Signal processing system, method and cleaning device

Abstract

The embodiment of the present application provides a signal processing system, a method and a cleaning device. The signal processing system comprises: a first signal processing circuit connected with a control device and a detection device, which is used for filtering and amplifying a control signal output by the control device, and inputting the control signal to the detection device; and a second signal processing circuit connected with the control device and the detection device, which is used for filtering and amplifying a detection signal of the detection device, and inputting the detection signal to the control device. The technical scheme provided by the embodiment of the present application ensures that the detection device can realize effective and accurate detection.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of signal processing, in particular to a signal processing system, method and cleaning device. BACKGROUND

[0002] With the development of electronic technology, there are more and more types of cleaning devices, such as intelligent cleaning machines, intelligent floor washing machines, and sweeping robots, which are becoming more and more common in life.

[0003] During use, the cleaning device usually needs to rely on a detection device to detect the external environment or working conditions, etc. For example, a dirty barrel is usually installed on a floor washing machine to store dust and dirty water sucked in during use of the floor washing machine. During use of the floor washing machine, the dirty degree in the dirty barrel needs to be detected to determine the ground dirt degree, and the dirty degree can be prompted to the user, etc.

[0004] In the prior art, the controller and the detection device in the cleaning device are usually connected, a control signal is sent to the detection device to control the detection device to perform a detection operation, and a detection result is determined based on a detection signal. Therefore, how to ensure that the detection device can effectively and accurately detect has become a technical problem to be solved by those skilled in the art. SUMMARY

[0005] Embodiments of the present application provide a signal processing system, method and cleaning device to achieve the purpose of effective and accurate detection of the detection device.

[0006] In a first aspect, embodiments of the present application provide a signal processing system, comprising: a first signal processing circuit connected with a controller and a detection device, filtering and amplifying a control signal output by the controller, and inputting the control signal to the detection device;

[0007] a second signal processing circuit connected with the controller and the detection device, filtering and amplifying a detection signal of the detection device, and inputting the detection signal to the controller.

[0008] Optionally, the first signal processing circuit comprises: a first filter circuit connected with the controller, performing analog-to-digital conversion and filtering processing on the control signal output by the controller;

[0009] a first driving circuit connected with the first filter circuit and the detection device, amplifying the control signal and outputting to the detection device.

[0010] Optionally, the first signal processing circuit comprises a first driving circuit connected with the control device and the detection device, filtering and amplifying the control signal and outputting to the detection device.

[0011] Optionally, the first filter circuit comprises a first filter module connected with the control device, filtering the control signal output by the control device.

[0012] a first driving module connected with the first filter module and the first driving circuit, amplifying and filtering the control signal.

[0013] Optionally, the first filter module comprises a first resistor, a first capacitor, a second resistor, a second capacitor and a third resistor; a first end of the first resistor is connected with the control device, and a second end thereof is connected with a first end of the first capacitor; a first end of the second resistor is connected with a second end of the first resistor, and a second end thereof is connected with a first end of the second capacitor; a second end of the second capacitor is connected with a second end of the first capacitor and grounded; the first end is connected with the first driving module; a first end of the third resistor is connected with the first end of the second capacitor, and a second end thereof is connected with the second end of the second capacitor; wherein the first resistor and the first capacitor constitute a first-stage filter, and the second resistor and the second capacitor constitute a second-stage filter.

[0014] Optionally, the first driving module comprises a first operational amplifier unit connected with the first filter module and a first filter unit connected with the first operational amplifier unit.

[0015] Optionally, the first driving circuit comprises a second driving module connected with the first filter circuit, filtering and amplifying the control signal.

[0016] a third driving module connected with the second driving module and the detection device, filtering and amplifying the control signal and inputting the control signal to the detection device.

[0017] Optionally, the second driving module comprises a second filter unit connected with the first filter circuit, a second operational amplifier unit connected with the second filter unit, and a third filter unit connected with the second operational amplifier unit.

[0018] Optionally, the third driving module comprises a first voltage dividing unit, a triode with a base connected with the first voltage dividing unit, and a fourth filter unit connected with an emitter of the triode; wherein a collector of the triode is connected with a power supply voltage.

[0019] Optionally, the second signal processing circuit comprises: a second driving circuit connected with the detection device, and configured to amplify the detection signal of the detection device.

[0020] a second filter circuit connected with the second driving circuit, and configured to perform multi-stage filtering on the detection signal.

[0021] a third driving circuit connected with the second filter circuit and the control device, and configured to amplify the detection signal and input the detection signal into the control device.

[0022] Optionally, the second driving circuit comprises: a fifth filter unit connected with the detection device, and an operational amplifier follower unit connected with the fifth filter unit.

[0023] Optionally, the second signal processing circuit further comprises: a voltage stabilizing circuit connected with the third driving circuit and the control device, and configured to perform voltage stabilizing on the detection signal.

[0024] In a second aspect, an embodiment of the present application provides a cleaning device, comprising a device body, a control device arranged in the device body, a signal processing system connected with the control device, and a detection device connected with the signal processing system.

[0025] The signal processing system comprises: a first signal processing circuit connected with the control device and the detection device, and configured to perform filtering and amplifying on a control signal output by the control device, and input the control signal into the detection device.

[0026] a second signal processing circuit connected with the control device and the detection device, and configured to perform filtering and amplifying on a detection signal of the detection device, and input the detection signal into the control device.

[0027] Optionally, the control device is configured to: output a first control signal to the first signal processing circuit in response to a start instruction; determine whether a first detection signal fed back by the second signal processing circuit meets a calibration condition; if yes, take the first control signal as a target control signal; if no, adjust the first control signal until the first detection signal meets the calibration condition; output the target control signal to the first signal processing circuit, and acquire a target detection signal fed back by the second signal processing circuit; and determine a detection result of the detection device according to difference information between the target detection signal and a target verification signal.

[0028] Optionally, the detection device comprises: an infrared emission component connected with the first signal processing circuit, and an infrared receiving component connected with the second signal processing circuit.

[0029] The control device determines the ground dirt degree according to difference information of the target detection signal and the target verification signal.

[0030] In a third aspect, the embodiments of the present application provide a signal processing method in a cleaning device, the cleaning device comprising a device body, a control module control device arranged in the device body, a signal processing system connected with the control module control device, and a detection device connected with the signal processing system; the signal processing system comprises a first signal processing circuit connected with the detection device and a second signal processing circuit; the method comprises the following steps: in response to a starting instruction, outputting a first control signal to the first signal processing circuit; receiving a first detection signal fed back by the second signal processing circuit; judging whether the first detection signal meets a calibration condition; in the case that the first detection signal meets the calibration condition, taking the first control signal as a target control signal, otherwise adjusting the first control signal until the first detection signal meets the calibration condition.

[0031] Optionally, the method further comprises the following steps: outputting the target control signal to the first signal processing circuit; acquiring a target detection signal fed back by the second signal processing circuit; determining a detection result of the detection device according to difference information of the target detection signal and a target verification signal.

[0032] In the embodiments of the present application, a signal processing system is provided, which comprises a first signal processing circuit and a second signal processing circuit connected with a control device and a detection device; the first signal processing circuit filters and amplifies a control signal output by the control device, and inputs the control signal to the detection device; the second signal processing circuit filters and amplifies a detection signal of the detection device, and inputs the detection signal to the control device; the first signal processing circuit filters and amplifies the control signal output by the control device, so that a stable control signal with driving capability is obtained, and the detection device can effectively perceive the control signal to perform a detection operation; the second signal processing circuit filters and amplifies the detection signal of the detection device, so that a stable detection signal with driving capability is obtained, and the detection signal can be accurately transmitted to the control device, so that the detection device can effectively and accurately perform detection.

[0033] These aspects or other aspects of the present application will be more apparent in the following description of the embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0035] Figure 1 The structural schematic diagram of one embodiment of the signal processing system provided by the present application is shown;

[0036] Figure 2 The structural schematic diagram of another embodiment of the signal processing system provided by the present application is shown;

[0037] Figure 3 The structural schematic diagram of one embodiment of the first filter circuit in the signal processing system provided by the present application is shown;

[0038] Figure 4 The structural schematic diagram of one embodiment of the first driving circuit in the signal processing system provided by the present application is shown;

[0039] Figure 5 The structural schematic diagram of one embodiment of the second signal processing circuit in the signal processing system provided by the present application is shown;

[0040] Figure 6 The structural schematic diagram of one embodiment of the cleaning device provided by the present application is shown;

[0041] Figure 7 The structural schematic diagram of one embodiment of the signal processing method provided by the present application is shown. DETAILED DESCRIPTION

[0042] In order to make the person skilled in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application.

[0043] In some processes described in the specification and claims of the present application and the above-mentioned drawings, a plurality of operations appearing in a specific order are included, but it should be clearly understood that these operations can be executed or in parallel without the order appearing in the text, and the serial numbers of the operations such as 101, 102, etc. are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes can include more or fewer operations, and the operations can be executed in sequence or in parallel. It should be noted that the descriptions such as "first", "second" and the like in the present text are used to distinguish different messages, devices, modules, etc., and do not represent the sequence, nor limit the "first" and "second" to be different types.

[0044] The technical solutions of this application can be applied to cleaning equipment, such as sweeping robots, floor scrubbers, and window cleaning robots. Of course, the technical solutions of this application can also be applied to other electronic devices that need to use detection devices for detection and make corresponding controls based on the detection results. It is not limited to cleaning equipment. However, for ease of understanding and explanation, the technical solutions of this application will be mainly described using cleaning equipment as an example in one or more embodiments below.

[0045] Taking the scenario of dirt detection using cleaning equipment as an example, infrared sensors are currently commonly used to detect the degree of dirt in the dirt bin during the use of cleaning equipment, thereby characterizing the degree of dirt on the ground. The controller detects dirt by inputting a target control signal to the infrared sensor and acquiring the target detection signal collected by the infrared sensor.

[0046] However, effective and accurate detection cannot be obtained by using detection devices. The inventors found that because the manufacturers and production batches of detection devices may be different, there are differences between different detection devices. The control devices all use a uniform input control signal, which is prone to fluctuations during the transmission of the control signal. In addition, the driving capability of the control devices is weak. Therefore, the control signal input to the detection device is not accurate enough, and the detection signal obtained by the detection device often has the same problem. Therefore, the effectiveness and accuracy of detection are ultimately affected.

[0047] To improve the effectiveness and accuracy of detection, the inventors, after a series of studies, proposed the technical solution of this application. An embodiment of this application provides a signal processing system including: a first signal processing circuit connected to a controller and a detection device, which filters and amplifies the control signal output by the controller and inputs the control signal to the detection device; and a second signal processing circuit connected to the controller and the detection device, which filters and amplifies the detection signal of the detection device and inputs the detection signal to the controller. In this embodiment, the control signal output by the controller is filtered and amplified by the first signal processing circuit to obtain a stable control signal with driving capability, enabling the detection device to effectively sense the control signal and execute the detection operation. Then, the detection signal of the detection device is filtered and amplified by the second signal processing circuit to obtain a stable detection signal with driving capability, enabling the detection signal to be accurately transmitted to the controller. Therefore, this embodiment ensures that the detection device can achieve effective and accurate detection. In the scenario of cleaning equipment detecting dirt, the influence of dirt and the manufacturing tolerance of the detection device on the detection can be avoided, allowing the cleaning equipment to accurately determine the degree of dirt, thereby issuing accurate instructions, such as issuing a cleaning instruction to trigger the cleaning equipment to clean the floor, or generating and outputting cleanliness prompt information based on the degree of dirt to prompt the user, etc.

[0048] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0049] Figure 1 This is a schematic diagram of the structure of one embodiment of a signal processing system provided in this application. Figure 1 As shown, the signal processing system may include: a first signal processing circuit 101 connected to the controller and the detection device, which filters and amplifies the control signal output by the controller and inputs the control signal to the detection device; and a second signal processing circuit 102 connected to the controller and the detection device, which filters and amplifies the detection signal of the detection device and inputs the detection signal to the controller.

[0050] The controller can be a microcontroller unit (MCU) of the signal processing system, also known as a single-chip microcomputer or microcontroller. The controller inputs the control signal into the first signal processing circuit of the signal processing system and then receives the detection signal output by the second signal processing circuit.

[0051] The controller can perform corresponding processing operations based on the detection signal input from the detection device. In practical applications, due to differences in the manufacturers and production batches of the detection devices, there are variations between different detection devices. Therefore, when the controller starts up, it can first perform calibration processing on the detection device to determine the target control signal. Then, it can control the detection device to perform detection according to the target control signal and obtain the detection result based on the corresponding detection signal.

[0052] The cleaning equipment can be a floor scrubber, window cleaning robot, sweeping robot, etc. Typically, cleaning equipment includes main components such as a detection device, a control device, a cleaning device, and a battery, which will be described in the following embodiments. In this embodiment, a signal processing system is connected between the detection device and the control device. The first signal processing circuit of the signal processing system filters and amplifies the control signal input from the control device and inputs it to the detection device. Then, the detection signal from the detection device is filtered and amplified before being input to the control device.

[0053] The detection devices can be, for example, infrared sensors or lidar. Infrared sensors can be used for dirt detection, while lidar can be used for obstacle detection, and so on. An infrared sensor can consist of a pair of infrared emitting components and an infrared receiving component, each connected to a control device in the cleaning equipment. The control device can input a target control signal to the infrared emitting component to control it to emit an infrared signal. The infrared receiving component senses the infrared signal and generates a target detection signal, which is then input to the control device. The control device can then determine the degree of dirtiness based on the difference between the target detection signal and the target verification signal. The target verification signal of the target control signal can be pre-calibrated, as will be described in detail in the following embodiments.

[0054] In this embodiment, the control signal output by the controller is filtered and amplified by the first signal processing circuit and then input to the detection device. The detection signal from the detection device is filtered and amplified by the second signal processing circuit and then input to the controller. The first signal processing circuit filters and amplifies the control signal output by the controller to obtain a stable control signal with driving capability. The second signal processing circuit then filters and amplifies the detection signal from the detection device to obtain a stable detection signal with driving capability. This ensures that the detection device can achieve effective and accurate detection and that the controller can receive a stable detection signal.

[0055] In practical applications, controllers may or may not have analog-to-digital conversion capabilities. As another example, such as... Figure 2 In the signal processing system shown, the first signal processing circuit 101 may include: a first filter circuit 201 connected to the controller and performing analog-to-digital conversion and filtering on the control signal output by the controller; and a first drive circuit 202 connected to the first filter circuit 201 and the detection device, amplifying the control signal and outputting it to the detection device.

[0056] The control signal output by the controller can be a PWM (Pulse Width Modulation) wave. The first filter circuit can convert the PWM wave output by the controller from an analog signal to a digital signal and perform filtering processing to filter the PWM wave into a stable voltage signal. The first drive circuit can further amplify the control signal before outputting it to the detection device, so that the detection device can ultimately be driven by a stable DC signal with driving capability.

[0057] As another example, such as Figure 2 As shown, the first filtering circuit may include: a first filtering module 2011 connected to the controller and performing multi-stage filtering on the control signal output by the controller; and a first driving module 2012 connected to the first filtering module 2011 and the first driving circuit and amplifying and filtering the control signal.

[0058] The multi-stage filtering process in the first filtering module can be, for example, a two-stage filtering process, which avoids the problem of incomplete filtering in the first stage and the problem of high filtering cost in the second stage and above. After the control signal passes through the two-stage filtering process of the first filtering module, it is input to the first driving module. The first driving module amplifies the processed control signal, and after amplification, it is filtered to filter other signals.

[0059] As an optional implementation, the first filtering module can be implemented as follows: Figure 3The circuit structure shown is as follows: Figure 3 As shown, the first filtering module may include: a first resistor R126, a first capacitor C89, a second resistor R125, a second capacitor C88, and a third resistor R128; the first end of the first resistor R126 is connected to the controller, and the second end is connected to the first end of the first capacitor C89; the first end of the second resistor R125 is connected to the second end of the first resistor R126, and the second end is connected to the first end of the second capacitor C88; the second end of the second capacitor C88 is connected to the second end of the first capacitor C89 and grounded; the first end is connected to the first driving module; the first end of the third resistor R128 is connected to the first end of the second capacitor C88, and the second end is connected to the second end of the second capacitor C88; wherein, the first resistor R126 and the first capacitor C89 form a first-level filter, and the second resistor R125 and the second capacitor C88 form a second-level filter.

[0060] In addition, the first filtering module may also include a first interface PWM_DA3, which is connected to the first end of the first resistor R126 and is used to connect the control signal output pin of the controller to the first filtering module.

[0061] The control signal output by the controller can be a PWM wave, which uses a relatively high frequency, typically above 10kHz. The first resistor R126, the second resistor R125, and the third resistor R128 in the first filtering module divide the control signal into voltages. The first capacitor C89 and the first resistor R126 form a first-stage filter, and the second capacitor C88 and the second resistor R125 form a second-stage filter. After filtering, the control signal is converted into a stable DC voltage signal (hereinafter referred to as a regulated signal). The values ​​of the capacitors and resistors in the first filtering circuit can be determined based on stability conditions. These stability conditions, for example, can be ensuring that the filtered signal is a regulated voltage with a short stabilization time and no current sinking from the capacitors to the controller pins. To meet these stability conditions, the circuit time constant can be the maximum value between R126*C89 and R125*C88. In addition, to further reduce the voltage regulation time, the circuit time constant can be set to 3RC (R126*C89 or R125*C88) to 5RC. The value of RC can be determined based on the desired stabilization time, such as 3 seconds, and the circuit time constant, such as 3RC.

[0062] As an optional implementation, the first driver module can be implemented as follows: Figure 3 The circuit structure shown is as follows: Figure 3 As shown, the first driving module 2012 may include: a first operational amplifier unit 301 connected to the first filtering module and a first filtering unit 302 connected to the first operational amplifier unit.

[0063] The first operational amplifier unit may include: a first operational amplifier A1, a fourth resistor R122, and a fifth resistor R127; the non-inverting input terminal of the first operational amplifier A1 is connected to the first terminal of the third resistor R128, the inverting input terminal is connected to the first terminal of the fourth resistor R122, the output terminal is connected to the second terminal of the fourth resistor R122, the first terminal of the fifth resistor R127 is connected to the first terminal of the fourth resistor R122, and the second terminal is grounded; wherein, one power supply pin of the first operational amplifier A1 is grounded, and the other is connected to the power supply.

[0064] The first filtering unit may include: a third capacitor C87; the first end of the third capacitor C87 is connected to the second end of the fifth resistor R127, and the second end is connected to the second end of the fourth resistor R122; the third capacitor C87 is used to filter the control signal output from the first operational amplifier A1.

[0065] The control signal is filtered by the first filtering module and then input to the non-inverting input of the first operational amplifier A1 for amplification. The amplification factor is A1 = 1 + (R122 / R127). After amplification, the signal is filtered by the third capacitor C87 to further stabilize the control signal output from the first operational amplifier.

[0066] Optionally, the first operational amplifier unit may further include a fourth capacitor C90; the first terminal of the fourth capacitor C90 is connected to the power supply pin of the first operational amplifier A1, and the second terminal is grounded. The power supply signal is filtered by the fourth capacitor C90.

[0067] Optionally, the first driving module may further include: an output terminal CTR_HW; the first end of the output terminal CTR_HW is connected to the output terminal of the first operational amplifier A1, and the second end is connected to the first driving circuit.

[0068] The control signal is amplified by the first operational amplifier A1 and output through the output terminal CTR_HW. At the same time, through the action of the first operational amplifier A1, the output terminal CTR_HW has a certain driving capability.

[0069] Furthermore, the first driving module 2012 may also include: a measurement unit 303; the measurement unit may include a sixth resistor R121 and a second interface ADC_DA3; the first end of the sixth resistor R121 is connected to the output terminal of the first operational amplifier A1, and the second end is connected to the second interface ADC_DA3.

[0070] The second interface, ADC_DA3, can be connected to measuring devices such as oscilloscopes, while the sixth resistor, R121, is used to limit the current in the circuit and prevent short circuits during testing.

[0071] Figure 3The circuit diagram shown is a schematic diagram of one circuit structure of the first filter circuit in a practical application. Of course, this application is not limited to this. Figure 3 The circuit structure shown is shown.

[0072] As yet another example, such as Figure 2 As shown, the first driving circuit 202 may include: a second driving module 2021 connected to the first filtering circuit to filter and amplify the control signal; and a third driving module 2022 connected to the second driving module 2021 and the detection device to filter and amplify the control signal and input the control signal to the detection device.

[0073] The control signal is output to the second drive module through the output terminal CTR_HW. The second drive module filters the remaining signals and then amplifies the filtered control signal. After processing, the signal is input to the third drive module. The third drive module filters the remaining signals and then amplifies the control signal before outputting the processed control signal to the controller.

[0074] As an optional implementation, the second driver module can be implemented as follows: Figure 4 The circuit structure shown is as follows: Figure 4 As shown, the second driving module 2021 may include: a second filtering unit 401 connected to the first filtering circuit, a second operational amplifier unit 402 connected to the second filtering unit 401, and a third filtering unit 403 connected to the second operational amplifier unit.

[0075] The second filter unit may include a seventh resistor R25 and a fifth capacitor C20; the first end of the seventh resistor R25 is connected to the second end of the output terminal CTR_HW, the second end is connected to the first end of the fifth capacitor C20, and the second end of the fifth capacitor C20 is grounded.

[0076] The second operational amplifier unit may include: a second operational amplifier A2, an eighth resistor R31, and a ninth resistor R33; the non-inverting input of the second operational amplifier A2 is connected to the first terminal of the fifth capacitor C20, the inverting input is connected to the first terminal of the eighth resistor R31, and the output is connected to the second terminal of the eighth resistor R31; the first terminal of the ninth resistor R33 is connected to the first terminal of the eighth resistor R31, and the second terminal is grounded; wherein one power supply pin of the second operational amplifier A2 is grounded, and the other is connected to the power supply.

[0077] The third filtering unit may include: a sixth capacitor C24; the first end of the sixth capacitor C24 is connected to the first end of the ninth resistor R33, and the second end is connected to the second end of the eighth resistor R31; the sixth capacitor C24 is used to filter the control signal output from the second operational amplifier A2.

[0078] The control signal is ultimately converted into a regulated signal by the first filter circuit. After being filtered by the fifth resistor C20, it is input to the non-inverting input of the second operational amplifier A2 for signal amplification. The amplification factor is A2 = 1 + (R31 / R33). After amplification, it is filtered by the sixth capacitor C26 to further stabilize the control signal output from the second operational amplifier A2.

[0079] Optionally, the second operational amplifier unit may further include: a seventh capacitor C16 and an eighth capacitor C18; the first terminal of the seventh capacitor C16 is connected to the power supply pin of the second operational amplifier A2, and the second terminal is grounded; the first terminal of the eighth capacitor C18 is connected to the first terminal of the seventh capacitor C16, and the second terminal is connected to the second terminal of the eighth capacitor C18.

[0080] Among them, the seventh capacitor C16 and the eighth capacitor C18 filter the power supply signal, reducing line loss and improving signal utilization.

[0081] As an optional implementation, the third driver module can be implemented as follows: Figure 4 The circuit structure described above, such as Figure 4 As shown, the third driving module 2022 may include a first voltage divider unit 404, a transistor Q1 whose base is connected to the first voltage divider unit, and a fourth filter unit 405 connected to the emitter of the transistor Q1; wherein the collector of the transistor Q1 is connected to the power supply voltage, and the emitter is connected to the detection device.

[0082] The first voltage divider unit may include: a tenth resistor R26 and an eleventh resistor R30; the first end of the tenth resistor R26 is connected to the output terminal of the second operational amplifier A2, and the second end is connected to the base of the transistor Q1; the first end of the eleventh resistor R30 is connected to the second end of the tenth resistor R26, and the second end is grounded.

[0083] The fourth filter unit may include: a twelfth resistor R29 and a ninth capacitor C24; the first end of the twelfth resistor R29 is connected to the emitter of transistor Q1, and the second end is grounded; the first end of the ninth capacitor C24 is connected to the first end of the twelfth resistor R29, and the second end is connected to the second end of the twelfth resistor R29.

[0084] In this circuit, the tenth resistor R26 and the eleventh resistor R30 divide the control signal output by the second operational amplifier A2 and apply it to the base of transistor Q1. Through the amplification effect of the second operational amplifier A2, transistor Q1 operates in the saturation region, making the emitter voltage of transistor Q1 minus the base voltage equal to 0.7V. The role of transistor Q1 in this circuit is similar to that of a diode. However, unlike a diode, transistor Q1 increases the driving capability. By increasing the driving capability of the detection signal received by the detection device, the control device is prevented from being unable to sense the detection signal.

[0085] In practical applications, when the detection device is an infrared sensor consisting of an infrared emitting component and an infrared receiving component, the emitter of transistor Q1 is connected to the infrared emitting component. The driving capability of the control signal is amplified by transistor Q1 and then output to the infrared emitting component through the emitter of transistor Q1.

[0086] Optionally, the first voltage divider unit may further include: a tenth capacitor C25; the first terminal of the tenth capacitor C25 is connected to the second terminal of the tenth resistor R26, and the second terminal is grounded. The tenth capacitor C25 acts as a filter for the control signal.

[0087] Figure 4 The circuit diagram shown is a specific circuit structure diagram of the first driving circuit in a practical application. Of course, this application is not limited to this. Figure 4 The circuit structure shown is shown.

[0088] Furthermore, if the controller has an analog-to-digital conversion function, the first signal processing circuit may only include: a first driving circuit connected to the controller, amplifying the control signal, and outputting it to the detection device. The specific implementation of this first driving circuit can be found in [reference needed]. Figure 4 As shown, this will not be repeated here.

[0089] Furthermore, as yet another embodiment, such as Figure 2 In the signal processing system shown, the second signal processing circuit may include: a second driving circuit 203 connected to the detection device and amplifying the detection signal of the detection device; a second filtering circuit 204 connected to the second driving circuit 203 and performing multi-stage filtering on the detection signal; and a third driving circuit 205 connected to the second filtering circuit and the control device, amplifying the detection signal and inputting the detection signal into the control device.

[0090] The second driving circuit amplifies the detection signal from the detection device, giving it a certain driving capability before outputting it to the second filtering circuit. The second filtering circuit then filters the amplified detection signal and outputs it to the third driving circuit. Finally, the third driving circuit amplifies the filtered detection signal and outputs it to the controller. Through filtering and amplification, the detection signal obtained by the detection device can be stabilized and accurately sensed by the controller, thus ensuring effective and accurate detection.

[0091] As yet another example, such as Figure 2 As shown, the second signal processing circuit may further include a voltage regulator circuit 206 connected to the third driving circuit and the control device to perform voltage regulation processing on the detection signal.

[0092] Before the detection signal is input to the controller by the third driving circuit, it first passes through the voltage regulator circuit. Through the voltage regulation of the voltage regulator circuit, the detection signal is stably output to the controller.

[0093] As an optional implementation, the second driving circuit can be implemented as follows: Figure 5 The circuit structure described above, such as Figure 5 As shown, the second driving circuit may include: a fifth filter unit 501 connected to the detection device and an operational amplifier follower unit 502 connected to the fifth filter unit.

[0094] The fifth filter unit may include: a thirteenth resistor R14 and a tenth capacitor C11; the first end of the thirteenth resistor R14 is connected to the infrared receiving component of the detection device, and the second end is grounded; the first end of the tenth capacitor C11 is connected to the first end of the thirteenth resistor, and the second end is connected to the second end of the thirteenth resistor.

[0095] The op-amp follower unit may include: a third operational amplifier A3; the non-inverting input of the third operational amplifier is connected to the first terminal of the tenth capacitor C11, the inverting input is connected to the output terminal, and the output terminal is connected to the second filter circuit; wherein, one power supply pin of the third operational amplifier A3 is grounded and the other is connected to the power supply.

[0096] In this process, after the infrared receiving component of the detection device receives the detection signal, it is divided by the thirteenth resistor R14 and filtered by the tenth capacitor C11 before being input to the non-inverting input of the third operational amplifier A3. The third operational amplifier A3 is used as a follower at this time, and has the characteristics of high input impedance, low output impedance, and 1:1 amplification. After the detection signal passes through the third operational amplifier A3, it has a certain driving capability.

[0097] Optionally, the op-amp follower unit may also include: an eleventh capacitor C4 and a twelfth capacitor C7; the first terminal of the eleventh capacitor C4 is connected to the power supply pin of the third operational amplifier A3, and the second terminal is grounded; the first terminal of the twelfth capacitor C7 is connected to the first terminal of the eleventh capacitor C4, and the second terminal is connected to the second terminal of the eleventh capacitor C7.

[0098] Among them, the eleventh capacitor C4 and the twelfth capacitor C7 filter the power supply signal, reducing line loss and improving signal utilization.

[0099] As an optional implementation, the second filter circuit can be implemented as follows: Figure 5 The circuit structure shown is as follows: Figure 5 As shown, the second filter circuit 204 may include: a sixth filter unit 503 connected to the second drive circuit and a second voltage divider unit 504 connected to the sixth filter unit 503.

[0100] The sixth filter unit may include: a fourteenth resistor R13, a thirteenth capacitor C13, a fifteenth resistor R16, and a fourteenth capacitor C14; the first end of the fourteenth resistor R13 is connected to the output of the third operational amplifier A3, and the second end is connected to the first end of the thirteenth capacitor C13; the second end of the thirteenth capacitor C13 is grounded; the first end of the fifteenth resistor R16 is connected to the first end of the thirteenth capacitor C13, and the second end is connected to the first end of the fourteenth capacitor C14; the second end of the fourteenth capacitor C14 is connected to the second end of the thirteenth capacitor C13; wherein, the fourteenth resistor R13 and the thirteenth capacitor C13 form a first-level filter, and the fifteenth resistor R16 and the fourteenth capacitor C14 form a second-level filter.

[0101] The second voltage divider unit may include: a sixteenth resistor R19 and a seventeenth resistor R17; the first end of the sixteenth resistor R19 is connected to the first end of the fourteenth capacitor C14, and the second end is connected to the second end of the fourteenth capacitor C14; the first end of the seventeenth resistor R17 is connected to the first end of the sixteenth resistor R19, and the second end is connected to the third driving circuit.

[0102] The detection signal is amplified by the second driving circuit, then filtered by the fourteenth resistor R13 and the thirteenth capacitor C13, and then filtered by the fifteenth resistor R16 and the fourteenth capacitor C14 to make the waveform of the detection signal smooth and stable. The filtered detection signal is then divided by the sixteenth resistor R19 and the seventeenth resistor R17.

[0103] In practical applications, the infrared emitting component of the detection device needs to continuously emit infrared signals at a fixed emission intensity to determine the infrared signal that the infrared receiving component can receive when there is no dirt. However, during the process of the infrared receiving component receiving the infrared signal, there may be momentary dirt that causes the infrared signal received by the infrared receiving component to change. Therefore, the infrared signal waveform received by the infrared receiving component is smoothed and stabilized by the first-stage filtering of the fourteenth resistor R13 and the thirteenth capacitor C13, and the second-stage filtering of the fifteenth resistor R16 and the fourteenth capacitor C14. Then, the signal is input to the non-inverting input terminal of the fourth operational amplifier A4 through the seventeenth resistor R17. The amplification factor of the operational amplifier A3 = 1 + (R21 / R22).

[0104] As an optional implementation, the third driving circuit can be implemented as follows: Figure 5 The circuit structure shown is as follows: Figure 5 As shown, the third driving circuit 205 may include: a third operational amplifier unit 505 connected to the second filter circuit and a seventh filter unit 506 connected to the third operational amplifier unit 505.

[0105] The third operational amplifier unit may include: a fourth operational amplifier A4, an eighteenth resistor R22, and a nineteenth resistor R21; the non-inverting input of the fourth operational amplifier A4 is connected to the second terminal of the seventeenth resistor R17, the inverting input is connected to the first terminal of the eighteenth resistor R22, and the output is connected to a control device; the second terminal of the eighteenth resistor R22 is grounded; the first terminal of the nineteenth resistor R21 is connected to the first terminal of the eighteenth resistor R22, and the second terminal is connected to the output of the fourth operational amplifier A4; wherein, one power supply pin of the fourth operational amplifier A4 is grounded, and the other is connected to the power supply.

[0106] The seventh filter unit may include: a fifteenth capacitor C17; the first terminal of the fifteenth capacitor C17 is connected to the first terminal of the nineteenth resistor R21, and the second terminal is connected to the second terminal of the nineteenth resistor R21.

[0107] The detection signal is divided and then input to the non-inverting input of the fourth operational amplifier A4, where it is amplified by the fourth operational amplifier A4 with an amplification factor of A3 = 1 + (R21 / R22). The fifteenth capacitor C17 acts as a filter for the detection signal. The amplified detection signal is then input to the AD acquisition pin HW_OUT_1 of the controller.

[0108] Optionally, the third operational amplifier unit may further include: a sixteenth capacitor C12 and a twentieth resistor R15; the first terminal of the sixteenth capacitor C12 is connected to the non-inverting input terminal of the fourth operational amplifier A4, and the second terminal is grounded; the first terminal of the twentieth resistor R15 is connected to the first terminal of the sixteenth capacitor C12, and the second terminal is connected to the second terminal of the sixteenth capacitor C12.

[0109] Before the detection signal, after being divided by voltage, enters the fourth operational amplifier A4, it is first filtered by the sixteenth capacitor C12 and divided by the twentieth resistor R15 before being input to the input terminal of the fourth operational amplifier A4, thus filtering the detection signal.

[0110] Optionally, the third operational amplifier unit may further include: a seventeenth capacitor C21 and an eighteenth capacitor C22; the first terminal of the seventeenth capacitor C21 is connected to the power supply pin of the fourth operational amplifier A4, and the second terminal is grounded; the first terminal of the eighteenth capacitor C22 is connected to the first terminal of the seventeenth capacitor C21, and the second terminal is connected to the second terminal of the eighteenth capacitor C22.

[0111] Among them, the seventeenth capacitor C21 and the eighteenth capacitor C22 filter the power supply signal, reducing line loss and improving signal utilization.

[0112] As an optional implementation, the voltage regulator circuit can be implemented as follows: Figure 5 The circuit structure shown is as follows: Figure 5 As shown, the voltage regulator circuit may include: a third voltage divider unit 507 connected to the third driving circuit 205, an eighth filter unit 508 connected to the third voltage divider unit 507, and a Zener diode DZ1 connected to the eighth filter unit 508.

[0113] The third voltage divider unit may include: the twenty-first resistor R18; the first end of the twenty-first resistor R18 is connected to the output of the fourth operational amplifier A4, and the second end is connected to the control device.

[0114] The eighth filter unit may include: a nineteenth capacitor C15; the first end of the nineteenth capacitor C15 is connected to the second end of the twenty-first resistor R18 and the negative terminal of the Zener diode DZ1, and the second end is connected to the positive terminal of the Zener diode DZ1.

[0115] The detection signal output from the fourth operational amplifier A4 is divided by the twenty-first resistor R18, filtered by the nineteenth capacitor C15, and regulated by the Zener diode DZ1 before being input to the AD acquisition pin HW_OUT_1 of the controller. The Zener diode DZ1 will output a voltage to the controller that does not exceed its operating voltage, for example, 3.3V.

[0116] Figure 5 The circuit diagram shown is a specific circuit structure diagram of the second signal processing circuit in a practical application. Of course, this application is not limited to this.

[0117] For ease of understanding, the following example uses an infrared sensor as the detection device, including an infrared emitting component and an infrared receiving component. Figure 3 ,Figure 4 and Figure 5 The specific circuit structure of the signal processing system is described, along with its working principle. The controller inputs the control signal to the first signal processing circuit through the first interface PWM_DA3. The control signal is converted into a voltage signal through a first-stage filter (first resistor R126 and first capacitor C89) and a second-stage filter (second resistor R125 and second capacitor C88). This voltage signal is then divided by a third resistor R128 to ensure proper first-stage and second-stage filtering. After voltage division by the third resistor R128, the control signal is input to the non-inverting input of the first operational amplifier A1 for amplification. The amplification factor of the first operational amplifier A1 is determined by the fourth resistor R122 and the fifth resistor R12... 7. The amplification factor is determined to be A1 = 1 + (R122 / R127). When the power supply supplies power to the first operational amplifier A1, the power signal is filtered by the fourth capacitor C90 to prevent the power signal from interfering with the control signal. After the control signal is amplified by the first operational amplifier A1, it is filtered by the third capacitor C87 to become a more stable control signal, and then output through the output terminal CTR_HW. Due to the function of the first operational amplifier A1, the output terminal CTR_HW also has a certain driving capability. Before the first operational amplifier A1 sends the amplified control signal to the output terminal CTR_HW, the current is limited by the sixth resistor R121. An oscilloscope can be connected to the second interface ADC_DA3 to measure the voltage.

[0118] The output terminal CTR_HW outputs a control signal to the seventh resistor R25. After voltage division by the seventh resistor R25 and filtering by the fifth capacitor C20, a more stable control signal is input to the non-inverting input of the second operational amplifier A2 for amplification. The amplification factor of the second operational amplifier A2 is determined by the eighth resistor R31 and the ninth resistor R33, and the amplification factor is A2 = 1 + (R31 / R33). When the power supply supplies power to the second operational amplifier A2, the power signal is filtered by the seventh capacitor C16 and the eighth capacitor C18 to prevent the power signal from interfering with the control signal. After the control signal is amplified by the second operational amplifier A2... The signal is filtered by the sixth capacitor C26 to become a more stable control signal. Then, it is input to the base of transistor Q1 after being divided by the tenth resistor R26 and the eleventh resistor R30 and filtered by the tenth capacitor C25. Due to the amplification effect of the second operational amplifier A2, transistor Q1 operates in the saturation region, which increases the driving capability. After being amplified by transistor Q1, the control signal is emitted from the emitter of transistor Q1. After being divided by the twelfth resistor R29 and filtered by the ninth capacitor C24, it is output to the infrared emitting component of the infrared sensor. The infrared emitting component emits an infrared signal, and the infrared receiving component senses the infrared signal to obtain a detection signal.

[0119] The infrared receiving component inputs the detection signal to the second signal processing circuit. A stable detection signal is obtained through voltage division by the thirteenth resistor R13 and filtering by the tenth capacitor C11. This signal is then amplified by the non-inverting input of the third operational amplifier A3. At this point, the third operational amplifier A3 acts as a follower, exhibiting high input impedance, low output impedance, and a 1:1 amplification characteristic. The detection signal output from the third operational amplifier A3 also possesses a certain driving capability. When the power supply powers the third operational amplifier A3, the eleventh capacitor C4 and the twelfth capacitor C7 filter the power signal to prevent interference with the control signal. After amplification by the third operational amplifier A3, the detection signal undergoes primary filtering by the fourteenth resistor R13 and the thirteenth capacitor C13, and secondary filtering by the fifteenth resistor R16 and the fourteenth capacitor C14, resulting in a more stable signal. Finally, a voltage division by the sixteenth resistor R19 and the seventeenth resistor R17 ensures proper filtering. The detection signal is then filtered by the voltage divider of the twentieth resistor and the filter of the sixteenth capacitor. The filtered signal is then input to the non-inverting input of the fourth operational amplifier A4 for amplification. The amplification factor of the fourth operational amplifier A4 is determined by the eighteenth resistor R22 and the nineteenth resistor R21, and is A3 = 1 + (R21 / R22). When the power supply is applied to the fourth operational amplifier A4, the power signal is filtered by the seventeenth capacitor C21 and the eighteenth capacitor C22 to prevent interference with the control signal. After amplification by the fourth operational amplifier A4, the detection signal is filtered by the fifteenth capacitor C17 to become a more stable detection signal. Then, it is further stabilized by the voltage divider of the twenty-first resistor R18 and the filter of the nineteenth capacitor C15. Finally, the voltage is regulated by the Zener diode DZ1 to ensure that the voltage input to the AD acquisition pin HW_OUT_1 of the controller does not exceed the controller's operating voltage, such as 3.3V, thus completing the operation.

[0120] Figure 6 This is a schematic diagram of the structure of one embodiment of a cleaning device provided in this application, as shown below. Figure 6 As shown, the cleaning equipment includes: a device body 601, a control device 602 disposed in the device body 601, a signal processing system 603 connected to the control device 602, and a detection device 604 connected to the signal processing system 603;

[0121] The signal processing system may include:

[0122] Connected to the control device and the detection device, the circuit filters and amplifies the control signal output by the control device and inputs the control signal to the first signal processing circuit of the detection device; connected to the control device and the detection device, the circuit filters and amplifies the detection signal of the detection device and inputs the detection signal to the second signal processing circuit of the control device.

[0123] The specific structure of the signal processing system can be found in the corresponding embodiments described above, and will not be repeated here.

[0124] As described above, when the controller starts up, it can first calibrate the detection device to determine the target control signal. Then, it can control the detection device to perform detection according to the target control signal and obtain the detection result based on the corresponding detection signal.

[0125] Therefore, as another embodiment, the controller can be used to respond to a start command by outputting a first control signal to a first signal processing circuit; determining whether the first detection signal fed back by the second signal processing circuit meets the calibration conditions; if yes, using the first control signal as the target control signal; if no, adjusting the first control signal until the first detection signal meets the calibration conditions; outputting a target control signal to the first signal processing circuit and acquiring the target detection signal fed back by the second signal processing circuit; and determining the detection result of the detection device based on the difference information between the target detection signal and the target verification signal.

[0126] The calibration condition can be, for example, that the first detection signal is the same as the target verification signal inside the controller. Through calibration processing, the transmission intensity of the controller's transmission control signal is fixed. Then, based on the difference information between the target detection signal and the target verification signal corresponding to the target control signal, the detection result of the detection device can be determined. Using the signal processing system provided in this application embodiment, the effectiveness and accuracy of the calibration processing can be guaranteed.

[0127] In dirt detection scenarios, the detection device can be, for example, an infrared sensor, including an infrared emitting component and an infrared receiving component. The control signal output by the controller can be a PWM signal. For dirt detection, the emission intensity of the infrared emitting component needs to be fixed, which is achieved by adjusting the PWM duty cycle. However, due to differences in the products supplied by infrared sensor suppliers, these differences include variations in the distance between the infrared photodiodes of different batches of sensors, differences in the transparency of the plastic components, differences in whether the infrared photodiodes are aligned, and differences in the sensitivity of the infrared photodiodes to emission and reception. This makes it difficult to use the same PWM duty cycle for infrared sensors supplied in different batches. Therefore, the PWM duty cycle needs to be calibrated to ensure that the PWM duty cycle is near the target adjustment value.

[0128] When the detection device is an infrared sensor, the controller responds to the start command by outputting a first control signal to the signal processing system. This first control signal can be the initial value of the pre-configured PWM duty cycle. After the signal processing system filters and amplifies the first control signal, it obtains a stable first control signal with driving capability, which is then input to the infrared emitting component to drive the infrared emitting component to emit an infrared signal. The infrared receiving component senses the infrared signal and obtains a first detection signal. After the first detection signal is filtered and amplified by the second signal processing circuit, it obtains a stable first detection signal with driving capability, which is then input to the controller. The controller adjusts the PWM duty cycle according to whether the first detection signal meets the calibration conditions, such as whether the voltage reaches the target voltage. For example, if the calibration conditions are not met and the voltage is less than the target voltage, the PWM duty cycle can be increased by 0.1%; if the voltage is greater than the target voltage, the PWM duty cycle can be decreased by 0.1% until the target voltage is reached. The first control signal corresponding to the calibration conditions is used as the target control signal, and the corresponding first detection signal, i.e., the target voltage, can be used as the target verification signal. The controller can specifically determine the degree of dirtiness in the dirt bin based on the difference between the target detection signal and the target verification signal.

[0129] The controller can control the infrared sensor to perform detection based on the target control signal, and compare the obtained target detection signal with the target verification signal. Based on the difference information, the detection result of the detection device is determined. For example, if the object being detected is dirty, it will block the infrared signal, resulting in a weaker light intensity. Compared with the target verification signal, the voltage of the target detection signal will be smaller. Based on the degree of dirt configured according to different difference information, the degree of dirtiness of the current object being detected can be determined.

[0130] In this embodiment, the specific structure and function of the control device, signal processing system, and detection device can be found in the description of the above embodiments, and will not be repeated here.

[0131] Figure 7 This is a flowchart of a signal processing method in a cleaning device, which can be applied to... Figure 6 The cleaning equipment includes a device body, a control module controller disposed in the device body, a signal processing system connected to the control module controller, and a detection device connected to the signal processing system; the signal processing system includes a first signal processing circuit and a second signal processing circuit connected to the detection device, and the method may include the following steps:

[0132] 701: In response to the start command, output a first control signal to the first signal processing circuit;

[0133] 702: Receives the first detection signal fed back by the second signal processing circuit;

[0134] 703: Determine whether the first detection signal meets the calibration conditions;

[0135] 704: If the first detection signal meets the calibration conditions, the first control signal is used as the target control signal; otherwise, the first control signal is adjusted until the first detection signal meets the calibration conditions.

[0136] After the first control signal and the first detection signal are calibrated, the formal detection will begin. Therefore, the above method also includes:

[0137] 705: Output the target control signal to the first signal processing circuit;

[0138] 706: Acquire the target detection signal fed back by the second signal processing circuit;

[0139] 707: Determine the detection result of the detection device based on the difference information between the target detection signal and the target verification signal.

[0140] For details on the implementation of steps 701-707, please refer to the description of the above embodiments. This application will not repeat the details.

[0141] In this embodiment, after receiving a start command, the controller outputs a first control signal to the first signal processing circuit. After processing by the first signal processing circuit, the detection device, and the second signal processing circuit, the second signal processing circuit outputs a first detection signal to the controller, which then determines whether the first detection signal meets the calibration conditions. If the first detection signal meets the calibration conditions, the first detection signal is used as the target verification signal, and the first control signal is used as the target control signal. Otherwise, the first control signal is adjusted until the first detection signal meets the calibration conditions. After the first control signal and the first detection signal are calibrated, the controller outputs a target control signal to the first signal processing circuit. After the same processing by the first signal processing circuit, the detection device, and the second signal processing circuit, the target detection signal fed back by the second signal processing circuit is obtained. Based on the difference information between the target detection signal and the target verification signal, the detection result of the detection device is determined, thereby ensuring that the detection device achieves effective and accurate detection.

[0142] The technical solution of this application will be introduced below in conjunction with application scenarios.

[0143] Application Scenario 1:

[0144] The cleaning machine is equipped with an infrared sensor to detect dirt in the dirt tank. The infrared sensor consists of an infrared emitting component and an infrared receiving component. The infrared emitting component is connected to the MCU in the cleaning machine through a first signal processing circuit in the signal processing system, and the infrared receiving component is connected to the MCU in the cleaning machine through a second signal processing circuit in the same system. When user A wants to use the cleaning machine to clean the floor, they press the power button on the cleaning machine. The MCU then powers on and starts, emitting a PWM wave according to an initial duty cycle to calibrate the infrared sensor. The first signal processing circuit filters and amplifies the PWM wave, allowing the infrared emitting component to be effectively driven by a stable and capable signal, thus emitting an infrared signal. The second signal processing circuit filters and amplifies the first detection signal from the infrared receiving component to obtain a stable and capable signal. The controller can then accurately sense the detection signal and adjust the duty cycle according to whether it meets the calibration conditions until a detection signal that meets the calibration conditions is obtained. Once calibration is complete, the emitted PWM wave can be used as the target control signal. The cleaning machine switches to cleaning mode. During cleaning, the MCU drives the infrared emitting component via the first signal processing circuit according to the target control signal. Based on the detection signal fed back by the infrared receiving component via the second signal processing circuit, the MCU determines the degree of dirt in the dirt bin, thus characterizing the degree of dirt on the ground. Based on the degree of dirt, corresponding cleanliness prompts can be generated and output. For example, the dirt level can be displayed in color by the light component, and user A can determine the cleanliness of the ground based on different colors. Alternatively, other control commands can be issued based on the degree of dirt, such as cleaning commands to trigger water spraying and cleaning.

[0145] Application Scenario 2

[0146] The robotic vacuum cleaner is equipped with a lidar for obstacle detection. The lidar includes a laser transmitter and a laser receiver. The laser transmitter is connected to the MCU in the robotic vacuum cleaner through a first signal processing circuit in the signal processing system, and the laser receiver is connected to the MCU in the robotic vacuum cleaner through a second signal processing circuit in the signal processing system. When User B wants to use the robot vacuum to clean the floor, they press the power button on the robot vacuum. The MCU powers on and starts up. At this time, the MCU emits a PMW wave according to the initial duty cycle to calibrate the LiDAR. The first signal processing circuit filters and amplifies the PMW wave, and the laser emitter is effectively driven under a stable and driving signal to emit a laser signal. The second signal processing circuit filters and amplifies the first detection signal from the laser receiver to obtain a stable and driving signal. The controller can then accurately sense the detection signal and adjust the duty cycle according to whether it meets the calibration conditions until a detection signal that meets the calibration conditions is obtained. The calibration is then complete. The emitted PMW wave can be used as the target control signal. The robot vacuum switches to the moving mode. The MCU drives the laser emitter through the first signal processing circuit according to the target control signal. Based on the detection signal fed back from the laser receiver through the second signal processing circuit, it determines whether there are obstacles in the surroundings and issues different control commands according to the different locations of obstacles, such as turn left, turn right, move forward, and move backward.

[0147] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0148] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A cleaning apparatus, characterized by, The device comprises a device body, a control device arranged in the device body, a signal processing system connected with the control device, and a detection device connected with the signal processing system; The signal processing system comprises: A first signal processing circuit connected with the control device and the detection device, configured to filter and amplify a control signal output by the control device, and input the control signal to the detection device; A second signal processing circuit connected with the control device and the detection device, configured to filter and amplify a detection signal of the detection device, and input the detection signal to the control device; The control device is configured to: output a first control signal to the first signal processing circuit in response to a start instruction; determine whether a first detection signal fed back by the second signal processing circuit meets a calibration condition; if yes, take the first control signal as a target control signal; if no, adjust the first control signal until the first detection signal meets the calibration condition; output the target control signal to the first signal processing circuit, and obtain a target detection signal fed back by the second signal processing circuit; and determine a detection result of the detection device according to difference information between the target detection signal and a target verification signal.

2. The apparatus of claim 1, wherein, The first signal processing circuit comprises: A first filter circuit connected with the control device, configured to perform analog-to-digital conversion and filtering on a control signal output by the control device; A first driving circuit connected with the first filter circuit and the detection device, configured to amplify the control signal and output to the detection device.

3. The apparatus of claim 1, wherein, The first signal processing circuit comprises: A first driving circuit connected with the control device and the detection device, configured to filter and amplify the control signal and output to the detection device.

4. The apparatus of claim 2, wherein, The first filter circuit comprises: A first filter module connected with the control device, configured to perform multi-stage filtering on a control signal output by the control device; A first driving module connected with the first filter module and the first driving circuit, configured to amplify and filter the control signal.

5. The apparatus of claim 4, wherein, The first filter module comprises a first resistor, a first capacitor, a second resistor, a second capacitor, and a third resistor; A first end of the first resistor is connected with the control device, and a second end thereof is connected with a first end of the first capacitor; a first end of the second resistor is connected with a second end of the first resistor, and a second end thereof is connected with a first end of the second capacitor; a second end of the second capacitor is connected with a second end of the first capacitor and grounded; the first end is connected with the first driving module; a first end of the third resistor is connected with the first end of the second capacitor, and a second end thereof is connected with the second end of the second capacitor; The first resistor and the first capacitor constitute a first-stage filter, and the second resistor and the second capacitor constitute a second-stage filter.

6. The apparatus of claim 4, wherein, The first driving module comprises a first operational amplifier unit connected with the first filter module, and a first filter unit connected with the first operational amplifier unit.

7. The apparatus of claim 2, wherein, The first driving circuit comprises: A second driving module connected with the first filter circuit, configured to filter and amplify the control signal; A third driving module connected with the second driving module and the detection device, configured to filter and amplify the control signal and input the control signal into the detection device.

8. The apparatus of claim 7, wherein, The second driving module comprises: A second filter unit connected with the first filter circuit, a second operational amplifier unit connected with the second filter unit, and a third filter unit connected with the second operational amplifier unit.

9. The apparatus of claim 7, wherein, The third driving module comprises a first voltage dividing unit, a triode with a base connected with the first voltage dividing unit, and a fourth filter unit connected with an emitter of the triode, wherein a collector of the triode is connected with a power supply voltage.

10. The apparatus of claim 1, wherein, The second signal processing circuit comprises: A second driving circuit connected with the detection device, configured to amplify a detection signal of the detection device; A second filter circuit connected with the second driving circuit, configured to filter the detection signal in multiple stages; A third driving circuit connected with the second filter circuit and the control device, configured to amplify the detection signal and input the detection signal into the control device.

11. The apparatus of claim 10, wherein, The second driving circuit comprises a fifth filter unit connected with the detection device and an operational amplifier follower unit connected with the fifth filter unit.

12. The apparatus of claim 10, wherein, The second signal processing circuit further comprises: A voltage stabilizing circuit connected with the third driving circuit and the control device, configured to stabilize the detection signal.

13. The apparatus of claim 1, wherein: The detection device comprises: An infrared emission assembly connected with the first signal processing circuit, and an infrared receiving assembly connected with the second signal processing circuit; The control device is specifically configured to determine the ground dirt degree according to difference information of a target detection signal and the target verification signal.

14. A method of signal processing in a cleaning apparatus, characterized by, The cleaning device comprises a device body, a control module control device arranged in the device body, a signal processing system connected with the control module control device, and a detection device connected with the signal processing system; the signal processing system comprises a first signal processing circuit and a second signal processing circuit connected with the detection device, and the method comprises: In response to a start instruction, outputting a first control signal to the first signal processing circuit; Receiving a first detection signal fed back by the second signal processing circuit; Determining whether the first detection signal meets a calibration condition; In a case where the first detection signal meets the calibration condition, taking the first control signal as a target control signal, otherwise adjusting the first control signal until the first detection signal meets the calibration condition.

15. The method of claim 14, wherein: The method further comprises: Outputting the target control signal to the first signal processing circuit; Obtaining a target detection signal fed back by the second signal processing circuit; Determining a detection result of the detection device according to difference information of the target detection signal and a target verification signal.

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