Ground detection circuit, electronic equipment and cleaning equipment

Abstract

The utility model discloses a ground detection circuit, electronic equipment and cleaning equipment. The ground detection circuit comprises an infrared detection module, a sampling module, a filtering and amplifying module and a main control module. The infrared detection module is used for generating an infrared feedback signal according to the infrared reflection condition; the sampling module is used for generating a first sampling signal and a second sampling signal according to the infrared feedback signal; the filtering and amplifying module is used for filtering and amplifying the first sampling signal to generate an identification signal; the main control module is used for obtaining ground parameters according to the second sampling signal and determining the type of ground stains. A saturated identification signal can be obtained according to the first sampling signal through the filtering and amplifying module, then the reflection distance parameter is obtained according to the identification signal, the ground height can be determined by the main control module according to the reflection distance parameter, and then whether the ground height exceeds a safety value or not can be judged.

Description

Technical Field

[0001] The present application belongs to the field of infrared detection technology, and in particular relates to a ground detection circuit, electronic equipment and cleaning equipment. Background Art

[0002] At present, automatic cleaning equipment needs to face a relatively complex ground environment during operation. The detection of the ground is related to both the safety and the cleaning effect of the automatic cleaning equipment. Therefore, it is necessary to detect the ground environment through corresponding sensors, for example, through multiple infrared sensors to obtain various ground parameters. Utility Model Content

[0003] The purpose of this application is to provide a ground detection circuit, electronic equipment and cleaning equipment, aiming to solve the ground detection problem of traditional cleaning equipment.

[0004] A first aspect of an embodiment of the present application provides a ground detection circuit, including: an infrared detection module, which is used to generate an infrared feedback signal based on infrared reflection conditions; a sampling module, which is connected to the infrared detection module and is used to generate a first sampling signal and a second sampling signal based on the infrared feedback signal; a filtering and amplifying module, which is connected to the sampling module and is used to filter and amplify the first sampling signal to generate an identification signal; a main control module, which is connected to the sampling module and the filtering and amplifying module and is used to obtain ground parameters based on the second sampling signal, and compare the ground parameters with pre-stored parameters to determine the type of ground stains; the main control module is also used to determine the ground height based on the identification signal.

[0005] In one embodiment, the infrared detection module includes a transmitting unit and a receiving unit; the transmitting unit is used to transmit infrared light, and the receiving unit is used to receive the infrared light and generate the infrared feedback signal.

[0006] In one embodiment, the transmitting unit includes an infrared transmitting tube, and the receiving unit includes an infrared receiving tube; the infrared transmitting tube is used to transmit infrared light, and the infrared receiving tube is used to receive the infrared light emitted by the corresponding infrared transmitting tube and generate the infrared feedback signal.

[0007] In one embodiment, it includes multiple infrared detection modules, multiple sampling modules and multiple filtering and amplifying modules; one sampling module is connected to at least one infrared detection module, and one filtering and amplifying module is connected to at least one sampling module.

[0008] In one embodiment, the filtering and amplifying module includes a filtering unit and an amplifying unit; the first end of the filtering unit is connected to the infrared detection module, the second end of the filtering unit is connected to the first end of the amplifying unit, and the second end of the amplifying unit is connected to the main control module; the filtering unit is used to perform high-pass filtering on the first sampling signal, and the amplifying unit is used to amplify the filtered first sampling signal to generate the identification signal.

[0009] In one embodiment, the filtering unit includes a filtering capacitor, a first end of the filtering capacitor is connected to the infrared detection module, and a second end of the filtering capacitor is connected to the first end of the amplifying unit.

[0010] In one embodiment, the amplification unit includes an operational amplifier, the non-inverting input terminal of the operational amplifier is used to access the reference voltage, the inverting input terminal of the operational amplifier is used to access the identification signal, the output terminal of the operational amplifier is connected to the inverting input terminal of the operational amplifier through a feedback resistor, and the output terminal of the operational amplifier is also connected to the main control module.

[0011] A second aspect of an embodiment of the present application provides an electronic device, comprising the ground detection circuit as described above.

[0012] A third aspect of an embodiment of the present application provides a cleaning device, comprising a ground detection circuit and a displacement component as described above; the displacement component is connected to a main control module of the ground detection circuit, and the main control module is used to control the braking function of the displacement component according to the ground height.

[0013] In some embodiments, a cleaning component is further included, which is connected to a main control module of the ground detection circuit. The main control module is also used to control the cleaning component to switch to a corresponding cleaning mode according to the type of ground stains.

[0014] Compared with the prior art, the embodiments of the present application have the following advantages: the infrared detection module and the sampling module can generate corresponding first sampling signals and second sampling signals according to the ground environment; the main control module can directly obtain the ground parameters through the second sampling signal and determine the type of ground stains based on the ground parameters.

[0015] At the same time, the first sampling signal generated by the same infrared detection module passes through the filtering and amplification module to produce a saturated identification signal. The main control module can use this identification signal to determine the ground height and, furthermore, whether the ground is a cliff, staircase, or other terrain with a large height difference. Ultimately, a single infrared detection module can simultaneously identify the type of ground stain and the terrain. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of a ground detection circuit provided in one embodiment of the present application;

[0017] Figure 2 for Figure 1 The structural principle diagram of the infrared detection module shown;

[0018] Figure 3 Another schematic diagram of a ground detection circuit provided in one embodiment of the present application;

[0019] Figure 4 for Figure 1 The circuit diagram of the filtering and amplifying module shown;

[0020] Figure 5 for Figure 1 The circuit diagram of the infrared detection module and sampling module shown;

[0021] Figure 6 A schematic diagram of an electronic device provided in one embodiment of the present application;

[0022] Figure 7 A schematic diagram of a cleaning device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0024] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0025] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0026] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0027] The current stain detection methods used in cleaning equipment are all performed after the cleaning equipment is working. Relevant information about floor stains is obtained by detecting the dust duct after cleaning, detecting the sewage after cleaning, and detecting the degree of dirtiness of the cleaning parts after cleaning.

[0028] These detection methods all require the cleaning equipment to be cleaned before testing can be carried out, and the cleaning plan is adjusted according to the results. The degree and type of dirtiness of the ground cannot be detected before the cleaning equipment is working, so the corresponding cleaning plan cannot be formulated before cleaning, and the response is slow.

[0029] Furthermore, post-cleaning testing can potentially cause secondary contamination. For example, by monitoring the level of particulate matter inhaled by the dust duct, the cleaning strategy can be adjusted accordingly. If the level is too high, the side brush speed is reduced and suction is increased to prevent particles from being blown away. However, since cleaning is required before testing, the initial cleaning strategy may not be appropriate for the current situation, and there is a risk of blowing away particles and causing secondary contamination.

[0030] Figure 1 A schematic diagram of a ground detection circuit provided in an embodiment of the present application is shown. For ease of explanation, only the portion related to this embodiment is shown, which is described in detail as follows:

[0031] The ground detection circuit 10 includes an infrared detection module 100 , a sampling module 200 , a filtering and amplifying module 300 and a main control module 400 .

[0032] Among them, the infrared detection module 100 is used to generate an infrared feedback signal based on the infrared reflection situation. The sampling module 200 is connected to the infrared detection module 100, and the sampling module 200 is used to generate a first sampling signal and a second sampling signal based on the infrared feedback signal. The filtering and amplifying module 300 is connected to the sampling module 200, and the filtering and amplifying module 300 is used to filter and amplify the first sampling signal to generate an identification signal. The main control module 400 is connected to the sampling module 200 and the filtering and amplifying module 300, and the main control module 400 is used to obtain ground parameters based on the second sampling signal, and compare the ground parameters with pre-stored parameters to determine the type of ground stains; the main control module 400 is also used to determine the ground height (i.e., the height difference between the infrared detection module 100 and the ground) based on the identification signal.

[0033] It should be noted that the infrared detection module 100 and the sampling module 200 can generate corresponding first sampling signals and second sampling signals according to the ground environment. When the type of stains on the ground is different, the second sampling signals obtained are also different. Therefore, after obtaining the ground parameters through the infrared detection module 100, the sampling module 200 and the main control module 400, the ground parameters can be compared with the pre-stored parameters when the ground is in a clean state to determine the type of ground stains.

[0034] A saturated identification signal can be obtained through the filtering and amplifying module 300, and the main control module 400 can determine whether the ground height exceeds the safety value based on the identification signal. It can be understood that if the ground height exceeds the safety value, it means that the corresponding ground has cliffs, stairs, and other terrain with large height differences. The specific parameters of the safety value can be set according to actual conditions.

[0035] For example, when the ground detection circuit 10 is applied to a sweeping robot, the sweeping robot can create a map and collect corresponding ground parameters when it first enters a new environment. The sweeping robot can establish a ground reflection map in its initial state and store the collected ground parameters in the ground reflection map. At this time, the default state is clean, and the currently collected ground parameters are used as pre-stored parameters for subsequent determination of the type of ground stains. It is understandable that the infrared detection module 100 detects grounds of different colors and materials, and generates different infrared feedback signals. Ultimately, based on the infrared feedback signals, the ground parameters obtained by the sampling module 200 and the main control module 400 are also different, thereby distinguishing the ground material classification of different areas based on the ground reflection map in the initial state.

[0036] Different types of stains on the floor absorb and reflect infrared light in different ways, resulting in different infrared feedback signals, which can differ from the pre-stored parameters in the initial reflection map. (For example, the infrared feedback signal will decrease for stains like cola and soy sauce on light-colored tile floors, while it will increase for particles like rice and cat litter. Furthermore, the infrared feedback signal changes differently on dark-colored tile floors than on light-colored tiles.)

[0037] By combining the type of floor material and the size change trend of the infrared feedback signal, the main control module 400 can obtain the corresponding floor parameters, judge the floor stain situation, and distinguish between dust, soy sauce, cola, oil, particulate matter, etc. It can then change the cleaning strategy according to different floor stain types and control the work of the cleaning parts.

[0038] For the identification of ground stains, the focus is on the analysis of the ground surface state, which requires the circuit to operate in an unsaturated state. For the ground height, the focus is on whether the signal strength of the infrared feedback signal is within the set range, which requires the circuit to operate in a saturated state. When the ground height drops rapidly, after the infrared feedback signal passes through the sampling module 200 and the filtering and amplifying module 300, if the ground height is still within an acceptable range (the ground height is less than the safety value), regardless of the ground stain state, the filtering and amplifying module 300 will output a high-level identification signal. If the ground height exceeds the acceptable range (the ground height is greater than the safety value), the filtering and amplifying module 300 will output a low-level identification signal, so that the main control module 400 can quickly identify terrain with large height differences such as cliffs and stairs based on the identification signal. When the ground detection circuit 10 is applied to a robot, the robot can achieve rapid obstacle avoidance and improve the safety of the robot's work. The specific numerical value of the safety value can be adaptively set according to the robot's obstacle-crossing ability.

[0039] The first sampling signal and the second sampling signal may be the same signal, and may be configured according to actual needs.

[0040] In one embodiment, if Figure 2 As shown, the infrared detection module 100 includes a transmitting unit 110 and a receiving unit 120. The transmitting unit 110 is used to transmit infrared light, and the receiving unit 120 is used to receive the infrared light and generate an infrared feedback signal.

[0041] In one embodiment, the transmitting unit 110 includes an infrared transmitting tube 111, and the receiving unit 120 includes an infrared receiving tube 121; the infrared transmitting tube 111 is used to transmit infrared light, and the infrared receiving tube 121 is used to receive the infrared light emitted by the corresponding infrared transmitting tube 111 and generate an infrared feedback signal.

[0042] In one embodiment, if Figure 3 As shown, the ground detection circuit 10 includes multiple infrared detection modules 100, multiple sampling modules 200 and multiple filtering and amplifying modules 300; one sampling module 200 is connected to at least one infrared detection module 100, and one filtering and amplifying module 300 is connected to at least one sampling module 200.

[0043] In some embodiments, one sampling module 200 is connected to only one infrared detection module 100, and one filtering and amplifying module 300 is connected to only one sampling module 200. Multiple infrared detection modules 100 can provide a more comprehensive detection of the ground.

[0044] At the same time, multiple infrared detection modules 100 can also be grouped so that each group of infrared detection modules 100 works alternately to avoid mutual influence between two adjacent infrared detection modules 100.

[0045] For example, in some embodiments, the ground detection circuit 10 includes six infrared detection modules 100. Three of the infrared detection modules 100 form a first group, and the other three infrared detection modules 100 form a second group. The infrared detection modules 100 of the first group are alternately arranged with the infrared detection modules 100 of the second group. That is, the infrared detection modules 100 of the first group, the infrared detection modules 100 of the second group, and the infrared detection modules 100 of the first group are alternately arranged in this order.

[0046] In one embodiment, if Figure 4 As shown, the filtering and amplifying module 300 includes a filtering unit 310 and an amplifying unit 320. The first end of the filtering unit 310 is connected to the infrared detection module 100, the second end of the filtering unit 310 is connected to the first end of the amplifying unit 320, and the second end of the amplifying unit 320 is connected to the main control module 400; the filtering unit 310 is used to perform high-pass filtering on the first sampling signal, and the amplifying unit 320 is used to amplify the filtered first sampling signal to generate an identification signal.

[0047] After filtering out the ambient noise through the filtering unit 310, the amplifying unit 320 can amplify the filtered first sampling signal. It is understood that when the ground height is low, the intensity of the first sampling signal is high, and the amplifying unit 320 can further amplify the first sampling signal to obtain a recognition signal that always maintains a high level. When the ground height is high and the intensity of the first sampling signal is low, when the ground height is greater than the safe value, the amplifying unit 320 can output a low-level recognition signal, so that the main control module 400 can quickly determine the ground height based on the recognition signal.

[0048] In one embodiment, if Figure 4 As shown, the filtering unit 310 includes a filtering capacitor C1 , a first end of the filtering capacitor C1 is connected to the infrared detection module 100 , and a second end of the filtering capacitor C1 is connected to a first end of the amplifying unit 320 .

[0049] By utilizing the high-pass characteristic of the filter capacitor C1, high-pass filtering of the signal can be achieved.

[0050] In one embodiment, if Figure 4 As shown, the amplification unit 320 may include an integral amplification circuit, the integral amplification circuit includes an operational amplifier U2, the non-inverting input terminal of the operational amplifier U2 is used to access the reference voltage, the inverting input terminal of the operational amplifier U2 is used to access the first sampling signal after filtering, the output terminal of the operational amplifier U2 is connected to the inverting input terminal of the operational amplifier U2 through the feedback resistor R8 and the feedback capacitor C6, and the output terminal of the operational amplifier U2 is also connected to the main control module 400.

[0051] It is understood that in this embodiment, the reference voltage can determine the safe value of the ground height. The safe value corresponds to a first threshold and a second threshold corresponding to the first sampling signal, wherein the first threshold is greater than the second threshold. When the voltage value of the first sampling signal is greater than the first threshold (the ground height is less than the safe value), the amplification unit 320 can amplify the first sampling signal to obtain a recognition signal that is always high. When the voltage value of the first sampling signal is less than the second threshold (the ground height is greater than the safe value), the amplification unit 320 will output a low-level recognition signal to facilitate the main control module 400 to determine whether the ground height exceeds the safe value based on the recognition signal.

[0052] In some embodiments, the main control module 400 may include a controller, which may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0053] In one embodiment, if Figure 5 As shown, taking an infrared detection module 100 and a sampling module 200 as an example, the anode of the infrared emitting tube D1 is connected to the operating power supply VCC, the cathode of the infrared emitting tube D1 is grounded through the switch tube Q1, and the control end of the switch tube Q1 is connected to the main control module 400. The main control module 400 controls the operation of the infrared emitting tube D1 by controlling the conduction and shutdown of the switch tube Q1. When the switch tube Q1 is turned on, the infrared emitting tube D1 can emit corresponding infrared light. The sampling module 200 can obtain a corresponding infrared feedback signal based on the changes in the electrical signal of the receiving tube U1, and obtain a first sampling signal provided to the filtering and amplification module 300 and a second sampling signal provided to the main control module 400.

[0054] Specifically, the infrared detection module 100 and the sampling module 200 may be connected using a circuit structure such as a socket.

[0055] Figure 6 A schematic diagram of an electronic device provided in an embodiment of the present application is shown. For ease of explanation, only the portion related to this embodiment is shown, which is described in detail as follows:

[0056] The electronic device 20 includes the ground detection circuit 10 according to any one of the above embodiments.

[0057] The electronic device 20 may be a robot, a transporter or other equipment capable of automatic movement, and the ground detection circuit 10 may improve the safety of the electronic device 20 .

[0058] Figure 7 A schematic diagram of a cleaning device provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to this embodiment are shown, which are described in detail as follows:

[0059] The cleaning device 30 includes a ground detection circuit 10 and a displacement assembly 40 as described above. The displacement assembly 40 is connected to a main control module 400 of the ground detection circuit 10, which is used to control the braking function of the displacement assembly 40 according to the ground height.

[0060] The main control module 400 can judge the condition of the road ahead according to the ground height. In the event of a cliff or stairs, the main control module 400 can control the displacement assembly 40 to brake to prevent the cleaning device 30 from falling.

[0061] In some embodiments, the cleaning device 30 further includes a cleaning component 50 , which is connected to the main control module 400 of the ground detection circuit 10 . The main control module 400 is further configured to control the cleaning component 50 to switch to a corresponding cleaning mode according to the type of ground stains.

[0062] For example, the main control module 400 can control whether each cleaning structure in the cleaning assembly 50 is working and the working intensity of each cleaning structure according to the type of stains on the ground, so as to improve the cleaning effect.

[0063] Specifically, in some embodiments, the cleaning component 50 includes a mop, a fan, and a side brush, and the main control module 400 can control whether each component is working and the working intensity. For example, it can change the moisture content and rotation speed of the mop, the suction force of the fan, the rotation speed of the side brush, etc.

[0064] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0065] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0066] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A ground detection circuit, characterized in that: include: An infrared detection module, configured to generate an infrared feedback signal based on infrared reflection conditions; a sampling module, the sampling module being connected to the infrared detection module and configured to generate a first sampling signal and a second sampling signal according to the infrared feedback signal; a filtering and amplifying module, the filtering and amplifying module being connected to the sampling module and configured to filter and amplify the first sampling signal to generate an identification signal; A main control module is connected to the sampling module and the filtering and amplifying module. The main control module is used to obtain ground parameters based on the second sampling signal, and compare the ground parameters with pre-stored parameters to determine the type of ground stains; the main control module is also used to determine the ground height based on the identification signal.

2. The ground detection circuit according to claim 1, characterized in that: The infrared detection module includes a transmitting unit and a receiving unit; The transmitting unit is used to transmit infrared light, and the receiving unit is used to receive the infrared light and generate the infrared feedback signal.

3. The ground detection circuit according to claim 2, characterized in that: The transmitting unit includes an infrared transmitting tube, and the receiving unit includes an infrared receiving tube; The infrared emitting tube is used to emit infrared light, and the infrared receiving tube is used to receive the infrared light emitted by the corresponding infrared emitting tube and generate the infrared feedback signal.

4. The ground detection circuit according to any one of claims 1 to 3, characterized in that: It includes a plurality of infrared detection modules, a plurality of sampling modules and a plurality of filtering and amplifying modules; One of the sampling modules is connected to at least one of the infrared detection modules, and one of the filtering and amplifying modules is connected to at least one of the sampling modules.

5. The ground detection circuit according to claim 1, wherein: The filtering and amplifying module includes a filtering unit and an amplifying unit; The first end of the filtering unit is connected to the infrared detection module, the second end of the filtering unit is connected to the first end of the amplifying unit, and the second end of the amplifying unit is connected to the main control module; The filtering unit is used to perform high-pass filtering on the first sampling signal, and the amplifying unit is used to amplify the filtered first sampling signal to generate the identification signal.

6. The ground detection circuit according to claim 5, characterized in that: The filtering unit includes a filtering capacitor, a first end of the filtering capacitor is connected to the infrared detection module, and a second end of the filtering capacitor is connected to the first end of the amplifying unit.

7. The ground detection circuit according to claim 5, characterized in that: The amplification unit includes an operational amplifier, the non-inverting input terminal of the operational amplifier is used to access the reference voltage, the inverting input terminal of the operational amplifier is used to access the identification signal, the output terminal of the operational amplifier is connected to the inverting input terminal of the operational amplifier through a feedback resistor, and the output terminal of the operational amplifier is also connected to the main control module.

8. An electronic device, characterized in that: The method comprises the ground detection circuit according to any one of claims 1 to 7.

9. A cleaning device, characterized in that: It comprises a ground detection circuit and a displacement component as described in any one of claims 1 to 7; the displacement component is connected to a main control module of the ground detection circuit, and the main control module is used to control the braking function of the displacement component according to the ground height.

10. The cleaning device according to claim 9, wherein It also includes a cleaning component, which is connected to the main control module of the ground detection circuit. The main control module is also used to control the cleaning component to switch to a corresponding cleaning mode according to the type of the ground stain.

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