Detection Circuit and Robot

Abstract

A detection circuit and a robot belong to the field of robots. A control circuit outputs a first control signal of a first phase, a second control signal of a second phase, and a third control signal of a third phase; the first control signal, the second control signal, and the third control signal have different phases; a driving circuit outputs a first driving signal, a second driving signal, and a third driving signal respectively according to the first control signal, the second control signal, and the third control signal; a wall detection circuit performs left wall detection, right wall detection, and front wall detection respectively according to the first driving signal, the second driving signal, and the third driving signal to output a wall detection signal; the control circuit modulates the wall detection signal corresponding to the first phase, the wall detection signal corresponding to the second phase, and the wall detection signal corresponding to the third phase respectively to obtain a left wall detection result, a right wall detection result, and a front wall detection result; thus, the port resources of the control circuit are saved.

Description

Technical Field

[0001] This application belongs to the field of robots, and particularly relates to a detection circuit and a robot. Background Art

[0002] Currently, the circuit in a robot for detecting whether there are objects (such as walls) around it needs to configure multiple ports of the control circuit to respectively receive the wall detection signals detected in different directions. For example, multiple ports are configured to respectively receive the left wall detection signal obtained from the left wall detection and the right wall detection signal obtained from the right wall detection. In this way, it will cause waste of the port resources of the control circuit. Summary of the Invention

[0003] The purpose of this application is to provide a detection circuit and a robot, aiming to solve the problem of waste of port resources of the control circuit of the related detection circuit.

[0004] An embodiment of this application provides a detection circuit, including:

[0005] A control circuit configured to output a first control signal with a first phase, a second control signal with a second phase, and a third control signal with a third phase; the first control signal, the second control signal, and the third control signal have different phases;

[0006] A driving circuit connected to the control circuit, configured to output a first driving signal according to the first control signal, output a second driving signal according to the second control signal, and output a third driving signal according to the third control signal;

[0007] A wall detection circuit connected to the driving circuit and the control circuit, configured to perform left wall detection, right wall detection, and front wall detection respectively according to the first driving signal, the second driving signal, and the third driving signal to output a wall detection signal;

[0008] The control circuit is further configured to modulate the wall detection signal corresponding to the first phase to obtain a left wall detection result, modulate the wall detection signal corresponding to the second phase to obtain a right wall detection result, and modulate the wall detection signal corresponding to the third phase to obtain a front wall detection result.

[0009] In one embodiment, the wall detection circuit includes:

[0010] A first light emitting component connected to the driving circuit, configured to emit a first light ray according to the first driving signal;

[0011] A second light emitting component connected to the driving circuit, configured to emit a second light ray according to the second driving signal;

[0012] A third light emitting component, connected to the driving circuit, configured to emit a third light ray according to a third driving signal;

[0013] A first light receiving component, connected to the control circuit, configured to output a wall inspection signal according to the first light ray reflected by an object, the second light ray reflected by the object, and / or the third light ray reflected by the object.

[0014] In one embodiment, the third light emitting component includes a first light emitting diode, a second light emitting diode, a third light emitting diode, a fourth light emitting diode, a first resistor, and a second resistor;

[0015] A first end of the first resistor and a first end of the second resistor are connected to a third driving signal input terminal of the third light emitting component. A second end of the first resistor is connected to a positive electrode of the first light emitting diode. A negative electrode of the first light emitting diode is connected to a positive electrode of the second light emitting diode. A second end of the second resistor is connected to a positive electrode of the third light emitting diode. A negative electrode of the third light emitting diode is connected to a positive electrode of the fourth light emitting diode. A negative electrode of the second light emitting diode and a negative electrode of the fourth light emitting diode are commonly connected to a power ground.

[0016] The first light emitting component and the second light emitting component both include a light emitting module. The light emitting module includes a fifth light emitting diode, a sixth light emitting diode, a seventh light emitting diode, and a third resistor;

[0017] A first end of the third resistor is connected to a first driving signal input terminal of the light emitting module and a second driving signal input terminal of the light emitting module. A second end of the third resistor is connected to a positive electrode of the fifth light emitting diode. A negative electrode of the fifth light emitting diode is connected to a positive electrode of the sixth light emitting diode. A negative electrode of the sixth light emitting diode is connected to a positive electrode of the seventh light emitting diode. A negative electrode of the seventh light emitting diode is connected to a power ground.

[0018] In one embodiment, the first light receiving component includes a first photosensitive diode, a second photosensitive diode, a third photosensitive diode, a fourth photosensitive diode, a fifth photosensitive diode, a sixth photosensitive diode, a seventh photosensitive diode, an eighth photosensitive diode, a ninth photosensitive diode, and a tenth photosensitive diode;

[0019] The anodes of the first photosensitive diode, the second photosensitive diode, the third photosensitive diode, the fourth photosensitive diode, the fifth photosensitive diode, the sixth photosensitive diode, the seventh photosensitive diode, the eighth photosensitive diode, the ninth photosensitive diode, and the tenth photosensitive diode are commonly connected to the wall detection signal output terminal of the first light receiving component. The cathodes of the first photosensitive diode, the second photosensitive diode, the third photosensitive diode, the fourth photosensitive diode, the fifth photosensitive diode, the sixth photosensitive diode, the seventh photosensitive diode, the eighth photosensitive diode, the ninth photosensitive diode, and the tenth photosensitive diode are commonly connected to the power ground.

[0020] In one embodiment, it further includes:

[0021] A wall distance detection circuit, connected to the driving circuit and the control circuit, configured to perform left wall distance detection and right wall distance detection respectively according to the first driving signal and the second driving signal to output a wall distance detection signal;

[0022] The control circuit is further configured to modulate the wall distance detection signal corresponding to the first phase to obtain a left wall distance detection result, and modulate the wall distance detection signal corresponding to the second phase to obtain a right wall distance detection result.

[0023] In one embodiment, the wall distance detection circuit includes:

[0024] A fourth light emitting component, connected to the driving circuit, configured to emit a fourth light ray according to the first driving signal;

[0025] A fifth light emitting component, connected to the driving circuit, configured to emit a fifth light ray according to the second driving signal;

[0026] A second light receiving component, connected to the control circuit, configured to output a wall distance detection signal according to the fourth light ray reflected by an object and / or the fifth light ray reflected by the object.

[0027] In one embodiment, the fourth light emitting component and the fifth light emitting component include a light emitting unit, and the light emitting unit includes a fourth resistor and an eighth light emitting diode;

[0028] The first end of the fourth resistor is connected to the first driving signal input terminal and the second driving signal input terminal of the light emitting unit. The second end of the fourth resistor is connected to the anode of the eighth light emitting diode, and the cathode of the eighth light emitting diode is connected to the power ground.

[0029] In one embodiment, the second optical receiving component includes an eleventh photosensitive diode and a twelfth photosensitive diode;

[0030] The anodes of the eleventh photosensitive diode and the twelfth photosensitive diode are commonly connected to the wall distance detection signal output terminal of the second optical receiving component, and the cathodes of the eleventh photosensitive diode and the twelfth photosensitive diode are commonly connected to the power ground.

[0031] In one embodiment, it further includes:

[0032] A collision detection circuit, connected to the drive circuit and the control circuit, configured to perform left-side collision detection, right-side collision detection, and front-side collision detection respectively according to the first drive signal, the second drive signal, and the third drive signal to output a collision detection signal;

[0033] The control circuit is further configured to modulate the collision detection signal corresponding to the first phase to obtain a left-side collision detection result, modulate the collision detection signal corresponding to the second phase to obtain a right-side collision detection result, and modulate the collision detection signal corresponding to the third phase to obtain a front-side collision detection result.

[0034] In one embodiment, the collision detection circuit includes:

[0035] A left-side collision detection component, connected to the drive circuit and the control circuit, configured to perform left-side collision detection according to the first drive signal to output a left-side collision detection signal;

[0036] A right-side collision detection component, connected to the drive circuit and the control circuit, configured to perform right-side collision detection according to the second drive signal to output a right-side collision detection signal;

[0037] A front-side collision detection component, connected to the drive circuit and the control circuit, configured to perform front-side collision detection according to the third drive signal to output a front-side collision detection signal;

[0038] Wherein, the left-side collision detection signal, the right-side collision detection signal, and the front-side collision detection signal converge into a collision detection signal.

[0039] In one embodiment, the drive circuit includes:

[0040] A first drive component, connected to the control circuit, configured to amplify the first control signal to generate a first drive signal;

[0041] A second driving component, connected to the control circuit and configured to amplify the second control signal to generate a second driving signal;

[0042] A third driving component, connected to the control circuit and configured to amplify the third control signal to generate a third driving signal.

[0043] In one embodiment, the control circuit includes a microprocessor;

[0044] A first general-purpose input / output terminal of the microprocessor is connected to a first control signal output terminal of the control circuit, a second general-purpose input / output terminal of the microprocessor is connected to a second control signal output terminal of the control circuit, a third general-purpose input / output terminal of the microprocessor is connected to a third control signal output terminal of the control circuit, a first ADC input terminal of the microprocessor is connected to a wall detection signal input terminal of the control circuit, a second ADC input terminal of the microprocessor is connected to a wall distance detection signal input terminal of the control circuit, and a third ADC input terminal of the microprocessor is connected to a collision detection signal input terminal of the control circuit.

[0045] An embodiment of the present application further provides a robot, which includes the above-mentioned detection circuit.

[0046] The beneficial effects of the embodiments of the present invention compared with the prior art are as follows: Since the wall detection circuit performs left wall detection, right wall detection, and front wall detection respectively according to the first driving signal, the second driving signal, and the third driving signal to output a wall detection signal; the control circuit modulates the wall detection signal corresponding to the first phase to obtain a left wall detection result, modulates the wall detection signal corresponding to the second phase to obtain a right wall detection result, and modulates the wall detection signal corresponding to the third phase to obtain a front wall detection result. Since there is only one path for the wall detection signal, the control circuit only needs to configure one port to receive this one-path wall detection signal, thus saving the port resources of the control circuit. Description of the Drawings

[0047] In order to more clearly illustrate the technical invention in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0048] Figure 1 It is a schematic structural diagram of a detection circuit provided by an embodiment of the present application;

[0049] Figure 2 It is a schematic structural diagram of a wall detection circuit in a detection circuit provided by an embodiment of the present application;

[0050] Figure 3 Another structural schematic diagram of the detection circuit provided by an embodiment of the present application;

[0051] Figure 4 A structural schematic diagram of the wall distance detection circuit in the detection circuit provided by an embodiment of the present application;

[0052] Figure 5 Another structural schematic diagram of the detection circuit provided by an embodiment of the present application;

[0053] Figure 6 A structural schematic diagram of the collision detection circuit in the detection circuit provided by an embodiment of the present application;

[0054] Figure 7 A structural schematic diagram of the drive circuit in the detection circuit provided by an embodiment of the present application;

[0055] Figure 8 A partial example circuit schematic diagram of the detection circuit provided by an embodiment of the present application;

[0056] Figure 9 An example circuit schematic diagram of the drive module in the detection circuit provided by an embodiment of the present application;

[0057] Figure 10 A timing diagram of the first control signal, the second control signal, and the third control signal provided by an embodiment of the present application. Detailed implementation manners

[0058] In order to make the technical problems, technical solutions, and beneficial effects to be solved by the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0059] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0060] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality" means two or more unless otherwise specifically defined.

[0061] Figure 1The schematic structural diagram of the detection circuit provided by the preferred embodiment of the present application is shown. For the convenience of description, only the parts related to this embodiment are shown and are described in detail as follows:

[0062] The above detection circuit includes a control circuit 11, a driving circuit 12, and a wall detection circuit 13.

[0063] The control circuit 11 is configured to output a first control signal of a first phase, a second control signal of a second phase, and a third control signal of a third phase; the first control signal, the second control signal, and the third control signal have different phases; the periods of the first control signal, the second control signal, and the third control signal may be the same or different.

[0064] The driving circuit 12 is connected to the control circuit 11 and is configured to output a first driving signal according to the first control signal, output a second driving signal according to the second control signal, and output a third driving signal according to the third control signal.

[0065] The wall detection circuit 13 is connected to the driving circuit 12 and the control circuit 11 and is configured to perform left-side wall detection, right-side wall detection, and front-side wall detection according to the first driving signal, the second driving signal, and the third driving signal respectively to output a wall detection signal.

[0066] The control circuit 11 is further configured to modulate the wall detection signal corresponding to the first phase to obtain a left-side wall detection result, modulate the wall detection signal corresponding to the second phase to obtain a right-side wall detection result, and modulate the wall detection signal corresponding to the third phase to obtain a front-side wall detection result.

[0067] The driving circuit 12 is specifically configured to amplify the first control signal to generate the first driving signal, amplify the second control signal to generate the second driving signal, and amplify the third control signal to generate the third driving signal.

[0068] Among them, the left-side wall detection refers to detecting whether there is an object (such as a wall) within a first specified distance range on the left side, the right-side wall detection refers to detecting whether there is an object within a second specified distance range on the right side, and the front-side wall detection refers to detecting whether there is an object within a third specified distance range on the front side.

[0069] Specifically, the left-side wall detection refers to: detecting whether there is an object (such as a wall) within a first specified distance range in the left direction of the robot (at a distance from the robot), the right-side wall detection refers to detecting whether there is an object within a second specified distance range in the right direction of the robot (at a distance from the robot), and the front-side wall detection refers to detecting whether there is an object within a third specified distance range in the front direction of the robot (at a distance from the robot).

[0070] In addition, the first phase, the second phase, and the third phase may be different phases within the same cycle respectively.

[0071] By way of example and not limitation, the first phase, the second phase, and the third phase may have the same period and be 0 degrees, 120 degrees, and 240 degrees respectively. It can be understood that the first driving signal, the second driving signal, and the third driving signal are respectively generated by amplifying the first control signal, the second control signal, and the third control signal. Therefore, the phase of the first driving signal is the first phase, the phase of the second driving signal is the second phase, and the phase of the third driving signal is the third phase, that is, the first driving signal, the second driving signal, and the third driving signal have different phases. The positive duty cycles of the first driving signal, the second driving signal, and the third driving signal may not be equal to each other, and the sum of the positive duty cycles of the first driving signal, the second driving signal, and the third driving signal may be less than or equal to 100%.

[0072] As Figure 2 shown, the wall detection circuit 13 includes a first light emitting component 131, a second light emitting component 132, a third light emitting component 133, and a first light receiving component 134.

[0073] The first light emitting component 131 is connected to the driving circuit 12 and is configured to emit a first light ray according to the first driving signal;

[0074] The second light emitting component 132 is connected to the driving circuit 12 and is configured to emit a second light ray according to the second driving signal;

[0075] The third light emitting component 133 is connected to the driving circuit 12 and is configured to emit a third light ray according to the third driving signal;

[0076] The first light receiving component 134 is connected to the control circuit 11 and is configured to output a wall detection signal according to the first light ray reflected by the object, the second light ray reflected by the object, and / or the third light ray reflected by the object.

[0077] The first light emitting component 131 emits the first light ray for left wall detection, the second light emitting component 132 emits the second light ray for right wall detection, the third light emitting component 133 emits the third light ray for front wall detection, and the first light receiving component 134 receives the above-mentioned light rays reflected by the object. Since the first driving signal, the second driving signal, and the third driving signal for emitting the above-mentioned light rays have different phases, the wall detection signal output by the first light receiving component 134 includes the left wall detection signal corresponding to the first phase, the right wall detection signal corresponding to the second phase, and the front wall detection signal corresponding to the third phase, so that the control circuit 11 can modulate the wall detection signal corresponding to the first phase to obtain the left wall detection result, can modulate the wall detection signal corresponding to the second phase to obtain the right wall detection result, and can modulate the wall detection signal corresponding to the third phase to obtain the front wall detection result.

[0078] As shown Figure 3 in the figure, the detection circuit further includes a wall distance detection circuit 14.

[0079] The wall distance detection circuit 14, connected to the drive circuit 12 and the control circuit 11, is configured to perform left wall distance detection and right wall distance detection respectively according to the first drive signal and the second drive signal to output a wall distance detection signal;

[0080] The control circuit 11 is further configured to modulate the wall distance detection signal corresponding to the first phase to obtain a left wall distance detection result, and modulate the wall distance detection signal corresponding to the second phase to obtain a right wall distance detection result.

[0081] Left wall distance detection refers to detecting the distance to an object on the left side, and right wall distance detection refers to detecting the distance to an object on the right side.

[0082] Specifically, left wall distance detection means: detecting the distance between an object (such as a wall) and the robot in the left direction of the robot, and right wall distance detection means: detecting the distance between an object (such as a wall) and the robot in the right direction of the robot.

[0083] By detecting the distances to the left object and the right object through the wall distance detection circuit 14, the detection accuracy of the detection circuit is improved. Since the first drive signal and the second drive signal have different phases, the wall distance detection signal includes the left wall distance detection signal of the first phase and the right wall distance detection signal of the second phase, so that the control circuit 11 can modulate the wall distance detection signal corresponding to the first phase to obtain a left wall distance detection result, and can modulate the wall distance detection signal corresponding to the second phase to obtain a right wall distance detection result.

[0084] As shown Figure 4 in the figure, the wall distance detection circuit 14 includes a fourth light emitting component 141, a fifth light emitting component 142, and a second light receiving component 143.

[0085] The fourth light emitting component 141, connected to the drive circuit 12, is configured to emit a fourth light ray according to the first drive signal;

[0086] The fifth light emitting component 142, connected to the drive circuit 12, is configured to emit a fifth light ray according to the second drive signal;

[0087] The second light receiving component 143, connected to the control circuit 11, is configured to output a wall distance detection signal according to the fourth light ray reflected by the object and / or the fifth light ray reflected by the object.

[0088] The fourth light emitting component 141 emits a fourth light ray for left wall distance detection, and the fifth light emitting component 142 emits a fifth light ray for right wall distance detection. The second light receiving component 143 receives the above-mentioned light rays (the fourth light ray and the fifth light ray) reflected by the object. Since the first driving signal and the second driving signal for emitting the above-mentioned light rays have different phases, the wall distance detection signal includes a left wall distance detection signal corresponding to the first phase and a right wall distance detection signal corresponding to the second phase, so that the control circuit 11 can modulate the wall distance detection signal corresponding to the first phase to obtain the left wall distance detection result, and can modulate the wall distance detection signal corresponding to the second phase to obtain the right wall distance detection result.

[0089] As Figure 5 shown, the detection circuit further includes a collision detection circuit 15.

[0090] The collision detection circuit 15, connected to the driving circuit 12 and the control circuit 11, is configured to perform left collision detection, right collision detection, and front collision detection respectively according to the first driving signal, the second driving signal, and the third driving signal to output a collision detection signal;

[0091] The control circuit 11 is further configured to modulate the collision detection signal corresponding to the first phase to obtain the left collision detection result, modulate the collision detection signal corresponding to the second phase to obtain the right collision detection result, and modulate the collision detection signal corresponding to the third phase to obtain the front collision detection result.

[0092] Left collision detection refers to detecting whether an object is collided on the left side, right collision detection refers to detecting whether an object is collided on the right side, and front collision detection refers to detecting whether an object is collided on the front side.

[0093] The collision detection circuit 15 detects whether an object is collided on the left side, right side, and front side, thereby improving the safety of the detection circuit. Since the first driving signal, the second driving signal, and the third driving signal have different phases, the collision detection signal includes a left collision detection signal of the first phase, a right collision detection signal of the second phase, and a front collision detection signal of the third phase, so that the control circuit 11 can modulate the collision detection signal corresponding to the first phase to obtain the left collision detection result, can modulate the collision detection signal corresponding to the second phase to obtain the right collision detection result, and can modulate the collision detection signal corresponding to the third phase to obtain the front collision detection result.

[0094] As Figure 6 shown, the collision detection circuit 15 includes a left collision detection component 151, a right collision detection component 152, and a front collision detection component 153.

[0095] The left - hand collision detection component 151 is connected to the drive circuit 12 and the control circuit 11, and is configured to perform left - hand collision detection according to the first drive signal to output a left - hand collision detection signal;

[0096] The right - hand collision detection component 152 is connected to the drive circuit 12 and the control circuit 11, and is configured to perform right - hand collision detection according to the second drive signal to output a right - hand collision detection signal;

[0097] The front - side collision detection component 153 is connected to the drive circuit 12 and the control circuit 11, and is configured to perform front - side collision detection according to the third drive signal to output a front - side collision detection signal;

[0098] Among them, the left - hand collision detection signal, the right - hand collision detection signal, and the front - side collision detection signal converge into a collision detection signal.

[0099] Since the left - hand collision detection signal, the right - hand collision detection signal, and the front - side collision detection signal converge into a collision detection signal, the collision detection signal includes the left - hand collision detection signal of the first phase, the right - hand collision detection signal of the second phase, and the front - side collision detection signal of the third phase.

[0100] As Figure 7 shown, the drive circuit 12 includes a first drive component 121, a second drive component 122, and a third drive component 123.

[0101] The first drive component 121 is connected to the control circuit 11 and is configured to amplify the first control signal to generate a first drive signal;

[0102] The second drive component 122 is connected to the control circuit 11 and is configured to amplify the second control signal to generate a second drive signal;

[0103] The third drive component 123 is connected to the control circuit 11 and is configured to amplify the third control signal to generate a third drive signal.

[0104] Figure 8 shows a partial example circuit structure of the detection circuit provided by the embodiment of the present invention, Figure 9 shows an example circuit structure of the drive module in the detection circuit provided by the embodiment of the present invention. For the sake of convenience of description, only the parts related to the embodiment of the present invention are shown and are described in detail as follows:

[0105] The third light - emitting component 133 includes a first light - emitting diode DS1, a second light - emitting diode DS2, a third light - emitting diode DS3, a fourth light - emitting diode DS4, a first resistor R1, and a second resistor R2;

[0106] The first end of the first resistor R1 and the first end of the second resistor R2 are connected to the third drive signal input terminal of the third light emitting component 133. The second end of the first resistor R1 is connected to the positive electrode of the first light emitting diode DS1. The negative electrode of the first light emitting diode DS1 is connected to the positive electrode of the second light emitting diode DS2. The second end of the second resistor R2 is connected to the positive electrode of the third light emitting diode DS3. The negative electrode of the third light emitting diode DS3 is connected to the positive electrode of the fourth light emitting diode DS4. The negative electrodes of the second light emitting diode DS2 and the fourth light emitting diode DS4 are commonly connected to the power ground.

[0107] Using multiple light emitting diodes to form the third light emitting component 133 improves the accuracy of the front sidewall inspection.

[0108] The first light emitting component 131 and the second light emitting component 132 both include a light emitting module. The light emitting module includes a fifth light emitting diode DS5, a sixth light emitting diode DS6, a seventh light emitting diode DS7, and a third resistor R3.

[0109] The first end of the third resistor R3 is connected to the first drive signal input terminal and the second drive signal input terminal of the light emitting module. The second end of the third resistor R3 is connected to the positive electrode of the fifth light emitting diode DS5. The negative electrode of the fifth light emitting diode DS5 is connected to the positive electrode of the sixth light emitting diode DS6. The negative electrode of the sixth light emitting diode DS6 is connected to the positive electrode of the seventh light emitting diode DS7. The negative electrode of the seventh light emitting diode DS7 is connected to the power ground.

[0110] Using multiple light emitting diodes to form the first light emitting component 131 and the second light emitting component 132 improves the accuracy of the left sidewall inspection and the right sidewall inspection.

[0111] The first light receiving component 134 includes a first photosensitive diode PD1, a second photosensitive diode PD2, a third photosensitive diode PD3, a fourth photosensitive diode PD4, a fifth photosensitive diode PD5, a sixth photosensitive diode PD6, a seventh photosensitive diode PD7, an eighth photosensitive diode PD8, a ninth photosensitive diode PD9, and a tenth photosensitive diode PD10.

[0112] The anodes of the first photosensitive diode PD1, the second photosensitive diode PD2, the third photosensitive diode PD3, the fourth photosensitive diode PD4, the fifth photosensitive diode PD5, the sixth photosensitive diode PD6, the seventh photosensitive diode PD7, the eighth photosensitive diode PD8, the ninth photosensitive diode PD9, and the tenth photosensitive diode PD10 are commonly connected to the wall inspection signal output terminal of the first optical receiving component 134. The cathodes of the first photosensitive diode PD1, the second photosensitive diode PD2, the third photosensitive diode PD3, the fourth photosensitive diode PD4, the fifth photosensitive diode PD5, the sixth photosensitive diode PD6, the seventh photosensitive diode PD7, the eighth photosensitive diode PD8, the ninth photosensitive diode PD9, and the tenth photosensitive diode PD10 are commonly connected to the power ground.

[0113] By commonly connecting the anodes of the first photosensitive diode PD1 to the tenth photosensitive diode PD10 to the wall inspection signal output terminal of the first optical receiving component 134, the port resources of the control circuit 11 are saved.

[0114] The fourth optical transmitting component 141 and the fifth optical transmitting component 142 include optical transmitting units. The optical transmitting unit includes a fourth resistor R4 and an eighth light-emitting diode DS8;

[0115] The first end of the fourth resistor R4 is connected to the first drive signal input terminal and the second drive signal input terminal of the optical transmitting unit. The second end of the fourth resistor R4 is connected to the anode of the eighth light-emitting diode DS8, and the cathode of the eighth light-emitting diode DS8 is connected to the power ground.

[0116] This circuit is simple, reliable, and has a low cost.

[0117] The first optical receiving component 143 includes an eleventh photosensitive diode PD11 and a twelfth photosensitive diode PD12;

[0118] The anodes of the eleventh photosensitive diode PD11 and the twelfth photosensitive diode PD12 are commonly connected to the wall distance detection signal output terminal of the second optical receiving component 143. The cathodes of the eleventh photosensitive diode PD11 and the twelfth photosensitive diode PD12 are commonly connected to the power ground.

[0119] By commonly connecting the anodes of the eleventh photosensitive diode PD11 and the twelfth photosensitive diode PD12 to the wall distance detection signal output terminal of the second optical receiving component 143, the port resources of the control circuit 11 are saved.

[0120] The left collision detection component 151, the right collision detection component 152, and the front collision detection component 153 all include a collision detection module, and the collision detection module includes a collision switch TP1 and a fifth resistor R5;

[0121] The first end of the fifth resistor R5 is connected to the first drive signal input terminal, the second drive signal input terminal, and the third drive signal input terminal of the collision detection module. The second end of the fifth resistor R5 is connected to the first end of the collision switch TP1, and the second end of the collision switch TP1 is commonly connected to the collision detection signal output terminal of the collision detection module.

[0122] This circuit is simple, reliable, and has a low cost.

[0123] The control circuit 11 includes a microprocessor U1;

[0124] The first general-purpose input / output terminal P301 of the microprocessor U1 is connected to the first control signal output terminal of the control circuit 11. The second general-purpose input / output terminal P302 of the microprocessor U1 is connected to the second control signal output terminal of the control circuit 11. The third general-purpose input / output terminal P303 of the microprocessor U1 is connected to the third control signal output terminal of the control circuit 11.

[0125] The first analog-to-digital converter (ADC) input terminal P001 of the microprocessor U1 is connected to the wall detection signal input terminal of the control circuit 11. The second ADC input terminal P002 of the microprocessor U1 is connected to the wall distance detection signal input terminal of the control circuit 11. The third ADC input terminal P003 of the microprocessor U1 is connected to the collision detection signal input terminal of the control circuit 11.

[0126] The first drive component 121, the second drive component 122, and the third drive component 123 all include a drive module, and the drive module includes a first field-effect transistor M1, a first triode Q1, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, and a ninth resistor R9;

[0127] The first end of the sixth resistor R6 is connected to the first control signal input terminal, the second control signal input terminal, and the third control signal input terminal of the driving module. The second end of the sixth resistor R6 is connected to the first end of the seventh resistor R7 and the base of the first triode Q1. The collector of the first triode Q1 is connected to the first end of the eighth resistor R8. The second end of the eighth resistor R8 is connected to the first end of the ninth resistor R9 and the gate of the first field effect transistor M1. The drain of the first field effect transistor M1 is connected to the supply voltage VCC. The source of the first field effect transistor M1 is connected to the first driving signal output terminal, the second driving signal output terminal, and the third driving signal output terminal of the driving module. The second end of the seventh resistor R7 and the emitter of the first triode Q1 are commonly connected to the ground.

[0128] The following further explains Figure 8 and Figure 9 as shown in:

[0129] Output the first control signal of the first phase from the first general input / output terminal P301 of the microprocessor U1 to the base of the first triode Q1 in the first driving component 121. Output the second control signal of the second phase from the second general input / output terminal P302 of the microprocessor U1 to the base of the first triode Q1 in the second driving component 122. Output the third control signal of the third phase from the third general input / output terminal P303 of the microprocessor U1 to the base of the first triode Q1 in the third driving component 123. The phases of the first control signal, the second control signal, and the third control signal are different. For example, as Figure 10 shown, the first phase, the second phase, and the third phase can be 0 degrees, 120 degrees, and 240 degrees respectively. The first triode Q1 and the first field effect transistor M1 in the first driving component 121 amplify the first control signal to output the first driving signal from the source of the first field effect transistor M1 in the first driving component 121. The first triode Q1 and the first field effect transistor M1 in the second driving component 122 amplify the second control signal to output the second driving signal from the source of the first field effect transistor M1 in the second driving component 122. The first triode Q1 and the first field effect transistor M1 in the third driving component 123 amplify the third control signal to output the third driving signal from the source of the first field effect transistor M1 in the third driving component 123.

[0130] The anodes of the first light-emitting diode DS1 and the third light-emitting diode DS3 receive a third driving signal. The third driving signal drives the first light-emitting diode DS1 to the fourth light-emitting diode DS4 to emit third light rays. When the third light rays are reflected by an object to the first photosensitive diode PD1, the second photosensitive diode PD2, the third photosensitive diode PD3, and / or the fourth photosensitive diode PD4 in the first light-receiving component 134, the first photosensitive diode PD1, the second photosensitive diode PD2, the third photosensitive diode PD3, and / or the fourth photosensitive diode PD4 conduct, thereby outputting a front-side wall detection signal of the third phase. The anode of the fifth light-emitting diode DS5 in the first light-emitting component 131 receives a first driving signal. The first driving signal drives the fifth light-emitting diode DS5 to the seventh light-emitting diode DS7 in the first light-emitting component 131 to emit first light rays. When the first light rays are reflected by an object to the fifth photosensitive diode PD5, the sixth photosensitive diode PD6, and / or the seventh photosensitive diode PD7 in the first light-receiving component 134, the fifth photosensitive diode PD5, the sixth photosensitive diode PD6, and / or the seventh photosensitive diode PD7 conduct, thereby outputting a left-side wall detection signal of the first phase. The anode of the fifth light-emitting diode DS5 in the second light-emitting component 132 receives a second driving signal. The second driving signal drives the fifth light-emitting diode DS5 to the seventh light-emitting diode DS7 in the second light-emitting component 132 to emit second light rays. When the second light rays are reflected by an object to the eighth photosensitive diode PD8, the ninth photosensitive diode PD9, and / or the tenth photosensitive diode PD10 in the first light-receiving component 134, the eighth photosensitive diode PD8, the ninth photosensitive diode PD9, and / or the tenth photosensitive diode PD10 conduct, thereby outputting a right-side wall detection signal of the second phase. Among them, the front-side wall detection signal of the third phase, the left-side wall detection signal of the first phase, the right-side wall detection signal of the second phase, and / or the front-side wall detection signal of the third phase converge into a wall detection signal and are output to the first ADC input terminal P001 of the microprocessor U1. The microprocessor U1 modulates the wall detection signal corresponding to the first phase to obtain a left-side wall detection result, modulates the wall detection signal corresponding to the second phase to obtain a right-side wall detection result, and modulates the wall detection signal corresponding to the third phase to obtain a front-side wall detection result.

[0131] Meanwhile, the positive electrode of the eighth light-emitting diode DS8 in the fourth light-emitting component 141 receives the first driving signal. The first driving signal drives the eighth light-emitting diode DS8 in the fourth light-emitting component 141 to emit the fourth light ray. When the fourth light ray is reflected by an object to the twelfth photosensitive diode PD12 in the second light-receiving component 143, the eleventh photosensitive diode PD12 conducts, thereby outputting a left wall distance detection signal of the first phase; the positive electrode of the eighth light-emitting diode DS8 in the fifth light-emitting component 142 receives the second driving signal. The second driving signal drives the eighth light-emitting diode DS8 in the fifth light-emitting component 142 to emit the fifth light ray. When the fifth light ray is reflected by an object to the eleventh photosensitive diode PD11 in the second light-receiving component 143, the eleventh photosensitive diode PD11 conducts, thereby outputting a right wall distance detection signal of the second phase; wherein, the left wall distance detection signal of the first phase and the right wall distance detection signal of the second phase converge into a wall distance detection signal and are output to the second ADC input terminal P002 of the microprocessor U1. The microprocessor U1 modulates the wall distance detection signal corresponding to the first phase to obtain a left wall distance detection result, and modulates the wall distance detection signal corresponding to the second phase to obtain a right wall distance detection result.

[0132] Moreover, the first end of the collision switch TP1 in the left collision detection component 151 receives the first driving signal. When colliding with an object on the left, the second end of the collision switch TP1 in the left collision detection component 151 outputs a left collision detection signal of the first phase; the first end of the collision switch TP1 in the right collision detection component 152 receives the second driving signal. When colliding with an object on the right, the second end of the collision switch TP1 in the right collision detection component 152 outputs a right collision detection signal of the second phase; the first end of the collision switch TP1 in the front collision detection component 153 receives the third driving signal. When colliding with an object in the front, the second end of the collision switch TP1 in the front collision detection component 153 outputs a front collision detection signal of the third phase; wherein, the left collision detection signal of the first phase, the right collision detection signal of the second phase, and / or the front collision detection signal of the third phase converge into a collision detection signal and are output to the third ADC input terminal P003 of the microprocessor U1. The microprocessor U1 modulates the collision detection signal corresponding to the first phase to obtain a left collision detection result, modulates the collision detection signal corresponding to the second phase to obtain a right collision detection result, and modulates the collision detection signal corresponding to the third phase to obtain a front collision detection result.

[0133] It can be understood that the control circuit 11 (microprocessor U1) performs corresponding actions according to the left wall detection result, the right wall detection result, and the front wall detection result, and performs corresponding actions according to the left wall distance detection result and the right wall detection result, and performs corresponding actions according to the left collision detection result, the right collision detection result, and the front collision detection result.

[0134] An embodiment of the present invention further provides a robot, which includes the above detection circuit.

[0135] In an embodiment of the present invention, a first control signal of a first phase, a second control signal of a second phase, and a third control signal of a third phase are output by a control circuit; the first control signal, the second control signal, and the third control signal have the same period and different phases; a driving circuit outputs a first driving signal according to the first control signal, outputs a second driving signal according to the second control signal, and outputs a third driving signal according to the third control signal; a wall detection circuit respectively performs left wall detection, right wall detection, and front wall detection according to the first driving signal, the second driving signal, and the third driving signal to output a wall detection signal; the control circuit modulates the wall detection signal corresponding to the first phase to obtain a left wall detection result, modulates the wall detection signal corresponding to the second phase to obtain a right wall detection result, and modulates the wall detection signal corresponding to the third phase to obtain a front wall detection result. Since the wall detection circuit only outputs one path of signal to the control circuit, the port resources of the control circuit are saved.

[0136] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The order of execution of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0137] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A detection circuit, characterized in that, Including: A control circuit configured to output a first control signal of a first phase, a second control signal of a second phase, and a third control signal of a third phase; The first control signal, the second control signal, and the third control signal have different phases; A driving circuit connected to the control circuit and configured to output a first driving signal according to the first control signal, output a second driving signal according to the second control signal, and output a third driving signal according to the third control signal; A wall detection circuit connected to the driving circuit and the control circuit and configured to perform left wall detection, right wall detection, and front wall detection according to the first driving signal, the second driving signal, and the third driving signal respectively to output a wall detection signal; The control circuit is further configured to modulate the wall detection signal corresponding to the first phase to obtain a left wall detection result, modulate the wall detection signal corresponding to the second phase to obtain a right wall detection result, and modulate the wall detection signal corresponding to the third phase to obtain a front wall detection result; The wall detection circuit includes: A first light emitting component connected to the driving circuit and configured to emit a first light ray according to the first driving signal; A second light emitting component connected to the driving circuit and configured to emit a second light ray according to the second driving signal; A third light emitting component connected to the driving circuit and configured to emit a third light ray according to the third driving signal; A first light receiving component connected to the control circuit and configured to output a wall detection signal according to the first light ray reflected by an object, the second light ray reflected by the object, and / or the third light ray reflected by the object.

2. The detection circuit according to claim 1, characterized in that, The third light emitting component includes a first light emitting diode, a second light emitting diode, a third light emitting diode, a fourth light emitting diode, a first resistor, and a second resistor; A first end of the first resistor and a first end of the second resistor are connected to a third driving signal input terminal of the third light emitting component. A second end of the first resistor is connected to a positive electrode of the first light emitting diode. A negative electrode of the first light emitting diode is connected to a positive electrode of the second light emitting diode. A second end of the second resistor is connected to a positive electrode of the third light emitting diode. A negative electrode of the third light emitting diode is connected to a positive electrode of the fourth light emitting diode. A negative electrode of the second light emitting diode and a negative electrode of the fourth light emitting diode are commonly connected to a power ground; The first light emitting component and the second light emitting component both include a light emitting module, and the light emitting module includes a fifth light emitting diode, a sixth light emitting diode, a seventh light emitting diode, and a third resistor; A first end of the third resistor is connected to a first driving signal input terminal of the light emitting module and a second driving signal input terminal of the light emitting module. A second end of the third resistor is connected to a positive electrode of the fifth light emitting diode. A negative electrode of the fifth light emitting diode is connected to a positive electrode of the sixth light emitting diode. A negative electrode of the sixth light emitting diode is connected to a positive electrode of the seventh light emitting diode. A negative electrode of the seventh light emitting diode is connected to a power ground.

3. The detection circuit according to claim 1, characterized in that The first light receiving component includes a first photosensitive diode, a second photosensitive diode, a third photosensitive diode, a fourth photosensitive diode, a fifth photosensitive diode, a sixth photosensitive diode, a seventh photosensitive diode, an eighth photosensitive diode, a ninth photosensitive diode, and a tenth photosensitive diode; The anodes of the first photosensitive diode, the second photosensitive diode, the third photosensitive diode, the fourth photosensitive diode, the fifth photosensitive diode, the sixth photosensitive diode, the seventh photosensitive diode, the eighth photosensitive diode, the ninth photosensitive diode, and the tenth photosensitive diode are commonly connected to the wall detection signal output terminal of the first light receiving component, and the cathodes of the first photosensitive diode, the second photosensitive diode, the third photosensitive diode, the fourth photosensitive diode, the fifth photosensitive diode, the sixth photosensitive diode, the seventh photosensitive diode, the eighth photosensitive diode, the ninth photosensitive diode, and the tenth photosensitive diode are commonly connected to the power ground.

4. The detection circuit according to claim 1, wherein It further includes: A wall distance detection circuit, connected to the drive circuit and the control circuit, configured to perform left wall distance detection and right wall distance detection respectively according to the first drive signal and the second drive signal to output a wall distance detection signal; The control circuit is further configured to modulate the wall distance detection signal corresponding to the first phase to obtain a left wall distance detection result, and modulate the wall distance detection signal corresponding to the second phase to obtain a right wall distance detection result.

5. The detection circuit according to claim 4, wherein The wall distance detection circuit includes: A fourth light emitting component, connected to the drive circuit, configured to emit a fourth light ray according to the first drive signal; A fifth light emitting component, connected to the drive circuit, configured to emit a fifth light ray according to the second drive signal; A second light receiving component, connected to the control circuit, configured to output a wall distance detection signal according to the fourth light ray reflected by an object and / or the fifth light ray reflected by the object.

6. The detection circuit according to claim 5, wherein The fourth light emitting component and the fifth light emitting component include a light emitting unit, and the light emitting unit includes a fourth resistor and an eighth light emitting diode; The first end of the fourth resistor is connected to the first drive signal input terminal and the second drive signal input terminal of the light emitting unit, the second end of the fourth resistor is connected to the anode of the eighth light emitting diode, and the cathode of the eighth light emitting diode is connected to the power ground.

7. The detection circuit according to claim 5, wherein The second light receiving component includes an eleventh photosensitive diode and a twelfth photosensitive diode; The anodes of the eleventh photosensitive diode and the twelfth photosensitive diode are commonly connected to the wall distance detection signal output terminal of the second light receiving component, and the cathodes of the eleventh photosensitive diode and the twelfth photosensitive diode are commonly connected to the power ground.

8. The detection circuit according to claim 1, wherein It further includes: A collision detection circuit, connected to the drive circuit and the control circuit, configured to perform left - hand side collision detection, right - hand side collision detection, and front - side collision detection respectively according to the first drive signal, the second drive signal, and the third drive signal to output a collision detection signal; The control circuit is further configured to modulate the collision detection signal corresponding to the first phase to obtain a left - hand side collision detection result, modulate the collision detection signal corresponding to the second phase to obtain a right - hand side collision detection result, and modulate the collision detection signal corresponding to the third phase to obtain a front - side collision detection result.

9. A robot, characterized in that, The robot includes the detection circuit according to any one of claims 1 to 8.

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