CN117883014A - Cleaning robot's identification circuit and cleaning robot - Google Patents
Cleaning robot's identification circuit and cleaning robot Download PDFInfo
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- CN117883014A CN117883014A CN202311665956.9A CN202311665956A CN117883014A CN 117883014 A CN117883014 A CN 117883014A CN 202311665956 A CN202311665956 A CN 202311665956A CN 117883014 A CN117883014 A CN 117883014A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 68
- 230000006854 communication Effects 0.000 claims description 55
- 238000004891 communication Methods 0.000 claims description 55
- 230000005669 field effect Effects 0.000 claims description 33
- 238000007599 discharging Methods 0.000 claims description 24
- 238000003032 molecular docking Methods 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 abstract description 9
- 239000003990 capacitor Substances 0.000 description 13
- 230000000875 corresponding effect Effects 0.000 description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 10
- 238000010586 diagram Methods 0.000 description 5
- 239000000428 dust Substances 0.000 description 4
- 101000972637 Homo sapiens Protein kintoun Proteins 0.000 description 1
- 101100136062 Mycobacterium tuberculosis (strain ATCC 25618 / H37Rv) PE10 gene Proteins 0.000 description 1
- 102100022660 Protein kintoun Human genes 0.000 description 1
- 230000007175 bidirectional communication Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 231100000817 safety factor Toxicity 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- 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
- A47L11/4002—Installations of electric equipment
-
- 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
- A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/022—Recharging of batteries
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/024—Emptying dust or waste liquid containers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/026—Refilling cleaning liquid containers
Landscapes
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The embodiment of the invention provides an identification circuit of a cleaning robot and the cleaning robot, and relates to the field of cleaning robots. The first conduction submodule and the second conduction submodule; the pole piece is respectively and electrically connected with the first conduction sub-module and the second conduction sub-module and is used for being in butt joint with the base station, and the electric signals of the base station are respectively input into the first conduction sub-module and the second conduction sub-module; the first conduction sub-module is electrically connected with the first input end of the main control module and is used for inputting a first electric signal to the main control module; the second conduction sub-module is electrically connected with the second input end of the main control module and is used for inputting a second electric signal to the main control module; the main control module is used for identifying the type of the base station according to the first electric signal and the second electric signal, and can accurately identify the type of the base station and ensure the stability of the identification circuit.
Description
Technical Field
The invention relates to the technical field of cleaning robots, in particular to an identification circuit of a cleaning robot and the cleaning robot.
Background
With the development of cleaning robot technology, the base station needs to provide more functions for the cleaning robot, and under the comprehensive consideration of safety factors, service life factors and the like, a plurality of base stations are arranged for one cleaning robot, so that the cleaning robot has a problem that a plurality of base station types are identified to be solved urgently.
Disclosure of Invention
The invention provides an identification circuit of a cleaning robot and the cleaning robot.
In a first aspect, the present invention provides an identification circuit of a cleaning robot, comprising: pole piece, conduction module and main control module, conduction module includes: the first conduction submodule and the second conduction submodule;
the pole piece is respectively and electrically connected with the first conduction sub-module and the second conduction sub-module, and is used for docking with a base station, and the electric signals of the base station are respectively input into the first conduction sub-module and the second conduction sub-module;
the first conduction sub-module is electrically connected with the first input end of the main control module and is used for inputting a first electric signal to the main control module;
the second conduction sub-module is electrically connected with the second input end of the main control module and is used for inputting a second electric signal to the main control module;
the main control module is used for identifying the type of the base station according to the first electric signal and the second electric signal.
In an embodiment, the main control module is further configured to determine that the type of the base station is a first preset type device if the first electrical signal and the second electrical signal both change from a first preset level to a second preset level; and if the first electric signal is unchanged and the second electric signal is changed from a first preset level to a second preset level, determining that the type of the base station is a second preset type device.
In an embodiment, the voltage corresponding to the electrical signal of the pole piece of the first preset type of device is higher than the voltage corresponding to the electrical signal of the pole piece of the second preset type of device.
In an embodiment, the identification circuit of the cleaning robot further includes: the charging and discharging module is electrically connected with the power supply;
and the main control module is used for controlling the charge and discharge module to receive the electric energy of the base station if the type of the base station is a first preset type device.
In an embodiment, the identification circuit of the cleaning robot further includes: a switching module and a communication module;
the communication module is electrically connected with the main control module;
the switching module is provided with a control end, a fixed input end and a first output end, the control end is electrically connected with the main control module, the fixed input end is electrically connected with the pole piece, and the first output end is electrically connected with the communication module or the charge-discharge module;
when the first output end is electrically connected with the communication module, the main control module controls the communication module and the pole piece to establish communication connection;
when the first output end is electrically connected with the charging and discharging module, the cleaning robot charges the base station or receives the electric energy of the base station through the charging and discharging module.
In an embodiment, the main control module is further configured to control the first output terminal to be electrically connected to the communication module when the type of the base station is a second preset type device;
the communication module is further used for sending a base station type query instruction to the base station through the pole piece and receiving base station type information fed back by the base station based on the base station type query instruction;
the main control module is further used for further determining base station equipment according to the base station type information.
In an embodiment, the main control module is configured to control the cleaning robot to charge the base station through the charging and discharging module if the base station device is further determined to be the device to be charged according to the base station type information; and if the base station equipment is further determined to be common equipment according to the base station type information, the base station is enabled to execute corresponding operation.
In an embodiment, the switching module comprises a relay comprising the control terminal, the fixed input terminal, and the first and second output terminals;
when the first output end is electrically connected with the communication module, the second output end is electrically connected with an idle port;
when the first output end is electrically connected with the charge-discharge module, the second output end is electrically connected with the charge-discharge module.
In an embodiment, the communication module includes a first field effect transistor, a gate of the first field effect transistor is electrically connected to the power supply, a drain of the first field effect transistor is electrically connected to the switching module, and a source of the first field effect transistor is electrically connected to the main control module.
In one embodiment, the first conduction submodule includes a voltage divider device and a first conduction device;
the control end of the first conduction device is electrically connected with the pole piece through the voltage dividing device, the input end of the first conduction device is electrically connected with the power supply, and the output end of the first conduction device is grounded;
the second conduction submodule comprises a second conduction device, the control end of the second conduction device is electrically connected with the pole piece, the input end of the second conduction device is electrically connected with the power supply, and the output end of the second conduction device is grounded.
In an embodiment, the first conducting device is a first triode, the base of the first triode is a control end of the first conducting device, the collector of the first triode is an input end of the first conducting device, and the emitter of the first triode is an output end of the first conducting device; or,
the first conducting device is a second field effect transistor, the gate of the second field effect transistor is the control end of the first conducting device, the drain of the second field effect transistor is the input end of the first conducting device, and the source of the second field effect transistor is the output end of the first conducting device.
In one embodiment, the second conducting device is a second triode; the base of the second triode is the control end of the second conducting device; the collector of the second triode is the input end of the second conduction device; the emitter of the second triode is the output end of the second conducting device; or,
the second conducting device is a third field effect transistor; the gate of the third field effect transistor is the control end of the second conducting device; the drain electrode of the third field effect transistor is the input end of the second conducting device; the source of the third field effect transistor is the output end of the second conducting device.
In one embodiment, the voltage dividing device includes: the device comprises a first resistor and a second resistor, wherein one end of the first resistor is electrically connected with the pole piece, one end of the second resistor and the control end of the first conducting device are both connected with the other end of the first resistor, and the other end of the second resistor is grounded.
In an embodiment, the second resistor has a resistance value smaller than that of the first resistor.
In a second aspect, the present invention provides a cleaning robot comprising the identification circuit of the cleaning robot provided in the first aspect.
According to the identification circuit of the cleaning robot, the main control module is respectively and electrically connected with the first conduction sub-module and the second conduction sub-module, after the pole piece of the base station is in butt joint with the pole piece of the identification circuit, the electric signals of the pole piece of the base station are respectively input into the first conduction sub-module and the second conduction sub-module, so that the first conduction sub-module and the second conduction sub-module respectively send corresponding first electric signals and second electric signals to the main control module, the main control chip determines the type of the base station based on whether the first electric signals and the second electric signals change, the type of the base station can be accurately identified, and the stability of the identification circuit is ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of an identification circuit of a cleaning robot according to an embodiment of the present disclosure;
fig. 2 is another schematic structural diagram of an identification circuit of a cleaning robot according to an embodiment of the present disclosure;
fig. 3 is another schematic structural diagram of an identification circuit of a cleaning robot according to an embodiment of the present disclosure;
fig. 4 is another schematic structural diagram of an identification circuit of a cleaning robot according to an embodiment of the present disclosure;
fig. 5 is another schematic structural diagram of an identification circuit of a cleaning robot according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, if the terms "upper", "lower", "inner", "outer", and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship in which the inventive product is conventionally put in use, it is merely for convenience of describing the present invention and simplifying the description, and it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus it should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, if any, are used merely for distinguishing between descriptions and not for indicating or implying a relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
In the present embodiment, the recognition circuit of the cleaning robot may be mounted on the cleaning robot having functions of water changing, dust collection, humidification, etc., without limitation. The cleaning robot may interface with a base station including a charging device and a non-charging device, for example, a dust collection tub, a water base station, a humidifier, etc. are all base stations.
Referring to fig. 1, the present embodiment provides an identification circuit of a cleaning robot, including: pole piece 108, conduction module 102 and main control module 103, conduction module 102 includes: a first conductive sub-module 1021, a second conductive sub-module 1022; the pole piece 108 is electrically connected to the first conducting submodule 1021 and the second conducting submodule 1022 respectively, and is used for docking with a base station (not shown), and inputting the electric signals of the base station into the first conducting submodule 1021 and the second conducting submodule 1022 respectively; the first conducting sub-module 1021 is electrically connected to the first input end of the main control module 103, and is configured to input a first electrical signal to the main control module 103; the second conducting sub-module 1022 is electrically connected to the second input end of the main control module 103, and is configured to input a second electrical signal to the main control module 103; the main control module 103 is configured to identify a type of the base station according to the first electrical signal and the second electrical signal.
In this embodiment, the base station may be a charging device or a non-charging device, the base station includes a pole piece, and the pole piece of the base station is in butt joint with a pole piece of an identification circuit of the cleaning robot. The main control module can comprise a main control chip which comprises a plurality of control pins, the main control chip is electrically connected with the conduction module, after the pole piece of the base station is in butt joint with the pole piece of the identification circuit, the electric signals of the pole piece of the base station are respectively input into the first conduction sub-module and the second conduction sub-module through the pole piece of the identification circuit, so that the first conduction sub-module and the second conduction sub-module respectively input corresponding first electric signals and second electric signals into the main control chip, and the main control chip can accurately identify the type of the base station and ensure the stability of the identification circuit based on whether the first electric signals and the second electric signals change or not.
When a first preset type device (a charging device, e.g., a dust collection base station) is docked with an identification circuit of the cleaning robot, the pole piece of the identification circuit has an input voltage (high voltage) of 24V, and when a second preset type device (a non-charging device, e.g., a water change base station or a humidifier) is docked, the pole piece of the identification circuit has an input voltage (low voltage) of 3.3V. When the identification circuit is not in butt joint with the base station, the first conduction sub-module and the second conduction sub-module input a first preset level (for example, a high level) to the main control module, and after the first preset type equipment or the second preset type equipment is in butt joint, the main control module identifies the type of the base station through the first conduction sub-module and the level input by the second conduction sub-module to the main control module.
In an embodiment, the master control module 103 is further configured to determine that the type of the base station is a first preset type device if the first electrical signal and the second electrical signal both change from a first preset level to a second preset level; and if the first electric signal is unchanged and the second electric signal is changed from a first preset level to a second preset level, determining that the type of the base station is a second preset type device.
For example, when the voltage input by the pole piece of the base station is a high voltage (24V), the level input by the first conduction submodule 1021 and the second conduction submodule 1022 to the main control module 103 is a second preset level (for example, a low level); when the voltage input by the pole piece of the base station is low voltage (3.3V), the level input by the first conduction sub-module 1021 to the main control module 103 is still a first preset level (e.g., high level), and the level input by the second conduction sub-module 1022 to the main control module 103 is a second preset level (e.g., low level), so that the type of the base station is accurately determined based on the changes of the levels input by the first conduction sub-module 1021 and the second conduction sub-module 1022 to the main control module 103.
It should be noted that, the voltage corresponding to the electrical signal of the pole piece of the first preset type device is higher than the voltage corresponding to the electrical signal of the pole piece of the second preset type device.
The first preset type device is a charging device, the voltage corresponding to the electric signal of the pole piece of the charging device is 24V, the second preset type device is a non-charging device, and the voltage corresponding to the electric signal of the pole piece of the non-charging device is 3.3V.
Referring to fig. 2, the recognition circuit of the cleaning robot further includes: a charge/discharge module 104 electrically connected to a power supply 105; the main control module 103 is configured to control the charge/discharge module 104 to receive the electric energy of the base station if the type of the base station is a first preset type device.
Thus, the base station can charge the cleaning robot, and the electric energy storage of the cleaning robot is improved.
Referring to fig. 3, the recognition circuit of the cleaning robot further includes: a switching module 106 and a communication module 107;
the communication module 107 is electrically connected with the main control module 103;
the switching module 106 has a control end, a fixed input end and a first output end, the control end is electrically connected with the main control module 103, the fixed input end is electrically connected with the pole piece 108, and the first output end is electrically connected with the communication module 107 or the charge-discharge module 104;
when the first output end is electrically connected with the communication module 107, the main control module 103 controls the communication module 107 and the pole piece 108 to establish communication connection;
when the first output end is electrically connected with the charging and discharging module 104, the cleaning robot charges the base station or receives the electric energy of the base station through the charging and discharging module 104.
In this embodiment, the switching module is a circuit switch of the charging and discharging module and the communication module, and defaults to that the pole piece of the identification circuit is electrically connected with the charging and discharging module through the switching module (the internal power supply can not supply power to the circuit in the no-power state of the cleaning robot, and at this time, the cleaning robot can be ensured to be charged after being docked with the base station), and when the type of the base station needs to be further determined, the pole piece of the identification circuit is electrically connected with the communication module through the switching module, and the charging and discharging module is closed.
It is to be added that the charging and discharging module and the communication module are switched through the switching module, so that the normal charging and discharging function of the cleaning robot can be guaranteed, and the pole piece can be switched to be connected with the communication module to serve as a communication line to realize single-line bidirectional communication between the base station and the cleaning robot.
In an embodiment, the main control module 103 is further configured to control the first output terminal to be electrically connected to the communication module 107 when the type of the base station is a second preset type device;
the communication module 107 is further configured to send a base station type query instruction to the base station through the pole piece 108, and receive base station type information fed back by the base station based on the base station type query instruction;
the master control module 103 is further configured to further determine a base station device according to the base station type information.
In this way, through the communication connection between the communication module and the base station, the cleaning robot can send a base station type query instruction to the base station through the pole piece of the identification circuit, after receiving the base station type query instruction, the base station generates base station type information according to the base station type query instruction, and sends the base station type information to the communication module through the communication connection, the communication module sends the base station type information to the main control module, and the main control module further determines base station equipment based on the received base station type information.
In an embodiment, the main control module 103 is configured to control the cleaning robot to charge the base station through the charging and discharging module if the base station device is further determined to be the device to be charged according to the base station type information; and if the base station equipment is further determined to be common equipment according to the base station type information, the base station is enabled to execute corresponding operation.
In this embodiment, the switching module is only electrically connected to the charging and discharging module or the communication module, the pole piece of the base station is in butt joint with the pole piece of the identification circuit of the cleaning robot, at this time, the switching module is electrically connected to the charging and discharging module, the main control module identifies the type of the base station as a first type device or a second type device through the first conduction sub-module and the level input to the main control module by the second conduction sub-module, the first type device can be a charging device, and the second type device can be a non-charging device; when the type of the base station is identified as the charging equipment, the switching module is continuously electrically connected with the charging and discharging module, and the cleaning robot receives the electric energy of the base station through the charging and discharging module; when the type of the base station is identified as non-charging equipment, the switching module is electrically connected with the communication module, the cleaning robot communicates with the base station, the main control module further determines base station equipment based on the received base station type information, and the base station equipment can be equipment to be charged or common equipment; when the base station equipment is determined to be equipment to be charged, the switching module is electrically connected with the charging and discharging module, and the cleaning robot charges the base station through the charging and discharging module; when the base station equipment is determined to be common equipment, the switching module is continuously electrically connected with the communication module, and the base station is enabled to execute corresponding operation according to the communication instruction of the cleaning robot.
In this embodiment, the base station type information may include a charging device, a device to be charged, and a common device, and based on the charging device, the device to be charged, and the common device, the operation of the cleaning robot to charge the base station, the operation of receiving electric energy of the base station, the water adding operation, the water draining operation, and the like may be implemented, which is not limited herein.
The charging equipment is one of a charging seat, a dust collection barrel and a cleaning base station, the equipment to be charged is a water changing base station, and the common equipment is one of an air purifier, a humidifier, a dehumidifier and a water processor.
For example, when the base station device is determined to be a water exchange base station (device to be charged) by the communication module 107, the control switching module is electrically connected with the charging and discharging module 104, and the cleaning robot charges the water exchange base station by the charging and discharging module 104. When the communication module 107 determines that the base station apparatus is a humidifier (normal apparatus), the operation of adding water to the humidifier is continued through the communication module 107.
Referring to fig. 4 to 5, the intercept point A1 of fig. 4 is electrically connected with the intercept point B1 of fig. 5, thereby forming an identification circuit of the completed cleaning robot. The following is a description with reference to fig. 4-5.
Referring to fig. 4, the connector J10 is used for being connected with the pole piece 108, the pole piece 108 includes a first electrode piece and a second electrode piece, the pin 1 of the connector J10 is connected with the first electrode piece, the pin 2 is connected with the second electrode piece, the pin 2 of the connector J10 is further grounded, the pin 1 of the connector J10 is further connected with a first end of the thermistor F3, and a second end of the thermistor F3 is respectively connected with the first conduction submodule and the second conduction submodule. Both the pin 3 and the pin 4 of the connector J10 are grounded, the first end of the thermistor F3 is also connected to the first end of the first diode TVS1, and the second end of the first diode TVS1 is grounded.
Referring to fig. 4, the first turn-on submodule 1021 includes a voltage divider device 10211 and a first turn-on device Q16;
the control end of the first conducting device Q16 is electrically connected with a first electrode slice in the pole slices 108 through the voltage dividing device 10211; the input end of the first conducting device Q16 is electrically connected with the power supply VDD_3V3; the output end of the first conducting device Q16 is grounded;
the second conducting sub-module 1022 comprises a second conducting device T10, and a control end of the second conducting device T10 is electrically connected to the first electrode pad in the electrode pads 108; the input end of the second conduction device T10 is electrically connected with the power supply VDD_3V3; the output end of the second conducting device T10 is grounded.
In one embodiment, the first conducting device Q16 is a first triode; the base of the first triode is the control end of the first conducting device; the collector of the first triode is the input end of the first conducting device; the emitter of the first triode is the output end of the first conducting device; or,
the first conducting device Q16 is a first field effect transistor; the grid electrode of the first field effect transistor is the control end of the first conducting device; the drain electrode of the first field effect transistor is the input end of the first conducting device; the source of the first field effect transistor is the output end of the first conducting device.
Referring to fig. 4, the voltage dividing device includes: the first resistor R182 and the second resistor R191, wherein one end of the first resistor R182 is electrically connected with a first electrode plate in the electrode plate 108, one end of the second resistor R191 and the control end of the first conducting device Q16 are both connected with the other end of the first resistor R182, and the other end of the second resistor is grounded.
In fig. 4, the first conducting submodule 1021 further includes a first capacitor C139, where the first capacitor C139 is connected in parallel with the second resistor R191.
The first conducting sub-module further includes a third resistor R183, the input end of the first conducting device Q16 and the first end of the third resistor R183 are electrically connected to a first control pin PF13 of a main control chip (not shown), and the second end of the third resistor R183 is electrically connected to the power supply vdd_3v3.
By setting the resistance values of the first resistor R182 and the second resistor R191, the voltage can be divided accurately.
In an embodiment, the resistance of the second resistor R191 is smaller than the first resistor R182.
The first resistor R182 has a resistance of 200K and the second resistor R191 has a resistance of 15K.
In this way, most of the voltage is applied to the first resistor R182 to protect the first pass device Q16 from damage, and the voltage division of the second resistor R191 determines the pass voltage of the first pass device Q16.
The first resistor R182 and the second resistor R191 are used for dividing the voltage input by the first electrode plate in the electrode plate 108, so that when the voltage is low (3.3V), the second conducting device T10 is conducted, the first conducting device Q16 is not conducted, the resistance value of the first resistor R182 is larger than that of the second resistor R191, and the first conducting device Q16 can be accurately divided while not damaged when the voltage is high.
In an embodiment, the second conducting device T10 is a second triode; the base of the second triode is the control end of the second conducting device; the collector of the second triode is the input end of the second conduction device; the emitter of the second triode is the output end of the second conducting device; or,
the second conducting device T10 is a second field effect transistor; the grid electrode of the second field effect transistor is the control end of the second conducting device; the drain electrode of the second field effect transistor is the input end of the second conducting device; the source of the second field effect transistor is the output end of the second conducting device.
Referring to fig. 4 again, the second conductive sub-module further includes a fourth resistor R8967, a fifth resistor R8968, a sixth resistor R8966, a second capacitor C8546, and a zener diode D1, wherein the second end of the thermistor F3 is electrically connected to the first end of the fourth resistor R8967, the first end of the zener diode D1 is electrically connected to the second end of the fourth resistor R8967, and the second end of the zener diode D1 is grounded. The second capacitor C8546 is connected in parallel with the zener diode D1. The first end of the fifth resistor R8968 is electrically connected with the second end of the fourth resistor R8967, the second end of the fifth resistor R8968 is electrically connected with the control end of the second conducting device T10, the input end of the second conducting device T10 and the first end of the sixth resistor R8966 are both electrically connected with the second pin PF9 of the main control chip, and the second end of the sixth resistor R8966 is electrically connected with the power supply VDD_3V.
By the series connection of the fourth resistor R8967 and the zener diode D1, the second turn-on device T10 can be protected from damage at the time of high voltage input.
In an embodiment, the switching module 106 comprises a relay comprising the control terminal, the fixed input terminal, and the first and second output terminals;
when the first output end is electrically connected with the communication module, the second output end is electrically connected with an idle port;
when the first output end is electrically connected with the charge-discharge module, the second output end is electrically connected with the charge-discharge module.
It should be noted that, when the relay is connected with the charge-discharge module, the first output end and the second output end of the relay are connected with the charge-discharge module, so that the overcurrent capacity is increased, and the relay can bear larger current. When the relay is connected with the communication module, the first output end is communicated with the communication module, and the second output end is connected with the idle port.
Referring to fig. 5, the switching module includes a relay RLY1, where a third pin 3 and a sixth pin 6 of the relay RLY1 are fixed input ends, a first pin 1 and an eighth pin 8 of the relay RLY1 are control ends, a second pin 2 and a fourth pin 4 of the relay RLY1 are first output ends, the second pin 2 of the relay RLY1 is connected with the charge-discharge module 104, the fourth pin 4 of the relay RLY1 is connected with the communication module 107, a seventh pin 7 and a fifth pin 5 of the relay RLY1 are second output ends, the second pin 2 and the seventh pin 7 of the relay RLY1 are connected with the charge-discharge module 104, the fourth pin 4 is connected with the communication module 107, and the fifth pin 5 is connected with an idle port. When the third pin 3 and the second pin 2 of the relay RLY1 are electrically connected, and the sixth pin 6 and the seventh pin 7 are electrically connected, the relay RLY1 is electrically connected with the charge-discharge module 104, and when the third pin 3 and the fourth pin 4 of the relay RLY1 are electrically connected, and the sixth pin 6 and the fifth pin 5 are electrically connected, the relay RLY1 is electrically connected with the communication module 107. The connection point of the first pin 1 of the relay RLY1 and the cathode of the second diode D26 is electrically connected to the power supply vdd_5v, and the eighth pin 8 of the relay RLY1 is electrically connected to the anode of the second diode D26. The eighth pin 8 of the relay RLY1 is further electrically connected to the collector of the third triode Q243, the emitter of the third triode Q243 is grounded, the first end of the seventh resistor R848 is electrically connected to the base of the third triode Q243, the second end of the seventh resistor R848 is electrically connected to the third control pin PE7 of the main control chip (not shown), the first end of the eighth resistor R849 is electrically connected to the first end of the seventh resistor R848, and the second end of the eighth resistor R849 is grounded.
Referring to fig. 5 again, the communication module 107 includes a first fet T11, a gate of the first fet T11 is electrically connected to the power supply vdd_3v3, a drain of the first fet T11 is electrically connected to the switching module, and a source of the first fet T11 is electrically connected to the main control module 103.
It is further described that the drain electrode of the first fet T11 is electrically connected to the fourth pin 4 of the relay rliy 1, and the source electrode of the first fet T11 is electrically connected to the fourth control pin PE10 of the main control chip.
Like this, through setting up first field effect transistor T11, under the high pressure state, can prevent because software program problem leads to switching to communication module carelessly in the time of high voltage (24V), the control pin of the main control chip that communication module connects can be by the problem of high-pressure damage, carries out insurance at the hardware level to protect main control chip.
Referring to fig. 5 again, the charge-discharge module includes a ninth resistor R159, a third capacitor C114, a fourth capacitor C115, a fifth capacitor C116, a third diode D26, a second pin 2 and a seventh pin 7 of the relay rliy 1 are electrically connected to the cathode of the third diode D26, the first end of the third capacitor C114, the first end of the fourth capacitor C115, the first end of the ninth resistor R159 and the first end of the power supply vdd_24v, and the second end of the ninth resistor R159 and the first end of the fifth capacitor C116 are electrically connected; the anode of the third diode D26, the second end of the third capacitor C114, the second end of the fourth capacitor C115, and the second end of the fifth capacitor C116 are electrically connected to ground.
In summary, the embodiment of the invention provides an identification circuit of a cleaning robot, which is characterized in that a main control module is respectively and electrically connected with a first conduction sub-module and a second conduction sub-module, when a pole piece of a base station is in butt joint with a pole piece of the identification circuit, an electric signal of the pole piece of the base station is respectively input into the first conduction sub-module and the second conduction sub-module, so that the first conduction sub-module and the second conduction sub-module respectively send corresponding first electric signals and second electric signals to the main control module, the main control chip determines the type of the base station based on whether the first electric signals and the second electric signals change, the type of the base station can be accurately identified, the stability of the identification circuit is ensured, and the pole piece of the cleaning robot is in butt joint with the pole piece of the base station, so that the cleaning robot can charge the base station or receive electric energy of the base station, and single-wire communication of the base station and the cleaning robot can be realized.
Further, the present embodiment also improves a cleaning robot including the identification circuit of the cleaning robot improved in the above embodiment. The cleaning robot can realize the functions realized by the identification circuit of the cleaning robot in the above embodiments, and achieve the corresponding effects, so that repetition is avoided, and detailed description is omitted.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (15)
1. An identification circuit of a cleaning robot, comprising: pole piece, conduction module and main control module, conduction module includes: the first conduction submodule and the second conduction submodule;
the pole piece is respectively and electrically connected with the first conduction sub-module and the second conduction sub-module, and is used for docking with a base station, and the electric signals of the base station are respectively input into the first conduction sub-module and the second conduction sub-module;
the first conduction sub-module is electrically connected with the first input end of the main control module and is used for inputting a first electric signal to the main control module;
the second conduction sub-module is electrically connected with the second input end of the main control module and is used for inputting a second electric signal to the main control module;
the main control module is used for identifying the type of the base station according to the first electric signal and the second electric signal.
2. The identification circuit of claim 1, wherein the master control module is further configured to determine that the type of the base station is a first preset type device if the first electrical signal and the second electrical signal both change from a first preset level to a second preset level; and if the first electric signal is unchanged and the second electric signal is changed from a first preset level to a second preset level, determining that the type of the base station is a second preset type device.
3. The identification circuit of claim 2, wherein the electrical signal of the pole piece of the first predetermined type of device corresponds to a higher voltage than the electrical signal of the pole piece of the second predetermined type of device.
4. The identification circuit of claim 2, further comprising: the charging and discharging module is electrically connected with the power supply;
and the main control module is used for controlling the charge and discharge module to receive the electric energy of the base station if the type of the base station is a first preset type device.
5. The identification circuit of claim 4, further comprising: a switching module and a communication module;
the communication module is electrically connected with the main control module;
the switching module is provided with a control end, a fixed input end and a first output end, the control end is electrically connected with the main control module, the fixed input end is electrically connected with the pole piece, and the first output end is electrically connected with the communication module or the charge-discharge module;
when the first output end is electrically connected with the communication module, the main control module controls the communication module and the pole piece to establish communication connection;
when the first output end is electrically connected with the charging and discharging module, the cleaning robot charges the base station or receives the electric energy of the base station through the charging and discharging module.
6. The identification circuit of claim 5, further comprising:
the main control module is further used for controlling the first output end to be electrically connected with the communication module when the type of the base station is a second preset type device;
the communication module is further used for sending a base station type query instruction to the base station through the pole piece and receiving base station type information fed back by the base station based on the base station type query instruction;
the main control module is further used for further determining base station equipment according to the base station type information.
7. The identification circuit of claim 6, wherein the main control module is configured to control the cleaning robot to charge the base station through the charging and discharging module if the base station device is further determined to be a device to be charged according to the base station type information; and if the base station equipment is further determined to be common equipment according to the base station type information, the base station is enabled to execute corresponding operation.
8. The identification circuit of claim 5, wherein the switching module comprises a relay comprising the control terminal, the fixed input terminal, and the first and second output terminals;
when the first output end is electrically connected with the communication module, the second output end is electrically connected with an idle port;
when the first output end is electrically connected with the charge-discharge module, the second output end is electrically connected with the charge-discharge module.
9. The identification circuit of any one of claims 5-8, wherein the communication module comprises a first field effect transistor, a gate of the first field effect transistor is electrically connected to the power supply, a drain of the first field effect transistor is electrically connected to the switching module, and a source of the first field effect transistor is electrically connected to the master control module.
10. The identification circuit of any one of claims 4-8, wherein the first conduction submodule comprises a voltage divider device and a first conduction device, a control end of the first conduction device is electrically connected with the pole piece through the voltage divider device, an input end of the first conduction device is electrically connected with the power supply, and an output end of the first conduction device is grounded;
the second conduction submodule comprises a second conduction device, the control end of the second conduction device is electrically connected with the pole piece, the input end of the second conduction device is electrically connected with the power supply, and the output end of the second conduction device is grounded.
11. The identification circuit of claim 10, wherein the first pass device is a first transistor, a base of the first transistor is a control terminal of the first pass device, a collector of the first transistor is an input terminal of the first pass device, and an emitter of the first transistor is an output terminal of the first pass device;
or the first conducting device is a second field effect transistor, the gate of the second field effect transistor is the control end of the first conducting device, the drain of the second field effect transistor is the input end of the first conducting device, and the source of the second field effect transistor is the output end of the first conducting device.
12. The identification circuit of claim 10, wherein the second pass device is a second triode, a base of the second triode is a control terminal of the second pass device, a collector of the second triode is an input terminal of the second pass device, and an emitter of the second triode is an output terminal of the second pass device;
or the second conducting device is a third field effect transistor, the gate of the third field effect transistor is the control end of the second conducting device, the drain of the third field effect transistor is the input end of the second conducting device, and the source of the third field effect transistor is the output end of the second conducting device.
13. The identification circuit of claim 10, wherein the voltage divider device comprises: the device comprises a first resistor and a second resistor, wherein one end of the first resistor is electrically connected with the pole piece, one end of the second resistor and the control end of the first conducting device are both connected with the other end of the first resistor, and the other end of the second resistor is grounded.
14. The identification circuit of claim 13 wherein the second resistor has a smaller resistance than the first resistor.
15. A cleaning robot comprising the identification circuit of the cleaning robot according to any one of claims 1 to 14.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311665956.9A CN117883014A (en) | 2023-12-05 | 2023-12-05 | Cleaning robot's identification circuit and cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311665956.9A CN117883014A (en) | 2023-12-05 | 2023-12-05 | Cleaning robot's identification circuit and cleaning robot |
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| Publication Number | Publication Date |
|---|---|
| CN117883014A true CN117883014A (en) | 2024-04-16 |
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|---|---|---|---|
| CN202311665956.9A Pending CN117883014A (en) | 2023-12-05 | 2023-12-05 | Cleaning robot's identification circuit and cleaning robot |
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| Country | Link |
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| CN (1) | CN117883014A (en) |
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2023
- 2023-12-05 CN CN202311665956.9A patent/CN117883014A/en active Pending
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