CN211130887U - Floor sweeping robot and intelligent home system - Google Patents
Floor sweeping robot and intelligent home system Download PDFInfo
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- CN211130887U CN211130887U CN201921973453.7U CN201921973453U CN211130887U CN 211130887 U CN211130887 U CN 211130887U CN 201921973453 U CN201921973453 U CN 201921973453U CN 211130887 U CN211130887 U CN 211130887U
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Abstract
The utility model provides a sweeping robot and an intelligent home system, which relates to the field of intelligent home, wherein the sweeping robot comprises a robot body and an ultrasonic transducer arranged on the robot body, the robot body comprises a shell, a microprocessor and a driver arranged in the shell, the microprocessor is connected with the driver, and the driver is connected with the ultrasonic transducer; the microprocessor is configured to send a driving signal to the driver, and the driver is configured to amplify the power of the driving signal and transmit the amplified driving signal to the ultrasonic transducer; the ultrasonic transducer is arranged on the shell and configured to emit ultrasonic waves to the ground to be detected for ground detection. Therefore, the technical scheme provided by the embodiment can alleviate the problem of low accuracy existing in the prior art, and can improve the accuracy of detection.
Description
Technical Field
The utility model relates to a robot field particularly, relates to a robot and intelligent home systems sweep floor.
Background
With the development of science and technology, more and more smart home products appear in people's daily life, for example, utilize robot of sweeping the floor to carry out family's cleanness. The sweeping robot generally adopts a brush sweeping and vacuum mode to suck sundries on the ground into a dust box of the sweeping robot, so that the function of cleaning the ground is completed. When cleaning, if the carpet is encountered, the cleaning is carried out like a conventional floor, the garbage and sundries on the carpet cannot be effectively removed, and therefore the carpet needs to be detected.
Currently, in the prior art, the carpet detection mode of the sweeping robot is to determine whether a carpet exists according to the current of the side brush, the rolling brush or the walking motor. The conventional carpet detection method has the following disadvantages: when resistance caused by non-carpet substances (such as hair winding, side brush blocking, obstacle passing and the like) is received, the current of the motor is increased, and misjudgment is caused.
In conclusion, the robot for sweeping the floor in the prior art has the technical problem that the accuracy of a detection result is not high.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing a robot and intelligent home systems sweep floor to alleviate the not high problem of the testing result degree of accuracy that exists among the prior art, can improve the degree of accuracy of testing result.
In order to achieve the above object, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides a floor sweeping robot, including a robot body and an ultrasonic transducer disposed on the robot body, wherein the robot body includes a housing, a microprocessor and a driver, the microprocessor and the driver are disposed in the housing, the microprocessor is connected with the driver, and the driver is connected with the ultrasonic transducer;
wherein the microprocessor is configured to send a drive signal to the driver, the driver is configured to power amplify the drive signal and transmit the amplified drive signal to the ultrasonic transducer; the ultrasonic transducer is arranged on the shell and is configured to emit ultrasonic waves to the ground to be detected for ground detection.
In combination with the first aspect, embodiments of the present invention provide a first possible implementation manner of the first aspect, wherein the ultrasonic transducer is disposed at a front side of the bottom end of the housing.
With reference to the first aspect, embodiments of the present invention provide a second possible implementation manner of the first aspect, wherein the driver is a double-gate driver of model L M5111.
In combination with the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where the microprocessor includes an STM32F103 single chip microcomputer.
With reference to the first aspect, embodiments of the present invention provide a fourth possible implementation manner of the first aspect, wherein the microprocessor includes an analog-to-digital converter configured to convert an analog signal into a digital signal.
With reference to the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, wherein the robot body further includes an operational amplifier disposed in the housing, and an input end of the operational amplifier is connected to the ultrasonic transducer; the output end of the operational amplifier is connected with the microprocessor;
the operational amplifier is configured to amplify the ground reflection echo received by the ultrasonic transducer and send the amplified reflection echo to the microprocessor.
In combination with the fifth possible implementation manner of the first aspect, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, wherein the operational amplifier includes an SGM80582 operational amplifier.
In combination with the fifth possible implementation manner of the first aspect, the embodiment of the present invention provides a seventh possible implementation manner of the first aspect, wherein the operational amplifier includes a first-stage amplification circuit and a second-stage amplification circuit, the first-stage amplification circuit includes a resistor R368, a resistor R369, a resistor R370, a resistor R371, an operational amplifier U34A, a capacitor C324, a capacitor C325, and a capacitor C326: the second-stage amplifying circuit comprises a resistor R372, a resistor R373, a resistor R374, an operational amplifier U35B, a capacitor C327, a capacitor C328, a capacitor C329 and a capacitor C330;
one end of the resistor R368 is used as an input end of the operational amplifier and connected with the ultrasonic transducer, and the other end of the resistor R368 is connected with one end of the resistor R369 and an inverting input end of the operational amplifier U34A; the other end of the resistor R369 is connected with the output end of the operational amplifier U34A; one end of the resistor R370 is connected with the supply voltage VCC, and the other end of the resistor R370 is connected with one end of the resistor R371 and the non-inverting input end of the operational amplifier U34A; the other end of the resistor R371 is grounded GND; the capacitor C324 is connected in parallel with two ends of the resistor R369; the capacitor C325 is connected in parallel with two ends of the resistor R371; one non-grounded end of the capacitor C325 is used as a reference voltage VREF and is connected with the non-inverting input end of the operational amplifier U35B of the second-stage amplifying circuit; one end of the capacitor C323 is connected with the output end of the operational amplifier U34A, and the other end of the capacitor C323 is connected with one end of the resistor R372; the other end of the resistor R372 is connected with one end of the resistor R373 and the inverting input end of the operational amplifier U35B; the other end of the resistor R373 is connected with one end of the resistor R374 and the output end of the operational amplifier U35B; the other end of the resistor R374 is connected with one end of the capacitor C330; the capacitor C327 is connected in parallel to two ends of the resistor R373; one end of the capacitor C328 is connected to the supply voltage VCC; the other end of the capacitor C328 is grounded GND; the capacitor C329 is connected in parallel with two ends of the capacitor C328; the other end of the capacitor C330 is connected to the microprocessor as an output terminal of the operational amplifier.
In combination with the first aspect, embodiments of the present invention provide an eighth possible implementation manner of the first aspect, wherein the sweeping robot includes a sweeping mode and a mopping mode.
In a second aspect, an embodiment provides an intelligent home system, which includes a remote control device and the sweeping robot as described in any one of the foregoing embodiments.
The embodiment of the utility model provides a following beneficial effect has been brought: the embodiment of the utility model provides a robot and intelligent home systems sweep floor, wherein, should sweep floor the robot and include the robot body and set up in ultrasonic transducer on the robot body, the robot body includes casing, microprocessor and driver, microprocessor and the driver sets up in the casing, microprocessor is connected with the driver, the driver with ultrasonic transducer is connected; wherein the microprocessor is configured to send a drive signal to the driver, the driver is configured to power amplify the drive signal and transmit the amplified drive signal to the ultrasonic transducer; the ultrasonic transducer is arranged on the shell and is configured to emit ultrasonic waves to the ground to be detected for ground detection. Therefore, the technical scheme provided by the embodiment can alleviate the problem of low accuracy existing in the prior art, and can improve the accuracy of detection.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 shows an appearance schematic diagram of a sweeping robot provided by an embodiment of the present invention;
fig. 2 shows a structural diagram of a sweeping robot provided by an embodiment of the present invention;
fig. 3 shows a circuit diagram of an operational amplifier provided by an embodiment of the present invention;
fig. 4 shows a flowchart of a ground detection method provided by an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating a waveform of an amplified reflected echo of a hard ground according to an embodiment of the present invention;
fig. 6 is a schematic diagram illustrating a waveform of an amplified reflected echo of a carpet provided by an embodiment of the present invention;
fig. 7 is a flowchart illustrating another ground detection method according to an embodiment of the present invention;
fig. 8 shows the structure diagram of an intelligent home system provided by the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. The components of embodiments of the present invention, as 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 present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.
It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The traditional sweeping robot generally adopts a brushing and vacuum mode to suck sundries on the ground into a dust box of the robot, so that the function of cleaning the ground is completed. When in cleaning, if the carpet is encountered, the cleaning is carried out like the conventional floor, and the garbage and sundries on the carpet cannot be effectively removed; and may damage the carpet if the carpet is also manipulated while in the mopping mode. Therefore, the sweeping robot needs to have the function of detecting the carpet.
However, in the prior art, the carpet detection mode of the sweeping robot is mainly to determine whether there is a carpet according to the current of the side brush, the rolling brush or the walking motor. The conventional carpet detection method has the following disadvantages: when resistance caused by non-carpet substances (such as hair winding, side brush blocking, obstacle passing and the like) is received, the current of the motor is increased, and misjudgment is caused. On the other hand, when the current detection method is used, the detection can be carried out only when the machine body walks onto the carpet, and the carpet is damaged if the current detection method is in a floor mopping mode.
Based on this, this embodiment provides a robot and intelligent home systems of sweeping floor, can alleviate the erroneous judgement that exists among the prior art and lead to the not high problem of detection accuracy, can improve the degree of accuracy of testing result, in addition, can also avoid causing the harm to the carpet.
First embodiment
As shown in fig. 1 and 2, the embodiment of the utility model provides a robot of sweeping floor, including robot body 100 and set up in ultrasonic transducer 200 on the robot body, ultrasonic transducer configures to and carries out ground detection to waiting to detect ground transmission ultrasonic wave.
Specifically, the robot body comprises a shell 101, a microprocessor 102 and a driver 103, wherein the microprocessor and the driver are arranged in the shell, the microprocessor is connected with the driver, and the driver is connected with the ultrasonic transducer;
wherein the microprocessor is configured to send a driving signal to the driver, and the driver is configured to power-amplify the driving signal and transmit the amplified driving signal to the ultrasonic transducer to trigger the ultrasonic transducer to emit ultrasonic waves; the ultrasonic transducer is arranged on the shell and is configured to transmit ultrasonic waves to the ground to be detected and receive reflected echoes of the ultrasonic waves returned from the ground, so that ground detection is realized.
It should be noted that the ultrasonic transducer includes an ultrasonic transmitter and an ultrasonic receiver, wherein the ultrasonic transmitter is used for transmitting an ultrasonic wave to the ground to be detected, and the ultrasonic receiver is used for receiving a reflected echo of the ultrasonic wave returned from the ground.
In order to reduce the load on the microprocessor, in an alternative embodiment, the microprocessor is configured to send a drive signal to the driver every preset time.
The preset time can be set according to actual requirements, and in the embodiment, the preset time is generally set to 20ms, where ms represents milliseconds.
In an alternative embodiment, the frequency of the driving signal is matched with the characteristic frequency of the ultrasonic transducer, wherein the matching means that the error between the frequency of the driving signal and the characteristic frequency of the ultrasonic transducer is within a preset range.
Further, the driving signal is the same as the characteristic frequency of the ultrasonic transducer.
In this embodiment, the characteristic frequency of the ultrasonic transducer is 300KHz, and the driving signal is a 300KHz square wave pulse.
In an alternative embodiment, the duration of the drive signal is 20-30us (us, microseconds).
I.e. the microprocessor transmits a 300KHz square wave pulse for a time of 20-30 us.
In view of the problem of how to improve the detection efficiency, in an alternative embodiment, the ultrasonic transducer is located about 2cm to 3cm from the ground.
In this embodiment, the distance between the ultrasonic transducer and the ground is about 2cm, and the receiver can receive the reflected echo after the ultrasonic driving signal is sent out for about 200 us.
In an alternative embodiment, the ultrasonic transducer is disposed on a front side of the bottom end of the housing.
The front side is herein understood to be the position close to the direction of movement, i.e. the position where the ultrasonic transducer is mounted at the bottom end of the housing close to the direction of movement.
In an alternative embodiment, the driver is a double gate driver model L M5111.
In an optional embodiment, the microprocessor comprises an STM32F103 single chip microcomputer.
In view of the fact that the reflected echo is very weak, usually very small voltage signal, which is not convenient for comparison and display viewing, in an alternative embodiment, the robot body further includes an operational amplifier 104 disposed in the housing, and an input end of the operational amplifier is connected to the ultrasonic transducer; the output end of the operational amplifier is connected with the microprocessor;
the operational amplifier is configured to amplify the ground reflection echo received by the ultrasonic transducer and send the amplified reflection echo to the microprocessor.
In an alternative embodiment, the operational amplifier comprises an SGM80582 operational amplifier.
In an alternative embodiment, the operational amplifier is a two-stage operational amplifier.
Specifically, as shown in fig. 3, the operational amplifier includes a first-stage amplification circuit and a second-stage amplification circuit, where the first-stage amplification circuit includes a resistor R368, a resistor R369, a resistor R370, a resistor R371, an operational amplifier U34A, a capacitor C324, a capacitor C325, and a capacitor C326: the second-stage amplifying circuit comprises a resistor R372, a resistor R373, a resistor R374, an operational amplifier U35B, a capacitor C327, a capacitor C328, a capacitor C329 and a capacitor C330;
one end of the resistor R368 is used as an input end of the operational amplifier and connected with the ultrasonic transducer, and the other end of the resistor R368 is connected with one end of the resistor R369 and an inverting input end (pin 2 in FIG. 3) of the operational amplifier U34A; the other end of the resistor R369 is connected with an output end (pin 1) of the operational amplifier U34A; one end of the resistor R370 is connected with the supply voltage VCC, and the other end of the resistor R370 is connected with one end of the resistor R371 and the non-inverting input end (pin 3) of the operational amplifier U34A; the other end of the resistor R371 is grounded GND; the capacitor C324 is connected in parallel with two ends of the resistor R369; the capacitor C325 is connected in parallel with two ends of the resistor R371; one non-grounded end of the capacitor C325 is used as a reference voltage VREF of the second-stage operational amplifier and is input into the second-stage operational amplifier; in other words, the non-grounded end of the capacitor C325 is connected to the non-grounded end (pin 5) of the operational amplifier U35B of the second stage amplification circuit as the reference voltage VREF, one end of the capacitor C323 is connected to the output end of the operational amplifier U34A, and the other end of the capacitor C323 is connected to one end of the resistor R372; the other end of the capacitor C323 is connected with the input end of the second-stage amplifying circuit; one end of the resistor R372 is used as the input end of the second-stage amplification circuit and is connected with the other end of the capacitor C323;
the other end of the resistor R372 is connected with one end of the resistor R373 and the inverting input end (pin 6) of the operational amplifier U35B; the other end of the resistor R373 is connected with one end of the resistor R374 and the output end (pin 7) of the operational amplifier U35B; the other end of the resistor R374 is connected with one end of the capacitor C330; the capacitor C327 is connected in parallel to two ends of the resistor R373; one end of the capacitor C328 is connected to the supply voltage VCC; the other end of the capacitor C328 is grounded GND; the capacitor C329 is connected in parallel with two ends of the capacitor C328; the other end of the capacitor C330 is connected to the microprocessor as an output terminal of the operational amplifier.
It should be noted that the power connection terminals of the operational amplifier U34A and the operational amplifier U35B are used for connecting to a power supply, wherein the first power connection terminal (pin 4) is grounded GND, and the second power connection terminal (pin 8) is connected to a power supply voltage VCC of the power supply.
Specifically, the power supply voltage VCC is 3.3V (shown as VCC3V3 in the figure). The operational amplifier U34A and the operational amplifier U35B both use an operational amplifier model SGM80582XMS 8G/TR.
In an alternative embodiment, the microprocessor analog-to-digital converter 1021, an analog-to-digital converter or AD converter, is used to convert an analog signal into a digital signal.
In this embodiment, the analog-to-digital converter is configured to collect the amplified reflected echo and convert the amplified reflected echo into a digital value.
In an optional embodiment, the microprocessor further comprises a processor, and a voltage comparator connected with the processor, wherein the analog-to-digital converter is connected with the processor; the voltage comparator is configured to compare the digital value to a preset voltage threshold; the processor is configured to determine that the floor type is carpet when the digital value is less than a preset voltage threshold.
It should be noted that, due to the different absorption rate of ultrasonic waves between hard ground (such as floor tiles and floor) and soft ground (such as carpet), the reflected echo will have a more obvious difference after amplification. Therefore, the sweeping robot provided by the embodiment can also be suitable for detecting other soft ground.
In an alternative embodiment, the sweeping robot comprises a sweeping mode and a mopping mode.
It can be understood that the sweeping robot is generally provided with a corresponding button corresponding to a corresponding mode, the robot can execute the corresponding mode through the button corresponding to the mode, the button here may be a physical button or a virtual button, the corresponding button can transmit an instruction to the microprocessor, and the microprocessor calls a preset policy corresponding to the mode to execute the mode, which may refer to related knowledge specifically, which is not described herein too much.
In an alternative embodiment, the microprocessor is further configured to obtain a current mode of the sweeping robot.
In an optional embodiment, when the current mode of the sweeping robot is a sweeping mode, the sweeping robot is controlled to increase the suction force.
And when the current mode of the sweeping robot is a mopping mode, controlling the sweeping robot to turn to avoid the carpet.
In order to avoid damage to the ultrasonic transducer and reduce the influence on the emitted ultrasonic waves, in an optional embodiment, the sweeping robot may further include a transparent protective shell for protecting the ultrasonic transducer, and the transparent protective shell is mounted on a housing of the robot body.
The following explains the working principle of the sweeping robot provided in this embodiment:
after the square wave pulse of the microprocessor passes through the driver, the ultrasonic transducer is triggered to emit ultrasonic waves, and the ultrasonic waves are emitted to the ground to be detected. Meanwhile, the ultrasonic transducer can also receive ultrasonic reflection echoes from the ground. Since the reflected echo (voltage signal) is very weak, the reflected echo is subjected to secondary amplification by an operational amplifier (an amplification circuit is shown in fig. 3), and is converted into a voltage signal with a larger amplitude, and the voltage signal is connected to a microprocessor.
Because the absorption rates of the ultrasonic waves of hard ground (such as floor tiles and floors) and soft ground (carpet) are different, the reflected echoes have obvious difference after being amplified, an AD converter (an analog-to-digital converter) carried by a microprocessor is used for collecting and converting the amplified voltage signal (the reflected echoes) into a digital result, then the smooth filtering processing is carried out on the results of multiple measurements, and the maximum numerical value result is determined from the measurement results. Comparing the obtained maximum value result with a preset threshold value, wherein if the maximum value result is greater than the threshold value, the hard floor is determined, and if the maximum value result is less than the threshold value, the carpet is determined. In the case of a carpet, the sweeping mode requires increased suction and the mopping mode requires avoidance. Therefore, the floor sweeping robot realizes the detection of the carpet through the mode, the response speed is high, and the detection result is accurate.
The embodiment of the utility model provides a robot of sweeping floor, including the robot body and set up in the ultrasonic transducer on the robot body, the robot body includes casing, microprocessor and driver set up in the casing, microprocessor with the driver is connected, the driver with the ultrasonic transducer is connected; wherein the microprocessor is configured to send a drive signal to the driver, the driver is configured to power amplify the drive signal and transmit the amplified drive signal to the ultrasonic transducer; the ultrasonic transducer is arranged on the shell and is configured to emit ultrasonic waves to the ground to be detected for ground detection. Therefore, the technical scheme that this embodiment provided can alleviate the lower problem of the degree of accuracy that exists among the prior art, can improve the degree of accuracy that detects, simultaneously, can also avoid causing the harm to the carpet.
As shown in fig. 4, the present embodiment provides a method for detecting a floor, which is applied to a microcontroller of a sweeping robot, and the method includes:
step S410, controlling an ultrasonic transducer to emit ultrasonic waves to the ground to be detected;
step S420, obtaining a reflection echo from the ground to be detected, which is received by an ultrasonic transducer;
and step S430, determining the ground type of the ground to be detected based on the reflected echo.
For step S410, the microprocessor drives the ultrasonic transducer to emit ultrasonic waves to the ground to be detected by emitting a driving signal.
In an alternative embodiment, step S410 may be performed by:
1. the microprocessor sends a driving signal to the driver every preset time; the driver amplifies the driving signal, sends the amplified driving signal to the ultrasonic transducer and triggers the ultrasonic transducer to transmit ultrasonic waves to the ground to be detected;
the driving signal is a square wave pulse with the frequency same as the characteristic frequency of the ultrasonic transducer.
In step S420, the receiver of the ultrasonic transducer receives the reflected echo of the ultrasonic wave returned from the ground to be detected, and the microprocessor acquires the reflected echo of the ultrasonic transducer.
For step S430, the microprocessor determines the floor type from the reflected echoes, the floor type including a floor and a carpet, wherein the floor is a hard floor and the carpet is a soft floor.
In an alternative embodiment, step S430 mainly includes:
a, preprocessing the reflection echo; wherein the preprocessing comprises an amplifying processing and a filtering processing.
Specifically, the step a includes:
a1, amplifying the reflected echo through an operational amplifier;
a2 collecting the amplified reflected echo by an analog-to-digital converter of a microprocessor, and converting the echo into a digital value;
a3 determines the ground type based on the digital value.
Specifically, step a3 may be implemented as follows: obtaining a reflected echo wave curve of a digital value measured for multiple times by a microprocessor, and performing smooth filtering processing on the wave curve; determining a numerical result from the filtered echo waveform curve; comparing the numerical result with a preset threshold value; and when the digital value is smaller than a preset threshold value, determining that the ground to be detected is a carpet. And when the digital value is larger than a preset threshold value, determining that the ground to be detected is a hard ground.
In an alternative embodiment, the value determined from the filtered echo profile may result in a maximum digital value in the reflected echo.
It should be noted that, considering that, due to the different absorption rates of the ultrasonic waves by the hard ground (such as a floor tile and a floor) and the soft ground (such as a carpet), the reflected echoes have a relatively obvious difference after being amplified, that is, the waveforms of the reflected echoes of different ground are different, in one embodiment, the type of the ground can be determined by the waveforms, that is, the acquired waveform of the reflected echo is compared with the preset waveform of the carpet, and when the comparison result indicates matching (the coincidence degree of the two waveforms is greater than the preset value), the type of the ground is determined to be the carpet; comparing the waveform of the obtained reflection echo with a preset floor waveform, and when the comparison result indicates matching (the coincidence degree of the waveforms of the two is greater than the preset value), determining that the ground type is the floor, wherein fig. 5 shows an amplified reflection echo waveform diagram of a hard ground; figure 6 shows a magnified reflected echo waveform of a carpet.
It should be understood that other ground types may be determined based on the same waveform comparison described above.
According to the ground detection method provided by the embodiment of the application, the ultrasonic transducer is controlled to emit ultrasonic waves to the ground to be detected, and then the reflected echo from the ground to be detected, which is received by the ultrasonic transducer, is obtained; and finally, determining the ground type of the ground to be detected based on the reflected echo, wherein the ground type comprises a carpet. Therefore, the ground detection method provided by the embodiment is a method for realizing carpet detection by using the ultrasonic transducer, the ultrasonic transducer is installed at the bottom of the sweeper close to the advancing direction, and the ultrasonic emitting surface is parallel to the ground and emits ultrasonic waves vertically downwards. Whether the carpet is detected can be judged by obtaining the reflection echo signal, the problem that the detection precision is low in the prior art is solved, the detection precision is improved, and meanwhile the detection efficiency is also improved.
For step S410, the microprocessor is driven by transmitting a driving signal.
As shown in fig. 7, another method for ground detection, applied to a microprocessor, is provided in the embodiments of the present application, and includes:
step S710, controlling an ultrasonic transducer to emit ultrasonic waves to the ground to be detected;
s720, acquiring a reflected echo from the ground to be detected, which is received by an ultrasonic transducer;
step S730, determining the ground type of the ground to be detected based on the reflection echo; the floor type comprises a carpet;
step S740, when the ground type is a carpet, acquiring a current mode of the sweeping robot;
step S750, when the current mode of the sweeping robot is a sweeping mode, controlling the sweeping robot to increase suction;
and step S760, controlling the sweeping robot to change direction to avoid the carpet when the current mode of the sweeping robot is the mopping mode.
The ground detection method provided by the embodiment of the application can acquire the current mode of the sweeping robot when the ground type is the carpet, and can control the sweeping robot corresponding to the mode according to the corresponding mode, so that the cleaning effect is improved, and the damage to the carpet is avoided.
The embodiment of the present invention provides a floor detection method, which has the same technical effects as the aforementioned sweeping robot, and for the sake of brief description, the embodiment of the method partially does not refer to the above mentioned embodiment, and reference can be made to the corresponding content in the aforementioned embodiment of the device.
The floor detection method provided by the embodiment of the application has the same technical characteristics as the sweeping robot provided by the embodiment, can also solve the corresponding technical problems, and achieves the same technical effects.
Second embodiment
As shown in fig. 8, the present embodiment further provides an intelligent home system, which includes a remote control device 800 and a sweeping robot 900 according to any one of the foregoing embodiments.
In an alternative embodiment, the remote control device may be a remote controller used in cooperation with the sweeping robot, or may be a control device such as a mobile terminal.
The embodiment of the utility model provides an intelligent home systems, its realization principle and the technological effect that produces are the same with the aforesaid robot device embodiment of sweeping the floor, for brief description, the part that system embodiment part does not mention can refer to corresponding content in the aforesaid device embodiment.
Unless specifically stated otherwise, the relative steps, numerical expressions and numerical values of the components and steps set forth in these embodiments do not limit the scope of the present invention.
In all examples shown and described herein, any particular value should be construed as merely exemplary, and not as a limitation, and thus other examples of example embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A sweeping robot is characterized by comprising a robot body and an ultrasonic transducer arranged on the robot body, wherein the robot body comprises a shell, a microprocessor and a driver, the microprocessor and the driver are arranged in the shell, the microprocessor is connected with the driver, and the driver is connected with the ultrasonic transducer;
wherein the microprocessor is configured to send a drive signal to the driver, the driver is configured to power amplify the drive signal and transmit the amplified drive signal to the ultrasonic transducer; the ultrasonic transducer is arranged on the shell and is configured to emit ultrasonic waves to the ground to be detected for ground detection.
2. The sweeping robot of claim 1, wherein the ultrasonic transducer is disposed at a front side of the bottom end of the housing.
3. The sweeping robot of claim 1, wherein the driver is a double gate driver model L M5111.
4. The sweeping robot of claim 1, wherein the microprocessor comprises an STM32F103 single chip microcomputer.
5. The sweeping robot of claim 1, wherein the microprocessor comprises an analog-to-digital converter configured to convert an analog signal to a digital signal.
6. The sweeping robot of claim 1, wherein the robot body further comprises an operational amplifier disposed in the housing, an input end of the operational amplifier being connected to the ultrasonic transducer; the output end of the operational amplifier is connected with the microprocessor;
the operational amplifier is configured to amplify the ground reflection echo received by the ultrasonic transducer and send the amplified reflection echo to the microprocessor.
7. The sweeping robot of claim 6, wherein the operational amplifier comprises a model number SGM80582 operational amplifier.
8. The sweeping robot of claim 6, wherein the operational amplifier comprises a first stage amplification circuit and a second stage amplification circuit, the first stage amplification circuit comprises a resistor R368, a resistor R369, a resistor R370, a resistor R371, an operational amplifier U34A, a capacitor C324, a capacitor C325, and a capacitor C326: the second-stage amplifying circuit comprises a resistor R372, a resistor R373, a resistor R374, an operational amplifier U35B, a capacitor C327, a capacitor C328, a capacitor C329 and a capacitor C330;
one end of the resistor R368 is used as an input end of the operational amplifier and connected with the ultrasonic transducer, and the other end of the resistor R368 is connected with one end of the resistor R369 and an inverting input end of the operational amplifier U34A; the other end of the resistor R369 is connected with the output end of the operational amplifier U34A; one end of the resistor R370 is connected with the supply voltage VCC, and the other end of the resistor R370 is connected with one end of the resistor R371 and the non-inverting input end of the operational amplifier U34A; the other end of the resistor R371 is grounded GND; the capacitor C324 is connected in parallel with two ends of the resistor R369; the capacitor C325 is connected in parallel with two ends of the resistor R371; one non-grounded end of the capacitor C325 is used as a reference voltage VREF and is connected with the non-inverting input end of the operational amplifier U35B of the second-stage amplifying circuit; one end of the capacitor C323 is connected with the output end of the operational amplifier U34A, and the other end of the capacitor C323 is connected with one end of the resistor R372; the other end of the resistor R372 is connected with one end of the resistor R373 and the inverting input end of the operational amplifier U35B; the other end of the resistor R373 is connected with one end of the resistor R374 and the output end of the operational amplifier U35B; the other end of the resistor R374 is connected with one end of the capacitor C330; the capacitor C327 is connected in parallel to two ends of the resistor R373; one end of the capacitor C328 is connected to the supply voltage VCC; the other end of the capacitor C328 is grounded GND; the capacitor C329 is connected in parallel with two ends of the capacitor C328; the other end of the capacitor C330 is connected to the microprocessor as an output terminal of the operational amplifier.
9. The sweeping robot of claim 1, wherein the sweeping robot includes a sweeping mode and a mopping mode.
10. An intelligent home system, characterized by comprising a remote control device and a sweeping robot according to any one of claims 1-9.
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