TDK DK-CH101 User Manual
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TDK DK-CH101 User Manual

TDK DK-CH101 User Manual

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Application User Guide for Floor Type Detection of
Chirp Microsystems reserves the right to change
specifications and information herein without notice.
Robotic Vacuums
Chirp Microsystems
2560 Ninth Street, Ste 200, Berkeley, CA 94710 U.S.A
+1(510) 640–8155
www.chirpmicro.com
AN-000240
Document Number: AN-000240
Revision: 2.0
Release Date: 03/04/2022

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  • Page 1 AN-000240 Application User Guide for Floor Type Detection of Robotic Vacuums Chirp Microsystems Document Number: AN-000240 Chirp Microsystems reserves the right to change 2560 Ninth Street, Ste 200, Berkeley, CA 94710 U.S.A Revision: 2.0 specifications and information herein without notice. +1(510) 640–8155 Release Date: 03/04/2022 www.chirpmicro.com...

  • Page 2: Table Of Contents

    ................................3 EFERENCE OCUMENTATION ............................... 4 EQUIRED ARDWARE AND OFTWARE ......................................4 HEORY HARDWARE SETUP..................................5 (DK-CH101) P ............................5 MART ONIC REPARATION 2.1.1 DK-x01 SmartSonic and Daughterboard Hardware ......................5 2.1.2 Using SmartSonic Module Sensor ............................6 2.1.3 Flash SmartSonic FW ................................7 CH101 C ............................

  • Page 3: Introduction

    AN-000260: CH101 Module with 45° FoV & Particle Ingress Filter DS-000388: CH101 Datasheet Hardware AN-000158: CH101 Mechanical Integration Guide PB-000110: DK-CH101 Product Brief Software AN-000180: CH101 & CH201 Smart Sonic Eval Kit AN-000154: SmartSonic Hello Chirp Application Hands-on Exercise AN-000175: SonicLib Programmers Guide AN-000176: SmartSonic Robo-Floor Example User’s Guide...

  • Page 4: Required Hardware And Software

    The hardware list may differ if a different type of module is used. Use the latest or desired software (s/w) package along with the proper hardware and firmware (f/w). Hardware • DK-CH101 - Evaluation Kit • Micro-USB cable • CH101 Chirp sensor module •...

  • Page 5: Hardware Setup

    Before using the demo, the DK-CH101 SmartSonic needs to be flashed with the proper f/w. Download and unpack the latest or desired f/w release package. This step can be skipped if the DK-CH101 is known to have the correct f/w. Below is the list of available f/w package/s available.

  • Page 6: Using Smartsonic Module Sensor

    AN-000240 2.1.2 Using SmartSonic Module Sensor Setup instructions are below: 1. Connect one end of the 8POS FFC cable to the Sensor-0 connector and the other into the CH101 module sensor. Check flex orientation to prevent flex cable hitting other components. a) Sensor-0 –...

  • Page 7: Flash Smartsonic Fw

    AN-000240 2.1.3 Flash SmartSonic FW If the SmartSonic has the correct FW, this section can be skipped. Flash setup instructions: Connect the SmartSonic board to your PC: • Plug Micro-USB into the EDBG-USB • Move jumper to EDBG (middle) Open Atmel Studio 7 application or use command prompt: •...

  • Page 8: Ch101 Chirp Sensor Module Mounting

    AN-000240 Hit ‘Program’ button. There will be a Verify Flash completion. If flash procedure has an error, reset the SmartSonic board, then check the setup again from the start of this section. CH101 CHIRP SENSOR MODULE MOUNTING Please refer to AN-000259 CH101 Design Guide for detailed module and module integration information. For the module to detect floor types, it must be mounted correctly.

  • Page 9: Gui

    AN-000240 3 GUI The GUI is used to display real-time plots and output numerical values of its scans. LAUNCH GUI Plug in the USB from the Smartsonic to the computer. Open the unpacked folder, ‘Gui-demo-robofloor-X.X.X’. Ensure proper firmware is flashed on SmartSonic. Launch ‘floor_demo.exe’.

  • Page 10: Settings And Tuning

    AN-000240 • Records are saved in the GUI records directory folder: Input data settings used for record: \Gui-Demo-robofloor-x.x.x\records Output raw data of record: \Gui-Demo-robofloor-x.x.x\records\algo\floortype_emd Figure 3-2. Sample Data File ASCAN: Grayscale amplitude scan. See Section 3.4. Sensor Table: Table showing real-time numerical value outputs Display: Status display.

  • Page 11: Settings: Sensor Height From Floor (Auto Configurations)

    AN-000240 ▪ Note: ODR needs to be increased when connecting additional sensors as it requires more data bandwidth. • Device Settings COM Port: Specify com port in case multiple hardware boards are connected. ODR: Time interval to periodically trigger the sensor. Reducing ODR increases the data bandwidth requirement to transfer data from sensor to host.

  • Page 12: Settings: Tuning With Custom Parameters

    AN-000240 3.3.3 Settings: Tuning with Custom Parameters To tune for custom apparatus, floor types, or different setups, custom parameters need to be used Steps: Mount the module to the desired location with the horn/housing facing downward to the floor surface. The sensor must be facing the floor surface with no tilt or reflective surroundings.
  • Page 13 AN-000240 Algo Setting Descriptions: • Sensor height: Sets up the library with recommended parameters given a specific sensor height Distance from the horn/housing bottom surface to floor surface. See Section 2.2 for mounting Section 3.1 for auto parameters • Use custom configuration: Check this box to enable custom parameters below •...
  • Page 14 AN-000240 • Customize floortype threshold: Threshold that classify soft vs hard floor types. The threshold should be reduced with higher sensor to floor distance. • Customize floortype threshold hysteresis: Threshold margin to avoid floor type classification toggling when metric transition occurs. •...

  • Page 15: Gui Display

    AN-000240 GUI DISPLAY The GUI plots are displayed in real time. The section below explains each of the display windows and widgets. 3.4.1 Real Time Plots • Magnitude: Echoes measured by the sensor Magnitude plot of range vs amplitude for the sensor Figure 3-8.
  • Page 16 AN-000240 • Floor Range: Distance between floor and sensor Plot of distance to floor over time for the sensor Figure 3-10. Plot: Floor Range • ASCAN: Amplitude scan Bright/white areas in the plot represent high amplitude reflections, while dark areas represent low amplitude reflections Figure 3-11.

  • Page 17: Floor Type Detection

    AN-000240 3.4.2 Floor Type Detection After inputting the proper settings, the GUI will output the detected type of surface. Moving the sensor over a ‘Soft Floor,’ such as a carpet, will output a 0, while moving over a ‘Hard Floor,’ such as a hardwood floor, will output a 1. •...
  • Page 18 AN-000240 Figure 3-13. Example of a plot of a transition from ‘Soft Floor’ to ‘Hard Floor’. (Real-time plot at time 0 being current value) Hard Threshold Soft • Hard Floor Detection: Floor Type of 1 and a metric below the detection threshold will display a ‘Hard Floor’ along with its numerical output values Floor Metric plot for ‘Hard Floor’...
  • Page 19 AN-000240 Figure 3-14. Example of a “Hard Floor” output plot. (Real-time plot at time 0 being current value) Figure 3-15. Example of a plot of a transition from ‘Hard Floor’ to ‘Soft Floor’. (Real-time plot at time 0 being current value) Hard Threshold Soft...

  • Page 20: Appendix

    AN-000240 4 APPENDIX TROUBLESHOOTING: BAD TUNING 1. Ringdown settings • Example settings: Sensor Height: 48mm “ringdown_start_idx”: 5 • Issues: Latency affected Bad data in the ringdown phase Hard to distinguish floor type due to threshold limit of bad data Stuck in one floor type Page 20 of 23 Document Number: AN-000240 Revision: 2.0...
  • Page 21 AN-000240 2. Floor Distance settings • Example settings: Module mounted at 48mm "floor_start_idx": 15 Moved from hard to soft then back to hard surface • Issues: Latency affected Floor detection accuracy (Echo detection) Page 21 of 23 Document Number: AN-000240 Revision: 2.0...
  • Page 22 AN-000240 3. Module not set to proper floor distance • Example settings: “Sensor Height”: 25mm and 60mm Module mounted at 48mm • Issues: Floor detection accuracy Floor type metric Can detect threshold 25mm 60mm On Hard floor On Soft floor Page 22 of 23 Document Number: AN-000240 Revision: 2.0...

  • Page 23: Revision History

    ©2020 Chirp Microsystems. All rights reserved. Chirp Microsystems and the Chirp Microsystems logo are trademarks of Chirp Microsystems, Inc. The TDK logo is a trademark of TDK Corporation. Other company and product names may be trademarks of the respective companies with which they are associated.

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