CN113848948A

CN113848948A - Detection circuit and robot control circuit

Info

Publication number: CN113848948A
Application number: CN202111223336.0A
Authority: CN
Inventors: 许哲涛
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2021-10-20
Filing date: 2021-10-20
Publication date: 2021-12-28

Abstract

The application provides a detection circuitry and robot control circuit, including the acquisition unit, it is equipped with input and output, its input is as detection circuitry's input, its input is used for being connected with the output of extrusion sensor, be used for gathering the extrusion signal of extrusion sensor output, the recognition unit, it is equipped with input and output, its output is as detection circuitry's output, its input is connected with the output of acquisition unit, it is used for confirming that the extrusion sensor is in the extrusion state when confirming the amplitude of extrusion signal is in first preset range, confirm that the extrusion sensor is in not extrusion state when confirming the amplitude of extrusion signal is in second preset range, confirm that the extrusion sensor is in the damaged condition when confirming the amplitude of extrusion signal is in third preset range. The state that extrusion sensor was located can accurately be discerned to this application.

Description

Detection circuit and robot control circuit

Technical Field

The present application relates to, but is not limited to, the field of detection circuits and robot control circuits.

Background

The extrusion sensor is a sensor which can cause the electrical property parameter to change after being extruded and deformed, and can be used for collision detection of the robot. Therefore, the state detection of the squeeze sensor is important for the control of the robot.

Disclosure of Invention

The application provides a detection circuitry and robot control circuit, and the detection circuitry that provides can accurately discern that extrusion sensor is in which in extrusion state, not extrusion state and damage condition.

In a first aspect, the present application provides a detection circuit comprising:

the acquisition unit is provided with an input end and an output end, the input end of the acquisition unit is used as the input end of the detection circuit, and the input end of the acquisition unit is connected with the output end of the extrusion sensor and used for acquiring the extrusion signal output by the extrusion sensor;

the identification unit is provided with an input end and an output end, the output end of the identification unit is used as the output end of the detection circuit, the input end of the identification unit is connected with the output end of the acquisition unit, the identification unit is used for determining that the extrusion sensor is in an extrusion state when the amplitude of the extrusion signal is determined to be in a first preset range, determining that the extrusion sensor is in a non-extrusion state when the amplitude of the extrusion signal is determined to be in a second preset range, and determining that the extrusion sensor is in a damaged state when the amplitude of the extrusion signal is determined to be in a third preset range.

In one embodiment, the identification unit comprises:

the first state bit circuit is provided with an input end and an output end, the input end of the first state bit circuit is connected with the output end of the acquisition unit, and the first state bit circuit is used for generating a first state bit electric signal according to the amplitude of the extrusion signal and a first threshold value;

the second state bit circuit is provided with an input end and an output end, the input end of the second state bit circuit is connected with the output end of the acquisition unit, and the second state bit circuit is used for generating a second state bit electric signal according to the amplitude of the extrusion signal and a second threshold value;

the first threshold value is an upper boundary of a second preset range and a lower boundary of a third preset range, the second threshold value is an upper boundary of a first preset range and a lower boundary of a second preset range, the first state bit electric signal and the second state bit electric signal jointly represent the state of the extrusion sensor, and the state represents any one of an extrusion state, a non-extrusion state and a damage state.

In an embodiment, the identification unit further comprises:

the first voltage conversion circuit is provided with an input end, the input end of the first voltage conversion circuit is connected with the output end of the first state bit circuit, and the first voltage conversion circuit is used for performing voltage conversion on the first state bit electric signal;

and the second voltage conversion circuit is provided with an input end, the input end of the second voltage conversion circuit is connected with the output end of the second state bit circuit, and the second voltage conversion circuit is used for performing voltage conversion on the second state bit electric signal.

In one embodiment, the first status bit circuit includes:

a first reference circuit having an output for generating a first reference signal;

a first input resistor, a first end of which is used as an input end of the first state bit circuit;

the first comparator is provided with a first input end, a second input end and an output end, wherein the first input end of the first comparator is connected with the output end of the first reference circuit, the second input end of the first comparator is connected with the second end of the first input resistor, and the output end of the first comparator is used as the output end of the first state bit circuit;

wherein the amplitude of the first reference signal is a first threshold.

In one embodiment, the first reference circuit includes:

a first voltage dividing resistor, the first end of which is connected with a first power supply end;

and the first end of the second voltage-dividing resistor is connected with the second end of the first voltage-dividing resistor, and the second end of the second voltage-dividing resistor is grounded.

In one embodiment, the resistance values of the first and second voltage-dividing resistors are determined based on the voltage of the first power source terminal and the first threshold value.

In one embodiment, the second status bit circuit comprises:

a second reference circuit having an output for generating a second reference signal;

a first end of the second input resistor is used as an input end of the second state bit circuit;

the first comparator is provided with a first input end, a second input end and an output end, the first input end of the second comparator is connected with the second end of the second input resistor, the second input end of the second comparator is connected with the output end of the second reference circuit, and the output end of the second comparator is used as the output end of the second state bit circuit;

wherein the amplitude of the second reference signal is a second threshold.

In one embodiment, the second reference circuit includes:

a third voltage dividing resistor, a first end of which is connected with the first power end;

and the first end of the fourth voltage dividing resistor is connected with the second end of the third voltage dividing resistor, and the second end of the fourth voltage dividing resistor is grounded.

In one embodiment, the resistance values of the third voltage dividing resistor and the fourth voltage dividing resistor are determined according to the voltage of the first power source terminal and the second threshold value.

In one embodiment, the first voltage conversion circuit includes:

a first pull-up resistor, a first end of which is connected to a second power supply end;

the first transistor is provided with a control end, a first end and a second end, the control end is an input end of the first voltage conversion circuit, the first end of the first transistor is connected with the second end of the first pull-up resistor, and the second end of the first transistor is grounded;

a first end of the first pull-up resistor is connected with a first power supply end;

and the second transistor is provided with a control end, a first end and a second end, the control end of the second transistor is connected with the first end of the first transistor, the first end of the second transistor is connected with the second end of the second pull-up resistor, the first end of the second transistor is used as the output end of the first voltage conversion circuit, and the second end of the second transistor is grounded.

In one embodiment, the second voltage conversion circuit includes:

a first end of the third pull-up resistor is connected with a second power supply end;

a third transistor having a control terminal, a first terminal and a second terminal, wherein the control terminal is the input terminal of the second voltage conversion circuit, the first terminal is connected to the second terminal of the third pull-up resistor, and the second terminal is grounded;

a first end of the fourth pull-up resistor is connected with a second power supply end;

and the fourth transistor is provided with a control end, a first end and a second end, the control end of the fourth transistor is connected with the first end of the third transistor, the first end of the fourth transistor is connected with the second end of the fourth pull-up resistor, the first end of the fourth transistor is used as the output end of the second voltage conversion circuit, and the second end of the fourth transistor is grounded.

In one embodiment, the detection circuit further comprises:

and the isolation unit is provided with an input end and an output end, the input end of the isolation unit is connected with the output end of the acquisition unit, and the output end of the isolation unit is connected with the input end of the identification unit.

In one embodiment, the isolation unit includes: an operational amplifier and a feedback resistor;

the operational amplifier is provided with a first input end, a second input end and an output end, wherein the first input end is used as the input end of the isolation unit, the second input end is connected with the first end of the feedback resistor, and the output end is connected with the second end of the feedback resistor.

In one embodiment, the acquisition unit comprises:

a fifth voltage-dividing resistor, a first end of which is connected with the first power supply end;

and the first end of the sixth voltage-dividing resistor is connected with the second end of the fifth voltage-dividing resistor and then serves as the input end and the output end of the acquisition unit, and the second end of the sixth voltage-dividing resistor is grounded.

In a second aspect, the present application provides a robot control circuit comprising: the extrusion sensor and the controller are arranged on the periphery of the robot base, and the detection circuit is used for detecting the extrusion of the robot base;

the extrusion sensor is connected with the input end of the detection circuit, and the controller is connected with the output end of the detection circuit.

In one embodiment, the squeeze sensor is a safety edge.

In one embodiment, the controller is configured to generate an alarm message when the detection circuit determines that the crush sensor is in a damaged state.

The application provides a detection circuitry and robot control circuit, detection circuitry includes acquisition element and recognition cell, acquisition element's output is connected with recognition cell's input, acquisition element is used for gathering the extrusion signal of extrusion sensor output, recognition cell is used for according to the amplitude and the first scope of predetermineeing of extrusion signal, the second predetermines scope and the third and predetermines the scope and confirm that the extrusion sensor is in not extrusion state, which state in extrusion state and the damaged state, and then the controller of robot can be according to detection circuitry's state control robot walking, avoid the robot because of damaging with the barrier collision.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

Fig. 1 is a schematic structural diagram of a robot according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of a safety contact edge according to an embodiment of the present application;

fig. 3 is an equivalent circuit diagram of a safety contact edge according to an embodiment of the present application;

FIG. 4 is a schematic block diagram of a robot control circuit according to an embodiment of the present disclosure;

FIG. 5 is a schematic block diagram of a detection circuit provided in an embodiment of the present application;

FIG. 6 is a schematic block diagram of a detection circuit provided in another embodiment of the present application;

fig. 7 is a circuit diagram of a detection circuit according to another embodiment of the present application.

With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

As shown in fig. 1, a squeeze sensor 200 is generally installed around a base of the robot, and the squeeze sensor 200 is used to detect a collision of the robot.

The state of the pressing sensor 200 is any one of a pressed state, an uncompressed state, and a damaged state. The non-compressed state of the compression sensor 200 means that no external force is applied and no fracture occurs, and the electrical property parameter of the compression sensor 200 is an initial value when the compression sensor is not compressed. The crush sensor 200 is in a crushed state, which means that the crush sensor 200 is not broken and deformed by an external force, and an electrical property parameter of the crush sensor 200 is changed from an initial value, for example: the resistance value of the extrusion sensor 200 changes, and the output current and voltage of the extrusion sensor 200 change after being electrified. The broken state of the crush sensor 200 refers to a state in which the crush sensor 200 is broken. When the crush sensor 200 is in a broken state, the electrical property parameter is different from the initial value, and the electrical property parameter is different in the crushed state.

When the robot touches an obstacle, the robot is pressed by the obstacle, and the extrusion sensor 200 is deformed to cause the electrical property parameter to change. Whether the robot collides with an obstacle can be determined by detecting the change in the electrical property parameter of the crush sensor 200. Meanwhile, the electrical performance parameters of the extrusion sensor 200 in a damaged state are different from those in an extruded state and an un-extruded state, whether the extrusion sensor 200 is damaged or not can be determined by detecting the electrical performance parameters, and an alarm can be given in time when the extrusion sensor 200 is damaged.

As shown in fig. 2 and 3, the safety contact edge is also a squeeze sensor 200, which may be equivalent to a variable resistance resistor R0, the resistance of which changes when the safety contact edge is squeezed. In general, the resistance of the safety contact edge is reduced when the safety contact edge is pressed, and the resistance value of the safety contact edge is changed to infinity after the safety contact edge is broken. That is, if it is detected that the resistance value of the safety contact edge is relatively large, the safety contact edge cannot be accurately judged to be not extruded, whether the safety contact edge is in a fracture state needs to be further judged, and the safety contact edge cannot be extruded after the fracture is discharged.

The application aims to provide a detection circuit and a robot control circuit which can accurately detect the state of an extrusion sensor. The technical idea of the application is as follows: the detection circuit comprises an acquisition unit and an identification unit, wherein the acquisition unit is used for acquiring an extrusion signal of the extrusion sensor, a first preset range, a second preset range and a third preset range are set according to electrical performance parameters of the extrusion sensor in three states, and the identification unit determines the state of the extrusion sensor according to the three preset ranges and the amplitude of the extrusion signal. In addition, in order to realize the three-state recognition, a first state bit circuit and a second state bit circuit are arranged, a first state bit electric signal is generated by the first state bit circuit according to the amplitude of the extrusion signal and a first threshold value, a second state bit electric signal is generated by the second state bit circuit according to the amplitude of the extrusion signal and a second threshold value, and the state of the extrusion sensor is determined through the combination of the first state bit electric signal and the second state bit electric signal.

As shown in fig. 4, an embodiment of the present application provides a robot control circuit 1000, and the control circuit 1000 includes a pressing sensor 200, a detection circuit 100, and a controller 300.

The detection circuit 100 has an input end and an output end, the input end of the detection circuit 100 is connected to the squeeze sensor 200, and the output end of the detection circuit 100 is connected to the controller 300. The extrusion sensor 200 is located on the robot base, the extrusion sensor 200 is used for realizing obstacle collision detection, and the detection circuit 100 is used for acquiring extrusion signals output by the extrusion sensor 200 and accurately identifying three states of the extrusion sensor 200. The controller 300 is used for controlling the robot to walk according to the state of the extrusion sensor 200 output by the detection circuit 100.

In one embodiment, when the detection circuit 100 outputs that the squeeze sensor 200 is in a squeezed state, indicating that the robot collides with an obstacle, the controller 300 generates a steering command to cause the robot to change the walking direction to bypass the obstacle. When the detection circuit 100 outputs that the extrusion sensor 200 is in the non-extruded state, the control command can continue to generate the walking command to control the robot to walk along the direction of the previous moment. When the detection circuit 100 outputs that the squeeze sensor 200 is in a damaged state, the controller 300 generates alarm information and stops generating a walking command so that the robot is in place to wait for rescue.

As shown in fig. 5, an embodiment of the present application provides a detection circuit 100, where the detection circuit 100 can detect three states of a squeeze sensor 200, and the detection circuit 100 includes an acquisition unit 10 and an identification unit 20. Wherein the acquisition unit 10 is provided with an input and an output, and the identification unit 20 is provided with an input and an output. The input end of the acquisition unit 10 is used as the input end of the detection circuit 100, the output end of the identification unit 20 is used as the output end of the detection circuit 100, the input end of the acquisition unit 10 is used for being connected with the output end of the extrusion sensor 200, and the input end of the identification unit 20 is connected with the output end of the acquisition unit 10.

The collecting unit 10 is used for collecting the squeezing signal output by the squeezing sensor 200, and the identifying unit 20 is used for determining the state of the squeezing sensor 200 according to the squeezing signal output by the collecting unit 10. In order to recognize the three states of the crush sensor 200, a first preset range, a second preset range, and a third preset range are set according to electrical performance parameters of the crush sensor 200 in the three states. The recognition unit 20 determines that the compression sensor 200 is in the compression state when it is determined that the magnitude of the compression signal is within a first preset range, determines that the compression sensor 200 is in the non-compression state when it is determined that the magnitude of the compression signal is within a second preset range, and determines that the compression sensor 200 is in the damage state when it is determined that the magnitude of the compression signal is within a third preset range.

In an embodiment, any two of the first preset range, the second preset range and the third preset range are not overlapped, and the first preset range, the second preset range and the third preset range may be combined into a continuous range.

For example: the first predetermined range is [ a, b ], the second predetermined range is [ b, c), and the third predetermined range is [ c, d). Wherein a is more than b and more than c is more than d.

Through such setting, the state that the extrusion signal corresponds a plurality of extrusion sensors 200 can not appear, the state that the extrusion signal does not have the extrusion sensor 200 that corresponds can not appear yet to realize the accurate discernment to the extrusion sensor 200 state, when this detection circuitry 100 is applied to robot obstacle collision detection, can accurately discern whether collide the obstacle or whether be in the fault condition, walk with the control robot according to this testing result.

In the above technical solution, the detection circuit 100 includes an acquisition unit 10 and an identification unit 20, the acquisition unit 10 is configured to acquire the extrusion signal output by the extrusion sensor 200, determine a first preset range, a second preset range and a third preset range according to electrical performance parameters of the extrusion sensor 200 in three states, and the identification unit 20 compares the amplitude of the extrusion signal output by the acquisition unit 10 with the three preset ranges, and thereby determines which state of the extrusion sensor 200 is in an un-extruded state, an extruded state or the three states, so as to implement state identification of the extrusion sensor 200.

In one embodiment, referring to FIG. 6, the identification cell 20 includes a first status bit circuit 210 and a second status bit circuit 220.

The first status bit circuit 210 has an input terminal and an output terminal, and the second status bit circuit 220 has an input terminal and an output terminal. The input of the first status bit circuit 210 is connected to the output of the acquisition unit 10, and the input of the second status bit circuit 220 is also connected to the output of the acquisition unit 10. The first state bit circuit 210 is configured to generate a first state bit electrical signal S1 according to the magnitude of the squeeze signal and a first threshold, and the second state bit circuit 220 is configured to generate a second state bit electrical signal S2 according to the magnitude of the squeeze signal and a second threshold.

Wherein the first threshold is an upper boundary of the second preset range and a lower boundary of a third preset range, the second threshold is an upper boundary of the first preset range and a lower boundary of the second preset range, and the first status bit electrical signal S1 and the second status bit electrical signal S2 collectively represent a status of the squeeze sensor 200.

The first state bit electrical signal S1 includes a high level and a low level, and the second state bit electrical signal S2 also includes a high level and a low level. When both the first state bit electrical signal S1 and the second state bit electrical signal S2 are at a high level, they correspond to any one of a squeezed state, an unpushed state, and a damaged state. When the first state bit electrical signal S1 is high and the second state bit electrical signal S2 is low, it corresponds to any one of a squeezed state, an unpushed state and a damaged state. When the first state bit electrical signal S1 is low and the second state bit electrical signal S2 is high, the first state bit electrical signal corresponds to any one of a squeezed state, an unpushed state, and a damaged state. The combination of the high and low levels of the two state electrical signals and the corresponding relationship between the three states can be determined according to the electrical performance parameters of the squeeze sensor 200 in the three states.

When the squeeze sensor 200 is in different states, the squeeze signals output by the squeeze sensor 200 collected by the collecting unit 10 are different, the state bit signal output by the first state bit circuit 210 and the state bit signal output by the second state bit circuit 220 also form different combinations, the corresponding states of the squeeze sensor 200 are set to be different values according to the electrical performance parameters of the squeeze sensor 200, a mapping relation table is formed, and the states of the squeeze sensor 200 can be obtained by using a signal combination table look-up output by the two state bit circuits.

In the above technical solution, the identification unit 20 includes a first status bit circuit 210 and a second status bit circuit 220, both of which are connected to the acquisition unit 10 to generate corresponding status bit electrical signals according to the amplitude of the extrusion signal output by the acquisition unit 10 and the corresponding threshold, and the combination of the two status bit electrical signals can reflect that the extrusion sensor 200 is in one of the three states.

In one embodiment, the identification unit 20 further includes a first voltage conversion circuit 230 and a second voltage conversion circuit 240. The first voltage converting circuit 230 has an input terminal, and the second voltage converting circuit 240 also has an input terminal. The input terminal of the first voltage converting circuit 230 is connected to the output terminal of the first status bit circuit 210, the input terminal of the second voltage converting circuit 240 is connected to the output terminal of the second status bit circuit 220, the first voltage converting circuit 230 is configured to perform voltage conversion on the first status bit electrical signal S1, and the second voltage converting circuit 240 is configured to perform voltage conversion on the second status bit electrical signal S2.

In the above technical solution, by performing voltage conversion on two output signals of the status bit circuit, the electrical signal output by the detection unit can be converted to a suitable amplitude value, so as to be directly connected to an external circuit, for example: a controller 300 of the robot.

In an embodiment, with continuing reference to fig. 6, the detection circuit 100 further includes an isolation unit 30, the isolation unit 30 is provided with an input end and an output end, the input end of the isolation unit 30 is connected to the output end of the acquisition unit 10, and the output end of the isolation unit 30 is connected to the input end of the identification unit 20, so as to achieve electrical isolation between the acquisition unit 10 and the identification unit 20, avoid the instability of the circuit caused by the direct connection between the acquisition unit 10 and the identification unit 20, and improve the performance of the detection circuit 100.

As shown in fig. 7, an embodiment of the present application provides a detection circuit 100, the detection circuit 100 includes an acquisition unit 10, an isolation unit 30, and an identification unit 20, and the identification unit 20 includes a first status bit circuit 210, a second status bit circuit 220, a first voltage conversion circuit 230, and a second voltage conversion circuit 240.

The first status bit circuit 210 includes a first reference circuit 211, a first input resistor RI1, and a first comparator 212. The first reference circuit 211 has an output terminal, and the first comparator 212 has a first input terminal, a second input terminal, and an output terminal.

A first terminal of the first input resistor RI1 is used as an input terminal of the first status bit circuit 210, a first input terminal of the first comparator 212 is connected to an output terminal of the first reference circuit 211, a second input terminal of the first comparator 212 is connected to a second terminal of the first input resistor RI1, and an output terminal of the first comparator 212 is used as an output terminal of the first status bit circuit 210.

The first reference circuit 211 is configured to generate a first reference signal, wherein the amplitude of the first reference signal is a first threshold. The first comparator 212 is configured to compare the amplitude of the compression signal output by the acquisition unit 10 with a first threshold value to generate a first status bit electrical signal S1.

In one embodiment, the first input of the first comparator 212 is VIN +, the second input of the first comparator 212 is VIN-, the comparator outputs a low level when the magnitude of the squeeze signal is greater than the first threshold, and the comparator outputs a high level when the magnitude of the squeeze signal is less than the first threshold.

In one embodiment, the first reference circuit 211 includes a first voltage dividing resistor RV1 and a second voltage dividing resistor RV 2. A first terminal of the first voltage-dividing resistor RV1 is connected to the first power source terminal VSS1, a first terminal of the second voltage-dividing resistor RV2 is connected to a second terminal of the first voltage-dividing resistor RV1, and a second terminal of the second voltage-dividing resistor RV2 is grounded.

The resistance of the first voltage-dividing resistor RV1 and the resistance of the second voltage-dividing resistor RV2 are determined according to the voltage of the first power supply terminal VSS1 and the first threshold, so as to ensure that the amplitude of the first reference signal output by the first reference circuit 211 is the first threshold.

In one embodiment, the second status bit circuit 220 comprises a second reference circuit 221, a second input resistor RI2, and a second comparator 222. The second reference circuit 221 has an output terminal, and the second comparator 222 has a first input terminal, a second input terminal, and an output terminal.

A first terminal of the second input resistor RI2 is used as an input terminal of the second status bit circuit 220, a first input terminal of the second comparator 222 is connected to a second terminal of the second input resistor RI2, a second input terminal of the second comparator 222 is connected to an output terminal of the second reference circuit 221, and an output terminal of the second comparator 222 is used as an output terminal of the second status bit circuit 220.

The second reference circuit 221 is configured to generate a second reference signal, wherein the amplitude of the second reference signal is a second threshold. The second comparator 222 is configured to compare the amplitude of the compression signal output by the acquisition unit 10 with a second threshold value to generate a second status bit electrical signal S2.

In one embodiment, the first input of the second comparator 222 is VIN +, the second input of the second comparator 222 is VIN-, the comparator outputs a high level when the magnitude of the squeeze signal is greater than the second threshold, and the comparator outputs a low level when the magnitude of the squeeze signal is less than the second threshold.

The amplitude of the squeeze signal is minimized when the squeeze sensor 200 is in the squeezed state, centered when in the uncompressed state, and maximized when in the damaged state. The first threshold and the second threshold are determined according to the electrical performance parameter when the crush sensor 200 is in the crushed state, the non-crushed state, and the damaged state, such that the first threshold is used to distinguish between the crushed state and the damaged state of the crush sensor 200, and the second threshold is used to distinguish between the crushed state and the non-crushed state of the crush sensor 200.

Wherein the first threshold is greater than the second threshold. As shown in table 1, in the combination 1, when the first state bit electrical signal S1 is at a high level and the second state bit electrical signal S2 is at a high level, it indicates that the magnitude of the squeezing signal is smaller than the first threshold value and larger than the second threshold value, and the squeezing sensor 200 is in a non-squeezing state.

In the combination 2, when the first state bit electrical signal S1 is at a high level and the first state bit electrical signal S1 is at a low level, it indicates that the magnitude of the squeeze signal is less than the first threshold value and less than the second threshold value, and the squeeze sensor 200 is in a squeeze state.

In combination 3, when the first state bit electrical signal S1 is at a low level and the first state bit electrical signal S1 is at a high level, it indicates that the squeeze signal has an amplitude greater than the first threshold value and also greater than the second threshold value, and the squeeze sensor 200 is in a broken state.

TABLE 1 corresponding relationship between status bit electrical signal and safety edge touching status

Combination of	1	2	3
				S1	High level	High level	Low level of electricity
S2	High level	Low level of electricity	High level
				Safe edge touching state	Non-squeezed state	Squeezed state	State of breakage

In one embodiment, the second reference circuit 221 includes a third voltage dividing resistor RV3 and a fourth voltage dividing resistor RV 4. A first terminal of the third voltage dividing resistor RV3 is connected to the first power source terminal VSS1, a first terminal of the fourth voltage dividing resistor RV4 is connected to a second terminal of the third voltage dividing resistor RV3, and a second terminal of the fourth voltage dividing resistor RV4 is grounded.

The resistance of the third voltage dividing resistor RV3 and the resistance of the fourth voltage dividing resistor RV4 are determined according to the voltage of the first power source terminal VSS1 and the second threshold, so as to ensure that the amplitude of the second reference signal output by the second reference circuit 221 is the second threshold.

In one embodiment, the first voltage conversion circuit 230 includes a first pull-up resistor RL1, a first transistor NPN1, a second pull-up resistor RL2, and a second transistor NPN 2. The first transistor NPN1 and the second transistor NPN2 have a control terminal, a first terminal and a second terminal.

A control terminal of the first transistor NPN1 is an input terminal of the first voltage conversion circuit 230, a first terminal of the first transistor NPN1 is connected to the second terminal of the first pull-up resistor RL1, a second terminal of the first transistor NPN1 is grounded, and a first terminal of the first pull-up resistor RL1 is connected to the second power source terminal VSS 2.

A control terminal of the second transistor NPN2 is connected to the first terminal of the first transistor NPN1, a first terminal of the second transistor NPN2 is connected to the second terminal of the second pull-up resistor RL2, the first terminal of the second transistor NPN2 is used as the output terminal of the first voltage conversion circuit 230, and the second terminal of the second transistor NPN2 is grounded. A first terminal of the second pull-up resistor RL2 is connected to the second power source terminal VSS 2.

When the first state bit circuit 210 outputs a high level, the first transistor NPN1 is turned on, the first terminal of the first transistor NPN1 is pulled down to a low level, the second transistor NPN2 is turned off, the first terminal of the second transistor NPN2 is pulled up to a high level, and the magnitude of the high level is determined according to the voltage of the second power source terminal VSS2 and the resistance of the second pull-up resistor RL 2.

When the first state bit circuit 210 outputs a low level, the first transistor NPN1 is turned off, the first terminal of the first transistor NPN1 is pulled up to a high level, the second transistor NPN2 is turned on, and the first terminal of the second transistor NPN2 is pulled down to a low level.

In one embodiment, the second voltage conversion circuit 240 includes a third transistor NPN3, a fourth transistor NPN4, a third pull-up resistor RL3, and a fourth pull-up resistor RL 4. The third transistor NPN3 and the fourth transistor NPN4 have a control terminal, a first terminal and a second terminal.

A control terminal of the third transistor NPN3 is an input terminal of the second voltage conversion circuit 240, a first terminal of the third transistor NPN3 is connected to the second terminal of the third pull-up resistor RL3, a second terminal of the third transistor NPN3 is grounded, and a first terminal of the third pull-up resistor RL3 is connected to the second power terminal VSS 2.

A control terminal of the fourth transistor NPN4 is connected to the first terminal of the third transistor NPN3, a first terminal of the fourth transistor NPN4 is connected to the second terminal of the fourth pull-up resistor RL4, the first terminal of the fourth transistor NPN4 is used as the output terminal of the second voltage conversion circuit 240, and the second terminal of the fourth transistor NPN4 is grounded. A first terminal of the fourth pull-up resistor RL4 is connected to the second power source terminal VSS 2.

The working principle of the second voltage conversion unit is the same as that of the first voltage conversion unit, and is not described herein again.

In an embodiment, the isolation unit 30 includes an operational amplifier 301 and a feedback resistor RF, the operational amplifier 301 has a first input terminal, a second input terminal and an output terminal, the first input terminal of the operational amplifier 301 is used as the input terminal of the isolation unit 30, the second input terminal of the operational amplifier 301 is connected to the first terminal of the feedback resistor RF, and the output terminal of the operational amplifier 301 is connected to the second terminal of the feedback resistor RF. By so arranging that the isolation unit 30 has the characteristics that the input impedance tends to infinity, the output impedance is zero, and the amplification factor is 1, isolation between the acquisition unit 10 and the identification unit 20 can be achieved.

In one embodiment, the collecting unit 10 includes a fifth voltage dividing resistor RV5 and a sixth voltage dividing resistor RV 6. The first end of the fifth voltage-dividing resistor RV5 is connected to the first power terminal VSS1, the first end of the sixth voltage-dividing resistor RV6 is connected to the second end of the fifth voltage-dividing resistor RV5 and then serves as the input end and the output end of the acquisition unit 10, and the second end of the sixth voltage-dividing resistor RV6 is grounded.

When the collecting unit 10 is connected with the extrusion sensor 200, the extrusion sensor 200 is extruded to cause the electrical performance parameters to change, so that the equivalent impedance of the circuit formed by the collecting unit 10 and the extrusion sensor 200 changes, and the voltage signal of the output end of the collecting unit 10 changes, thereby realizing the collection of the extrusion signal of the extrusion sensor 200.

The working principle of the circuit shown in fig. 7 is illustrated below: the squeeze sensor 200 is a safety contact edge, which is equivalent to a resistance variable resistor. The safety contact edge has an equivalent resistance of 200 Ω when pressed without breaking, i.e. a resistance of 200 Ω in the pressed state. The safety contact edge has an equivalent resistance of 8.2k omega when not pressed and not broken, i.e. a resistance of 8.2k omega in the non-pressed state. When the safety contact edge is in a broken state, the equivalent resistance is infinite, namely, the resistance value is infinite in a damaged state.

The resistance values of the fifth voltage-dividing resistor RV5 and the sixth voltage-dividing resistor RV6 are determined in three states according to the safety contact edge. The resistance of the fifth voltage-dividing resistor RV5 is 7.6k Ω, and the resistance of the sixth voltage-dividing resistor RV6 is 100k Ω. The resistance value of the feedback resistor RF is set to 10k Ω. And the first power source terminal VSS1 is set to a voltage of 12V.

When the safety contact is in the squeeze state, the resistance is 200 Ω, the voltage at the first input terminal of the operational amplifier 301 is 0.3V, and correspondingly, the voltage at the output terminal of the operational amplifier 301 is also 0.3V. When the safety contact is in the uncompressed state, the resistance is 8.2k Ω, the voltage at the first input terminal of the operational amplifier 301 is 6V, and correspondingly, the voltage at the output terminal of the operational amplifier 301 is also 6V. When the safety contact is in a damaged state, the resistance is infinite, the voltage of the first input terminal of the operational amplifier 301 is 11.5V, and correspondingly, the voltage of the output terminal of the operational amplifier 301 is also 11.5V.

The resistance values of the voltage dividing resistors in the first reference circuit 211 and the second reference circuit 221 are determined according to the amplitude values of the extrusion signals output by the acquisition unit 10 when the safety contact edge is in different states. The resistance of the first voltage dividing resistor RV1 is 4.99K Ω, the resistance of the second voltage dividing resistor RV2 is 10K Ω, the resistance of the third voltage dividing resistor RV3 is 10K Ω, and the resistance of the fourth voltage dividing resistor RV4 is 4.99 Ω. And sets the resistance values of the first and second input resistors RI1 and RI2 to 1k Ω. The voltage of the second power source terminal VSS2 is 3.3V, and the resistance values of the first pull-up resistor RL1 to the fourth pull-up resistor RL4 are all 10k Ω.

A positive input terminal VIN + of the first comparator 212 is a first input terminal, and a negative input terminal VIN-of the first comparator 212 is a second input terminal. The positive input VIN + of the second comparator 222 is a first input, and the negative input VIN-of the second comparator 222 is a second input. The voltage output by the first reference circuit 211 is 8V, the voltage of the positive input terminal VIN + of the first comparator 212 is 8V, the voltage output by the second reference circuit 221 is 4V, and the negative input terminal VIN-of the second comparator 222 is 4V.

(1) When the safety contact is in the uncompressed state, the voltage at the output of the operational amplifier 301 is 6V. The voltage of the negative input terminal VIN-of the first comparator 212 is 6V, the voltage of the positive input terminal VIN + of the first comparator 212 is 8V, the voltage of the positive input terminal VIN + is greater than the voltage of the negative input terminal VIN-, and the first comparator 212 outputs a high level. The first transistor NPN1 is turned on, the first terminal of the first transistor NPN1 is pulled down to a low level, the second transistor NPN2 is turned off, and the second terminal of the second transistor NPN2 outputs a high level.

The voltage of the positive input terminal VIN + of the second comparator 222 is 6V, the voltage of the negative input terminal VIN-of the first comparator 212 is 4V, the voltage of the positive input terminal VIN + of the second comparator 222 is greater than the voltage of the negative input terminal VIN-, the second comparator 222 outputs a high level, the third transistor NPN3 is turned on, the first terminal of the third transistor NPN3 is pulled down to a low level, the fourth transistor NPN4 is turned off, and the second terminal of the fourth transistor NPN4 outputs a high level.

(2) When the safety contact edge is in a squeezed state, the voltage of the output end of the operational amplifier 301 is 0.3V, the voltage of the negative input end VIN-of the first comparator 212 is 0.3V, the voltage of the positive input end VIN + of the first comparator 212 is 8V, the voltage of the positive input end VIN + is greater than the voltage of the negative input end VIN-, the first comparator 212 outputs a high level, the first transistor NPN1 is turned on, the first end of the first transistor NPN1 is pulled down to a low level, the second transistor NPN2 is turned off, and the first end of the second transistor NPN2 outputs a high level.

The voltage of the positive input terminal VIN + of the second comparator 222 is 0.3V, the voltage of the negative input terminal VIN-of the second comparator 222 is 4V, the voltage of the positive input terminal VIN + of the second comparator 222 is smaller than the voltage of the negative input terminal VIN-, the second comparator 222 outputs a low level, the third transistor NPN3 is turned off, the first terminal of the third transistor NPN3 outputs a high level, the fourth transistor NPN4 is turned on, and the first terminal of the fourth transistor NPN4 outputs a low level.

(3) When the safety contact edge is in a damaged state, the voltage of the output end of the operational amplifier 301 is 11.5V, the voltage of the negative input end VIN-of the first comparator 212 is 11.5V, the voltage of the positive input end VIN + of the first comparator 212 is 8V, the voltage of the positive input end VIN + is smaller than the voltage of the negative input end VIN-, the first comparator 212 outputs a low level, the first transistor NPN1 is turned off, the first end of the first transistor NPN1 is pulled down to a high level, the second transistor NPN2 is turned on, and the first end of the second transistor NPN2 outputs a ground level.

The voltage of the positive input terminal VIN + of the second comparator 222 is 11.5V, the voltage of the negative input terminal VIN-of the second comparator 222 is 4V, the voltage of the positive input terminal VIN + of the second comparator 222 is greater than the voltage of the negative input terminal VIN-, the second comparator 222 outputs a high level, the third transistor NPN3 is turned on, the first terminal of the third transistor NPN3 outputs a low level, the fourth transistor NPN4 is turned off, and the second terminal of the fourth transistor NPN4 outputs a high level.

The controller 300 is provided with a first input/output end and a second input/output end, the first input/output end of the controller 300 is connected to the first voltage conversion circuit 230, the second input/output end of the controller 300 is connected to the second voltage conversion circuit 240, and when the processor detects that the first input/output end IO1 receives a high level and the second input/output end IO2 receives a high level, the controller 300 determines that the safety contact edge is in a non-extrusion state. When the processor detects that the first input/output end IO1 receives a high level and the second input/output end IO2 receives a low level, the controller 300 determines that the safety contact edge is in a squeezing state. When the controller 300 detects that the first input/output end IO1 receives a low level and the second input/output end IO2 receives a high level, the controller 300 determines that the safety contact edge is in a broken state.

In the above technical solution, the two voltage dividing resistor acquisition circuits are included to acquire the electrical property parameter change of the squeeze sensor 200 to output a squeeze signal, and the squeeze signal is input to the first status bit circuit 210 and the second status bit circuit 220 through the isolation unit 30, and the first status bit circuit 210 and the second status bit circuit 220 output two status bits for indicating the status of the squeeze sensor 200, so as to detect the status of the squeeze sensor 200.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A detection circuit, comprising:

the identification element, it is equipped with input and output, and its output does detection circuitry's output, its input with acquisition unit's output is connected, and it is used for confirming extrusion signal's amplitude is confirmed when first preset range extrusion sensor is in the extrusion state, is confirming extrusion signal's amplitude is confirmed when the second is preset the within range extrusion sensor is in not extrusion state, is confirming extrusion signal's amplitude is confirmed when the third is preset the within range extrusion sensor is in the damaged condition.

2. The detection circuit according to claim 1, wherein the identification unit includes:

the first threshold value is an upper boundary of the second preset range and a lower boundary of the third preset range, the second threshold value is an upper boundary of the first preset range and a lower boundary of the second preset range, the first state bit electric signal and the second state bit electric signal jointly represent a state of the extrusion sensor, and the state of the extrusion sensor is any one of an extrusion state, a non-extrusion state and a damage state.

3. The detection circuit of claim 2, wherein the identification unit further comprises:

4. The detection circuit of claim 2 or 3, wherein the first status bit circuit comprises:

a first comparator having a first input terminal, a second input terminal, and an output terminal, wherein the first input terminal is connected to the output terminal of the first reference circuit, the second input terminal is connected to the second terminal of the first input resistor, and the output terminal is used as the output terminal of the first status bit circuit;

wherein the amplitude of the first reference signal is the first threshold.

5. The detection circuit of claim 4, wherein the first reference circuit comprises:

6. The detection circuit according to claim 5, wherein the resistance value of the first voltage-dividing resistor and the resistance value of the second voltage-dividing resistor are determined in accordance with the voltage of the first power source terminal and the first threshold value.

7. The detection circuit of claim 2 or 3, wherein the second state bit circuit comprises:

a second input resistor, a first end of which is used as an input end of the second state bit circuit;

a second comparator having a first input terminal, a second input terminal, and an output terminal, wherein the first input terminal is connected to the second terminal of the second input resistor, the first input terminal is connected to the output terminal of the second reference circuit, and the output terminal is used as the output terminal of the second status bit circuit;

wherein the amplitude of the second reference signal is the second threshold.

8. The detection circuit of claim 7, wherein the second reference circuit comprises:

9. The detection circuit according to claim 8, wherein the resistance value of the third voltage dividing resistor and the resistance value of the fourth voltage dividing resistor are determined in accordance with the voltage of the first power source terminal and the second threshold value.

10. The detection circuit of claim 3, wherein the first voltage conversion circuit comprises:

the first transistor is provided with a control end, a first end and a second end, the control end is the input end of the first voltage conversion circuit, the first end of the first transistor is connected with the second end of the first pull-up resistor, and the second end of the first transistor is grounded;

a second pull-up resistor, a first end of which is connected with the second power supply end;

11. The detection circuit of claim 3, wherein the second voltage conversion circuit comprises:

a fourth pull-up resistor, a first end of which is connected to the second power supply end;

12. The detection circuit according to any one of claims 1 to 3, further comprising:

13. The detection circuit of claim 12, wherein the isolation unit comprises: an operational amplifier and a feedback resistor;

the operational amplifier is provided with a first input end, a second input end and an output end, wherein the first input end of the operational amplifier is used as the input end of the isolation unit, the second input end of the operational amplifier is connected with the first end of the feedback resistor, and the output end of the operational amplifier is connected with the second end of the feedback resistor.

14. The detection circuit of claim 1, wherein the acquisition unit comprises:

15. A robot control circuit, comprising: a squeeze sensor, a controller and a detection circuit as claimed in any one of claims 1 to 14 disposed around a base of the robot;

16. The robot control circuit of claim 15, wherein the squeeze sensor is a safety edge.

17. A robot control circuit according to claim 15 or 16, wherein the controller is configured to generate an alarm message when the detection circuit determines that the squeeze sensor is in a damaged state.