Motor detection method, device, printer and storage medium

Abstract

The present application relates to a motor detection method, device, printer and storage medium. The processor obtains a first resistance value of a first contact point between a carbon brush slip ring and a conductive ring when the motor starts to rotate through a resistance detection device, and obtains a second resistance value of a second contact point between the carbon brush slip ring and the conductive ring during the rotation of the motor, and determines a resistance change according to the first resistance value and the second resistance value, and determines an actual rotation angle of the motor according to the resistance change. In the embodiment of the present application, a resistance detection device is added between the motor and the processor, and the resistance detection device can feed back the actual operating conditions of the motor rotation process to the processor, that is, the processor can obtain the actual rotation angle of the motor during the rotation process through the resistance detection device and obtain feedback information of the motor. This solves the problem in the prior art that the processor cannot receive feedback information from the motor, and improves the comprehensiveness and accuracy of the processor's grasp of the motor's operating conditions.

Description

Technical Field

[0001] The present application relates to the technical field of automatic control of electrical equipment, and in particular to a motor detection method, device, printer and storage medium. Background Art

[0002] With the development of 3D printing technology, 3D printers are increasingly used. The motion structure of existing 3D printers is to control the stepper motor to rotate accordingly through the processor inside the 3D printer to achieve the 3D printing process.

[0003] In the prior art, 3D printers usually adopt an open-loop control method, that is, after the processor sends a control instruction to the stepper motor, the stepper motor only rotates accordingly according to the control instruction, and does not feed back the actual rotation situation to the processor. The processor cannot receive feedback information and cannot determine whether the stepper motor executes correctly according to the instruction; in this case, the 3D printer often has the phenomenon of printing misalignment, resulting in poor printing effect of the 3D printer. Summary of the invention

[0004] Based on this, it is necessary to provide a motor detection method, device, printer and storage medium that can receive feedback information from the motor and improve the printing effect of the printer in order to address the above technical problems.

[0005] In a first aspect, a method for detecting a motor is provided, the method comprising:

[0006] The first resistance value of the first contact point is obtained by a resistance detection device, and the second resistance value of the second contact point is obtained by the resistance detection device; wherein the resistance detection device includes a detection disk and a carbon brush slip ring, the detection disk is driven by a motor to rotate, and the carbon brush slip ring is tightly fitted with a conductive ring on the detection disk; the first contact point is the contact point between the carbon brush slip ring and the conductive ring when the motor starts to rotate, and the second contact point is the contact point between the carbon brush slip ring and the conductive ring during the rotation of the motor;

[0007] The resistance change is determined according to the first resistance value and the second resistance value, and the actual rotation angle of the motor is determined according to the resistance change.

[0008] In one embodiment, the method further comprises:

[0009] Get the theoretical rotation angle of the motor;

[0010] According to the actual rotation angle and the theoretical rotation angle, it is determined whether to correct the actual rotation angle of the motor.

[0011] In one embodiment, the conductive annular ring comprises a conductive graphite ring and a conductive metal ring which are arranged concentrically, and the conductive graphite ring is electrically connected to the conductive metal ring, and the conductive graphite ring is not connected end to end;

[0012] The carbon brush slip ring comprises a first carbon brush slip ring and a second carbon brush slip ring. The first carbon brush slip ring is tightly fitted with the conductive graphite ring, and the second carbon brush slip ring is tightly fitted with the conductive metal ring.

[0013] In one embodiment, the first resistance value of the first contact point is the resistance value corresponding to a portion of the graphite ring on the conductive graphite ring connected to the resistance detection device when the motor starts to rotate;

[0014] The second resistance value of the second contact point is the resistance value corresponding to the part of the graphite ring on the conductive graphite ring connected to the resistance detection device during the rotation of the motor.

[0015] In one embodiment, determining the resistance change according to the first resistance value and the second resistance value includes:

[0016] Convert the first resistance value into a first voltage value and convert the second resistance value into a second voltage value by a bridge conversion circuit;

[0017] Determining a voltage change amount according to the first voltage value and the second voltage value;

[0018] The resistance change is determined according to the voltage change and the quotient of the current flowing through the portion of the graphite ring connected thereto.

[0019] In one embodiment, determining the actual rotation angle of the motor according to the resistance change includes:

[0020] Acquire characteristic parameters of the conductive graphite ring; wherein the characteristic parameters include the radius of the conductive graphite ring, the thickness of the conductive graphite ring, the width of the conductive graphite ring, and the resistivity of the conductive graphite ring;

[0021] The actual rotation angle of the motor is determined according to the resistance change and the characteristic parameters of the conductive graphite ring.

[0022] In one embodiment, determining whether to correct the actual rotation angle of the motor according to the actual rotation angle and the theoretical rotation angle includes:

[0023] When the actual rotation angle is different from the theoretical rotation angle, determining to correct the actual rotation angle of the motor;

[0024] When the actual rotation angle is the same as the theoretical rotation angle, the current rotation angle of the motor is maintained.

[0025] In a second aspect, a detection device for a motor is provided, the device comprising:

[0026] The acquisition module is used to acquire a first resistance value of a first contact point through a resistance detection device, and to acquire a second resistance value of a second contact point through the resistance detection device; wherein the resistance detection device includes a detection disk and a carbon brush slip ring, the motor drives the detection disk to rotate, and the carbon brush slip ring is tightly fitted with a conductive ring on the detection disk; the first contact point is the contact point between the carbon brush slip ring and the conductive ring when the motor starts to rotate, and the second contact point is the contact point between the carbon brush slip ring and the conductive ring during the rotation of the motor.

[0027] The determination module is used to determine a resistance change according to the first resistance value and the second resistance value, and to determine an actual rotation angle of the motor according to the resistance change.

[0028] In a third aspect, a printer is provided, comprising: a processor, a motor drive unit, a motor and a resistance detection device; wherein the processor is connected to the motor through the motor drive unit; the resistance detection device comprises a detection disk and a carbon brush slip ring, and the motor drives the detection disk to rotate; the carbon brush slip ring is tightly fitted with a conductive ring on the detection disk, and the conductive ring forms a closed loop with the processor through the carbon brush slip ring;

[0029] A processor, configured to obtain a first resistance value of a first contact point through a resistance detection device, and obtain a second resistance value of a second contact point through a resistance detection device; and determine a resistance change according to the first resistance value and the second resistance value, and determine an actual rotation angle of the motor according to the resistance change;

[0030] The first contact point is the contact point between the carbon brush slip ring and the conductive ring when the motor starts to rotate, and the second contact point is the contact point between the carbon brush slip ring and the detection disc during the rotation of the motor.

[0031] In one embodiment, the printer further comprises: a bridge conversion circuit connected to the processor, the conductive ring is electrically connected to the bridge conversion circuit through the carbon brush slip ring to form a closed loop with the processor;

[0032] The bridge conversion circuit is used to convert the first resistance value and the second resistance value into corresponding voltage values.

[0033] In a fourth aspect, a printer is provided, comprising: a memory, a processor, a motor drive unit, a motor, and a resistance detection device; wherein the processor is connected to the motor through the motor drive unit; the resistance detection device comprises a detection disk and a carbon brush slip ring, and the motor drives the detection disk to rotate; the carbon brush slip ring is tightly fitted with a conductive ring on the detection disk, and the conductive ring forms a closed loop with the processor through the carbon brush slip ring;

[0034] A computer program is stored in the memory, and when the processor executes the computer program, the steps of any one of the methods in the first aspect are implemented.

[0035] In a fifth aspect, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of any one of the methods in the first aspect are implemented.

[0036] In the detection method, device, printer and storage medium of the above-mentioned motor, the processor obtains the first resistance value of the first contact point between the carbon brush slip ring and the conductive ring when the motor starts to rotate through the resistance detection device, and obtains the second resistance value of the second contact point between the carbon brush slip ring and the conductive ring during the rotation of the motor through the resistance detection device, and determines the resistance change according to the first resistance value and the second resistance value, and determines the actual rotation angle of the motor according to the resistance change; that is, in the embodiment of the present application, by adding a resistance detection device between the motor and the processor, the resistance detection device can feed back the actual operation status of the motor rotation process to the processor, that is, the processor can obtain different resistance values ​​generated by the motor during the rotation process through the resistance detection device, and calculate the resistance change during the rotation process of the motor; and then the processor can determine the actual rotation angle of the motor according to the resistance change, and obtain the feedback information of the motor; the problem that the processor cannot receive the feedback information of the motor due to the open-loop control between the processor and the motor in the prior art is solved, and the motor detection method in the embodiment of the present application can realize the closed-loop control of the motor, obtain the feedback information of the motor, and greatly improve the comprehensiveness and accuracy of the processor's grasp of the motor operation status. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is an application environment diagram of a motor detection method in one embodiment;

[0038] Figure 2 is a schematic flow chart of a method for detecting a motor in one embodiment;

[0039] Figure 3a A schematic diagram of the structure of a conductive ring on a detection disk in one embodiment;

[0040] Figure 3b is a schematic diagram of the structure of a detection disk in a rotating process in one embodiment;

[0041] Figure 4 is a schematic flow chart of a method for detecting a motor in another embodiment;

[0042] Figure 5a is a schematic diagram of the structure of a conductive ring on a detection disk in another embodiment;

[0043] Figure 5bA schematic diagram of the structure of a motor, a detection disk and a carbon brush slip ring in one embodiment;

[0044] Figure 6 is a schematic flow chart of a method for detecting a motor in another embodiment;

[0045] Figure 7 Schematic diagram of the hardware structure of a motor detection method in one embodiment;

[0046] Figure 8 is a schematic flow chart of a method for detecting a motor in another embodiment;

[0047] Fig. 9 is a structural block diagram of a detection device for a motor in one embodiment;

[0048] Fig.10 is a structural block diagram of a detection device for a motor in another embodiment;

[0049] Fig.11 FIG. 1 is a diagram showing the internal structure of a printer in one embodiment. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0051] The motor detection method provided in this application can be applied to Figure 1 In the application environment shown in the figure, the processor 10 is connected to the motor 30 through the motor drive unit 20, the motor 30 is connected to the resistance detection device 40, and the resistance detection device 40 is connected to the processor 10; so that the processor 10 sends a control instruction to the motor drive unit 20, and when the motor drive unit 20 controls the motor 30 to rotate through the control instruction, the resistance detection device 40 can obtain the resistance value change of the motor 30 in real time during the rotation process and feed it back to the processor 10; thus, the processor 10 can timely grasp the rotation of the motor 30 and determine whether the motor 30 is correctly executed according to the instruction.

[0052] In addition, the resistance detection device 40 in the embodiment of the present application may include a detection disk and a carbon brush slip ring; wherein, the motor 30 can drive the detection disk to rotate, the carbon brush slip ring is tightly fitted with the conductive ring on the detection disk, and the conductive ring forms a closed loop with the processor 10 through the carbon brush slip ring; wherein, the conductive ring may include at least one conductive ring with a certain resistivity, and when the conductive ring includes multiple conductive rings, each conductive ring is electrically connected; correspondingly, the carbon brush slip ring may also include at least one carbon brush slip ring, and the carbon brush slip ring is tightly fitted with the conductive ring one-to-one; the detection disk may be a detection disk of any shape, for example: a detection disk.

[0053] In one embodiment, Figure 2 As shown, a motor detection method is provided, and the method is applied to Figure 1 The processor in the example is used to illustrate, including the following steps:

[0054] Step 201 : obtaining a first resistance value of a first contact point by means of a resistance detection device, and obtaining a second resistance value of a second contact point by means of the resistance detection device.

[0055] The first contact point is the contact point between the carbon brush slip ring and the conductive ring when the motor starts to rotate, and the second contact point is the contact point between the carbon brush slip ring and the conductive ring during the rotation of the motor.

[0056] In an optional implementation of this embodiment, the resistance detection device may include a detection disk and a carbon brush slip ring. The detection disk may include a conductive ring, which may be a conductive graphite ring. The conductive graphite ring has a certain resistivity and can be used for resistance measurement. The ends of the conductive graphite ring are not connected. Figure 3a As shown; the conductive graphite ring is closely fitted with the carbon brush slip ring, and the starting position of the conductive graphite ring (optionally, the starting position can be Figure 3a The position corresponding to point A in the figure) and the carbon brush slip ring are electrically connected to the processor respectively to form a resistance detection loop; wherein the resistance value detected by the resistance detection device is the resistance value corresponding to the part of the graphite ring connected to the resistance detection loop (the part of the graphite ring connected to the resistance detection loop is as follows Figure 3a ); since the ends of the conductive graphite ring are not connected, the resistance value detected by the resistance detection device will change from 0 (starting position A point) to the maximum (ending position Z point) during the rotation of the detection disk with the motor, or from the maximum (ending position Z point) to 0 (starting position A point), that is, the change of the resistance value during the rotation of the motor is a periodic change process; one rotation of the motor can be regarded as a detection cycle, and the resistance value in the detection cycle changes from 0 to the maximum, and then from the maximum to 0, or from the maximum to 0, and then from 0 to the maximum.

[0057] When the motor rotates, it will drive the detection disk to rotate together. Since the carbon brush slip ring is fixed, the contact point position between the carbon brush slip ring and the conductive ring on the detection disk will change, causing the resistance value corresponding to some graphite rings connected to the resistance detection circuit to change as well. Then, the processor can determine the actual rotation condition of the motor based on the change in resistance value of the conductive ring during the rotation of the motor.

[0058] Specifically, in the process of controlling the rotation of the motor, the processor can obtain a first resistance value of the first contact point through the resistance detection device, and obtain a second resistance value of the second contact point through the resistance detection device, wherein the first contact point is the contact point between the carbon brush slip ring and the conductive graphite ring when the motor starts to rotate, and the second contact point is the contact point between the carbon brush slip ring and the conductive graphite ring during the rotation of the motor; for example: Figure 3b As shown in the figure, when the processor controls the motor to rotate clockwise, it is assumed that when the motor starts to rotate, the carbon brush slip ring is in Figure 3b At the point B position in the figure, point B is the first contact point, and the first resistance value of the first contact point is Figure 3b The resistance value between point A and point B in the figure is: Figure 3b At the point C position in the figure, point C is the second contact point, and the second resistance value of the second contact point is Figure 3b The resistance value corresponding to the part between point A and point C.

[0059] Step 202: determining a resistance change according to the first resistance value and the second resistance value, and determining an actual rotation angle of the motor according to the resistance change.

[0060] Specifically, after obtaining the first resistance value and the second resistance value, the processor can determine the resistance change according to the first resistance value and the second resistance value; optionally, the processor can determine the resistance change according to the difference between the first resistance value and the second resistance value or the absolute value of the difference. The method for determining the resistance change is not limited in this embodiment; then, the processor can determine the actual rotation angle of the motor according to the resistance change; optionally, the processor can determine the actual rotation angle of the motor corresponding to the resistance change according to the correspondence between the resistance change and the actual rotation angle; wherein the correspondence between the resistance change and the actual rotation angle can be a correspondence generated based on previous experimental data.

[0061] In the above-mentioned motor detection method, the processor obtains the first resistance value of the first contact point between the carbon brush slip ring and the conductive ring when the motor starts to rotate through the resistance detection device, and obtains the second resistance value of the second contact point between the carbon brush slip ring and the conductive ring during the rotation of the motor through the resistance detection device, and determines the resistance change according to the first resistance value and the second resistance value, and determines the actual rotation angle of the motor according to the resistance change; that is, in the embodiment of the present application, by adding a resistance detection device between the motor and the processor, the resistance detection device can feed back the actual operation status of the motor rotation process to the processor, that is, the processor can obtain different resistance values ​​generated by the motor during the rotation process through the resistance detection device, and calculate the resistance change during the rotation process of the motor; and then the processor can determine the actual rotation angle of the motor according to the resistance change, and obtain the feedback information of the motor; the problem that the processor cannot receive the feedback information of the motor due to the open-loop control between the processor and the motor in the prior art is solved. The motor detection method in the embodiment of the present application can realize the closed-loop control of the motor, obtain the feedback information of the motor, and greatly improve the comprehensiveness and accuracy of the processor's grasp of the motor operation status.

[0062] In the closed-loop control of the motor, the processor must not only be able to obtain the actual rotation angle of the motor, but also be able to analyze the actual rotation angle and correct the actual rotation angle of the motor when it is determined that there is a deviation in the actual rotation angle.

[0063] Figure 4 FIG. 1 is a flow chart of a motor detection method in another embodiment. This embodiment relates to an optional implementation process of how a processor can correct the actual rotation angle of a motor. Based on the above embodiment, Figure 4 As shown, this aspect also includes:

[0064] Step 401, obtaining the theoretical rotation angle of the motor.

[0065] When the processor controls the rotation of the motor, it usually determines the corresponding number of pulse signals based on the theoretical rotation angle of the motor, and sends the pulse signal, enable signal, and direction signal corresponding to the number of pulse signals to the motor drive unit, and the motor drive unit controls the motor to rotate; wherein, one pulse signal corresponds to the rotation angle of the motor, for example, one pulse signal can correspond to a motor rotation of (1.8 / 16)°; the enable signal is used to instruct the motor drive unit to start controlling the motor to rotate; the direction signal is used to instruct the motor drive unit to control the rotation direction of the motor, including forward rotation and reverse rotation.

[0066] Optionally, the processor can determine the theoretical rotation angle of the motor at the current moment by obtaining how many pulse signals the motor executes at the current moment, that is, the number of pulse signals executed by the motor at the current moment, and through the number of pulse signals executed by the motor at the current moment and the angle of motor rotation corresponding to the above-mentioned pulse signal.

[0067] Step 402: Determine whether to correct the actual rotation angle of the motor according to the actual rotation angle and the theoretical rotation angle.

[0068] Specifically, the processor can determine whether to correct the actual rotation angle of the motor by comparing the actual rotation angle with the theoretical rotation angle; optionally, when the actual rotation angle and the theoretical rotation angle are different, that is, when there is a deviation between the actual rotation angle of the motor and the theoretical rotation angle, the processor can determine to correct the actual rotation angle of the motor to ensure the correct rotation of the motor; when the actual rotation angle and the theoretical rotation angle are the same, the processor can maintain the current rotation angle of the motor.

[0069] In the present embodiment, the processor obtains the theoretical rotation angle of the motor, and determines whether to correct the actual rotation angle of the motor based on the actual rotation angle and the theoretical rotation angle; that is, after obtaining the actual rotation angle of the motor, the processor in the present embodiment also analyzes the actual rotation angle, and determines whether the actual rotation angle is correct by comparing the actual rotation angle with the theoretical rotation angle of the motor; therefore, in the present embodiment, the processor implements closed-loop control of the motor and improves the accuracy of motor rotation by analyzing and correcting the obtained actual rotation angle of the motor.

[0070] In an optional embodiment of the present application, when the processor determines that the actual rotation angle is different from the theoretical rotation angle, it can also determine an optional implementation scheme for correcting the actual rotation angle of the motor by comparing the size relationship between the actual rotation angle and the theoretical rotation angle; optionally, when the actual rotation angle is greater than the theoretical rotation angle, the processor can reduce the number of pulse signals sent to the motor; when the actual rotation angle is less than the theoretical rotation angle, the processor can increase the number of pulse signals sent to the motor. Optionally, the processor can determine to reduce or increase the number of pulse signals sent to the motor by the angle deviation between the actual rotation angle and the theoretical rotation angle; based on the example in the above step 401, a pulse signal can correspond to a motor rotation of (1.8 / 16)°, then according to the corresponding relationship and the angle deviation, the number of pulse signals corresponding to the angle deviation can be determined.

[0071] In this embodiment, the processor determines the implementation scheme for correcting the actual rotation angle of the motor by comparing the size relationship between the actual rotation angle and the theoretical rotation angle, and reduces the number of pulse signals sent to the motor when the actual rotation angle is greater than the theoretical rotation angle; and increases the number of pulse signals sent to the motor when the actual rotation angle is less than the theoretical rotation angle; in this embodiment, the processor corrects the actual rotation angle of the motor by reducing or increasing the number of pulse signals through simple comparison. Through the closed-loop control method in this embodiment, the efficiency of the motor closed-loop control and the accuracy of the motor rotation can be improved.

[0072] In an optional embodiment of the present application, Figure 5a As shown, the conductive ring may include a concentrically arranged conductive graphite ring (such as Figure 5a 1a) and a conductive metal ring (such as Figure 5a 2a), and the conductive graphite ring is electrically connected to the conductive metal ring, and the conductive graphite ring is not connected end to end; the carbon brush slip ring may include a first carbon brush slip ring (such as Figure 5a 1b in) and the second carbon brush slip ring (such as Figure 5a 2b), the first carbon brush slip ring is tightly fitted with the conductive graphite ring, and the second carbon brush slip ring is tightly fitted with the conductive metal ring; optionally, since the resistivity of the conductive metal ring is very low, the resistance of the conductive metal ring is also very low, so in the embodiment of the present application, the resistance of the conductive metal ring can be ignored. In addition, in the embodiment of the present application, the first carbon brush slip ring and the second carbon brush slip ring are located on the side of the detection disk with the conductive ring, but the present application does not limit whether the first carbon brush slip ring and the second carbon brush slip ring are located at the upper position, the lower position, or other positions of the surface, as long as the first carbon brush slip ring is tightly fitted with the conductive graphite ring, and the second carbon brush slip ring is tightly fitted with the conductive metal ring; in addition, the relative position between the first carbon brush slip ring and the second carbon brush slip ring is not limited in the embodiment of the present application; for example, the above Figure 5a In the embodiment, the first carbon brush slip ring and the second carbon brush slip ring are both arranged below the detection disk, and are closely fitted with the corresponding conductive rings; of course, the first carbon brush slip ring can also be arranged below the detection disk, and the second carbon brush slip ring can be arranged above the detection disk.

[0073] Figure 5b FIG. 1 is a schematic diagram of the structure of a motor, a detection disk, and a carbon brush slip ring in one embodiment. Figure 5bAs shown, the detection disk can be a detection disk, which is arranged at the center position of the bottom rotating shaft of the motor, and the motor can be a stepper motor, and the detection disk can rotate with the rotation of the stepper motor; the first carbon brush slip ring and the second carbon brush slip ring are arranged directly above the detection disk, and are tightly fitted with the corresponding conductive rings on the detection disk.

[0074] exist Figure 5a and Figure 5b On the basis of, the first carbon brush slip ring and the second carbon brush slip ring are electrically connected to the processor respectively, so as to form a resistance detection loop; that is, the first carbon brush slip ring is electrically connected through the processor, where the processor can be electrically connected to the first carbon brush slip ring through a wire, the first carbon brush slip ring is connected to the conductive graphite ring, the conductive graphite ring is connected to the conductive metal ring, the conductive metal ring is connected to the second carbon brush slip ring, and the second carbon brush slip ring is electrically connected to the processor through a wire, so as to form a closed-loop resistance detection loop (such as Figure 5a Correspondingly, the first resistance value of the first contact point is the resistance value corresponding to the part of the graphite ring on the conductive graphite ring connected to the resistance detection device when the motor starts to rotate; the second resistance value of the second contact point is the resistance value corresponding to the part of the graphite ring on the conductive graphite ring connected to the resistance detection device during the rotation of the motor.

[0075] In the present embodiment, the resistance detection device is formed by providing two conductive rings and two carbon brush slip rings. When the detection disk rotates with the motor, the two carbon brush slip rings remain stationary, so that the connection between the two carbon brush slip rings and the processor is relatively stable, which can improve the reliability and stability of the resistance detection device, and increase the service life of the resistance detection device; in addition, through the structure of the conductive ring provided in the embodiment of the present application, and the connection relationship between the conductive ring and the processor, not only can the processor obtain feedback information of the motor, but also the feedback information of the motor obtained by the processor can be more accurate.

[0076] In the above-mentioned resistance detection device, when the motor drives the detection disk to rotate, the position of the contact point between the carbon brush slip ring and the conductive ring on the detection disk changes, which is essentially a change in the resistance value corresponding to the part of the graphite ring connected to the resistance detection circuit. In the embodiment of the present application, a bridge conversion circuit can be added to convert the resistance value corresponding to the part of the graphite ring connected to the resistance detection circuit into a corresponding voltage value and output it to the processor. Optionally, the bridge conversion circuit can be embedded in the processor or arranged on the periphery of the processor and connected to the resistance detection device.

[0077] Figure 6FIG. 1 is a flow chart of a motor detection method in another embodiment. This embodiment relates to an optional implementation process in which a processor determines a resistance change amount according to a first resistance value and a second resistance value. Based on the above embodiment, Figure 6 As shown, the above step 202 includes:

[0078] Step 601, converting a first resistance value into a first voltage value, and converting a second resistance value into a second voltage value, by means of a bridge conversion circuit; wherein the bridge conversion circuit is used to convert a resistance value into a corresponding voltage value.

[0079] In an optional implementation of this embodiment, in order to more accurately measure the resistance value of the conductive ring on the detection disk during the rotation of the motor, it can be achieved by adding a bridge conversion circuit, such as Figure 7 As shown; Optionally, the bridge conversion circuit can be arranged between the above-mentioned resistance detection device and the processor, that is, the above-mentioned first carbon brush slip ring and the second carbon brush slip ring are respectively connected to the bridge conversion circuit, and the bridge conversion circuit is connected to the processor; that is, the bridge conversion circuit is electrically connected to the first carbon brush slip ring through a wire, the first carbon brush slip ring is connected to the conductive graphite ring, the conductive graphite ring is connected to the conductive metal ring, the conductive metal ring is connected to the second carbon brush slip ring, the second carbon brush slip ring is electrically connected to the bridge conversion circuit through a wire, and the bridge conversion circuit is connected to the processor; the bridge conversion circuit converts the detected resistance value into a corresponding voltage value and outputs it to the processor, wherein the resistance value is the resistance value corresponding to the part of the graphite ring on the conductive graphite ring connected to the bridge conversion circuit. In other words, the above-mentioned first resistance value can be converted into a first voltage value, and the above-mentioned second resistance value can be converted into a second voltage value through the bridge conversion circuit, and then, the bridge conversion circuit outputs the first voltage value and the second voltage value to the processor.

[0080] Step 602: Determine a voltage variation according to the first voltage value and the second voltage value.

[0081] After acquiring the first voltage value and the second voltage value, the processor may determine the voltage change amount according to the first voltage value and the second voltage value; optionally, the voltage change amount may be determined according to the difference between the first voltage value and the second voltage value. Based on the example of FIG. 3 above, within one rotation of the motor, determining the voltage change amount according to the difference between the first voltage value and the second voltage value may include the following four situations, namely:

[0082] Case 1: When the motor rotates clockwise, assuming that the second voltage value is greater than the first voltage value, that is, at this time, the rotation of the motor is a process from the starting position of the conductive graphite ring to the end position of the conductive graphite ring, that is, the second voltage value and the first voltage value are within a detection cycle; in this case, the voltage change can be determined by the difference between the second voltage value and the first voltage value, that is, it can be expressed as ΔU=U2-U1, where U2 is the second voltage value, U1 is the first voltage value, and ΔU is the voltage change. For example: when the motor rotates clockwise from 3V to 5V, the second voltage value is 5V, the first voltage value is 3V, and the voltage change is ΔU=(5-3)V=2V.

[0083] Case 2: When the motor rotates clockwise, it is assumed that the second voltage value is less than the first voltage value, that is, at this time, the rotation of the motor is a process from one detection cycle to the next detection cycle, that is, the second voltage value and the first voltage value are not in the same detection cycle; in this case, the voltage change can be determined by the difference between the second voltage value and the first voltage value, plus the maximum voltage value, which can be expressed as ΔU = U2-U1+U T , where U2 is the second voltage value, U1 is the first voltage value, and U T is the maximum voltage value in a detection cycle, and ΔU is the voltage change. For example, if the maximum voltage value in a detection cycle is 15V, and the motor turns clockwise from 13V to 3V, then the second voltage value is 3V, the first voltage value is 13V, and the voltage change is ΔU = (3-13 + 15)V = 5V.

[0084] Case 3: When the motor rotates counterclockwise, assuming that the second voltage value is less than the first voltage value, that is, at this time, the rotation of the motor is a process from the end position of the conductive graphite ring to the starting position of the conductive graphite ring, that is, the second voltage value and the first voltage value are within a detection cycle; in this case, the voltage change can be determined by the absolute value of the difference between the second voltage value and the first voltage, that is, it can be expressed as ΔU = |U2-U1|, where U2 is the second voltage value, U1 is the first voltage value, and ΔU is the voltage change. For example: when the motor rotates counterclockwise from 5V to 3V, the second voltage value is 3V, the first voltage value is 5V, and the voltage change is ΔU = |3-5|V = 2V.

[0085] Case 4: When the motor rotates counterclockwise, it is assumed that the second voltage value is greater than the first voltage value, that is, at this time, the rotation of the motor is a process from one detection cycle to the next detection cycle, that is, the second voltage value and the first voltage value are not in the same detection cycle; in this case, the voltage change can be determined by subtracting the difference between the second voltage value and the first voltage value from the maximum voltage value, which can be expressed as ΔU=U T-(U2-U1), where U2 is the second voltage value, U1 is the first voltage value, and U T is the maximum voltage value in a detection cycle, and ΔU is the voltage change. For example, if the maximum voltage value in a detection cycle is 15V, and the motor rotates counterclockwise from 3V to 13V, then the second voltage value is 13V, the first voltage value is 3V, and the voltage change is ΔU = (15-(13-3))V = 5V.

[0086] Step 603, determining the resistance change according to the voltage change and the quotient of the current flowing through the portion of the graphite ring connected thereto.

[0087] Specifically, according to the voltage-current conversion theorem, that is, U=IR, it can be known that the resistance can be calculated according to the voltage and current, that is, Applied in the embodiment of the present application, the resistance change can be determined according to the quotient of the voltage change and the current flowing through the connected part of the graphite ring; optionally, when the voltage change is a voltage change determined according to the difference between the amplified second voltage value and the amplified first voltage value, the resistance change can be obtained by dividing the voltage change by the current flowing through the connected part of the graphite ring and then dividing by the amplification factor of the signal amplification unit.

[0088] In the present embodiment, the processor converts the first resistance value into a first voltage value and the second resistance value into a second voltage value through a bridge conversion circuit, and determines the voltage change according to the first voltage value and the second voltage value, and determines the resistance change according to the quotient of the voltage change and the current flowing through the part of the graphite ring connected to the part; that is, in the embodiment of the present application, the resistance value of the physical quantity corresponding to the part of the graphite ring connected to the resistance detection loop can be converted into the corresponding digital voltage value through the bridge conversion circuit, so that the processor can calculate the resistance change generated by the motor during the rotation process according to the accurate digital voltage value, which greatly improves the accuracy of the processor in obtaining the feedback information of the motor.

[0089] In an optional embodiment of the present application, for the above step 602, since under normal circumstances, the voltage value obtained by the bridge conversion circuit is relatively small, the processor is prone to calculation errors when performing subsequent calculations based on the voltage value, resulting in inaccurate calculations; therefore, a signal amplification unit may also be provided in this embodiment, such as Figure 7As shown; Optionally, the signal amplification unit can be arranged at the periphery of the processor and connected between the bridge conversion circuit and the processor, and the signal amplification unit can amplify the voltage value output by the bridge conversion circuit and output it to the processor; that is, the processor can perform voltage amplification processing on the first voltage value and the second voltage value respectively through the signal amplification unit to obtain the amplified first voltage value and the amplified second voltage value, and determine the voltage change amount according to the difference between the amplified second voltage value and the amplified first voltage value. In this embodiment, the process of determining the voltage change amount according to the difference between the amplified second voltage value and the amplified first voltage value can refer to the content discussed in the above step 602, which will not be repeated here.

[0090] In this embodiment, a signal amplification unit is added between the processor and the bridge conversion circuit. The signal amplification unit can amplify the smaller voltage value output by the bridge conversion circuit and output the amplified voltage value to the processor, so that the processor can obtain more accurate calculation results during subsequent calculation processes.

[0091] Figure 8 FIG. 1 is a flow chart of a method for detecting a motor in another embodiment. This embodiment relates to an optional implementation process in which a processor determines the actual rotation angle of a motor according to a change in resistance value. Based on the above embodiment, Figure 8 As shown, the above step 202 includes:

[0092] Step 801, obtaining characteristic parameters of the conductive graphite ring.

[0093] The characteristic parameters include the radius of the conductive graphite ring, the thickness of the conductive graphite ring, the width of the conductive graphite ring and the resistivity of the conductive graphite ring.

[0094] Optionally, the processor can obtain the characteristic parameters of the conductive graphite ring from the memory, or obtain the characteristic parameters of the conductive graphite ring from the database, that is, obtain the radius of the conductive graphite ring, the thickness of the conductive graphite ring, the width of the conductive graphite ring and the resistivity of the conductive graphite ring.

[0095] Step 802: determining the actual rotation angle of the motor according to the resistance change and the characteristic parameters of the conductive graphite ring.

[0096] Optionally, when the processor determines the actual rotation angle of the motor according to the resistance change and the characteristic parameters of the conductive graphite ring, The actual rotation angle of the motor is determined by the relationship between d and s, wherein d represents the thickness of the conductive graphite ring, s represents the width of the conductive graphite ring, ρ represents the resistivity of the conductive graphite ring, r represents the radius of the conductive graphite ring, and ΔR represents the change in resistance; for example, the processor can be based on To determine the actual rotation angle of the motor; Wherein, k can be any constant within the preset angle error range to determine the actual rotation angle of the motor; in the embodiment of the present application, The relationship is not limited.

[0097] In the present embodiment, the processor obtains the characteristic parameters of the conductive graphite ring and determines the actual rotation angle of the motor according to the change in resistance and the characteristic parameters of the conductive graphite ring; that is, in the present embodiment, the processor calculates the actual rotation angle of the motor through the specific characteristic parameters of the conductive graphite ring, so that the calculation result of the actual rotation angle of the motor is more accurate, thereby improving the accuracy of the actual rotation angle of the motor obtained by the processor.

[0098] In an optional embodiment of the present application, according to the content described in the above step 201, it can be known that during the rotation of the motor, regardless of whether the contact point between the carbon brush slip ring and the conductive graphite ring is the initial position of the conductive graphite ring when the motor starts to rotate, during the rotation of the motor, the change process of the voltage value obtained by the processor presents a periodic change process; therefore, the processor can also determine the number of rotations of the motor during the rotation process based on the obtained voltage value change curve, and one rotation of the motor corresponds to a voltage value change cycle; after determining the number of rotations of the motor, the material consumption of the current printer can be further determined based on the material consumed by the motor when it rotates one circle and the number of rotations.

[0099] In this embodiment, the processor can further determine the number of rotations of the motor based on the feedback information of the motor, that is, the change in the voltage value corresponding to the motor during the rotation process, so that the processor can determine the current material consumption of the printer based on the number of rotations, thereby expanding the scope of use of the motor detection method and making the method more scalable.

[0100] It should be understood that although Figure 2-8 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 2-8At least part of the steps may include multiple steps or multiple stages. These steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

[0101] In one embodiment, Fig. 9 As shown, a closed-loop control device for a motor is provided, comprising: a first acquisition module 901 and a first determination module 902, wherein:

[0102] The first acquisition module 901 is used to obtain a first resistance value of a first contact point through a resistance detection device, and to obtain a second resistance value of a second contact point through the resistance detection device; wherein the resistance detection device includes a detection disk and a carbon brush slip ring, the motor drives the detection disk to rotate, and the carbon brush slip ring is tightly fitted with a conductive ring on the detection disk; the first contact point is the contact point between the carbon brush slip ring and the conductive ring when the motor starts to rotate, and the second contact point is the contact point between the carbon brush slip ring and the conductive ring during the rotation of the motor.

[0103] The first determination module 902 is used to determine a resistance change according to the first resistance value and the second resistance value, and to determine an actual rotation angle of the motor according to the resistance change.

[0104] In one embodiment, if Fig.10 As shown, the device also includes: a second acquisition module 903 and a second determination module 904; wherein the second acquisition module 903 is used to obtain the theoretical rotation angle of the motor; the second determination module 904 is used to determine whether to correct the actual rotation angle of the motor based on the actual rotation angle and the theoretical rotation angle.

[0105] In one of the embodiments, the conductive circular ring includes a conductive graphite ring and a conductive metal ring which are arranged concentrically, and the conductive graphite ring is electrically connected to the conductive metal ring, and the conductive graphite rings are not connected end to end; the carbon brush slip ring includes a first carbon brush slip ring and a second carbon brush slip ring, the first carbon brush slip ring is tightly fitted with the conductive graphite ring, and the second carbon brush slip ring is tightly fitted with the conductive metal ring.

[0106] In one embodiment, the first resistance value of the first contact point is the resistance value corresponding to the part of the graphite ring on the conductive graphite ring connected to the resistance detection device when the motor starts to rotate; the second resistance value of the second contact point is the resistance value corresponding to the part of the graphite ring on the conductive graphite ring connected to the resistance detection device during the rotation of the motor.

[0107] In one embodiment, the first determination module 902 includes a conversion unit, a first determination unit and a second determination unit; wherein the conversion unit is used to convert the first resistance value into a first voltage value, and convert the second resistance value into a second voltage value through a bridge conversion circuit; the first determination unit is used to determine the voltage change according to the first voltage value and the second voltage value; the second determination unit is used to determine the resistance change according to the voltage change and the quotient of the current flowing through the part of the graphite ring connected to it.

[0108] In one embodiment, the first determination module 902 includes: an acquisition unit and a third determination unit; wherein the acquisition unit is used to acquire characteristic parameters of the conductive graphite ring; wherein the characteristic parameters include the radius of the conductive graphite ring, the thickness of the conductive graphite ring, the width of the conductive graphite ring and the resistivity of the conductive graphite ring; and the third determination unit is used to determine the actual rotation angle of the motor according to the resistance change and the characteristic parameters of the conductive graphite ring.

[0109] In one embodiment, the second determination module 904 is specifically used to determine whether to correct the actual rotation angle of the motor when the actual rotation angle is different from the theoretical rotation angle; and to maintain the current rotation angle of the motor when the actual rotation angle is the same as the theoretical rotation angle.

[0110] The specific definition of the closed-loop control device of the motor can be found in the definition of the closed-loop control method of the motor above, which will not be repeated here. Each module in the closed-loop control device of the motor can be implemented in whole or in part by software, hardware and a combination thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0111] In one embodiment, a printer is provided. Figure 1 , including: a processor 10, a motor drive unit 20, a motor 30 and a resistance detection device 40; wherein the processor 10 is connected to the motor 30 through the motor drive unit 20; the resistance detection device 40 includes a detection disk and a carbon brush slip ring, and the motor 30 drives the detection disk to rotate; the carbon brush slip ring is tightly fitted with the conductive ring on the detection disk, and the conductive ring forms a closed loop with the processor 10 through the carbon brush slip ring;

[0112] The processor 10 is used to obtain a first resistance value of the first contact point through the resistance detection device 40, and obtain a second resistance value of the second contact point through the resistance detection device 40; and determine a resistance change according to the first resistance value and the second resistance value, and determine an actual rotation angle of the motor according to the resistance change;

[0113] The first contact point is the contact point between the carbon brush slip ring and the conductive ring when the motor starts to rotate, and the second contact point is the contact point between the carbon brush slip ring and the detection disc during the rotation of the motor.

[0114] In one embodiment, see above Figure 7 The printer also includes: a bridge conversion circuit 50 connected to the processor, the conductive ring is electrically connected to the bridge conversion circuit 50 through the carbon brush slip ring to form a closed loop with the processor 10; the bridge conversion circuit 50 is used to convert the first resistance value and the second resistance value into corresponding voltage values.

[0115] In one embodiment, a printer is provided, whose internal structure diagram can be as follows: Fig.11 As shown. The printer includes: a memory, a processor, a motor drive unit, a motor and a resistance detection device connected through a system bus; wherein the processor is connected to the motor through the motor drive unit to provide computing and control capabilities; the resistance detection device includes a detection disk and a carbon brush slip ring, and the motor drives the detection disk to rotate; the carbon brush slip ring is tightly fitted with the conductive ring on the detection disk, and the conductive ring forms a closed loop with the processor through the carbon brush slip ring; the memory of the printer includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores a computer program, and the processor implements the closed-loop control method of the motor when executing the computer program.

[0116] Those skilled in the art will understand that Fig.11 The structure shown in the figure is merely a block diagram of a portion of the structure related to the present application scheme, and does not constitute a limitation on the printer to which the present application scheme is applied. A specific printer may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0117] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0118] The first resistance value of the first contact point is obtained by a resistance detection device, and the second resistance value of the second contact point is obtained by the resistance detection device; wherein the resistance detection device includes a detection disk and a carbon brush slip ring, the detection disk is driven by a motor to rotate, and the carbon brush slip ring is tightly fitted with a conductive ring on the detection disk; the first contact point is the contact point between the carbon brush slip ring and the conductive ring when the motor starts to rotate, and the second contact point is the contact point between the carbon brush slip ring and the conductive ring during the rotation of the motor;

[0119] The resistance change is determined according to the first resistance value and the second resistance value, and the actual rotation angle of the motor is determined according to the resistance change.

[0120] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: obtaining the theoretical rotation angle of the motor; and determining whether to correct the actual rotation angle of the motor based on the actual rotation angle and the theoretical rotation angle.

[0121] In one embodiment, the conductive circular ring includes a conductive graphite ring and a conductive metal ring which are arranged concentrically, and the conductive graphite ring is electrically connected to the conductive metal ring, and the conductive graphite rings are not connected end to end; the carbon brush slip ring includes a first carbon brush slip ring and a second carbon brush slip ring, the first carbon brush slip ring is tightly fitted with the conductive graphite ring, and the second carbon brush slip ring is tightly fitted with the conductive metal ring.

[0122] In one embodiment, the first resistance value of the first contact point is the resistance value corresponding to the part of the graphite ring on the conductive graphite ring connected to the resistance detection device when the motor starts to rotate; the second resistance value of the second contact point is the resistance value corresponding to the part of the graphite ring on the conductive graphite ring connected to the resistance detection device during the rotation of the motor.

[0123] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: converting the first resistance value into a first voltage value, and converting the second resistance value into a second voltage value through a bridge conversion circuit; determining a voltage change according to the first voltage value and the second voltage value; determining the resistance change according to the voltage change and a quotient of a current flowing through the portion of the graphite ring connected thereto.

[0124] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: obtaining characteristic parameters of the conductive graphite ring; wherein the characteristic parameters include the radius of the conductive graphite ring, the thickness of the conductive graphite ring, the width of the conductive graphite ring, and the resistivity of the conductive graphite ring; and determining the actual rotation angle of the motor according to the resistance change and the characteristic parameters of the conductive graphite ring.

[0125] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: when the actual rotation angle is different from the theoretical rotation angle, determine to correct the actual rotation angle of the motor; when the actual rotation angle is the same as the theoretical rotation angle, maintain the current rotation angle of the motor.

[0126] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0127] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0128] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A method for detecting a motor, characterized in that: The method comprises: The first resistance value of the first contact point is obtained by a resistance detection device, and the second resistance value of the second contact point is obtained by the resistance detection device; wherein the resistance detection device includes a detection disk and a carbon brush slip ring, the motor drives the detection disk to rotate, and the carbon brush slip ring is tightly fitted with a conductive ring on the detection disk; the first contact point is the contact point between the carbon brush slip ring and the conductive ring when the motor starts to rotate, and the second contact point is the contact point between the carbon brush slip ring and the conductive ring during the rotation of the motor; wherein the conductive rings are not connected end to end; the conductive ring and the carbon brush slip ring are respectively electrically connected to the processor to form a resistance detection loop; A resistance change is determined according to the first resistance value and the second resistance value, and an actual rotation angle of the motor is determined according to the resistance change.

2. The method according to claim 1, characterized in that The method further comprises: Obtaining a theoretical rotation angle of the motor; According to the actual rotation angle and the theoretical rotation angle, it is determined whether to correct the actual rotation angle of the motor.

3. The method according to claim 1 or 2, characterized in that: The conductive circular ring comprises a conductive graphite ring and a conductive metal ring which are arranged concentrically, and the conductive graphite ring is electrically connected to the conductive metal ring, and the conductive graphite rings are not connected end to end; The carbon brush slip ring comprises a first carbon brush slip ring and a second carbon brush slip ring, the first carbon brush slip ring is tightly fitted with the conductive graphite ring, and the second carbon brush slip ring is tightly fitted with the conductive metal ring.

4. The method according to claim 3, characterized in that The first resistance value of the first contact point is the resistance value corresponding to the part of the graphite ring on the conductive graphite ring connected to the resistance detection device when the motor starts to rotate; The second resistance value of the second contact point is the resistance value corresponding to a portion of the graphite ring on the conductive graphite ring connected to the resistance detection device during the rotation of the motor.

5. The method according to claim 4, characterized in that The determining the resistance change according to the first resistance value and the second resistance value includes: Converting the first resistance value into a first voltage value, and converting the second resistance value into a second voltage value, by a bridge conversion circuit; determining a voltage change according to the first voltage value and the second voltage value; The resistance change is determined according to the voltage change and the quotient of the current flowing through the portion of the graphite ring connected thereto.

6. The method according to claim 5, characterized in that The determining the actual rotation angle of the motor according to the resistance change comprises: Acquire characteristic parameters of the conductive graphite ring; wherein the characteristic parameters include the radius of the conductive graphite ring, the thickness of the conductive graphite ring, the width of the conductive graphite ring, and the resistivity of the conductive graphite ring; The actual rotation angle of the motor is determined according to the resistance change and the characteristic parameters of the conductive graphite ring.

7. The method according to claim 2, characterized in that The determining whether to correct the actual rotation angle of the motor according to the actual rotation angle and the theoretical rotation angle includes: If the actual rotation angle is different from the theoretical rotation angle, then determining to correct the actual rotation angle of the motor; If the actual rotation angle is the same as the theoretical rotation angle, the current rotation angle of the motor is maintained.

8. A motor detection device, characterized in that: The device comprises: An acquisition module is used to acquire a first resistance value of a first contact point through a resistance detection device, and to acquire a second resistance value of a second contact point through the resistance detection device; wherein the resistance detection device includes a detection disk and a carbon brush slip ring, the detection disk is driven by a motor to rotate, and the carbon brush slip ring is tightly fitted with a conductive ring on the detection disk; the first contact point is the contact point between the carbon brush slip ring and the conductive ring when the motor starts to rotate, and the second contact point is the contact point between the carbon brush slip ring and the conductive ring during the rotation of the motor; wherein the conductive rings are not connected end to end; the conductive ring and the carbon brush slip ring are respectively electrically connected to the processor to form a resistance detection loop; A determination module is used to determine a resistance change according to the first resistance value and the second resistance value, and to determine an actual rotation angle of the motor according to the resistance change.

9. A printer, characterized in that: include: A processor, a motor drive unit, a motor and a resistance detection device; wherein the processor is connected to the motor through the motor drive unit; the resistance detection device includes a detection disk and a carbon brush slip ring, and the motor drives the detection disk to rotate; the carbon brush slip ring is tightly fitted with a conductive ring on the detection disk, and the conductive ring forms a closed loop with the processor through the carbon brush slip ring; wherein the conductive ring is not connected at the head and the tail; The processor is used to obtain a first resistance value of a first contact point through a resistance detection device, and to obtain a second resistance value of a second contact point through the resistance detection device; and to determine a resistance change according to the first resistance value and the second resistance value, and to determine an actual rotation angle of the motor according to the resistance change; the processor is electrically connected to the conductive ring and the carbon brush slip ring respectively to form a resistance detection loop; The first contact point is the contact point between the carbon brush slip ring and the conductive ring when the motor starts to rotate, and the second contact point is the contact point between the carbon brush slip ring and the detection disk during the rotation of the motor.

10. The printer according to claim 9, characterized in that: The printer further comprises: a bridge conversion circuit connected to the processor, wherein the conductive ring is electrically connected to the bridge conversion circuit through the carbon brush slip ring to form a closed loop with the processor; The bridge conversion circuit is used to convert the first resistance value and the second resistance value into corresponding voltage values.

11. A printer, characterized in that: include: A memory, a processor, a motor drive unit, a motor and a resistance detection device; wherein the processor is connected to the motor through the motor drive unit; the resistance detection device includes a detection disk and a carbon brush slip ring, and the motor drives the detection disk to rotate; the carbon brush slip ring is tightly fitted with the conductive ring on the detection disk, and the conductive ring forms a closed loop with the processor through the carbon brush slip ring; The memory stores a computer program, and the processor implements the steps of the method according to any one of claims 1 to 7 when executing the computer program.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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