V power supply under the filtering of a C156 capacitor, the 5 th pin of the U30 is connected with a power ground, and the 7 th pin of the U30 is connected with the 18 th pin of the main control chip; the 8 th and 17 th pins of a DRV11873PWPR chip with the part number of U31 are connected with a battery power ground, the 11 th pin of U31 is connected with the 3 rd and 4 th pins of a CC 6902-10A chip with the part number of U32 under the capacitive filtering of C159 and C161, the 1 st and 2 th pins of U32 are connected with the battery power supply, the 14 th pin of U31 is connected with a resistor in series to the power ground, the 12 th pin of U31 is connected with a 3.3V power supply under the capacitive filtering of C159, the 4 th pin of U31 is connected with a capacitor in series C157 to the battery power supply, a capacitor in parallel C158 is connected between the 5 th and 6 th pins of U31, a resistor R145 to a 3.3V power supply at the 2 nd pin 2 and 15 th pin of U31 is connected with the 45 th and 58 th pins of the main control chip in turn, the 10 th, 9 th and 7 th pins of the U31 are connected with the 1 th, 2 rd, 3 and 84 th pins of a P9 connector in turn, and the P84 are connected with the 1 st pin 3 and P463 in turn, R149 and R150 are connected to the 13 th pin of the U31, the 8 th pin of the U32 is connected with a 5V power supply under the filtering of a C160 capacitor, the 5 th pin of the U32 is connected with a power ground, and the 7 th pin of the U32 is connected with the 17 th pin of the main control chip.
As shown in fig. 8, the core device of the master control circuit is an STM32H743VIT6 chip U20, pins 11, 27, 50, 75, 100, 6, 21 of the STM32H743VIT6 chip U20 are connected with a 3.3V power supply under capacitive filtering of C20, the 20 th pin of the STM32H743VIT 20 chip U20 electrically senses the 3.3V power supply, pins 10, 26, 74, 99, 49, 19 of the STM32H743VIT 20 chip U20 are connected with a power supply ground, the 48 th pin of the STM32H743VIT 20 chip U20 is connected in series with a C118 capacitor to a power ground, the 73 th pin of the STM32H 743H VIT 20 chip U20 is connected in series with a C119 capacitor to a series power supply ground, the STM32H 743H 20 is connected in parallel with a power supply ground, the STM32H 20H 743H 20, the power supply ground is connected in parallel with a power supply, the third pin of the STM32H 20, the STM32H 20, the power supply ground, the power supply, the capacitor of the VIT 20H 20 is connected in parallel with a power supply ground, the vi 14H 20, the chip 12, the power supply ground, the power supply pin of the STM32H 20, the chip 12H 20, the 9 th pin of the STM32H743VIT6 chip U20 serially connected the C5 capacitor to power ground.
Claims (9)
1. A control circuit of a sweeper for AI voice interaction and visual positioning recharging comprises a power supply circuit, a touch control and display circuit, a WIFI wireless network circuit, an obstacle avoidance and acceleration sensor circuit, a recharging positioning circuit, a walking motor driving circuit, a brush and dust collection motor driving circuit and a main control circuit, wherein the power supply circuit is responsible for butting a charging seat and charging a battery in the sweeper, meanwhile, the power supply circuit is used for stabilizing the voltage of a battery pack at a corresponding voltage value to supply power to each unit circuit, the touch control circuit in the touch control and display circuit is used for sending a touch control operation instruction of a user to a main control chip to execute the operation instruction of the user, the display circuit in the touch control and display circuit is used for displaying the running state of the sweeper, the WIFI wireless network circuit is connected with a WIFI wireless network to realize wireless remote control of a mobile phone and is connected with an intelligent sound box to carry out voice control, the obstacle avoidance circuit of the obstacle avoidance and acceleration sensor circuit realizes avoidance of indoor articles by the sweeper during indoor cleaning work, the acceleration sensor circuit realizes the angle position of the sweeper on the ground, and the recharging positioning circuit realizes the positioning function of the sweeper during returning to a charging seat during cleaning work and aims at the charging contact; the walking motor driving circuit is responsible for the forward and backward turning action of the sweeper on the ground, the brush and the dust collection motor driving circuit are responsible for the garbage cleaning work of the sweeper on the ground, and the main control circuit coordinates the work of the whole circuit.
2. The AI voice interaction and vision positioning recharging sweeper control circuit as claimed in claim 1, wherein the power circuit comprises a charger and a voltage regulator circuit, the core device of the charger is CN3703 chip U27, the 15 th pin of CN3703 chip U27 is connected with a TP1 contact, the TP2 contact is connected with a battery power ground, the 16 th pin of CN3703 chip U27 is connected with the grid of Q21 FET, the source of Q21 FET is connected with the TP1 contact, the 14 th pin of CN3703 chip U27 is connected with pin 1 of BAT1, pin 2 of BAT3 is connected with the battery power ground, the 14 th pin of CN3703 chip U27 is connected in series with a F2 fuse output battery for supplying power, the battery power ground is connected in series with an L9 inductor to the power ground, the battery power supply L8 inductor is connected with the 3 rd pin of a voltage regulator block of U25, the 2 nd and 4 th pins of U25 are filtered by C126 and C127V 5V 127 capacitor, the 5V power supply is connected with a 3 rd pin of the U26 voltage stabilizing block, and 2 nd and 4 th pins of the U26 voltage stabilizing block output 3.3V power after being subjected to capacitance filtering by C140 and C141.
3. The AI voice interaction and visual positioning recharging sweeper control circuit as claimed in claim 1, wherein core devices of the touch control and display circuit are a BS814A-1 chip U22 and an LX-12864G10 liquid crystal LCD1, a 1 st pin of the BS814A-1 chip U22 is serially connected with an R109 resistor to a 3.3V power supply after being capacitively filtered by C98 and C97, a 10 th pin of the BS814A-1 chip U22 is connected with a power ground, a 2 nd pin of the BS814A-1 chip U22 is filtered by C102 capacitor and then connected with a TOUH1 touch contact, a 3 rd pin of the BS814A-1 chip U22 is filtered by C103 capacitor and then connected with a TOUH2 touch contact, a 4 th pin of the BS814A-1 chip U22 is filtered by C104 capacitor and then connected with a TOUH3 touch contact, a 5 th pin of the BS 814-1 chip U6862 is connected with a TOU 105, a UH contact, a UH chip UH 867 th pin of the BS814, a U867, a UH chip UH 867, a UH contact, a U867 th pin of the BS814 chip is connected with a U867, a, 38. 39 and 40 pins, a 6 th pin of the LX-12864G10 LCD1 is filtered by C110 and C111 capacitors and then serially connected with an R117 resistor to a 3.3V power supply, a 7 th pin of the LX-12864G10 LCD1 is connected with a power ground, a C112 capacitor is serially connected between 8 th and 9 th pins of the LX-12864G10 LCD1, a C113 capacitor is serially connected between 10 th and 11 th pins of the LX-12864G10 LCD1, and the 1 st, 2 nd, 3 th and 4 th pins of a U22 of the BS814A-1 chip are sequentially connected with the 70 th, 71 th, 77 th, 46 th and 47 th pins of the main control chip.
4. The AI voice interaction and visual positioning recharging sweeper control circuit of claim 1, wherein the core component of the WIFI wireless network circuit is an ESP-12F module U28, the 8 th pin of the ESP-12F module U28 is filtered by C148 and C149 capacitors and then serially connected with an R138 resistor to a 3.3V power supply, the 17 th, 18 th, 3 th and 1 th pins of the ESP-12F module U28 are serially connected with Rb7, Rb6, Rb8 and Rb9 resistors to a 3.3V power supply, the 21 th and 22 th pins of the ESP-12F module U28 are serially connected with the 87 th and 86 th pins of the main control chip, and the 15 th pin of the ESP-12F module U28 is connected with a ground power supply.
5. The AI voice interaction and visual positioning recharging sweeper control circuit of claim 1, wherein the obstacle avoidance and acceleration sensor circuit is mainly used for detecting the angle position of an obstacle and the sweeper on the ground when the sweeper is walking on the ground, the obstacle avoidance circuit comprises a detection sensor consisting of an infrared emitting diode and an infrared receiving tube, the infrared emitting diode is IR4 in model number of 59333, the cathode of the IR4 is connected with a power ground in a male mode and is serially connected with an R154 resistor to a 3.3V power supply, the infrared receiving tube is CGQ4 in model number of 333-3B, the 1 st pin of the CGQ4 is connected with the power ground, the 2 nd pin of the CGQ4 is serially connected with an R155 resistor to a 3.3V power supply, the 2 nd pin of the CGQ4 is connected with the 5 th pin of an LM393ADT operational amplifier U33, the 6 th pin of the LM393ADT operational amplifier U33 is connected with the 2 nd pin of an adjustable resistor, and the 1 st pin of the R156 is connected with the adjustable resistor, the 3 rd pin of the R156 adjustable resistor is connected with a 3.3V power supply, the 7 th pin of the LM393ADT operational amplifier U33 is connected with an R153 resistor to the 3.3V power supply in series, the 7 th pin of the LM393ADT operational amplifier U33 is connected with the cathode of an LED14 light-emitting diode, the anode of the LM393ADT operational amplifier U33 is connected with an R152 resistor to the 3.3V power supply in series, and the 7 th pin of the LM393ADT operational amplifier U33 is connected with the 33 th pin of the main control chip; the cathode of the IR transmitting diode IR333C with the part number IR5 is connected with the power ground, the anode is connected with the resistor R162 in series to the 3.3V power supply, the 1 st pin of the PT333-3B infrared receiving tube with the part number CGQ5 is connected with the power ground, the 2 nd pin of the CGQ5 is connected with a resistor R162 in series to a 3.3V power supply, the 2 nd pin of the CGQ5 is connected with the 3 rd pin of an LM393ADT operational amplifier U36, the 2 nd pin of the LM393ADT op amp U36 is connected to the 2 nd pin of the R163 adjustable resistor, the 1 st pin of the R163 adjustable resistor is connected with the power ground, the 3 rd pin of the R163 adjustable resistor is connected with the 3.3V power supply, the 8 th pin of the LM393ADT operational amplifier U36 is connected with a 3.3V power supply, the 4 th pin of the LM393ADT operational amplifier U36 is connected with the power ground, the 1 st pin of the LM393ADT op amp U36 is connected in series with the R160 resistor to the 3.3V supply, the No. 1 pin of the LM393ADT operational amplifier U36 is connected with the cathode of the LED15 light-emitting diode, the anode of the LM393ADT operational amplifier is connected with an R159 resistor to a 3.3V power supply in series, and the 1 st pin of the LM393ADT operational amplifier U36 is connected with the 31 st pin of the main control chip; the cathode of an IR333C infrared transmitting diode with the part number of IR6 is connected with the power ground, the anode of the IR333C infrared transmitting diode is connected with an R168 resistor in series to a 3.3V power supply, the 1 st pin of a PT333-3B infrared receiving tube with the part number of CGQ6 is connected with the power ground, the 2 nd pin of the CGQ5 is connected with a resistor R169 in series to a 3.3V power supply, the 2 nd pin of the CGQ5 is connected with the 3 rd pin of an LM393ADT operational amplifier U39, the No. 2 pin of the LM393ADT operational amplifier U39 is connected with the No. 2 pin of the adjustable resistor R170, the 1 st pin of the R170 adjustable resistor is connected with the power ground, the 3 rd pin of the R170 adjustable resistor is connected with the 3.3V power supply, the 8 th pin of the LM393ADT operational amplifier U39 is connected with a 3.3V power supply, the 4 th pin of the LM393ADT operational amplifier U36 is connected with the power ground, the 1 st pin of the LM393ADT op amp U39 is connected in series with the R167 resistor to the 3.3V supply, the No. 1 pin of the LM393ADT operational amplifier U39 is connected with the cathode of the LED16 light-emitting diode, the anode of the resistor is connected with an R166 resistor in series to a 3.3V power supply, and the No. 1 pin of the LM393ADT operational amplifier U39 is connected with the No. 34 pin of the main control chip.
6. The AI voice interaction and visual positioning recharging sweeper control circuit according to claim 1, wherein the recharging positioning circuit is mainly composed of an OV2640 visual camera U07 and a SIC553-04 photoelectric receiver U23, pins 4 and 11 of the OV2640 visual camera U07 are connected with a 3.3V power supply, a pin 10 of the OV2640 visual camera U07 is connected with a 2.8V power supply, pins 2 and 15 of the OV2640 visual camera U07 are connected with a power supply ground, pins 3 and 5 of the OV2640 visual camera U07 are sequentially connected with a resistor R119 and a resistor R118 to a 3.3V power supply in series, pins 3 and 5 of the OV2640 visual camera U07 are sequentially connected with pins 96 and 95 of the main control chip, pins 12, 14, 16, 18, 20, 22, 21, 19, 7, 9, 17, 13, 6, 4 and 4 of the main control chip in series, and the OV2640 visual camera U07 is sequentially connected with a pin 12, 14, 16, 18, 20, 22, 21, 19, 7, 9, 17, 13, 92, 4 and 4 of the main control chip in series 3. Pins 98, 97, 64, 63, 93, 28, 30, 67, 88, 69; the 4 th pin of the CARD1 storage CARD is connected with a 3.3V power supply under the filtering of C108 and C109 capacitors, the 6 th pin of the CARD1 is connected with a power ground, the 9 th, 3 th, 2 th, 1 th, 8 th and 7 th pins of the CARD1 are sequentially connected with R114, R116, R115, R113, R112 and R111 resistors to the 3.3V power supply, and the 9 th, 3 th, 2 th, 1 th, 8 th, 7 th and 5 th pins of the CARD1 are sequentially connected with the 81 th, 83 th, 79 th, 78 th, 66 th, 65 th and 80 th pins of the main control chip; a 3 rd pin of the SIC553-04 photoelectric receiver U23 is connected with a 5V power supply after being filtered by a C115 capacitor, a 1 st pin of the SIC553-04 photoelectric receiver U23 is connected with a power supply ground, a 2 nd pin of the SIC553-04 photoelectric receiver U23 is connected with a pull-up resistor R120 in series to the 5V power supply, a 2 nd pin of the SIC553-04 photoelectric receiver U23 is connected with a resistor R121 in series to a D15 light-emitting diode cathode, and an anode of the SIC553-04 photoelectric receiver U23 is connected with the 5V power supply; a grid electrode of a Q20 field effect is connected with a resistor in series with R105 to the 1 st pin of the main control chip, a grid electrode of a Q20 field effect is connected with a resistor in series with R107 to the power ground, a source electrode of a Q20 field effect is connected with the power ground, a drain electrode of a Q20 field effect is connected with R108 in series with the resistor to the cathode of the LED6 light-emitting diode, the anode of the Q20 field effect is connected with the cathode of the LED7 light-emitting diode, and the anode of the LED7 light-emitting diode is connected with a 5V power supply; pins 1 and 3 of TPS73101DBVR with the part number of LDOU1 are connected with a 5V power supply under the capacitive filtering of CL3 and CL2, pin 2 of the TPS73101DBVR is connected with the power ground, pin 5 of the TPS73101DBVR outputs the 2.8V power supply under the capacitive filtering of CL1, pin 5 of the TPS73101DBVR is connected with pin 1 of RL1 resistor, and pin 2 is connected with RL2 resistor in series to the power ground.
7. The AI voice interaction and visual positioning recharging sweeper control circuit of claim 1, wherein the 5 th pin of the DRV8870DDAR chip with the part number U34 of the walking motor driving circuit is connected with the battery pack for power supply under the filtering of C166 and C165 capacitors, the 1 st and 9 th pins of the U34 are connected with the battery power ground, the 4 th pin of the U34 is connected with the 3.3V power supply, the 2 nd and 3 rd pins of the U34 are sequentially connected with R157 and R158 resistors to the power ground, the 2 nd and 3 rd pins of the U34 are sequentially connected with the 36 th and 89 th pins of the main control chip, the 8 th and 6 th pins of the U34 are sequentially connected with the 2 nd and 1 st pins of the J3 connector, the 8 th and 6 th pins of the U34 are connected with the C163 in parallel, the 7 th pin connector of the U34 is connected with the 1 st and 2 nd pins of the CCC 6902-10A chip of the U35, and the 3 rd and 3 rd pin 584 of the battery is electrically connected with the power ground, the 8 th pin of the U35 is connected with a 5V power supply under C164 capacitance filtering, the 7 th pin of the U35 is connected with the 15 th pin of the main control chip, the 5 th pin of a DRV8870DDAR chip with the part number of U37 is connected with the power supply of the battery pack under C169 and C170 capacitance filtering, the 1 st and 9 th pins of the U37 are connected with the battery power ground, the 4 th pin of the U37 is connected with a 3.3V power supply, the 2 nd and 3 rd pins of the U37 are sequentially connected with R164 and R165 resistors to the power ground, the 2 nd and 3 rd pins of the U37 are sequentially connected with the 90 th and 91 th pins of the main control chip, the 8 th and 6 th pins of the U37 are sequentially connected with the 2 nd and 1 th pins of a J4 connector, a C167 capacitor is connected between the 8 th and 6 th pins of the U37 in parallel, the 7 th pin connector of the U37 is connected with the power supply number of the 7 th pin 6851 and 2 nd and 3 rd pins of the CC 6902-10A chip of the U38, the 8 th pin of the U38 is connected with a 5V power supply under the filtering of a C168 capacitor, and the 7 th pin of the U38 is connected with the 16 th pin of the main control chip; the 1 st pin of the P5 connector is connected with a 5V power supply under the filtering of C146 and C145 capacitors, the 2 nd pin of the P5 connector is connected with a power ground, and the 3 rd pin and the 4 th pin of the P5 connector are sequentially connected with the 41 th pin and the 42 th pin of the main control chip; the 1 st pin of the P7 connector is connected with a 5V power supply under the filtering of C151 and C152 capacitors, the 2 nd pin of the P7 connector is connected with a power ground, and the 3 rd and 4 th pins of the P7 connector are sequentially connected with the 24 th and 25 th pins of the main control chip.
8. The AI voice interaction and visual positioning recharging sweeper control circuit of claim 1, wherein the 8 th and 17 th pins of a DRV11873PWPR chip with a part number of U29 in the brush and dust collection motor driving circuit are connected to a battery power ground, the 11 th pin of U29 is connected to the 3 rd and 4 th pins of a CC6902SO-10A chip with a part number of U30 under the filtering of C153 and C154 capacitors, the 1 st and 2 th pins of U30 are connected to the battery power supply, the 14 th pin of U29 is connected in series with a R139 resistor to the power ground, the 12 th pin of U29 is connected to a 3.3V power supply under the filtering of C155 capacitors, the 4 th pin of U29 is connected in series with a C147 capacitor to the battery power supply, a C150 capacitor is connected in parallel between the 5 th and 6 th pins of U29, the 2 nd pin of U29 is connected in series with a R135 to a 3.3V power supply, and the 2 nd and 15 nd pins of U29 are connected in turn to the main control chip 43, Pins 44, pins 10, 9 and 7 of the U29 are sequentially connected with pins 1, 2 and 3 of a P6 connector, pins 1, 2 and 3 of the P6 connector are sequentially connected with resistors R140, R141 and R142 in series to a pin 13 of the U29, a pin 8 of the U30 is connected with a 5V power supply under the filtering of a capacitor C156, a pin 5 of the U30 is connected with a power supply ground, and a pin 7 of the U30 is connected with a pin 18 of the main control chip; the 8 th and 17 th pins of a DRV11873PWPR chip with the part number of U31 are connected with a battery power ground, the 11 th pin of U31 is connected with the 3 rd and 4 th pins of a CC 6902-10A chip with the part number of U32 under the capacitive filtering of C159 and C161, the 1 st and 2 th pins of U32 are connected with the battery power supply, the 14 th pin of U31 is connected with a resistor in series to the power ground, the 12 th pin of U31 is connected with a 3.3V power supply under the capacitive filtering of C159, the 4 th pin of U31 is connected with a capacitor in series C157 to the battery power supply, a capacitor in parallel C158 is connected between the 5 th and 6 th pins of U31, a resistor R145 to a 3.3V power supply at the 2 nd pin 2 and 15 th pin of U31 is connected with the 45 th and 58 th pins of the main control chip in turn, the 10 th, 9 th and 7 th pins of the U31 are connected with the 1 th, 2 rd, 3 and 84 th pins of a P9 connector in turn, and the P84 are connected with the 1 st pin 3 and P463 in turn, R149 and R150 are connected to the 13 th pin of the U31, the 8 th pin of the U32 is connected with a 5V power supply under the filtering of a C160 capacitor, the 5 th pin of the U32 is connected with a power ground, and the 7 th pin of the U32 is connected with the 17 th pin of the main control chip.
9. The control circuit of the sweeper with AI voice interaction and visual positioning recharging as claimed in claim 1, wherein the core device of the main control circuit is STM32H743VIT6 chip U20, the 11 th, 27 th, 50 th, 75 th, 100 th, 6 th, 21 th pins of the STM32H743VIT6 chip U20 are sequentially connected with a 3.3V power supply under the filtering of C92, C93, C94, C95, C96, C99 capacitors, the 20 th pin of the STM32H743VIT6 chip U20 is connected with a power supply of U21V in series, the 10 th, 26 th, 74 th, 99 th, 49 th, 19 th pins of the STM32H743VIT6 chip U20 are connected with a power supply ground, the 48 th pin of the STM32H743VIT6 chip U20 is connected with a power supply in series with C118 capacitors to a power supply ground, the STM32H 743T 6 chip 20 is connected with a power supply in series, the power supply ground is connected with a power supply of the STM32H 743U 2, the power supply of the STM32H 2 chip V2 is connected with a power supply ground in series, the power supply of the STM32H 2 is connected with a power supply pin 2, and a power supply pin 2, a capacitor connected in parallel connection with a power supply pin 2, a chip 2, a resistor, y1 crystal oscillators are connected in parallel between the 8 th pin and the 9 th pin of the STM32H743VIT6 chip U20, the 8 th pin of the STM32H743VIT6 chip U20 is connected with a C7 capacitor in series to a power ground, and the 9 th pin of the STM32H743VIT6 chip U20 is connected with the C5 capacitor in series to the power ground.
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| CN114245270A (en) * | 2021-12-10 | 2022-03-25 | 深圳市中力能科技有限公司 | Automatic voice explanation intelligent earphone circuit for sightseeing of scenic spots |
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