Motor driving circuit and cleaning robot

Abstract

The utility model provides a motor driving circuit and a cleaning robot, and relates to the technical field of motors. The motor driving circuit comprises a driving module which comprises a first pin, a second pin and an output pin; the driving signal generation module is configured to receive the first driving signal and generate a second driving signal based on the first driving signal; and the positive and negative rotation control module is connected with the driving signal generation module, the first pin and the second pin, and is configured to receive a first positive and negative rotation control signal, pull down the level of one of the first pin and the second pin to a low level based on the first positive and negative rotation control signal, and input a second driving signal to the other one of the first pin and the second pin. According to the motor driving circuit, the driving signal generation module and the forward and reverse rotation control module can be used for controlling the rotation direction and the rotation speed of the motor based on the first driving signal and the first forward and reverse rotation control signal, cooperation control of multiple paths of driving signals is not needed, and the cost of the motor driving circuit is reduced.

Description

Technical Field

[0001] The present application relates to the field of motor technology, and in particular to a motor drive circuit and a cleaning robot. Background Art

[0002] The related motors need multiple drive signals such as PWM signal control to achieve adjustable speed forward and reverse control, which requires the motor drive circuit to have a large number of control pins. However, due to cost, compatibility and other considerations, the motor drive circuit often has an insufficient number of available control pins. For example, there is only one available control pin. In this case, the motor drive circuit has to be replaced with a motor drive circuit with a larger number of control pins, which increases the cost. Utility Model Content

[0003] A technical solution adopted in the present application is to provide a motor drive circuit, the motor drive circuit comprising:

[0004] A driving module, comprising a first pin, a second pin and an output pin, wherein the output pin is used to connect a motor to be driven;

[0005] a driving signal generating module, configured to receive a first driving signal and generate a second driving signal based on the first driving signal;

[0006] A forward and reverse control module is connected to the drive signal generating module, the first pin and the second pin. The forward and reverse control module is configured to receive a first forward and reverse control signal, and when the first forward and reverse control signal is at a first level, pull the level of the second pin down to a low level, and input the second drive signal to the first pin, and when the first forward and reverse control signal is at a second level, pull the level of the first pin down to a low level, and input the second drive signal to the second pin.

[0007] In some embodiments, the forward and reverse control module includes:

[0008] a first control unit connected to the drive signal generating module and the second pin, the first control unit being configured to receive a first forward and reverse control signal and a second drive signal, and to pull the level of the second pin down to a low level when the first forward and reverse control signal is at a first level, and to input the second drive signal to the second pin when the first forward and reverse control signal is at a second level;

[0009] An inverting unit, the inverting unit is configured to receive a first forward and reverse control signal, and invert the first forward and reverse control signal to obtain a second forward and reverse control signal;

[0010] A second control unit is connected to the drive signal generating module, the inverting unit and the first pin. The second control unit is configured to receive a second forward and reverse control signal and a second drive signal, and when the second forward and reverse control signal is at a first level, pull the level of the first pin down to a low level, and when the second forward and reverse control signal is at a second level, input the second drive signal to the first pin.

[0011] In some embodiments, the first control unit includes:

[0012] A first transistor, wherein a control terminal of the first transistor is configured to receive a first forward and reverse control signal, a first terminal of the first transistor is connected to a driving signal generating module to receive a second driving signal, and a second terminal of the first transistor is connected to a second pin;

[0013] A second transistor, wherein a control terminal of the second transistor is configured to receive a first forward and reverse control signal, a first terminal of the second transistor is grounded, and a second terminal of the second transistor is connected to a second pin;

[0014] The first transistor is turned on in response to the control terminal of the first transistor being at the second level, and the second transistor is turned on in response to the control terminal of the second transistor being at the first level.

[0015] In some embodiments, the first control unit further includes:

[0016] a first resistor, wherein a first end of the first resistor is connected to the control end of the first transistor, and a second end of the first resistor is connected to the first end of the first transistor;

[0017] A first capacitor, wherein a first end of the first capacitor is connected to the control end of the first transistor, and a second end of the first capacitor is connected to the first end of the first transistor;

[0018] a second resistor, wherein a first end of the second resistor is connected to the control end of the second transistor, and a second end of the second resistor is connected to the first end of the second transistor;

[0019] A second capacitor, wherein a first end of the second capacitor is connected to the control end of the second transistor, and a second end of the second capacitor is connected to the first end of the second transistor.

[0020] In some embodiments, the second control unit comprises:

[0021] A third transistor, wherein the control end of the third transistor is configured to receive the second forward and reverse control signal, the first end of the third transistor is connected to the driving signal generating module to receive the second driving signal, and the second end of the third transistor is connected to the first pin;

[0022] a fourth transistor, wherein a control terminal of the fourth transistor is configured to receive a second forward and reverse control signal, a first terminal of the fourth transistor is grounded, and a second terminal of the fourth transistor is connected to the first pin;

[0023] The third transistor is turned on in response to the control terminal of the third transistor being at the second level, and the fourth transistor is turned on in response to the control terminal of the fourth transistor being at the first level.

[0024] In some embodiments, the inverting unit comprises:

[0025] a fifth transistor, wherein a control terminal of the fifth transistor is configured to receive a first forward and reverse control signal, and a first terminal of the fifth transistor is grounded;

[0026] a fifth resistor, wherein a first end of the fifth resistor is configured to receive a power supply signal, a second end of the fifth resistor is connected to the second end of the fifth transistor, and is used to output a second forward and reverse control signal;

[0027] A sixth resistor, wherein a first end of the sixth resistor is connected to the control end of the fifth transistor, and a second end of the sixth resistor is grounded.

[0028] In some embodiments, the driving signal generating module includes:

[0029] a sixth transistor, wherein a control terminal of the sixth transistor is configured to receive a first driving signal, and a first terminal of the sixth transistor is grounded;

[0030] a seventh resistor, wherein a first end of the seventh resistor is configured to receive a power signal, a second end of the seventh resistor is connected to the second end of the sixth transistor, and is used to output a second driving signal;

[0031] An eighth resistor, wherein a first end of the eighth resistor is connected to the control end of the sixth transistor, and a second end of the eighth resistor is grounded.

[0032] In some embodiments, the motor drive circuit includes a control module, the control module includes a first control pin and a second control pin, the first control pin is configured to output a first forward and reverse control signal, the first control pin is connected to the forward and reverse control module, the second control pin is configured to output a first drive signal, and the second control pin is connected to the drive signal generating module.

[0033] Another technical solution adopted in the present application is: to provide a cleaning robot, the cleaning robot includes a motor and the above-mentioned motor drive circuit, and the motor is connected to the output pin of the drive module of the motor drive circuit.

[0034] In some embodiments, the cleaning robot includes at least one of a rolling brush, a side brush and a drum connected to a motor, and the motor is used to control the rotation direction and rotation speed of at least one of the rolling brush, the side brush and the drum.

[0035] Different from the prior art, the motor drive circuit provided by the present application has the following beneficial effects:

[0036] The present application can receive a first drive signal through a drive signal generating module, and generate a second drive signal based on the first drive signal, and also receive a first forward and reverse control signal through a forward and reverse control module, and pull down the level of one of the first pin and the second pin of the drive module to a low level based on the first forward and reverse control signal, and input the second drive signal to the other one, so that the motor drive circuit can use the drive signal generating module and the forward and reverse control module to control the rotation direction and rotation speed of the motor based on the first drive signal and the first forward and reverse control signal, without the need for coordinated control of multiple drive signals, which is beneficial to reducing the cost of the motor drive circuit. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 is a schematic diagram of the structure of a motor drive circuit provided in some embodiments of the present application;

[0039] Figure 2 yes Figure 1 The schematic diagram of the structure of the motor driving circuit shown in some embodiments;

[0040] Figure 3 yes Figure 1 The schematic diagram of the structure of the motor driving circuit shown in some embodiments;

[0041] Figure 4 yes Figure 1 The circuit diagram of the motor driving circuit shown in some embodiments;

[0042] Figure 5 is a schematic diagram of the structure of a cleaning robot provided in some embodiments of the present application;

[0043] Figure 6 It is a schematic diagram of the structure of the cleaning robot provided in some embodiments of the present application. DETAILED DESCRIPTION

[0044] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0045] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. It is understood that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0046] The present application embodiment provides a motor drive circuit. Figure 1 , Figure 1 It is a schematic diagram of the structure of the motor drive circuit provided in some embodiments of the present application.

[0047] In some embodiments, the motor driving circuit 10 includes a driving module 100 , a driving signal generating module 200 , and a forward and reverse rotation control module 300 .

[0048] The driving module 100 includes a first pin 110, a second pin 120 and an output pin 130. The first pin 110 and the second pin 120 can be used as input pins of the driving module 100 for receiving control signals. The output pin 130 is used to connect the motor to be driven. The number of the output pins 130 is, for example but not limited to, 2.

[0049] The drive signal generating module 200 is configured to receive a first drive signal and generate a second drive signal based on the first drive signal. In some embodiments, the first drive signal is a PWM signal. PWM is the abbreviation of Pulse Width Modulation, which is an analog technology that adjusts the output voltage or current by changing the width of the pulse, thereby achieving precise control of circuit parameters. In some embodiments, the PWM signal can be a duty cycle of high and low levels, that is, the ratio of the output high level time to the low level time. The second drive signal generated by the drive signal generating module 200 based on the first drive signal can be used to adjust the rotation speed of the motor.

[0050] The forward and reverse control module 300 is connected to the drive signal generating module 200, the first pin 110 and the second pin 120, and can be used to control the forward and reverse rotation of the motor. The forward and reverse control module 300 is configured to receive a first forward and reverse control signal. The first forward and reverse control signal can be a first level or a second level, and the first level and the second level are different levels. When the first forward and reverse control signal is a first level, the forward and reverse control module 300 pulls the level of the second pin 120 down to a low level, and inputs the second drive signal to the first pin 110. When the first forward and reverse control signal is a second level, the forward and reverse control module 300 pulls the level of the first pin 110 down to a low level, and inputs the second drive signal to the second pin 120. In some embodiments, the first level is a high level and the second level is a low level.

[0051] The motor driving circuit 10 provided in the embodiment of the present application can receive a first driving signal through a driving signal generating module 200, and generate a second driving signal based on the first driving signal, and also receive a first forward and reverse control signal through a forward and reverse control module 300, and pull down the level of one of the first pin 110 and the second pin 120 of the driving module 100 to a low level based on the first forward and reverse control signal, and input the second driving signal to the other one, so that the motor driving circuit 10 can use the driving signal generating module 200 and the forward and reverse control module 300 to control the rotation direction and rotation speed of the motor based on the first driving signal and the first forward and reverse control signal, without the need for coordinated control of multiple driving signals, which is beneficial to reducing the cost of the motor driving circuit 10.

[0052] In some embodiments, when the forward and reverse control module 300 inputs the second drive signal to the first pin 110, the motor drive circuit 10 can control the motor to rotate forward. In some embodiments, when the second drive signal is at a high level, the motor speeds up; when the second drive signal is at a low level, the motor does not speed up. The second drive signal is generated by the drive signal generating module 200 based on the first drive signal, and the motor drive circuit 10 can control the speed of the motor to rotate forward by controlling the first drive signal. At the same time, the forward and reverse control module 300 also pulls the level of the second pin 120 down to a low level to prevent the motor from receiving signal interference from reverse rotation.

[0053] On the contrary, when the forward and reverse control module 300 inputs the second drive signal to the second pin 120, the motor drive circuit 10 can control the motor to rotate in the reverse direction. The motor drive circuit 10 can control the speed of the motor to rotate in the reverse direction by controlling the first drive signal. At the same time, the forward and reverse control module 300 also pulls the level of the first pin 110 down to a low level to prevent the motor from receiving signal interference of the forward rotation.

[0054] Of course, the first pin 110, the second pin 120 and the direction of rotation of the motor are not limited to this. In other embodiments, the forward and reverse control module 300 inputs the second drive signal to the first pin 110 to make the motor rotate in the reverse direction, and the forward and reverse control module 300 inputs the second drive signal to the second pin 120 to make the motor rotate in the forward direction.

[0055] See also Figure 2 , Figure 2 yes Figure 1 The shown is a schematic diagram of the structure of a motor driving circuit in some embodiments.

[0056] In some embodiments, the forward and reverse control module 300 includes a first control unit 310 and a second control unit 320. The first control unit 310 is connected to the drive signal generating module 200 and the second pin 120. The second control unit 320 is connected to the drive signal generating module 200 and the first pin 110. The forward and reverse control module 300 also includes an inverting unit 330, which is configured to receive a first forward and reverse control signal and invert the first forward and reverse control signal to obtain a second forward and reverse control signal. The second control unit 320 is connected to the inverting unit 330.

[0057] The first control unit 310 is configured to receive a first forward and reverse control signal and a second drive signal. When the first forward and reverse control signal is at a first level, the first control unit 310 pulls the level of the second pin 120 down to a low level. When the first forward and reverse control signal is at a second level, the first control unit 310 inputs the second drive signal to the second pin 120.

[0058] The second control unit 320 is configured to receive a second forward and reverse control signal and a second drive signal. When the second forward and reverse control signal is at a first level, the second control unit 320 pulls the level of the first pin 110 down to a low level. When the second forward and reverse control signal is at a second level, the second control unit 320 inputs the second drive signal to the first pin 110.

[0059] The motor drive circuit 10 provided in the embodiment of the present application utilizes the inverting unit 330 to invert the first forward and reverse control signal to obtain a second forward and reverse control signal, so that the forward and reverse control module 300 can issue different control instructions through the first control unit 310 and the second control unit 320 based on the received first forward and reverse control signal. The forward and reverse control module 300 can realize the forward and reverse control of the motor without receiving multiple forward and reverse control signals.

[0060] See also Figure 3 , Figure 3 yes Figure 1 The shown is a schematic diagram of the structure of a motor driving circuit in some embodiments.

[0061] In some embodiments, the motor drive circuit 10 includes a control module 400, and the control module 400 includes a first control pin 410 and a second control pin 420, wherein the first control pin 410 is configured to output a first forward and reverse control signal, and the second control pin 420 is configured to output a first drive signal. Among them, the first control pin 410 can be connected to the forward and reverse control module 300, so that the forward and reverse control module 300 can receive the first forward and reverse signal from the first control pin 410. The second control pin 420 can be connected to the drive signal generating module 200, so that the drive signal generating module 200 can receive the first drive signal from the second control pin 420. In some embodiments, the control module 400 is a single-chip microcomputer. In some embodiments, the first control pin 410 is the DIR pin of the control module 400. In some embodiments, the second control pin 420 is the PWM pin of the control module 400.

[0062] The motor drive circuit 10 provided in the embodiment of the present application can output a first forward and reverse control signal and a first drive signal through the control module 400, and then realize the steering and speed control of the motor through the above-mentioned coordinated design of the forward and reverse control module 300, the drive signal generating module 200 and the drive module 100, so that the control module 400 only needs to have one pin for outputting the first drive signal and one pin for outputting the first forward and reverse control signal to realize the above-mentioned functions, and the control pin number requirement of the control module 400 is reduced.

[0063] See also Figure 4 , Figure 4 yes Figure 1 The circuit diagram of the motor drive circuit in some embodiments is shown in FIG. Figure 4 The first control pin 410 (not shown) is Figure 4 The DIR pin shown, the second control pin 420 is Figure 4 The first pin 110 is Figure 4 The IN1 pin of the driving module 100 shown in the figure, the second pin 120 is Figure 4 The IN2 pin of the driving module 100 is shown.

[0064] In some embodiments, the first control unit 310 may include a first transistor Q1 and a second transistor Q2. The control end of the first transistor Q1 may be configured to receive a first positive and negative control signal. In some embodiments, the control end of the first transistor Q1 may be connected to a first control pin 410 of the control module 400. The first end of the first transistor Q1 may be connected to the drive signal generating module 200 to receive the second drive signal. The second end of the first transistor Q1 may be connected to the second pin 120. The control end of the second transistor Q2 may be configured to receive the first positive and negative control signal. In some embodiments, the control end of the second transistor Q2 may be connected to the first control pin 410 of the control module 400. The first end of the second transistor Q2 may be grounded. The second end of the second transistor Q2 may be connected to the second pin 120.

[0065] Among them, the first transistor Q1 can be turned on in response to the control end of the first transistor Q1 being at the second level, and the second transistor Q2 can be turned on in response to the control end of the second transistor Q2 being at the first level. In some embodiments, the first level is a high level and the second level is a low level. In some embodiments, the first transistor Q1 is a P-channel enhancement type field effect transistor. In some embodiments, the control end of the first transistor Q1 is the gate of the first transistor Q1, the first end of the first transistor Q1 is the source of the first transistor Q1, and the second end of the first transistor Q1 is the drain of the first transistor Q1. In some embodiments, the second transistor Q2 is an N-channel enhancement type field effect transistor. In some embodiments, the control end of the second transistor Q2 is the gate of the second transistor Q2, the first end of the second transistor Q2 is the source of the second transistor Q2, and the second end of the second transistor Q2 is the drain of the second transistor Q2.

[0066] In some embodiments, the first control unit 310 may further include a first resistor R1 and a first capacitor C10. The first end of the first resistor R1 may be connected to the control end of the first transistor Q1, and the second end of the first resistor R1 may be connected to the first end of the first transistor Q1. The first end of the first capacitor C10 may be connected to the control end of the first transistor Q1, and the second end of the first capacitor C10 may be connected to the first end of the first transistor Q1.

[0067] In some embodiments, the first control unit 310 may further include a second resistor R3 and a second capacitor C15. The first end of the second resistor R3 may be connected to the control end of the second transistor Q2, and the second end of the second resistor R3 may be connected to the first end of the second transistor Q2. The first end of the second capacitor C15 may be connected to the control end of the second transistor Q2, and the second end of the second capacitor C15 may be connected to the first end of the second transistor Q2.

[0068] In some embodiments, the second control unit 320 may include a third transistor Q3 and a fourth transistor Q4. The control end of the third transistor Q3 is configured to receive a second positive and negative control signal. In some embodiments, the control end of the third transistor Q3 may be connected to an inverting unit 330. The first end of the third transistor Q3 may be connected to a drive signal generating module 200 to receive a second drive signal. The second end of the third transistor Q3 may be connected to a first pin 110. The control end of the fourth transistor Q4 is configured to receive a second positive and negative control signal. In some embodiments, the control end of the fourth transistor Q4 may be connected to an inverting unit 330. The first end of the fourth transistor Q4 may be grounded. The second end of the fourth transistor Q4 may be connected to a first pin 110.

[0069] Among them, the third transistor Q3 can be turned on in response to the control end of the third transistor Q3 being at the second level, and the fourth transistor Q4 can be turned on in response to the control end of the fourth transistor Q4 being at the first level. In some embodiments, the first level is a high level and the second level is a low level. In some embodiments, the third transistor Q3 is a P-channel enhancement type field effect transistor. In some embodiments, the control end of the third transistor Q3 is the gate of the third transistor Q3, the first end of the third transistor Q3 is the source of the third transistor Q3, and the second end of the third transistor Q3 is the drain of the first transistor Q1. In some embodiments, the fourth transistor Q4 is an N-channel enhancement type field effect transistor. In some embodiments, the control end of the fourth transistor Q4 is the gate of the fourth transistor Q4, the first end of the fourth transistor Q4 is the source of the fourth transistor Q4, and the second end of the fourth transistor Q4 is the drain of the fourth transistor Q4.

[0070] In some embodiments, the second control unit 320 may further include a third resistor R6 and a third capacitor C11. A first end of the third resistor R6 may be connected to a control end of the third transistor Q3. A second end of the third resistor R6 may be connected to a first end of the third transistor Q3. A first end of the third capacitor C11 may be connected to a control end of the third transistor Q3, and a second end of the third capacitor C11 may be connected to a first end of the third transistor Q3.

[0071] In some embodiments, the second control unit 320 may further include a fourth resistor R10 and a fourth capacitor C13. A first end of the fourth resistor R10 may be connected to a control end of the fourth transistor Q4. A second end of the fourth resistor R10 may be connected to a first end of the fourth transistor Q4. A first end of the fourth capacitor C13 may be connected to a control end of the fourth transistor Q4. A second end of the fourth capacitor C13 may be connected to a first end of the fourth transistor Q4.

[0072] In some embodiments, the inverting unit 330 may include a fifth transistor Q6. The control end of the fifth transistor Q6 is configured to receive a first forward and reverse control signal. In some embodiments, the control end of the fifth transistor Q6 may be connected to a first control pin 410 of the control module 400. The first end of the fifth transistor Q6 may be grounded. The inverting unit 330 may also include a fifth resistor R7. The first end of the fifth resistor R7 is configured to receive a power supply signal. The second end of the fifth resistor R7 may be connected to the second end of the fifth transistor Q6 and used to output a second forward and reverse control signal. The inverting unit 330 may also include a sixth resistor R9. The first end of the sixth resistor R9 may be connected to the control end of the fifth transistor Q6. The second end of the sixth resistor R9 may be grounded.

[0073] In some embodiments, the fifth transistor Q6 may be an N-channel enhancement type field effect transistor. In some embodiments, the control terminal of the fifth transistor Q6 may be the gate of the fifth transistor Q6, the first terminal of the fifth transistor Q6 may be the source of the fifth transistor Q6, and the second terminal of the fifth transistor Q6 may be the drain of the fifth transistor Q6.

[0074] In some embodiments, the drive signal generating module 200 may include a sixth transistor Q5. The control end of the sixth transistor Q5 is configured to receive the first drive signal. In some embodiments, the control end of the sixth transistor Q5 is connected to the second control pin 420 of the control module 400. The first end of the sixth transistor Q5 may be grounded. The drive signal generating module 200 may also include a seventh resistor R5. The first end of the seventh resistor R5 may be configured to receive a power supply signal. The second end of the seventh resistor R5 may be connected to the second end of the sixth transistor Q5 and used to output the second drive signal. The drive signal generating module 200 may also include an eighth resistor R11. The first end of the eighth resistor R11 may be connected to the control end of the sixth transistor Q5. The second end of the eighth resistor R11 may be grounded.

[0075] In some embodiments, the sixth transistor Q5 may be an N-channel enhancement type field effect transistor. In some embodiments, the control terminal of the sixth transistor Q5 may be the gate of the sixth transistor Q5, the first terminal of the sixth transistor Q5 may be the source of the sixth transistor Q5, and the second terminal of the sixth transistor Q5 may be the drain of the sixth transistor Q5.

[0076] The motor drive circuit 10 provided in the embodiment of the present application can use transistors whose prices are much lower than high-end chips such as processors and micro control units, and then realize motor rotation control based on the cooperation of the forward and reverse control module 300, the drive signal generating module 200 and the drive module 100 to achieve cost reduction.

[0077] In some embodiments, when the first forward and reverse control signal is at a high level, the first transistor Q1 of the first control unit 310 is turned off, and the second transistor Q2 is turned on, thereby pulling the level of the second pin 120 down to a low level, so that the second pin 120 can be grounded, thereby preventing the motor from accelerating in the corresponding rotation direction, such as the reverse direction. When the first forward and reverse control signal is at a high level, the fifth transistor Q6 of the inverting unit 330 is turned on, and the inverting unit 330 outputs a low level, so that the third transistor Q3 is turned on and the fourth transistor Q4 is turned off, and then the second control unit 320 can input the second drive signal generated by the drive signal generating module 200 based on the first drive signal to the first pin 110 to control the motor to rotate in the corresponding rotation direction, such as the forward direction.

[0078] When the first driving signal is at a high level, the sixth transistor Q5 of the driving signal generating module 200 is turned on, and then the second driving signal generated by the driving signal generating module 200 is at a low level, which can pull down the level of the first pin 110, so that the motor decelerates in the corresponding rotation direction, such as the forward direction. When the first driving signal is at a low level, the sixth transistor Q5 of the driving signal generating module 200 is turned off, and then the second driving signal generated by the driving signal generating module 200 is at a high level, which can pull up the level of the first pin 110, so that the motor speeds up in the corresponding rotation direction, such as the forward direction.

[0079] In some embodiments, when the first forward and reverse control signal is at a low level, the fifth transistor Q6 of the inverting unit 330 is disconnected, and then the inverting unit 330 outputs a high level, so that the third transistor Q3 is disconnected and the fourth transistor Q4 is turned on, and then the level of the first pin 110 is pulled down to a low level, so that the first pin 110 can be grounded, thereby preventing the motor from accelerating in the corresponding rotation direction, such as the forward direction. When the first forward and reverse control signal is at a low level, the first transistor Q1 of the first control unit 310 is turned on, and the second transistor Q2 is disconnected, and then the first control unit 310 can input the second drive signal generated by the drive signal generating module 200 based on the first drive signal to the second pin 120 to control the motor to rotate in the corresponding rotation direction, such as the reverse direction.

[0080] When the first driving signal is at a high level, the sixth transistor Q5 of the driving signal generating module 200 is turned on, and then the second driving signal generated by the driving signal generating module 200 is at a low level, which can pull down the level of the second pin 120, so that the motor decelerates in the corresponding rotation direction, such as the reverse direction. When the first driving signal is at a low level, the sixth transistor Q5 of the driving signal generating module 200 is turned off, and then the second driving signal generated by the driving signal generating module 200 is at a high level, which can pull up the level of the second pin 120, so that the motor speeds up in the corresponding rotation direction, such as the reverse direction.

[0081] In some embodiments, the driving module 100 of the motor driving circuit 10 may include a first output pin OUT1 and a second output pin OUT2, the first output pin OUT1 may be connected to the first end P1 of the motor, and the second output pin OUT2 may be connected to the second end P2 of the motor. In some embodiments, the motor driving circuit 10 also includes a ninth resistor R2 and a fifth capacitor C3. The first end of the ninth resistor R2 is connected to the first end of the fifth capacitor C3, the second end of the ninth resistor R2 is connected to the first output pin OUT1, and the second end of the fifth capacitor C3 is connected to the second output pin OUT2. In some embodiments, the motor driving circuit 10 also includes a sixth capacitor C4 and a seventh capacitor C5. The first end of the sixth capacitor C4 is connected to the first output pin OUT1, and the second end of the sixth capacitor C4 is grounded. The first end of the seventh capacitor C5 is connected to the second output pin OUT2, and the second end of the seventh capacitor C5 is grounded. In some embodiments, the motor driving circuit 10 also includes a first magnetic bead FB1 and a second magnetic bead FB2 for suppressing signal interference. The first end of the first magnetic bead FB1 is connected to the first output pin OUT1, and the second end of the first magnetic bead FB1 is connected to the first end P1 of the motor. A first end of the second magnetic bead FB2 is connected to the second output pin OUT2 , and a second end of the second magnetic bead FB2 is connected to the second end P2 of the motor.

[0082] In some embodiments, the driving module 100 may further include a power pin VBB and a first ground pin LSS. In some application scenarios, the first pin 110 of the driving module 100 is at a low level, the second pin 120 is at a high level, and the electrical signal is output from the power pin VBB to the first output pin OUT1, and then returns to the second output pin OUT2 through the first end P1 and the second end of the motor, and then lands through the first ground pin LSS. In some application scenarios, the first pin 110 of the driving module 100 is at a high level, the second pin 120 is at a low level, and the electrical signal is output from the power pin VBB to the second output pin OUT2, and then returns to the first output pin OUT1 through the second end P2 and the first end of the motor, and then lands through the first ground pin LSS. In some embodiments, the motor driving circuit 10 may further include an eighth capacitor C2, the first end of the eighth capacitor C2 is connected to the power pin VBB of the driving module 100, and the second end of the eighth capacitor C2 is grounded.

[0083] In some embodiments, the driving module 100 may further include a reference voltage pin VREF. The motor driving circuit 10 may include a tenth resistor R4 and an eleventh resistor R8. The first end of the tenth resistor R4 is configured to receive a power signal, and the second end of the tenth resistor R4 is connected to the reference voltage pin VREF. The first end of the eleventh resistor R8 is grounded, and the second end of the eleventh resistor R8 is connected to the reference voltage pin VREF. In some embodiments, the driving module 100 may further include a second ground pin GND, and the second ground pin GND is grounded.

[0084] In some embodiments, the motor drive circuit 10 may include an electrical conversion unit U2. The first conversion pin IN of the electrical conversion unit U2 is connected to the first power supply VDD, and the second conversion pin OUT of the electrical conversion unit U2 is connected to the second power supply VCC. In some embodiments, the voltage of the first power supply VDD is greater than the second power supply VCC. The electrical conversion unit U2 can convert the first power supply VDD into the second power supply VCC to provide a second power supply VCC with a voltage different from the first power supply VDD. In some embodiments, the motor drive circuit 10 also includes a ninth capacitor C1 and a tenth capacitor C8, the first end of the ninth capacitor C1 is connected to the third conversion pin IN2 of the electrical conversion unit U2, the second end of the ninth capacitor C1 is grounded, the first end of the tenth capacitor C8 is connected to the second conversion pin OUT of the electrical conversion unit U2, and the second end of the tenth capacitor C8 is grounded. The electrical conversion unit U2 may also include another grounded pin. In some embodiments. Both the first power supply VDD and the second power supply VCC can power each unit, component or module, and each unit, component or module can be connected to the first power supply VDD or the second power supply VCC according to actual conditions.

[0085] In some embodiments, the motor drive circuit 10 may include a revolution test unit U3, and the dedicated test unit is used to obtain the revolutions of the motor. In some embodiments, the revolution test unit U3 is a Hall sensor. The control module 400 of the motor drive circuit 10 may also include a feedback pin FG for obtaining the revolutions of the motor. The feedback pin FG is connected to the first end of the revolution test unit U3, the second end of the revolution test unit U3 is connected to electricity, and the third end of the revolution test unit U3 is grounded. In some embodiments, the motor drive circuit 10 also includes an eleventh capacitor C9, the first end of the eleventh capacitor C9 is connected to the second end of the revolution test unit U3, and the second end of the eleventh capacitor C9 is connected to the third end of the revolution test unit U3. In some embodiments, the motor drive circuit 10 also includes a twelfth resistor R12, the first end of the twelfth resistor R12 is connected to the first end of the revolution test unit U3, and the second end of the twelfth resistor R12 is connected to the power supply.

[0086] In some embodiments, the motor drive circuit 10 may include a plug-in unit CN1, which provides multiple plug-in interfaces. The first control pin 410 (DIR pin), the second control pin 420 (PWM pin) and the feedback pin FG of the control module 400 can be connected to the three plug-in interfaces of the plug-in unit CN1, and the other plug-in interfaces of the plug-in unit CN1 can be connected to the power supply or ground. In some embodiments, the motor drive circuit 10 may include multiple electrostatic tubes EDn, such as the first electrostatic tube ED1, the second electrostatic tube ED2, the third electrostatic tube ED3, the fourth electrostatic tube ED4, etc. The first end of the electrostatic tube EDn is grounded, and the second end is connected to the first control pin 410 (DIR pin), the second control pin 420 (PWM pin) or the feedback pin FG of the control module 400, or the plug-in interface of the plug-in unit CN1 connected to the power supply. The electrostatic tube EDn is used to provide a discharge channel for static electricity, which can prevent the control module 400 from being burned when connected to the plug-in unit CN1.

[0087] In some embodiments, the motor drive circuit 10 may also include multiple test points Tn, such as a first test point T1, a second test point T2, a third test point T3, a fourth test point T4, a fifth test point T5, a sixth test point T6, a seventh test point T7, etc., which are used to connect to each line to test the signal.

[0088] It can be understood that the structures not mentioned in the motor drive circuit 10 provided in the embodiment of the present application can be set up using technical solutions well known to those skilled in the art, and will not be elaborated here.

[0089] The units described as separate components in this application may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of this embodiment.

[0090] The present application also provides a cleaning robot. Figure 5 , Figure 5 It is a schematic diagram of the structure of the cleaning robot provided in some embodiments of the present application.

[0091] In some embodiments, the cleaning robot 1000 includes a motor drive circuit 10 and a motor 20. In some embodiments, the motor 20 of the cleaning robot 1000 is a brushed motor. The motor 20 is connected to the output pin 130 (such as the first output pin OUT1 and the second output pin OUT2 described above) of the driving module 100 of the motor drive circuit 10, so that the cleaning robot 1000 can control the rotation of the motor 20 through the motor drive circuit 10. Please refer to the above for the detailed structure of the motor drive circuit 10, which will not be repeated here.

[0092] See also Figure 6 , Figure 6 It is a schematic diagram of the structure of the cleaning robot provided in some embodiments of the present application.

[0093] In some embodiments, the cleaning robot 1000 may include at least one of a roller brush 30, a side brush 40, and a drum 50. The roller brush 30, the side brush 40, and the drum 50 are all rotatable mechanisms of the cleaning robot 1000. The motor 20 of the cleaning robot 1000 may be connected to at least one of the roller brush 30, the side brush 40, and the drum 50 to control the rotation direction and rotation speed of at least one of the roller brush 30, the side brush 40, and the drum 50, which is helpful to prevent at least one of the roller brush 30, the side brush 40, and the drum 50 from being entangled by foreign objects and unable to rotate normally during operation.

[0094] For example, the cleaning robot 1000 can be Figure 6 As shown, the roller brush 30, the side brush 40 and the roller 50 are included, and the motor 20 can be connected to one or more of the roller brush 30, the side brush 40 and the roller 50. For another example, the cleaning robot 1000 can include two of the roller brush 30, the side brush 40 and the roller 50, and the motor 20 can be connected to one or both of them. For another example, the cleaning robot 1000 can include one of the roller brush 30, the side brush 40 and the roller 50, and the motor 20 can be connected thereto. It can be understood that the number of motors 20 can be one or more, which can be set according to actual conditions.

[0095] In other embodiments, the motor 20 may also be connected to other rotatable mechanisms of the cleaning robot 1000 to control the rotation direction and rotation speed thereof, such as but not limited to the rollers of the cleaning robot 1000. It can be understood that the motor drive circuit 10 provided in the embodiment of the present application may also be applied to other electronic devices besides the cleaning robot 1000.

[0096] It should be understood that the terms "including" and "having" and any variations thereof used in the present specification and the appended claims are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0097] It should also be understood that the terms used in the specification of this application and the attached claims are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification of this application and the attached claims, unless the context clearly indicates otherwise, the singular forms of "one", "an" and "the" are intended to include plural forms. As another example, the terms "first" and "second" in the description of this application are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. As another example, the meaning of "multiple" in the description of this application is two or more, unless otherwise clearly and specifically defined.

[0098] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradicting each other.

[0099] The above description is only part of the implementation methods of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A motor drive circuit, characterized in that: The motor drive circuit comprises: A driving module, comprising a first pin, a second pin and an output pin, wherein the output pin is used to connect a motor to be driven; a driving signal generating module, configured to receive a first driving signal and generate a second driving signal based on the first driving signal; A forward and reverse control module is connected to the drive signal generating module, the first pin and the second pin. The forward and reverse control module is configured to receive a first forward and reverse control signal, and when the first forward and reverse control signal is a first level, pull the level of the second pin down to a low level, and input the second drive signal to the first pin; and when the first forward and reverse control signal is a second level, pull the level of the first pin down to a low level, and input the second drive signal to the second pin.

2. The motor drive circuit according to claim 1, characterized in that: The forward and reverse control module comprises: a first control unit, connected to the drive signal generating module and the second pin, the first control unit being configured to receive the first forward and reverse control signal and the second drive signal, and to pull the level of the second pin down to a low level when the first forward and reverse control signal is at a first level, and to input the second drive signal to the second pin when the first forward and reverse control signal is at a second level; an inverting unit, wherein the inverting unit is configured to receive the first forward and reverse control signal, and invert the first forward and reverse control signal to obtain a second forward and reverse control signal; A second control unit is connected to the drive signal generating module, the inverting unit and the first pin, and the second control unit is configured to receive the second forward and reverse control signal and the second drive signal, and when the second forward and reverse control signal is at a first level, pull the level of the first pin down to a low level, and when the second forward and reverse control signal is at a second level, input the second drive signal to the first pin.

3. The motor drive circuit according to claim 2, characterized in that: The first control unit comprises: A first transistor, wherein a control end of the first transistor is configured to receive the first forward and reverse control signal, a first end of the first transistor is connected to the drive signal generating module to receive the second drive signal, and a second end of the first transistor is connected to the second pin; a second transistor, wherein a control terminal of the second transistor is configured to receive the first forward and reverse control signal, a first terminal of the second transistor is grounded, and a second terminal of the second transistor is connected to the second pin; The first transistor is turned on in response to the control terminal of the first transistor being at the second level, and the second transistor is turned on in response to the control terminal of the second transistor being at the first level.

4. The motor drive circuit according to claim 3, characterized in that: The first control unit also includes: a first resistor, wherein a first end of the first resistor is connected to the control end of the first transistor, and a second end of the first resistor is connected to the first end of the first transistor; a first capacitor, wherein a first end of the first capacitor is connected to the control end of the first transistor, and a second end of the first capacitor is connected to the first end of the first transistor; a second resistor, wherein a first end of the second resistor is connected to the control end of the second transistor, and a second end of the second resistor is connected to the first end of the second transistor; A second capacitor, wherein a first end of the second capacitor is connected to the control end of the second transistor, and a second end of the second capacitor is connected to the first end of the second transistor.

5. The motor drive circuit according to claim 2, characterized in that: The second control unit comprises: a third transistor, wherein a control terminal of the third transistor is configured to receive the second forward and reverse control signal, a first terminal of the third transistor is connected to the drive signal generating module to receive the second drive signal, and a second terminal of the third transistor is connected to the first pin; a fourth transistor, wherein a control terminal of the fourth transistor is configured to receive the second forward and reverse control signal, a first terminal of the fourth transistor is grounded, and a second terminal of the fourth transistor is connected to the first pin; The third transistor is turned on in response to the control terminal of the third transistor being at the second level, and the fourth transistor is turned on in response to the control terminal of the fourth transistor being at the first level.

6. The motor drive circuit according to claim 2, characterized in that: The inverting unit comprises: a fifth transistor, wherein a control terminal of the fifth transistor is configured to receive the first forward and reverse control signal, and a first terminal of the fifth transistor is grounded; a fifth resistor, wherein a first end of the fifth resistor is configured to receive a power supply signal, a second end of the fifth resistor is connected to the second end of the fifth transistor and is used to output the second forward and reverse control signal; A sixth resistor, wherein a first end of the sixth resistor is connected to the control end of the fifth transistor, and a second end of the sixth resistor is grounded.

7. The motor drive circuit according to claim 1, characterized in that: The driving signal generating module comprises: a sixth transistor, wherein a control terminal of the sixth transistor is configured to receive the first driving signal, and a first terminal of the sixth transistor is grounded; a seventh resistor, wherein a first end of the seventh resistor is configured to receive a power signal, The second end of the seventh resistor is connected to the second end of the sixth transistor and is used to output the second driving signal; An eighth resistor, wherein a first end of the eighth resistor is connected to the control end of the sixth transistor, and a second end of the eighth resistor is grounded.

8. The motor drive circuit according to any one of claims 1 to 7, characterized in that: The motor drive circuit includes a control module, the control module includes a first control pin and a second control pin, the first control pin is configured to output the first forward and reverse control signal, the first control pin is connected to the forward and reverse control module, the second control pin is configured to output the first drive signal, and the second control pin is connected to the drive signal generating module.

9. A cleaning robot, characterized in that: The cleaning robot comprises a motor and a motor driving circuit as described in any one of claims 1 to 8, and the motor is electrically connected to an output pin of a driving module of the motor driving circuit.

10. The cleaning robot according to claim 9, characterized in that: The cleaning robot includes at least one of a rolling brush, a side brush and a drum connected to the motor, and the motor is used to control the rotation direction and rotation speed of at least one of the rolling brush, the side brush and the drum.

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