CN213551583U - Ultrasonic detection circuit, ultrasonic module, material identification system and robot - Google Patents
Ultrasonic detection circuit, ultrasonic module, material identification system and robot Download PDFInfo
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- CN213551583U CN213551583U CN202021909339.0U CN202021909339U CN213551583U CN 213551583 U CN213551583 U CN 213551583U CN 202021909339 U CN202021909339 U CN 202021909339U CN 213551583 U CN213551583 U CN 213551583U
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Abstract
The utility model discloses an ultrasonic detection circuit, ultrasonic wave module, material identification system and robot. The ultrasonic detection circuit comprises an ultrasonic sensor, a microprocessor and a bidirectional level conversion circuit, wherein the bidirectional level conversion circuit is respectively electrically connected with the microprocessor and the ultrasonic sensor, and when the ultrasonic detection circuit is positioned in a first interrupt direction, an interrupt signal of the microprocessor is subjected to level conversion by the bidirectional level conversion circuit and then is transmitted to the ultrasonic sensor; when the ultrasonic sensor is in the second interrupt direction, the bidirectional level conversion circuit performs level conversion on the interrupt signal of the ultrasonic sensor and then transmits the interrupt signal to the microprocessor. Because the bidirectional level conversion circuit can improve the interruption driving capability and reduce the clutter interference, the ultrasonic sensor can reduce the phenomenon that the microprocessor is triggered by mistake to interrupt, and the microprocessor can effectively interrupt the ultrasonic sensor, thereby improving the reliability of ultrasonic detection.
Description
Technical Field
The utility model relates to a robotechnology field especially relates to an ultrasonic detection circuit, ultrasonic wave module, material identification system and robot.
Background
With the popularization of sweeping robots integrating sweeping and mopping, the floor mopping function basically becomes the standard of the sweeping robots. However, in the floor-sweeping mode, the floor-sweeping robot can wet the carpet, the mop can scrape the hair off the carpet, or the floor-sweeping robot can run the carpet, which seriously affects the user experience.
The traditional robot of sweeping the floor installs ultrasonic sensor and main control unit, and ultrasonic sensor is connected with main control unit electricity, and ultrasonic sensor is to external transmission ultrasonic signal, and ultrasonic signal is reflected back by outside object, and whether main control unit discerns the object is the carpet according to the ultrasonic signal who reflects back to control the operation of sweeping the floor on next step. In order to realize information interaction between the ultrasonic sensor and the main controller, the main controller needs to interrupt the ultrasonic sensor to realize interrupt calibration, or the ultrasonic sensor also needs to interrupt the main controller to send the reflected ultrasonic signal to the main controller.
However, the power and the interrupted output current of the ultrasonic sensor are relatively small, and the interrupt pin of the ultrasonic sensor during operation is easily interfered, so that the ultrasonic sensor easily triggers the main controller by mistake to interrupt, and the reliability of the carpet identification of the sweeping robot is greatly reduced.
Disclosure of Invention
In order to solve the technical problem, an object of the embodiment of the utility model is to provide an ultrasonic detection circuit, ultrasonic wave module, material identification system and robot can improve the detection reliability.
In a first aspect, the present invention provides an ultrasonic detection circuit, including:
the ultrasonic sensor is used for receiving and transmitting ultrasonic signals;
the microprocessor is electrically connected with the ultrasonic sensor and is used for communicating with the ultrasonic sensor;
the bidirectional level conversion circuit is respectively electrically connected with the microprocessor and the ultrasonic sensor, and when the bidirectional level conversion circuit is in a first interrupt direction, the bidirectional level conversion circuit performs level conversion on an interrupt signal of the microprocessor and then transmits the level-converted interrupt signal to the ultrasonic sensor; when the bidirectional level conversion circuit is in a second interrupt direction, the bidirectional level conversion circuit performs level conversion on the interrupt signal of the ultrasonic sensor and then transmits the interrupt signal to the microprocessor.
Optionally, the ultrasonic sensor comprises:
the ultrasonic chip is used for receiving and transmitting ultrasonic signals;
the receiving and transmitting control circuit is respectively electrically connected with the ultrasonic chip and the microprocessor and is used for controlling the signal transmission between the ultrasonic chip and the microprocessor;
the reset control circuit is respectively electrically connected with the ultrasonic chip and the microprocessor and used for responding to a reset signal of the microprocessor and controlling the ultrasonic chip to execute reset operation;
and the burning control circuit is respectively and electrically connected with the ultrasonic chip and the microprocessor and is used for responding to the burning signal of the microprocessor and controlling the ultrasonic chip to execute burning operation.
Optionally, the ultrasonic chip includes a reset pin;
the reset control circuit comprises a first pull-up circuit, a first one-way conduction circuit and a second pull-up circuit, the first pull-up circuit is electrically connected with the reset pin and one end of the first one-way conduction circuit respectively, the second pull-up circuit is electrically connected with the other end of the first one-way conduction circuit and the microprocessor respectively, and the first one-way conduction circuit pulls down or pulls up the voltage of the reset pin according to the reset signal.
Optionally, the ultrasonic chip includes a burning pin;
the burning control circuit comprises a third pull-up circuit, a second one-way conduction circuit and a fourth pull-up circuit, the third pull-up circuit is electrically connected with the burning pin and one end of the second one-way conduction circuit respectively, the fourth pull-up circuit is electrically connected with the other end of the second one-way conduction circuit and the microprocessor respectively, and the second one-way conduction circuit pulls down or pulls up the voltage of the burning pin according to the burning signal.
Optionally, the ultrasonic detection circuit further includes an interface circuit, and the interface circuit is electrically connected to the microprocessor, and is configured to provide a first power supply for the microprocessor and electrically connect to an external device.
Optionally, the ultrasonic testing further includes a power conversion circuit, and the power conversion circuit is electrically connected to the interface circuit and the ultrasonic sensor, respectively, and is configured to convert the first power into a second power supplied to the ultrasonic sensor.
Optionally, the power conversion circuit is a low dropout regulator.
In a second aspect, the present invention provides an ultrasonic module, including:
a printed circuit board;
the ultrasonic detection circuit is characterized in that the ultrasonic sensor is mounted on the surface of the printed circuit board, and the microprocessor and the bidirectional level conversion circuit are arranged on the printed circuit board; and the number of the first and second groups,
the sound gathering cover is installed on the printed circuit board, a through groove is formed in the sound gathering cover, and the ultrasonic detection circuit receives and transmits ultrasonic signals through the through groove.
In a third aspect, an embodiment of the present invention provides a material identification system, including:
the ultrasonic signal can be reflected by an object;
the main controller is electrically connected with the microprocessor and used for identifying the material of the object and generating a control signal according to the reflected ultrasonic signal;
a roller assembly;
and the driving circuit is electrically connected with the main controller and the roller assembly and is used for controlling the roller assembly according to the control signal.
In a fourth aspect, an embodiment of the present invention provides a robot, including:
a housing including an accommodating chamber;
the material identification system is contained in the containing cavity.
The embodiment of the utility model provides a beneficial effect is: be different from prior art's condition, in the utility model provides an among the ultrasonic detection circuit, ultrasonic sensor is used for receiving and dispatching ultrasonic signal, and microprocessor is connected with ultrasonic sensor electricity for communicate with each other with ultrasonic sensor. The bidirectional level conversion circuit is respectively electrically connected with the microprocessor and the ultrasonic sensor, and when the bidirectional level conversion circuit is in a first interrupt direction, the bidirectional level conversion circuit performs level conversion on an interrupt signal of the microprocessor and then transmits the interrupt signal to the ultrasonic sensor. When the microprocessor controls the bidirectional level conversion circuit to be in the second interrupt direction, the bidirectional level conversion circuit performs level conversion on the interrupt signal of the ultrasonic sensor and then transmits the interrupt signal to the microprocessor. Because the bidirectional level conversion circuit can improve the interruption driving capability and reduce the clutter interference, the ultrasonic sensor can reduce the phenomenon that the microprocessor is triggered by mistake to interrupt, and the microprocessor can interrupt the ultrasonic sensor better and effectively, thereby improving the reliability of ultrasonic detection.
Drawings
Fig. 1 is a schematic perspective view of a robot according to an embodiment of the present invention;
FIG. 2 is a bottom schematic view of the robot shown in FIG. 1;
fig. 3 is a schematic circuit structure diagram of a material identification system according to an embodiment of the present invention;
FIG. 4 is an exploded view of the ultrasound module shown in FIG. 3;
FIG. 5 is a schematic circuit diagram of the ultrasonic detection circuit shown in FIG. 3;
FIG. 6 is a schematic diagram of the circuit configuration of the ultrasonic sensor shown in FIG. 5;
FIG. 7 is a circuit diagram of the microprocessor shown in FIG. 5;
FIG. 8 is a circuit diagram of the bi-directional level shift circuit shown in FIG. 5;
FIG. 9 is a circuit diagram of the interface circuit shown in FIG. 5;
fig. 10 is a schematic circuit diagram of the power conversion circuit shown in fig. 5.
Detailed Description
To facilitate an understanding of the present application, the present application is described in more detail below with reference to the accompanying drawings and detailed description. It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Robots of embodiments of the present invention may be configured in any suitable shape to perform a particular business function operation, for example, in some embodiments, the present robots include, but are not limited to, cleaning robots, including, but not limited to, sweeping robots, vacuuming robots, mopping robots, floor washing robots, and the like, pet robots, carrier robots, nursing robots, and the like.
Referring to fig. 1 and 2, the robot 100 includes a housing 11, a laser radar 12, an ultrasonic sensor (not shown), a driving wheel assembly 13, and a cleaning assembly 14.
The housing 11 is a protective housing of the robot 100, and is provided with an accommodating cavity for accommodating and mounting various components. In some embodiments, the housing 11 may be generally oval, triangular, D-shaped, or otherwise shaped.
The laser radar 12 is installed above the housing 11, and the installation height of the laser radar 12 is higher than the top surface shell height of the housing, and the laser radar 12 is used for detecting the obstacle distance between the robot 100 and an obstacle.
The ultrasonic sensor is installed in the receiving cavity of the housing 11, wherein the transmitting axis of the ultrasonic sensor is perpendicular to the ground, so that when the ultrasonic sensor transmits an ultrasonic signal to the ground, objects such as a floor or a carpet laid on the ground can effectively reflect the ultrasonic signal back to the ultrasonic sensor, and the ultrasonic sensor can maximally receive the reflected ultrasonic signal, so that the objects can be comprehensively and reliably analyzed to be floors or carpets according to the reflected ultrasonic signal.
The drive wheel assembly 13 is mounted to the housing 11 and drives the robot 100 to move across a surface to be cleaned, which may be a relatively smooth floor surface, a carpeted surface, or other surface to be cleaned.
In some embodiments, the driving wheel assembly 13 includes a left driving wheel 131, a right driving wheel 132, and an omni-directional wheel 133, and the left driving wheel 131 and the right driving wheel 132 are respectively mounted on opposite sides of the housing 11. The left and right driving wheels 131 and 132 are configured to be at least partially extendable and retractable to and from the bottom of the housing 11. The omni-directional wheel 133 is installed at a front position of the bottom of the housing 11, and the omni-directional wheel 133 is a movable caster wheel which can horizontally rotate 360 degrees, so that the robot 100 can flexibly steer. The left driving wheel 131, the right driving wheel 132 and the omni-directional wheel 133 are installed to form a triangle to improve the walking stability of the robot 100.
In some embodiments, the omni-directional wheel 133 may be omitted, and only the left driving wheel 131 and the right driving wheel 132 may be left to drive the robot to normally walk.
The cleaning member 14 is mounted on a surface of the housing 11 facing the surface to be cleaned and configured to clean dirt on the surface to be cleaned.
In some embodiments, the cleaning member 14 includes a rolling brush 141 and an edge brush 142, the rolling brush 141 is disposed in a first receiving groove formed in the bottom of the housing 11, the first receiving groove is formed to be recessed from the bottom of the housing 11 toward the top, and the housing 11 further has a second receiving groove, and the second receiving groove is communicated with the first receiving groove through the suction port.
In some embodiments, the cleaning member 14 may further include a wiping member, which is mounted at the rear portion of the housing 11 and is used for wiping and cleaning the surface to be cleaned by the rolling brush 141 or the side brush 142. In other embodiments, the robot 100 may be provided with only the mop for mopping the surface to be cleaned, and the mop may be mounted at the front or middle position of the housing 11.
In another aspect, an embodiment of the present invention provides a material identification system, which is capable of identifying a material of an object in a robot walking environment and controlling the robot walking according to the material of the object. Referring to fig. 3, the material quality identification system 300 includes an ultrasonic module 31, a main controller 32, a roller assembly 33 and a driving circuit 34.
The ultrasonic module 31 is used for transmitting and receiving ultrasonic signals. In some embodiments, referring to fig. 4, the ultrasonic module 31 includes a printed circuit board 311, an ultrasonic detection circuit 312, and a sound gathering cover 313.
The printed circuit board 311 is wired for signal transmission of the ultrasonic detection circuit 312. The printed circuit board 311 is provided with mounting holes 314, said mounting holes 314 being adapted to cooperate with screws or mounting members for mounting the printed circuit board 311 within the housing.
The ultrasonic detection circuit 312 is disposed on the surface of the printed circuit board 311 and is used for transmitting an ultrasonic signal so as to collect the ultrasonic signal reflected by the external object.
The sound gathering cover 313 is provided with a through groove 315, the ultrasonic chip in the ultrasonic detection circuit 312 is accommodated in the through groove 315, and the ultrasonic detection circuit 312 receives and transmits ultrasonic signals through the through groove 315.
The main controller 32 is used for identifying the material of the object and generating a control signal according to the reflected ultrasonic signal. Generally, the ultrasonic detection circuit 312 intermittently emits ultrasonic signals, and for example, the sound collecting cover 313 guides the ultrasonic signals sent by the ultrasonic detection circuit 312 to be transmitted in the same direction. The ultrasonic signal is reflected back to the sound gathering cover through the object on the ground, and then is gathered again and reflected back to the ultrasonic detection circuit 312. Because the carpet is loose in material, the ultrasonic signal can be absorbed, and the surface flatness of the carpet is low, so that the intensity value of the ultrasonic signal reflected back to the ultrasonic sensor by the carpet is low. The floor is made of hard material and has high surface flatness, so that the intensity value of the ultrasonic signal reflected by the carpet to the ultrasonic detection circuit 312 is high. Then, the main controller 32 compares the intensity values of the reflected waves based on the reflected ultrasonic signals to identify the material of the object, and determines whether the reflecting surface is a floor or a carpet, for example. Then, the main controller 32 generates a control signal according to the determination result, for example, if the ground is determined to be a floor, a first control signal is generated to control the roller assembly 33 to continue walking according to a predetermined plan. If the floor is judged to be the carpet, a second control signal is generated to control the roller assembly 33 to stop rotating, and further control the robot to stop walking forward.
In this embodiment, the roller assembly 33 may adopt the component 1 described in the above embodiments, which is not described herein. The driving circuit 34 is electrically connected to the main controller 32 and the roller assembly 33, respectively, and is configured to drive the roller assembly 33 to rotate or stop rotating according to the control signal, as mentioned above, when the control signal is the first control signal, the driving circuit 34 drives the roller assembly 33 to rotate. When the control signal is the second control signal, the driving circuit 34 drives the scroll wheel assembly 33 to stop rotating.
It will be appreciated that the drive circuit 34 may be selected from any suitable drive circuit of discrete components, such as a full bridge drive circuit, a half bridge drive circuit, and the like.
Referring to fig. 5, in some embodiments, the ultrasonic detection circuit 312 includes an ultrasonic sensor 51, a microprocessor 52, a bidirectional level conversion circuit 53, an interface circuit 54, and a power conversion circuit 55.
The ultrasonic sensor 51 is used for transceiving ultrasonic signals, wherein in some embodiments, please continue to refer to fig. 5, the ultrasonic sensor 51 includes an ultrasonic chip 511, a transceiving control circuit 512, a reset control circuit 513 and a recording control circuit 514.
The ultrasonic chip 511 is used for transmitting and receiving ultrasonic signals, and any suitable type of ultrasonic chip can be selected. In some embodiments, referring to fig. 6, the ultrasonic chip 511 is powered by a 1.8V power supply, and it is understood that the ultrasonic chip 511 may be powered by other power supplies.
For example, as shown in fig. 6, the transceiving control circuit 512 includes a resistor R1, a resistor R2, a resistor R3, a resistor R4, a capacitor C1, a switch tube Q1, and a switch tube Q2, and controls the on/off of the switch tubes Q1 and Q2, so as to control the signal transmission between the ultrasonic chip 511 and the microprocessor 52.
The reset control circuit 513 is electrically connected to the ultrasonic chip 511 and the microprocessor 52, respectively, and is configured to control the ultrasonic chip 511 to perform a reset operation in response to a reset signal from the microprocessor 52.
In some embodiments, with continued reference to fig. 5, the ultrasonic chip 511 includes a reset pin 61, the reset control circuit 513 includes a first pull-up circuit 5131, a first unidirectional conductive circuit 5132, and a second pull-up circuit 5133, the first pull-up circuit 5131 is electrically connected to the reset pin 61 and one end of the first unidirectional conductive circuit 5132, respectively, the second pull-up circuit 5133 is electrically connected to the other end of the first unidirectional conductive circuit 5132 and the microprocessor 52, respectively, and the first unidirectional conductive circuit 5132 pulls down or pulls up the voltage of the reset pin 61 according to the reset signal.
With continued reference to fig. 6, the first pull-up circuit 5131 includes a resistor R5, the first one-way conducting circuit 5132 includes a first diode D1, and the second pull-up circuit 5133 includes a resistor R6, when the reset signal is low, the first diode D1 is turned on, the voltage of the reset pin 61 is pulled low, and the ultrasonic chip 511 is reset. When the reset signal is at a high level, the first diode D1 is turned off, the voltage of the reset pin 61 is pulled high, and the ultrasonic chip 511 operates normally.
The burning control circuit 514 is electrically connected to the ultrasonic chip 511 and the microprocessor 52, respectively, and is configured to respond to the burning signal from the microprocessor 52 and control the ultrasonic chip 511 to perform the burning operation.
In some embodiments, referring to fig. 5, the ultrasonic chip 511 includes a programming pin 62, the programming control circuit 514 includes a third pull-up circuit 5141, a second unidirectional conductive circuit 5142 and a fourth pull-up circuit 5143, the third pull-up circuit 5141 is electrically connected to the programming pin 62 and one end of the second unidirectional conductive circuit 5142 respectively, the fourth pull-up circuit 5143 is electrically connected to the other end of the second unidirectional conductive circuit 5142 and the microprocessor 52 respectively, and the second unidirectional conductive circuit 5142 pulls down or pulls up the voltage of the programming pin 62 according to the programming signal.
With continued reference to fig. 6, the third pull-up circuit 5141 includes a resistor R7, the second one-way conducting circuit 5142 includes a second diode D2, and the fourth pull-up circuit 5143 includes a resistor R8, when the recording signal is at a high level, the second diode D2 is turned off, and thus the ultrasonic chip 511 is in the recording mode. When the recording signal is at a low level, the second diode D2 is turned on, so that the ultrasonic chip 511 exits the recording mode and the ultrasonic chip 511 operates normally.
The microprocessor 52 is electrically connected to the ultrasonic sensor 51 for communicating with the ultrasonic sensor 51, for example, the ultrasonic sensor 51 transmits the reflected ultrasonic data to the microprocessor 52 through an I2C bus, or the microprocessor 52 burns firmware on the ultrasonic sensor 51 through an I2C bus.
In some embodiments, referring to fig. 7, the microprocessor 52 uses a 3.3V power supply, and it is understood that the ultrasonic chip 511 may use other power supplies.
Due to the high integration level of the ultrasonic sensor 51, firmware burning, clock calibration and interrupt frequency modulation are required during use. When the ultrasonic sensor 51 receives the reflected ultrasonic signal, it transmits ultrasonic data. Because the interruption frequency is more, the data volume to be processed is larger, the microprocessor 52 can automatically perform interruption interaction with the ultrasonic sensor 51, process ultrasonic data in advance, and then forward the ultrasonic data to the main controller, therefore, because the above process does not need the participation of the main controller, the application of the microprocessor 52 can reduce the load of the main controller, thereby improving the whole real-time performance and the working efficiency of the robot.
The bidirectional level shift circuit 53 is electrically connected to the microprocessor 52 and the ultrasonic sensor 51, respectively, and when the bidirectional level shift circuit 53 is in the first interrupt direction, the bidirectional level shift circuit 53 performs level shift on an interrupt signal of the microprocessor 52 and then transmits the level-shifted interrupt signal to the ultrasonic sensor 51, and the ultrasonic sensor 51 calibrates a clock or performs other operations according to the interrupt signal of the microprocessor 52.
When the bidirectional level shifter 53 is in the second interrupt direction, the bidirectional level shifter 53 level-shifts the interrupt signal of the ultrasonic sensor 51 and transmits the level-shifted interrupt signal to the microprocessor 52. The microprocessor 52 starts preparation for receiving the ultrasonic data transmitted from the ultrasonic sensor 51 or performs other operations in accordance with the interrupt signal of the ultrasonic sensor 51.
Because the bidirectional level conversion circuit 53 can improve the interrupt driving capability and reduce noise interference, the phenomenon that the microprocessor 52 is triggered by mistake to interrupt can be reduced by the ultrasonic sensor 51, and the microprocessor 52 can interrupt the ultrasonic sensor 51 better and effectively, so that the reliability of ultrasonic detection is improved.
Referring to fig. 8, the bidirectional level shifter 53 is a bidirectional level shifter chip, wherein when the microprocessor pulls down the voltage of the DIR pin, the bidirectional level shifter 53 performs level shifting on the interrupt signal of the microprocessor 52 and transmits the level shifted interrupt signal to the ultrasonic sensor 51, for example, the 3.3V interrupt signal of the microprocessor 52 is converted into a 1.8V interrupt signal and transmitted to the ultrasonic sensor 51.
When the microprocessor 52 pulls up the voltage of DIR pin, the interrupt signal of the microprocessor 52 is prohibited from being transmitted to the ultrasonic sensor 51, but the bidirectional level conversion circuit 53 may convert the level of the interrupt signal of the ultrasonic sensor 51 and transmit the converted interrupt signal to the microprocessor 52, for example, convert the 1.8V interrupt signal of the ultrasonic sensor 51 into a 3.3V interrupt signal and transmit the converted interrupt signal to the microprocessor 52. When the interrupt signal of the ultrasonic sensor 51 contains noise, the bidirectional level conversion circuit 53 can filter out the noise, thereby preventing the noise from triggering the microprocessor 52 by mistake.
Referring to fig. 9, the interface circuit 54 is electrically connected to the microprocessor 52 for providing a first power supply to the microprocessor 52 and electrically connecting to an external device, wherein the external device may be a main controller or other devices, and the first power supply is 3.3V.
The power conversion circuit 55 is electrically connected to the interface circuit 54 and the ultrasonic sensor 51, respectively, and is configured to convert the first power into a second power supplied to the ultrasonic sensor 51, wherein the second power is 1.8V.
Referring to fig. 10, in some embodiments, the power conversion circuit 55 employs a low voltage linear regulator, which can reliably supply power to the ultrasonic sensor 51.
In general, the working principle of the ultrasonic detection circuit provided by the present embodiment is as follows:
first, the microprocessor 52 outputs a high-level recording signal to pull up the voltage of the PROG pin of the ultrasonic sensor 51, so that the ultrasonic sensor 51 enters a recording mode.
Next, the microprocessor 52 burns the firmware of the ultrasonic sensor 51 through the I2C bus. After the firmware is burned out, the microprocessor 52 pulls down the PROG pin of the ultrasonic sensor 51, and the ultrasonic sensor 61 exits the burn mode.
After the microprocessor 52 resets the ultrasonic sensor 51, an interrupt calibration of the ultrasonic sensor 51 can be performed. Accordingly, the microprocessor 52 pulls down the voltage of the DIR pin of the bidirectional level shift circuit 53, so that an interrupt signal of the microprocessor 52 can be sent to the ultrasonic sensor 51 through the bidirectional level shift circuit 53. The ultrasonic sensor 51 performs clock calibration based on an interrupt signal of the microprocessor 52. When the calibration is completed, the voltage of the DIR pin of the bidirectional level shift circuit 53 is pulled up, so that an interrupt signal of the ultrasonic sensor 51 can be sent to the microprocessor 52 through the bidirectional level shift circuit 53.
The ultrasonic sensor 51 transmits an ultrasonic signal to the ground, and when receiving the reflected ultrasonic signal, the ultrasonic sensor 51 sends an interrupt signal to the microprocessor 52, so that the microprocessor 52 is ready to receive data, and the ultrasonic sensor 51 sends the ultrasonic data to the microprocessor 52 through the I2C bus. After the microprocessor 52 has finished processing the data, the results are sent to the main controller. The main controller performs corresponding processing according to the result from the microprocessor 52. When the robot is in the floor mopping mode and the result is recognized as a carpet, the robot avoids the carpet from cleaning.
Finally, it is to be understood that the invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, which are intended as additional limitations on the scope of the invention, as these embodiments are provided so that the disclosure will be thorough and complete. In addition, under the idea of the present invention, the above technical features are combined with each other continuously, and many other variations of the present invention in different aspects as described above are considered as the scope of the present invention; further, modifications and variations will occur to those skilled in the art in light of the foregoing description, and it is intended to cover all such modifications and variations as fall within the true spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. An ultrasonic detection circuit, comprising:
the ultrasonic sensor is used for receiving and transmitting ultrasonic signals;
the microprocessor is electrically connected with the ultrasonic sensor and is used for communicating with the ultrasonic sensor;
the bidirectional level conversion circuit is respectively electrically connected with the microprocessor and the ultrasonic sensor, and when the bidirectional level conversion circuit is in a first interrupt direction, the bidirectional level conversion circuit performs level conversion on an interrupt signal of the microprocessor and then transmits the level-converted interrupt signal to the ultrasonic sensor; when the bidirectional level conversion circuit is in a second interrupt direction, the bidirectional level conversion circuit performs level conversion on the interrupt signal of the ultrasonic sensor and then transmits the interrupt signal to the microprocessor.
2. The ultrasonic detection circuit according to claim 1, wherein the ultrasonic sensor comprises:
the ultrasonic chip is used for receiving and transmitting ultrasonic signals;
the receiving and transmitting control circuit is respectively electrically connected with the ultrasonic chip and the microprocessor and is used for controlling the signal transmission between the ultrasonic chip and the microprocessor;
the reset control circuit is respectively electrically connected with the ultrasonic chip and the microprocessor and used for responding to a reset signal of the microprocessor and controlling the ultrasonic chip to execute reset operation;
and the burning control circuit is respectively and electrically connected with the ultrasonic chip and the microprocessor and is used for responding to the burning signal of the microprocessor and controlling the ultrasonic chip to execute burning operation.
3. The ultrasonic detection circuit of claim 2,
the ultrasonic chip comprises a reset pin;
the reset control circuit comprises a first pull-up circuit, a first one-way conduction circuit and a second pull-up circuit, the first pull-up circuit is electrically connected with the reset pin and one end of the first one-way conduction circuit respectively, the second pull-up circuit is electrically connected with the other end of the first one-way conduction circuit and the microprocessor respectively, and the first one-way conduction circuit pulls down or pulls up the voltage of the reset pin according to the reset signal.
4. The ultrasonic detection circuit of claim 2,
the ultrasonic chip comprises a burning pin;
the burning control circuit comprises a third pull-up circuit, a second one-way conduction circuit and a fourth pull-up circuit, the third pull-up circuit is electrically connected with the burning pin and one end of the second one-way conduction circuit respectively, the fourth pull-up circuit is electrically connected with the other end of the second one-way conduction circuit and the microprocessor respectively, and the second one-way conduction circuit pulls down or pulls up the voltage of the burning pin according to the burning signal.
5. The ultrasonic detection circuit of any one of claims 1 to 4, further comprising an interface circuit electrically connected to the microprocessor for providing a first power supply to the microprocessor and for electrically connecting to an external device.
6. The ultrasonic detection circuit of claim 5, further comprising a power conversion circuit electrically connected to the interface circuit and the ultrasonic sensor, respectively, for converting the first power to a second power provided to the ultrasonic sensor.
7. The ultrasonic detection circuit of claim 6, wherein the power conversion circuit is a low dropout linear regulator.
8. An ultrasonic module, comprising:
a printed circuit board;
the ultrasonic detection circuit of any one of claims 1 to 7, wherein the ultrasonic sensor is mounted on a surface of the printed circuit board, and the microprocessor and the bidirectional level conversion circuit are disposed on the printed circuit board; and the number of the first and second groups,
the sound gathering cover is installed on the printed circuit board, a through groove is formed in the sound gathering cover, and the ultrasonic detection circuit receives and transmits ultrasonic signals through the through groove.
9. A material identification system, comprising:
the ultrasound module of claim 8, wherein the ultrasound signal is reflected by an object;
the main controller is electrically connected with the microprocessor and used for identifying the material of the object and generating a control signal according to the reflected ultrasonic signal;
a roller assembly;
and the driving circuit is respectively electrically connected with the main controller and the roller assembly and is used for controlling the roller assembly according to the control signal.
10. A robot, comprising:
a housing including an accommodating chamber;
the material identification system of claim 9, wherein the material identification system is received in the receiving cavity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021909339.0U CN213551583U (en) | 2020-09-04 | 2020-09-04 | Ultrasonic detection circuit, ultrasonic module, material identification system and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021909339.0U CN213551583U (en) | 2020-09-04 | 2020-09-04 | Ultrasonic detection circuit, ultrasonic module, material identification system and robot |
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| CN213551583U true CN213551583U (en) | 2021-06-29 |
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| CN202021909339.0U Active CN213551583U (en) | 2020-09-04 | 2020-09-04 | Ultrasonic detection circuit, ultrasonic module, material identification system and robot |
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Address after: 518110 1701, building 2, Yinxing Zhijie, No. 1301-72, sightseeing Road, Xinlan community, Guanlan street, Longhua District, Shenzhen, Guangdong Province Patentee after: Shenzhen Yinxing Intelligent Group Co.,Ltd. Address before: 518110 Building A1, Yinxing Hi-tech Industrial Park, Guanlan Street Sightseeing Road, Longhua District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Silver Star Intelligent Technology Co.,Ltd. |