Voltage regulating circuit, distance measuring device and sweeping robot

Abstract

The voltage regulating circuit involved in the utility model comprises: a first microcontroller, a first digital-to-analog converter and a laser driving module; the first microcontroller is connected to the first digital-to-analog converter in communication, and is configured to provide a digital control signal to the first digital-to-analog converter; the first digital-to-analog converter has a first analog signal output terminal, and is configured to convert the digital control signal into a corresponding first analog control signal, and output the first analog control signal at the first analog signal output terminal; wherein the first microcontroller is connected to the first digital-to-analog converter in communication via an I2S interface; the laser driving module is connected to the first analog signal output terminal, and is configured to drive the laser to output a corresponding emission power according to the received first analog control signal.

Description

Technical Field

[0001] The utility model relates to the technical field of electronic circuits, in particular to a voltage regulating circuit, a distance measuring device and a sweeping robot. Background Art

[0002] In the existing technical solutions, the laser radar and brushed motor of the sweeping robot are usually driven by PWM or pulse signals output by a microcontroller unit.

[0003] For laser radars under PWM or pulse control, it is difficult to achieve linear power regulation due to its very rapid response; this is because changes in the working mode of the power supply switch will cause changes in the working mode of the laser emission switch, making the instantaneous optical power unadjustable.

[0004] For brushed motors under PWM or pulse control, the control is carried out through the position of the motor rotor, which depends on the mechanical characteristics of the motor itself. In this case, it belongs to the category of open-loop control of the motor; PWM or pulse voltage acts directly on the motor commutator, which will generate transient electrical noise, thereby affecting the speed stability of the motor during operation; and due to the lack of closed-loop control of the current loop, speed loop and position loop, the transient electrical noise generated cannot be effectively suppressed. Utility Model Content

[0005] In order to solve the above technical problems, the embodiment of the utility model provides a voltage regulation circuit that can realize linear regulation of laser power / current inner loop control of the motor according to the distance of the target object / real-time rotation speed of the motor.

[0006] The utility model embodiment provides the following technical solution: a voltage regulating circuit, the system comprising:

[0007] A first microcontroller, a first digital-to-analog converter, and a laser driving module;

[0008] The first microcontroller is communicatively connected to the first digital-to-analog converter and is configured to: provide a digital control signal to the first digital-to-analog converter;

[0009] The first digital-to-analog converter has a first analog signal output terminal, and is configured to: convert the digital control signal into a corresponding first analog control signal, and output the first analog control signal at the first analog signal output terminal;

[0010] Among them, the first microcontroller and the first digital-to-analog converter are communicatively connected via an I2S interface; the laser driving module is connected to the first analog signal output terminal and is configured to: drive the laser to output corresponding emission power according to the received first analog control signal.

[0011] Optionally, in the voltage regulation circuit, the laser driving module includes: a first amplifying unit and a first feedback unit; the first end of the first amplifying unit is connected to the first analog signal output end of the first digital-to-analog converter, for receiving the first analog control signal; the second end of the first amplifying unit is connected to the first end of the first feedback unit and the power supply end of the first digital-to-analog converter, for outputting the first operating voltage to the first feedback unit and the first digital-to-analog converter; the third end of the first amplifying unit is connected to the second end of the first feedback unit, for amplifying the first analog control signal and outputting it to the second end of the first feedback unit; the third end of the first feedback unit is connected to the fourth end of the first amplifying unit, for outputting the first feedback control signal to the fourth end of the first amplifying unit.

[0012] Optionally, in the voltage regulation circuit, the first amplification unit includes: a first power supply, a first resistor, a second resistor, a third resistor and a first operational amplifier; the positive electrode of the first power supply is connected to the first end of the first feedback unit, the power supply end of the first digital-to-analog converter and the positive power supply pin of the first operational amplifier, for outputting the first operating voltage; the negative electrode of the first power supply is grounded; the first end of the first resistor is connected to the first analog signal output end of the first digital-to-analog converter; the second end of the first resistor is connected to the in-phase input end of the first operational amplifier and the first end of the second resistor; the second end of the second resistor is grounded; the inverting input end of the first operational amplifier is connected to the third end of the first feedback unit, for receiving the first feedback control signal; the negative power supply pin of the first operational amplifier is grounded; the output end of the first operational amplifier is connected to the first end of the third resistor; the second end of the third resistor is connected to the second end of the first feedback unit.

[0013] Optionally, in the voltage regulation circuit, the first feedback unit includes: a laser, a transistor and a fourth resistor; the first end of the laser is connected to the second end of the first amplification unit; the second end of the laser is connected to the collector of the transistor; the base of the transistor is connected to the third end of the first amplification unit; the emitter of the transistor is connected to the first end of the fourth resistor and the fourth end of the first amplification unit; the second end of the fourth resistor is grounded.

[0014] An embodiment of the present application also provides a distance measuring device, comprising: a voltage regulating circuit, a laser emitting component, and a laser receiving component as described above; the laser emitting component is configured to emit a distance measuring laser to a target object; the voltage regulating circuit is configured to control the emission power of the distance measuring laser emitted by the laser emitting component through a laser driving module; the laser receiving component is configured to receive the distance measuring laser reflected by the target object, so that the distance measuring device calculates the distance between the distance measuring device and the target object based on the reflected distance measuring laser.

[0015] An embodiment of the present application also provides another voltage regulation circuit, including: a second microcontroller, a second digital-to-analog converter and a brushed motor drive module; the second microcontroller is communicatively connected to the second digital-to-analog converter, and is configured to: provide a digital control signal to the second digital-to-analog converter; the second digital-to-analog converter has a second analog signal output terminal, and is configured to: convert the digital control signal into a corresponding second analog control signal, and output the second analog control signal at the second analog signal output terminal; wherein the second microcontroller is communicatively connected to the second digital-to-analog converter via an I2S interface; the brushed motor drive module is connected to the second analog signal output terminal, and is configured to: drive the brushed motor to rotate at a corresponding speed according to the received second analog control signal.

[0016] Optionally, in the voltage regulation circuit, the brushed motor drive module includes: a second amplifier unit and a second feedback unit; the first end of the second amplifier unit is connected to the second analog signal output end of the second digital-to-analog converter for receiving the second analog control signal; the second end of the second amplifier unit is connected to the first end of the second feedback unit for outputting the second operating voltage to the second feedback unit; the third end of the second amplifier unit is connected to the second end of the second feedback unit for amplifying the second analog control signal and outputting it to the second end of the second feedback unit; the third end of the second feedback unit is connected to the fourth end of the second amplifier unit for outputting the second feedback control signal to the fourth end of the second amplifier unit.

[0017] Optionally, in the voltage regulation circuit, the second amplification unit includes: a second power supply, a fifth resistor, a sixth resistor, a seventh resistor and a second operational amplifier; the positive electrode of the second power supply is connected to the first end of the second feedback unit and the positive power supply pin of the second operational amplifier for outputting the second operating voltage; the negative electrode of the second power supply is grounded; the first end of the fifth resistor is connected to the second analog signal output end of the second digital-to-analog converter; the second end of the fifth resistor is connected to the in-phase input end of the second operational amplifier and the first end of the sixth resistor; the second end of the sixth resistor is grounded; the inverting input end of the second operational amplifier is connected to the third end of the second feedback unit for receiving the second feedback control signal; the negative power supply pin of the second operational amplifier is grounded; the output end of the second operational amplifier is connected to the first end of the seventh resistor; the second end of the seventh resistor is connected to the second end of the second feedback unit.

[0018] Optionally, in the voltage regulation circuit, the second feedback unit includes: a brushed motor terminal, a field effect transistor and an eighth resistor; the first end of the brushed motor terminal is connected to the second end of the second amplification unit; the second end of the brushed motor terminal is connected to the drain of the field effect transistor; the gate of the transistor is connected to the third end of the second amplification unit; the source of the field effect transistor is connected to the first end of the eighth resistor and the fourth end of the second amplification unit; the second end of the eighth resistor is grounded.

[0019] An embodiment of the present application also provides another ranging device, comprising: a voltage regulating circuit, a motor component, a laser emitting component, a laser receiving component and a speed measuring component as described above; the laser emitting component is configured to emit a ranging laser to a target object; the laser receiving component is configured to receive the ranging laser reflected by the target object; the motor component is configured to run at a target speed; the speed measuring component is configured to obtain the speed of a brushed motor in the motor component; the voltage regulating circuit is connected to the speed measuring component and is configured to control the motor component to run at the target speed through a brushed motor driving module.

[0020] An embodiment of the present application also provides a sweeping robot, comprising: the distance measuring device as described above.

[0021] The utility model provides a voltage regulating circuit, which can realize linear regulation of laser power and closed-loop current control of the motor by providing different driving circuits for the laser and the motor, so as to solve the technical defects that the instantaneous optical power becomes unadjustable and the transient electrical noise generated cannot be effectively suppressed. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0023] Figure 1 It is a schematic diagram of the structure of the voltage regulation circuit provided by the embodiment of the utility model;

[0024] Figure 2 It is a structural schematic diagram of a voltage regulating circuit provided by another embodiment of the utility model;

[0025] Figure 3 It is a structural schematic diagram of a distance measuring device provided by another embodiment of the utility model. DETAILED DESCRIPTION

[0026] The utility model is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the utility model, but do not limit the utility model in any form. It should be pointed out that for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the utility model. These all fall within the scope of protection of the utility model.

[0027] In order to make the purpose, technical solution and advantages of the utility model more clear, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application and are not used to limit the present application.

[0028] It should be noted that, if there is no conflict, the various features in the embodiments of the present utility model can be combined with each other, and all are within the scope of protection of the present application. In addition, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order than the module division in the device or the order in the flow chart.

[0029] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0030] In addition, the technical features involved in each embodiment of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0031] In this embodiment, the digital-to-analog converter is an audio digital-to-analog conversion chip; the audio digital-to-analog conversion chip has a left channel analog signal output terminal and a right channel analog signal output terminal; and the microcontroller and the digital-to-analog converter are connected in communication via an I2S interface.

[0032] As you can understand, the I2S interface uses three wires for connection:

[0033] Serial Data Line (SD): This is the serial data line used to transfer audio data. It carries audio samples for left and right channels.

[0034] Bit Clock Line (BCLK): This is the clock line used to synchronize the transmission of audio data. It generates a clock signal at a fixed frequency to indicate when to transfer a bit of an audio sample.

[0035] Word Select Line (WS) or Left-Right Clock Line (LRCLK): This is the line used to indicate the left and right channels. It sends a pulse before each audio sample to indicate whether the left or right channel is currently being transmitted.

[0036] Figure 1 The schematic diagram of the structure of the voltage regulating circuit provided by the embodiment of the utility model is shown as follows: Figure 1 As shown:

[0037] The voltage regulating circuit 1 includes: a first microcontroller 101 , a first digital-to-analog converter 102 and a laser driving module 200 .

[0038] The first microcontroller 101 is in communication connection with the first digital-to-analog converter 102 , and is configured to provide a digital control signal to the first digital-to-analog converter 102 .

[0039] The first digital-to-analog converter 102 has a first analog signal output terminal, and is configured to: convert the digital control signal into a corresponding first analog control signal, and output the first analog control signal at the first analog signal output terminal.

[0040] The first microcontroller 101 is connected to the first digital-to-analog converter 102 via an I2S interface; the laser driving module 200 is connected to the first analog signal output terminal and is configured to drive the laser to output a corresponding transmission power according to the received first analog control signal.

[0041] In this embodiment, the digital control signal includes a power signal of the laser; the power signal of the laser has different voltage levels; wherein the power signal of the laser can be adjusted according to the intensity of the received reflected ranging laser, when the intensity of the received reflected ranging laser is greater than the preset laser intensity standard value, the power signal of the laser becomes smaller; when the intensity of the received reflected ranging laser is less than the preset laser intensity standard value, the power signal of the laser becomes larger; for different lasers, adjustment can be made through different timings, for example, within a first time interval, the first laser is adjusted; within a second time interval, the second laser is adjusted; the preset laser intensity standard value can be set by a technician in this field according to actual conditions.

[0042] In actual use, the first analog signal output terminal of the first digital-to-analog converter 102 is the left channel analog signal output terminal of the audio digital-to-analog conversion chip; when the lines indicating the left channel and the right channel are configured to a high level, the left channel is currently transmitted, that is, the first analog control signal is transmitted; further, the clock signal is used to control the transmission rate of the digital control signal, and one pulse of the clock signal transmits one bit of an audio sample; when the clock signal is at a high level, one bit of an audio sample is transmitted; when the clock signal is at a low level, no audio sample is transmitted.

[0043] The laser driving module 200 includes: a first amplifying unit 201 and a first feedback unit 202 .

[0044] The first end of the first amplifying unit 201 is connected to the first analog signal output end of the first digital-to-analog converter 102, for receiving a first analog control signal; the second end of the first amplifying unit 201 is connected to the first end of the first feedback unit 202 and the power supply end of the first digital-to-analog converter 102, for outputting a first operating voltage to the first feedback unit 202 and the first digital-to-analog converter 102; the third end of the first amplifying unit 201 is connected to the second end of the first feedback unit 202, for amplifying the first analog control signal and outputting it to the second end of the first feedback unit 202.

[0045] The third terminal of the first feedback unit 202 is connected to the fourth terminal of the first amplifying unit 201 , and is configured to output the first feedback control signal to the fourth terminal of the first amplifying unit 201 .

[0046] The first amplifying unit 201 includes: a first power source E1 , a first resistor R1 , a second resistor R2 , a third resistor R3 , and a first operational amplifier U1 .

[0047] The positive electrode of the first power supply E1 is connected to the first end of the first feedback unit 202, the power end of the first DAC 102 and the positive power pin of the first operational amplifier U1 for outputting a first operating voltage; the negative electrode of the first power supply E1 is grounded.

[0048] A first end of the first resistor R1 is connected to a first analog signal output end of the first digital-to-analog converter 102 ; a second end of the first resistor R1 is connected to a non-inverting input end of the first operational amplifier U1 and a first end of the second resistor R2 .

[0049] A second end of the second resistor R2 is grounded.

[0050] The inverting input terminal of the first operational amplifier U1 is connected to the third terminal of the first feedback unit 202 for receiving the first feedback control signal; the negative power supply pin of the first operational amplifier U1 is grounded; and the output terminal of the first operational amplifier U1 is connected to the first terminal of the third resistor R3.

[0051] A second end of the third resistor R3 is connected to a second end of the first feedback unit 202 .

[0052] In actual use, the level difference between the positive power pin and the negative power pin of the first operational amplifier U1 is the operating voltage of the first operational amplifier U1; the power supply end of the digital-to-analog converter receives the first operating voltage to maintain its normal operation.

[0053] The first feedback unit 202 includes a laser D1 , a transistor Q1 , and a fourth resistor R4 .

[0054] The first end of the laser D1 is connected to the second end of the first amplifying unit 201 ; the second end of the laser D1 is connected to the collector of the transistor Q1 .

[0055] The base of the transistor Q1 is connected to the third end of the first amplifying unit 201 ; the emitter of the transistor Q1 is connected to the first end of the fourth resistor R4 and the fourth end of the first amplifying unit 201 .

[0056] A second terminal of the fourth resistor R4 is grounded.

[0057] In this embodiment, the transistor Q1 is an NPN transistor.

[0058] In actual use, the first feedback control signal received by the first operational amplifier U1 is the voltage of the inverting input terminal of the first operational amplifier U1, which is used to keep the voltage amplitudes of the non-inverting input terminal and the inverting input terminal of the second operational amplifier equal; specifically, when the voltage amplitude of the non-inverting input terminal of the first operational amplifier U1 is greater than the voltage amplitude of the inverting input terminal, the first feedback control signal becomes larger; when the voltage amplitude of the non-inverting input terminal of the first operational amplifier U1 is less than the voltage amplitude of the inverting input terminal, the first feedback control signal becomes smaller; when the voltage amplitude of the non-inverting input terminal of the first operational amplifier U1 is equal to the voltage amplitude of the inverting input terminal, the first feedback control signal remains unchanged.

[0059] Furthermore, the first operational amplifier U1 outputs an amplified first analog control signal, and the amplification factor of the first analog control signal is the ratio of the third resistor R3 to the fourth resistor R4 plus one; when the amplified first analog control signal becomes larger, the operating voltage of the laser D1 becomes larger, and the power of the laser D1 becomes larger; when the amplified first analog control signal becomes smaller, the operating voltage of the laser D1 becomes smaller, and the power of the laser D1 becomes smaller.

[0060] The embodiment of the utility model provides a distance measuring device, comprising: a voltage regulating circuit 1, a laser emitting component, and a laser receiving component.

[0061] The laser emitting assembly is configured to emit a ranging laser toward a target object.

[0062] The voltage regulating circuit 1 is configured to control the emission power of the ranging laser emitted by the laser emitting component through the laser driving module.

[0063] The laser receiving component is configured to receive the ranging laser reflected by the target object so that the ranging device calculates the distance between the ranging device and the target object based on the reflected ranging laser.

[0064] In this embodiment, the laser emitting component includes a laser emitter for emitting ranging laser; the laser receiving component includes a laser receiver for receiving ranging laser.

[0065] During actual use, a first rotating mirror and a second rotating mirror may be further arranged between the laser emitting assembly and the target object; specifically, the laser emitting assembly emits a first ranging laser of a specific power to the first rotating mirror, and emits a second ranging laser of another specific power to the second rotating mirror; the first rotating mirror projects the first ranging laser to the first ranging target, and the second rotating mirror projects the second ranging laser to the second ranging target, wherein the first ranging target may be a navigation target, and the second ranging target may be an obstacle avoidance target; finally, the distance of the first ranging target is obtained by the time when the reflected first ranging laser is received, and the distance of the second ranging target is obtained by the time when the reflected second ranging laser is received.

[0066] Figure 2 FIG. 2 shows a schematic diagram of a voltage regulating circuit provided by another embodiment of the present invention. Figure 2 As shown:

[0067] The voltage regulation circuit 2 includes: a second microcontroller 201 , a second digital-to-analog converter 202 and a brushed motor driving module 300 .

[0068] The second microcontroller 201 is in communication connection with the second digital-to-analog converter 202 , and is configured to provide a digital control signal to the second digital-to-analog converter 202 .

[0069] The second digital-to-analog converter 202 has a second analog signal output terminal, and is configured to: convert the digital control signal into a corresponding second analog control signal, and output the second analog control signal at the second analog signal output terminal.

[0070] Among them, the second microcontroller 201 is connected to the second digital-to-analog converter 202 through an I2S interface communication connection; the brushed motor drive module 300 is connected to the second analog signal output terminal and is configured to: drive the brushed motor to rotate at a corresponding speed according to the received second analog control signal.

[0071] In this embodiment, the digital control signal includes a motor speed signal; the motor speed signal has different voltage levels; wherein the motor speed signal can be adjusted according to the received actual motor speed, when the received actual motor speed is greater than the preset motor speed standard value, the motor speed signal becomes smaller; when the received actual motor speed is less than the preset motor speed standard value, the motor speed signal becomes larger; the preset motor speed standard value can be set by technical personnel in this field according to actual conditions.

[0072] In actual use, the second analog signal output terminal of the second digital-to-analog converter 202 is the right channel analog signal output terminal of the audio digital-to-analog conversion chip; when the lines indicating the left channel and the right channel are configured to be low level, the right channel is currently transmitted, that is, the second analog control signal is transmitted; further, the clock signal is used to control the transmission rate of the digital control signal, and one pulse of the clock signal transmits one bit of an audio sample; when the clock signal is high level, one bit of an audio sample is transmitted; when the clock signal is low level, no audio sample is transmitted.

[0073] The brushed motor driving module 300 includes a second amplifying unit 301 and a second feedback unit 302 .

[0074] The first end of the second amplifying unit 301 is connected to the second analog signal output end of the second digital-to-analog converter 202 for receiving a second analog control signal; the second end of the second amplifying unit 301 is connected to the first end of the second feedback unit 302 for outputting a second operating voltage to the second feedback unit 302; the third end of the second amplifying unit 301 is connected to the second end of the second feedback unit 302 for amplifying the second analog control signal and outputting it to the second end of the second feedback unit 302.

[0075] The third terminal of the second feedback unit 302 is connected to the fourth terminal of the second amplifying unit 301 , and is configured to output the second feedback control signal to the fourth terminal of the second amplifying unit 301 .

[0076] The second amplifying unit 301 includes: a second power source E2, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7 and a second operational amplifier U2.

[0077] The positive electrode of the second power supply E2 is connected to the first end of the second feedback unit 302 and the positive power supply pin of the second operational amplifier U2 for outputting a second operating voltage; the negative electrode of the second power supply E2 is grounded.

[0078] A first end of the fifth resistor R5 is connected to the second analog signal output end of the second digital-to-analog converter 202 ; a second end of the fifth resistor R5 is connected to the non-inverting input end of the second operational amplifier U2 and a first end of the sixth resistor R6 .

[0079] A second terminal of the sixth resistor R6 is grounded.

[0080] The inverting input terminal of the second operational amplifier U2 is connected to the third terminal of the second feedback unit 302 for receiving the second feedback control signal; the negative power supply pin of the second operational amplifier U2 is grounded; and the output terminal of the second operational amplifier U2 is connected to the first terminal of the seventh resistor R7.

[0081] A second end of the seventh resistor R7 is connected to the second end of the second feedback unit 302 .

[0082] In actual use, the level difference between the positive power pin and the negative power pin of the second operational amplifier U2 is the operating voltage of the second operational amplifier U2.

[0083] The second feedback unit 302 includes: a brushed motor terminal B1 , a field effect transistor M1 , and an eighth resistor R8 .

[0084] The first end of the brushed motor terminal B1 is connected to the second end of the second amplifying unit 301 ; the second end of the brushed motor terminal B1 is connected to the drain of the field effect transistor M1 .

[0085] The gate of the transistor is connected to the third end of the second amplifying unit 301 ; the source of the field effect transistor M1 is connected to the first end of the eighth resistor R8 and the fourth end of the second amplifying unit 301 .

[0086] A second terminal of the eighth resistor R8 is grounded.

[0087] In this embodiment, the field effect transistor M1 uses an N-channel enhancement type field effect transistor M1; the voltage difference between the first end and the second end of the brush motor terminal B1 is the working voltage of the brush motor, which controls the speed of the brush motor: the greater the working voltage of the brush motor, the faster the speed.

[0088] In actual use, the second feedback control signal received by the second operational amplifier U2 is the voltage at the inverting input terminal of the second operational amplifier U2, which is used to keep the voltage amplitudes at the non-inverting input terminal and the inverting input terminal of the second operational amplifier U2 equal; the specific adjustment process can refer to the above-mentioned first operational amplifier U2, which will not be repeated here.

[0089] Furthermore, the second operational amplifier U2 outputs an amplified second analog control signal, and the amplification factor of the second analog control signal is the ratio of the seventh resistor R7 to the eighth resistor R8 plus one; when the amplified second analog control signal becomes larger, the working voltage of the brushed motor becomes larger, and the speed of the brushed motor becomes faster; when the amplified second analog control signal becomes smaller, the working voltage of the brushed motor becomes smaller, and the speed of the brushed motor becomes slower.

[0090] Figure 3 FIG. 2 shows a schematic diagram of the structure of a distance measuring device provided by another embodiment of the present utility model. Figure 3 As shown:

[0091] The distance measuring device includes: a voltage regulating circuit 2, a laser emitting component 10, a laser receiving component 20, a motor component 30 and a speed measuring component 40.

[0092] The laser emitting assembly 10 is configured to emit a ranging laser toward a target object.

[0093] The laser receiving component 20 is configured to receive the distance measuring laser reflected by the target object so that the distance measuring device calculates the distance between the distance measuring device and the target object based on the reflected distance measuring laser.

[0094] The motor assembly 30 is configured to operate at a target rotational speed.

[0095] The speed measuring component 40 is configured to obtain the rotation speed of the brush motor in the motor component 30 .

[0096] The voltage regulating circuit 2 is connected to the speed measuring component 40 and is configured to control the motor component 30 to run at a target speed through a brushed motor driving module.

[0097] In this embodiment, the laser emitting component 10 and the laser receiving component 20 are driven in the manner of the above-mentioned embodiment, which will not be described in detail here.

[0098] In some embodiments, the laser emitting component 10 and the laser receiving component 20 may also be driven in other ways as long as the same ranging effect can be achieved.

[0099] During actual use, the motor assembly 30 includes a brushed motor, a transmission structure and other components; the speed measuring assembly 40 can use a code disk, a sensor and other motor speed measuring devices; specifically, the brushed motor drives other components in the ranging device to operate through the transmission structure; for example, it drives the above-mentioned first rotating mirror and the second rotating mirror to rotate.

[0100] An embodiment of the present application also provides a sweeping robot, comprising: the distance measuring device as described above.

[0101] The technical features involved in the embodiments of the present application can be combined with each other as long as there is no conflict between them, and can be applied independently in different embodiments as long as there is no dependence between them.

[0102] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Under the concept of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes in different aspects of the present application as described above, which are not provided in detail for the sake of simplicity. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features can be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A voltage regulating circuit, characterized in that: include: A first microcontroller, a first digital-to-analog converter, and a laser driving module; The first microcontroller is communicatively connected to the first digital-to-analog converter and is configured to: provide a digital control signal to the first digital-to-analog converter; The first digital-to-analog converter has a first analog signal output terminal, and is configured to: convert the digital control signal into a corresponding first analog control signal, and output the first analog control signal at the first analog signal output terminal; Among them, the first microcontroller and the first digital-to-analog converter are communicatively connected via an I2S interface; the laser driving module is connected to the first analog signal output terminal and is configured to: drive the laser to output corresponding emission power according to the received first analog control signal.

2. The voltage regulating circuit according to claim 1, characterized in that: The laser driving module comprises: a first amplifying unit and a first feedback unit; The first end of the first amplifying unit is connected to the first analog signal output end of the first digital-to-analog converter, and is used to receive the first analog control signal; the second end of the first amplifying unit is connected to the first end of the first feedback unit and the power supply end of the first digital-to-analog converter, and is used to output a first working voltage to the first feedback unit and the first digital-to-analog converter; the third end of the first amplifying unit is connected to the second end of the first feedback unit, and is used to amplify the first analog control signal and output it to the second end of the first feedback unit; The third end of the first feedback unit is connected to the fourth end of the first amplifying unit, and is used to output a first feedback control signal to the fourth end of the first amplifying unit.

3. The voltage regulating circuit according to claim 2, characterized in that: The first amplifying unit includes: a first power supply, a first resistor, a second resistor, a third resistor and a first operational amplifier; The positive electrode of the first power supply is connected to the first end of the first feedback unit, the power supply end of the first digital-to-analog converter and the positive power supply pin of the first operational amplifier, and is used to output the first operating voltage; the negative electrode of the first power supply is grounded; The first end of the first resistor is connected to the first analog signal output end of the first digital-to-analog converter; the second end of the first resistor is connected to the non-inverting input end of the first operational amplifier and the first end of the second resistor; The second end of the second resistor is grounded; The inverting input terminal of the first operational amplifier is connected to the third terminal of the first feedback unit for receiving the first feedback control signal; the negative power supply pin of the first operational amplifier is grounded; the output terminal of the first operational amplifier is connected to the first terminal of the third resistor; The second end of the third resistor is connected to the second end of the first feedback unit.

4. The voltage regulating circuit according to claim 2, characterized in that: The first feedback unit includes: a laser, a triode and a fourth resistor; The first end of the laser is connected to the second end of the first amplifying unit; the second end of the laser is connected to the collector of the triode; The base of the transistor is connected to the third end of the first amplifying unit; the emitter of the transistor is connected to the first end of the fourth resistor and the fourth end of the first amplifying unit; A second end of the fourth resistor is grounded.

5. A voltage regulating circuit, characterized in that: include: A second microcontroller, a second digital-to-analog converter, and a brushed motor drive module; The second microcontroller is communicatively connected to the second digital-to-analog converter and is configured to: provide a digital control signal to the second digital-to-analog converter; The second digital-to-analog converter has a second analog signal output terminal, and is configured to: convert the digital control signal into a corresponding second analog control signal, and output the second analog control signal at the second analog signal output terminal; Wherein, the second microcontroller and the second digital-to-analog converter are communicatively connected via an I 2S interface; The brushed motor driving module is connected to the second analog signal output terminal, and is configured to drive the brushed motor to rotate at a corresponding speed according to the received second analog control signal.

6. The voltage regulating circuit according to claim 5, characterized in that: The brushed motor driving module includes: a second amplification unit and a second feedback unit; The first end of the second amplifying unit is connected to the second analog signal output end of the second digital-to-analog converter, and is used to receive the second analog control signal; the second end of the second amplifying unit is connected to the first end of the second feedback unit, and is used to output the second working voltage to the second feedback unit; the third end of the second amplifying unit is connected to the second end of the second feedback unit, and is used to amplify the second analog control signal and output it to the second end of the second feedback unit; The third end of the second feedback unit is connected to the fourth end of the second amplifying unit, and is used to output a second feedback control signal to the fourth end of the second amplifying unit.

7. The voltage regulating circuit according to claim 6, characterized in that: The second amplifying unit includes: a second power supply, a fifth resistor, a sixth resistor, a seventh resistor and a second operational amplifier; The positive electrode of the second power supply is connected to the first end of the second feedback unit and the positive power supply pin of the second operational amplifier, and is used to output the second working voltage; the negative electrode of the second power supply is grounded; The first end of the fifth resistor is connected to the second analog signal output end of the second digital-to-analog converter; the second end of the fifth resistor is connected to the non-inverting input end of the second operational amplifier and the first end of the sixth resistor; The second end of the sixth resistor is grounded; The inverting input terminal of the second operational amplifier is connected to the third terminal of the second feedback unit for receiving the second feedback control signal; the negative power supply pin of the second operational amplifier is grounded; the output terminal of the second operational amplifier is connected to the first terminal of the seventh resistor; The second end of the seventh resistor is connected to the second end of the second feedback unit.

8. The voltage regulating circuit according to claim 6, characterized in that: The second feedback unit includes: a brushed motor terminal, a field effect transistor and an eighth resistor; The first end of the brushed motor terminal is connected to the second end of the second amplifying unit; the second end of the brushed motor terminal is connected to the drain of the field effect tube; The gate of the field effect tube is connected to the third end of the second amplifying unit; the source of the field effect tube is connected to the first end of the eighth resistor and the fourth end of the second amplifying unit; A second end of the eighth resistor is grounded.

9. A distance measuring device, characterized in that: It comprises the voltage regulating circuit, laser emitting component and laser receiving component as described in any one of claims 1 to 4; The laser emitting assembly is configured to: emit a ranging laser toward a target object; The voltage regulating circuit is configured to: control the emission power of the ranging laser emitted by the laser emission component through the laser driving module; The laser receiving component is configured to receive the distance measuring laser reflected by the target object, so that the distance measuring device calculates the distance between the distance measuring device and the target object based on the reflected distance measuring laser.

10. A distance measuring device, characterized in that: It comprises the voltage regulating circuit, laser emitting component, laser receiving component, motor component and speed measuring component as described in any one of claims 5 to 8; The laser emitting assembly is configured to: emit a ranging laser toward a target object; The laser receiving component is configured to: receive the ranging laser reflected by the target object; The motor assembly is configured to: operate at a target speed; The speed measuring component is configured to: obtain the rotation speed of the brushed motor in the motor component; The voltage regulating circuit is connected to the speed measuring component and is configured to control the motor component to run at a target speed through a brushed motor driving module.

11. A sweeping robot, characterized in that: include: The distance measuring device as claimed in claim 9 or 10.

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