Obstacle detection circuit, controller and robot

Abstract

The utility model discloses an obstacle detection circuit, a controller and a robot, and relates to the technical field of artificial intelligence. The device comprises an ultrasonic sensor, a transformer and a signal regulator, and a secondary coil of the transformer is coupled with the ultrasonic sensor so as to excite the ultrasonic sensor through the transformer. Wherein the signal input end of the signal regulator and the ultrasonic sensor are arranged in parallel, and the driving output pin of the signal regulator is coupled with the primary coil of the transformer. Therefore, the ultrasonic sensor can be driven and excited through the transformer, the attenuation loss of sound wave energy of the ultrasonic sensor propagating in the air is met, and the propagation distance is increased. And the signal regulator is used for receiving and transmitting sound wave signals of the ultrasonic sensor. Therefore, on the basis of ensuring the detection distance of the obstacle, the hardware cost is greatly reduced.

Description

Technical Field

[0001] This utility model relates to the field of artificial intelligence technology, and in particular to an obstacle detection circuit, a controller, and a robot. Background Technology

[0002] A robot is a machine device capable of automatically performing tasks. With the improvement of industrial automation and the deepening and refinement of robot applications, its functions are becoming increasingly diverse. For example, robots generally possess obstacle avoidance capabilities. However, current robots typically detect obstacles using LiDAR, millimeter-wave radar, and multiple vision sensors combined with image recognition, which generally suffers from high costs. Utility Model Content

[0003] To address the issue of high hardware costs for obstacle detection in robots, this invention provides an obstacle detection circuit, controller, and robot that overcomes or at least partially solves the aforementioned problems.

[0004] Based on a first aspect of this utility model, an obstacle detection circuit is provided, the obstacle detection circuit comprising:

[0005] Ultrasonic sensor;

[0006] A transformer, the secondary coil of which is coupled to the ultrasonic sensor to excite the ultrasonic sensor through the transformer; wherein,

[0007] A signal conditioner, wherein the signal input terminal of the signal conditioner is connected in parallel with the ultrasonic sensor, and the drive output pin of the signal conditioner is coupled to the primary coil of the transformer.

[0008] In one optional utility model, the obstacle detection circuit further includes a microcontroller, which is coupled to a communication pin of the signal conditioner to input a drive signal to the signal conditioner.

[0009] In one optional utility model, the obstacle detection circuit further includes a communication chip, which is coupled to the signal input pin of the microcontroller to input drive signals to the microcontroller. The communication chip is also coupled to the robot's motion processor.

[0010] In one optional utility model, the obstacle detection circuit further includes a power module, and the transformer is a tapped transformer, wherein the primary tap and the signal conditioner of the transformer are respectively coupled to the power module.

[0011] In one optional utility model, the obstacle detection circuit further includes a filter capacitor, which is connected in parallel with the power supply module.

[0012] In one optional utility model, the power module further includes a power supply and a boost unit, wherein the power supply is coupled to the boost unit, and the voltage output terminal of the boost unit is coupled to the primary tap of the transformer.

[0013] In one optional utility model, the voltage output terminal of the boost unit is coupled to the signal conditioner.

[0014] An optional utility model embodiment, wherein the boost unit comprises:

[0015] Boost converter chip;

[0016] A boost inductor, one end of which is coupled to the voltage input terminal of the boost chip and to the power supply, wherein the other end of the boost inductor is coupled to the switching control terminal of the boost chip;

[0017] A boost diode, wherein the anode of the boost diode is coupled to the other end of the boost inductor;

[0018] A boost capacitor, one end of which is coupled to the negative terminal of the boost diode and the other end is grounded, wherein one end of the boost capacitor serves as the voltage output terminal of the boost unit.

[0019] In one optional utility model, the power module further includes a power supply and a step-down unit, wherein the power supply is coupled to the step-down unit, and the voltage output terminal of the step-down unit is coupled to the primary tap of the transformer.

[0020] In one optional utility model, the voltage output terminal of the step-down unit is coupled to the signal conditioner.

[0021] Based on a second aspect of this utility model, a controller is also provided, the controller including the obstacle detection circuit described in any one of the above utility model contents.

[0022] Based on a third aspect of this utility model, a robot is also provided, the robot including the controller described in the above-described utility model embodiments, and a motion processor coupled to the controller.

[0023] Compared with existing technologies, this invention includes an ultrasonic sensor, a transformer, and a signal conditioner. The secondary coil of the transformer is coupled to the ultrasonic sensor to excite it. The signal input terminal of the signal conditioner is connected in parallel with the ultrasonic sensor, and the drive output pin of the signal conditioner is coupled to the primary coil of the transformer. Therefore, the ultrasonic sensor can be driven by the transformer, satisfying the attenuation loss of the ultrasonic wave energy propagating in air and increasing the propagation distance. The signal conditioner is used to receive and transmit the ultrasonic wave signal. Thus, while ensuring the obstacle detection distance, the hardware cost is significantly reduced.

[0024] The above description is merely an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this utility model more obvious and understandable, specific embodiments of this utility model are given below. Attached Figure Description

[0025] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings.

[0026] In the attached diagram:

[0027] Figure 1 This is a schematic diagram of the structure of an obstacle detection circuit provided in an embodiment of this utility model;

[0028] Figure 2 This is a schematic diagram of another obstacle detection circuit provided in this embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of another obstacle detection circuit provided in this embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram of the structure of a power module provided in an embodiment of the present utility model;

[0031] Reference numerals: 1. Ultrasonic sensor; 2. Transformer; 3. Signal conditioner; 4. Microcontroller; 5. Communication chip; 6. Power module; 61. Power supply; 62. Boost unit; 621. Boost chip; 622. Boost inductor; 623. Boost diode; 624. Boost capacitor; 63. Buck unit; 7. Filter capacitor; 8. Motion processor. Detailed Implementation

[0032] Exemplary embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0033] A robot is a machine device capable of automatically performing tasks. With the improvement of industrial automation and the deepening and refinement of robot applications, its functions are becoming increasingly diverse. For example, robots generally possess obstacle avoidance capabilities. However, current robots typically detect obstacles using LiDAR, millimeter-wave radar, and multiple vision sensors combined with image recognition, which generally suffers from high costs.

[0034] Based on the aforementioned technical problems, this utility model embodiment is proposed. This utility model embodiment may include an ultrasonic sensor 1, a transformer 2, and a signal conditioner 3. The secondary coil of the transformer 2 is coupled to the ultrasonic sensor 1 to excite the ultrasonic sensor 1 through the transformer 2. The signal input terminal of the signal conditioner 3 is connected in parallel with the ultrasonic sensor 1, and the drive output pin of the signal conditioner 3 is coupled to the primary coil of the transformer 2. Therefore, the ultrasonic sensor 1 can be driven and excited by the transformer 2, satisfying the attenuation loss of the sound wave energy of the ultrasonic sensor 1 propagating in the air and improving the propagation distance. The signal conditioner 3 is used to receive and transmit the sound wave signal of the ultrasonic sensor 1. Thus, while ensuring the obstacle detection distance, the hardware cost can be greatly reduced.

[0035] Reference Figure 1-4 This utility model provides an obstacle detection circuit, which may include an ultrasonic sensor 1, a transformer 2, and a signal conditioner 3. The secondary coil of the transformer 2 is coupled to the ultrasonic sensor 1 to excite the ultrasonic sensor 1 through the transformer 2. The signal input terminal of the signal conditioner 3 is connected in parallel with the ultrasonic sensor 1, and the drive output pin of the signal conditioner 3 is coupled to the primary coil of the transformer 2.

[0036] In this embodiment of the invention, the obstacle detection circuit may include an ultrasonic sensor 1, a transformer 2, and a signal conditioner 3. The ultrasonic sensor 1 is a sensor that converts ultrasonic signals into other energy signals (usually electrical signals). The transformer 2 is a device that uses the principle of electromagnetic induction to change AC voltage. The signal conditioner 3 is used to receive the reflected echo signal from the ultrasonic sensor 1 and drive the ultrasonic sensor 1.

[0037] The secondary coil of the transformer 2 is coupled to the ultrasonic sensor 1, and the primary coil of the transformer 2 is coupled to the signal conditioner 3. For example, the drive output pin of the signal conditioner 3 is coupled to the primary coil of the transformer 2, so that the drive signal output from the drive output pin of the signal conditioner 3 is converted into a voltage by the transformer 2, and the converted drive signal is transmitted to the ultrasonic sensor 1, causing the ultrasonic sensor 1 to emit ultrasonic waves.

[0038] The signal input terminal (or signal input pin) of the signal conditioner 3 is connected in parallel with the ultrasonic sensor 1, so that the ultrasonic echo signal of the ultrasonic sensor 1 can be received through the signal input terminal of the signal conditioner 3, and the ultrasonic echo signal can be transmitted outward through the signal conditioner 3.

[0039] In some embodiments, the ultrasonic sensor 1 can be a sealed ultrasonic sensor 1, which employs the piezoelectric principle, utilizing the piezoelectric and inverse piezoelectric effects of a piezoelectric crystal to receive and transmit ultrasonic signals, thereby calculating the distance between the ultrasonic sensor 1 and the obstacle by measuring the transmission time of the ultrasonic signal. The sealed ultrasonic sensor 1 can be used for extended periods in harsh weather conditions; for example, it is not easily damaged by exposure to rain, dust, and other pollutants, thus improving the robot's operational stability in harsh environments.

[0040] Furthermore, by driving the ultrasonic sensor 1 through the transformer 2, the peak-to-peak voltage (the voltage difference between the lowest and highest values ​​in an AC signal) requirement of the ultrasonic sensor 1 can be maximized, thereby satisfying the attenuation loss of the sound wave energy propagating in the air and maximizing the propagation distance. Thus, hardware costs can be significantly reduced while ensuring the obstacle detection distance. In addition, the obstacle detection circuit has a simple structure, which greatly reduces the difficulty of implementing obstacle detection solutions for the robot, thereby improving the applicability of the obstacle detection circuit.

[0041] In some optional utility model embodiments, the signal conditioner 3 can be a PGA46 chip. Compared with the combination of multiple electronic devices such as operational amplifiers, comparators and converters in the prior art, the use of the signal conditioner 3 can avoid the communication and data interaction between multiple devices at the board level, reduce noise interference coupling, and simplify the structure of the obstacle detection circuit.

[0042] An optional utility model embodiment, referring to... Figure 3 As shown, the obstacle detection circuit also includes a microcontroller 4, which is coupled to the communication pin of the signal conditioner 3 to input a drive signal to the signal conditioner 3.

[0043] In this embodiment of the invention, the obstacle detection circuit may further include a microcontroller 4, which is coupled to the communication pin of the signal conditioner 3 and is used to input a drive signal to drive the ultrasonic sensor 1 into the signal conditioner 3. Furthermore, the microcontroller 4 can also receive the ultrasonic echo signal returned by the signal conditioner 3 through the communication pin of the signal conditioner 3, and the microcontroller 4 also has a signal processing function to process the ultrasonic echo signal. In some embodiments, the microcontroller 4 may be an STM32 microcontroller. Those skilled in the art can determine the specific model according to actual design requirements, and no further limitations are imposed here.

[0044] An optional utility model embodiment, referring to... Figure 3 As shown, the obstacle detection circuit also includes an ultrasonic sensor 1, a transformer 2, a signal conditioner 3, a microcontroller 4, and a communication chip 5. The secondary coil of the transformer 2 is coupled to the ultrasonic sensor 1 to excite the ultrasonic sensor 1 through the transformer 2. The signal input terminal of the signal conditioner 3 is connected in parallel with the ultrasonic sensor 1, and the drive output pin of the signal conditioner 3 is coupled to the primary coil of the transformer 2. The microcontroller 4 is coupled to the communication pin of the signal conditioner 3 to input a drive signal to the signal conditioner 3. The communication chip 5 is coupled to the signal input pin of the microcontroller 4 to input a drive signal to the microcontroller 4 through the communication chip 5. The communication chip 5 is also coupled to the robot's motion processor 8.

[0045] In this embodiment of the invention, the obstacle detection circuit may include an ultrasonic sensor 1, a transformer 2, and a signal conditioner 3. The ultrasonic sensor 1 is a sensor that converts ultrasonic signals into other energy signals (usually electrical signals). The transformer 2 is a device that uses the principle of electromagnetic induction to change AC voltage. The signal conditioner 3 is used to receive the reflected echo signal from the ultrasonic sensor 1 and drive the ultrasonic sensor 1.

[0046] The secondary coil of the transformer 2 is coupled to the ultrasonic sensor 1, and the primary coil of the transformer 2 is coupled to the signal conditioner 3. For example, the drive output pin of the signal conditioner 3 is coupled to the primary coil of the transformer 2, so that the drive signal output from the drive output pin of the signal conditioner 3 is converted into a voltage by the transformer 2, and the converted drive signal is transmitted to the ultrasonic sensor 1, causing the ultrasonic sensor 1 to emit ultrasonic waves.

[0047] The signal input terminal (or signal input pin) of the signal conditioner 3 is connected in parallel with the ultrasonic sensor 1, so that the ultrasonic echo signal of the ultrasonic sensor 1 can be received through the signal input terminal of the signal conditioner 3, and the ultrasonic echo signal can be transmitted outward through the signal conditioner 3.

[0048] In some embodiments, the ultrasonic sensor 1 can be a sealed ultrasonic sensor 1, which employs the piezoelectric principle, utilizing the piezoelectric and inverse piezoelectric effects of a piezoelectric crystal to receive and transmit ultrasonic signals, thereby calculating the distance between the ultrasonic sensor 1 and the obstacle by measuring the transmission time of the ultrasonic signal. The sealed ultrasonic sensor 1 can be used for extended periods in harsh weather conditions; for example, it is not easily damaged by exposure to rain, dust, and other pollutants, thus improving the robot's operational stability in harsh environments.

[0049] Furthermore, by driving the ultrasonic sensor 1 through the transformer 2, the peak-to-peak voltage (the voltage difference between the lowest and highest values ​​in an AC signal) requirement of the ultrasonic sensor 1 can be maximized, thereby satisfying the attenuation loss of the sound wave energy propagating in the air and maximizing the propagation distance. Thus, hardware costs can be significantly reduced while ensuring the obstacle detection distance. In addition, the obstacle detection circuit has a simple structure, which greatly reduces the difficulty of implementing obstacle detection solutions for the robot, thereby improving the applicability of the obstacle detection circuit.

[0050] The microcontroller 4 is coupled to the communication pin of the signal conditioner 3, and is used to input a drive signal to drive the ultrasonic sensor 1 into the signal conditioner 3. Furthermore, the microcontroller 4 can also receive the ultrasonic echo signal returned by the signal conditioner 3 through the communication pin of the signal conditioner 3, and the microcontroller 4 also has a signal processing function to process the ultrasonic echo signal.

[0051] The communication chip 5 can be coupled to the signal input pin of the microcontroller 4, and the communication chip 5 is also coupled to the robot's motion processor 8. Therefore, when the motion processor 8 outputs an ultrasonic drive signal, it can be transmitted through the communication chip 5 to the microcontroller 4, then from the microcontroller 4 to the chip regulator, and finally from the chip regulator to the transformer 2, which drives the ultrasonic sensor 1 to emit ultrasonic waves. The echo signal from the ultrasonic sensor 1 can first be transmitted to the signal regulator 3, then from the signal regulator 3 to the microcontroller 4, and finally back to the motion processor 8 via the communication chip 5.

[0052] An optional utility model embodiment, referring to... Figure 1 , Figure 2 as well as Figure 3 As shown, the obstacle detection circuit also includes a power module 6, and the transformer 2 is a tapped transformer 2, wherein the primary tap of the transformer 2 and the signal conditioner 3 are respectively coupled to the power module 6.

[0053] In this embodiment of the invention, the obstacle detection circuit may further include a power supply module 6, and the transformer 2 is a tapped transformer 2, wherein the primary tap (the tap on the primary coil side) of the transformer 2 and the signal conditioner 3 are respectively coupled to the power supply module 6. Thus, the power supply module 6 can supply power to the transformer 2 and the signal conditioner 3 respectively.

[0054] An optional utility model embodiment, referring to... Figure 2 As shown, the obstacle detection circuit also includes a filter capacitor 7, which is connected in parallel with the power module 6.

[0055] In this embodiment of the present invention, the filter capacitor 7 is connected in parallel with the power supply module 6. The filter capacitor 7 can improve the smoothness of the output voltage of the power supply module 6 and reduce voltage fluctuations and suppress noise interference.

[0056] An optional utility model embodiment, referring to... Figure 2 As shown, the power module 6 also includes a power supply 61 and a boost unit 62. The power supply 61 is coupled to the boost unit 62, and the voltage output terminal of the boost unit 62 is coupled to the primary tap of the transformer 2.

[0057] In this embodiment of the invention, the power module 6 may further include a power supply 61 and a boost unit 62, wherein the power supply 61 is a DC power supply, and the boost unit 62 is used to boost the output voltage of the power supply 61. For example, the power supply 61 may be adapted to the operating voltage of one of the electronic devices. When the DC supply voltage of the transformer 2 is higher than that of the power supply 61, the voltage output terminal of the boost unit 62 is coupled to the primary tap of the transformer 2. Thus, the boost unit 62 can boost the voltage of the power supply 61 and provide the boosted voltage to the transformer 2. At this time, the power supply 61 can be directly coupled to the operating voltage input terminal of the signal conditioner 3.

[0058] In one optional embodiment of the utility model, the voltage output terminal of the boost unit 62 is coupled to the signal conditioner 3.

[0059] In this embodiment of the invention, when the operating voltage of the signal conditioner 3 is higher than that of the power supply 61, the voltage output terminal of the boost unit 62 is coupled to the signal conditioner 3. Thus, the boost unit 62 can boost the voltage of the power supply 61 and provide the boosted voltage to the signal conditioner 3. At this time, the power supply 61 can be directly coupled to the primary tap of the transformer 2. Therefore, the boost unit 62 enables multiple electronic devices with different operating voltages to share a power supply, and simplifies the structure of the obstacle detection circuit.

[0060] In other embodiments, if the operating voltage of the signal conditioner 3 and the DC power supply voltage of the transformer 2 are both greater than the power supply 61, the power supply 61 can be boosted by the boost unit 62 and the boosted voltage can be provided to the transformer 2, and the power supply 61 can be boosted by the boost unit 62 and the boosted voltage can be provided to the signal conditioner 3.

[0061] An optional utility model embodiment, referring to... Figure 4 As shown, the boost unit 62 may include a boost chip 621, a boost inductor 622, a boost diode 623, and a boost capacitor 624. One end of the boost inductor 622 is coupled to the voltage input terminal of the boost chip 621 and to the power supply 61, while the other end of the boost inductor 622 is coupled to the switching control terminal of the boost chip 621. The anode of the boost diode 623 is coupled to the other end of the boost inductor 622. One end of the boost capacitor 624 is coupled to the cathode of the boost diode 623, and the other end is grounded, wherein one end of the boost capacitor 624 serves as the voltage output terminal of the boost unit 62.

[0062] In this embodiment of the present invention, the boost chip 621 includes an enable terminal, a voltage input terminal, a switch control terminal, and a ground terminal. When the enable terminal of the boost chip 621 is at a high level, the switch control terminal (SW pin) of the boost chip 621 is connected to the ground terminal.

[0063] One end of the boost inductor 622 is coupled to the voltage input terminal of the boost chip 621, and the other end of the boost inductor 622 is coupled to the power supply 61. The other end of the boost inductor 622 is coupled to the switch control terminal. Thus, when the switch control terminal of the boost chip 621 is connected to the ground terminal, the current flowing through the boost inductor 622 begins to increase.

[0064] The other end of the boost inductor 622 is also coupled to the anode of the boost diode 623. The cathode of the boost diode 623 is coupled to one end of the boost capacitor 624, and the other end of the boost capacitor 624 is grounded. When the switch control terminal (SW pin) of the boost chip 621 is disconnected from the ground terminal, the boost inductor 622 transfers its stored electrical energy to the boost capacitor 624 through the boost diode 623 for charging, thereby forming a boost voltage across the boost capacitor 624. One end of the boost capacitor 624 (the non-grounded end) serves as the voltage output terminal of the boost unit 62.

[0065] An optional utility model embodiment, referring to... Figure 3 As shown, the power module 6 also includes a power supply 61 and a step-down unit 63. The power supply 61 is coupled to the step-down unit 63, and the voltage output terminal of the step-down unit 63 is coupled to the primary tap of the transformer 2.

[0066] In this embodiment of the invention, the power module 6 may further include a power supply 61 and a step-down unit 63. The power supply 61 is a DC power supply, and the step-down unit 63 is used to step down the output voltage of the power supply 61. For example, the power supply 61 may be compatible with the operating voltage of one of the electronic devices. When the DC supply voltage of the transformer 2 is lower than that of the power supply 61, the voltage output terminal of the step-down unit 63 is coupled to the primary tap of the transformer 2. Thus, the step-down unit 63 can step down the voltage of the power supply 61 and provide the stepped-down voltage to the transformer 2. At this time, the power supply 61 can be directly coupled to the operating voltage input terminal of the signal conditioner 3.

[0067] In one optional embodiment of the utility model, the voltage output terminal of the step-down unit 63 is coupled to the signal conditioner 3.

[0068] In this embodiment of the invention, when the operating voltage of the signal conditioner 3 is lower than that of the power supply 61, the voltage output terminal of the step-down unit 63 is coupled to the signal conditioner 3. Thus, the step-down unit 63 can step down the voltage of the power supply 61 and provide the stepped-down voltage to the signal conditioner 3. At this time, the power supply 61 can be directly coupled to the primary tap of the transformer 2. Therefore, the step-down unit 63 allows multiple electronic devices with different operating voltages to share a power supply, and simplifies the structure of the obstacle detection circuit. The step-down unit 63 can be a DC step-down circuit; those skilled in the art can determine the specific step-down unit 63 according to actual design requirements, and no further limitations are imposed here.

[0069] In other embodiments, if the operating voltage of the signal conditioner 3 and the DC power supply voltage of the transformer 2 are both less than the power supply 61, the power supply 61 can be stepped down by the step-down unit 63, and the stepped-down voltage can be provided to the transformer 2. The power supply 61 can also be stepped down by the step-down unit 63, and the stepped-down voltage can be provided to the signal conditioner 3.

[0070] In summary, this utility model embodiment provides an obstacle detection circuit, which may include an ultrasonic sensor 1, a transformer 2, and a signal conditioner 3. The secondary coil of the transformer 2 is coupled to the ultrasonic sensor 1 to excite the ultrasonic sensor 1 through the transformer 2. The signal input terminal of the signal conditioner 3 is connected in parallel with the ultrasonic sensor 1, and the drive output pin of the signal conditioner 3 is coupled to the primary coil of the transformer 2. Therefore, the ultrasonic sensor 1 can be driven and excited by the transformer 2, satisfying the attenuation loss of the sound wave energy of the ultrasonic sensor 1 in air propagation and improving the propagation distance. The signal conditioner 3 receives and transmits the sound wave signal from the ultrasonic sensor 1. Thus, while ensuring the obstacle detection distance, the hardware cost is greatly reduced.

[0071] This utility model embodiment also discloses a controller, which may include the obstacle detection circuit as described in any of the above utility model embodiments.

[0072] In summary, this utility model also discloses a controller, which may include an ultrasonic sensor 1, a transformer 2, and a signal conditioner 3. The secondary coil of the transformer 2 is coupled to the ultrasonic sensor 1 to excite the ultrasonic sensor 1 through the transformer 2. The signal input terminal of the signal conditioner 3 is connected in parallel with the ultrasonic sensor 1, and the drive output pin of the signal conditioner 3 is coupled to the primary coil of the transformer 2. Therefore, the ultrasonic sensor 1 can be driven and excited by the transformer 2, satisfying the attenuation loss of the sound wave energy of the ultrasonic sensor 1 propagating in the air and improving the propagation distance. The signal conditioner 3 is used to receive and transmit the sound wave signal of the ultrasonic sensor 1. Thus, while ensuring the obstacle detection distance, the hardware cost can be greatly reduced.

[0073] This utility model embodiment also discloses a robot, which may include a controller as described in the above utility model embodiment, and a motion processor 8 coupled to the controller.

[0074] In this embodiment of the invention, when the motion processor 8 outputs an ultrasonic drive signal, it can transmit the signal through the communication chip 5 to the microcontroller 4, then from the microcontroller 4 to the chip regulator, and finally from the chip regulator to the transformer 2, which drives the ultrasonic sensor 1 to emit ultrasonic waves. The echo signal from the ultrasonic sensor 1 can first be transmitted to the signal regulator 3, then from the signal regulator 3 to the microcontroller 4, and finally back to the motion processor 8 through the communication chip 5.

[0075] In summary, this utility model discloses an obstacle detection circuit, a controller, and a robot. This utility model embodiment may include an ultrasonic sensor 1, a transformer 2, and a signal conditioner 3. The secondary coil of the transformer 2 is coupled to the ultrasonic sensor 1 to excite the ultrasonic sensor 1 through the transformer 2. The signal input terminal of the signal conditioner 3 is connected in parallel with the ultrasonic sensor 1, and the drive output pin of the signal conditioner 3 is coupled to the primary coil of the transformer 2. Therefore, the ultrasonic sensor 1 can be driven and excited by the transformer 2, satisfying the attenuation loss of the sound wave energy of the ultrasonic sensor 1 propagating in the air and improving the propagation distance. The signal conditioner 3 is used to receive and transmit the sound wave signal from the ultrasonic sensor 1. Thus, while ensuring the obstacle detection distance, the hardware cost is greatly reduced.

[0076] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0077] It will be readily apparent to those skilled in the art that any combination of the above embodiments is feasible. Therefore, any combination of the above embodiments is an implementation scheme of this utility model. However, due to space limitations, this specification will not describe them in detail here.

[0078] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the present invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0079] Similarly, it should be understood that, in order to simplify the present invention and aid in understanding one or more of the various aspects of the invention, in the description of exemplary embodiments of the present invention above, various features of the present invention are sometimes grouped together in a single embodiment, figure, or description thereof.

[0080] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features but not others included in other embodiments, combinations of features from different embodiments are intended to be within the scope of this invention and form different embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.

Claims

1. An obstacle detection circuit, characterized in that, The obstacle detection circuit includes: Ultrasonic sensor (1); A transformer (2), the secondary coil of which is coupled to the ultrasonic sensor (1) to excite the ultrasonic sensor (1) through the transformer (2); wherein, The signal conditioner (3) is connected in parallel with the ultrasonic sensor (1), and the drive output pin of the signal conditioner (3) is coupled to the primary coil of the transformer (2).

2. The obstacle detection circuit according to claim 1, characterized in that, The obstacle detection circuit also includes a microcontroller (4), which is coupled to the communication pin of the signal conditioner (3) to input a drive signal to the signal conditioner (3).

3. The obstacle detection circuit according to claim 2, characterized in that, The obstacle detection circuit also includes a communication chip (5), which is coupled to the signal input pin of the microcontroller (4) to input drive signals to the microcontroller (4) through the communication chip (5). The communication chip (5) is coupled to the robot's motion processor (8).

4. The obstacle detection circuit according to claim 1, characterized in that, The obstacle detection circuit also includes a power module (6), and the transformer (2) is a tapped transformer (2), wherein the primary tap and the signal conditioner (3) of the transformer (2) are respectively coupled to the power module (6).

5. The obstacle detection circuit according to claim 4, characterized in that, The obstacle detection circuit also includes a filter capacitor (7), which is connected in parallel with the power module (6).

6. The obstacle detection circuit according to claim 4, characterized in that, The power module (6) further includes a power supply (61) and a boost unit (62). The power supply (61) is coupled to the boost unit (62), and the voltage output terminal of the boost unit (62) is coupled to the primary tap of the transformer (2).

7. The obstacle detection circuit according to claim 6, characterized in that, The voltage output terminal of the boost unit (62) is coupled to the signal conditioner (3).

8. The obstacle detection circuit according to claim 6, characterized in that, The boost unit (62) includes: Boost converter chip (621); A boost inductor (622) is provided, one end of which is coupled to the voltage input terminal of the boost chip (621) and to the power supply (61), wherein the other end of the boost inductor (622) is coupled to the switching control terminal of the boost chip (621). A boost diode (623), the anode of which is coupled to the other end of the boost inductor (622); A boost capacitor (624) is provided, one end of which is coupled to the negative terminal of the boost diode (623) and the other end is grounded. One end of the boost capacitor (624) serves as the voltage output terminal of the boost unit (62).

9. The obstacle detection circuit according to claim 4, characterized in that, The power module (6) further includes a power supply (61) and a step-down unit (63). The power supply (61) is coupled to the step-down unit (63), and the voltage output terminal of the step-down unit (63) is coupled to the primary tap of the transformer (2).

10. The obstacle detection circuit according to claim 9, characterized in that, The voltage output terminal of the step-down unit (63) is coupled to the signal conditioner (3).

11. A controller, characterized in that, The controller includes an obstacle detection circuit as described in any one of claims 1-10.

12. A robot, characterized in that, The robot includes a controller as described in claim 11, and a motion processor (8) coupled to the controller.

Images