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AN-000349

Chirp Microsystems reserves the right to change
specifications and information herein without notice.

Chirp Microsystems

2560 Ninth Street, Ste 200, Berkeley, CA 94710 U.S.A

+1(510) 640

–

8155

www.chirpmicro.com

Document Number: AN-000349
Revision: 1.0
Release Date: 02/16/2022

Application User Guide for Floor Type Detection

and Cliff Detection for Robotic Vacuums

Summary of Contents for CH101

Page 1: ...mation herein without notice Chirp Microsystems 2560 Ninth Street Ste 200 Berkeley CA 94710 U S A 1 510 640 8155 www chirpmicro com Document Number AN 000349 Revision 1 0 Release Date 02 16 2022 Appli...

Page 2: ...OF REQUIRED HARDWARE 5 2 2 ACOUSTIC INTERFACE 5 2 3 MECHANICAL AND MODULE SETUP 6 2 4 SMARTSONIC AND DAUGHTERBOARD 7 2 4 1 Smartsonic Connections to Run the Cliff and Floor Detect Demo Software 7 2 5...

Page 3: ...ument as it is optimized for the default settings in the software algorithms Custom acoustic designs will require experimentation from the user and are outside the scope of this document 1 2 THEORY OF...

Page 4: ...cliff and floor type detection in your device Overview of the CH101 ultrasonic ToF sensor product o Link invensense tdk com products ch101 o Includes Application Note documentation and product specif...

Page 5: ...sor cliff detection reference design utilizes a carefully designed Acoustic Interface to achieve optimal performance Dimensions tolerances and assembly requirements for the Acoustic Interface are prov...

Page 6: ...UP The floor type and cliff detection algorithm are tuned and expect the sensor to be placed and orientated in a specific position for optimal performance The recommended design places the bottom on t...

Page 7: ...CH101 sensor module Repeat this for the Sensor 1 connector and the second CH101 sensor module The blue LED next to each connector will light up if connected correctly see Figure 6 If an LED does not l...

Page 8: ...AN 000349 Document Number AN 000349 Page 8 of 23 Revision 1 0 Figure 6 Example of SmartSonic module connection Note cable orientation may differ depending on your particular cable s construction...

Page 9: ...nt you need to reflash the firmware or flash a different firmware the steps to do this are 1 Power off the board by unplugging the micro USB cable 2 Move the power selection jumper to bridge the EDBG...

Page 10: ...out the sensor configuration o The algorithm output data will be saved in the subfolder algo cliff_detection_emd in csv format o For cliff detect data the data format is timestamp algorithm type tx se...

Page 11: ...of the received signal Cliff Depth Estimate Shows the cliff depth estimate over time To obtain the cliff depth the sensor height needs to be subtracted when the sensor is above the floor Floor Type M...

Page 12: ...directly down at the floor is 0 degrees Default value is 15 degrees Range of permitted values is 0 45 For best algorithm performance all physical input measurements should be accurate to 1 mm or 1 deg...

Page 13: ...orithm s calculated metric for the amplitude of the floor s return echo over time If the RVC is transitioning between hard and soft floors the metric s displayed value will correspondingly change alon...

Page 14: ...ble to see the signal with ODR set to 10ms Cliff or floor performance is not good Verify the physical dimensions of the mechanical device settings The parameters need to be accurate by 1mm or 1 degree...

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Page 23: ...n the infringement of patents copyrights mask work and or other intellectual property rights Certain intellectual property owned by Chirp Microsystems and described in this document is patent protecte...