Communication system

Abstract

The utility model provides a communication system. A level control circuit and a level acquisition circuit are arranged at a docking port of a base station and a sweeper, the level control circuit is connected with a processor and the docking port, and the level acquisition circuit is connected with the processor and the docking port; under the condition that the sweeper is successfully docked with the base station, the base station can input a level signal used for controlling the sweeper to the first level control circuit through the first processor deployed in the base station, so that the sweeper realizes a corresponding function when acquiring the corresponding level signal through the second level acquisition circuit; the sweeper can also input a level signal used for controlling the base station to a second level control circuit through a second processor deployed on the sweeper, so that the base station realizes a corresponding function when the base station acquires the corresponding level signal through a first level acquisition circuit; data communication between the sweeper and the base station is realized through physical connection formed by the interface.

Description

Technical Field

[0001] The present application relates to the technical field of mobile robots, and in particular to a communication system. Background Art

[0002] During the operation of the sweeping machine, it needs to interact with the base station, such as charging the sweeping machine through the base station, cleaning the garbage in the dust box of the sweeping machine, etc. These interactive operations need to be based on data communication between the sweeping machine and the base station.

[0003] In related technologies, data communication between a sweeping machine and a base station is usually established through wireless communication, such as deploying wireless transceiver modules on the sweeping machine and the base station respectively. However, the communication system composed of the sweeping machine and the base station requires pairing the sweeping machine and the base station in advance before it can be used. The operation is cumbersome and the cost of deploying the wireless transceiver module is high. Utility Model Content

[0004] In view of this, the present application provides a communication system to achieve data communication between a sweeping machine and a base station through a physical connection.

[0005] The technical solutions provided by this application are as follows:

[0006] According to an embodiment of the first aspect of the present application, a communication system is provided, the system comprising: a base station and a sweeper; the base station is used to provide at least one target function for the sweeper;

[0007] The base station is deployed with a first level control circuit and a first level acquisition circuit; the output end of the first level control circuit and the input end of the first level acquisition circuit are both connected to a first pair of interfaces on the base station for docking with the sweeping machine; the first input end of the first level control circuit and the output end of the first level acquisition circuit are both connected to a first processor deployed on the base station;

[0008] The sweeping machine is deployed with a second level control circuit and a second level acquisition circuit; the output end of the second level control circuit and the input end of the second level acquisition circuit are both connected to a second pair of interfaces on the sweeping machine for docking with the base station; the first input end of the second level control circuit and the output end of the second level acquisition circuit are both connected to a second processor deployed on the sweeping machine;

[0009] After the base station is successfully connected to the second pair of interfaces on the sweeping machine through the first pair of interfaces, based on the first operation to be performed on the sweeping machine, the first processor inputs a corresponding level signal to the first input end of the first level control circuit to control the first level control circuit to output a level signal reflecting the first operation at the output end, so that the sweeping machine performs the first operation when the second level acquisition circuit collects the level signal reflecting the first operation outputted by the first level control circuit at the output end;

[0010] After the sweeping machine is successfully connected to the first pair of interfaces on the base station through the second pair of interfaces, based on the second operation to be performed on the base station, the second processor inputs a corresponding level signal to the first input end of the second level control circuit to control the second level control circuit to output a level signal reflecting the second operation at the output end, so that the base station performs the second operation when the level signal reflecting the second operation output by the second level control circuit at the output end is collected by the first level collection circuit.

[0011] Optionally, the first pair of interfaces includes a first pin and a second pin; the first pin is used to indicate a positive pole, and the second pin is used to indicate a negative pole;

[0012] The second pair of interfaces includes a third pin and a fourth pin; the third pin is used to indicate the positive pole, and the fourth pin is used to indicate the negative pole;

[0013] The output end of the first level control circuit and the input end of the first level acquisition circuit are both connected to the first pin;

[0014] The output end of the second level control circuit and the input end of the second level acquisition circuit are both connected to the third pin;

[0015] The successful connection between the first pair of interfaces and the second pair of interfaces means that the first pin is successfully connected to the third pin, and the second pin is successfully connected to the fourth pin.

[0016] Optionally, the first level control circuit further includes a second input terminal, and the second input terminal is a power supply terminal of the first level control circuit;

[0017] The first level control circuit includes a first transistor; a first electrode of the first transistor is connected to a second input terminal of the first level control circuit, a second electrode of the first transistor is connected to a first input terminal of the first level control circuit, and a third electrode of the first transistor is connected to an output terminal of the first level control circuit; when a first level signal is input to the first input terminal of the first level control circuit, the first transistor is turned on; when a second level signal is input to the first input terminal of the first level control circuit, the first transistor is turned off;

[0018] Based on the first operation currently to be performed on the sweeping machine, the base station inputs a level signal to the first input terminal of the first level control circuit through the first processor to control the on-off change of the first transistor, and the on-off change is used to control the first level control circuit to output a level signal at the output terminal to reflect the first operation.

[0019] Optionally, the first level control circuit further includes a first diode;

[0020] The first end of the first diode is connected to the second input end of the first level control circuit, and the second end of the first diode is connected to the first electrode of the first transistor; the first diode is cut off when the first transistor is turned on and the output end voltage of the first level control circuit is greater than the second input end voltage of the first level control circuit, so as to protect the second input end of the first level control circuit.

[0021] Optionally, the first level control circuit further includes a first voltage dividing resistor;

[0022] The first end of the first voltage-dividing resistor is connected to the second input end of the first level control circuit, and the second end of the first voltage-dividing resistor is connected to the output end of the first level control circuit; when the first transistor is disconnected, the second input end of the first level control circuit controls the output end of the first level control circuit to output a level signal through the first voltage-dividing resistor.

[0023] Optionally, the first level control circuit further includes a first current limiting resistor;

[0024] The first end of the first current limiting resistor is connected to the first input end of the first level control circuit, and the second end of the first current limiting resistor is connected to the second electrode of the first transistor; the first current limiting resistor is used to adjust the amplitude of the level signal input by the first processor to the first input end of the first level control circuit, and to protect the first processor.

[0025] Optionally, the second level control circuit further includes a second input terminal, and the second input terminal is a power supply terminal of the second level control circuit;

[0026] The second level control circuit includes a second transistor; a first electrode of the second transistor is connected to a second input terminal of the second level control circuit, a second electrode of the second transistor is connected to a first input terminal of the second level control circuit, and a third electrode of the second transistor is connected to an output terminal of the second level control circuit; when a third level signal is input to the first input terminal of the second level control circuit, the second transistor is turned on; when a fourth level signal is input to the first input terminal of the second level control circuit, the second transistor is turned off;

[0027] Based on the second operation currently to be performed on the base station, the sweeping machine controls the on-off change of the second transistor by inputting a level signal to the first input terminal of the second level control circuit through the second processor, and the on-off change is used to control the second level control circuit to output a level signal at the output terminal to reflect the second operation.

[0028] Optionally, the second level control circuit further includes a second diode;

[0029] The first end of the second diode is connected to the second input end of the second level control circuit, and the second end of the second diode is connected to the first electrode of the second transistor; the second diode is cut off when the second transistor is turned on and the output end voltage of the second level control circuit is greater than the second input end voltage of the second level control circuit, so as to protect the second input end of the second level control circuit.

[0030] Optionally, the second level control circuit further includes a second current limiting resistor;

[0031] The first end of the second current limiting resistor is connected to the first input end of the second level control circuit, and the second end of the second current limiting resistor is connected to the second electrode of the second transistor; the second current limiting resistor is used to adjust the amplitude of the level signal input by the second processor to the first input end of the second level control circuit, and to protect the second processor.

[0032] Optionally, the first level acquisition circuit includes a first voltage-stabilizing resistor;

[0033] The first end of the first voltage-stabilizing resistor is connected to the input end of the first level acquisition circuit, and the second end of the first voltage-stabilizing resistor is connected to the output end of the first level acquisition circuit; the first voltage-stabilizing resistor is used to control the amplitude of the level signal output from the output end of the first level acquisition circuit to the first processor within a specified range to protect the first processor.

[0034] Optionally, the second level acquisition circuit includes a second voltage-stabilizing resistor;

[0035] The first end of the second voltage-stabilizing resistor is connected to the input end of the second level acquisition circuit, and the second end of the second voltage-stabilizing resistor is connected to the output end of the second level acquisition circuit; the second voltage-stabilizing resistor is used to control the amplitude of the level signal output from the output end of the second level acquisition circuit to the second processor within a specified range to protect the second processor.

[0036] It can be seen from the above technical scheme that the present application deploys a level control circuit and a level acquisition circuit at the interface between the base station and the sweeping machine, wherein the level control circuit is connected to the processor and the docking interface, and the level acquisition circuit is connected to the processor and the docking interface; when the sweeping machine is successfully docked with the base station, the base station can input a level signal for controlling the sweeping machine to the first level control circuit through the first processor deployed by the base station, so that the sweeping machine can implement the corresponding function when the corresponding level signal is collected by the second level acquisition circuit. Similarly, the sweeping machine can also input a level signal for controlling the base station to the second level control circuit through the second processor deployed by the sweeping machine, so that the base station can implement the corresponding function when the corresponding level signal is collected by the first level acquisition circuit; the physical connection formed by the docking interface realizes data communication between the sweeping machine and the base station. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0038] Figure 1 A block diagram of the communication system structure provided in the embodiment of the present application;

[0039] Figure 2 A schematic diagram of the structure of a first pair of interfaces and a second pair of interfaces in a communication system provided in an embodiment of the present application;

[0040] Figure 3 A specific connection structure block diagram of a communication system provided in an embodiment of the present application;

[0041] Figure 4 A schematic diagram of a sweeper sending and base station receiving control waveform provided in an embodiment of the present application;

[0042] Figure 5 A schematic diagram of another sweeper sending and base station receiving control waveform provided in an embodiment of the present application;

[0043] Figure 6 This is a circuit diagram of various structures of the communication system provided in the embodiments of the present application. DETAILED DESCRIPTION

[0044] In order to enable those skilled in the art to better understand the technical solutions provided in the embodiments of the present application and to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and easy to understand, the technical solutions proposed in the embodiments of the present application are further described in detail below in conjunction with the accompanying drawings.

[0045] Please refer to Figure 1 , Figure 1 A structural diagram of the communication system provided in an embodiment of the present application.

[0046] like Figure 1 As shown, the communication system proposed in the embodiment of the present application includes: a base station 10 and a sweeping machine 20; wherein the base station is used to provide at least one target function for the sweeping machine;

[0047] In this embodiment, a level control circuit and a level acquisition circuit are deployed in the base station 10 and the sweeping machine 20, respectively. For the convenience of distinction, the level control circuit and the level acquisition circuit deployed in the base station 10 are recorded as a first level control circuit and a first level acquisition circuit, and the level control circuit and the level acquisition circuit deployed in the sweeping machine 20 are recorded as a second level control circuit and a second level acquisition circuit.

[0048] Specifically, the base station 10 is deployed with a first level control circuit 101 and a first level acquisition circuit 102; the output end of the first level control circuit 101 and the input end of the first level acquisition circuit 102 are both connected to the first pair of interfaces 103 on the base station 10 for docking with the sweeping machine 20; the first input end of the first level control circuit 101 and the output end of the first level acquisition circuit 102 are both connected to the first processor 104 that has been deployed on the base station 10.

[0049] As an embodiment, the first processor 104 may be a processor originally deployed on the base station 10 such as a single chip microcomputer or a microprocessor.

[0050] Similarly, the sweeping machine 20 is deployed with a second level control circuit 201 and a second level acquisition circuit 202; the output end of the second level control circuit 201 and the input end of the second level acquisition circuit 202 are both connected to the second pair of interfaces 203 on the sweeping machine 20 for docking with the base station 10; the first input end of the second level control circuit 201 and the output end of the second level acquisition circuit 202 are both connected to the second processor 204 that has been deployed on the sweeping machine 20.

[0051] As an embodiment, the second processor 204 may be a processor originally deployed on the sweeping machine 20 such as a single chip microcomputer or a microprocessor.

[0052] In this embodiment, after the base station 10 is successfully connected to the second interface 203 on the sweeping machine 20 through the first interface 103, based on the first operation to be performed on the sweeping machine 20, the first processor 104 inputs a corresponding level signal to the first input end of the first level control circuit 101 to control the first level control circuit 101 to output a level signal for reflecting the first operation at the output end, so that the sweeping machine 20 performs the first operation when the level signal for reflecting the first operation outputted by the first level control circuit 101 at the output end is collected through the second level collection circuit 202.

[0053] In this embodiment, after the sweeping machine 20 is successfully connected to the first pair of interfaces 103 on the base station 10 through the second pair of interfaces 203, based on the second operation to be performed on the base station 10, the second processor 204 inputs a corresponding level signal to the first input end of the second level control circuit 201 to control the second level control circuit 201 to output a level signal for reflecting the second operation at the output end, so that the base station 10 performs the second operation when the level signal for reflecting the second operation output by the second level control circuit 201 at the output end is collected through the first level acquisition circuit 102.

[0054] In this embodiment, the first pair of interfaces 103 of the base station 10 and the second pair of interfaces 203 of the sweeping machine 20 are successfully connected, indicating that a physical connection is formed between the base station 10 and the sweeping machine 20 through the first pair of interfaces 103 and the second pair of interfaces 203. This connection can ensure that the first level acquisition circuit 102 on the base station 10 collects the level signal output by the second level control circuit 201 on the sweeping machine 20, and that the second level acquisition circuit 202 on the sweeping machine 20 collects the level signal output by the first level control circuit 101 on the base station 10, thereby realizing communication between the sweeping machine and the base station through physical connection.

[0055] Combine the following Figure 2 The specific structure and docking process of the first docking interface 103 of the base station 10 and the second docking interface 203 of the sweeping robot 20 are described.

[0056] Please refer to Figure 2 , Figure 2 A schematic diagram of the structure of a first pair of interfaces and a second pair of interfaces in a communication system provided in an embodiment of the present application.

[0057] like Figure 2 As shown, Figure 2 The communication system shown in FIG. 1 includes a base station 10 and a sweeping machine 20 .

[0058] In this embodiment, the first interface 103 on the base station 10 for connecting with the sweeping machine 20 includes a first pin 103a and a second pin 103b, wherein the first pin 103a is used to indicate a positive pole, and the second pin 103b is used to indicate a negative pole.

[0059] In this embodiment, the second interface 203 on the sweeping machine 20 for connecting with the base station 10 includes a third pin 203a and a fourth pin 203b, the third pin 203a is used to indicate the positive pole, and the fourth pin 203b is used to indicate the negative pole.

[0060] It is easy to understand that the successful docking of the first interface 103 and the second interface 203 means that the first pin 103a is successfully connected to the third pin 203a, and the second pin 103b is successfully connected to the fourth pin 204b. That is, the positive pole of the first interface 103 is connected to the positive pole of the second interface 203, and the negative pole of the first interface 103 is connected to the negative pole of the second interface 203.

[0061] This concludes Figure 2 Description of the structural diagram of the first pair of interfaces and the second pair of interfaces in the communication system. It should be noted that Figure 2 It is only an exemplary representation of the structure of the first pair of interfaces and the second pair of interfaces, and does not limit the appearance of the base station and the sweeping machine or the position and shape of the first pair of interfaces and the second pair of interfaces.

[0062] Since the sweeping machine 20 usually needs to be charged through the base station 10, there is a charging module inside the sweeping machine 20, and there is a power supply module inside the base station 10. There is an interface for charging between the power supply module and the charging module, that is, the power supply module of the base station 10 provides an interface for connecting to the charging module of the sweeping machine 20 (referred to as the power supply interface), and the charging module of the sweeping machine 20 provides an interface for connecting to the power supply module of the base station 10 (referred to as the charging interface). When the power supply interface and the charging interface are successfully docked, a charging circuit is formed.

[0063] In this embodiment, the existing power supply interface between the charging module and the power supply module can be used as the first pair of interfaces, the charging interface can be used as the second pair of interfaces, the positive pin of the power supply interface can be used as the first pin of the first pair of interfaces, and the negative pin of the power supply interface can be used as the second pin of the first pair of interfaces; the positive pin of the charging interface can be used as the third pin of the second pair of interfaces, and the negative pin of the charging interface can be used as the fourth pin of the second pair of interfaces.

[0064] Combine the following Figure 3 A specific connection structure block diagram of a communication system provided in an embodiment of the present application is described.

[0065] Please refer to Figure 3 , Figure 3 A block diagram of a specific connection structure of a communication system provided in an embodiment of the present application.

[0066] like Figure 3 As shown, the communication system includes a base station 10 and a sweeping machine 20 .

[0067] In this embodiment, the power supply interface provided by the power supply module 105 included in the base station 10 is used as the first pair of interfaces, and the charging interface provided by the charging module 205 included in the sweeping machine 20 is used as the second pair of interfaces. Specifically, the positive pin of the power supply interface is used as the first pin 103a of the first pair of interfaces, and the negative pin of the power supply interface is used as the second pin 103b of the first pair of interfaces; the positive pin of the charging interface is used as the third pin 203a of the second pair of interfaces, and the negative pin of the charging interface is used as the fourth pin 203b of the second pair of interfaces.

[0068] In this embodiment, the output end of the first level control circuit 101 and the input end of the first level acquisition circuit 102 are both connected to the first pin 103a; the output end of the second level control circuit 201 and the input end of the second level acquisition circuit 202 are both connected to the third pin 203a.

[0069] In this embodiment, the connection method between the first processor 104 and the second processor 204 is as follows: Figure 1 The same as in, no further description is given here.

[0070] This concludes Figure 3 Description of the specific connection structure block diagram of the communication system.

[0071] The following continues to describe the first operation performed by the sweeping machine 20 and the second operation performed by the base station 10 .

[0072] It should be noted that the first operation performed by the sweeping machine 20 in this embodiment is any operation that needs to be performed by the sweeping machine 20, and the first operation is named only for the convenience of description, and is not used to limit the specific content of the first operation.

[0073] As an embodiment, the first operation may be an abnormal alarm operation (for example, the dust box of the base station 10 is full or the sewage tank of the base station 10 needs to be changed), etc., which requires the sweeping machine 20 to issue an abnormal alarm for the abnormal state of the base station 10 based on the received level signal sent by the base station 10.

[0074] Similarly, the second operation performed by the base station 10 in this embodiment is any operation that needs to be performed by the base station 10, and the naming of the second operation is only for the convenience of description, and is not used to limit the specific content of the second operation.

[0075] As an embodiment, the second operation may be a charging operation, a dust collection operation, or the like, which requires the base station 10 to perform an operation on the sweeping machine 20 according to a received level signal sent by the sweeping machine 20 .

[0076] In this embodiment, corresponding level signals can be set in advance for different first operations and second operations (for example, the preset level signal corresponding to the charging operation is "10101", then when the level signal "10101" is received, it can be determined that the charging operation needs to be performed, where "1" represents a high level and "0" represents a low level, which will continue to be used below and will not be repeated later), that is, after the base station 10 or the sweeping robot 20 receives the corresponding level signal, it can determine the operation to be performed.

[0077] After completing the setting of the level signals corresponding to the first operation and the second operation, and the first pair of interfaces 103 and the second pair of interfaces 203 are successfully connected, the first processor 104 of the base station 10 can control the first level control circuit 101 to output the level signal corresponding to the first operation, and the sweeping machine 20 collects the level signal output by the first level control circuit 101 through the second level acquisition circuit 202, and executes the first operation corresponding to the level signal; and, the second processor 204 of the sweeping machine 20 controls the second level control circuit 201 to output the level signal corresponding to the second operation, and the base station 10 collects the level signal output by the second level control circuit 201 through the first level acquisition circuit 102, and executes the second operation corresponding to the level signal.

[0078] Since the level acquisition circuit acquires a periodic level signal, in order to determine which part of the level signal is the level signal used to reflect the first operation or the second operation, the start flag and the end flag may be pre-set in this embodiment. Before the processor controls the level control circuit to output the level signal reflecting the first operation or the second operation, a start flag may be added before the corresponding level signal reflecting the first operation or the second operation, and an end flag may be added after the level signal reflecting the first operation or the second operation. After the base station 10 or the sweeping machine 20 acquires the level signal, the level signal reflecting the first operation or the second operation is determined according to the pre-set start flag and end flag, and the first operation or the second operation is then executed.

[0079] The following is a detailed description of each circuit included in the base station 10 and the sweeping machine 20 in the communication system.

[0080] First, the first level control circuit 101 is described.

[0081] In this embodiment, the first level control circuit 101 further includes a second input terminal, and the second input terminal is a power supply terminal of the first level control circuit 101;

[0082] The first level control circuit 101 includes a first transistor; a first electrode of the first transistor is connected to a second input terminal of the first level control circuit 101, a second electrode of the first transistor is connected to a first input terminal of the first level control circuit 101, and a third electrode of the first transistor is connected to an output terminal of the first level control circuit 101; when a first level signal is input to the first input terminal of the first level control circuit 101, the first transistor is turned on; when a second level signal is input to the first input terminal of the first level control circuit 101, the first transistor is turned off;

[0083] Based on the first operation currently to be performed on the sweeping machine 20, the base station 10 inputs a level signal to the first input terminal of the first level control circuit 101 through the first processor 104 to control the on-off change of the first transistor. The on-off change is used to control the first level control circuit 101 to output a level signal at the output terminal to reflect the first operation.

[0084] In this embodiment, the second input terminal may be a direct current power supply deployed in the base station 10, and is used to provide a turn-on voltage for the first transistor.

[0085] In this embodiment, the first transistor may be a transistor such as a triode or a field effect transistor, and this application does not limit this.

[0086] As an embodiment, the first transistor may be a PNP transistor, the first electrode of the first transistor corresponds to the emitter of the PNP transistor, the second electrode of the first transistor corresponds to the base of the PNP transistor, and the third electrode of the first transistor corresponds to the collector of the PNP transistor. When the first transistor is a PNP transistor, the first level signal is a low level signal, the PNP transistor is turned on, and the second level signal is a high level signal, the PNP transistor is turned off.

[0087] In this embodiment, the level signal generated by the first processor 104 controls the on-off change of the first transistor, and the on-off change of the first transistor further controls the level change of the output terminal of the first level control circuit 101.

[0088] In this embodiment, the first level control circuit 101 may further include a first diode;

[0089] The first end of the first diode is connected to the second input end of the first level control circuit 101, and the second end of the first diode is connected to the first electrode of the first transistor; the first diode is cut off when the first transistor is turned on and the output end voltage of the first level control circuit 101 is greater than the second input end voltage of the first level control circuit 101, so as to protect the second input end of the first level control circuit 101.

[0090] In this embodiment, a first diode can be deployed between the first pole of the first transistor in the first level control circuit and the second input terminal of the first level control circuit, and the conduction direction of the first diode is the direction from the second input terminal to the first pole of the first transistor. The first diode can protect the second input terminal of the first level control circuit. For example, when the base station 10 is successfully docked with the sweeper 20 and the charging operation is performed, the output terminal voltage of the first level control circuit 101 is a large charging voltage (such as 24V), and the voltage of the DC power supply at the second input terminal of the first level control circuit 101 is generally small (such as 3.3V). At this time, if the first transistor is in the on state, it will cause the output terminal of the first level control circuit 101 to the second input terminal of the first level control circuit 101 to generate reverse high voltage, causing damage to the DC power supply at the second input terminal. At this time, the first diode can be deployed to protect the second input terminal by using the unidirectional conductivity of the diode.

[0091] In this embodiment, the first level control circuit 101 may further include a first voltage dividing resistor;

[0092] The first end of the first voltage-dividing resistor is connected to the second input end of the first level control circuit 101, and the second end of the first voltage-dividing resistor is connected to the output end of the first level control circuit 101; when the first transistor is disconnected, the second input end of the first level control circuit 101 controls the output end of the first level control circuit to output a level signal through the first voltage-dividing resistor.

[0093] In this embodiment, when the first transistor is in the off state, regardless of whether the base station 10 and the sweeping machine 20 are successfully docked, the output voltage of the first level control circuit 101 is 0, and it is impossible to detect whether the base station 10 and the sweeping machine 20 are successfully docked. Based on this, in this embodiment, a first voltage-dividing resistor can be added between the second input terminal of the first level control circuit 101 and the output terminal of the first level control circuit 101, so that when the first transistor is disconnected, the output terminal of the first level control circuit 101 can also output a non-zero voltage. In this way, before and after the base station 10 and the sweeping machine 20 are successfully docked, the first level acquisition circuit 102 can collect the level change to determine whether the base station 10 and the sweeping machine 20 are successfully docked.

[0094] In this embodiment, the first level control circuit 101 may further include a first current limiting resistor;

[0095] The first end of the first current limiting resistor is connected to the first input end of the first level control circuit 101, and the second end of the first current limiting resistor is connected to the second electrode of the first transistor; the first current limiting resistor is used to adjust the amplitude of the level signal input by the first processor to the first input end of the first level control circuit 101, and to protect the first processor.

[0096] In this embodiment, a first current limiting resistor can also be deployed between the first input terminal of the first level control circuit 101 and the second electrode of the first transistor. The first current limiting resistor can control the amplitude of the level signal input by the first processor 104 within a specified range and avoid generating a large current at the first processor 104, thereby protecting the first processor.

[0097] So far, the description of the first level control circuit 101 is ended, and the second level control circuit 201 will be described below.

[0098] In this embodiment, the second level control circuit 201 further includes a second input terminal, which is a power supply terminal of the second level control circuit;

[0099] The second level control circuit 201 includes a second transistor; a first electrode of the second transistor is connected to a second input terminal of the second level control circuit 201, a second electrode of the second transistor is connected to a first input terminal of the second level control circuit 201, and a third electrode of the second transistor is connected to an output terminal of the second level control circuit 201; a third level signal is input to the first input terminal of the second level control circuit 201, the second transistor is turned on, a fourth level signal is input to the first input terminal of the second level control circuit 201, and the second transistor is turned off;

[0100] Based on the second operation currently to be performed on the base station 10, the sweeping machine 20 inputs a level signal to the first input terminal of the second level control circuit 201 through the second processor 204 to control the on-off change of the second transistor, and the on-off change is used to control the second level control circuit 201 to output a level signal at the output terminal to reflect the second operation.

[0101] In this embodiment, the second input terminal may be a DC power supply disposed in the sweeping machine 20, and is used to provide a conduction voltage for the second transistor.

[0102] In this embodiment, the second transistor can be a transistor such as a triode or a field effect transistor, and this application does not limit this. The connection mode and function of the second transistor in the circuit are similar to those of the first transistor, and will not be repeated here.

[0103] In this embodiment, the second level control circuit may further include a second diode;

[0104] The first end of the second diode is connected to the second input end of the second level control circuit 201, and the second end of the second diode is connected to the first electrode of the second transistor; the second diode is cut off when the second transistor is turned on and the output end voltage of the second level control circuit 201 is greater than the second input end voltage of the second level control circuit 201, so as to protect the second input end of the second level control circuit 201.

[0105] In this embodiment, the connection mode and function of the second diode in the circuit are similar to those of the first diode, and are not described in detail here.

[0106] In this embodiment, the second level control circuit 201 may further include a second current limiting resistor;

[0107] The first end of the second current limiting resistor is connected to the first input end of the second level control circuit 201, and the second end of the second current limiting resistor is connected to the second electrode of the second transistor; the second current limiting resistor is used to adjust the amplitude of the level signal input by the second processor to the first input end of the second level control circuit 201, and to protect the second processor 204.

[0108] In this embodiment, the connection mode and function of the second current limiting resistor in the circuit are similar to those of the first current limiting resistor, which will not be described in detail here.

[0109] So far, the description of the second level control circuit 201 is ended, and the first level acquisition circuit 102 and the second level acquisition circuit 202 are described below.

[0110] In this embodiment, the first level acquisition circuit 102 may include a first voltage stabilizing resistor;

[0111] The first end of the first voltage-stabilizing resistor is connected to the input end of the first level acquisition circuit 102, and the second end of the first voltage-stabilizing resistor is connected to the output end of the first level acquisition circuit 102; the first voltage-stabilizing resistor is used to control the amplitude of the level signal output from the output end of the first level acquisition circuit 102 to the first processor 104 within a specified range to protect the first processor 104.

[0112] In this embodiment, a first voltage-stabilizing resistor can be deployed between the input end of the first level acquisition circuit 102 and the output end of the first level acquisition circuit 102, that is, the first processor 104. When the base station 10 is successfully docked with the sweeping machine 20 and a charging operation is performed, the input end voltage of the first level acquisition circuit 102 is a relatively large charging voltage (for example, 24V). If the input end of the first level acquisition circuit 102 is directly connected to the output end of the first level acquisition circuit 102 at this time, the output end of the first level acquisition circuit 102, that is, the first processor 104, will be damaged. A first voltage-stabilizing resistor can be deployed between the input end of the first level acquisition circuit 102 and the output end of the first level acquisition circuit 102, that is, the first processor 104, to reduce the voltage at the first processor 104 and protect the first processor 104.

[0113] In this embodiment, the second level acquisition circuit 202 may include a second voltage stabilizing resistor;

[0114] The first end of the second voltage-stabilizing resistor is connected to the input end of the second level acquisition circuit 202, and the second end of the second voltage-stabilizing resistor is connected to the output end of the second level acquisition circuit 202; the second voltage-stabilizing resistor is used to control the amplitude of the level signal output from the output end of the second level acquisition circuit 202 to the second processor within a specified range to protect the second processor.

[0115] In this embodiment, the connection mode and function of the second voltage-stabilizing resistor in the circuit are similar to those of the first voltage-stabilizing resistor, which will not be described in detail here.

[0116] So far, the description of the first level acquisition circuit 102 and the second level acquisition circuit 202 is completed.

[0117] This concludes Figure 1 Description of the communication system structure block diagram.

[0118] Combine the following Figure 4 as well as Figure 5 The process of the sweeper sending and the base station receiving the control waveform is briefly described.

[0119] Please refer to Figure 4 , Figure 4 A schematic diagram of a sweeper sending and base station receiving control waveform provided in an embodiment of the present application.

[0120] like Figure 4 As shown, in this embodiment, the corresponding level signal of the charging operation performed by the base station is pre-set to "10101", that is, when the level signal "10101" is received, it can be determined that the charging operation needs to be performed.

[0121] After completing the setting of the level signal corresponding to the charging operation and the first pair of interfaces is successfully connected to the second pair of interfaces, the second processor of the sweeping machine can generate a level signal to control the on and off of the second transistor in the second level control circuit, thereby controlling the second level control circuit to output the level signal "10101" corresponding to the charging operation.

[0122] In this embodiment, taking the second transistor as a PNP triode as an example, when the second processor sends a high level "1" to the second level control circuit, the PNP triode is disconnected, and the output end of the second level control circuit outputs a low level "0". When the second processor sends a low level "0" to the second level control circuit, the PNP triode is turned on, and the output end of the second level control circuit outputs a high level "1". Therefore, if you want to control the second level control circuit to output the level signal "10101" corresponding to the charging operation, the level signal sent by the second processor to the second level control circuit should be "01010".

[0123] Further, after the base station collects the level signal "10101" output by the second level control circuit through the first level collection circuit, it performs a charging operation corresponding to the level signal.

[0124] Since the level acquisition circuit acquires periodic level signals, in order to determine which part of the level signal is used to reflect the level signal of the charging operation, a start flag and an end flag may be pre-set in this embodiment.

[0125] Please refer to Figure 5 , Figure 5 Another schematic diagram of sweeper sending and base station receiving control waveforms provided in an embodiment of the present application.

[0126] like Figure 5 As shown, in this embodiment, the corresponding level signal of the charging operation performed by the base station is pre-set to "10101", that is, when the level signal "10101" is received, it can be determined that the charging operation needs to be performed.

[0127] Before the second processor controls the first level control circuit to output the level signal "10101" reflecting the charging operation, a start flag such as "111" can be added before the level signal "10101" corresponding to the charging operation, and an end flag such as "000" can be added after the level signal corresponding to the charging operation, so that after the base station collects the level signal through the first level acquisition circuit, it determines the level signal of the charging operation according to the pre-set start flag "111" and end flag "000", and then performs the charging operation.

[0128] In this embodiment, taking the second transistor as a PNP triode as an example, when the second processor sends a high level "1" to the second level control circuit, the PNP triode is disconnected, and the output end of the second level control circuit outputs a low level "0". When the second processor sends a low level "0" to the second level control circuit, the PNP triode is turned on, and the output end of the second level control circuit outputs a high level "1". Therefore, if you want to control the second level control circuit to output the level signal "11110101000" corresponding to the charging operation with the start flag and the end flag added, the level signal sent by the second processor to the second level control circuit should be "00001010111".

[0129] Furthermore, after the base station collects the level signal "11110101000" output by the second level control circuit through the first level acquisition circuit, it determines the level signal "10101" corresponding to the charging operation based on the start flag "111" and the end flag "000" and the code length of the level signal corresponding to the charging operation, and executes the charging operation corresponding to the level signal.

[0130] This concludes Figure 4 as well as Figure 5 Description of the process of the sweeper sending and the base station receiving the control waveform.

[0131] Combine the following Figure 6 The structure and function of the communication system proposed in this embodiment are described in the communication system structure circuit diagrams provided in the embodiment.

[0132] like Figure 6 As shown, the communication system includes a base station and a sweeping machine. The base station is deployed with a first level control circuit and a first level acquisition circuit; the sweeping machine is deployed with a second level control circuit and a second level acquisition circuit.

[0133] In the first level control circuit, Q1 is a PNP transistor, which is used to turn on or off based on the level signal received by the base (the end marked "1" in the figure) to control the level signal output by the output end of the first level control circuit; CTL_JZ represents the first input end of the first level control circuit, which is connected to the first processor deployed by the base station (not shown in the figure), and is used to receive the level signal based on the input of the first processor to control the on and off of Q1; the 3.3V power supply is the second input end of the first level control circuit, which is used to provide a turn-on voltage for Q1; D1 is a first diode with a forward voltage drop of 0.7V, which is used to protect the 3.3V power supply. source to prevent possible reverse high voltage from damaging the 3.3V power supply; R1 is a 10K ohm resistor, used to control Q1 to be in a saturated state when it is turned on; R2 is a 1K ohm resistor, used to adjust the level amplitude input by the first processor to the first input end of the first level control circuit and protect the first processor; R3 is a 5.1K ohm resistor, used to output a level signal to the output end of the first level control circuit through R3 when Q1 is disconnected; the output end of the first level control circuit is connected to the positive pin TP+ in the power supply module deployed by the base station itself for docking with the charging module of the sweeper.

[0134] In the second level control circuit, Q2 is a PNP transistor, which is used to turn on or off based on the level signal received by the base (the end marked "1" in the figure) to control the level signal output by the output end of the second level control circuit; CTL_ZJ represents the first input end of the second level control circuit, which is connected to the second processor deployed by the sweeper (not shown in the figure), and is used to receive the level signal based on the input of the second processor to control the on and off of Q2; the 3.3V power supply is the second input end of the second level control circuit, which is used to provide a conduction voltage for Q2; D2 is The second diode has a forward voltage drop of 0.7V and is used to protect the 3.3V power supply to prevent possible reverse high voltage from damaging the 3.3V power supply; R7 is a 10K ohm resistor and is used to control Q2 to be in a saturation state when it is turned on; R8 is a 1K ohm resistor and is used to adjust the level amplitude input by the second processor to the first input end of the second level control circuit and to protect the second processor; the output end of the second level control circuit is connected to the positive pin TP+ in the charging module deployed in the sweeper itself and is used to connect to the power supply module of the base station.

[0135] In the first level acquisition circuit, CHARGE_ADC_JZ represents the output end of the first level acquisition circuit, which is connected to the first processor deployed by the base station (not shown in the figure), and is used to collect the level signal output by the output end of the second level control circuit after the base station and the sweeping machine are successfully docked; R4 is a 220K ohm resistor, which is used to control the amplitude of the level signal output from the output end of the first level acquisition circuit to the first processor within a specified range to protect the first processor; R5 is used to suppress damage to the first processor caused by external static electricity, and its resistance value can be set as needed; R6 is a load resistor with a resistance of 33K ohms. In fact, the level signal collected by the first level acquisition circuit is the voltage across R6; the input end of the first level acquisition circuit is connected to the positive pin TP+ in the power supply module deployed by the base station itself for docking with the charging module of the sweeping machine.

[0136] In the second level acquisition circuit, CHARGE_ADC_ZJ represents the output end of the second level acquisition circuit, which is connected to the second processor deployed by the sweeping machine (not shown in the figure), and is used to collect the level signal output by the output end of the first level control circuit after the base station and the sweeping machine are successfully docked; R9 is a 220K ohm resistor, which is used to control the amplitude of the level signal output from the output end of the second level acquisition circuit to the second processor within a specified range to protect the second processor; R11 is used to suppress damage to the second processor caused by external static electricity, and its resistance value can be set as needed; R10 is a load resistor with a resistance of 33K ohms. In fact, the level signal collected by the second level acquisition circuit is the voltage across R10; R12 is a resistor with a resistance of 5.1K. The selection of its resistance value is used to make the amplitude of the level signal collected by the second level acquisition circuit easy to calculate, which will not be repeated here; the input end of the second level acquisition circuit is connected to the positive pin TP+ in the charging module deployed by the sweeping machine itself for docking with the power supply module of the base station.

[0137] Before the sweeping robot and the base station are successfully connected, the level signals input by CTL_JZ, i.e. the first processor, for controlling the on and off of the transistor Q1 are all in a high level state, at which time Q1 is disconnected; the level collected by the first level acquisition circuit is 0.33V, and the level signals input by CTL_ZJ, i.e. the second processor, for controlling the on and off of the transistor Q2 are also in a high level state, at which time Q2 is disconnected, and the level collected by the second level acquisition circuit is 0V.

[0138] After the sweeper and the base station are successfully connected, the positive pin of the power supply module deployed by the base station is connected to the positive pin of the charging module deployed by the sweeper, and the negative pin of the power supply module deployed by the base station is connected to the negative pin of the charging module deployed by the sweeper, that is, TP+ is connected and TP- is connected in the figure.

[0139] At this time, Q1 and Q2 remain in the disconnected state. Due to the successful docking of the sweeping machine and the base station, the level collected by the first level acquisition circuit is 0.16V, and the level collected by the second level acquisition circuit is also 0.16V. In this embodiment, the level changes collected by the first level acquisition circuit and the second level acquisition circuit can be used to determine whether the sweeping machine and the base station are successfully docked.

[0140] After the sweeper and the base station are successfully connected, the level signal input by the second processor can be used to control the on and off of Q2, so that the output end of the second level control circuit outputs different level changes, and the corresponding base station will read the changes of 0.33V (defined as high level) and 0.16V (defined as low level) through the first level acquisition circuit. The high and low level changes can be converted into corresponding signal patterns by software and parsed into specified meanings, so that the base station can perform corresponding operations based on the signal pattern, such as dust collection operations, charging operations, etc.

[0141] Similarly, the on and off of Q1 can be controlled by the level signal input by the first processor, so that the output end of the first level control circuit outputs different level changes, and the corresponding sweeper will read the changes of 0.33V (defined as high level) and 0.16V (defined as low level) through the second level acquisition circuit. The high and low level changes can be converted into corresponding signal patterns by software and parsed into specified meanings, so that the sweeper can perform corresponding operations based on the signal pattern, such as abnormal alarm operations.

[0142] This concludes Figure 6 Description of the structure and functions of the communication system.

[0143] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A communication system, characterized in that: The system comprises: a base station and a sweeping machine; the base station is used to provide at least one target function for the sweeping machine; The base station is deployed with a first level control circuit and a first level acquisition circuit; the output end of the first level control circuit and the input end of the first level acquisition circuit are both connected to a first pair of interfaces on the base station for docking with the sweeping machine; the first input end of the first level control circuit and the output end of the first level acquisition circuit are both connected to a first processor deployed on the base station; The sweeping machine is deployed with a second level control circuit and a second level acquisition circuit; the output end of the second level control circuit and the input end of the second level acquisition circuit are both connected to a second pair of interfaces on the sweeping machine for docking with the base station; the first input end of the second level control circuit and the output end of the second level acquisition circuit are both connected to a second processor deployed on the sweeping machine; After the base station is successfully connected to the second pair of interfaces on the sweeping machine through the first pair of interfaces, based on the first operation to be performed on the sweeping machine, the first processor inputs a corresponding level signal to the first input end of the first level control circuit to control the first level control circuit to output a level signal reflecting the first operation at the output end, so that the sweeping machine performs the first operation when the second level acquisition circuit collects the level signal reflecting the first operation outputted by the first level control circuit at the output end; After the sweeping machine is successfully connected to the first pair of interfaces on the base station through the second pair of interfaces, based on the second operation to be performed on the base station, the second processor inputs a corresponding level signal to the first input end of the second level control circuit to control the second level control circuit to output a level signal reflecting the second operation at the output end, so that the base station performs the second operation when the level signal reflecting the second operation output by the second level control circuit at the output end is collected by the first level collection circuit.

2. The communication system according to claim 1, characterized in that The first pair of interfaces includes a first pin and a second pin; the first pin is used to indicate a positive pole, and the second pin is used to indicate a negative pole; The second pair of interfaces includes a third pin and a fourth pin; the third pin is used to indicate the positive pole, and the fourth pin is used to indicate the negative pole; The output end of the first level control circuit and the input end of the first level acquisition circuit are both connected to the first pin; The output end of the second level control circuit and the input end of the second level acquisition circuit are both connected to the third pin; The successful connection between the first pair of interfaces and the second pair of interfaces means that the first pin is successfully connected to the third pin, and the second pin is successfully connected to the fourth pin.

3. The communication system according to claim 1 or 2, characterized in that: The first level control circuit further includes a second input terminal, which is a power supply terminal of the first level control circuit; The first level control circuit includes a first transistor; a first electrode of the first transistor is connected to the second input terminal of the first level control circuit, a second electrode of the first transistor is connected to the first input terminal of the first level control circuit, and a third electrode of the first transistor is connected to the output terminal of the first level control circuit; A first level signal is input to the first input terminal of the first level control circuit, and the first transistor is turned on; a second level signal is input to the first input terminal of the first level control circuit, and the first transistor is turned off; Based on the first operation currently to be performed on the sweeping machine, the base station inputs a level signal to the first input terminal of the first level control circuit through the first processor to control the on-off change of the first transistor, and the on-off change is used to control the first level control circuit to output a level signal at the output terminal to reflect the first operation.

4. The communication system according to claim 3, characterized in that: The first level control circuit also includes a first diode; The first end of the first diode is connected to the second input end of the first level control circuit, and the second end of the first diode is connected to the first electrode of the first transistor; the first diode is cut off when the first transistor is turned on and the output end voltage of the first level control circuit is greater than the second input end voltage of the first level control circuit, so as to protect the second input end of the first level control circuit.

5. The system according to claim 3, characterized in that The first level control circuit also includes a first voltage dividing resistor; The first end of the first voltage-dividing resistor is connected to the second input end of the first level control circuit, and the second end of the first voltage-dividing resistor is connected to the output end of the first level control circuit; when the first transistor is disconnected, the second input end of the first level control circuit controls the output end of the first level control circuit to output a level signal through the first voltage-dividing resistor.

6. The communication system according to claim 3, characterized in that: The first level control circuit also includes a first current limiting resistor; A first end of the first current limiting resistor is connected to a first input end of the first level control circuit, and a second end of the first current limiting resistor is connected to a second electrode of the first transistor; The first current limiting resistor is used to adjust the amplitude of the level signal input by the first processor to the first input end of the first level control circuit, and to protect the first processor.

7. The communication system according to claim 1 or 2, characterized in that: The second level control circuit further includes a second input terminal, and the second input terminal is a power supply terminal of the second level control circuit; The second level control circuit includes a second transistor; a first electrode of the second transistor is connected to the second input terminal of the second level control circuit, a second electrode of the second transistor is connected to the first input terminal of the second level control circuit, and a third electrode of the second transistor is connected to the output terminal of the second level control circuit; A third level signal is input to the first input terminal of the second level control circuit, and the second transistor is turned on; a fourth level signal is input to the first input terminal of the second level control circuit, and the second transistor is turned off; Based on the second operation currently to be performed on the base station, the sweeping machine controls the on-off change of the second transistor by inputting a level signal to the first input terminal of the second level control circuit through the second processor, and the on-off change is used to control the second level control circuit to output a level signal at the output terminal to reflect the second operation.

8. The communication system according to claim 7, characterized in that: The second level control circuit further includes a second diode; The first end of the second diode is connected to the second input end of the second level control circuit, and the second end of the second diode is connected to the first electrode of the second transistor; the second diode is cut off when the second transistor is turned on and the output end voltage of the second level control circuit is greater than the second input end voltage of the second level control circuit, so as to protect the second input end of the second level control circuit.

9. The communication system according to claim 7, characterized in that: The second level control circuit also includes a second current limiting resistor; A first end of the second current limiting resistor is connected to a first input end of the second level control circuit, and a second end of the second current limiting resistor is connected to a second electrode of the second transistor; The second current limiting resistor is used to adjust the amplitude of the level signal input by the second processor to the first input terminal of the second level control circuit, and to protect the second processor.

10. The communication system according to claim 1, characterized in that: The first level acquisition circuit includes a first voltage-stabilizing resistor; The first end of the first voltage-stabilizing resistor is connected to the input end of the first level acquisition circuit, and the second end of the first voltage-stabilizing resistor is connected to the output end of the first level acquisition circuit; the first voltage-stabilizing resistor is used to control the amplitude of the level signal output from the output end of the first level acquisition circuit to the first processor within a specified range to protect the first processor.

11. The communication system according to claim 1, characterized in that: The second level acquisition circuit includes a second voltage-stabilizing resistor; The first end of the second voltage-stabilizing resistor is connected to the input end of the second level acquisition circuit, and the second end of the second voltage-stabilizing resistor is connected to the output end of the second level acquisition circuit; the second voltage-stabilizing resistor is used to control the amplitude of the level signal output from the output end of the second level acquisition circuit to the second processor within a specified range to protect the second processor.

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