The application discloses a self-focusing ultrasonic
transducer, a sweeping
robot and an
acoustic impedance calculation method, and relates to the technical field of self-focusing ultrasonic transducers.The self-focusing ultrasonic
transducer comprises a support, the bottom of the support is provided with a concave spherical surface, the periphery of the concave spherical surface is provided with an annular plane, the upper end of the support is provided with a connecting joint; a cross-linked
polypropylene piezoelectric
electret film, the upper and lower surfaces of the cross-linked
polypropylene piezoelectric
electret film are printed with conductive
silver paste and covered in the concave spherical surface; a shielding wire, one end of the shielding wire is connected with the lower surface edge of the cross-linked
polypropylene piezoelectric
electret film, and the other end is connected with the connecting joint and used as a positive
electrode; a
silver film, the silver layer is plated on the surface of the support, the upper surface of the cross-linked polypropylene piezoelectric electret film is connected with the connecting joint and used as a negative
electrode. The self-focusing ultrasonic
transducer can realize self-focusing of
acoustic energy, and can identify and detect the acoustic resistance of a reflected object, identify different materials of the reflected object, and control the
robot to switch different working
modes according to different materials.