A signal cyclic acquisition processing circuit for multi-array perception

Abstract

The utility model discloses a kind of signal cyclic acquisition processing circuit for multi-array perception, comprising: acquisition processor, signal preprocessing unit and analog switch;Sensor array of the perception signal to be acquired includes multiple subarrays, the perception signal output end of each subarray is connected to signal bus by one-way transmission element respectively, the output end of the signal bus is connected the input end of the signal preprocessing unit, the output end of the signal preprocessing unit is connected the data acquisition port of acquisition processor;The power supply end of each subarray is connected to the gating port of the analog switch respectively;The acquisition processor is also used to control the gating of the analog switch, to provide working power supply to the gated subarray. The utility model is through the collaborative control of power supply and signal acquisition, reduce the complexity of perception signal processing circuit, and meet the driving ability requirement.

Description

Technical Field

[0001] This utility model relates to the field of sensor signal processing technology, and in particular to a signal cyclic acquisition and processing circuit for multi-array sensing based on time-division multiplexing and cyclic control. Background Technology

[0002] Current tactile sensing systems often employ dense sensor arrays (such as n×n matrices) to sense signals. Each sensing unit in the array requires independent connection to an amplifier circuit and an analog-to-digital converter (AD) circuit. As the array size increases, traditional sensing signal processing schemes face the following problems:

[0003] Circuit redundancy: Each sensing unit requires an independent amplification and AD circuit, resulting in high hardware cost and large size;

[0004] Complex wiring: The physical connection of high-density arrays is difficult and can easily introduce noise and signal crosstalk;

[0005] Drive capability limitation: AD circuits cannot drive multiple signals simultaneously, requiring additional drive modules;

[0006] Space constraints: It is difficult to implement multi-circuit layouts in limited spaces (such as robot fingertips or wearable devices).

[0007] Although time-division multiplexing schemes exist in existing technologies, they are still difficult to significantly and effectively improve the problems of low processing efficiency and circuit complexity. Summary of the Invention

[0008] The purpose of this invention is to provide a signal cyclic acquisition and processing circuit for multi-array sensing, which reduces the complexity of the sensing signal processing circuit and meets the driving capability requirements through coordinated control of power supply and signal acquisition.

[0009] The technical solution adopted in this utility model is: a signal cyclic acquisition and processing circuit for multi-array sensing, comprising: an acquisition processor, a signal preprocessing unit, a power supply unit, and an analog switch;

[0010] The sensor array for collecting sensing signals includes multiple sub-arrays. The sensing signal output terminals of each sub-array are respectively connected to a signal bus. The output terminal of the signal bus is connected to the input terminal of the signal preprocessing unit. The output terminal of the signal preprocessing unit is connected to the data acquisition port of the acquisition processor.

[0011] Furthermore, the power supply terminals of each subarray are respectively connected to the selection port of the analog switch; the acquisition processor is also used to control the selection of the analog switch, so as to control the power supply unit to provide working power to the selected subarray through the analog switch.

[0012] Optionally, the sensor array for collecting sensing signals is divided into a corresponding number of subarrays according to the number of rows or columns of the sensor array. Of course, the subarrays can also be divided into blocks.

[0013] Optionally, the sensing signal output terminals of each subarray are connected to the signal bus via unidirectional transmission elements. In this implementation, the circuit only allows the signal of the selected subarray to be transmitted in the forward direction to the signal bus, blocking the reverse current of the unselected subarray; after the power supply terminal of the unselected subarray is de-energized, its sensor unit is equivalent to a high-impedance state. Combined with the isolation effect of the unidirectional transmission elements, it can be ensured that the signal bus only transmits the sensing signal of the currently selected subarray.

[0014] Optionally, the unidirectional transmission element is a Schottky diode, with its two ends connected in series between the subarray sensing signal output terminal and the signal bus.

[0015] Optionally, the power supply terminals of each subarray are connected to the ground terminal via pull-down resistors. This ensures that when a subarray is not selected, its output terminal is in a low-impedance state (approximately short-circuited), preventing noise from being introduced due to floating.

[0016] Optionally, the signal preprocessing unit includes a differential amplifier. The output terminal of the signal bus is connected to the positive terminal of the differential amplifier's input terminal, the negative terminal of the differential amplifier's input terminal is grounded, and the output terminal is used to transmit the sensing signal to the acquisition processor. The differential amplifier can suppress common-mode noise introduced by the power supply line or environment, amplifying only the effective differential signal output by the subarray.

[0017] Optionally, the signal preprocessing unit further includes a low-pass filter, the output of the differential amplifier is connected to the low-pass filter, and the output of the low-pass filter is connected to the ADC input port of the acquisition processor. The signal, after differential amplification and noise reduction by the low-pass filter, is then input to the ADC module of the acquisition processor, such as a microcontroller, for analog-to-digital conversion.

[0018] Optionally, the acquisition processor uses a single-chip microcontroller of model STM32F103RBT6, and the analog switch uses a channel converter chip of model CD4052BCSJ.

[0019] Beneficial effects

[0020] The signal cyclic acquisition and processing circuit of this utility model can achieve dynamic control of signal acquisition and transmission of different sub-arrays through the coordinated cooperation of power supply control and signal acquisition. Only one signal processing circuit is needed to complete the signal processing of the entire array, which simplifies the subsequent data processing circuit and can solve the problems of complex signal processing circuit, large space occupation, and insufficient driving capability in high-density sensing arrays.

[0021] This invention can significantly reduce hardware complexity and size, and is suitable for high-density tactile sensing scenarios such as robots and wearable devices. Attached Figure Description

[0022] Figure 1 The diagram shown is a schematic diagram of the signal cyclic acquisition and processing circuit of this utility model.

[0023] Figure 2 The diagram shown is a partial schematic of the signal cyclic acquisition and processing circuit of this utility model. Detailed Implementation

[0024] The following description, in conjunction with the accompanying drawings and specific embodiments, provides further details.

[0025] The technical concept of this utility model is to divide a sensor array of size n×m into n 1×m subarrays or m n×1 subarrays, and realize time-division power supply and cyclic acquisition of sensing signals through dynamic control of the IO ports of logic devices such as microcontrollers, thereby simplifying the sensing signal processing circuit and reducing the driving capability requirements of the circuit.

[0026] Example 1

[0027] refer to Figure 1 This embodiment introduces a signal cyclic acquisition and processing circuit for multi-array sensing, including: an acquisition processor, a signal preprocessing unit, a power supply unit, and an analog switch;

[0028] The sensor array for collecting sensing signals includes multiple sub-arrays, array 1 to array n. The sensing signal output terminals of each sub-array are respectively connected to a signal bus. The output terminal of the signal bus is connected to the input terminal of the signal preprocessing unit. The output terminal of the signal preprocessing unit is connected to the data acquisition port of the acquisition processor.

[0029] Furthermore, the power supply terminals of each subarray are respectively connected to the selection port of the analog switch; the acquisition processor is also used to control the selection of the analog switch, so as to control the power supply unit to provide working power to the selected subarray through the analog switch.

[0030] In application, the working principle of this embodiment is as follows: In each acquisition cycle, the acquisition processor controls the analog switch to sequentially select the power output of the power supply unit to the VCC power supply terminal of each sensor array; after each sensor array is selected, the ADC conversion function can be started after a certain delay to read the received sensing signal of the sub-array, and then the analog switch is switched to select the next sensor array; until the sensing signal reading of all sensor arrays is completed, the sensing signal acquisition of all arrays in the next cycle is executed.

[0031] This embodiment can achieve dynamic acquisition of sensing signals from all arrays by cyclically and sequentially selecting power supply control for all arrays, and can complete subsequent signal processing using only one sensing signal processing circuit, which greatly reduces the complexity of the multi-array sensing signal acquisition circuit and reduces the requirements for driving capability.

[0032] Example 2

[0033] Combination Figure 1 and Figure 2 In this embodiment, the sensor array to be acquired is divided into n 1×m subarrays. In each subarray, the power supply terminal VCC and ground terminal GND of all sensors are independently led out, and the power supply terminal VCC is pulled down to GND through resistors, such as... Figure 2 R3-R14 are pull-down resistors for the VCC terminals of 10 sensors in a subarray. The signal output terminals OUT of each subarray, which are also the signal output terminals of all sensors in the subarray, are connected to the signal bus and then transmitted to different IO ports of the acquisition processor.

[0034] This embodiment of the signal cyclic acquisition and processing circuit for multi-array sensing includes an acquisition processor, a signal preprocessing unit, and analog switches. The signal preprocessing unit includes a differential amplifier and a low-pass filter. The acquisition processor is a microcontroller, which controls the analog switches through a set of I / O ports to select different signal transmission channels, thereby connecting the 3.3V power input to the power supply terminals VCC of different sub-arrays.

[0035] For any sensor subarray, when its power supply terminal VCC is energized, each sensor in the subarray is connected to the microcontroller's I / O ports via different transmission paths of the signal bus through the signal preprocessing unit. Therefore, in this embodiment, the acquisition processor (i.e., the single-chip microcontroller) only needs one set of I / O ports equal to the number of sensors in each subarray when dealing with multiple sensor arrays, to achieve cyclic acquisition of signals from multiple subarrays, reducing the requirement for the number of sensor I / O ports.

[0036] Figure 2 In the diagram, U2 is an analog switch that uses the CD4052BCSJ channel converter chip, which can enable the selection of up to 4 subarrays. When there are many subarrays, other analog switches with more channels can be selected.

[0037] In this embodiment, the control port AB of analog switch U2 is connected to the microcontroller control signal, and ports X0-X3 are used to connect to the VCC terminals of different sensor subarrays. When different level combinations are input to ports AB, the 3.3V power supply connected to port X will selectively switch on / off the VCC terminals of different sensor subarrays. By controlling the time-division power supply of each subarray, the connection or disconnection of the transmission channel between each subarray and the microcontroller can be realized.

[0038] During each scan cycle, the I / O ports PC4 and PC5 of the microcontroller U3 sequentially output different combinations of voltage levels to the analog switch U2. The VCC power supply connected to port U2X will then be sequentially connected to the VCC terminals of subarrays 1 through n. The VCC terminals of the remaining unselected subarrays are de-energized and grounded through pull-down resistors to ensure their outputs are in a low-impedance state, approximately short-circuited, thus preventing noise from being introduced due to floating.

[0039] In the signal preprocessing unit of this embodiment, the differential amplifier is used to receive the sensor output signal of the selected subarray. The OUT terminal of each subarray is connected to the positive input terminal (IN+) of the differential amplifier, and the negative input terminal (IN-) of the amplifier is grounded to suppress common-mode noise introduced by the power supply line or environment and amplify only the effective differential signal output by the subarray.

[0040] The sensed signal, after being amplified by a differential amplifier, is denoised by a low-pass filter and then input to the ADC module of the microcontroller's I / O port for analog-to-digital conversion.

[0041] This embodiment implements a bus sharing mechanism, where the OUT terminals of all subarrays are directly connected in parallel to the same signal bus, but short-circuit interference is avoided through the following design:

[0042] Diode isolation: Schottky diodes D1-Dn are connected in series at the OUT terminal of each subarray to allow only the signal of the selected subarray to be transmitted to the bus in the forward direction, while blocking the reverse current of the unselected subarray.

[0043] High-impedance control: When the VCC of the unselected subarray is de-energized, its sensor unit is equivalent to a high-impedance state. Combined with Schottky diode isolation, it can ensure that the bus only transmits the signal of the currently selected subarray.

[0044] In this embodiment, the cyclic scanning and data reading method of the microcontroller U3 is as follows:

[0045] The multiplexer, i.e., analog switch U2, is controlled via the I / O port to select the 3.3V power supply of the power supply unit for the kth (k=1,2,…,n) subarray.

[0046] Wait for the sensor signal to stabilize, delaying for 100μs;

[0047] Start the ADC module to read the amplified signal of the current subarray;

[0048] Switch to the next subarray and repeat until all n subarrays have been scanned.

[0049] The scanning cycle of the microcontroller is controlled by a timer, for example, switching one column every 1ms to achieve a refresh rate of n milliseconds for the entire array.

[0050] In summary, this invention divides an n×m sensor array into n 1×m subarrays, utilizes a microcontroller's I / O ports for time-division power supply and signal acquisition, and requires only one signal processing circuit to complete signal processing for the entire array. This solution significantly reduces hardware complexity and size, making it suitable for high-density tactile sensing scenarios such as robots and wearable devices.

[0051] The embodiments of the present utility model have been described above with reference to the accompanying drawings. However, the present utility model is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present utility model without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present utility model.

Claims

1. A signal cyclic acquisition and processing circuit for multi-array sensing, characterized in that, include: Acquisition processor, signal preprocessing unit, power supply unit, and analog switch; The sensor array for collecting sensing signals includes multiple sub-arrays. The sensing signal output terminals of each sub-array are respectively connected to a signal bus. The output terminal of the signal bus is connected to the input terminal of the signal preprocessing unit. The output terminal of the signal preprocessing unit is connected to the data acquisition port of the acquisition processor. Furthermore, the power supply terminals of each subarray are respectively connected to the selection port of the analog switch; the acquisition processor is also used to control the selection of the analog switch, so as to control the power supply unit to provide working power to the selected subarray through the analog switch.

2. The signal cyclic acquisition and processing circuit for multi-array sensing according to claim 1, characterized in that, The sensor array for collecting sensing signals is divided into a corresponding number of sub-arrays according to the number of rows or columns of the sensor array.

3. The signal cyclic acquisition and processing circuit for multi-array sensing according to claim 1, characterized in that, The sensing signal output terminals of each subarray are connected to the signal bus via unidirectional transmission elements.

4. The signal cyclic acquisition and processing circuit for multi-array sensing according to claim 3, characterized in that, The unidirectional transmission element is a Schottky diode, with its two ends connected in series between the subarray sensing signal output terminal and the signal bus.

5. The signal cyclic acquisition and processing circuit for multi-array sensing according to claim 1, characterized in that, The power supply terminals of each subarray are connected to the ground terminal via pull-down resistors.

6. The signal cyclic acquisition and processing circuit for multi-array sensing according to claim 1, characterized in that, The signal preprocessing unit includes a differential amplifier. The output terminal of the signal bus is connected to the positive terminal of the differential amplifier's input terminal, the negative terminal of the differential amplifier's input terminal is grounded, and the output terminal is used to transmit the sensing signal to the acquisition processor.

7. The signal cyclic acquisition and processing circuit for multi-array sensing according to claim 6, characterized in that, The signal preprocessing unit also includes a low-pass filter. The output of the differential amplifier is connected to the low-pass filter, and the output of the low-pass filter is connected to the ADC input port of the acquisition processor. The signal after differential amplification is then denoised by the low-pass filter and input to the ADC module of the acquisition processor, such as a microcontroller, for analog-to-digital conversion.

8. The signal cyclic acquisition and processing circuit for multi-array sensing according to claim 1, characterized in that, The acquisition processor uses an STM32F103RBT6 microcontroller chip, and the analog switch uses a CD4052BCSJ channel converter chip.

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