Ultrasonic obstacle avoidance technology is based on acquiring the distance and position information of obstacles in front of the robot . Therefore, the ultrasonic obstacle avoidance technology mainly uses ultrasonic sensors. According to the principle of ultrasonic ranging, combined with the matrix structure design concept, the data fusion on the obstacles in front of the robot The distance and location are positioned.
There are many methods for ultrasonic ranging technology, such as phase detection method, acoustic amplitude detection method and transit time detection method. This paper is the most commonly used method for ultrasonic time ranging. That is, in the case where the speed of sound is known, the distance is obtained by measuring the time elapsed by the ultrasonic echo. The schematic diagram is shown in the figure.
In order to establish an intelligent sweeping robot obstacle avoidance control system, it is important to make the intelligent sweeping robot stable and continuous obstacle avoidance. At the same time, the obstacle avoidance algorithm should be designed according to the parameters such as the speed and reaction time of the intelligent sweeping robot walking system. .
The TDC-GP22 chip from Shenzhen Shiqiang can meet the above design and application requirements. It is completely a single-chip proxy for all channels of ultrasonic transmission and reception. AMS's time-to-digital converters, which are produced using purely digital CMOS technology, can quantify time-interval measurements to 22 ps, and can be said to have the mission of driving the advancement of ultrasonic obstacle avoidance technology.
Figure 1: Schematic diagram of ultrasonic ranging
The time-to-digital converter TDC is the technical core of the chip TDC-GP22, which uses the absolute time delay of the signal through the logic gate to accurately quantize the time interval. And this high-precision time measuring unit TDC has a resolution of 22ps.
Important features of the TDC-GP22 represented by Shiqiang include:
â— Temperature measurement accuracy (2mkrms);
â— Temperature drift of TOF flight time difference (<0.3ps/k);
• Provides a complete analog front end for ultrasonic obstacle avoidance technology: an internal integrated chopper-stabilized internal low noise comparator (comparator trigger offset range of ±35mV) and low crosstalk analog switch, which solves the engineer's analog part design The problem has improved the quality of the system measurement.
The TDC-GP22 pulse generator can directly drive the ultrasonic transducer in time measurement without additional driver chip, simplifying design and reducing cost; high-precision time measurement, simple external circuit, integrated internal signal processing algorithm The ultra-low overall power measurement characteristics make it ideal for ultrasonic obstacle avoidance technology applications.
Three important functions of TDC-GP22
Since the TDC-GP22 is developed on the basis of the TDC-GP21, the functions, pins, and registers of the TDC-GP22 are 100% compatible (replaceable 1:1). In addition to all the features of the TDC-GP21, the TDC-GP22 adds three important features. The reason why the TDC-GP22 is a revolution in ultrasonic obstacle avoidance technology is closely related to these three important new functions.
â— Smart first echo detection function. The TDC-GP22 makes the time window setting no longer affected by the time difference variation, enabling accurate pulse interval measurements.
â— The first wave pulse width measurement function (currently only TDC-GP22 can be implemented on the market). The pulse width measurement of GP22 can help determine the echo signal quality.
â— Simplified multi-pulse result calculation function. The TDC-GP22 chip will automatically process the calculated 3 pulse results and give an average. In this way, the entire measurement process is simplified, and the measurement result is completely completed by the TDC-GP22. The MCU only needs to directly read the result, saves the MCU resources, and meets the requirements of low-cost and high-precision measurement.
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