CN114942248A - Signal processing system, method and cleaning equipment - Google Patents

Signal processing system, method and cleaning equipment Download PDF

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Publication number
CN114942248A
CN114942248A CN202210531533.7A CN202210531533A CN114942248A CN 114942248 A CN114942248 A CN 114942248A CN 202210531533 A CN202210531533 A CN 202210531533A CN 114942248 A CN114942248 A CN 114942248A
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signal
detection
signal processing
control
circuit
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Chinese (zh)
Inventor
许涛
柳志康
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Tineco Intelligent Technology Co Ltd
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Tineco Intelligent Technology Co Ltd
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Priority to CN202210531533.7A priority Critical patent/CN114942248A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/94—Investigating contamination, e.g. dust
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor

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  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Geophysics And Detection Of Objects (AREA)

Abstract

The embodiment of the application provides a signal processing system, a signal processing method and cleaning equipment. Wherein, signal processing system includes: the first signal processing circuit is connected with the control device and the detection device, filters and amplifies the control signal output by the control device, and inputs the control signal to the detection device; and the second signal processing circuit is connected with the control device and the detection device, and is used for filtering and amplifying the detection signal of the detection device and inputting the detection signal to the control device. The technical scheme provided by the embodiment of the application ensures that the detection device realizes effective and accurate detection.

Description

Signal processing system, method and cleaning equipment
Technical Field
The embodiment of the application relates to the technical field of signal processing, in particular to a signal processing system, a signal processing method and cleaning equipment.
Background
With the development of electronic technology, cleaning devices are more and more in types, such as intelligent cleaning machines, intelligent floor cleaning machines, floor sweeping robots and the like, and are more and more common in life.
During the use process of the cleaning device, the detection device is usually required to detect the external environment or the working condition and the like. Taking a floor washing machine as an example, for example, a dirt bucket is usually installed on the floor washing machine and used for storing dirt such as dust and dirty water sucked in the use process of the floor washing machine, and in the use process of the floor washing machine, the dirt in the dirt bucket needs to be detected to determine the dirt degree on the ground, and the dirt degree can be prompted to a user, etc.
In the prior art, a control device in the cleaning device is generally connected with a detection device, and a control signal is sent to the detection device to control the detection device to perform a detection operation and determine a detection result based on the detection signal. Therefore, how to ensure that the detection device realizes effective and accurate detection becomes a technical problem to be solved by those skilled in the art.
Disclosure of Invention
The embodiment of the application provides a signal processing system, a signal processing method and cleaning equipment, which are used for achieving the purpose of effectively and accurately detecting a detection device.
In a first aspect, an embodiment of the present application provides a signal processing system, including: the first signal processing circuit is connected with the control device and the detection device, filters and amplifies a control signal output by the control device, and inputs the control signal to the detection device;
and the second signal processing circuit is connected with the control device and the detection device, and is used for filtering and amplifying the detection signal of the detection device and inputting the detection signal to the control device.
Optionally, the first signal processing circuit comprises: the first filter circuit is connected with the control device and is used for performing analog-to-digital conversion and filtering processing on a control signal output by the control device;
and the first driving circuit is connected with the first filter circuit and the detection device, amplifies the control signal and outputs the control signal to the detection device.
Optionally, the first signal processing circuit comprises: and the first driving circuit is connected with the control device and the detection device, filters and amplifies the control signal, and outputs the control signal to the detection device.
Optionally, the first filter circuit comprises: the first filtering module is connected with the control device and is used for carrying out multistage filtering processing on the control signal output by the control device;
the first driving module is connected with the first filtering module and the first driving circuit and is used for amplifying and filtering the control signal;
optionally, the first filtering module includes: the circuit comprises a first resistor, a first capacitor, a second resistor, a second capacitor and a third resistor; the first end of the first resistor is connected with the control device, and the second end of the first resistor is connected with the first end of the first capacitor; the first end of the second resistor is connected with the second end of the first resistor, and the second end of the second resistor is connected with the first end of the second capacitor; the second end of the second capacitor is connected with the second end of the first capacitor and grounded; the first end is connected with the first driving module; the first end of the third resistor is connected with the first end of the second capacitor, and the second end of the third resistor is connected with the second end of the second capacitor; the first resistor and the first capacitor form primary filtration, and the second resistor and the second capacitor form secondary filtration.
Optionally, the first driving module comprises: the first operational amplification unit is connected with the first filtering module, and the first filtering unit is connected with the first operational amplification unit.
Optionally, the first driving circuit comprises: the second driving module is connected with the first filter circuit and is used for filtering and amplifying the control signal;
and the third driving module is connected with the second driving module and the detection device, and is used for filtering and amplifying the control signal and inputting the control signal to the detection device.
Optionally, the second driving module comprises: the second filtering unit is connected with the first filtering circuit, the second operational amplification unit is connected with the second filtering unit, and the third filtering unit is connected with the second operational amplification unit.
Optionally, the third driving module includes a first voltage division unit, and a triode whose base is connected to the first voltage division unit; the fourth filtering unit is connected with the emitting electrode of the triode; and the collector of the triode is connected with a power supply voltage.
Optionally, the second signal processing circuit comprises: the second driving circuit is connected with the detection device and is used for amplifying a detection signal of the detection device;
the second filter circuit is connected with the second drive circuit and is used for carrying out multistage filtering processing on the detection signal;
and the third driving circuit is connected with the second filter circuit and the control device, amplifies the detection signal and inputs the detection signal into the control device.
Optionally, the second driving circuit comprises: the operational amplifier circuit comprises a fifth filtering unit connected with the detection device and an operational amplifier following unit connected with the fifth filtering unit.
Optionally, the second signal processing circuit further comprises: and the voltage stabilizing circuit is connected with the third driving circuit and the control device and used for stabilizing the detection signal.
In a second aspect, an embodiment of the present application provides a cleaning apparatus, including an apparatus body, a control device disposed in the apparatus body, a signal processing system connected to the control device, and a detection device connected to the signal processing system;
the signal processing system includes: the first signal processing circuit is connected with the control device and the detection device, filters and amplifies a control signal output by the control device, and inputs the control signal to the detection device;
and the second signal processing circuit is connected with the control device and the detection device, and is used for filtering and amplifying the detection signal of the detection device and inputting the detection signal to the control device.
Optionally, the control device is configured to output a first control signal to the first signal processing circuit in response to a start instruction; judging whether a first detection signal fed back by the second signal processing circuit meets a calibration condition or not; if so, taking the first control signal as a target control signal; if not, adjusting the first control signal until the first detection signal meets the calibration condition; outputting the target control signal to the first signal processing circuit, and acquiring a target detection signal fed back by the second signal processing circuit; and determining the detection result of the detection device according to the difference information of the target detection signal and the target verification signal.
Optionally, the detection device comprises: the infrared transmitting assembly is connected with the first signal processing circuit, and the infrared receiving assembly is connected with the second signal processing circuit;
the control device specifically determines the degree of surface contamination according to the difference information between the target detection signal and the target verification signal.
In a third aspect, an embodiment of the present application provides a signal processing method in a cleaning device, where the cleaning device includes a device body, a control module controller disposed in the device body, a signal processing system connected to the control module controller, and a detection device connected to the signal processing system; the signal processing system comprises a first signal processing circuit connected with the detection device and a second signal processing circuit, and the method comprises the following steps: responding to a starting instruction, and outputting a first control signal to the first signal processing circuit; receiving a first detection signal fed back by the second signal processing circuit; judging whether the first detection signal meets a calibration condition or not; and taking the first control signal as a target control signal under the condition that the first detection signal meets the calibration condition, otherwise, adjusting the first control signal until the first detection signal meets the calibration condition.
Optionally, the method further comprises: outputting the target control signal to the first signal processing circuit; acquiring a target detection signal fed back by the second signal processing circuit; and determining the detection result of the detection device according to the difference information of the target detection signal and the target verification signal.
In the embodiment of the application, a signal processing system is provided, which comprises a first signal processing circuit and a second signal processing circuit connected with a control device and a detection device, wherein the first signal processing circuit filters and amplifies a control signal output by the control device and inputs the control signal to the detection device, the second signal processing circuit filters and amplifies a detection signal of the detection device and inputs the detection signal to the control device, the first signal processing circuit filters and amplifies the control signal output by the control device to obtain a stable control signal with driving capability, so that the detection device can effectively sense the control signal to execute detection operation, and then the second signal processing circuit filters and amplifies the detection signal of the detection device, the stable detection signal with the driving capability is obtained, so that the detection signal can be accurately transmitted to the control device, and the detection device is ensured to realize effective and accurate detection.
These and other aspects of the present application will be more readily apparent from the following description of the embodiments.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram illustrating an embodiment of a signal processing system provided herein;
FIG. 2 is a schematic diagram illustrating a signal processing system according to another embodiment of the present disclosure;
FIG. 3 is a schematic diagram illustrating an embodiment of a first filter circuit in the signal processing system provided in the present application;
FIG. 4 is a schematic diagram illustrating an embodiment of a first driving circuit in the signal processing system provided by the present application;
FIG. 5 is a schematic diagram illustrating one embodiment of a second signal processing circuit in the signal processing system provided herein;
FIG. 6 illustrates a schematic structural view of one embodiment of a cleaning apparatus provided herein;
fig. 7 shows a schematic structural diagram of an embodiment of a signal processing method provided in the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
In some of the flows described in the specification and claims of this application and in the above-described figures, a number of operations are included that occur in a particular order, but it should be clearly understood that these operations may be performed out of order or in parallel as they occur herein, the number of operations, e.g., 101, 102, etc., merely being used to distinguish between various operations, and the number itself does not represent any order of performance. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different messages, devices, modules, etc., and do not represent a sequential order, nor limit the types of "first" and "second" to be different.
The technical solution of the embodiment of the present application can be applied to cleaning equipment, such as cleaning equipment including a sweeping robot, a floor washing machine, a window cleaning robot, and the like, and certainly, the technical solution of the present application can also be applied to other electronic equipment which needs to use a detection device for detection and perform corresponding control based on a detection result, and is not limited to the cleaning equipment.
Taking a scene that cleaning equipment carries out dirty detection as an example, at present, often use infrared sensor to detect the dirty degree in the dirty bucket of cleaning equipment use in-process to this comes the dirty degree of characterization ground, and control device is through inputing the target control signal to infrared sensor to acquire the target detection signal that infrared sensor gathered and carry out dirty detection.
However, effective and accurate detection cannot be actually obtained by using the detection device, and the inventor researches and discovers that the control signal input into the detection device is not accurate enough and the detection signal obtained by the detection device often has the same problem due to the fact that the control device is easy to fluctuate in the transmission process and the driving capability of the control device is weak because the manufacturers and the production batches of the detection device are different, and the control devices input the uniform control signal, so that the detection effectiveness and the detection accuracy are finally influenced.
In order to improve the detection effectiveness and accuracy, the inventor provides a technical scheme of the present application through a series of researches, and an embodiment of the present application provides a signal processing system including: the first signal processing circuit is connected with the control device and the detection device, filters and amplifies the control signal output by the control device, and inputs the control signal to the detection device; and the second signal processing circuit is connected with the control device and the detection device, and is used for filtering and amplifying the detection signal of the detection device and inputting the detection signal to the control device. In the embodiment of the application, the control signal output by the control device is filtered and amplified by the first signal processing circuit to obtain a stable control signal with driving capability, so that the detection device can effectively sense the control signal to execute detection operation, and the detection signal of the detection device is filtered and amplified by the second signal processing circuit to obtain a stable detection signal with driving capability, so that the detection signal can be accurately transmitted to the control device, therefore, the embodiment of the application ensures that the detection device can realize effective and accurate detection, can avoid the influence of dirt and the production tolerance of the detection device on detection in the scene of dirt detection of the cleaning equipment, so that the cleaning equipment can accurately determine the dirt degree, thereby issuing an accurate instruction, for example, issuing a cleaning instruction to trigger the cleaning equipment to clean the ground, or the cleanliness prompting information can be generated and output according to the contamination degree so as to prompt the user, and the like.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a schematic structural diagram of an embodiment of a signal processing system according to an embodiment of the present disclosure, and as shown in fig. 1, the signal processing system may include: a first signal processing circuit 101 connected to the control device and the detection device, for filtering and amplifying the control signal output from the control device, and inputting the control signal to the detection device; and the second signal processing circuit 102 is connected with the control device and the detection device, and is used for filtering and amplifying the detection signal of the detection device and inputting the detection signal to the control device.
The control device may be a Micro Controller Unit (MCU) of the signal processing system, which is also called a Single Chip Microcomputer (Single Chip Microcomputer) or a Single Chip Microcomputer, and inputs a control signal to the first signal processing circuit of the signal processing system, and then receives a detection signal output by the second signal processing circuit.
The control device can perform corresponding processing operation according to the detection signal input by the detection device. In practical application, because manufacturers and production batches of the detection devices may be different, so that differences exist among different detection devices, when the control device is started, the detection device may be calibrated to determine the target control signal, and then the detection device may be controlled to perform detection according to the target control signal, and a detection result may be obtained according to the corresponding detection signal.
Wherein the cleaning device may be: a floor cleaning machine, a window cleaning robot, a floor sweeping robot, etc. generally, a cleaning device may include a detection device, a control device, a cleaning device, a battery, etc. as will be described in the following embodiments. In this embodiment, the signal processing system is connected between the detection device and the control device, the first signal processing circuit of the signal processing system filters and amplifies the control signal input by the control device and inputs the filtered and amplified control signal to the detection device, and then the detection signal of the detection device is input to the control device after being filtered and amplified.
The detection device may be, for example, an infrared sensor, a laser radar, or the like. The infrared sensor can be used for dirt detection, and the laser radar can be used for detecting obstacles and the like. Wherein, the infrared sensor can be composed of a pair of infrared emission components and infrared receiving components which are respectively connected with a control device in the cleaning equipment. The control device can input a target control signal to the infrared emission assembly to control the infrared emission assembly to emit an infrared signal, the infrared receiving assembly senses the infrared signal and generates a target detection signal to be input to the control device, and the control device can determine the dirt degree according to the difference between the target detection signal and the target verification signal, wherein the target verification signal of the target control signal can be obtained by calibration in advance, and the details are described in the following embodiments.
In this embodiment, the control signal output by the control device is filtered and amplified by the first signal processing circuit, and the control signal is input to the detection device, the detection signal of the detection device is filtered and amplified by the second signal processing circuit, and the detection signal is input to the control device, the control signal output by the control device is filtered and amplified by the first signal processing circuit, so as to obtain a stable control signal with driving capability, and the detection signal of the detection device is filtered and amplified by the second signal processing circuit, so as to obtain a stable detection signal with driving capability, thereby ensuring that the detection device can realize effective and accurate detection and the control device can receive the stable detection signal.
Since the control device may or may not have an analog-to-digital conversion function in practical applications, as another embodiment, in the signal processing system shown in fig. 2, the first signal processing circuit 101 may include: a first filter circuit 201 connected to the control device, for performing analog-to-digital conversion and filtering processing on the control signal output by the control device; and a first driving circuit 202 connected to the first filter circuit 201 and the detection device, for amplifying the control signal and outputting the amplified control signal to the detection device.
The control signal output by the control device may be a PWM (Pulse width modulation) wave, and the first filter circuit may convert the PWM wave output by the control device from an analog signal to a digital signal, and perform filtering processing to filter the PWM wave into a stable voltage signal. The first driving circuit may further amplify the control signal and output the amplified control signal to the detection device, so that the detection device may be finally driven by a stable dc signal with driving capability.
As another embodiment, as shown in fig. 2, the first filter circuit may include: a first filtering module 2011 connected to the control device and configured to perform multi-stage filtering on the control signal output by the control device; and a first driving module 2012 connected to the first filtering module 2011 and the first driving circuit, for amplifying and filtering the control signal.
The multi-stage filtering processing in the first filtering module can be, for example, two-stage filtering processing, so that the problems of unclean first-stage filtering and large cost of filtering more than two stages are solved, the control signal is input into the first driving module after being subjected to the two-stage filtering processing of the first filtering module, the processed control signal is amplified by the first driving module, and other signals are filtered through the filtering processing after being amplified.
As an alternative implementation manner, the first filtering module may be implemented as a circuit structure shown in fig. 3, and as shown in fig. 3, the first filtering module may include: a first resistor R126, a first capacitor C89, a second resistor R125, a second capacitor C88, and a third resistor R128; a first end of the first resistor R126 is connected with the control device, and a second end is connected with a first end of the first capacitor C89; a first end of the second resistor R125 is connected to a second end of the first resistor R126, and a second end is connected to a first end of the second capacitor C88; the second end of the second capacitor C88 is connected with the second end of the first capacitor C89 and grounded; the first end is connected with the first driving module; a first end of the third resistor R128 is connected to a first end of the second capacitor C88, and a second end is connected to a second end of the second capacitor C88; the first resistor R126 and the first capacitor C89 form a first-stage filter, and the second resistor R125 and the second capacitor C88 form a second-stage filter.
In addition, the first filtering module may further include a first interface PWM _ DA3, where the first interface PWM _ DA3 is connected to the first end of the first resistor R126, and is used to connect the control signal output pin of the control device into the first filtering module.
The control signal output from the control device may be a PWM wave, which has a high frequency and is generally set to 10KHZ or higher. A first resistor R126, a second resistor R125 and a third resistor R128 in the first filtering module divide the voltage of the control signal, a first capacitor C89 and the first resistor R126 form a first-stage filtering, a second capacitor C88 and the second resistor R125 form a second-stage filtering, and the control signal is filtered into a stable direct-current voltage signal (hereinafter, briefly described as a voltage-stabilizing signal) after being filtered. The capacitance and resistance values in the first filter circuit can be determined according to a stable condition, wherein the stable condition can be, for example, that the filtering is a voltage-stabilizing signal, the voltage-stabilizing time is short, and the current flowing to the pin of the control device by the capacitance does not occur. To satisfy the stability condition, the circuit time constant may be selected to be the maximum of R126 × C89 and R125 × C88. In addition, in order to further reduce the voltage stabilization time, the circuit time constant may be set to 3RC (R126 × C89 or R125 × C88) to 5RC, and the value of RC may be determined according to the desired stabilization time period, for example, 3 seconds, and the circuit time constant, for example, 3 RC.
As an alternative implementation manner, the first driving module may be implemented as a circuit structure as shown in fig. 3, and as shown in fig. 3, the first driving module 2012 may include: a first operational amplifier unit 301 connected to the first filter module, and a first filter unit 302 connected to the first operational amplifier unit.
Wherein the first operational amplification unit may include: a first operational amplifier a1, a fourth resistor R122, and a fifth resistor R127; a non-inverting input end of the first operational amplifier a1 is connected to a first end of the third resistor R128, an inverting input end is connected to a first end of the fourth resistor R122, an output end is connected to a second end of the fourth resistor R122, a first end of the fifth resistor R127 is connected to a first end of the fourth resistor R122, and a second end is grounded; one of the power supply pins of the first operational amplifier A1 is connected to ground, and the other power supply pin is connected to a power supply.
The first filtering unit may include: a third capacitance C87; a first end of the third capacitor C87 is connected to a second end of the fifth resistor R127, and a second end is connected to a second end of the fourth resistor R122; the third capacitor C87 is used for filtering the control signal output from the first operational amplifier a 1.
The control signal is filtered by the first filtering module and is input to the non-inverting input end of a first operational amplifier A1 for signal amplification, and the amplification coefficient is A 1 After amplification, the control signal output from the first operational amplifier is further stabilized by filtering processing performed by the third capacitor C87 (1 + (R122/R127).
Optionally, the first operational amplification unit may further include: a fourth capacitance C90; the first end of the fourth capacitor C90 is connected with the pin of the first operational amplifier A1 connected with the power supply, and the second end is grounded. The power supply signal is filtered by a fourth capacitor C90.
Optionally, the first driving module may further include: an output terminal CTR _ HW; the output terminal CTR _ HW has a first end connected to the output end of the first operational amplifier a1 and a second end connected to the first driver circuit.
The control signal is amplified by the first operational amplifier a1 and outputted from the output terminal CTR _ HW, and the output terminal CTR _ HW has a certain driving capability under the action of the first operational amplifier a 1.
Further, the first driving module 2012 may further include: a measurement unit 303; the measurement unit may include a sixth resistor R121 and a second interface ADC _ DA 3; the first end of the sixth resistor R121 is connected to the output end of the first operational amplifier a1, and the second end is connected to the second interface ADC _ DA 3.
The second interface ADC _ DA3 may be connected to a measurement device such as an oscilloscope, and the sixth resistor R121 is used to limit current of the circuit, so as to prevent short circuit during testing.
The circuit diagram shown in fig. 3 is a schematic circuit structure diagram of the first filter circuit in practical application, and of course, the present application is not limited to the circuit structure shown in fig. 3.
As still another embodiment, as shown in fig. 2, the first driving circuit 202 may include: a second driving module 2021 connected to the first filter circuit, for filtering and amplifying the control signal; and a third driving module 2022 connected to the second driving module 2021 and the detecting device for filtering and amplifying the control signal and inputting the control signal to the detecting device.
After the control signal is output to the second driving module through the output terminal CTR _ HW, the second driving module filters the rest signals, amplifies the filtered control signal, inputs the processed control signal to the third driving module, filters the rest signals by the third driving module, and outputs the processed control signal to the control device through the amplification of the third driving module.
As an alternative implementation manner, the second driving module may be implemented as a circuit structure as shown in fig. 4, and as shown in fig. 4, the second driving module 2021 may include: a second filter unit 401 connected to the first filter circuit, a second operational amplifier unit 402 connected to the second filter unit 401, and a third filter unit 403 connected to the second operational amplifier unit.
Wherein the second filtering unit may include: a seventh resistor R25 and a fifth capacitor C20; the first end of the seventh resistor R25 is connected to the second end of the output terminal CTR _ HW, the second end is connected to the first end of the fifth capacitor C20, and the second end of the fifth capacitor C20 is grounded.
The second operational amplification unit may include: a second operational amplifier a2, an eighth resistor R31, and a ninth resistor R33; the non-inverting input end of the second operational amplifier A2 is connected to the first end of the fifth capacitor C20, the inverting input end is connected to the first end of the eighth resistor R31, and the output end is connected to the second end of the eighth resistor R31; a first end of the ninth resistor R33 is connected with a first end of the eighth resistor R31, and a second end is grounded; the power supply pins of the second operational amplifier a2 are connected to ground, one to the power supply.
The third filtering unit may include: a sixth capacitance C24; a first end of the sixth capacitor C24 is connected to a first end of the ninth resistor R33, and a second end is connected to a second end of the eighth resistor R31; the sixth capacitor C24 is used for filtering the control signal output from the second operational amplifier a 2.
After the control signal is finally converted into a voltage-stabilizing signal through the first filter circuit, the voltage-stabilizing signal is filtered through a fifth resistor C20 and input to the non-inverting input end of a second operational amplifier A2 for signal amplification, wherein the amplification coefficient is A 2 1+ (R31/R33), amplified, and then filtered by the sixth capacitor C26, so that the control signal output from the second operational amplifier a2 is further stabilized.
Optionally, the second operational amplification unit may further include: a seventh capacitance C16 and an eighth capacitance C18; the first end of the seventh capacitor C16 is connected with the pin of the second operational amplifier A2 connected with the power supply, and the second end is grounded; the first terminal of the eighth capacitor C18 is connected to the first terminal of the seventh capacitor C16, and the second terminal is connected to the second terminal of the eighth capacitor C18.
The seventh capacitor C16 and the eighth capacitor C18 filter the power supply signal, so that the loss of the circuit is reduced, and the utilization rate of the signal is improved.
As an alternative implementation manner, the third driving module may be implemented as, for example, a circuit structure as shown in fig. 4, and as shown in fig. 4, the third driving module 2022 may include a first voltage division unit 404, a transistor Q1 having a base connected to the first voltage division unit; and a fourth filtering unit 405 connected to the emitter of the transistor Q1; the collector of the triode Q1 is connected with the power supply voltage, and the emitter is connected with the detection device.
Wherein, the first voltage division unit may include: a tenth resistor R26 and an eleventh resistor R30; a first end of the tenth resistor R26 is connected to the output end of the second operational amplifier a2, and a second end is connected to the base of the transistor Q1; the eleventh resistor R30 has a first terminal connected to the second terminal of the tenth resistor R26, and a second terminal connected to ground.
The fourth filtering unit may include: a twelfth resistor R29 and a ninth capacitor C24; a first end of the twelfth resistor R29 is connected with the emitter of the triode Q1, and a second end is grounded; the first end of the ninth capacitor C24 is connected to the first end of the twelfth resistor R29, and the second end is connected to the second end of the twelfth resistor R29.
The tenth resistor R26 and the eleventh resistor R30 divide the voltage of the control signal output by the second operational amplifier A2 and act on the base of the triode Q1, the triode Q1 works in a saturation region through the amplification effect of the second operational amplifier A2, the voltage of the emitter of the triode Q1 minus the voltage of the base is equal to 0.7V, the triode Q1 in the circuit acts like a diode, the triode Q1 is different from the diode and plays a role in increasing the driving capability, the driving capability of the detection signal received by the detection device is increased through the triode Q1, and the situation that the control device cannot sense the detection signal is avoided through the increase of the driving capability.
In practical application, the detection device is an infrared sensor, when the detection device is composed of an infrared emission component and an infrared receiving component, an emitter electrode of the triode Q1 is connected with the infrared emission component, and the driving capability of a control signal is amplified by the triode Q1 and then is output to the infrared emission component through the emitter electrode of the triode Q1.
Optionally, the first voltage division unit may further include: a tenth capacitance C25; the tenth capacitor C25 has a first terminal connected to the second terminal of the tenth resistor R26, and a second terminal connected to ground. The tenth capacitor C25 acts as a filter for the control signal.
The circuit diagram shown in fig. 4 is a specific circuit structure diagram of the first driving circuit in a practical application, and of course, the present application is not limited to the circuit structure shown in fig. 4.
Further, in the case where the control device has an analog-to-digital conversion function, the first signal processing circuit may include only: and the first driving circuit is connected with the control device, amplifies the control signal and outputs the control signal to the detection device. The specific structural implementation of the first driving circuit can be shown in fig. 4, and will not be described repeatedly here.
Further, as still another embodiment, in the signal processing system shown in fig. 2, the second signal processing circuit may include: a second driving circuit 203 connected to the detection device for amplifying a detection signal of the detection device; a second filter circuit 204 connected to the second drive circuit 203 and configured to perform multistage filtering processing on the detection signal; and a third driving circuit 205 connected to the second filter circuit and the control device, for amplifying the detection signal and inputting the detection signal to the control device.
The second drive circuit amplifies the detection signal of the detection device, the detection signal is output to the second filter circuit after having certain driving capability, the second filter circuit filters the detection signal amplified by the second drive circuit and outputs the detection signal to the third drive circuit, finally the third drive circuit amplifies the detection signal filtered by the second filter circuit and outputs the detection signal to the control device, and the detection signal obtained by detection of the detection device can be stabilized through filtering and amplification processing and can be accurately sensed by the control device, so that effective and accurate detection is guaranteed.
As still another embodiment, as shown in fig. 2, the second signal processing circuit may further include: and a voltage stabilizing circuit 206 connected to the third driving circuit and the control device for stabilizing the detection signal.
Before the third driving circuit inputs the detection signal to the control device, the detection signal is firstly processed by the voltage stabilizing circuit, and the detection signal is stably output to the control device through the voltage stabilizing processing of the voltage stabilizing circuit.
As an alternative implementation, the second driving circuit may be implemented as the circuit structure shown in fig. 5, and as shown in fig. 5, the second driving circuit may include: a fifth filtering unit 501 connected with the detection device and an operational amplifier following unit 502 connected with the fifth filtering unit.
Wherein the fifth filtering unit may include: a thirteenth resistor R14 and a tenth capacitor C11; a first end of the thirteenth resistor R14 is connected with the infrared receiving component of the detection device, and a second end is grounded; a first terminal of the tenth capacitor C11 is connected to the first terminal of the thirteenth resistor, and a second terminal is connected to the second terminal of the thirteenth resistor.
The operational amplifier following unit may include: a third operational amplifier a 3; the non-inverting input end of the third operational amplifier is connected with the first end of a tenth capacitor C11, the inverting input end of the third operational amplifier is connected with the output end, and the output end of the third operational amplifier is connected with the second filter circuit; the power supply pins of the third operational amplifier a3 are connected to ground, and the other power supply pin is connected to a power supply.
After receiving the detection signal, the infrared receiving component of the detection device is divided by the thirteenth resistor R14 and filtered by the tenth capacitor C11, and then the detection signal is input to the non-inverting input terminal of the third operational amplifier A3, and the third operational amplifier A3 is used as a follower, and has the following characteristics of high input impedance, low output impedance, and 1: 1, the detection signal has a certain driving capability after passing through the third operational amplifier a 3.
Optionally, the operational amplifier following unit may further include: an eleventh capacitance C4 and a twelfth capacitance C7; the first end of the eleventh capacitor C4 is connected with the pin of the third operational amplifier A3 connected with the power supply, and the second end is grounded; a first end of the twelfth capacitor C7 is connected to a first end of the eleventh capacitor C4, and a second end is connected to a second end of the eleventh capacitor C7.
The eleventh capacitor C4 and the twelfth capacitor C7 filter the power supply signal, so that the loss of the circuit is reduced, and the utilization rate of the signal is improved.
As an alternative implementation, the second filter circuit may be implemented as a circuit structure shown in fig. 5, and as shown in fig. 5, the second filter circuit 204 may include: a sixth filter unit 503 connected to the second driving circuit, and a second voltage division unit 504 connected to the sixth filter unit 503.
Wherein, the sixth filtering unit may include: a fourteenth resistor R13, a thirteenth capacitor C13, a fifteenth resistor R16 and a fourteenth capacitor C14; a first end of the fourteenth resistor R13 is connected to the output end of the third operational amplifier A3, and a second end is connected to a first end of the thirteenth capacitor C13; a second terminal of the thirteenth capacitor C13 is grounded; a first end of the fifteenth resistor R16 is connected to the first end of the thirteenth capacitor C13, and a second end is connected to the first end of the fourteenth capacitor C14; a second terminal of the fourteenth capacitor C14 is connected to a second terminal of the thirteenth capacitor C13; the fourteenth resistor R13 and the thirteenth capacitor C13 form primary filtering, and the fifteenth resistor R16 and the fourteenth capacitor C14 form secondary filtering.
The second pressure division unit may include: a sixteenth resistor R19 and a seventeenth resistor R17; a first end of the sixteenth resistor R19 is connected to the first end of the fourteenth capacitor C14, and a second end is connected to the second end of the fourteenth capacitor C14; the seventeenth resistor R17 has a first terminal connected to the first terminal of the sixteenth resistor R19, and a second terminal connected to the third driving circuit.
After the detection signal is amplified by the second driving circuit, the detection signal is subjected to primary filtering by a fourteenth resistor R13 and a thirteenth capacitor C13 and secondary filtering by a fifteenth resistor R16 and a fourteenth capacitor C14, so that the waveform of the detection signal is smooth and stable, and the filtered detection signal is subjected to voltage division by a sixteenth resistor R19 and a 17 th resistor R17.
In practical applications, the infrared emitting module of the detection device needs to continuously emit an infrared signal with a fixed emission intensity to determine the infrared signal that can be received by the infrared receiving module in the absence of contamination, but during the process of receiving the infrared signal by the infrared receiving module, instant contamination may exist to cause the infrared signal received by the infrared receiving module to change, so that the waveform of the infrared signal received by the infrared receiving module is smoothed and stabilized through the first filtering of the fourteenth resistor R13 and the thirteenth capacitor C13 and the second filtering of the fifteenth resistor R16 and the fourteenth capacitor C14, and then the signal is input to the equidirectional input end of the fourth operational amplifier a4 through the seventeenth resistor R17, and the amplification factor a of the operational amplifier is 3 ＝1+(R21/R22)。
As an alternative implementation, the third driving circuit may be implemented as a circuit structure shown in fig. 5, and as shown in fig. 5, the third driving circuit 205 may include: a third operational amplifier 505 connected to the second filter circuit, and a seventh filter 506 connected to the third operational amplifier 505.
Wherein the third operational amplification unit may include: a fourth operational amplifier a4, an eighteenth resistor R22, and a nineteenth resistor R21; the non-inverting input end of the fourth operational amplifier A4 is connected with the second end of the seventeenth resistor R17, the inverting input end of the fourth operational amplifier A4 is connected with the first end of the eighteenth resistor R22, and the output end of the fourth operational amplifier A4 is connected with the control device; a second end of the eighteenth resistor R22 is grounded; a first end of the nineteenth resistor R21 is connected to a first end of the eighteenth resistor R22, and a second end is connected to the output end of the fourth operational amplifier a 4; one of the power supply pins of the fourth operational amplifier a4 is connected to ground, and the other power supply pin is connected to a power supply.
The seventh filtering unit may include: a fifteenth capacitance C17; the first end of the fifteenth capacitor C17 is connected to the first end of the nineteenth resistor R21, and the second end is connected to the second end of the nineteenth resistor R21.
The detection signal is divided and then input to the non-inverting input terminal of a fourth operational amplifier A4, and is amplified by a fourth operational amplifier A4, wherein the amplification coefficient is A 3 1+ (R21/R22), the fifteenth capacitor C17 filters the detection signal, and the amplified detection signal is input to the AD capture pin HW _ OUT _1 of the control device.
Optionally, the third operational amplification unit may further include: a sixteenth capacitor C12 and a twentieth resistor R15; a first end of the sixteenth capacitor C12 is connected to the non-inverting input end of the fourth operational amplifier a4, and a second end is grounded; the twentieth resistor R15 has a first terminal connected to the first terminal of the sixteenth capacitor C12, and a second terminal connected to the second terminal of the sixteenth capacitor C12.
Before the divided detection signal enters the fourth operational amplifier a4, the divided detection signal is filtered by the sixteenth capacitor C12 and the divided voltage of the twentieth resistor R15 and then input to the input terminal of the fourth operational amplifier a4, so as to filter the detection signal.
Optionally, the third operational amplification unit may further include: a seventeenth capacitor C21 and an eighteenth capacitor C22; a first end of the seventeenth capacitor C21 is connected with the pin of the fourth operational amplifier A4 connected with the power supply, and a second end is grounded; the eighteenth capacitor C22 has a first terminal connected to the first terminal of the seventeenth capacitor C21 and a second terminal connected to the second terminal of the eighteenth capacitor C22.
The seventeenth capacitor C21 and the eighteenth capacitor C22 filter the power supply signal, so that the loss of the circuit is reduced, and the utilization rate of the signal is improved.
As an alternative implementation, the voltage stabilizing circuit may be implemented as the circuit structure shown in fig. 5, and as shown in fig. 5, the voltage stabilizing circuit may include: a third voltage division unit 507 connected to the third driving circuit 205, an eighth filtering unit 508 connected to the third voltage division unit 507, and a zener diode DZ1 connected to the eighth filtering unit 508.
Wherein the third voltage division unit may include: a twenty-first resistor R18; the twenty-first resistor R18 has a first terminal connected to the output terminal of the fourth operational amplifier A4 and a second terminal connected to the control device.
The eighth filtering unit may include: a nineteenth capacitance C15; the nineteenth capacitor C15 has a first end connected to the second end of the twenty-first resistor R18 and the cathode of the zener diode DZ1, and a second end connected to the anode of the zener diode DZ 1.
The detection signal output from the fourth operational amplifier a4 is divided by the twenty-first resistor R18, filtered by the nineteenth capacitor C15, and regulated by the zener diode DZ1, and input to the AD acquisition pin HW _ OUT _1 of the control device, and the voltage output to the control device by the zener diode DZ1 does not exceed its operating voltage, for example, 3.3V (volts).
The circuit diagram shown in fig. 5 is a specific circuit structure diagram of the second signal processing circuit in a practical application, and of course, the present application is not limited thereto.
For easy understanding, the following description will be made by taking the detecting device as an infrared sensor, including an infrared emitting component and an infrared receiving component, and referring to the specific circuit structure of the signal processing system formed by fig. 3, fig. 4 and fig. 5, and describing the operating principle of the signal processing system, and the control device is connected to the signal processing system through the first interfaceThe PWM _ DA3 inputs the control signal into the first signal processing circuit, converts the control signal into a voltage signal through the first-stage filtering of the first resistor R126 and the first capacitor C89 and the second-stage filtering of the second resistor R125 and the second capacitor C88, and then divides the voltage through the third resistor R128 to ensure the normal operation of the first-stage filtering and the second-stage filtering; after being divided by the third resistor R128, the control signal is inputted to the non-inverting input terminal of the first operational amplifier A1 for amplification, the amplification factor of the first operational amplifier A1 is determined by the fourth resistor R122 and the fifth resistor R127, and the amplification factor is A 1 1+ (R122/R127); when the power supply supplies power to the first operational amplifier a1, the fourth capacitor C90 filters the power supply signal to prevent the interference of the power supply signal to the control signal, the control signal is amplified by the first operational amplifier a1, filtered by the third capacitor C87 to be a more stable control signal, and then output by the output terminal CTR _ HW, and the output terminal CTR _ HW also has a certain driving capability due to the effect of the first operational amplifier a 1; before the first operational amplifier a1 sends the amplified control signal to the output terminal CTR _ HW, an oscilloscope may be connected to the second interface ADC _ DA3 to measure the voltage through the current limitation of the sixth resistor R121.
The output terminal CTR _ HW outputs a control signal to the seventh resistor R25, and the control signal is divided by the seventh resistor R25 and filtered by the fifth capacitor C20, so that a more stable control signal is inputted to the non-inverting input terminal of the second operational amplifier a2 for amplification, the amplification factor of the second operational amplifier a2 is determined by the eighth resistor R31 and the ninth resistor R33, and the amplification factor is a 2 1+ (R31/R33), when the power supply supplies power to the second operational amplifier a2, the seventh capacitor C16 and the eighth capacitor C18 filter the power supply signal to prevent the power supply signal from interfering with the control signal; the control signal is amplified by the second operational amplifier A2 and then filtered by the sixth capacitor C26 to be a more stable control signal, and then the control signal is divided by the tenth resistor R26 and the eleventh resistor R30 and filtered by the tenth capacitor C25 and input to the base of the triode Q1, because of the amplification effect of the second operational amplifier A2, the triode Q1 works in the saturation region to play a role in increasing the driving capability, and the control signal is amplified by the triode Q1 and is sent by the emitter of the triode Q1The infrared signal is output to an infrared transmitting component of the infrared sensor through the voltage division of a twelfth resistor R29 and the filtering of a ninth capacitor C24, the infrared transmitting component transmits an infrared signal, and an infrared receiving component senses the infrared signal to obtain a detection signal.
The infrared receiving assembly inputs the detection signal into the second signal processing circuit, obtains a stable detection signal through the voltage division of a thirteenth resistor R13 and the filtering of a tenth capacitor C11, and then inputs the detection signal into the non-inverting input end of a third operational amplifier A3 for amplification; at this time, the third operational amplifier A3 is used as a follower, has the characteristics of high input impedance, low output impedance and one-to-one amplification, and the detection signal output from the output end of the third operational amplifier A3 has certain driving capability; when the power supply supplies power to the third operational amplifier A3, the eleventh capacitor C4 and the twelfth capacitor C7 filter the power supply signal to prevent the power supply signal from interfering with the control signal; after being amplified by the third operational amplifier A3, the detection signal is filtered into a more stable signal through the primary filtering of a fourteenth resistor R13 and a thirteenth capacitor C13 and the secondary filtering of a fifteenth resistor R16 and a fourteenth capacitor C14, and then the voltage of the sixteenth resistor R19 and a seventeenth resistor R17 is divided, so that the normal operation of the filtering is ensured; then, the detection signal is filtered through the voltage division of the twentieth resistor and the filtering of the sixteenth capacitor, the filtered detection signal is input to the non-inverting input end of a fourth operational amplifier A4 to be amplified, the amplification factor of the fourth operational amplifier A4 is determined by an eighteenth resistor R22 and a nineteenth resistor R21, and the amplification factor is A 3 1+ (R21/R22), when the power supply supplies power to the fourth operational amplifier a4, the seventeenth capacitor C21 and the eighteenth capacitor C22 filter the power supply signal to prevent the power supply signal from interfering with the control signal; the detection signal is amplified by a fourth operational amplifier A4, filtered by a fifteenth capacitor C17 to form a more stable detection signal, and then filtered by a voltage division stage nineteenth capacitor C15 of a twenty-first resistor R18 to enable the detection signal to be more stable; finally, the voltage of the AD acquisition pin HW _ OUT _1 input into the control device does not exceed the working voltage of the control device through the voltage stabilization of the voltage stabilizing diode DZ1And (4) pressing, such as 3.3V (volt), to complete the working step.
Fig. 6 is a schematic structural diagram of an embodiment of a cleaning apparatus provided in an embodiment of the present application, and as shown in fig. 6, the cleaning apparatus includes: the device comprises a device body 601, a control device 602 arranged in the device body 601, a signal processing system 603 connected with the control device 602, and a detection device 604 connected with the signal processing system 603;
wherein the signal processing system may include:
the first signal processing circuit is connected with the control device and the detection device, filters and amplifies a control signal output by the control device, and inputs the control signal to the detection device; and the second signal processing circuit is connected with the control device and the detection device, and is used for filtering and amplifying the detection signal of the detection device and inputting the detection signal to the control device.
The specific structure of the signal processing system may be described in detail in the corresponding embodiments, and will not be described repeatedly here.
As can be seen from the foregoing description, when the control device is started, the detection device may be calibrated to determine the target control signal, and then the detection device may be controlled to perform detection according to the target control signal, and obtain the detection result according to the corresponding detection signal.
Thus, as a further embodiment, the control device may be configured to output a first control signal to the first signal processing circuit in response to a start instruction; judging whether a first detection signal fed back by a second signal processing circuit meets a calibration condition or not; if so, taking the first control signal as a target control signal; if not, adjusting the first control signal until the first detection signal meets the calibration condition; outputting a target control signal to the first signal processing circuit, and acquiring a target detection signal fed back by the second signal processing circuit; and determining the detection result of the detection device according to the difference information of the target detection signal and the target verification signal.
The calibration condition may be, for example, that the first detection signal is the same as a target verification signal inside the control device, and the emission intensity of the control signal emitted by the control device is fixed through calibration processing, so that the detection result of the detection device may be determined according to difference information between a target detection signal corresponding to the target control signal and the target verification signal.
In the contamination detection scenario, the detection device may be, for example, an infrared sensor, and includes an infrared emitting component and an infrared receiving component, the control signal output by the control device may be specifically a PWM signal, the contamination detection is performed, the emission intensity of the infrared emitting component needs to be fixed, and the emission intensity of the infrared emission component needs to be fixed by adjusting the PWM duty ratio, and due to the difference of the infrared sensor supplier supplying products, the differences comprise the difference of the distances between infrared geminate transistors of different batches of sensors, the difference of the transparencies of plastic components, the difference of whether the infrared geminate transistors are rightly aligned or not, the difference of the sensitivities of the infrared geminate transistors for transmitting and receiving and the like, so that the infrared sensors supplied in different batches are difficult to use the same PWM duty ratio, therefore, the PWM duty cycle needs to be calibrated so that the PWM duty cycle is near the target regulation value.
In the case that the detection device is an infrared sensor, the control device responds to a start instruction to output a first control signal to the signal processing system, the first control signal can be an initial value of a preset PWM duty ratio, the signal processing system performs filtering and amplification processing on the first control signal to obtain a first control signal with stable driving capability, the first control signal is input to the infrared emission assembly to drive the infrared emission assembly to emit an infrared signal, the infrared reception assembly senses the infrared signal to obtain a first detection signal, the first detection signal is filtered and amplified by the second signal processing circuit to obtain a first detection signal with stable driving capability, the first detection signal is input to the control device, and the control device adjusts the PWM duty ratio according to whether the first detection signal meets a calibration condition, such as whether the voltage reaches a target voltage, for example, if the calibration condition is not met and the PWM duty ratio is less than the target voltage, the PWM duty ratio may be increased by 0.1%, and the PWM duty ratio may be decreased by 0.1% until the target voltage is reached, and the first control signal corresponding to the condition that the calibration condition is met is used as the target control signal, and the first detection signal corresponding to the condition that the target voltage is the target voltage may be used as the target verification signal. The control device may specifically determine the degree of soiling in the soiled bucket based on the information of the difference between the target detection signal and the target verification signal.
The control device can control the infrared sensor to detect based on the target control signal, compare the target detection signal obtained by detection with the target verification signal, and determine the detection result of the detection device based on the difference information, for example, when the detected object has dirt, the infrared signal can be shielded, so that the light intensity is weakened, the target detection signal is smaller in voltage compared with the target verification signal, and the dirt degree of the current detected object can be determined according to the dirt degree correspondingly configured according to different difference information.
In this embodiment, specific structures, functions, and the like of the control device, the signal processing system, and the detection device can be referred to the description in the above embodiments, and are not described herein again.
Fig. 7 is a flowchart of a signal processing method in a cleaning apparatus, which can be applied to the cleaning apparatus shown in fig. 6, and the cleaning apparatus includes an apparatus body, a control module controller disposed in the apparatus body, a signal processing system connected to the control module controller, and a detection device connected to the signal processing system; the signal processing system comprises a first signal processing circuit connected with the detection device and a second signal processing circuit, and the method comprises the following steps:
701: responding to a starting instruction, and outputting a first control signal to a first signal processing circuit;
702: receiving a first detection signal fed back by a second signal processing circuit;
703: judging whether the first detection signal meets a calibration condition or not;
704: and under the condition that the first detection signal meets the calibration condition, taking the first control signal as a target control signal, otherwise, adjusting the first control signal until the first detection signal meets the calibration condition.
After the calibration of the first control signal and the first detection signal is completed, the formal detection is started, and therefore, the method further includes:
705: outputting a target control signal to a first signal processing circuit;
706: acquiring a target detection signal fed back by the second signal processing circuit;
707: and determining the detection result of the detection device according to the difference information of the target detection signal and the target verification signal.
The specific implementation process of steps 701-707 can be described in the above embodiment, which is not described in detail in this embodiment of the present application.
In the embodiment of the application, after receiving a start instruction, the control device outputs a first control signal to the first signal processing circuit, and after processing by the first signal processing circuit, the detection device and the second signal processing circuit, the second signal processing circuit outputs the first detection signal to the control device, and the control device judges whether the first detection signal meets a calibration condition; when the first detection signal meets the calibration condition, the first detection signal is used as a target verification signal, the first control signal is used as a target control signal, otherwise, the first control signal is adjusted until the first detection signal meets the calibration condition, after the first control signal and the first detection signal are calibrated, the control device outputs the target control signal to the first signal processing circuit, the target detection signal fed back by the second signal processing circuit is obtained after the same processing is carried out on the first control signal and the first detection signal, the detection result of the detection device is determined according to the difference information of the target detection signal and the target verification signal, and therefore the detection device is guaranteed to achieve effective and accurate detection.
The technical scheme of the application is introduced in combination with the application scenario.
The application scene one:
the cleaning machine is provided with an infrared sensor for detecting dirt in the dirt barrel, the infrared sensor is composed of an infrared transmitting assembly and an infrared receiving assembly, the infrared transmitting assembly is connected with an MCU in the cleaning machine through a first signal processing circuit in a signal processing system, and the infrared receiving assembly is connected with the MCU in the cleaning machine through a second signal processing circuit in the signal processing system. When a user A wants to use the cleaning machine to clean a floor, a switch button in the cleaning machine is pressed, the MCU is powered on and started, the MCU sends out PMW waves according to an initial duty ratio to calibrate the infrared sensor, the PMW waves are filtered and amplified by the first signal processing circuit, and the infrared emission component is effectively driven under a stable signal with driving capability so as to emit infrared signals; the second signal processing circuit filters and amplifies the first detection signal of the infrared receiving component to obtain a stable signal with driving capability, the control device can accurately sense the detection signal, adjust the duty ratio according to whether the detection signal meets the calibration condition or not until the detection signal meeting the calibration condition is obtained, the calibration is completed, the PMW wave sent out at the moment can be used as a target control signal, the cleaning machine starts to be switched to a cleaning mode, the MCU drives the infrared emitting component through the first signal processing circuit according to the target control signal in the cleaning process, and judges the dirt degree of the dirt sucked into the dirt barrel according to the detection signal fed back by the infrared receiving component through the second signal processing circuit, so as to represent the dirt degree on the ground, and can generate and output corresponding cleanliness prompt information according to the dirt degree, for example, the light component presents a color corresponding to the dirt degree, the user A can determine the cleaning degree of the floor according to different colors; or other control instructions, such as cleaning instructions to trigger water spraying, sweeping, etc., may be issued according to the degree of contamination.
Application scenario two
The sweeping robot is provided with a laser radar for detecting obstacles, the laser radar comprises a laser transmitting end and a laser receiving end, the laser transmitting end is connected with an MCU (microprogrammed control unit) in the sweeping robot through a first signal processing circuit in a signal processing system, and the laser receiving end is connected with the MCU in the sweeping robot through a second signal processing circuit in the signal processing system. When a user B wants to use the sweeping robot to sweep the floor, a switch button in the sweeping robot is pressed, the MCU is powered on and started, the MCU sends out a PMW wave according to an initial duty ratio to calibrate the laser radar, the first signal processing circuit carries out filtering and amplification processing on the PMW wave, and a laser transmitting end is effectively driven under a stable signal with driving capability so as to transmit a laser signal; the second signal processing circuit filters and amplifies the first detection signal of the laser receiving end to obtain a stable signal with driving capability, the control device can accurately sense the detection signal, the duty ratio is adjusted according to whether the detection signal meets the calibration condition or not until the detection signal meeting the calibration condition is obtained, the calibration is completed, the PMW wave emitted at the moment can be used as a target control signal, the sweeping robot starts to switch to a moving mode, the MCU drives the laser emitting end through the first signal processing circuit according to the target control signal and judges whether obstacles exist around according to the detection signal fed back by the laser receiving end through the second signal processing circuit, and different control instructions such as left-turn, right-turn, forward moving, backward moving and the like are issued according to the obstacles at different positions.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims (17)

1. A signal processing system, comprising:
the first signal processing circuit is connected with the control device and the detection device, filters and amplifies a control signal output by the control device, and inputs the control signal to the detection device;
and the second signal processing circuit is connected with the control device and the detection device, and is used for filtering and amplifying the detection signal of the detection device and inputting the detection signal to the control device.
2. The system of claim 1, wherein the first signal processing circuit comprises:
the first filter circuit is connected with the control device and is used for performing analog-to-digital conversion and filtering processing on the control signal output by the control device;
and the first driving circuit is connected with the first filter circuit and the detection device, amplifies the control signal and outputs the amplified control signal to the detection device.
3. The system of claim 1, wherein the first signal processing circuit comprises:
and the first driving circuit is connected with the control device and the detection device, filters and amplifies the control signal, and outputs the control signal to the detection device.
4. The system of claim 2, wherein the first filtering circuit comprises:
the first filtering module is connected with the control device and is used for carrying out multistage filtering processing on the control signal output by the control device;
and the first driving module is connected with the first filtering module and the first driving circuit and is used for amplifying and filtering the control signal.
5. The system of claim 4, wherein the first filtering module comprises: the circuit comprises a first resistor, a first capacitor, a second resistor, a second capacitor and a third resistor;
the first end of the first resistor is connected with the control device, and the second end of the first resistor is connected with the first end of the first capacitor; the first end of the second resistor is connected with the second end of the first resistor, and the second end of the second resistor is connected with the first end of the second capacitor; the second end of the second capacitor is connected with the second end of the first capacitor and grounded; the first end is connected with the first driving module; the first end of the third resistor is connected with the first end of the second capacitor, and the second end of the third resistor is connected with the second end of the second capacitor;
the first resistor and the first capacitor form primary filtration, and the second resistor and the second capacitor form secondary filtration.
6. The system of claim 4, wherein the first drive module comprises: the first operational amplification unit is connected with the first filtering module, and the first filtering unit is connected with the first operational amplification unit.
7. The system of claim 2, wherein the first drive circuit comprises:
the second driving module is connected with the first filter circuit and is used for filtering and amplifying the control signal;
and the third driving module is connected with the second driving module and the detection device, and is used for filtering and amplifying the control signal and inputting the control signal to the detection device.
8. The system of claim 7, wherein the second drive module comprises:
the second filtering unit is connected with the first filtering circuit, the second operational amplification unit is connected with the second filtering unit, and the third filtering unit is connected with the second operational amplification unit.
9. The system of claim 7, wherein the third driving module comprises a first voltage division unit, a triode with a base connected with the first voltage division unit; the fourth filtering unit is connected with the emitting electrode of the triode; and the collector of the triode is connected with a power supply voltage.
10. The system of claim 1, wherein the second signal processing circuit comprises:
the second driving circuit is connected with the detection device and is used for amplifying a detection signal of the detection device;
the second filter circuit is connected with the second drive circuit and is used for carrying out multistage filtering processing on the detection signal;
and the third driving circuit is connected with the second filter circuit and the control device, amplifies the detection signal and inputs the detection signal into the control device.
11. The system of claim 10, wherein the second drive circuit comprises: the operational amplifier circuit comprises a fifth filtering unit connected with the detection device and an operational amplifier following unit connected with the fifth filtering unit.
12. The system of claim 10, wherein the second signal processing circuit further comprises:
and the voltage stabilizing circuit is connected with the third driving circuit and the control device and used for stabilizing the detection signal.
13. A cleaning device is characterized by comprising a device body, a control device arranged in the device body, a signal processing system connected with the control device, and a detection device connected with the signal processing system;
the signal processing system includes:
the first signal processing circuit is connected with the control device and the detection device, filters and amplifies a control signal output by the control device, and inputs the control signal to the detection device;
and the second signal processing circuit is connected with the control device and the detection device, and is used for filtering and amplifying the detection signal of the detection device and inputting the detection signal to the control device.
14. The apparatus of claim 13, wherein:
the control device is used for responding to a starting instruction and outputting a first control signal to the first signal processing circuit; judging whether a first detection signal fed back by the second signal processing circuit meets a calibration condition or not; if yes, taking the first control signal as a target control signal; if not, adjusting the first control signal until the first detection signal meets the calibration condition; outputting the target control signal to the first signal processing circuit, and acquiring a target detection signal fed back by the second signal processing circuit; and determining the detection result of the detection device according to the difference information of the target detection signal and the target verification signal.
15. The apparatus of claim 13, wherein: the detection device includes:
the infrared transmitting assembly is connected with the first signal processing circuit, and the infrared receiving assembly is connected with the second signal processing circuit;
the control device specifically determines the degree of surface contamination according to the difference information between the target detection signal and the target verification signal.
16. A signal processing method in a cleaning device is characterized in that the cleaning device comprises a device body, a control module controller arranged in the device body, a signal processing system connected with the control module controller, and a detection device connected with the signal processing system; the signal processing system comprises a first signal processing circuit connected with the detection device and a second signal processing circuit, and the method comprises the following steps:
responding to a starting instruction, and outputting a first control signal to the first signal processing circuit;
receiving a first detection signal fed back by the second signal processing circuit;
judging whether the first detection signal meets a calibration condition or not;
and taking the first control signal as a target control signal under the condition that the first detection signal meets the calibration condition, otherwise, adjusting the first control signal until the first detection signal meets the calibration condition.
17. The method of claim 16, wherein: the method further comprises the following steps:
outputting the target control signal to the first signal processing circuit;
acquiring a target detection signal fed back by the second signal processing circuit;
and determining the detection result of the detection device according to the difference information of the target detection signal and the target verification signal.
CN202210531533.7A 2022-05-16 2022-05-16 Signal processing system, method and cleaning equipment Pending CN114942248A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210531533.7A CN114942248A (en) 2022-05-16 2022-05-16 Signal processing system, method and cleaning equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210531533.7A CN114942248A (en) 2022-05-16 2022-05-16 Signal processing system, method and cleaning equipment

Publications (1)

Publication Number Publication Date
CN114942248A true CN114942248A (en) 2022-08-26

Family

ID=82907531

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210531533.7A Pending CN114942248A (en) 2022-05-16 2022-05-16 Signal processing system, method and cleaning equipment

Country Status (1)

Country Link
CN (1) CN114942248A (en)

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