WO2018001340A1 - Self-mobile device - Google Patents

Abstract

A self-mobile device (100, 100'), comprising a power supply module (120), a mobile module (130, 130'), a controller (150, 150'), a task execution module (140, 140') and at least two sensor circuits (200, 200') for detecting an external object. The sensor circuit (200, 200') comprises a sensor probe (201, 201'), and a signal processing component (210, 210') connected to the sensor probe (201, 201') and used for processing and converting an input signal of the sensor probe (201, 201'). The power supply module (120) is simultaneously connected to signal processing components (210) of at least two sensor circuits (200) so as to supply power to the signal processing components (210). The sensor circuit (200, 200') comprises a first filtering element, wherein the first filtering element is connected in parallel to the signal processing component (210, 210'), and one end of the first filtering element is connected to a power supply input end of the signal processing component (210, 210'). By connecting the first filtering element to the power supply input end, a voltage of the signal processing component (210, 210') can be relatively stable, thereby reducing the signal interference effect on the sensor circuit (200, 200'), and an output signal can relatively accurately reflect a situation change in the grassland detected by the sensor probe (201, 201').

Description

Self-mobile device Technical field

The present invention relates to the field of mobile device technology, and in particular to a self-mobile device having a sensor circuit.

Background technique

With the development of science and the progress of society, environmental greening has become an important topic for people to study. As a kind of mechanical tool for mowing lawns and vegetation, intelligent lawn mowers have gradually entered people's lives and brought people from The liberation of the work of mowing the lawn provides great convenience for people's lives.

The intelligent lawn mower can realize automatic walking, prevent collision, prevent outlets within a certain range, and automatically return to charging. At the same time, it also has safety detection, battery power detection and certain climbing ability.

The sensor circuit is installed on the bottom of the intelligent lawn mower. Generally, the lawn mower has six sensor circuits, including sensor probes that are in contact with the outside. When the sensor probes change with the corresponding grassland height, the frequency of the output signal changes. Recognition of grassland is achieved by reading changes in frequency values. When the six-way sensor probe is turned on at the same time, since the output signal is an oscillating signal, it will cause interference to other sensor probes through the power supply. Therefore, mutual interference occurs between the sensor probes, so that the output signal is distorted to a certain extent, and thus cannot be accurately judged. The grass condition corresponding to the sensor probe.

The sensor circuit of the intelligent mower includes a probe for detecting the grass; to protect the probe from damage, the capacitive sensor further includes an end cover disposed at the bottom of the capacitive sensor, and the end cover separates the grass from the probe. However, for the traditional intelligent lawn mower, the end cover of the bottom of the capacitive sensor is not conducive to the propagation of the probe electric field, resulting in poor sensitivity of the capacitive sensor and poor grass detection.

Summary of the invention

Based on this, it is necessary to provide a self-moving device for the problem existing in the prior art, which can make the output signal relatively accurate and reflect the change of the grassland condition detected by the sensor probe.

A self-mobile device includes a housing, a power supply module, a mobile module, a controller, a task execution module, and at least two sensor circuits for detecting an external object; a power supply module, a mobile module, a controller, a task execution module, and a sensor circuit Mounted in the housing; the sensor circuit includes a sensor probe, a signal processing component connected to the sensor probe for processing and converting the sensor probe input signal; the signal processing component is provided with a first signal input end and a first signal output end, First The signal input end is electrically connected to the sensor probe, and the original information detected by the sensor probe is input, the first signal output end is electrically connected to the controller, and outputs a shaped signal processed by the signal processing component; the controller and the controller The mobile module and the task execution module are electrically connected to control movement of the mobile module according to the output signal of the sensor circuit, and control the task execution module to perform a task; the power supply module is simultaneously connected with the signal processing component of at least two sensor circuits Supplying the signal processing component; the sensor circuit further includes a first filter component, the first filter component is coupled in parallel with the signal processing component, and one end of the first filter component is coupled to a power supply of the signal processing component The input terminal, that is, one end of the first filter component is connected to the power supply input end of the signal processing component, and the other end is connected to the reference ground end of the sensor circuit. By intervening the first filter component at the power supply input end of the signal processing component, the voltage at the power supply input terminal can be made smoother, and the signal interference received in the sensor circuit can be reduced.

Preferably, the first filter component comprises a first filter capacitor, one end of the first filter capacitor is connected to a power input end of the signal processing component, and the other end is connected to a reference ground end of the sensor circuit. Because the signal interference received in the sensor circuit is mainly the mutual interference between the sensor circuits, by connecting the capacitors on each sensor circuit, the mutual interference between the sensor circuits can be effectively reduced.

Preferably, a plurality of said first filter capacitors are formed in parallel to form said first filter element. After the filter capacitors are connected in parallel, the capacity of the capacitor can be effectively increased, and the absorption of the interference signal can be stronger. .

Preferably, the first filter capacitor has a capacity of 1 nf ≤ C ≤ 470 uf.

Preferably, the first filter element comprises a high frequency filter capacitor for reducing high frequency signal interference and a parallel connection of low frequency filter capacitors for reducing low frequency signal interference. By connecting the high-frequency filter capacitor and the low-frequency filter capacitor in parallel, the high-frequency interference signal in the interference signal can be removed, and the low-frequency interference signal in the interference signal can be removed.

Preferably, the power supply module includes a voltage conversion module electrically connected to a power supply input end of the signal processing component for supplying the converted voltage to at least two sets of the signal processing components. By using the voltage conversion module to step down the power supply module, the hardware cost of the circuit can be effectively saved, and the complexity of the circuit is reduced.

Preferably, the sensor circuit further includes a second filter component electrically coupled between the voltage conversion module and at least two sets of signal processing component power supply inputs connected to the voltage conversion module.

Preferably, the second filter component comprises a first common mode inductor, and the first common mode inductor is provided An input end and an output end, the input end of the first common mode inductor is connected to the voltage conversion module, and the output end of the first common mode inductor is connected to the power supply input end of at least two sets of signal processing components. By setting the common mode inductance, it can effectively filter out the interference of the boundary, especially the common mode interference signal in the interference signal.

Preferably, the second filter component further comprises a second filter capacitor, the second filter capacitor being located between the first common mode inductor and the power supply input of at least two groups of signal processing components.

Preferably, the number of the second filter capacitors is at least 2, and the second filter capacitors are connected in parallel with each other.

Preferably, the distance of the first filter component from the power supply input pin of the signal processing component is less than or equal to the distance of the first filter component from the power supply module.

Preferably, the distance between the first filter element and the power supply input pin position of the signal processing component is less than or equal to 5 cm. By using the first filter element close to the power supply input pin of the signal processing component, the voltage at the power supply input terminal can be effectively stabilized.

Preferably, the first filter component further includes a second common mode inductor, the second common mode inductor includes an input end and an output end, and the input end of the second common mode inductor is connected to the power supply input end of the signal processing component One of the pins on the output is connected to the power input pin of the signal processing component, and the other output pin grounds the reference ground of the signal processing component.

Preferably, the signal processing component comprises a Schmitt trigger, a parallel resistor and a solid capacitor, the parallel resistor is connected in parallel with the Schmitt trigger, and the power supply module is connected with a Schmitt trigger for giving The Schmitt trigger is powered, the Schmitt trigger is provided with a second signal input end and a second signal output end, the sensor probe and the solid-state capacitor and the Schmitt trigger The second signal input terminal is electrically connected, the controller is electrically connected to the second signal output end of the Schmitt trigger, and the first filter element is connected to the power supply input end of the Schmitt trigger and is close to The power supply input pin of the Schmitt trigger.

Preferably, the distance between the probe and the surface below the mobile device is greater than or equal to 10 mm and less than or equal to 50 mm.

Preferably, the probe includes a detection surface located on an outer surface of the probe, and at least a portion of the detection surface has a conductivity of 10-9 s/m or more.

Preferably, a circuit protection component is further disposed between the sensor probe and the signal processing component for reducing the value of the electrical signal input by the capacitive sensor such that the value of the electrical signal of the input signal processing circuit is maintained within a preset range. The invention also provides an intelligent lawn mower, comprising the above sensor device road.

In addition, the sensor probes of the present invention can also operate in series.

Preferably, a detecting device comprises:

a sensing module, the output end of which is connected to the input end of the signal processing module for sensing the amount of the detected object under the device and converting into an electrical signal output; the sensing module includes at least two capacitive sensor detecting electrodes, each of the The capacitance sensor detecting electrodes are connected in series;

And a signal processing module, configured to convert an electrical signal output by the sensing module into a signal having a frequency f and output the signal.

Preferably, the capacitive sensor detecting electrode comprises two groups, one set being located at the front of the bottom of the device and the other set being located at the rear of the bottom of the device.

Preferably, the signal processing module comprises:

a Schmitt trigger having an input connected to an output of the sensing module;

a resistor connected between the input end and the output end of the Schmitt trigger;

The capacitor has one end connected to the input of the Schmitt trigger and the other end grounded.

Preferably, a control method for the device comprises the steps of:

Obtaining the frequency f of the signal processing module output signal;

Comparing the frequency f with the first preset frequency f ₁ and the second preset frequency F ₂ respectively, the first preset frequency f _{1 being} greater than the second preset frequency f ₂ ;

When the frequency f is less than the second preset frequency f ₂ , the control device keeps going straight while the control device clears the detected object;

When the frequency f is greater than or equal to the second preset frequency f ₂ and less than the first preset frequency f ₁ , the control device keeps going straight while the control device stops clearing the detected object;

When the frequency f is greater than or equal to a first predetermined frequencies f _1, the steering traveling control apparatus, the control device stops while the object to be detected cleared.

Preferably, a control device includes an acquisition unit for acquiring a frequency f of a signal output module output signal;

a comparing unit, configured to compare the magnitude of the frequency f with the first preset frequency f ₁ and the second preset frequency f ₂ , wherein the first preset frequency f _{1 is} greater than the second preset frequency f ₂ ;

a first control unit, configured to: when the frequency f is less than the second preset frequency F ₂ , the control device keeps going straight while the control device clears the detected object;

a second control unit, configured to: when the frequency f is greater than or equal to the second preset frequency F ₂ and less than the first preset frequency F ₁ , the control device keeps going straight while the control device stops clearing the detected object;

Third control means for, when the frequency f is greater than or equal to a first predetermined frequencies F _1, the steering traveling control apparatus, the control device stops while the object to be detected cleared.

Preferably, a control system comprises the above-described detection device and a control device as described above, the output of which is connected to the input of the control device.

Compared with the prior art, the beneficial effects of the present invention are: by setting the first filter component, the signal interference on the sensor circuit can be effectively reduced, so that the output signal can make the output signal relatively accurate, and the grassland condition detected by the sensor probe is changed. . In addition, by the setting of the second filter element, the external signal interference generated by the sensor circuit can be reduced. For example, the setting of the common mode inductor can effectively reduce the influence of the external common mode interference signal on the sensor circuit. Saving circuit hardware costs by connecting sensor probes in series.

DRAWINGS

The objects, technical solutions, and advantageous effects of the present invention described above can be achieved by the following figures:

1 is a bottom view of a smart lawn mower according to an embodiment of the present invention;

2 is a schematic diagram of a sensor circuit according to an embodiment of the present invention;

3 is a schematic diagram of a signal processing component in a sensor circuit according to an embodiment of the present invention;

4 is a schematic diagram of a multi-channel sensor circuit according to an embodiment of the present invention;

FIG. 5 is a partial schematic diagram of a sensor circuit according to an embodiment of the present invention; FIG.

6 is a schematic diagram of a multi-channel sensor circuit according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of a sensor probe according to an embodiment of the present invention; FIG.

FIG. 8 is a partial schematic diagram of a sensor circuit according to an embodiment of the present invention; FIG.

Figure 9 is a bottom plan view of a smart lawn mower according to another embodiment of the present invention;

Figure 10 is a schematic diagram of the sensor probe of the present invention in series;

11 is a schematic diagram of a self-moving device when the sensor probes of the present invention are connected in series;

12 is a flow chart of a method for controlling a sensor probe in series according to the present invention;

Figure 13 is a schematic view of the sensor probe of the present invention in series;

14 is a flow chart of a method for controlling a lawn mower when the sensor probes of the present invention are connected in series;

15 is a schematic structural view of a control device when the sensor probes are connected in series according to the present invention;

Figure 16 is a schematic view showing the structure of a control system of the present invention.

detailed description

In order to facilitate the understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention may be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the understanding of the present disclosure will be more fully understood.

All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. The terminology used in the description of the present invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and/or" used herein includes any and all combinations of one or more of the associated listed items. The term "electrical connection, connection" as used herein includes the electrical connection between two components directly through a wire, as well as the connection of other components between the two components.

Referring to FIG. 1, FIG. 1 is a schematic structural diagram of a self-mobile device according to a first embodiment of the present invention. In this embodiment, the self-moving device is the intelligent lawn mower 100, and in other embodiments, it may be an automatic snow sweeper, an automatic vacuum cleaner or the like. 1 is a bottom view of the smart mower 100, that is, a schematic view of the smart mower 100 from the ground facing the bottom end of the intelligent mower 100. It includes a housing 110, a power supply module 120 (see FIG. 4), a mobile module 130, a task execution module 140, and a controller 150 (see FIG. 4). The power supply module 120, the mobile module 130, the task execution module 140, and the controller 150 are all mounted on the housing 110. The mobile module 130 includes a wheel set, and is driven by a driving motor to drive the intelligent lawn mower 100 to move. The wheel set includes a front wheel. And the rear wheel. The task execution module 140 is a cutting module including a cutting assembly including a blade mounted to the bottom of the housing 110 to drive the cutting grass by a corresponding cutting motor. In this embodiment, the specific cutting mode is that the cutting motor rotates to drive the blade to rotate, thereby completing the corresponding cutting work. It can be understood that the movement of all or part of the cutting blade can also be changed into back-and-forward motion, left-right motion or other directions at an angle to the front-rear or left-right direction by angle or azimuth conversion.

Referring to Figures 1-2, in the present embodiment, the intelligent lawn mower 100 moves and operates in a work area defined by a limit (not shown). The intelligent lawn mower 100 includes a limit detection module that detects the positional relationship of the intelligent lawn mower 100 with respect to the limit. Boundaries include the boundaries between grass and non-grass boundaries, or fences of fences. The limit detection module includes a sensor circuit 200. The sensor circuit 200 identifies the grassland and the non-grass. The sensor circuit 200 transmits the detected current signal to the controller 150, and the controller 150 determines that the current ground is non-grass. The controller 150 controls the mobile module 130 to perform a reverse or steering into the grass to return the smart mower 100 to the corresponding grass boundary. When the mobile device is a vacuum cleaner, the sensor circuit 200 can be used It is detected whether there is any foreign object in the front. Of course, the sensor circuit 200 can also detect whether there is a touch condition from the mobile device. For example, when the touch screen is provided on the mobile device, the sensor circuit 200 detects whether there is a related operation by the touch method. Therefore, the sensor circuit 200 of the present invention is used to detect an external object.

With reference to FIG. 2, in the embodiment, the sensor circuit 200 includes at least a sensor probe 201, and a signal processing component 210 connected to the sensor probe 201 for processing and converting a signal corresponding to the sensor probe 201. The signal processing component 210 has a a signal input terminal a and a first signal output terminal b, the first signal input terminal a is electrically connected to the sensor probe 201 for receiving a grassland condition signal detected by the sensor probe 201, and the signal processing component 210 transmits the sensor probe The signal input by 201 is converted into a waveform reflecting the condition of the measured object; the first signal output terminal b is electrically connected to the controller 150 for further transmitting information processed by the signal processing component 210 to the controller. 150. That is, the signal processing component is provided with a first signal input end and a first signal output end, the first signal input end is electrically connected to the sensor probe 201, and the original information detected by the sensor probe 201 is input, the first The signal output is electrically coupled to the controller to output a shaped signal processed by the signal processing component. In this embodiment, the signal processing component 210 converts the signal input to the grassland condition input by the sensor probe 201 into a waveform that reflects the grassland condition through the signal frequency. Therefore, the information of the sensor probe 201 on the grassland condition can be obtained by outputting the signal frequency. Judge.

Referring to FIG. 3 to FIG. 4, FIG. 3 is a working principle diagram of the sensor circuit 200. When the smart mower 100 is in operation, a capacitance C1 is formed between the sensor probe 201 and a surface (grass or surface) under the intelligent mower 100. The signal output by the probe 201 is related to the medium between the two poles of the capacitor C1. When the surface under the sensor probe 201 is grass, that is, when the gap between the two poles of the capacitor C1 is grass, the capacitance C1 formed is relatively large; when the sensor probe 201 is not grass, that is, when the capacitance between the two poles is non-grass The formed capacitor C1 is relatively small. Therefore, the power supply module 120 charges and discharges the capacitor to form a waveform whose output frequency can vary with the capacitance C1, and further processes the formed waveform by the signal processing component 210 to form a square wave or other waveform that can be counted and read. The controller 150 reads the signal waveform and determines whether the underside of the sensor probe 201 is grass or non-grass.

Specifically, in the embodiment, the signal processing component 210 includes a Schmitt trigger 211, a parallel resistor 212, and a solid capacitor 213. In the present embodiment, the solid capacitor 213 includes a basic capacitor Cb disposed in the circuit and a capacitance Co between the ground of the circuit board and the ground. The parallel resistor 212 is connected in parallel with the Schmitt trigger 211. The special trigger 211 is provided with a second signal input terminal e And a second signal output terminal f, the one end of the parallel resistor 212 is connected to the second signal input end e of the Schmitt trigger 211, and one end is connected to the second signal output end f of the Schmitt trigger 211, Schmidt The second signal input end e of the trigger 211 is electrically connected, and the second signal output end f of the Schmitt trigger 211 is electrically connected to the controller 150, and outputs a square wave with variable frequency according to the grass condition corresponding to the sensor probe 201. signal. The controller 150 determines whether the sensor probe 201 is grass or non-grass by counting the number of square waves per unit time and comparing the obtained value with a standard value inside the controller 150.

It can be understood that for the type of equipment of the intelligent lawn mower 100, since the controller 150 needs to control a relatively large number of components, such as the above-described mobile module 130 or task execution module 140, the control of the sensor circuit 200, such as the control component 210. After the waveform signal is output, the relevant waveform signal can be sent to a separately set circuit board or controller U1 to calculate the waveform frequency and then compared with the standard value to determine whether there is grass, or can be directly sent to the self-moving lawn mower. The main circuit board or controller Z1 in 100 performs the above operation or performs a part of the above-described waveform counting, comparison, and judgment operation by a separately provided circuit board or controller U1, and the like.

Continuing to refer to FIG. 4, in the embodiment, the intelligent lawn mower 100 includes at least two sensor circuits 200. The power supply module 120 is connected to at least two sensor circuits 200 for supplying power to the sensor circuit 200.

The power supply module 120 in this embodiment is used to supply power to the sensor circuit 200. Since the power supply required by the general chip or the MCU or the control circuit is about 5v-12v, the power supply module 120 in this embodiment may be A low voltage power supply that separately supplies the sensor circuit 200, such as a button battery. It can also be a low voltage power supply obtained by stepping down the high voltage power supply. Specifically, in the embodiment, the sensor circuit 200 is powered by using a low voltage power supply obtained by stepping down the battery pack or the battery. Due to the moving characteristics of the intelligent lawn mower 100, the lawn mower uses a battery pack of 20V or more to perform power supply in series or in parallel. In order to reduce the circuit cost and complexity, the power required for the sensor circuit 200 can also be passed. A buck module is disposed in the power supply module 120 to step down the voltage of the battery pack, and the converted voltage is supplied to the sensor circuit 200 at the same time or more, that is, the power supply module 120 includes a battery pack or a battery pack 122 and voltage conversion. The module 121, and the battery or battery pack 122 is converted by the voltage conversion module 121 to obtain a low-voltage power supply 123, and the low-voltage power supply 123 is supplied to two or more sensor circuits 200, that is, after the voltage conversion module 121 of the power supply module 120 is converted. The low voltage power supply 123 simultaneously connects two or more sensor circuits 200. However, when the low voltage power supply 123 supplies power to the multi-channel sensor circuit 200, That is, when the capacitor C1 in each sensor circuit 200 and the solid capacitor 213 in the circuit are charged, since the progress of capacitance charging and discharging between the respective sensor circuits 200 is different, power supply ripple is generated, and the output is generated. The signal is distorted and does not reflect the grass condition detected by the sensor probe 201. In this embodiment, in order to make the output signal better reflect the grass condition detected by the sensor probe 201, the signal interference with other signals on the sensor circuit, especially the mutual interference generated between the multiple sensor circuits 200, is reduced. The sensor circuit 200 further includes a first filter component coupled to the power supply input of the signal processing component 210 for stabilizing the voltage of the power input of the signal processing component 210, the first filter component and the signal processing The components are connected in parallel, and one end of the first filter component is connected to the power input terminal of the signal processing component, that is, the sensor circuit further includes a first filter component, and one end of the first filter component is connected to the power supply of the signal processing component. The input end and the other end are connected to the reference ground of the sensor circuit.

With reference to FIG. 4, preferably, the first filter component is a first filter capacitor 124. One end of the first filter capacitor 124 is connected to the power input terminal of the signal processing component 210, and the other end is connected to the reference terminal GND1 of the sensor processing circuit. That is, one end of the first filter capacitor 124 is connected between the low-voltage power supply 123 and the Schmitt trigger 211, and the other end is connected to the ground GND1 of the sensor processing circuit 200. In order to better make the first filter capacitor 124 function as a stable voltage, the first filter capacitor 124 is close to the signal input component 210 or the power supply input pin of the Schmitt trigger 211. Preferably, the distance between the first filter capacitor 124 and the power input pin of the signal processing component 210 or the Schmitt trigger 211 is no more than 5 cm. By accessing the first filter capacitor 124 at the power supply input end of the signal processing component 210, the low voltage power supply 123 can charge the accessed first filter capacitor 124, so that the power required by the Schmitt trigger 211 can also be The first filter capacitor 124 is provided, so that the signal interference between the sensor circuits 200 can be effectively reduced, so that the output signal reflects the grass condition detected by the sensor probe 201 relative to the real one. It can be understood that since the first filter capacitor 124 needs to store the charge of the low voltage power supply 123 and supply it to the signal processing component 210 or the Schmitt trigger 211, there is a certain requirement for the capacity of the first filter capacitor. For the capacitive filtering effect, in theory, although the capacity of the capacitor is larger, the better the parasitic resistance in the capacitor capacity will be larger, the energy storage effect will be worse, and the withstand voltage value of the capacitor will be corresponding. Reduced; in addition, the larger the capacitor capacity, the higher the price. Preferably, for the selection of the size of the first filter capacitor 124 in the sensor circuit, 1nf≤C≤470uf, which can meet the withstand voltage requirement, is not only economical, but also can effectively reduce the mutual interference between the sensor circuits 200.

Referring to FIG. 2, it can be understood that, in the above embodiment of the present invention, the first filter component is It is also possible to be composed of a plurality of first filter capacitors 124 connected in parallel with each other. Specifically, the first filter element 124 includes two first filter capacitors 124 connected in parallel with each other. The first filter capacitor 124 connected in parallel with each other includes a high frequency filter capacitor for reducing high frequency signal interference and a low frequency signal. Parallel connection of disturbing low frequency filter capacitors. In this way, the interference signal can be better removed, and the output signal can be relatively accurately reflected in the grassland condition.

Referring to FIG. 5, in the above embodiment of the present invention, the first filter component may also include a common mode inductor. In this embodiment, the second common mode inductor 125 is named, and the input ends of the second common mode inductor 125 are respectively The low voltage power supply 123 is connected, one of the outputs of the second common mode inductor 125 is connected to the power supply input of the Schmitt trigger 211, and the other output is connected to the ground GND of the sensor circuit 200. The access of the second common mode inductor 125 can effectively reduce the interference of the external signal on the signal of the sensor circuit 200 and the mutual interference between the sensor circuit 200, so that the output signal relatively reflects the grass condition detected by the sensor probe 201, but When the common mode inductor 125 solves the signal interference, because it can only filter the common mode interference signal of the interference signal, that is, only the common mode interference current flows through the common mode inductor coil, due to the same direction of the common mode interference current, In the coil, the same direction is generated to increase the inductive reactance of the coil, so that the coil exhibits high impedance and generates a strong damping effect, thereby attenuating or preventing the common mode interference current, but it cannot effectively filter out the interference signal. Differential mode interference signal.

Referring to FIG. 6, the first filter component may include both the second common mode inductor 125 and the first filter capacitor 124 described above, and details are not described herein again.

When the intelligent lawn mower 100 is working, whether the movement of the self-moving module 130 by the corresponding motor in the mobile module 130 or the execution of the task by the corresponding motor-driven task execution module in the task execution module 140 will generate a large vibration. The voltage stability of the voltage conversion module 121 after conversion is greatly affected, that is, other working components of the intelligent lawn mower 100 may cause large interference to the power supply input end of the signal processing component 210.

In order to reduce the interference generated by other working components of the intelligent lawn mower 100 or the external influence on the low voltage power supply 123, with continued reference to FIG. 6, in the second embodiment of the present invention, the voltage conversion module 121 and the low voltage power supply 123 A second filter element is also provided between the other, and the rest are the same as in the first embodiment described above. The second filter component includes a first common mode inductor 80.

With continued reference to FIG. 6, in the second embodiment of the present invention, the second filter component further includes a second filter capacitor 81 between the first common mode inductor 80 and the low voltage power supply 123. It can be understood that the composition of the second filter capacitor 81 can be formed by a plurality of capacitors connected in parallel.

Usually, the sensor circuit output signal can truly reflect the grass detected by the sensor probe 201 The ground condition is related not only to whether or not the signal output from the sensor probe 201 is disturbed, but also to the contact condition of the sensor probe 201 with the grass, the sensitivity of the sensor probe 201 itself, and the like.

Referring to FIG. 7, in the third embodiment of the present invention, FIG. 7 is a schematic structural view of the sensor probe 201, that is, the sensor probe 201 in the first embodiment and the second embodiment, in which the sensor probe 201 is fixed or movable. The sensor probe 201 is fixed to the housing 110 by a screw. The sensor probe 201 includes a detecting surface 5 on the outer surface of the sensor probe 201. The electrical conductivity of the detecting surface 5 is at least 10-9s. /m.

With continued reference to FIG. 7, the sensor probe 201 includes a plate 3 electrically coupled to the signal processing assembly 210, the conductivity of the plate 3 being greater than or equal to 10-9 s/m. In the present embodiment, the detecting surface 5 includes a lower surface 7 facing the surface below the intelligent mower 100. The sensor probe 201 includes a longitudinal axis X extending downward from the bottom of the housing 110, and the detection surface 5 may further include a circumferential surface 9 about the longitudinal axis X. The higher the sensitivity of the sensor probe 201, the more accurate the controller 150 determines whether the grass under the sensor probe 201 is grass, and the more reliable the control of the smart mower 100 is. In the present embodiment, the sensitivity of the capacitance sensor 150 is increased by increasing the conductivity of the detecting surface 5. Specifically, the electrode plate 3 connected to the controller 150 is directly exposed. As the detecting surface 5, the conductivity of the electrode plate 3 is greater than or equal to 10-9 s/m. Preferably, the electrode plate 3 is a conductor or a semiconductor, and further, The plate 3 is a metal plate. The metal plate is directly exposed, preventing the metal plate from being covered by the housing 110 or other structures, resulting in a decrease in the sensitivity of the sensor probe 201. Therefore, the output signal can relatively reflect the grass condition detected by the sensor probe 201.

In the present embodiment, since the metal plate of the sensor probe 201 is exposed, when the metal plate has a high voltage, for example, when a human hand contacts the metal plate to cause static electricity, the circuit may be damaged. Referring to FIG. 8, in the embodiment, the sensor circuit 200 further includes a protection component 500 electrically connected to the sensor probe 201 and the signal processing component 210. When the value of the electrical signal input by the sensor probe 201 is greater than or equal to a threshold, the protection component 500 lowers the sensor probe. The value of the electrical signal input 201 is such that the value of the electrical signal of the input signal processing component 210 remains within a predetermined range. Specifically, as shown in FIG. 9 , in the embodiment, the protection circuit 500 includes an ESD protection device. When the value of the electrical signal input by the sensor probe 201 is greater than or equal to a threshold, the diode of the protection circuit 500 is turned on, and functions as a shunt. In this way, the current input to the signal processing component 210 is limited to a safe preset range without causing damage to the circuit, and the stability of the intelligent lawn mower 100 is ensured. Of course, the protection circuit 500 can also directly adopt other forms of protection devices.

In the fourth embodiment of the present invention, by reasonably setting the sensor probe 201 to the ground The distance is such that the output signal can reflect the grass condition detected by the sensor probe 201 relatively realistically. That is, the embodiment is based on Embodiment 1 or Embodiment 2 or Embodiment 3, and the detection signal of the sensor probe 201 is reasonably set to make the output signal relatively reflect the grass condition detected by the sensor probe 201. The smaller the distance from the lower surface 7 of the detecting surface 5 to the surface, the higher the sensitivity of the sensor probe 201. Therefore, in order to increase the sensitivity of the sensor probe 201, the lower surface 7 of the detecting surface 5 should be as close as possible to the surface, that is, as close as possible to the bottom surface of the wheel set or from the surface below the moving device. However, when the distance between the lower surface 7 of the detecting surface 5 and the surface (surface) below the mobile device is too small, during the movement of the smart mower 100, the detecting surface 5 may contact the surface, especially when the smart mower 100 is When the uneven surface moves. If the detecting surface 5 contacts the surface, there will be no potential difference between the two poles of the capacitor C1, and the electrical signal output by the capacitive sensor 150 cannot accurately reflect whether the ground is grass or not, so that the smart mower 100 cannot work safely. On the other hand, the sensor probe 201 is in direct contact with the ground surface, which may cause damage to the sensor probe 201. In particular, when the smart lawn mower 100 collides with the ground during the movement, the sensor probe 201 will cause impact damage to the sensor probe 201. In order to avoid the sensor probe 201 from contacting the ground surface while increasing the sensitivity of the capacitive sensor 150 as much as possible, in the present embodiment, the lower surface 7 of the control detecting surface 5 is controlled to be higher than the surface below the mobile device and the surface below the self-moving device. The distance between the distance is greater than or equal to 10 mm and less than or equal to 50 mm. Of course, in order to more reliably prevent the sensor probe 201 from coming into contact with the ground surface, it is also possible to control the distance between the lower surface 7 of the detecting surface 5 and the surface under the self-moving device to be 15 mm or 20 mm or more. In order to further increase the sensitivity of the sensor probe 201, it is also possible to control the distance between the lower surface 7 of the detecting surface 5 and the surface below the moving device to be 40 mm, 30 mm or the like.

The first embodiment to the fourth embodiment described above describe the manner in which each sensor probe 201 corresponds to the independent signal processing component 210, and the multiple sensor signals are separately collected, but this method wastes hardware cost, and the present invention Another embodiment in which multiple sensor probes 201 share the same set of signal processing components 210 in series with one another is also disclosed.

In the fifth embodiment of the present invention, referring to FIG. 9, FIG. 9 is a bottom view of the intelligent lawn mower 100', that is, when the intelligent lawn mower 100' is working normally, from the ground to the bottom of the intelligent lawn mower 100' Look at the structure diagram. It includes a housing 110', a power supply module, a mobile module 130', a task execution module 140', and a controller 150' (see FIG. 10). The power supply module, the mobile module 130', the task execution module 140', and the controller 150' are all mounted on the housing 110'. The mobile module 130' includes a wheel set that is driven by the drive motor to drive the intelligent lawn mower 100' to move. The wheel set includes a front wheel and a rear wheel. Task execution module 140' is The cutting module includes a cutting assembly including a blade mounted to the bottom of the housing 110' to drive the cutting grass by a corresponding cutting motor. In this embodiment, the specific cutting mode is that the cutting motor rotates to drive the blade to rotate, thereby completing the corresponding cutting work. In this embodiment, the specific cutting mode is that the cutting motor rotates to drive the blade to rotate, thereby completing the corresponding cutting work. It can be understood that the movement of all or part of the cutting blade can also be changed into back-and-forward motion, left-right motion or other directions at an angle to the front-rear or left-right direction by angle or azimuth conversion. The power supply module is electrically connected to at least the mobile module and the task execution module to provide the required power. It can be understood that in this embodiment or other embodiments, the power supply module also needs to be electrically connected to the controller 150' for powering the controller 150'.

Referring to Figures 9-10, in the present embodiment, the intelligent lawn mower 100' moves and operates in a work area defined by a limit (not shown). The intelligent lawn mower 100' includes a limit detection module that detects the positional relationship of the intelligent lawn mower 100' with respect to the limit. Boundaries include the boundaries between grass and non-grass boundaries, or fences of fences. The limit detection module includes a sensor circuit 200' that identifies the grassland and the non-grass through the sensor circuit 200', the sensor circuit 200' transmits the detected current signal to the controller 150', and the controller 150' determines that the current ground is When not in the grass, the controller 150' controls the mobile module 130' to perform a reversal or a turn into the grass so that the smart mower 100' returns to the corresponding grass boundary. When the mobile device is a vacuum cleaner, the sensor circuit 200' can be used to detect whether there is any foreign object in the front. Of course, the sensor circuit 200' can also detect whether there is a touch condition from the mobile device, such as when the touch screen is provided on the mobile device, the sensor circuit 200' has been used to detect whether there is a related operation by touch. Thus, the sensor circuit of the present invention is used to detect an external object.

The sensor circuit 200' includes at least two sensor probes 201' connected in series with each other, a signal processing component 210' electrically coupled to the series sensor probes 201', and a controller 150' electrically coupled to the signal processing component 210'. The signal processing component 210' described above is used to process the original signal input by the sensor probe 201'. The signal processing component 210' is for converting the original signal output by the sensor probe 201' into a signal having a frequency f and outputting. By means of the sensor probe 201' connected in series, when there is a detected object under any one of the sensor probes 201', the frequency f value of the output signal of the signal processing component 210' is changed, and then the signal processing component 210' transmits the signal to the signal processing component 210'. The controller 150' controls the above movement by the controller 150'. For example, the more the number of sensor probes 201' without the object under test, the larger the frequency f. The subsequent circuit can determine whether there is any detected object in the area where the device is located by identifying the change of the frequency f.

The above sensor circuit simplifies the sensor circuit by connecting the sensor probes 201' in series with each other, thereby reducing the cost. The signal processing component 210' capable of outputting a certain frequency is connected in series with the sensor probe 201', so that the frequency f of the output signal of the signal processing module can be changed when there is a detected object under any one of the sensor probes 201'. It is necessary to discriminate the number of detected objects by recognizing the change of the frequency f, thereby realizing intelligent recognition of the detected object.

Preferably, as shown in FIG. 9, the sensor probe 201' includes two sets 200-1', 200-2', one set 200-1' is located at the front of the bottom of the device, and the other set 200-2' is located at the bottom of the device. rear. A front set 200-1' and a rear set 200-2' are used to detect the detected object in front of and behind the device, respectively. It should be understood by those skilled in the art that the manner in which the sensor probe 201' is disposed is not limited to the above-described setting manner, and other manners capable of realizing the presence or absence of the object to be detected around the detecting device are possible.

Preferably, as shown in FIG. 10, the signal processing component 210' includes the above-described signal processing component 210' including a Schmitt trigger 211', a parallel resistor 212', and a solid capacitor 213'. In the present embodiment, the solid capacitor 213' includes a basic capacitor Cb' disposed in the circuit and a capacitance Co' between the ground of the board and the ground, and the parallel resistor 212' is connected in parallel with the Schmitt trigger 211'. The Schmitt trigger 211' is provided with a second signal input terminal e' and a second signal output terminal f', and one end of the parallel resistor 212' is connected to the second signal input end of the Schmitt trigger 211' e', one end is connected to the second signal output terminal f' of the Schmitt trigger 211', the second signal input terminal e' of the Schmitt trigger 211' is electrically connected, and the second of the Schmitt trigger 211' The signal output terminal f' is electrically connected to the controller 150', and outputs a variable-frequency square wave signal according to the grass condition corresponding to the sensor probe 201'. The controller 150' determines whether the underside of the sensor probe is grass or non-grass by counting the square wave per unit time and comparing the obtained value with the standard value inside the controller 150'.

In the above sensor circuit, the signal processing component 210' converts the signal from the sensor probe 201' into a signal having a certain frequency by using the Schmitt trigger 211', thereby preventing noise interference in the hysteresis range and improving the anti-interference ability.

Referring to Fig. 13, in a sixth embodiment of the present invention, the present embodiment provides a self-propelled device 300' including the sensor circuit 200' in the fifth embodiment. The self-propelled device described above is connected in series with each other through the sensor probe 201' in the sensor circuit 200', which simplifies the detection circuit and reduces the cost. The signal processing module capable of outputting a certain frequency is connected in series with the sensor probe 201', so that the frequency f of the output signal of the signal processing module can be changed when there is a detected object under any one of the detecting electrodes, and only the frequency f is recognized later. The change determines the amount of the detected object, thereby achieving intelligent recognition of the detected object.

The self-propelled device in the sixth embodiment described above may be a vacuum cleaner device, which can realize smart vacuuming. That is, the cleaner device includes the sensor circuit 200' in the sixth embodiment.

The above vacuum cleaner device is arranged in series with each other by providing the sensor probes 201' in the sensor circuit, which simplifies the detection circuit and reduces the cost. The signal processing module capable of outputting a certain frequency is connected in series with the sensor probe 201', so that the frequency f of the output signal of the signal processing module can be changed when there is garbage or the like under any of the detecting electrodes, and the subsequent frequency only needs to be recognized. The change of f is used to discriminate the amount of debris, thereby achieving intelligent recognition of debris.

In the seventh embodiment of the present invention, the present embodiment provides a control method, which is used in any of the foregoing embodiments. As shown in FIG. 12, the control method includes the following steps:

S1. Acquire the frequency f of the output signal of the sensor circuit 200'.

S2: The comparison frequency f is respectively different from the first preset frequency f1 and the second preset frequency f2, and the first preset frequency f1 is greater than the second preset frequency f2. The selection of the first preset frequency f1 and the second preset frequency f2 can be selected according to actual needs.

S3. When the frequency f is smaller than the second preset frequency f2, indicating that there is a detected object in front of the current traveling path of the device and the amount of the detected object is large, the control device keeps going straight (holds forward while advancing, and keeps backward when retreating) At the same time, the control device clears the detected object. For example, when used in a lawn mower equipment, the lawn mower is kept in a straight line, and the lawn mower is controlled to start the mowing motor for mowing. When used in a vacuum cleaner device, control the vacuum cleaner to keep straight while controlling the vacuum cleaner to start the vacuum motor to vacuum.

S4. When the frequency f is greater than or equal to the second preset frequency f2 and less than the first preset frequency f1, indicating that the device has a detected object in front of the current traveling path and the amount of the detected object is small, the control device keeps going straight. At the same time, the control device stops clearing the detected object. For example, when used in a lawn mower equipment, the lawn mower is kept in a straight line while the lawn mower motor is controlled to stop and the mowing is stopped. When used in a vacuum cleaner device, control the vacuum cleaner to keep going straight, and at the same time control the vacuum cleaner of the vacuum cleaner to stop and stop vacuuming.

S5. When the frequency f is greater than or equal to the first preset frequency f1, indicating that there is no object detected in front of the current traveling path of the device, the control device turns to walk (turning or retreating), and the control device stops clearing the detected object. For example, when used in a lawn mower equipment, the lawn mower is controlled to turn to walk while controlling the mowing machine mowing motor to stop and mowing. When used in a vacuum cleaner device, the vacuum cleaner is controlled to turn, and the vacuum cleaner of the vacuum cleaner is controlled to stop and vacuum is stopped.

Take the lawn mower equipment as an example. As shown in Figure 14, the system mowing process is illustrated.

SS1, lawn mower advances.

SS2 acquires the frequency f of the output signal of the sensor circuit 200'.

SS3 determines whether f is smaller than f1. When f is smaller than f1, the process proceeds to step SS4; when f is greater than or equal to f1, the process proceeds to step SS7.

SS4, lawn mower keep moving forward.

SS5 determines whether f is smaller than f2 and f2 is smaller than f1. When f is smaller than f2, the process proceeds to step SS6; when f is greater than or equal to F2, the process proceeds to step SS8.

SS6, mowing motor starts, then return to step SS2.

SS7, the mower retreats, turns, and then returns to step SS2.

SS8, mowing motor stops, then return to step SS2.

In the above control method, by comparing the frequency f with the sizes of the first preset frequency f1 and the second preset frequency f2, respectively, the detected object has a large amount of the detected object, and the detected object and the detected object The three states of less quantity and no object to be detected, when in the first state, the control device keeps going straight while the control device clears the detected object. In the second state, the control device keeps going straight while the control device stops clearing the detected object, thereby saving power consumption. When it is in the third state, the control device turns to walk while the control device stops clearing the detected object, thereby achieving both intelligent conversion of the walking path and saving of power consumption. In this way, intelligent recognition of the detected object and intelligent removal are achieved.

In the eighth implementation of the present invention, corresponding to Embodiment 7, the embodiment provides a control device 20'. As shown in FIG. 15, the control device 20' includes:

The acquiring unit 1-S is configured to acquire the frequency f of the output signal of the sensor circuit 200';

The comparison unit 2-S is configured to compare the magnitude of the frequency f with the first preset frequency f1 and the second preset frequency f2, respectively, the first preset frequency f1 being greater than the second preset frequency f2;

a first control unit 3-S, configured to: when the frequency f is less than the second preset frequency f2, the control device keeps going straight while the control device clears the detected object;

The second control unit 4-S is configured to: when the frequency f is greater than or equal to the second preset frequency f2 and less than the first preset frequency f1, the control device keeps going straight while the control device stops clearing the detected object;

The third control unit 5-S is configured to control the device to turn to walk when the frequency f is greater than or equal to the first preset frequency f1, and the control device stops clearing the detected object.

The control device distinguishes the object having the detected object and the detected object by the comparison frequency f and the size of the first predetermined frequency f1 and the second predetermined frequency f2, respectively, and the detected object and the detected object The three states of less quantity and no object to be detected, when in the first state, the control device keeps going straight while the control device clears the detected object. When in the second state, the control device stays straight while The control device stops clearing the detected object, thereby saving power consumption. When it is in the third state, the control device turns to walk while the control device stops clearing the detected object, thereby achieving both intelligent conversion of the walking path and saving of power consumption. In this way, intelligent recognition of the detected object and intelligent removal are achieved.

In a ninth embodiment of the present invention, the present embodiment provides a control system including the detecting device 10' of the sixth embodiment 6 and the control device 20' of the sixth embodiment 6, the detecting device 10' The output is connected to the input of the control unit 20'.

In the above control system, by comparing the frequency f with the sizes of the first preset frequency f1 and the second preset frequency f2, respectively, the detected object has a large amount of the detected object, and the detected object and the detected object The three states of less quantity and no object to be detected, when in the first state, the control device keeps going straight while the control device clears the detected object. In the second state, the control device keeps going straight while the control device stops clearing the detected object, thereby saving power consumption. When it is in the third state, the control device turns to walk while the control device stops clearing the detected object, thereby achieving both intelligent conversion of the walking path and saving of power consumption. In this way, intelligent recognition of the detected object and intelligent removal are achieved.

It is apparent that the above-described embodiments are merely illustrative of the examples, and are not intended to limit the embodiments. Other variations or modifications of the various forms may be made by those skilled in the art in light of the above description. There is no need and no way to exhaust all of the implementations. Obvious changes or variations resulting therefrom are still within the scope of the invention.

The present invention is not limited to the specific embodiment structures, and the structures based on the inventive concept are all within the scope of the present invention.

Claims (19)

A self-moving device, comprising: a housing, a power supply module, a moving module, a controller, a task execution module, and at least two sensor circuits for detecting an external object; The power supply module, the mobile module, the controller, the task execution module, and the sensor circuit are installed in the housing; The sensor circuit includes a sensor probe, and a signal processing component connected to the sensor probe for processing and converting the sensor probe input signal; The signal processing component is provided with a first signal input end and a first signal output end, wherein the first signal input end is electrically connected to the sensor probe, and the original information detected by the sensor probe is input, and the first signal output end is The controller is electrically connected to output a shaped signal processed by the signal processing component; The controller is electrically connected to the mobile module and the task execution module, configured to control movement of the mobile module according to the output signal of the sensor circuit, and control the task execution module to perform a task; The power supply module is simultaneously connected to the signal processing component of at least two sensor circuits for supplying power to the signal processing component; The sensor circuit further includes a first filter component, the first filter component being coupled in parallel with the signal processing component, and one end of the first filter component is coupled to a power supply input terminal of the signal processing component. The self-mobile device according to claim 1, wherein the first filter component comprises a first filter capacitor, one end of the first filter capacitor is connected to a power input terminal of the signal processing component, and the other end is connected. Enter the reference ground in the sensor circuit. The self-mobile device according to claim 2, wherein a plurality of said first filter capacitors are formed in parallel to form said first filter element. The self-mobile device according to claim 2, wherein the first filter capacitor has a capacity of 1 nf ≤ C ≤ 470 uf. The self-mobile device of claim 3 wherein said first filter component comprises a high frequency filter capacitor for reducing high frequency signal interference and a parallel connection of low frequency filter capacitors for reducing low frequency signal interference. The self-mobile device according to any one of claims 1 to 5, wherein the power supply module comprises a voltage conversion module, and the voltage conversion module is electrically connected to a power supply input end of the signal processing component for converting The voltage is supplied to at least two sets of said signal processing components. The self-mobile device according to claim 6, wherein the sensor circuit further comprises a second filter element electrically connected to the voltage conversion module and at least connected to the voltage conversion module Two sets of signal processing components are connected between the power supply inputs. The self-mobile device according to claim 7, wherein the second filter component comprises a first common mode inductor, and the first common mode inductor is provided with an input end and an output end, the first common mode inductor The input end is connected to the voltage conversion module, and the output end of the first common mode inductor is connected to the power input terminals of at least two sets of signal processing components. The self-mobile device according to claim 8, wherein the second filter component further comprises a second filter capacitor, wherein the second filter capacitor is located at a first common mode inductor and at least two sets of signal processing components Between the ends. The self-mobile device according to claim 9, wherein the number of the second filter capacitors is at least two, and the second filter capacitors are connected in parallel with each other. The self-mobile device according to claim 1, wherein the distance of the first filter component from the power supply input terminal of the signal processing component is less than or equal to the distance of the first filter component from the power supply module. The self-mobile device according to claim 1, wherein a distance between the first filter element and a power supply input pin position of the signal processing component is less than or equal to 5 cm. The self-mobile device according to any one of claims 1 to 5, wherein the first filter element further comprises a second common mode inductor, and the second common mode inductor comprises an input end and an output end, The input end of the second common mode inductor is connected to the power supply input terminal of the signal processing component, one of the pins of the output terminal is connected to the power supply input terminal of the signal processing component, and the other output pin grounds the reference ground of the signal processing component. . The self-mobile device according to any one of claims 1-5, 11-12, wherein the signal processing component comprises a Schmitt trigger, a parallel resistor and a solid capacitor, the parallel resistor and the device The Schmitt trigger is connected in parallel, and the power supply module is connected to the Schmitt trigger for supplying power to the Schmitt trigger, and the Schmitt trigger is provided with a second signal input end and a second signal An output end, the sensor probe and the solid capacitance are electrically connected to a second signal input end of the Schmitt trigger, and the controller is electrically connected to a second signal output end of the Schmitt trigger The first filter component is coupled to the power supply input of the Schmitt trigger and is adjacent to the Schmitt trigger Electrical input pin. The self-moving device according to claim 1, wherein a distance between the probe and a surface below the mobile device is 10 mm or more and 50 mm or less. The self-moving device according to claim 1, wherein the probe comprises a detecting surface located on an outer surface of the probe, and at least a portion of the detecting surface has a conductivity of 10-9 s/m or more. The self-mobile device according to claim 1, wherein a circuit protection component is further disposed between the sensor probe and the signal processing component for reducing the value of the electrical signal input by the capacitive sensor, so that the input signal processing circuit The value of the electrical signal remains within the preset range. The self-mobile device according to any one of claims 1-5, 11-12, and 16-17, wherein the self-mobile device is a smart lawn mower. A self-moving device, comprising: a housing, a power supply module, a moving module, a controller, a task execution module, and at least two sensor circuits for detecting an external object; The power supply module, the mobile module, the controller, the task execution module, and the sensor circuit are installed in the housing; The sensor circuit includes a sensor probe, and a signal processing component connected to the sensor probe for processing and converting the sensor probe input signal; The signal processing component is provided with a first signal input end and a first signal output end, the first signal input end is electrically connected to the sensor probe, and the original signal detected by the sensor probe is input, and the first signal output end is The controller is electrically connected to output a shaped signal processed by the signal processing component; The controller is electrically connected to the mobile module and the task execution module, configured to control movement of the mobile module according to the output signal of the sensor circuit, and control the task execution module to perform a task; The power supply module is simultaneously connected to the signal processing component of at least two sensor circuits for supplying power to the signal processing component; The sensor circuit further includes a first filter component, one end of the first filter component is connected to the power supply input end of the signal processing component, and the other end is connected to the reference ground end of the sensor circuit.

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