TI Solution for Vacuum Cleaning Robot

2

System Block Diagram Overview

TI Battery Management for Vacuum Cleaning Robot

TI Motor Driver Solution for Vacuum Cleaning Robot

TI Power Solution for Vacuum Cleaning Robot

TI TOF Technology for Vacuum Cleaning Robot

TOPICS

TI Solution for Vacuum Cleaning Robot

3

Presenter Introduction

Patrick Zeng is Field Application Engineer in South China Team and now focuses on industry market and is responsible for supporting appliances customers

System Block Diagram Overview

Typical System Block Diagram of Vacuum Cleaning Robot

BDC Motor

Driver

Digital

Processor

M AFE(Protection &

Monitor& Gauge)

MOSFET

Temp

Sensor

Suction Motor

Hall

Sensors Power Stage

Charger

Knob/Dial

User Interface

Touch

Signal Protection

ESD

LDO

Power Supply

DCDC

Signal Sampling

OP AMP

Wide Input DC

M

M

Rotating Motor

Wheel Drive Right & Left

M Side Brush

BLDC Motor

Driver MOSFET

LED

Driver

Audio

Monitor

Reset

Obstacle

Detection

Vision Sensor

Imager

Controller MCU/MPU

Power

Wide Input DC

Battery Management System

BDC Motor

Driver

Digital

Processor

DSP

M AFE(Protection &

Monitor& Gauge) BQXXX

Battery Management System

MOSFET

Temp

Sensor

Suction Motor

Hall

Sensors Power Stage

Charger BQXXX

User Interface

Signal Protection

ESD

LDO

Power Supply

DCDC

Wide Input DC

Signal Sampling

OP AMP

M

M

Rotating Motor

Wheel Drive Right & Left

M Side Brush

BLDC Motor

Driver MOSFET

LED

Driver

Audio

Monitor

Reset

3D TOF

Sensor

Vision Sensor

3D TOF

Controller MCU/MPU

Power

LDCXXX

FDCXXX

Captivate

Haptics

Typical System Block Diagram of Vacuum Cleaning Robot Wide Input DC

TI Battery Management Solution for Vacuum Cleaning Robot

7

Linear Charger

• 2s-4s SMBUS controllers

• 1s-7s w/ integrated FET

• Stand alone linear chargers (<1A)

Gauge

• Flash based (1% accuracy)

• ROM based (5% accuracy)

• Low cost gauge

• BMU (Charger and Gauge)

• Wireless Power

• Supercapacitor

• Renewable Energy Harvesting

• High cell count precision AFE & cell balancing

• Primary, secondary & total protection

• Enhanced safety w/ ID and authentication

Monitor & Protection Switch-mode Charger

• High efficiency switch-mode solutions (>1A)

• Faster and cooler (MaxChargeTM)

Energy storage and transfer

TI BMS solution makes your battery higher efficiency and safer

TI Battery Management Solution Overview

Industrial Monitoring

bq76940 Monitor Family for 18V - 48V 3 Versions: 5S, 10S, 15S

Int. ADCs for cell voltage, thermistor temp, pack current

Integrated OV, UV, OCD, SCD

Cell balancing drivers

Low–side NCH drive

2.5 / 3.3V LDO

I2C with CRC

Ship mode ICC 0.6µA

Optionally pairs with bq78350-R1 CEDV Fuel Gauge

20p TSSOP 4.4x6.5x1.2

30p TSSOP 4.4x7.8x1.2

44p TSSOP 4.4x11.3x1.2

3–6S Monitor Analog output: cell V, pack I

5mV cell voltage accuracy

Cell balancing drivers

SCD fault detect

3.3V LDO

I2C

20p TSSOP 4.4x6.5x1.2

24p VQFN 4x4x0.9

Time

Fe

atu

res &

In

teg

ratio

n

bq76940

bq76930

bq76920

bq76925

100V High–Side

Dual NCH FET Driver Companion device

See Peripheral Devices

bq76200

New

Advanced Protection

1s Primary Protection OVP, UVP, OCD, OCC, SCD

Low-side DSG/CHG FET drive

OCD sensing across FETs

±10mV (typ)

0V charging

Low Power < 3uA

6p WSON 1.5x1.5x0.75

bq29700

Time

Fe

atu

res &

In

teg

ratio

n

3-5s Advanced Protection Incredibly low power (7µA)

Open-wire detection (OW)

Overvoltage, Undervoltage (OV, UV)

2-level over-current in discharge (OCD)

Short-circuit in discharge (SCD)

Low-side DSG/CHG FET drive

20p TSSOP 4.4x6.5x1.2

bq77905

Fe

atu

res

& P

erf

orm

an

ce

1.5A iFET, 4.5-17V, 1-3 Cells

1.1MHz, Standalone

3.5x4.5mm QFN-20

bq2410x/12x

4A iFET, 4.5-17V, 1-3 Cell

Standalone

3.5x5.5mm QFN-24

bq24170/1/2

NiMH/NiCd charger

Lead Acid Charger

DIP-8 or SOIC-8

bq2000/02/13

5-28V , 33V Max, 1-7Cell LiFePO4

300kHz; >10A

DPM, Power Path

4x4mm QFN-24

bq24630

5-28V , 33V Max, 1-6Cells

600kHz; >10A

DPM, Power Path

(bq24616: JEITA)

(bq24617: 5-22V, 1-5Cells)

(bq24618: VINMIN 4.75V)

4x4mm QFN-24

bq24610/6/7/8

4.5-24V, 30V Max, 1-4 Cells

DPM, 750kHz

N-FETs Selector

3.5x3.5mm QFN-20

bq24725A

28V, 30V Max, 1-4 Cells

Turbo Boost

DPM, 750kHz

N-FETs Selector

3.5x3.5mm QFN-20

bq24735

6-24V, 2-3 Cells

NVDC-1, 600k/800k/1Mhz

N-FET Power Path

3.5x3.5mm QFN-20

bq24715

4.5-24V, 30V Max, 1-4 Cells

NVDC-1

PMON and PROCHOT

N-FET Power Path

4.0x4.0mm QFN-28

bq24770/3

1-3S w/ FETS

bq24640 Super Capacitor

600kHz; 0.5A-10A

3.5x3.5mm QFN-16

bq24650 Solar Charger MPPT

600kHz; 0.2A-10A

3.5x3.5mm QFN-16

4.5-24V, 30V Max, 1-4 Cells

Turbo Boost

PMON and PROCHOT

N-FETs Selector

4.0x4.0mm QFN-28

bq24780S

bq24133 2.5A iFET, 4.5-17V, 1-3 Cell

Standalone

3.5x5.5mm QFN-24

2.5A Version

bq24600

5-28V, 33V Max, 1-6Cells

1.2MHz; >10A

DPM, No Power Path

3.5x3.5mm QFN-16

Standalone

1-7S Controller SMBUS/I2C

1-4S Controller

bq25700/3

Multi-Cell Switch-Mode Charger Portfolio

3.5-24V, 1-4 Cells

Buckboost for USB Type-C / USB PD

OTG 5-20V, Current limit

PMON and PROCHOT

4.0x4.0mm QFN-32

Production

Sampling

System: •Min Voltage

•Current Inputs: •Min/Max Voltage

•Current Battery •Chemistry

•Configuration (?S?P)

•Capacity

Control Interface

Temperature Profile •Standard Cold/Hot

•JEITA

Charging •Voltage

•Current

Packaging: CSP or QFN

Key Charger Parameters to Consider

Safety and Protection •OVP (Input, BAT and OTG)

•OCP/UCP…

•Thermal Regulation

• Standalone

• I2C

• SMBus

Multi-cell Switch-mode Battery Charger Specifications bq2461X TI Benefit

Input Voltage Range 5V-28V, 33V Max TI: is more robust against voltage spikes and functions

under a wider voltage range

Charge Voltage 2.1V to 26V -

Charge Voltage Accuracy 0.5% TI- more accurate

Number of Cells it can

Charge 1,2,3,4,5, or 6 TI- Can support more series cells

Maximum Charge Current 10A TI- Can charge faster

Charge Current Accuracy 3% -

Maximum Duty Cycle 99.5% TI: Can have higher duty cycle

Recharge Threshold

(V/cell) 50mV -

Timer Yes -

Enable Pin or SHDN Yes -

Charge Status Yes -

OVP Yes TI: has over voltage protection

Iin DPM Yes

TI: prevents an adaptor with known current capability

from hitting the “brown-out” condition (ex: USB or OEM

adaptor)

Control Interface Stand Alone -

Switching Frequency 600KHz TI: can switch faster

Package VQFN- 4x4: 16mm^2 TI: smaller package size

TI Motor Driver Solution for Vacuum Cleaning Robot

14

Broad portfolio of Industrial & PE Motor Drivers

Brushed-DC

Supply voltage support:

Low voltage, 12, 24, 36, 48 V

Technologies:

Integrated Current Sensing,

Smart Gate Drive

Differentiation:

Small footprint & high efficiency

Inrush current protection

Faster time to market

Hero devices:

DRV8837

DRV8870/1

DRV8701

Stepper

Supply voltage support:

Low voltage, 12, 24, 36, 48 V

Technologies:

Integrated Current Sensing,

AutoTune, & Smart Gate Drive

Differentiation:

Indexers & precision microsteps

Advanced Current Control

Passive component integration

Hero devices:

DRV8833

DRV8885

DRV8880

Brushless-DC

Supply voltage support:

Low voltage, 12, 24, 36, 48 V

Technologies:

Smart Gate Drive

1x PWM

Differentiation:

Sensorless & sensored support

Integrated shunt amplifiers

Integrated power management

Hero devices:

DRV8301

DRV8305

DRV8313

Solenoid

Supply voltage support:

Low voltage, 12, 24, 36, 48 V

Technologies:

Daisy-chain Interface

Open load detection

Differentiation:

Multi-channel drivers

Serial or parallel interface

Protection & Diagnostics

Hero devices:

DRV8839

DRV8860

DRV8844

End Equipment

Motors on ti.com

Stepper

Broad portfolio of Brushless-DC Drivers Production

Development

Status

New

Brushed-DC Solenoid Brushless-DC

Mo

tor

Po

we

r

Integrated FETs Gate Driver (External FETs)

DRV8312/32 12 to 52V @ 6.5 or 13A

DRV8313 8 to 60V @ 2.5A

DRV8308 8.5 to 32V sensored sine

DRV8307 8.5 to 32V sensored trap

DRV8301/2 6 to 60V, 2x CSA, buck

DRV8305 4.4 to 45V, Smart Gate Drive, 3x CSA, LDO

DRV8303 6 to 60V, 2x CSA

DRV8320R/3R 6 to 60V, Smart Gate Drive, 3x CSA, buck

DRV8350R/3R 8 to 100V, Smart Gate Drive, 3x CSA, buck

DRV8839 1.8 to 11V @ dual 1.8A

Stepper Brushless-DC Solenoid

Broad portfolio of Brushed-DC Drivers Production

Development

Status

New

Mo

tor

Po

we

r

Single Channel (1x BDC) Multi Channel

DRV8701 6 to 47V, Smart Gate Drive

DRV8870/71/72 6.5 to 48V @ 2.6A, integrated current sense

DRV8800/01/16 8 to 38V @ 2.8A, current shunt amplifier

DRV8828/40/42 8.2 to 45V @ 3.0 or 5.0A, regulation

DRV8830/32 2.75 to 6.8V @ 1A, voltage regulation

DRV8850 2 to 5V @ 8A, 100 mA LDO

DRV8837/37C/38/39 1.8 to 11V @ 1 A or 1.8A

DRV8412/32 12 to 52V @ dual 6 or 12A

DRV8823 8 to 32V @ quad 1.5A

DRV8802/12/13/14/41/43 8.2 to 45V @ dual 1.6 or 2.5 A, regulation

DRV8704 8 to 52V, Smart Gate Drive, dual channel

DRV8881 6.5 to 45V @ dual 2.5A, regulation, AutoTune

DRV8835/36 1.8 to 11V or 7 V @ dual 1.5A

DRV8833/33C 2.7 to 10.8V @ dual 2 or 1 A, regulation

DRV8844 8 to 60V @ dual 2.5A

DRV8848 4 to 18V @ dual 2A, regulation

Brushed-DC

DRV8873 4.5 to 38V @ 9.5 A, integrated current sense

• Printers

• Bidirectional brushed DC motor

• Vacuum Cleaner

• Single H-Bridge motor driver

• Supply voltage: 6.5 to 45 V

• Output current: 2.0A continuous / 3.5A peak • RDS(ON): 565mΩ HS + LS (at 24 V, 25°C)

• Small 8 pin HSOIC package

• Simple PWM interface with brake mode support

• Slow and mixed decay modes with fixed off-time current

regulation

• Integrated protection features including UVLO, thermal, shoot-

through and over-current (with automatic retry) protection

• Internal current sensing (DRV8871 only) and fault detect

(DRV8872 only) support

• Wide supply range supports 12V and 24V industry standard

supplies and high peak supports large startup and stall current

• Reduced component count and reduced system cost

• Scalable family of low pin count and small package size drivers

• Easy to drive and stop with a single-pin control interface

• Higher system reliability and reduced design complexity with

integrated current regulation (DRV8870 and DRV8871) and fault

detect (DRV8872) features

Applications

Benefits Features

DRV8870/1/2 3.6A Brushed DC Driver with Integrated FETs for 12V and 24V Motors

4.9 x 6.0mm, 8-pin

HSOIC package

40W

Controller

6.5V to 45V

Fault (opt)

PWM

M

Current sense (opt)

DRV887x

Motor Driver 3.5A

18-V/400-W, 98% Efficient, Compact Brushless DC Motor Drive With Stall Current Limit Reference Design

• Operates at Voltage Ranging from 5-V to 21-V (5s Li-ion Battery)

• 18-ARMS Continuous (60A Peak for 1s) Winding Current Without

Heat Sink or Airflow

• Small PCB Form Factor of 45mm x 50mm

• Inverter Drive Efficiency >98%

• Cycle –by-Cycle Overcurrent Protection with <1us Response Time

and Short Circuit Latch Protection by VDS Sensing

• Shoot-through, Under Voltage, Over Temperature & Blocked Rotor

Protection

• Operating ambient: -20 to +550C

• Small form factor enables flexible mounting and minimize impedance

on connections with high current

• Low RDS_ON MOSFETs brings high efficiency and eliminates heat sink

• Optimum inverter efficiency and EMI performance using slew rate

control of gate driver

• Three Phase Gate Driver with Internal Charge Pump Ensures

Maximum Inverter Efficiency Even at 5V DC

• Low Component count and low BOM cost

Solution Features Solution Benefits

Tools & Resources • TIDA-00772 Tools Folder

• User Guide

• Design Files: Schematics, BOM,

Gerbers, Software, and more

• Device Datasheets: • CSD18502Q5B

• DRV8305

• MSP430G2553

TI Designs Number: TIDA-00772

• SN74LVC126A

• TPD1E10B06

• LMT87

More TI Reference Design on TI.com

Products Why We Win

DRV8848 Best supply capability, high current capability, flexibility for BDC or Stepper TIDA-00297

DRV8860 Integrated serial interface, 8 channel driver saves MCU GPIOs TIDA-00117

DRV8860 Integrated serial interface, 8 channel driver saves MCU GPIOs TIDA-00117

DRV8801/16 High current capability, low solution cost w/ device integration, 2 channels TIDA-00116

DRV8307/2x Smart Gate Drive integrates passive components TIDA-00196

DRV8701

DRV8307/2x Smart Gate Drive integrates passive components

TIDA-00620

TIDA-00196

DRV8880 AutoTune automatically tunes the motor TIDA-00830

DRV8307 Smart Gate Drive integrates passive components TIDA-00196

More on TI.com

TI TOF Technology for Vacuum Cleaning Robot

22

Theory of operation

21

43arctanQQ

QQ

22

f

cd

Distance measured by emitting a modulated light and measuring phase

delay of returned light

Typical Applications

3D Technologies - Overview Time Of Flight

• Modulated light is sent out and the phase

difference between Transmit & Received

signal is measured

• Phase delay is used to calculate the depth

Stereoscopic Structured

• Two or more cameras at different angle

retrieve RGB images

• Image processing SW identifies common

feature, triangulates and finds depth

• IR source projects patterns on object. IR

sensor records the deformation of pattern

• Image is processed in software to calculate

depth

Stereoscopic vision Structured light

Time of Flight Fixed pattern Programmable Pattern (DLP)

Depth accuracy low medium (mm to cm) high (um to mm) medium mm to cm

Scanning Speed medium Slow Slow/medium fast

Distance Range Mid range Very short to mid range Very short to mid range short to long range

HW cost low middle middle/high middle

SW complexity High (correspondence prob) low/middle middle/high low

Low Light Performance weak good good good

Outdoor Performance good weak/fair weak/fair good

Machine Vision in Service & Cleaning Robots

Key Care-About Why 3D-TOF

Clean around pets, cable cords and

furniture 320 x 240 pixels @ 60fps sufficient to see chair legs and small wires

Vacuum more efficiently 320x240 pixels @60fps with good depth resolution sufficient for room mapping and to execute planned path.

Lower cost 80x60 model also available

Self docking and recharging High pixel count and depth enable automatic alignment for docking and self-recharge

Easy to program and interact 3D-TOF enable segmenting of human (foreground) from background using depth, and then recognize hand and

body gesture from the foreground image

Operate in dark Active IR illumination allows operation in both daylight and in dark

Shoe laces

AC chord

OPT8320 CDK

OPT8241 CDK

Voxel

SDK

Solutions Development

Kits SDK

Viewer, Demos & Reference

Designs

3D ToF Solutions

VoxelViewer

Technical Documents • Data Sheets

– OPT8241

– OPT9221

– OPT8320

• White Papers

– Time-of-Flight Camera—an Introduction

– Time-of-Flight Camera Calibration

– Filtering for 3D Time-of-Flight Sensors

• System Design Guide

• CDK Quick Start Guide

• CDK User Guide

• VoxelViewer User Guide

• “Getting Started with 3D Time-of-Flight Sensor”

Video Series

http://www.ti.com/3dtof For free! As long as you have myTI registration!

Thanks

29

30

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