CN211933899U - Cleaning robot - Google Patents
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- CN211933899U CN211933899U CN201922500150.XU CN201922500150U CN211933899U CN 211933899 U CN211933899 U CN 211933899U CN 201922500150 U CN201922500150 U CN 201922500150U CN 211933899 U CN211933899 U CN 211933899U
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Abstract
The embodiment of the application discloses cleaning machines people includes: a processing unit; a light emitting circuit in communication with the processing unit, the light emitting circuit comprising: a first power supply voltage; a light emitting element that directly or indirectly receives a first power supply voltage; the control switch is connected with the light-emitting element in series, the control end of the control switch is electrically connected with the processing unit, and the processing unit sends a signal to control whether the control switch is conducted or not; a light receiving circuit in communication with the processing unit, the light receiving circuit comprising: a second power supply voltage; a light receiving element that directly or indirectly receives the second power supply voltage; the sampling resistor is connected with the light receiving element in series and is also electrically connected with the processing unit so that the processing unit detects and obtains a sampling signal on the sampling resistor; wherein, the resistance value of the sampling resistor is less than or equal to 1000 ohms.
Description
Technical Field
The application relates to the field of intelligent robots, in particular to a cleaning robot.
Background
Existing cleaning robots include one or more cliff proximity sensors (also referred to as cliff sensors) disposed near or around the bottom portion of the forward portion of the robot body, which, through their detection, take the actions of bypassing, turning, stopping, etc. to prevent falling from a height when there are stairs, high slopes around which the robot is traveling.
The detection principle of the steep wall proximity sensor of the prior art is as follows: the description is made taking as an example that the cliff proximity sensor includes an infrared signal transmitter and an infrared signal receiver. Wherein, signal transmitter is configured to the infrared ray of emitting towards the ground, and signal receiver is responded to and is come from ambient light and/or signal transmitter transmission, the infrared ray of reflection through the detection face, i.e. signal transmitter includes infrared ray transmitting tube, and signal receiver includes infrared ray receiver tube, sampling resistance and mains voltage, and three connect in series.
In the upper section, the spectrum of ambient light, such as lamp light, sunlight, etc., contains the sensitive bands of the receiver tube, and the light emitted from them can be received by the infrared receiver tube, which in turn affects the output of the receiver circuit. When the light of the environment light is too strong, the output current of the infrared receiving tube is too large, the sampling voltage formed on the sampling resistor is too large, when the sampling voltage is close to or exceeds the power supply voltage, because the sampling voltage is inevitably smaller than the power supply voltage, the top of the waveform of the sampling voltage is distorted, for example, the waveform photograph of the sampling voltage after being interfered is shown in fig. 1, but the expression form is not limited to the waveform form of fig. 1, therefore, when the light of the environment light is too strong, the sampling signal is distorted, and after the sampling signal is processed, the influence of the environment light on the robot is still large.
SUMMERY OF THE UTILITY MODEL
The technical problem to be solved by the embodiments of the present application is to provide a cleaning robot. Even if the illumination of the ambient light is relatively strong, the influence of the ambient light can be well eliminated.
In order to solve the above technical problem, an embodiment of the present application provides a cleaning robot, including:
a processing unit;
a light emitting circuit in communication with the processing unit, the light emitting circuit comprising:
a first power supply voltage;
a light emitting element that directly or indirectly receives a first power supply voltage;
the control switch is connected with the light-emitting element in series, the control end of the control switch is electrically connected with the processing unit, and the processing unit sends a signal to control whether the control switch is conducted or not;
a light receiving circuit in communication with the processing unit, the light receiving circuit comprising:
a second power supply voltage;
a light receiving element that directly or indirectly receives the second power supply voltage;
the sampling resistor is connected with the light receiving element in series and is also electrically connected with the processing unit so that the processing unit detects and obtains a sampling signal on the sampling resistor;
wherein, the resistance value of the sampling resistor is less than or equal to 1000 ohms.
In an embodiment of the present application, a current flowing through the light emitting element when the control switch is turned on is greater than or equal to 20 ma.
In an embodiment of the present application, the processing unit sends a PWM signal to the control terminal of the control switch, and a duty ratio of the PWM signal is less than or equal to 55%.
In an embodiment of the present application, the processing unit sends a PWM signal to the control terminal of the control switch, and the light receiving circuit further includes a high pass filter, wherein 100Hz < cut-off frequency of the high pass filter < f0, and f0 represents the frequency of the PWM signal.
In an embodiment of the present application, the light receiving circuit further includes an operational amplifier, an inverting terminal of the operational amplifier is electrically connected to the first terminal of the sampling resistor, a common terminal of the operational amplifier receives a predetermined reference voltage, and an output terminal of the operational amplifier is electrically connected to the processing unit.
In an embodiment of the present application, the high-pass filter includes a first capacitor and a fourth resistor, wherein a first electrode of the first capacitor is electrically connected to a first end of the sampling resistor, a second electrode of the first capacitor is electrically connected to a first end of the fourth resistor, a second end of the fourth resistor is electrically connected to an inverting terminal of the operational amplifier, wherein,
100Hz＜1/(2π*R4*C1)＜f0；
wherein, R4 represents the resistance of the fourth resistor, and C1 represents the capacitance of the first capacitor.
In an embodiment of the present application, the processing unit sends a PWM signal to the control terminal of the control switch, and the light receiving circuit further includes a low-pass filter, where f0 < the cut-off frequency of the low-pass filter < 20 KHz; f0 represents the frequency of the PWM signal.
In an embodiment of the present application, the light receiving circuit further includes an operational amplifier, an inverting terminal of the operational amplifier is electrically connected to the first terminal of the sampling resistor, a common terminal of the operational amplifier receives a predetermined reference voltage, and an output terminal of the operational amplifier is electrically connected to the processing unit.
In an embodiment of the present application, the low-pass filter includes a first low-pass filter, the first low-pass filter includes a second capacitor and a fifth resistor, wherein a first electrode of the second capacitor is electrically connected to a first end of the fifth resistor, a second electrode of the fifth capacitor is electrically connected to a second end of the fifth resistor, the first end of the fifth resistor is electrically connected to an inverting terminal of the operational amplifier, the second end of the fifth resistor is electrically connected to an output terminal of the operational amplifier, wherein,
f0＜1/(2π*R5*C2)＜20KHz；
wherein, R5 represents the resistance of the fifth resistor, and C2 represents the capacitance of the second capacitor.
In an embodiment of the present application, the low-pass filter includes a second low-pass filter, the second low-pass filter includes a third capacitor and a seventh resistor, wherein a first end of the seventh resistor is electrically connected to the output end of the operational amplifier, a second end of the seventh resistor is electrically connected to the processing unit, a first electrode of the third capacitor is electrically connected to a second end of the seventh resistor, a second electrode of the third capacitor is grounded,
f0＜1/(2π*R7*C3)＜20KHz；
wherein, R7 represents the resistance of the seventh resistor, and C3 represents the capacitance of the third capacitor.
In an embodiment of the present application, the cleaning robot further includes a band pass filter, the band pass filter is installed at a front end of the light receiving element, and a pass band wavelength of the band pass filter includes 850nm or 940 nm.
The embodiment of the application has the following beneficial effects:
1. because the resistance value of the sampling resistor is set to be less than or equal to 1000 ohms, the probability of top distortion caused by overlarge sampling voltage on the sampling resistor can be reduced, the accuracy of the robot for detecting the cliff can be improved, and the robot can be prevented from being damaged due to false detection of the cliff;
2. in this embodiment, when the control switch is turned on, the current flowing through the light emitting element is greater than or equal to 20 milliamperes, the light emitting intensity of the light emitting element can be improved, and further the current generated by the light receiving element can be increased, so that the probability that the sampling voltage is lower and cannot be detected due to the reduction of the resistance value of the sampling resistor can be reduced, and the accuracy of robot detection can be improved; furthermore, since the light emitting intensity of the light emitting element is increased, the proportion of light received by the light receiving element, which is derived from the light emitting element, is increased, the proportion of ambient light is decreased, a useful portion of current (light in the light emitting element + ambient light) flowing through the light receiving element is increased, the signal-to-noise ratio is increased, and the sampling accuracy of the cleaning robot can be improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a waveform diagram of a sampling voltage when a strong ambient light is irradiated in the prior art;
fig. 2 is a block diagram of a cleaning robot according to an embodiment of the present disclosure;
FIG. 3 is a bottom schematic view of a cleaning robot in an embodiment of the present application;
FIG. 4 is a top schematic view of a cleaning robot according to an embodiment of the present application;
FIG. 5 is another schematic view of the bottom of the cleaning robot in an embodiment of the present application;
FIG. 6 is a schematic view of a cleaning robot according to an embodiment of the present application;
fig. 7 is a schematic diagram illustrating an electrical connection between a light receiving circuit and a processing unit according to an embodiment of the present application.
Fig. 8(a) is an equivalent circuit diagram of a heating lamp;
fig. 8(b) is a waveform diagram of voltage and current of the heating lamp;
fig. 8(c) is a real-time power diagram of a heating lamp;
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It is to be understood that the terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only, and is not intended to be limiting of the application. The term "electrically connected" is to be understood broadly, and may be, for example, an electrical connection that is directly connected, an electrical connection that is indirectly connected through an intermediary, or a communication between two elements. As used in the examples of this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items. For example, a "and/or" B "includes: A. b, A and B and a or B.
Referring to fig. 2, fig. 2 is a block diagram of a cleaning robot in an embodiment of the present application, where the cleaning robot is, for example, a sweeping robot. As shown in fig. 2, the cleaning robot 10 includes: image acquisition unit 110, battery unit 120, drive unit 130, left wheel 131, right wheel 132, guide wheel 133, cleaning unit 140, processing unit 150, storage unit 160, and obstacle detection unit 170.
The image capturing unit 110 is used to capture an image of the current environment of the cleaning robot 10. The image acquisition unit 110 includes one or more cameras among a two-dimensional camera, a three-dimensional camera. For example, one two-dimensional camera may be placed on the upper surface of the cleaning robot 10 or the front of the cleaning robot 10 as shown in fig. 4, and capture an image above the cleaning robot 10, i.e., an image of the ceiling of the space to be worked.
For another example, a three-dimensional camera is placed at the front of the cleaning robot 10, and a three-dimensional image viewed by the cleaning robot 10 is acquired, as shown in fig. 4. The three-dimensional image comprises information about the distance from the object to be acquired to the two-dimensional image of the object to be acquired. A stereo camera module or a depth sensor module may be employed as the three-dimensional camera.
With continued reference to fig. 2, the image acquisition unit 110 may include one or more of a depth sensor 111, an RGB image sensor 112, or a structured light image sensor 113.
The depth sensor 111 includes: a two-dimensional camera that acquires an image of an object to be acquired; and an infrared sensor. And the depth sensor 111 outputs an image collected by the two-dimensional camera and distance information obtained by the infrared sensor.
The RGB sensor 112 may capture RGB images, also referred to as color images. For example, the charging pile is photographed by using an RGB sensor to obtain an RGB image including the charging pile.
The structured light image sensor 113 includes an infrared transceiver module. For example, the infrared transceiver module may measure the distance from the cleaning robot 10 to the charging pile. And generating a three-dimensional image of the charging pile according to the distance from the cleaning robot 10 to the charging pile.
The image acquisition unit 110 may further include a graphics processing unit 150 that processes the acquired images as needed. Such as changing the size or resolution of the image captured by the camera.
Referring to fig. 3, fig. 3 is a bottom schematic view of the cleaning robot in an embodiment of the present application, and fig. 5 is another bottom schematic view of the cleaning robot in an embodiment of the present application. As shown in fig. 3, the battery unit 120 includes a rechargeable battery, a charging circuit respectively connected to the rechargeable battery, and electrodes of the rechargeable battery. The number of the rechargeable batteries is one or more, and the rechargeable batteries may supply electric power required for the operation of the cleaning robot 10. The electrode may be provided at a side of the body or at the bottom of the body of the cleaning robot. The battery unit 120 may also include a battery parameter detection component for detecting battery parameters, such as voltage, current, battery temperature, and the like. When the operation mode of the cleaning robot 10 is switched to the recharging mode, the cleaning robot 10 starts to search for the charging pile, and charges the cleaning robot 10 with the charging pile.
The driving unit 130 includes a motor for applying a driving force. The driving unit 130 connects the sweeping unit 140, the left wheel 131, the right wheel 132, and the guide wheel 133. Under the control of the processing unit 150, the driving unit 130 may drive the sweeping unit 140, the left wheel 131, the right wheel 132, and the guide wheel 133. Alternatively, the driving unit 130 includes: the cleaning machine comprises a cleaning driving unit, a left wheel driving unit, a right wheel driving unit and a guide wheel driving unit, wherein the cleaning driving unit is connected with the cleaning unit 140, the left wheel driving unit is connected with the left wheel 131, the right wheel driving unit is connected with the right wheel 132, and the guide wheel driving unit is connected with the guide wheel 133. In addition, the driving unit 130 may further include a water pump and fan driving unit.
The left and right wheels 131 and 132 (wherein the left and right wheels may also be referred to as traveling wheels and driving wheels) are respectively arranged in a symmetrical manner at opposite sides of the bottom of the main body of the cleaning robot and at least partially within the housing of the cleaning robot 10, so that the cleaning robot 10 moves on the floor. The moving operation including the forward movement, the backward movement, and the rotation is performed during the cleaning. The guide wheel 133 may be provided at the front or rear of the machine body.
As shown in fig. 5, the water tank assembly 180 is attached to the chassis 90 of the cleaning robot 10, and the water tank assembly 180 includes a mop 1801 and a water tank 1802. The water tank 1802 is used for sprinkling water to the ground, and the mop cloth 1801 is used for mopping the ground.
The cleaning robot 10 further includes a fan (not shown) built in the interior of the body, the fan being used to generate wind power required for dust collection.
The obstacle detecting unit 170 is used to detect the environment around the cleaning robot 10, and thereby find environmental objects such as obstacles, walls, steps, and a charging pile for charging the cleaning robot 10. The obstacle detection unit 170 is also used to provide various position information and motion state information of the cleaning robot 10 to the control module. The obstacle detection unit 170 may include a cliff proximity sensor 171 (also called a cliff sensor), an ultrasonic sensor, an infrared sensor, a magnetometer, a three-axis accelerometer, a gyroscope, a odometer, a laser radar sensor LDS, an ultrasonic sensor, a camera, a hall sensor, and the like. The number and positions of the obstacle detection units 170 are not limited in this embodiment.
The processing unit 150 is disposed on a circuit board in the body of the cleaning robot 10, and may draw an instant map of the environment where the cleaning robot 10 is located according to the information of the surrounding environment object fed back by the obstacle detecting unit 170 and a preset positioning algorithm. The processing unit 150 may further comprehensively determine the current working state of the cleaning robot 10 according to the distance information and the speed information fed back by the cliff proximity sensor 171, the ultrasonic sensor, the infrared sensor, the magnetometer, the accelerometer, the gyroscope, the odometer, and the like. Processing unit 150 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital signal processing units 150 (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), processing units 150, micro-processing units 150, or other electronic components.
The storage unit 160 is used to store instructions and data, including but not limited to: map data, temporary data generated when the cleaning robot 10 is controlled to operate, such as position data, speed data, etc. of the cleaning robot 10. The processing unit 150 can read the instructions stored in the storage unit 160 to execute the corresponding functions. The Memory unit 160 may include a Random Access Memory (RAM) and a Non-Volatile Memory (NVM). The nonvolatile Memory unit may include a Hard Disk Drive (Hard Disk Drive, HDD), a Solid State Drive (SSD), a Silicon Disk Drive (SDD), a Read-Only Memory unit (ROM), a Compact Disc Read-Only Memory (CD-ROM), a magnetic tape, a floppy Disk, an optical data storage device, and the like.
It is understood that in one or more embodiments, the cleaning robot 10 may also include an input-output unit, a position measurement unit, a wireless communication unit, a display unit, and the like.
Referring to fig. 4, fig. 4 is a top schematic view of a cleaning robot according to an embodiment of the present disclosure. Fig. 4 and 3 are schematic views of the cleaning robot 10 at two different viewing angles, respectively. As shown in fig. 4, an image pickup unit 110 is provided at a side of the cleaning robot 10 to pick up a front environment image. As shown in fig. 3, the cleaning robot 10 is provided at the bottom thereof with a left wheel 131, a right wheel 132, a guide wheel 133, a cleaning unit 140, and a battery unit 120. The rechargeable battery in the battery unit 120 is packaged inside the cleaning robot 10 with a cover to prevent it from falling. One of the electrode 121 and the electrode 122 of the rechargeable battery is a positive electrode, and the other is a negative electrode.
It should be noted that the connection relationship between the units or components in the cleaning robot 10 is not limited to the connection relationship shown in fig. 2. For example, the processing unit 150 may be connected to other units or components via a bus.
It should be noted that the cleaning robot 10 may further include other units or components, or only include some of the units or components, which is not limited in the embodiment of the present application, and only the cleaning robot 10 is taken as an example for description.
Please refer to fig. 6, the cleaning robot provided in the embodiment of the present application further includes a light reflection circuit and a light receiving circuit.
Specifically, in the present embodiment, the light emitting circuit 210 is electrically connected to the processing unit 150, the light emitting circuit 210 can communicate with the processing unit 150, and the processing unit 150 controls whether the light emitting circuit 210 is turned on to emit light outwards. The light emitting circuit 210 includes a first power voltage Vcc1, a light emitting element D1, a control switch T, wherein the first power voltage Vcc1, the light emitting element D1, the control switch T are connected in series.
Specifically, in the present embodiment, the first power supply voltage Vcc1 is derived directly or indirectly from the battery cell 120 (fig. 2). In the present embodiment, the first power voltage Vcc1 may be the same as the power voltage in the prior art light emitting circuit 210, and is 5V, and the first power voltage Vcc1 may also be greater than the power voltage in the prior art light emitting circuit 210, for example, the first power voltage Vcc1 is 5.5V, 6V, 6.5V, 7V, 7.5V, etc.
In the present embodiment, the light emitting device D1 is used for converting an electrical signal into an optical signal and emitting the optical signal, a first terminal of the light emitting device D1 directly or indirectly receives the first power voltage Vcc1, and a second terminal of the light emitting device D1 is electrically connected to a first terminal of the control switch T, in this embodiment, indirectly. In the present embodiment, the light emitting element D1 is a component capable of emitting light outward, and in the present embodiment, the light emitting element D1 is an infrared ray emitting tube. In addition, in other embodiments of the present application, the light emitting element D1 may be other light emitting tubes known to those skilled in the art. In the present embodiment, the number of the light emitting elements D1 may be one or more, and the light emitting element D1 belongs to a part of the cliff proximity sensor 171 (fig. 5).
In this embodiment, the control switch T is connected in series with the light emitting element D1, the control switch T has three terminals, which are a first terminal, a second terminal and a control terminal, and the control switch T may be a Thin Film Transistor (TFT), a Metal Oxide Semiconductor (MOS) transistor or a triode, etc., although those skilled in the art can also understand that the control switch T may be other conventional control switches T having three terminals. In this embodiment, the control switch T is an NPN transistor, where the first end of the transistor is an emitter, the second end of the transistor is a collector, and the control end of the transistor is a base. In this embodiment, the first end of the control switch T is electrically connected to the second end of the light emitting device D1, which is indirectly electrically connected in this embodiment, a second resistor R2 is connected in series between the first end of the control switch T and the second end of the light emitting device D1, that is, the second end of the light emitting device D1 is electrically connected to the first end of the second resistor R2, the first end of the control switch T is electrically connected to the second end of the second resistor R2, the second end of the control switch T is directly or indirectly grounded, and the control end of the control switch T is electrically connected to the processing unit 150. In addition, in other embodiments of the present application, a first terminal of the control switch T and a second terminal of the light emitting element D1 may be directly electrically connected, a second terminal of the control switch T is electrically connected to a first terminal of the second resistor R2, and a second terminal of the second resistor R2 is grounded. In addition, in other embodiments of the present application, the second resistor R2 included in the light emitting circuit 210 may be connected in series to the first power voltage Vcc1, the light emitting element D1, and the control switch T at other positions in the circuit.
In this embodiment, the processing unit 150 controls whether the first terminal and the second terminal of the control switch T are turned on or not by the control terminal of the control switch T. When the control end of the control switch T receives a high level signal from the processing unit 150, the first end and the second end of the control switch T are conducted, and at this time, the control switch T is conducted and turned on, and the light emitting element D1 emits light; when the control terminal of the control switch T receives the low level signal from the processing unit 150, the first terminal and the second terminal of the control switch T are not turned on, and at this time, the control switch T is turned off, and the light emitting element D1 does not emit light.
In the present embodiment, the light receiving circuit 220 can communicate with the processing unit 150, where the light receiving circuit 220 is electrically connected to the processing unit 150, and the interface where the processing unit 150 is connected to the light receiving circuit 220 is different from the interface where the processing unit 150 is connected to the light emitting circuit 210. In the present embodiment, the light receiving circuit 220 is used for receiving the light emitted from the light emitting device D1 and reflected by the detection surface (e.g. the ground surface) and the ambient light. The light receiving circuit 220 includes a second power supply voltage Vcc2, a light receiving element D2, and a sampling resistor R3, wherein the second power supply voltage Vcc2, the light receiving element D2, and the sampling resistor R3 are connected in series.
In the present embodiment, the second power voltage Vcc2 is directly or indirectly derived from the battery unit 120, and the second power voltage Vcc2 is, for example, 5V. In this embodiment, the voltage of the second power supply voltage Vcc2 and the voltage of the first power supply voltage Vcc1 may be equal or unequal.
In the present embodiment, the light receiving element D2 directly or indirectly receives the second power voltage Vcc2, specifically, the first terminal of the light receiving element D2 is electrically connected to the second power voltage Vcc2, and the second terminal of the light receiving element D2 is electrically connected to the first terminal of the sampling resistor R3. The light receiving element D2 is used to convert the received light signal into an electrical signal, including but not limited to: voltage signal, current signal. In the present embodiment, the number of the light receiving elements D2 may be one or more, the number of the light receiving elements D2 is the same as the number of the light emitting elements D1, and the light receiving elements D2 belong to a part of the cliff proximity sensor 171 (fig. 5). In this embodiment, the light emitting device D1 and the light receiving device D2 are included in the cliff proximity sensor 171, the light receiving device D2 is collocated with the light emitting device D1, the light receiving device D2 receives the light emitted from the light emitting device D1 through the detection surface, the light receiving device D2 is an infrared receiving tube in this embodiment, the light receiving device D2 converts the light signal into an electrical signal when the light receiving device D2 receives the infrared light or the ambient light emitted from the light emitting device D1, and the current flows through the sampling resistor R3. In other embodiments of the present application, the light receiving element D2 may be other light receiving tubes known to those skilled in the art, or other components capable of converting optical signals into electrical signals.
In this embodiment, the sampling resistor R3 is connected in series with the light receiving element D2, specifically, a first end of the sampling resistor R3 is electrically connected to a second end of the light receiving element D2, and a second end of the sampling resistor R3 is directly or indirectly connected to ground. Furthermore, the first terminal of the sampling resistor R3 is electrically connected, in this embodiment indirectly, to the interface of the processing unit 150, so that the processing unit 150 can obtain the sampling signal on the sampling resistor R3 by detecting. Sampled signals include, but are not limited to: sampling voltage, sampling current. In this embodiment, the processing unit obtains the sampling voltage, and since the second terminal of the sampling resistor R3 is grounded, the sampling voltage is the voltage across the sampling resistor R3.
In this embodiment, in order to reduce the influence of ambient light in the environment, the signal X1 of the infrared receiving tube D is collected by turning on the infrared transmitting tube for a certain period of time, and then the signal X2 of the infrared receiving tube D is collected by turning off the infrared transmitting tube for a certain period of time; since the generation of the signal X1 is affected by both the ambient light and the infrared rays emitted from the signal emitter, and the generation of the signal X2 is affected by the ambient light, the influence of the ambient light can be eliminated by performing processing operations based on the signal X1 and the signal X2. The signals X1, X2 are here the sampled voltage across the sampling resistor R3 or the sampled current flowing through the sampling resistor R3. Where the signal X1 and the signal X2 perform processing operations including, but not limited to: the difference between the signal X1 and the signal X2, or the difference between the absolute values, or X1/2-X2/2, etc. And comparing the calculation result with a preset value so as to judge whether the cliff exists in the detection area. For better description, for example, the operation may be to calculate a difference value between the first sampling voltage and the second sampling voltage, compare an absolute value of the difference value with a preset threshold voltage, determine that the ground safety of the detection area is not higher than a preset height value if the absolute value of the difference value is greater than or equal to the preset threshold voltage, determine that the detection area is a cliff if the absolute value of the difference value is less than the preset threshold voltage, and perform a preset avoidance process, such as performing a reduction, steering, and back avoidance action by the robot.
In order to prevent the problem of top distortion of the sampling signal caused by an excessively large sampling voltage in the prior art, in this embodiment, the resistance value of the sampling resistor R3 is reduced, and the resistance value of the sampling resistor R3 is less than or equal to 1000 ohms, for example, 1000 Ω, 620 Ω, 560 Ω, 510 Ω, 470 Ω, 430 Ω, 330 Ω, 300 Ω, 200 Ω, 100 Ω, and the like, and preferably, the resistance value of the sampling resistor R3 is greater than or equal to 100 ohms. The resistance value of the sampling resistor is generally thousands of kilo-ohms or tens of kilo-ohms (such as 3k omega, 10k omega and the like) compared with the prior art, and is greatly reduced. Even if the ambient light ratio is strong, the current flowing through the light receiving element D2 is the same as that in the prior art, the resistance value of the sampling resistor R3 is greatly reduced, and the sampling voltage on the sampling resistor R3 is equal to the product of the current and the resistance value of the sampling resistor R3, so that the sampling voltage (X2 or X1) is greatly reduced, and the probability of top distortion caused by too large sampling voltage can be reduced.
In this embodiment, the sampling voltage can be greatly reduced by greatly reducing the resistance of the sampling resistor R3, however, when the sampling voltage is relatively low, for example, when the ground reflected light is weak (for example, the ground with low reflectance of a dark carpet and black light absorption), the sampling voltage is relatively low and may not be detected by the processing unit 150 or the component between the first end of the sampling resistor R3 and the processing unit 150, so that the processing unit 150 may determine that a cliff exists in the detection area, and the machine performs the actions of bypassing, turning, stopping, and the like, which may cause the user to use the detection area. In order to solve this problem, in the present embodiment, the current generated by the light receiving element D2 needs to be increased, and the power of the light emitting element D1 needs to be increased to increase the intensity of the light emitted by the light emitting element D1, and in the present embodiment, the current flowing through the light emitting element D1 when the control switch T is turned on is set to be greater than or equal to 20 milliamperes, for example, 20mA, 22mA, 24mA, 25mA, 26mA, 28mA, 30mA, and the like. Since the current flowing through the light emitting element D1 is greater than or equal to 20mA, the current flowing through the light emitting element D1 is increased compared to the prior art, so that the power of the light emitting element D1 can be increased, the light emitting intensity of the light emitting element D1 can be increased, and finally the sampling voltage across the sampling resistor R3 in the light receiving circuit 220 is not too small. In this embodiment, there are various ways of increasing the current flowing through the light emitting element D1 compared to the prior art, and two ways are listed below, and those skilled in the art will understand that other ways are also possible.
1. The resistance of the second resistor R2 is unchanged, and the voltage value of the first power supply voltage Vcc1 is increased, for example, the first power supply voltage Vcc1 is 5.5V, 6V, 6.5V, 7V, 7.5V, etc., which is greater than the voltage 5V of the prior art. The current flowing through the light emitting element D1 can be increased to 20mA or more by calculation.
2. The voltage value of the first power voltage Vcc1 is unchanged, and the voltage value of the first power voltage Vcc1 is 5V, which reduces the resistance value of the second resistor R2 compared with the prior art. The current flowing through the light emitting element D1 can also be increased to 20mA or more by such an arrangement.
In the embodiment, the resistance value of the sampling resistor R3 is set to be less than or equal to 1000 ohms, so that the probability of top distortion caused by overlarge sampling voltage on the sampling resistor R3 can be reduced, the accuracy of the robot for detecting the cliff can be improved, and the robot can be prevented from being damaged due to false detection of the cliff; in addition, in this embodiment, when the control switch T is turned on, the current flowing through the light emitting device D1 is greater than or equal to 20 milliamperes, the light emitting intensity of the light emitting device D1 can be improved, and further, the current generated by the light receiving device D2 can be increased, so that the probability that the sampling voltage is relatively low and cannot be detected due to the reduction of the resistance value of the sampling resistor R3 can be reduced, and the detection accuracy of the robot can be improved; furthermore, since the light emitting intensity of the light emitting element D1 is increased, the proportion of light received by the light receiving element D2 and originating from the light emitting element D1 is increased, the proportion of ambient light is decreased, a useful portion of the current (light in the light emitting element D1 + ambient light) flowing through the light receiving element D2 is increased, the signal-to-noise ratio is increased, and the sampling accuracy of the cleaning robot can be improved.
Since the current flowing through the light emitting element D1 when the control switch T is turned on is greater than or equal to 20ma, the power of the light emitting element D1 is relatively large, which results in a greatly reduced lifetime of the light emitting element D1 and is easily damaged. In order to overcome this problem, in this embodiment, the signal sent by the processing unit 150 to the control terminal of the control switch T is a PWM (pulse width modulation) signal, and the duty ratio of the PWM signal is less than or equal to 55%, for example, the duty ratio of the PWM signal is 55%, 50%, 45%, 40%, 35%, 30%, 25%, and the like, so that the time for controlling the switch T to be on exceeds half of the period of the PWM signal at most by a little, that is, the time for controlling the switch T to be off is at least close to one half of the period, so that the time for the light emitting element D1 to emit light can be reduced (the light emitting element D1 emits light when the switch T is on), the average power of the light emitting element D1 can be reduced, and the service life of the light emitting element D1 can. In the present embodiment, the frequency f0 of the PWM signal is an even multiple of the commercial power frequency, such as 100Hz or an integer multiple of 120Hz, for example, the frequency f0 of the PWM signal is 500Hz, 1000Hz, 1200Hz, and so on.
Referring to fig. 7, in the present embodiment, the light receiving circuit 220 further includes an operational amplifier CP, an inverting terminal of the operational amplifier CP is electrically connected to the first terminal of the sampling resistor R3, a common terminal of the operational amplifier CP receives the preset reference voltage Vref, and an output terminal of the operational amplifier CP is electrically connected to the processing unit 150. In this embodiment, the light receiving circuit 220 further includes a fifth resistor R5 and a second capacitor C2, and the fifth resistor R5 and the second capacitor C2 form a negative feedback branch to ensure that the operational amplifier CP operates in a stable state. When the control switch T is turned on, the processing unit 150 collects a voltage signal at the output end of the operational amplifier CP, which is denoted as X1; when the control switch T is turned off, the processing unit 150 collects a voltage signal at the output terminal of the operational amplifier CP, which is denoted as X2, and then calculates a difference value X1-X2. In the present embodiment, the operational amplifier CP may be integrated in the processing unit 150, or may not be integrated in the processing unit 150.
Due to the alternating current characteristic of the commercial power, the light emitted by the indoor light source in the ambient light is modulated by the commercial power. The commercial power of different countries or regions is different, and the common alternating current frequencies of countries in the world are 50Hz and 60 Hz. The single-phase electric voltage range for the residents in China is 220V +/-10%, and the frequency is 50Hz +/-0.5 Hz. The instantaneous value of the voltage is expressed as e 311sin100 pi t (V), its maximum value is 311V, its effective value is 220V, its period is 0.02s and its frequency is 50 Hz. Taking the heating lamp as an example, please refer to fig. 8(a) -fig. 8(c), the heating lamp is equivalent to a resistor Req in the circuit, the instantaneous power P thereof is U2/Req, two power peaks occur in one period of the commercial power (please refer to fig. 8(c)), the radiation intensity of the emitted light also occurs two peaks, so the infrared receiving tube D is interfered by 100Hz, which is 2 times of the commercial power. In order to prevent the interference of the ac mains to the sampled voltage, in the present embodiment, the light receiving circuit 220 further includes a high pass filter 221, where 100Hz < the cut-off frequency of the high pass filter < f0, and f0 represents the frequency of the PWM signal.
Specifically, the high pass filter 221 includes a first capacitor C1 and a fourth resistor R4. The first electrode of the first capacitor C1 is electrically connected to the first end of the sampling resistor R3, the second electrode of the first capacitor C1 is electrically connected to the first end of the fourth resistor R4, and the second end of the fourth resistor R4 is electrically connected to the inverting terminal of the operational amplifier CP. Wherein the cutoff frequency f1 of the high-pass filter 221 satisfies the following formula:
100Hz＜f1＝1/(2π*R4*C1)＜f0；
in the above formula, R4 represents the resistance of the fourth resistor, and C1 represents the capacitance of the first capacitor.
For example, the cutoff frequency f1 of the high-pass filter 221 is 110Hz, 120Hz, 130Hz, 150Hz, 200Hz, 300Hz, or the like.
Since the frequency of the domestic commercial power is 50Hz, the cut-off frequency of the high-pass filter 221 only needs to be greater than 100Hz, and the commercial power interference signal lower than or equal to 100Hz is attenuated. In some countries, the frequency of the utility power is 60Hz, and the cut-off frequency f1 of the high-pass filter 221 needs to be greater than 120Hz, and the utility power signal lower than or equal to 120Hz will be attenuated. By setting the high-pass filter 221, the interference of the commercial power to the sampled voltage can be reduced.
In addition, because high-frequency chopping loads such as a switching power supply, a variable frequency air conditioner, a variable frequency motor driver and the like exist on a power grid, in order to avoid audio interference, the chopping frequency of the equipment generally exceeds 20KHz, and some of the equipment reach the MHz level, so that more space electromagnetic interference exists in an indoor space, and an electric signal of the cleaning robot is interfered in a radiation and conduction mode, so that the cleaning robot generates misjudgment. In order to prevent such high-frequency interference, in the present embodiment, the light receiving circuit 220 further includes a low-pass filter, where f0 < the cut-off frequency of the low-pass filter < 20 KHz; f0 represents the frequency of the PWM signal.
Specifically, the low pass filter includes a first low pass filter 222, the first low pass filter 222 is configured to reduce interference of the high-frequency chopping frequency to the operational amplifier CP, and the first low pass filter 222 includes a second capacitor C2 and a fifth resistor R5, wherein a first electrode of the second capacitor C2 is electrically connected to a first end of the fifth resistor R5, a second electrode of the fifth capacitor is electrically connected to a second end of the fifth resistor R5, a first end of the fifth resistor R5 is electrically connected to an inverting input end of the operational amplifier CP, and a second end of the fifth resistor R5 is electrically connected to an output end of the operational amplifier CP. Wherein the cutoff frequency fp1 of the first low-pass filter 222 satisfies the following formula:
f0＜fp1＝1/(2π*R5*C2)＜20KHz；
in the above formula, R5 represents the resistance of the fifth resistor, and C2 represents the capacitance of the second capacitor.
For example, the cutoff frequency fp1 of the first low-pass filter 222 is 2000Hz, 3000Hz, 4000Hz, 5000Hz, 6000Hz, 7000Hz, etc., so that high frequency interference signals above the cutoff frequency fp1 may be attenuated. By the arrangement of the first low-pass filter 222, the interference of the high-frequency interference signal to the sampling voltage can be reduced, and particularly, the interference of the high-frequency chopping load to the sampling voltage can be reduced.
Likewise, the low pass filter further includes a second low pass filter 223, the second low pass filter 223 is used for reducing interference of the high frequency chopping frequency to the signal input to the processing unit 156, and the second low pass filter 223 includes a third capacitor C3 and a seventh resistor R7. A first end of the seventh resistor R7 is electrically connected to the output end of the operational amplifier CP, a second end of the seventh resistor R7 is electrically connected to the processing unit 150, a first electrode of the third capacitor C3 is electrically connected to a second end of the seventh resistor R7, and a second electrode of the third capacitor C3 is grounded. Wherein the cutoff frequency fp2 of the second low-pass filter 223 satisfies the following formula:
f0＜fp2＝1/(2π*R7*C3)＜20KHz；
in the above formula, R7 represents the resistance of the seventh resistor, and C3 represents the capacitance of the third capacitor.
For example, the cut-off frequency fp2 of the second low-pass filter 223 is 2000Hz, 3000Hz, 4000Hz, 5000Hz, 6000Hz, 7000Hz, etc., so that high frequency interference signals above the frequency cut-off fp2 will be filtered out. By the second low-pass filter 223, the interference of the high-frequency interference signal to the output signal of the operational amplifier CP, especially the interference of the high-frequency chopping load to the output signal, can be reduced.
Further, in order to further reduce the interference of the ambient light to the cleaning robot, in this embodiment, the cleaning robot further includes a band pass filter, the band pass filter is installed at the front end of the light receiving element D2, the light entering into the light receiving element D2 needs to pass through the band pass filter, and the pass band wavelength of the band pass filter includes 850nm or 940 nm. Because light emitting component D1 is the infrared emission pipe in this embodiment, the wavelength of the light that the infrared emission pipe emitted is in this scope to lens can not filter the light that originates from light emitting component D1, and this part of light can be received by light receiving element D2, and to ambient light, the wavelength of most light is located outside this scope in the ambient light, thereby most light in the ambient light can be filtered, can greatly reduce the interference of ambient light, can promote cleaning machines people's accuracy. In addition, the cost of using an emitter tube with a wavelength of 850nm or 940nm is relatively low.
In this embodiment, with continued reference to fig. 6, the cleaning robot further includes an Analog-to-Digital Converter (ADC), an input end of the ADC is electrically connected to the first end of the sampling resistor R3, and an output end of the ADC is electrically connected to the processing unit 150. In addition, in other embodiments of the present application, the analog-to-digital converter ADC may also be integrated in the processing unit 150.
It should be noted that, in the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present application and is not to be construed as limiting the scope of the present application, so that the present application is not limited thereto, and all equivalent variations and modifications can be made to the present application.
Claims (11)
1. A cleaning robot, characterized by comprising:
a processing unit;
a light emitting circuit in communication with the processing unit, the light emitting circuit comprising:
a first power supply voltage;
a light emitting element that directly or indirectly receives a first power supply voltage;
the control switch is connected with the light-emitting element in series, the control end of the control switch is electrically connected with the processing unit, and the processing unit sends a signal to control whether the control switch is conducted or not;
a light receiving circuit in communication with the processing unit, the light receiving circuit comprising:
a second power supply voltage;
a light receiving element that directly or indirectly receives the second power supply voltage;
the sampling resistor is connected with the light receiving element in series and is also electrically connected with the processing unit so that the processing unit detects and obtains a sampling signal on the sampling resistor;
wherein, the resistance value of the sampling resistor is less than or equal to 1000 ohms.
2. The cleaning robot of claim 1, wherein a current flowing through the light emitting element when the control switch is turned on is greater than or equal to 20 milliamps.
3. The cleaning robot of claim 1, wherein the processing unit sends a PWM signal to the control terminal of the control switch, and a duty cycle of the PWM signal is less than or equal to 55%.
4. The cleaning robot as claimed in claim 1, wherein the processing unit transmits a PWM signal to the control terminal of the control switch, and the light receiving circuit further comprises a high pass filter, wherein 100Hz < the cut-off frequency of the high pass filter < f0, and f0 represents the frequency of the PWM signal.
5. The cleaning robot according to claim 4, wherein the light receiving circuit further includes an operational amplifier, an inverting terminal of the operational amplifier is electrically connected to a first terminal of the sampling resistor, a common terminal of the operational amplifier receives a preset reference voltage, and an output terminal of the operational amplifier is electrically connected to the processing unit.
6. The cleaning robot of claim 5, wherein the high pass filter includes a first capacitor and a fourth resistor, wherein a first electrode of the first capacitor is electrically connected to a first terminal of the sampling resistor, a second electrode of the first capacitor is electrically connected to a first terminal of the fourth resistor, and a second terminal of the fourth resistor is electrically connected to an inverting terminal of the operational amplifier, wherein,
100Hz＜1/(2π*R4*C1)＜f0；
wherein, R4 represents the resistance of the fourth resistor, and C1 represents the capacitance of the first capacitor.
7. The cleaning robot as claimed in claim 1, wherein said processing unit sends a PWM signal to a control terminal of said control switch, said light receiving circuit further comprises a low pass filter, wherein f0 < a cut-off frequency of said low pass filter < 20 KHz; f0 represents the frequency of the PWM signal.
8. The cleaning robot according to claim 7, wherein the light receiving circuit further includes an operational amplifier, an inverting terminal of the operational amplifier is electrically connected to a first terminal of the sampling resistor, a common terminal of the operational amplifier receives a preset reference voltage, and an output terminal of the operational amplifier is electrically connected to the processing unit.
9. The cleaning robot of claim 8, wherein the low pass filter comprises a first low pass filter comprising a second capacitor and a fifth resistor, wherein a first electrode of the second capacitor is electrically connected to a first terminal of the fifth resistor, a second electrode of the fifth capacitor is electrically connected to a second terminal of the fifth resistor, a first terminal of the fifth resistor is electrically connected to an inverting terminal of the operational amplifier, a second terminal of the fifth resistor is electrically connected to an output terminal of the operational amplifier, wherein,
f0＜1/(2π*R5*C2)＜20KHz；
wherein, R5 represents the resistance of the fifth resistor, and C2 represents the capacitance of the second capacitor.
10. The cleaning robot of claim 8, wherein the low pass filter comprises a second low pass filter comprising a third capacitor and a seventh resistor, wherein a first end of the seventh resistor is electrically connected to the output of the operational amplifier, a second end of the seventh resistor is electrically connected to the processing unit, a first electrode of the third capacitor is electrically connected to a second end of the seventh resistor, a second electrode of the third capacitor is grounded, wherein,
f0＜1/(2π*R7*C3)＜20KHz；
wherein, R7 represents the resistance of the seventh resistor, and C3 represents the capacitance of the third capacitor.
11. The cleaning robot according to any one of claims 1 to 10, further comprising a band pass filter having a pass band wavelength of 850nm or 940nm, the band pass filter being installed at a front end of the light receiving element.
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| CN201922500150.XU CN211933899U (en) | 2019-12-31 | 2019-12-31 | Cleaning robot |
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| CN201922500150.XU CN211933899U (en) | 2019-12-31 | 2019-12-31 | Cleaning robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114532922A (en) * | 2022-01-31 | 2022-05-27 | 深圳市云鼠科技开发有限公司 | Method and device for detecting ground detection of cleaning robot under strong light |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114532922A (en) * | 2022-01-31 | 2022-05-27 | 深圳市云鼠科技开发有限公司 | Method and device for detecting ground detection of cleaning robot under strong light |
| CN114532922B (en) * | 2022-01-31 | 2023-12-12 | 深圳市云鼠科技开发有限公司 | Method and device for detecting ground penetrating of cleaning robot under strong light |
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Effective date of registration: 20220811 Address after: 201600 555 Guangfulin East Road, Songjiang District, Shanghai Patentee after: SHANGHAI FLYCO ELECTRICAL APPLIANCE Co.,Ltd. Address before: 518109 area 401f, building D, gangzhilong Science Park, 6 Qinglong Road, Qinghua community, Longhua street, Longhua District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN FEIKE ROBOT Co.,Ltd. |