CN111904338A - Ultrasonic detection circuit and sweeping robot - Google Patents

Abstract

The invention provides an ultrasonic detection circuit and a sweeping robot. The ultrasonic detection circuit includes a controller, a driving shaping circuit, a signal processing circuit and an ultrasonic signal transceiver device; the output end of the controller is connected with the input end of the driving shaping circuit, and the driving shaping circuit The output end of the signal processing circuit is connected to the input end of the signal processing circuit and the input end of the ultrasonic signal transceiver; the output end of the ultrasonic signal transceiver device is connected to the input end of the signal processing circuit, and the output end of the signal processing circuit is connected to the first input end of the controller connect. The technical scheme of the present invention aims to accurately detect the type of the ground, so as to prevent the sweeping robot from cleaning the ground in a wrong way.

Description

Ultrasonic detection circuit and sweeping robot

technical field

The invention relates to the technical field of household electrical appliances, in particular to an ultrasonic detection circuit and a sweeping robot.

Background technique

Most sweeping robots tend to have sweeping and mopping functions, but in fact, not all floors need mopping. If the ground is hard ground, such as tiles, it needs to be mopped.

However, it is difficult for traditional sweeping robots to accurately identify the type of ground, resulting in the sweeping robot sweeping the ground in the wrong way, causing ground damage.

SUMMARY OF THE INVENTION

An ultrasonic detection circuit and a sweeping robot are provided for the invention, aiming to accurately detect the type of the ground, so as to prevent the sweeping robot from cleaning the ground in a wrong way.

In order to achieve the above object, the present invention provides an ultrasonic detection circuit, which is applied to a cleaning robot, and the ultrasonic detection circuit includes a controller, a drive shaping circuit, a signal processing circuit and an ultrasonic signal transceiver;

The output end of the controller is connected with the input end of the drive shaping circuit, and the output end of the drive shaping circuit is connected with the input end of the signal processing circuit and the input end of the ultrasonic signal transceiver; The output end of the signal transceiving device is connected with the input end of the signal processing circuit, and the output end of the signal processing circuit is connected with the first input end of the controller;

the controller, for outputting a pulse signal to the driving shaping circuit;

The drive shaping circuit is used to drive the ultrasonic signal transceiver device to transmit ultrasonic signals to the ground according to the pulse signal;

The ultrasonic signal transceiver device is used for feeding back the ultrasonic signal reflected from the ground to the controller through the signal processing circuit, so that the controller can identify the type of the ground.

Optionally, the drive shaping circuit includes a drive circuit and a shaping circuit;

The input end of the drive circuit is connected to the output end of the controller, the output end of the drive circuit is connected to the input end of the shaping circuit, and the output end of the shaping circuit is connected to the input end of the signal processing circuit and the input end of the ultrasonic signal transceiver device is connected.

Optionally, the drive circuit includes a drive chip, a first resistor and a second resistor;

The output terminal of the controller is connected to the first input terminal of the driver chip through the first resistor, and the first output terminal of the driver chip is connected to the second input terminal of the driver chip through the second resistor connection, the second output end of the driving chip is connected with the input end of the shaping circuit;

the shaping circuit includes a first diode and a second diode;

The anode of the first diode and the cathode of the second diode are connected to the second output terminal of the driving chip, the cathode of the first diode and the anode of the second diode are connected It is connected to the input end of the signal processing circuit and the input end of the ultrasonic signal transceiving device.

Optionally, the ultrasonic detection circuit further includes a voltage stabilizing circuit; an input end of the voltage stabilizing circuit is connected to a power supply module, and an output end of the voltage stabilizing circuit is connected to a power supply end of the driving chip;

The voltage stabilizing circuit is used for supplying power to the driving chip after stabilizing the voltage output by the power module to a preset voltage.

Optionally, the voltage regulator circuit includes a three-terminal voltage regulator, a first capacitor, a second capacitor, a third capacitor and a fourth capacitor;

The input end of the three-terminal voltage regulator is connected with the power module, the first end of the first capacitor and the first end of the second capacitor; the second end of the first capacitor and the first end of the second capacitor are connected. The second end of the second capacitor is grounded;

The output end of the three-terminal voltage regulator is connected with the power supply end of the driving chip, the first end of the third capacitor and the first end of the fourth capacitor; the second end of the third capacitor and the The second end of the fourth capacitor is grounded.

Optionally, the signal processing circuit includes a signal amplification circuit and a comparison circuit;

The input end of the signal amplifying circuit is connected with the output end of the driving shaping circuit and the output end of the ultrasonic signal transceiving device; the output end of the signal amplifying circuit is connected with the negative input end of the comparing circuit;

The positive input terminal of the comparison circuit is connected to a reference signal input terminal to receive the input reference signal, and the output terminal of the comparison circuit is connected to the first input terminal of the controller.

Optionally, the signal amplification circuit includes a first operational amplifier circuit and a second operational amplifier circuit;

The output end of the drive shaping circuit and the output end of the ultrasonic signal transceiver device are connected to the inverting input end of the first operational amplifier circuit; the non-inverting input end of the first operational amplifier circuit is connected to the second operational amplifier circuit. The non-inverting input terminal of the amplifier circuit is connected;

The output terminal of the first operational amplifier circuit is connected to the inverting input terminal of the second operational amplifier circuit; the output terminal of the second operational amplifier circuit is connected to the negative input terminal of the comparison circuit.

Optionally, the ultrasonic detection circuit further includes an interface circuit, and the interface circuit is electrically connected to the controller;

The interface circuit includes a power input terminal, a third resistor, a fourth resistor, a fifth capacitor and a data interface;

The first end of the data interface is connected to the power input end, the first end of the third resistor and the first end of the fourth resistor; the second end of the data interface is connected to the fourth resistor The second end of the data interface is connected to the second input end of the controller; the third end of the data interface is connected to the second end of the third resistor, the first end of the fifth capacitor and the controller The reset terminal is connected; the second terminal of the fifth capacitor is grounded.

Optionally, the ultrasonic detection circuit is further provided with a communication interface;

The drive shaping circuit is connected with the ultrasonic signal transceiver device through the communication interface;

The signal amplifying circuit is connected with the ultrasonic signal transceiving device through the communication interface.

In order to achieve the above object, the present invention also provides a cleaning robot, which includes the ultrasonic detection circuit described in any one of the above.

In the technical scheme of the present invention, the controller outputs the pulse signal to the driving shaping circuit, and drives the ultrasonic signal transceiver device to transmit the ultrasonic signal to the ground through the driving shaping circuit; then the ultrasonic signal transceiver device receives the ultrasonic signal reflected back from the ground, and then transmits the ultrasonic signal reflected back from the ground. The ultrasonic signal is transmitted to the signal processing circuit, and the signal processing circuit generates an electrical signal corresponding to the ground type to the controller, so that the controller can identify the ground type according to the signal characteristics of the received electrical signal, and control the sweeping robot to perform the operation with the ground. The cleaning operation corresponding to the type can be set in this way to prevent the robot from using the wrong cleaning method to clean the ground due to the wrong identification of the ground type, which will cause damage to the ground.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained according to the structures shown in these drawings without creative efforts.

1 is a structural block diagram of an embodiment of an ultrasonic detection circuit of the present invention;

FIG. 2 is a structural block diagram of an embodiment of the drive shaping circuit in FIG. 1;

3 is a schematic diagram of a circuit structure of an embodiment of the driving shaping circuit in FIG. 2;

4 is a structural block diagram of another embodiment of an ultrasonic detection circuit of the present invention;

5 is a schematic diagram of a circuit structure of an embodiment of the voltage regulator circuit in FIG. 4;

6 is a structural block diagram of an embodiment of the signal processing circuit in FIG. 1;

7 is a structural block diagram of an embodiment of the signal amplifying circuit in FIG. 6;

FIG. 8 is a structural block diagram of another embodiment of the ultrasonic detection circuit of the present invention

9 is a schematic diagram of a circuit structure of an embodiment of the interface circuit in FIG. 8;

10 is a structural block diagram of yet another embodiment of an ultrasonic detection circuit of the present invention;

FIG. 11 is a schematic diagram of a circuit structure of an embodiment of an ultrasonic detection circuit of the present invention.

Description of reference numbers:

The realization, functional characteristics and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that if there are directional indications (such as up, down, left, right, front, back, etc.) involved in the embodiments of the present invention, the directional indications are only used to explain a certain posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly.

In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for the purpose of description, and should not be construed as indicating or implying Its relative importance or implicitly indicates the number of technical features indicated. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In addition, the technical solutions between the various embodiments can be combined with each other, but must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of such technical solutions does not exist. , is not within the scope of protection required by the present invention.

FIG. 1 is a structural block diagram of an embodiment of an ultrasonic detection circuit of the present invention.

Referring to FIG. 1 , the ultrasonic detection circuit is applied to a sweeping robot, and the ultrasonic detection circuit includes a controller 10 , a drive shaping circuit 20 , a signal processing circuit 40 and an ultrasonic signal transceiver 30 ; the output end of the controller 10 PWM and the drive shaping circuit 20 The output end of the drive shaping circuit 20 is connected to the input end of the signal processing circuit 40 and the input end of the ultrasonic signal transceiver 30; the output end of the ultrasonic signal transceiver 30 is connected to the input end of the signal processing circuit 40, and the signal The output terminal of the processing circuit 40 is connected to the first input terminal AD of the controller 10 .

The controller 10 can be optionally a microprocessor such as a single-chip microcomputer, a DSP, or an FPGA. The controller 10 is used to generate a pulse signal to the drive shaping circuit 20, and the drive shaping circuit 20 drives the ultrasonic signal transceiver 30 to transmit ultrasonic signals to the ground according to the received pulse signals, that is, ultrasonic waves, wherein the transmission speed of the ultrasonic waves is 340m/s.

The ultrasonic signal transceiver 30 has the functions of transmitting ultrasonic waves and receiving ultrasonic waves, and can optionally be an ultrasonic transceiver integrated probe.

The signal processing circuit 40 is used for generating an electrical signal corresponding to the type of ground to the controller 10 according to the ultrasonic waves received by the ultrasonic signal transceiver 30, such as generating a pulse signal corresponding to the type of ground to the controller 10 for the controller 10 Effectively identify the ground type according to the received electrical signal. Wherein, different ground types have different signal characteristics of the electrical signals generated by the signal processing circuit 40 .

The working principle of the ultrasonic detection circuit is as follows: During the working process of the sweeping robot, the output terminal of the controller 10 outputs a PWM pulse signal to the drive shaping circuit 20, and the drive shaping circuit 20 appropriately adjusts the pulse signal output by the controller 10, such as voltage After conversion, current increase and waveform shaping, the ultrasonic signal transceiver 30 is driven to transmit ultrasonic waves to the ground, so as to detect the type of the ground through the transmitted ultrasonic waves, for example, to detect whether the ground is a carpet or a tile. After the ultrasonic waves reach the ground, they will be reflected back by the ground and received by the ultrasonic signal transceiver 30 . Among them, in this embodiment, one channel of the pulse signal output by the driving shaping circuit 30 will be transmitted to the ultrasonic signal transceiver device 30 to drive the ultrasonic signal transceiver device 30 to transmit ultrasonic waves to the ground, and the other channel will be transmitted to the controller through the signal processing circuit 40 10.

The ultrasonic signal transceiver 30 transmits the ultrasonic waves reflected from the ground to the signal processing circuit 40 , and the signal processing circuit 40 generates an electrical signal corresponding to the type of ground to the controller 10 accordingly. Among them, the ultrasonic signal transceiver 30 can be installed on the chassis of the sweeping robot. If the ground is soft ground, the wheels of the sweeping robot will sink into the soft ground, and the effective distance between the ultrasonic signal transceiver 30 and the ground will be shortened; if the ground is hard ground, The wheels of the sweeping robot will not sink in. Therefore, for different ground types, the effective distance between the ultrasonic signal transceiver 30 and the ground is different, so the time for the ultrasonic wave to be transmitted and reflected by the ground is different. Therefore, the signal characteristics of the electrical signals generated by the signal processing circuit 40 are different. For example, if the electrical signal generated by the signal processing circuit 40 is a pulse signal, if the ground type is different, the width of the pulse signal generated by the signal processing circuit 40 is different. The controller 10 can effectively identify the type of the ground according to the signal characteristics of the received electrical signals, such as identifying whether the ground is a tile or a carpet, and perform corresponding operations, for example, if the ground is a tile, control the sweeping robot to perform sweeping and mopping operations. , if the ground is a blanket, control the sweeping robot to sweep the floor without mopping the floor. In this way, the ultrasonic detection circuit can accurately detect the ground type, and control the sweeping robot to clean the ground in a correct way according to the ground type, which can reduce the damage to the ground while ensuring the ground is clean and tidy.

Optionally, in this embodiment, the ultrasonic signal transceiver 30 can be set on the chassis of the sweeping robot, and the frequency of the pulse signal output by the controller 10 is set according to the vertical distance between the chassis of the sweeping robot and the ground; The vertical distance between the chassis of the robot and the ground is 20mm, and the controller 10 outputs a set of pulses with a fixed frequency at regular intervals, for example, every 4ms, outputs a set of pulses with a frequency of 300KHZ, wherein each set of pulses includes 6 pulses , and the interval between the two pulse groups before and after is 4ms. Then, the transmission period of the 300KHZ ultrasonic wave T=100000/300000=3.3ms, then the time Ttotal=3.3*6=19.8ms for the completion of a group of pulse transmission, and the transmission speed of the ultrasonic wave is 340mm/ms, then, a group of pulse signals The transmission distance S=19.8*340=6.732mm. Assuming that the sweeping robot runs on a blanket, the wheels of the sweeping robot will be recessed into the blanket by about 10mm, and the ultrasonic signal transceiver 30 is recessed 10mm into the sweeping robot chassis, then the effective distance between the ultrasonic signal transceiver 30 and the blanket is 20mm; if the sweeping robot runs on hard ground such as ceramic tiles, since the wheels of the sweeping robot will not sink into the hard ground, the effective distance between the ultrasonic signal transceiver 30 and the hard ground is 30mm. In this way, even if a group of 6 pulse signals with a frequency of 300KHZ is transmitted, the distance of the first group of pulse groups is 6.732mm. If the ground is a blanket, even if the blanket touches the bottom shell of the sweeping robot, the ultrasonic signal transceiver will 30 works fine. That is, the frequency of the pulse signal output by the controller 10 can be set according to the vertical distance between the chassis of the sweeping robot and the ground to ensure that the ultrasonic signal transceiver 30 can work normally and the entire circuit can accurately detect the ground type.

Optionally, when the output terminal PWM of the controller 10 outputs a pulse signal, the first input terminal AD of the controller 10 outputs a high level 1ms in advance as the start identifier of each pulse group, and when the pulse group transmission ends, The first input terminal AD of the controller 10 delays for 1.2ms and then outputs a low level as the end identifier of each pulse group.

In the technical solution of the present invention, the controller 10 outputs a pulse signal to the driving shaping circuit 20, and drives the ultrasonic signal transceiver 30 to transmit the ultrasonic signal to the ground through the driving shaping circuit 20; then the ultrasonic signal transceiver 30 receives the ultrasonic signal reflected from the ground, and transmits the ultrasonic signal to the ground. The ultrasonic signal reflected from the ground is transmitted to the signal processing circuit 40, and the signal processing circuit 40 generates an electrical signal corresponding to the ground type to the controller 10, so that the controller 10 can identify the ground type according to the signal characteristics of the received electrical signal, And control the sweeping robot to perform cleaning operations corresponding to the type of the ground. This setting can prevent the sweeping robot from using the wrong cleaning method to clean the ground due to the wrong identification of the ground type, causing damage to the ground.

In one embodiment, referring to FIG. 2 , the driving shaping circuit 20 includes a driving circuit 201 and a shaping circuit 202 ; the input terminal of the driving circuit 201 is connected to the output terminal PWM of the controller 10 , and the output terminal of the driving circuit 201 is connected to the shaping circuit 202 The input terminal of the shaping circuit 202 is connected to the input terminal of the signal processing circuit 40 , and the output terminal of the shaping circuit 202 is connected to the input terminal of the ultrasonic signal transceiver 30 .

The driving circuit 201 is used for voltage conversion and current amplification for the pulse signal output by the controller 10 to improve the driving capability.

The shaping circuit 202 is used to shape the pulse signal output by the driving circuit 201, and transmit the shaped pulse signal to the ultrasonic signal transceiver device 30 all the way to drive the ultrasonic signal transceiver device 30 to transmit ultrasonic waves to the ground; The signal processing circuit 40 is fed back to the controller 10 .

In one embodiment, referring to FIG. 3 , the drive circuit 201 is composed of a drive chip U1, a first resistor R1 and a second resistor R2; wherein, the output end PWM of the controller 10 is connected to the first resistor R1 and the first resistor R1 of the drive chip U1. An input terminal 2 is connected, the first output terminal 7 of the driving chip U1 is connected to the second input terminal 4 of the driving chip U1 through the second resistor R2, and the second output terminal 5 of the driving chip U1 is connected to the input terminal of the shaping circuit 202.

In one embodiment, referring to FIG. 3 , the shaping circuit 202 is composed of a first diode D1 and a second diode D2 connected in parallel; specifically, the anode of the first diode D1 and the second diode D2 The negative poles of the diodes are connected to the second output terminal 5 of the driving chip U1, and the negative poles of the first diode D1 and the positive poles of the second diode D2 are connected to the input terminal of the signal processing circuit 40 and the input of the ultrasonic signal transceiver 30. end connection.

In one embodiment, referring to FIG. 4 , the ultrasonic detection circuit further includes a voltage stabilizer circuit 60 ; the input end of the voltage stabilizer circuit 60 is connected to a power supply module 50 , and the output end of the voltage stabilizer circuit 60 is connected to the driver in the drive circuit 201 . The power terminal 6 (ie VCC) of the chip U1 is connected.

In this embodiment, the ultrasonic detection circuit is further provided with a voltage stabilizing circuit 60. After the voltage of a power supply module 50 inside the sweeping robot is regulated to a preset voltage by the voltage stabilizing circuit 60, the driving chip U1 is powered. After the voltage of 14V output by the internal power supply module 50 of the robot is regulated to 12V, it supplies power to the driver chip U1 to ensure the normal operation of the driver chip U1. The power module 50 may be a rechargeable battery provided inside the cleaning robot.

In one embodiment, referring to FIG. 5 , the voltage regulator circuit 60 includes a three-terminal voltage regulator U2, a first capacitor C1, a second capacitor C2, a third capacitor C3 and a fourth capacitor C4; the three-terminal voltage regulator U2 The input end of the first capacitor C1 is connected to the power supply module 50, and is connected to the first end of the first capacitor C1 and the first end of the second capacitor C2; and the second end of the first capacitor C1 and the second end of the second capacitor C2 are grounded; The output end of the three-terminal voltage regulator U2 is connected to the power supply end 6 of the driving chip U1, and is connected to the first end of the third capacitor C3 and the first end of the fourth capacitor C4; and the second end of the third capacitor C3 and the second end of the fourth capacitor C4 is grounded. Among them, the three-terminal voltage stabilizer U2 is used to form the voltage stabilizer circuit 60, which has the advantages of less external components, convenient use, stable performance, and low price.

In one embodiment, referring to FIG. 6 , the signal processing circuit 40 includes a signal amplifying circuit 401 and a comparing circuit 402 ; wherein the input end of the signal amplifying circuit 401 , the output end of the driving shaping circuit 20 and the output end of the ultrasonic signal transceiver 30 The output terminal of the signal amplification circuit 401 is connected to the negative input terminal of the comparison circuit 402; the positive input terminal of the comparison circuit 402 is connected to a reference signal input terminal Vref to receive the input reference signal, and the output terminal of the comparison circuit 402 is connected to the control The first input terminal AD of the device 10 is connected.

The signal amplifying circuit 401 can amplify the ultrasonic signal received by the ultrasonic signal transceiver 30 so as to facilitate the effective identification of the controller 10. The signal amplifying circuit 401 may be composed of a single or multiple operational amplifier circuits.

The comparison circuit 402 has the following characteristics: if the voltage of the positive input terminal of the comparison circuit 402 is greater than the voltage of the negative input terminal of the comparison circuit 402, the comparison circuit 402 outputs the first level; The circuit 402 outputs the second level; and the continuous first level and the second level constitute the pulse signal fed back to the controller 10 . Among them, due to the different types of ground, the time for the ultrasonic wave to be emitted and reflected by the ground is different. Therefore, after the reflected ultrasonic wave is amplified by the signal amplification circuit 401 and transmitted to the comparison circuit 402, the width of the pulse signal generated by the comparison circuit 402 is Differently, the controller 10 can effectively identify the ground type according to the width of the received pulse signal.

In one embodiment, referring to FIG. 7 , the signal amplifying circuit 401 includes a first operational amplifier circuit 4011 and a second operational amplifier circuit 4012; and the output end of the drive shaping circuit 20 and the output end of the ultrasonic signal transceiver 30 are both connected to the first operational amplifier circuit 4011 and the second operational amplifier circuit 4012. The inverting input terminal of an operational amplifier circuit 4011 is connected; the non-inverting input terminal of the first operational amplifier circuit 4011 is connected to the non-inverting input terminal of the second operational amplifier circuit 4012; the output terminal of the first operational amplifier circuit 4011 is connected to the second operational amplifier circuit 4012 The inverting input terminal of the operational amplifier circuit 4012 is connected; the output terminal of the second operational amplifier circuit 4012 is connected to the negative input terminal of the comparison circuit 402 .

In this embodiment, the ultrasonic wave received by the ultrasonic signal transceiver 30 is amplified by the first operational amplifier circuit 4011 and the second operational amplifier circuit 4012, so that the controller 10 can effectively identify the ultrasonic signal.

In a specific embodiment, referring to FIG. 11 , the first operational amplifier circuit 4011 includes a sixth capacitor C6, a seventh resistor R7, an eighth resistor R8 and a first operational amplifier OP1;

The output end of the drive shaping circuit 20 and the output end of the ultrasonic signal transceiver 30 are connected to the inverting input end of the first operational amplifier OP1 through the sixth capacitor C6 and the seventh resistor R7 in series, and the first operational amplifier OP1 The inverting input terminal is connected to its output terminal through the eighth resistor R8 ; and the non-inverting input terminal of the first operational amplifier OP1 is connected to the non-inverting input terminal of the second operational amplifier circuit 4012 .

The second operational amplifier circuit 4012 includes a seventh capacitor C7, a ninth resistor R9, a tenth resistor R10 and a second operational amplifier OP2;

The output terminal of the first operational amplifier OP1 is connected to the inverting input terminal of the second operational amplifier OP2 through the seventh capacitor C7 and the ninth resistor R9 in series, and the inverting input terminal of the second operational amplifier OP2 is connected to the inverting input terminal of the second operational amplifier OP2 through the tenth resistor R10 The output terminal of the second operational amplifier OP2 is connected to the negative input terminal of the comparison circuit 402; the non-inverting input terminal of the second operational amplifier OP2 is connected to the non-inverting input terminal of the first operational amplifier OP1.

The signal amplifying circuit 401 is further provided with a fifth resistor R5, a sixth resistor R6, an eleventh resistor R11, a twelfth resistor R12, an eighth capacitor C8, a third diode D3 and a fourth diode D4 ;

The output terminal of the driving circuit 20 is connected to the inverting input terminal of the first operational amplifier circuit 4011 through the sixth resistor R6, and the first terminal of the fifth resistor R5 is also connected to the output terminal of the driving circuit 20. The fifth resistor R5 is also connected to the output terminal of the driving circuit 20. The second end of R5 is grounded;

The cathode of the third diode D3 and the anode of the fourth diode D4 are both connected to the inverting input terminal of the first operational amplifier circuit 4011; and the anode of the third diode D3 and the anode of the fourth diode D4 negative ground;

The first terminal of the eleventh resistor R11 , the first terminal of the twelfth resistor R12 and the first terminal of the eighth capacitor C8 are all in phase with the non-inverting input terminal of the first operational amplifier circuit 4011 and the non-inverting terminal of the second operational amplifier circuit 4012 The input end is connected; and the second end of the eleventh resistor R11 , the second end of the twelfth resistor R12 and the second end of the eighth capacitor C8 are all grounded.

In one embodiment, referring to FIG. 11 , the comparison circuit 402 is composed of a fifth diode D5 , a thirteenth resistor R13 , a fourteenth resistor R14 , a fifteenth resistor R15 , a ninth capacitor C9 and a comparison trigger U3 ;

The output end of the signal amplifying circuit 401 is connected to the negative input end of the comparison flip-flop U3 via the fifth diode D5 and the thirteenth resistor R13, and the negative input end of the comparison flip-flop U3 is also connected to the thirteenth resistor R14. One end is connected to the first end of the ninth capacitor C9; wherein, the second end of the fourteenth resistor R14 and the second end of the ninth capacitor C9 are grounded; and the positive input end of the comparison flip-flop U3 and a reference signal input end Vref is connected, and the output end of the comparison flip-flop U3 is connected to the first input end AD of the controller 10 through the fifteenth resistor R15.

In one embodiment, referring to FIG. 8 , the ultrasonic detection circuit further includes an interface circuit 70 , and the interface circuit 70 is electrically connected to the controller 10 .

The interface circuit 70 is used to realize data interaction between the controller 10 and external devices such as computers, mobile phones, U disks, mobile hard disks, etc., so that the user can upgrade the programs in the controller 10 through the interface circuit 70 .

In one embodiment, referring to FIG. 9 , the interface circuit 70 includes a power input terminal DC+, a third resistor R3, a fourth resistor R4, a fifth capacitor C5 and a data interface J1;

Among them, the first end of the data interface J1 is connected to the power input end DC+, the voltage input of the power input end DC+ can be selected as 3.3V, and the first end of the data interface J1 is also connected with the first end of the third resistor R3 and the third The first end of the four resistors R4 is connected; the second end of the data interface J1 is connected to the second end of the fourth resistor R4 and the second input end TO of the controller 10; the third end of the data interface J1 is connected to the third end of the resistor R3 The second terminal, the first terminal of the fifth capacitor C5 and the reset terminal RES of the controller 10 are connected; and the second terminal of the fifth capacitor C5 is grounded.

In this embodiment, the controller 10 is connected with external devices through the data interface J1 to realize data interaction, so that the user can upgrade the program in the controller 10 through the data interface J1, which can be a 4pin interface.

In an embodiment, referring to FIG. 10 , the ultrasonic detection circuit further includes a communication interface 80 , and the communication interface 80 can be optionally a 2pin interface.

The driving shaping circuit 20 is connected to the ultrasonic signal transceiver device 30 through the communication interface 80 ; and the signal processing circuit 40 is connected to the ultrasonic signal transceiver device 30 through the communication interface 80 .

In this embodiment, the communication interface 80 is used to realize the connection between the ultrasonic signal transceiver 30 and the drive shaping circuit 20 and the signal processing circuit 40. Then, the ultrasonic signal transceiver 30 does not need to be fixed and welded on the board where the ultrasonic detection circuit is located, so that it can be It is convenient for the user to replace the ultrasonic signal transceiver device 30 and for subsequent maintenance.

The present invention also provides a cleaning robot, which includes the above-mentioned ultrasonic detection circuit. The detailed structure of the ultrasonic detection circuit can be referred to the above-mentioned embodiments, which will not be repeated here. It can be understood that since the above-mentioned ultrasonic detection circuit is used in the cleaning robot of the present invention, the embodiments of the cleaning robot of the present invention include the above-mentioned ultrasonic detection circuit. All the technical solutions of all the embodiments of the ultrasonic detection circuit, and the technical effects achieved are also the same, and will not be repeated here.

The above descriptions are only optional embodiments of the present invention, and are not intended to limit the scope of the present invention. Under the inventive concept of the present invention, any equivalent structural transformations made by using the contents of the description and drawings of the present invention, or direct/indirect Applications in other related technical fields are included in the scope of patent protection of the present invention.

Claims (10)

1. An ultrasonic detection circuit, applied to a sweeping robot, is characterized in that, the ultrasonic detection circuit comprises a controller, a drive shaping circuit, a signal processing circuit and an ultrasonic signal transceiver; The output end of the controller is connected with the input end of the drive shaping circuit, and the output end of the drive shaping circuit is connected with the input end of the signal processing circuit and the input end of the ultrasonic signal transceiver; The output end of the signal transceiving device is connected with the input end of the signal processing circuit, and the output end of the signal processing circuit is connected with the first input end of the controller; the controller, for outputting a pulse signal to the driving shaping circuit; The drive shaping circuit is used to drive the ultrasonic signal transceiver device to transmit ultrasonic signals to the ground according to the pulse signal; The ultrasonic signal transceiver device is used for feeding back the ultrasonic signal reflected from the ground to the controller through the signal processing circuit, so that the controller can identify the type of the ground. 2. The ultrasonic detection circuit of claim 1, wherein the drive shaping circuit comprises a drive circuit and a shaping circuit; The input end of the drive circuit is connected to the output end of the controller, the output end of the drive circuit is connected to the input end of the shaping circuit, and the output end of the shaping circuit is connected to the input end of the signal processing circuit and the input end of the ultrasonic signal transceiver device is connected. 3. The ultrasonic detection circuit of claim 2, wherein the drive circuit comprises a drive chip, a first resistor and a second resistor; The output terminal of the controller is connected to the first input terminal of the driver chip through the first resistor, and the first output terminal of the driver chip is connected to the second input terminal of the driver chip through the second resistor connection, the second output end of the driving chip is connected with the input end of the shaping circuit; the shaping circuit includes a first diode and a second diode; The anode of the first diode and the cathode of the second diode are connected to the second output terminal of the driving chip, the cathode of the first diode and the anode of the second diode are connected It is connected to the input end of the signal processing circuit and the input end of the ultrasonic signal transceiving device. 4. The ultrasonic testing circuit according to claim 3, wherein the ultrasonic testing circuit further comprises a voltage stabilizing circuit; an input end of the voltage stabilizing circuit is connected to a power supply module, and an output end of the voltage stabilizing circuit is connected to a power supply module. connected with the power supply terminal of the driver chip; The voltage stabilizing circuit is used for supplying power to the driving chip after stabilizing the voltage output by the power module to a preset voltage. 5. The ultrasonic detection circuit of claim 4, wherein the voltage regulator circuit comprises a three-terminal voltage regulator, a first capacitor, a second capacitor, a third capacitor and a fourth capacitor; The input end of the three-terminal voltage regulator is connected with the power module, the first end of the first capacitor and the first end of the second capacitor; the second end of the first capacitor and the first end of the second capacitor are connected. The second end of the second capacitor is grounded; The output end of the three-terminal voltage regulator is connected with the power supply end of the driving chip, the first end of the third capacitor and the first end of the fourth capacitor; the second end of the third capacitor and the The second end of the fourth capacitor is grounded. 6. The ultrasonic detection circuit according to claim 1, wherein the signal processing circuit comprises a signal amplification circuit and a comparison circuit; The input end of the signal amplifying circuit is connected with the output end of the driving shaping circuit and the output end of the ultrasonic signal transceiving device; the output end of the signal amplifying circuit is connected with the negative input end of the comparing circuit; The positive input terminal of the comparison circuit is connected to a reference signal input terminal to receive the input reference signal, and the output terminal of the comparison circuit is connected to the first input terminal of the controller. 7. The ultrasonic detection circuit of claim 6, wherein the signal amplifying circuit comprises a first operational amplifier circuit and a second operational amplifier circuit; The output end of the drive shaping circuit and the output end of the ultrasonic signal transceiver device are connected to the inverting input end of the first operational amplifier circuit; the non-inverting input end of the first operational amplifier circuit is connected to the second operational amplifier circuit. The non-inverting input terminal of the amplifier circuit is connected; The output terminal of the first operational amplifier circuit is connected to the inverting input terminal of the second operational amplifier circuit; the output terminal of the second operational amplifier circuit is connected to the negative input terminal of the comparison circuit. 8. The ultrasonic testing circuit according to any one of claims 1-7, wherein the ultrasonic testing circuit further comprises an interface circuit, and the interface circuit is electrically connected to the controller; The interface circuit includes a power input terminal, a third resistor, a fourth resistor, a fifth capacitor and a data interface; The first end of the data interface is connected to the power input end, the first end of the third resistor and the first end of the fourth resistor; the second end of the data interface is connected to the fourth resistor The second end of the data interface is connected to the second input end of the controller; the third end of the data interface is connected to the second end of the third resistor, the first end of the fifth capacitor and the controller The reset terminal is connected; the second terminal of the fifth capacitor is grounded. 9. The ultrasonic testing circuit according to claim 8, wherein the ultrasonic testing circuit is further provided with a communication interface; The drive shaping circuit is connected with the ultrasonic signal transceiver device through the communication interface; The signal amplifying circuit is connected with the ultrasonic signal transceiving device through the communication interface. 10. A cleaning robot, wherein the cleaning robot comprises the ultrasonic detection circuit according to any one of claims 1-9.

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