CN209518838U - Sweeping robot and its traveling wheel tachometer pulse circuit - Google Patents
Sweeping robot and its traveling wheel tachometer pulse circuit Download PDFInfo
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- CN209518838U CN209518838U CN201822212528.1U CN201822212528U CN209518838U CN 209518838 U CN209518838 U CN 209518838U CN 201822212528 U CN201822212528 U CN 201822212528U CN 209518838 U CN209518838 U CN 209518838U
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- traveling wheel
- tachometer pulse
- tachometer
- sweeping robot
- pulse
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- 238000010408 sweeping Methods 0.000 title claims abstract description 39
- 238000007493 shaping process Methods 0.000 claims abstract description 28
- 238000012360 testing method Methods 0.000 claims abstract description 6
- 239000003990 capacitor Substances 0.000 claims description 20
- 238000005070 sampling Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 230000006698 induction Effects 0.000 claims description 3
- 238000012512 characterization method Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000004513 sizing Methods 0.000 description 1
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Abstract
The utility model provides a kind of sweeping robot and its traveling wheel tachometer pulse circuit, including tachometer pulse generation module and shaping pulse module, for being electrically connected with traveling wheel and traveling wheel wheel speed being converted into pulse signal, the shaping pulse module connect with the output end of tachometer pulse generation module and carries out shaping filter to the pulse signal of tachometer pulse generation module the tachometer pulse generation module.In the utility model, the pulse signal for the characterization traveling wheel wheel speed that the tachometer pulse generation module generates, after shaping trigger carries out shaping filter, by the jamming incoherent signal target signal filter of pulse waveform signal, and then keep the impulse waveform of output more smooth, guarantee the subsequent accuracy to test the speed.
Description
Technical field
The utility model relates to velocity measuring technique field more particularly to a kind of sweeping robot traveling wheel tachometer pulse circuit and
Using its sweeping robot.
Background technique
In to the technology tested at present the wheel speed of machine, typically carried out using the signal of hall detector
Position and speed feedback, does not increase other position and speed detecting elements.
Measured using hall signal to revolving speed and generally use two methods: one is use hall signal progress all the way
Measurement, since one-channel signal resolution ratio is lower, feedback cycle is long, is generally used for High-speed Control field；One is utilizations
Three road hall signals generate the frequency-doubled signal of 6 times of hall signal frequencies all the way, then to it by logic circuit or algorithm
It measures.But hall signal is easy the interference by external magnetic field, generates clutter, is unfavorable for the stability to test the speed and accuracy.
Utility model content
The primary and foremost purpose of the utility model is intended to provide a kind of sweeping robot traveling wheel that detection accuracy can be improved and tests the speed
Impulse circuit.
Another of the utility model is designed to provide a kind of above-mentioned sweeping robot traveling wheel tachometer pulse electricity of use
The sweeping robot on road.
To achieve the goals above, the utility model the following technical schemes are provided:
A kind of sweeping robot traveling wheel tachometer pulse circuit, including tachometer pulse generation module and shaping pulse module,
For the tachometer pulse generation module for being electrically connected with traveling wheel and traveling wheel wheel speed being converted into pulse signal, the pulse is whole
Shape module connect with the output end of tachometer pulse generation module and carries out shaping filter to the pulse signal of tachometer pulse generation module
Wave.
Preferably, the tachometer pulse generation module includes latch Hall switch, interior to be equipped with copped wave sampling unit simultaneously
The magnetic induction intensity of motor for driving traveling wheel to rotate is sampled to form the tachometer pulse.
Preferably, the latch Hall switch is MT1401-EN chip.
Preferably, further include for the tachometer pulse circuit power supply power supply and with the voltage of MT1401-EN chip it is defeated
Enter the filter unit that end is connected with power supply.
Preferably, the filter unit includes that first capacitor and one end that one end is connect with power supply and the voltage are defeated
Enter the other end ground connection of the second capacitor of end connection, the first capacitor and the parallel connection of the second capacitor and two capacitors.
Preferably, the capacitance of the first capacitor is greater than the capacitance of the second capacitor.
Preferably, the shaping pulse module includes the shaping touching connecting with the output end of the tachometer pulse generation module
Send out device.
Preferably, pull-up resistor is electrically connected between the tachometer pulse generation module and the shaping trigger.
Preferably, the traveling wheel includes left traveling wheel and right traveling wheel, the tachometer pulse generation module and sizing die
There are two block is all provided with, two tachometer pulse generation modules connect one to one with the left traveling wheel and right traveling wheel.
As second aspect, the utility model relates to a kind of sweeping robots, including above-mentioned sweeping robot traveling wheel to survey
Fast impulse circuit.
Compared with prior art, the embodiment of the utility model has the advantage that
1. passing through the tachometer pulse generation module in the sweeping robot traveling wheel tachometer pulse circuit of the utility model
The pulse signal of characterization traveling wheel wheel speed is generated, and after shaping trigger is filtered, by the interference of pulse waveform signal
Noise target signal filter guarantees the subsequent accuracy to test the speed to keep the impulse waveform of output more smooth；Meanwhile the machine of sweeping the floor
People's traveling wheel tachometer pulse circuit is applied in sweeping robot, ensure that the traveling wheel tachometer signal of sweeping robot is more steady
It is fixed, accurate, the travelling control precision of sweeping robot is improved, operating efficiency is improved, also avoids sweeping robot and obstacle
Object collides.
Detailed description of the invention
The utility model is above-mentioned and/or additional aspect and advantage from the following description of the accompanying drawings of embodiments will
Become obvious and be readily appreciated that, in which:
Fig. 1 is the circuit block diagram of the sweeping robot traveling wheel tachometer pulse circuit of the utility model；
Fig. 2 is the circuit diagram of the sweeping robot traveling wheel tachometer pulse circuit of the utility model；
Fig. 3 is the impulse waveform variation diagram of the utility model.
Specific embodiment
The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and is only used for explaining the utility model, and cannot be construed to the utility model
Limitation.
Those skilled in the art of the present technique are appreciated that unless expressly stated, arrange used in the specification of the utility model
Diction " comprising " refer to that there are the feature, integer, step, operation, zero/component and/or components, but it is not excluded that in the presence of or add
Add other one or more features, integer, step, operation, zero/component, component and/or their group.It should be understood that working as us
When zero/component being claimed to be "connected" to another zero/component, it can be directly connected to other zero/components, or there may also be in
Between zero/component.Wording "and/or" used herein includes one or more associated wholes for listing item or any cell
With whole combinations.
As depicted in figs. 1 and 2, the utility model relates to a kind of (the following letters of sweeping robot traveling wheel tachometer pulse circuit
Claim " impulse circuit "), for providing a kind of tachometer pulse of high measurement accuracy, in order to accurately measure the revolving speed of traveling wheel,
And then conveniently traveling wheel is controlled, improve the operating efficiency of sweeping robot and sweeping robot and barrier is avoided to occur
Collision.
The impulse circuit includes tachometer pulse generation module 100 and shaping pulse module 200, and the tachometer pulse generates
Module 100 is used to be electrically connected the pulse signal for generating characterization walking wheel speed with traveling wheel, and the shaping pulse module 200 connects
It connects, and the pulse signal that tachometer pulse generation module 100 exports is carried out whole in the output end of tachometer pulse generation module 100
Shape filtering, so that the interference signal mixed in the pulse signal that tachometer pulse generation module 100 is exported is filtered out, so that pulse
The rising edge and failing edge waveform of signal are precipitous, and intensifier pulse driving capability keeps traveling wheel tachometer signal more stable, accurate.
The tachometer pulse generation module 100 includes latch Hall switch 10, interior equipped with copped wave sampling unit, described
Copped wave sampling unit is used to sample the magnetic induction intensity of the motor of driving traveling wheel rotation, to form the tachometer pulse.
In the present embodiment, the latch Hall switch 10 is preferably MT1401-EN chip；Its specific implementation process are as follows:
Disk is fixed on the rotor of motor, by latch Hall switch 10 near disk, after motor rotation, disk meeting
Primary close to latch Hall switch 10 within certain period, such latch Hall switch 10 will export a high level,
When disk is far from latch Hall switch 10, latch Hall switch 10 exports a low level, and then tests the speed described in formation
Pulse.
The sweeping robot traveling wheel tachometer pulse circuit further includes the power supply for tachometer pulse circuit power supply
And the filter unit 300 being connect with the voltage input end of MT1401-EN chip and power supply, so as to filter out power supply
Bring interference signal makes supply voltage keep stablizing.
The filter unit 300 include the first capacitor C1 (or C3) that is connect with power supply of one end and one end with it is described
Second capacitor C2 (or C3) of voltage input end connection, the first capacitor C1 (or C3) and the second capacitor C2 (or C3) are in parallel
And the other end ground connection of two capacitors, the capacitance of the first capacitor C1 (or C3) are greater than the electricity of the second capacitor C2 (or C3)
Capacity.
The shaping pulse module 200 includes shaping trigger 20, preferably Schmidt trigger.The MT1401-EN
The output end of chip is electrically connected with the input terminal of the shaping trigger 20, and then the MT1401-EN chip is by tachometer pulse
It is sent at shaping trigger 20, shaping trigger 20 carries out shaping filter to tachometer pulse, miscellaneous in tachometer pulse to eliminate
Wave keeps the waveform of tachometer pulse more smooth, as shown in Figure 3.
The output end of the Schmidt trigger be used for monolithic mechatronics, by the survey after shaping pulse module shaping
Rapid pulse punching is transmitted in single-chip microcontroller, carries out processing calculating to the tachometer pulse by single-chip microcontroller, and then can obtain the revolving speed of motor, into
And calculate the wheel speed of traveling wheel.
It is electrically connected with pull-up resistor between the MT1401-EN and the Schmidt trigger, will apply to a certain extent
The voltage high of schmitt trigger input terminal, to be further ensured that the normal work of Schmidt trigger.
The traveling wheel includes left traveling wheel and right traveling wheel, the tachometer pulse generation module 100 and Shaping Module
There are two being all provided with, two tachometer pulse generation modules 100 connect one to one with the left traveling wheel and right traveling wheel, by
This corresponds to the tachometer pulse of two traveling wheels of output, so that single-chip microcontroller calculates separately the revolving speed of two traveling wheels.
The utility model further relates to a kind of sweeping robot of application sweeping robot traveling wheel tachometer pulse circuit, protects
The traveling wheel tachometer signal for having demonstrate,proved sweeping robot is more stable, accurate, so can be improved sweeping robot operating efficiency and
Sweeping robot is avoided to collide with barrier.
The above is only some embodiments of the utility model, it is noted that for the common skill of the art
For art personnel, without departing from the principle of this utility model, several improvements and modifications can also be made, these improve and
Retouching also should be regarded as the protection scope of the utility model.
Claims (10)
1. a kind of sweeping robot traveling wheel tachometer pulse circuit, it is characterized in that: including that tachometer pulse generation module and pulse are whole
Shape module, the tachometer pulse generation module with traveling wheel for being electrically connected and traveling wheel wheel speed being converted into pulse signal, institute
State shaping pulse module connect with the output end of tachometer pulse generation module and to the pulse signal of tachometer pulse generation module into
Row shaping filter.
2. sweeping robot traveling wheel tachometer pulse circuit according to claim 1, it is characterized in that: the tachometer pulse is raw
It include latch Hall switch at module, it is interior equipped with copped wave sampling unit and to the magnetic of the motor for driving traveling wheel to rotate
Induction is sampled to form the tachometer pulse.
3. sweeping robot traveling wheel tachometer pulse circuit according to claim 2, it is characterized in that: the latch Hall
Switch is MT1401-EN chip.
4. sweeping robot traveling wheel tachometer pulse circuit according to claim 3, it is characterized in that: further including testing the speed for this
The power supply of impulse circuit power supply and the filter unit being connect with the voltage input end of MT1401-EN chip and power supply.
5. sweeping robot traveling wheel tachometer pulse circuit according to claim 4, it is characterized in that: the filter unit packet
Include the first capacitor that one end is connect with power supply and the second capacitor that one end is connect with the voltage input end, first electricity
Hold in parallel with the second capacitor and two capacitors other end ground connection.
6. sweeping robot traveling wheel tachometer pulse circuit according to claim 5, it is characterized in that: the first capacitor
Capacitance is greater than the capacitance of the second capacitor.
7. sweeping robot traveling wheel tachometer pulse circuit according to claim 1, it is characterized in that: the shaping pulse mould
Block includes the shaping trigger connecting with the output end of the tachometer pulse generation module.
8. sweeping robot traveling wheel tachometer pulse circuit according to claim 7, it is characterized in that: the tachometer pulse is raw
Pull-up resistor is electrically connected between module and the shaping trigger.
9. sweeping robot traveling wheel tachometer pulse circuit according to claim 1, it is characterized in that: the traveling wheel includes
There are two left traveling wheel and right traveling wheel, the tachometer pulse generation module and Shaping Module are all provided with, two tachometer pulses
Generation module connects one to one with the left traveling wheel and right traveling wheel.
10. a kind of sweeping robot, it is characterized in that: including sweeping robot traveling wheel described in any one of claims 1 to 9
Tachometer pulse circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822212528.1U CN209518838U (en) | 2018-12-26 | 2018-12-26 | Sweeping robot and its traveling wheel tachometer pulse circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822212528.1U CN209518838U (en) | 2018-12-26 | 2018-12-26 | Sweeping robot and its traveling wheel tachometer pulse circuit |
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| Publication Number | Publication Date |
|---|---|
| CN209518838U true CN209518838U (en) | 2019-10-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201822212528.1U Active CN209518838U (en) | 2018-12-26 | 2018-12-26 | Sweeping robot and its traveling wheel tachometer pulse circuit |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112054741A (en) * | 2020-08-06 | 2020-12-08 | 深圳市杉川机器人有限公司 | Motor control method and device, terminal equipment and storage medium |
-
2018
- 2018-12-26 CN CN201822212528.1U patent/CN209518838U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112054741A (en) * | 2020-08-06 | 2020-12-08 | 深圳市杉川机器人有限公司 | Motor control method and device, terminal equipment and storage medium |
| CN112054741B (en) * | 2020-08-06 | 2022-06-03 | 深圳市杉川机器人有限公司 | Motor control method and device, terminal equipment and storage medium |
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Address after: 518000, 3rd Floor, Building A2, Nanshan Zhiyuan, No. 1001 Xueyuan Avenue, Changyuan Community, Taoyuan Street, Nanshan District, Shenzhen, Guangdong Province Patentee after: Shenzhen 3600 Smart Life Technology Co.,Ltd. Country or region after: China Address before: 518052 Room 201, building A, No. 1, Qian Wan Road, Qianhai Shenzhen Hong Kong cooperation zone, Shenzhen, Guangdong (Shenzhen Qianhai business secretary Co., Ltd.) Patentee before: SHENZHEN QIHU INTELLIGENT TECHNOLOGY CO.,LTD. Country or region before: China |