Sensing circuit for sensing collision of an object
Patent Information
- Application Number
- CN202522571657.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-03
- Publication Date
- 2026-09-29
- Estimated Expiration
- 2035-12-03
AI Technical Summary
因此，快速傅立叶变换的运算时间须耗费“2n×T”秒来产生感测信号
[0015]基于上述，感测电路利用第一滤波器、第二滤波器以及第三滤波器来将加速度信号转换为感测信号。感测电路并不是利用快速傅立叶变换（Fast Fourier Transform，FFT）来将加速度信号转换为感测信号。如此一来，相较于快速傅立叶变换，本揭示的感测电路能够在更短的时间长度内产生感测信号。
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Figure CN224816338U_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to a sensing circuit, and more particularly to a sensing circuit for sensing that an object has collided with another object. Background Technology
[0002] Sensing circuits are used to detect whether a collision has occurred while an object is moving. Generally, a sensing circuit receives raw data of the object's movement and uses a Fast Fourier Transform (FFT) to convert the time domain of the raw data to the frequency domain, thereby generating a sensing signal. The sensing circuit then uses this frequency-domain sensing signal to determine whether a collision has occurred while the object is moving.
[0003] However, the computation time of the Fast Fourier Transform (FFT) depends on the sampling time of the original data. For example, the original data has n bits, and the sampling time is T seconds. Therefore, the FFT requires 2n × T seconds to generate the sensing signal. It is clear that shortening the generation time of the sensing signal is one of the key research focuses for those skilled in the art. Utility Model Content
[0004] This disclosure provides a sensing circuit for sensing collisions of objects, which can shorten the time required to generate sensing signals.
[0005] In one embodiment disclosed herein, the sensing circuit includes an accelerometer, a first filter, a second filter, and a third filter. The accelerometer is disposed on an object. The accelerometer generates an acceleration signal based on the movement of the object. The first filter is coupled to the accelerometer. The first filter filters out external power supply interference to the acceleration signal and reduces high-frequency noise in the acceleration signal to generate a first filtered signal. The second filter is coupled to the first filter. The second filter filters out natural frequency noise from the first filtered signal to generate a second filtered signal. The third filter is coupled to the second filter. The third filter generates a sensing signal based on the slope of the second filtered signal.
[0006] In one embodiment of this disclosure, a third filter differentiates the second filtered signal to generate a sensing signal.
[0007] In one embodiment of this disclosure, the sensing circuit further includes a determination circuit. The determination circuit is coupled to a third filter. The determination circuit determines whether an object has collided based on the sensing signal.
[0008] In one embodiment of this disclosure, the sensing signal includes at least one of a plurality of segment signals corresponding to a plurality of movement segments of the object. The determination circuit determines whether the object has collided in a first movement segment based on a first threshold corresponding to a first movement segment among the plurality of movement segments and the first segment signal among the plurality of segment signals.
[0009] In one embodiment disclosed herein, when the acceleration value of the first segment signal is greater than a first threshold, the determination circuit determines that the object has collided in the first moving segment.
[0010] In one embodiment disclosed herein, when the acceleration value of the first segment signal is greater than a first threshold, the determination circuit records the first segment signal.
[0011] In one embodiment disclosed herein, when the acceleration value of the first segment signal is greater than a first threshold, the judgment circuit provides a warning notification signal.
[0012] In one embodiment disclosed herein, when the acceleration value of the first segment signal is less than or equal to a first threshold, the determination circuit determines that the object has not collided in the first moving segment.
[0013] In one embodiment disclosed herein, the determination circuit generates a first threshold based on a first segment reference value corresponding to a first moving segment and a first weight corresponding to the first moving segment.
[0014] In one embodiment disclosed herein, the determination circuit multiplies a first segment reference value by a first weight to generate a first threshold.
[0015] Based on the above, the sensing circuit uses a first filter, a second filter, and a third filter to convert the acceleration signal into a sensing signal. The sensing circuit does not use a Fast Fourier Transform (FFT) to convert the acceleration signal into a sensing signal. Therefore, compared to the Fast Fourier Transform, the sensing circuit disclosed herein can generate a sensing signal in a shorter time frame. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of a sensing circuit shown according to an embodiment of the present disclosure;
[0017] Figure 2 The waveform diagrams of the acceleration signal, the second filtered signal, and the sensing signal shown in an embodiment of this disclosure are as follows:
[0018] Figure 3 This is a flowchart illustrating an operation method according to an embodiment of this disclosure;
[0019] Figure 4This is a schematic diagram of a sensing circuit shown according to an embodiment of the present disclosure;
[0020] Figure 5 This is a flowchart illustrating an operation method according to an embodiment of the present disclosure.
[0021] Explanation of icon numbers
[0022] 100, 200: Sensing circuit
[0023] 110: Accelerometer
[0024] 120: First filter
[0025] 130: Second filter
[0026] 140: Third Filter
[0027] 150, 250: Judgment circuit
[0028] 300: Object
[0029] P1~P15: Moving Sections
[0030] S1~S15: Section Signals
[0031] S100, S200: Operating Instructions
[0032] S110~S160, S210~S270: Steps
[0033] SF1: First filtered signal
[0034] SF2: Second filtered signal
[0035] SG: Acceleration signal
[0036] SN: Warning notification signal
[0037] SS: Sensing signal
[0038] T1~T15: Thresholds Detailed Implementation
[0039] Some embodiments of this disclosure will now be described in detail with reference to the accompanying drawings. Component symbols used in the following description, when appearing in different drawings, are considered to be the same or similar components. These embodiments are only a part of this disclosure and do not disclose all possible implementations of this disclosure. More precisely, these embodiments are merely examples within the scope of the claims of this disclosure.
[0040] Please refer to Figure 1 , Figure 1This is a schematic diagram of a sensing circuit according to an embodiment of the present disclosure. In this embodiment, the sensing circuit 100 is used to sense whether an object 300 has collided. The sensing circuit 100 includes an accelerometer (G sensor) 110, a first filter 120, a second filter 130, and a third filter 140. The accelerometer 110 is disposed on the object 300. The accelerometer 110 generates an acceleration signal SG based on the movement of the object 300. In this embodiment, the acceleration signal SG can be raw data of the object 300 during its movement.
[0041] In this embodiment, a first filter 120 is coupled to an accelerometer 110. The first filter 120 receives an acceleration signal SG. The first filter 120 filters out external power supply interference from the acceleration signal SG and reduces high-frequency noise in the acceleration signal SG to generate a first filtered signal SF1. In this embodiment, the first filter 120 filters out external power supply interference from the acceleration signal SG. Therefore, the base level of the first filtered signal SF1 is a desired fixed value (e.g., "0"). Furthermore, the first filter 120 filters out high-frequency noise from the acceleration signal SG. Therefore, the first filter 120 filters out external interference from the acceleration signal SG to generate the first filtered signal SF1.
[0042] In this embodiment, the second filter 130 is coupled to the first filter 120. The second filter 130 receives the first filtered signal SF1. The second filter 130 filters out natural frequency noise from the first filtered signal SF1 to generate a second filtered signal SF2. The natural frequency noise can be noise generated by the object 300 during normal movement. For example, the object 300 is a tooth fork used to move a wafer, but this disclosure is not limited thereto. The natural frequency of the natural frequency noise is, for example, below 200 Hz. Therefore, the second filter 130 filters out natural frequency noise with frequencies below 200 Hz to generate the second filtered signal SF2.
[0043] In this embodiment, the third filter 140 is coupled to the second filter 130. The third filter 140 receives the second filtered signal SF2. The third filter 140 generates a sensing signal SS based on the slope of the second filtered signal SF2. Therefore, in other words, the third filter 140 generates the sensing signal SS based on the variation of the second filtered signal SF2.
[0044] It is worth mentioning that the sensing circuit 100 uses a first filter 120, a second filter 130, and a third filter 140 to convert the acceleration signal SG into a sensing signal SS. The sensing circuit 100 does not use a Fast Fourier Transform (FFT) to convert the acceleration signal SG into the sensing signal SS. In this way, compared to the FFT, the sensing circuit 100 disclosed herein can generate the sensing signal SS in a shorter time frame. During the movement of the object 300, the sensing circuit 100 can generate the sensing signal SS in real time.
[0045] In this embodiment, the third filter 140 can differentiate the second filtered signal SF2 to generate a sensing signal SS. For example, the third filter 140 can perform partial differentiation of the second filtered signal SF2 in the direction of the acceleration of the object 300 to generate the sensing signal SS.
[0046] In this embodiment, the sensing circuit 100 further includes a determination circuit 150. The determination circuit 150 is coupled to the third filter 140. The determination circuit 150 receives a sensing signal SS. The determination circuit 150 determines whether the object 300 has collided based on the sensing signal SS.
[0047] In this embodiment, the accelerometer 110, the first filter 120, the second filter 130, the third filter 140, and the judgment circuit 150 can be integrated into a single chip. The chip can be disposed on the object 300. In some embodiments, the accelerometer 110, the first filter 120, the second filter 130, the third filter 140, and the judgment circuit 150 can be integrated into different chips.
[0048] Please refer to Figure 1 as well as Figure 2 , Figure 2 This is a waveform diagram of the acceleration signal, the second filtered signal, and the sensing signal shown in an embodiment of this disclosure. In this embodiment, the movement of the object 300 is divided into movement segments P1 to P15. Figure 2 The waveforms of the acceleration signal SG, the second filtered signal SF2, and the sensing signal SS are shown in the motion segments P1 to P15, respectively. The acceleration signal SG is affected by external power supply interference and high-frequency noise. The mounting method of the accelerometer 110 results in a base level of "-1". The external power supply can be a DC power supply or an AC power supply. Furthermore, in the motion segments P1 to P15, the acceleration value of the acceleration signal SG exhibits complex fluctuations due to high-frequency noise interference.
[0049] The sensing circuit 100 filters out external power supply interference, high-frequency noise, and natural frequency noise from the acceleration signal SG to generate a second filtered signal SF2. Therefore, the second filtered signal SF2 has a fundamental level equal to "0". High-frequency noise and natural frequency noise are both filtered out. Thus, the second filtered signal SF2 retains the acceleration value fluctuations caused by the collision or vibration of the object 300.
[0050] The sensing circuit 100 differentiates the second filtered signal SF2 to generate a sensing signal SS. Therefore, the acceleration fluctuations in the sensing signal SS are amplified. For example, the sensing signal SS exhibits significant acceleration fluctuations in the moving segment P5. Therefore, the determination circuit 150 determines that the object 300 has collided in the moving segment P5.
[0051] In this embodiment, the acceleration value can be a voltage value, but this disclosure is not limited thereto.
[0052] For example, object 300 may be a fork used to move a wafer, but this disclosure is not limited thereto. Taking moving sections P1 to P4 as examples, moving section P1 may be the rotation of object 300 and its upward movement in a first direction. Moving section P2 may be the movement of object 300 in a second direction (extending the fork). Moving section P3 may be the upward movement of object 300 in the first direction (contacting the wafer). Moving section P4 may be the movement of object 300 in a third direction opposite to the second direction (retracting the fork). This disclosure is not limited to the operation of moving sections P1 to P4.
[0053] In this embodiment, the determination circuit 150 is, for example, a central processing unit (CPU), or other programmable general-purpose or special-purpose microprocessor, digital signal processor (DSP), programmable controller, application-specific integrated circuit (ASIC), or programmable logic device (PLD).
[0054] Please refer to Figure 1 , Figure 2 as well as Figure 3 , Figure 3This is a flowchart illustrating an operation method according to an embodiment of the present disclosure. In this embodiment, operation method S100 can be used in sensing circuit 100. Operation method S100 includes steps S110 to S160. In step S110, accelerometer 110 generates an acceleration signal SG based on the movement of object 300. In step S120, first filter 120 filters out external power supply interference of acceleration signal SG and reduces high-frequency noise of acceleration signal SG to generate a first filtered signal SF1. In step S130, second filter 130 filters out natural frequency noise of first filtered signal SF1 to generate a second filtered signal SF2. In step S140, third filter 140 generates a sensing signal SS based on the slope of second filtered signal SF2.
[0055] The implementation details of steps S110~S140 have already been provided. Figure 1 The embodiments are clearly illustrated and will not be repeated here.
[0056] In step S150, the determination circuit 150 determines whether the object 300 has collided based on the sensing signal SS. In this embodiment, the sensing signal SS includes at least one of the segment signals S1 to S15 corresponding to the movement segments P1 to P15 of the object 300 (this disclosure is not limited to the number of movement segments P1 to P15 and the number of segment signals S1 to S15). The determination circuit 150 can determine whether the object 300 has collided in the movement segments P1 to P15 based on the segment signals S1 to S15. In other words, once the segment signal S1 corresponding to the movement segment P1 is generated, the determination circuit 150 can determine whether the object 300 has collided in the movement segment P1. Once the segment signal S2 corresponding to the movement segment P2 is generated, the determination circuit 150 can determine whether the object 300 has collided in the movement segment P2, and so on.
[0057] The determination circuit 150 can determine whether the object 300 has collided in the movement segments P1 to P15 based on the thresholds T1 to T15 corresponding to the movement segments P1 to P15 and the segment signals S1 to S15. Taking the segment signal S1 corresponding to the movement segment P1 as an example, in step S150, the determination circuit 150 determines whether the object 300 has collided in the movement segment P1 based on the threshold T1 corresponding to the movement segment P1 and the segment signal S1 corresponding to the movement segment P1. When the acceleration value of the segment signal S1 corresponding to the movement segment P1 is greater than the threshold T1, the determination circuit 150 determines that the object 300 has collided in the movement segment P1. Therefore, in step S160, the determination circuit 150 records at least one of the movement segment P1 corresponding to the collision and the warning notification signal SN. Next, the accelerometer 110 executes step S110 to sense the segment signal S2 corresponding to the movement segment P2.
[0058] In step S160, the determination circuit 150 may provide a warning notification signal SN to a control device (not shown) for controlling the object 300. The control device responds to the warning notification signal SN by outputting a collision warning signal for the object 300. For example, the collision warning signal may be a warning sound, a warning image, a warning text, and / or a warning light, but this disclosure is not limited thereto.
[0059] The determination circuit 150 can perform wired or wireless communication with the control device to complete the pairing between the sensing circuit 100 and the control device. During the operation of the controlled object 300, the control device provides the current movement segment of the controlled object 300 (e.g., movement segment P1~P15) to the determination circuit 150. Therefore, during the sensing of the object 300, the determination circuit 150 can know the current movement segment of the object 300 and determine whether the object 300 has collided based on the threshold of the current movement segment (e.g., threshold T1~T15).
[0060] On the other hand, when the acceleration value of segment signal S1 is less than or equal to the threshold T1, the determination circuit 150 determines that the object 300 has not collided in the moving segment P1. Therefore, the accelerometer 110 executes step S110 to sense the segment signal S2 corresponding to the moving segment P2.
[0061] Please refer to Figure 4 And Table 1, Figure 4 This is a schematic diagram of a sensing circuit according to an embodiment of the present disclosure. Table 1 records the segment reference values B1~B15, weights W1~W15, and thresholds T1~T15 corresponding to the moving segments P1~P15.
[0062] Table 1:
[0063]
[0064] In this embodiment, the sensing circuit 100 includes an accelerometer 110, a first filter 120, a second filter 130, a third filter 140, and a judgment circuit 250. The operation of the accelerometer 110, the first filter 120, the second filter 130, and the third filter 140 has already been determined. Figures 1 to 3 The various embodiments are clearly illustrated and will not be repeated here.
[0065] In Table 1, the judgment circuit 250 generates thresholds T1 to T15 corresponding to the movement segments P1 to P15. Based on the various movement modes of the movement segments P1 to P15, the thresholds T1 to T15 may not be exactly the same.
[0066] The judgment circuit 250 can receive segment reference values B1 to B15 and weights W1 to W15 corresponding to movement segments P1 to P15. For example, the judgment circuit 250 generates a threshold T1 based on the segment reference value B1 corresponding to movement segment P1 and the weight W1 corresponding to movement segment P1. The judgment circuit 250 generates a threshold T2 based on the segment reference value B2 corresponding to movement segment P2 and the weight W2 corresponding to movement segment P2. Similarly, the judgment circuit 250 generates a threshold T15 based on the segment reference value B15 corresponding to movement segment P15 and the weight W15 corresponding to movement segment P15.
[0067] For example, the decision circuit 250 multiplies the segment reference value B1 by the weight W1 to generate a threshold T1 (i.e., 0.5 × 4 = 2). The decision circuit 250 multiplies the segment reference value B2 by the weight W2 to generate a threshold T2 (i.e., 0.2 × 4 = 0.8), and so on.
[0068] In this embodiment, the segment reference values B1~B15 and / or weights W1~W15 can be adjusted according to actual needs or applications. For example, the segment reference values B1~B15 and weights W1~W15 can be provided by a control device (not shown) for controlling the object 300. The determination circuit 250 receives the segment reference values B1~B15 and weights W1~W15 from the control device. The user can modify the weights W1, for example, through the operation interface of the control device. Therefore, the determination circuit 250 can receive the modified weights W1, thereby modifying the threshold T1.
[0069] by Figure 2 Taking the sensing signal SS as an example, in the movement segment P3, the sensing signal SS (i.e., segment signal S3) exhibits significant fluctuations in acceleration values. However, analysis reveals that the acceleration value fluctuations corresponding to the movement segment P3 are not caused by a collision with object 300. Instead, the acceleration value fluctuations corresponding to the movement segment P3 are caused by the vibration of object 300. The vibration of object 300 is acceptable. Therefore, the weight W3 corresponding to the movement segment P3 can be increased. Consequently, the threshold T3 is also increased.
[0070] In this embodiment, during the operation of the controlled object 300, the control device provides the current movement segment of the controlled object 300 to the determination circuit 250. Therefore, during the sensing of the object 300, the determination circuit 250 can know the current movement segment of the object 300 and determine whether the object 300 has collided based on the threshold of the current movement segment.
[0071] Please refer to Figure 4 , Figure 5 And Table 1, Figure 5This is a flowchart illustrating an operation method according to an embodiment of the present disclosure. In this embodiment, operation method S200 can be used in sensing circuit 200. Operation method S200 includes steps S210 to S270. In step S210, determination circuit 250 sets thresholds T1 to T15 for movement segments P1 to P15. Determination circuit 250 can determine based on... Figure 4 And the embodiments in Table 1 are used to set the thresholds T1 to T15.
[0072] In step S220, the accelerometer 110 generates an acceleration signal SG based on the movement of the object 300. In step S230, the first filter 120 filters out external power supply interference from the acceleration signal SG and reduces high-frequency noise in the acceleration signal SG to generate a first filtered signal SF1. In step S240, the second filter 130 filters out natural frequency noise from the first filtered signal SF1 to generate a second filtered signal SF2. In step S250, the third filter 140 generates a sensing signal SS based on the slope of the second filtered signal SF2. The implementation details of steps S220-S250 are already described in [the original text]. Figure 1 The embodiments are clearly illustrated and will not be repeated here.
[0073] In step S260, the determination circuit 250 determines whether the object 300 has collided based on thresholds T1~T15 and the sensing signal SS. Once the segment signal S1 corresponding to the moving segment P1 is generated, the determination circuit 250 can determine whether the object 300 has collided in the moving segment P1 based on threshold T1 and segment signal S1. The determination circuit 250 can then determine whether the object 300 has collided in the moving segment P2 based on threshold T2 and segment signal S2, and so on.
[0074] Taking the segment signal S1 corresponding to the moving segment P1 as an example, in step S260, the determination circuit 250 determines whether the object 300 has collided in the moving segment P1 based on the threshold T1 and the segment signal S1. When the acceleration value of the segment signal S1 corresponding to the moving segment P1 is greater than the threshold T1, the determination circuit 250 determines that the object 300 has collided in the moving segment P1. Therefore, in step S270, the determination circuit 250 records at least one of the moving segment P1 corresponding to the collision and the warning notification signal SN. Next, the accelerometer 110 executes step S220 to sense the segment signal S2 corresponding to the moving segment P2. On the other hand, when the acceleration value of the segment signal S1 is less than or equal to the threshold T1, the determination circuit 250 determines that the object 300 has not collided in the moving segment P1. Therefore, the accelerometer 110 executes step S220 to sense the segment signal S2 corresponding to the moving segment P2.
[0075] In summary, the sensing circuit utilizes a first filter, a second filter, and a third filter to convert the acceleration signal into a sensing signal. The sensing circuit does not use a Fast Fourier Transform (FFT) to convert the acceleration signal into a sensing signal. Therefore, compared to the FFT, the sensing circuit disclosed herein can generate a sensing signal in a shorter time frame. The sensing circuit can determine in real time whether a collision has occurred.
[0076] Although this disclosure has been described above with reference to embodiments, it is not intended to limit this disclosure. Any person skilled in the art may make some modifications and refinements without departing from the scope of this disclosure. Therefore, the scope of protection of this disclosure shall be determined by the scope of the appended claims.
Claims
1. A sensing circuit for sensing a collision of objects, characterized in that, The sensing circuit includes: An accelerometer is mounted on the object and configured to generate an acceleration signal based on the movement of the object; A first filter is coupled to the accelerometer and configured to filter out external power supply interference of the acceleration signal and reduce high-frequency noise of the acceleration signal to generate a first filtered signal. A second filter, coupled to the first filter and configured to filter out natural frequency noise from the first filtered signal to generate a second filtered signal; and A third filter is coupled to the second filter and configured to generate a sensing signal based on the slope of the second filtered signal.
2. The sensing circuit according to claim 1, characterized in that, The third filter differentiates the second filtered signal to generate the sensing signal.
3. The sensing circuit according to claim 1, characterized in that, The sensing circuit further includes: A determination circuit, coupled to the third filter, is configured to determine whether the object has collided based on the sensing signal.
4. The sensing circuit according to claim 3, characterized in that: The sensing signal includes at least one of multiple segment signals corresponding to multiple movement segments of the object, and The judgment circuit determines whether the object collides in the first moving segment based on a first threshold corresponding to the first moving segment among the plurality of moving segments and the first segment signal among the plurality of segment signals.
5. The sensing circuit according to claim 4, characterized in that, When the acceleration value of the signal in the first segment is greater than the first threshold, the judgment circuit determines that the object has collided in the first moving segment.
6. The sensing circuit according to claim 4, characterized in that, When the acceleration value of the first segment signal is greater than the first threshold, the judgment circuit records the first segment signal.
7. The sensing circuit according to claim 4, characterized in that, When the acceleration value of the first segment signal is greater than the first threshold, the judgment circuit provides a warning notification signal.
8. The sensing circuit according to claim 4, characterized in that, When the acceleration value of the signal in the first segment is less than or equal to the first threshold, the judgment circuit determines that the object has not collided in the first moving segment.
9. The sensing circuit according to claim 4, characterized in that, The judgment circuit generates the first threshold based on a first segment reference value corresponding to the first moving segment and a first weight corresponding to the first moving segment.
10. The sensing circuit according to claim 9, characterized in that, The judgment circuit multiplies the first segment reference value by the first weight to generate the first threshold.