A method for detecting the clamping of a curtain motor, a curtain motor, and a curtain

Abstract

The present invention relates to the field of smart home technology, and provides a method for detecting the clamping of a curtain motor, a curtain motor, and a curtain. The present invention provides a method for detecting the clamping of a curtain motor, wherein the curtain motor includes a stepper motor, and the stepper motor is used to control the movement of the curtain motor in a vertical direction. The method includes: collecting a current signal of the stepper motor; identifying the operating state of the stepper motor according to the current signal; when the stepper motor is in the slip transition state, determining that the curtain motor reaches a clamping state according to the slip transition state or the complete slip state. The method and curtain motor provided by the present invention can automatically detect that the curtain motor reaches a clamping state, thereby avoiding the occurrence of slipping and the like. The present invention does not require the additional use of a pressure sensor, avoids the wear caused by the rigid contact between the pressure sensor and the tensioning mechanism, reduces the mechanical fatigue of the motor operation, and has lower material costs and assembly costs.

Description

Technical Field

[0001] The present invention relates to the field of smart home technology, and in particular to a method for detecting the tightness of a curtain motor, a curtain motor and a curtain. Background Art

[0002] As smart homes become more and more popular, more and more people choose to use electric curtains. Electric curtains can make traditional opening and closing curtains intelligent. Users can remotely control the opening and closing of curtains through terminal devices, etc., to achieve a smarter life scene and improve the quality of life of users. When installing electric curtains, it is necessary to adjust the part of the curtain motor that contacts the curtain track to hold it tightly, otherwise the curtain motor is prone to slipping, idling, etc., so that the curtain cannot open and close normally, making the user experience not good enough.

[0003] A common method for detecting whether a curtain motor is tightly held is to use a pressure sensor to detect the tensioning force of the curtain motor. This detection method requires the pressure sensor to be in rigid contact with the tensioning mechanism. The curtain motor will experience mechanical fatigue after long-term operation. At the same time, the customization cost of the pressure sensor and the assembly cost of the mechanical structure are relatively high. Summary of the invention

[0004] The present invention aims to provide a method for detecting the tightness of a curtain motor, a curtain motor and a curtain, mainly to solve the problems that the current mechanical structure for detecting the tightness of a curtain motor is unreliable and the material and assembly costs are high.

[0005] In order to solve the above technical problems, a technical solution adopted in an embodiment of the present invention is: to provide a method for detecting the tightening of a curtain motor, wherein the curtain motor comprises a stepper motor, and the stepper motor is used to control the curtain motor to move in a vertical direction, and the method comprises:

[0006] Collecting a current signal of the stepper motor;

[0007] Identifying the operating state of the stepper motor according to the current signal, wherein the operating state of the stepper motor includes: a normal operating state, a slip transition state, and a complete slip state;

[0008] When the stepper motor is in the slip transition state, it is determined that the curtain motor reaches the clamping state according to the slip transition state or the complete slip state.

[0009] Optionally, the curtain motor includes a sampling resistor, and the collecting of the current signal of the stepper motor includes:

[0010] The current signal of the stepper motor is collected through the sampling resistor.

[0011] Optionally, the curtain motor includes a Hall current sensor, and collecting the current signal of the stepping motor includes:

[0012] Collecting the current signal of the stepping motor through the Hall current sensor.

[0013] Optionally, identifying the operating state of the stepping motor according to the current signal includes:

[0014] Obtaining the peak value or the valley value in the current signal;

[0015] Identifying the operating state of the stepping motor according to the dispersion degree of the peak value or the valley value.

[0016] Optionally, identifying the operating state of the stepping motor according to the dispersion degree of the peak value or the valley value includes:

[0017] Determining the window length according to the sampling frequency of the current signal;

[0018] Calculating the variance of the peak value or the valley value within a single window length;

[0019] Calculating a reference value according to the variance of the peak value or the valley value within the window length;

[0020] Identifying the operating state of the stepping motor according to the reference value.

[0021] Optionally, identifying the operating state of the stepping motor according to the reference value includes:

[0022] Obtaining the reference value of the current window;

[0023] Obtaining the median of the reference values of the five windows adjacent to the current window in the front;

[0024] Comparing the reference value of the current window with twice the median of the reference values of the five windows adjacent to the current window in the front;

[0025] If the reference value of the current window is greater than twice the median of the reference values of the five windows adjacent to the current window in the front, it is determined that the stepping motor enters the slip transition state.

[0026] To solve the above technical problems, another technical solution adopted in the embodiments of the present invention is: providing a curtain motor, the curtain motor is used to execute the method for detecting the clamping of the curtain motor, the curtain motor includes a housing, a driving device, a tensioning mechanism and a controller are arranged in the housing, and the controller is respectively in signal connection with the driving device and the tensioning mechanism;

[0027] The driving device is used to drive the curtain to move according to the control signal sent by the controller;

[0028] The tensioning mechanism includes a stepping motor, and the tensioning mechanism is used to control the curtain motor to move in a vertical direction according to a control signal sent by the controller;

[0029] The controller is used to:

[0030] Collecting a current signal of the stepper motor;

[0031] Identifying the operating state of the stepper motor according to the current signal, wherein the operating state of the stepper motor includes: a normal operating state, a slip transition state, and a complete slip state;

[0032] When the stepper motor is in the slip transition state, it is determined that the curtain motor reaches the clamping state according to the slip transition state or the complete slip state.

[0033] Optionally, the driving device further includes a DC motor and a driving wheel, wherein the DC motor is connected to the driving wheel and the controller respectively.

[0034] The DC motor is used to drive the driving wheel to rotate according to the control signal sent by the controller;

[0035] The driving wheel is used for driving the curtain motor to move in a horizontal direction when the driving wheel contacts the track of the curtain and rotates.

[0036] Optionally, the curtain motor further comprises a host hook, one end of the host hook passes through the housing and is connected to a curtain hook arranged on the track of the curtain, and the other end of the host hook is connected to the tensioning mechanism;

[0037] The host hook is used to hang the curtain motor through the curtain hook;

[0038] The tensioning mechanism is used to receive a control signal sent by the controller, and drive the host hook to move upward or downward according to the control signal, so as to make the curtain motor move downward or upward.

[0039] To solve the above technical problems, another technical solution adopted by the embodiment of the present invention is: to provide a curtain, the curtain comprises the curtain motor, track and curtain cloth as described above, and the curtain motor drives the curtain cloth to move on the track.

[0040] Compared with the prior art, the method for detecting the clamping of a curtain motor, the curtain motor and the curtain provided by the embodiments of the present invention collect the current signal of the stepper motor; identify the operating state of the stepper motor according to the current signal, wherein the operating state of the stepper motor includes: a normal operating state, a slipping transition state, and a complete slipping state; when the stepper motor is in the slipping transition state, determine that the curtain motor reaches the clamping state according to the slipping transition state or the complete slipping state. The method and the curtain motor provided by the embodiments of the present invention can automatically detect that the curtain motor reaches the clamping state, thereby avoiding phenomena such as slipping. The present invention does not require an additional pressure sensor, avoiding the wear caused by the rigid contact between the pressure sensor and the tensioning mechanism, reducing the mechanical fatigue of the motor operation, and having lower material costs and assembly costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] One or more embodiments are exemplarily illustrated by the pictures in the corresponding drawings. These exemplary illustrations do not limit the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements, unless otherwise stated, and the drawings in the drawings do not constitute a proportional limitation.

[0042] Figure 1 Schematic diagram of an application environment provided by an embodiment of the present invention;

[0043] Figure 2 Hardware block diagram of a curtain motor provided by an embodiment of the present invention;

[0044] Figure 3 Structural schematic diagram of a curtain motor provided by an embodiment of the present invention;

[0045] Figure 4 Flowchart of a method for detecting the clamping of a curtain motor provided by an embodiment of the present invention;

[0046] Figure 5 is Figure 4 Specific flowchart of step S20 in

[0047] Figure 6 is Figure 5 Specific flowchart of step S25 in

[0048] Figure 7 Flowchart of another method for detecting the clamping of a curtain motor provided by an embodiment of the present invention;

[0049] Figure 8 Schematic diagram of the waveform of the current signal in a method for detecting the clamping of a curtain motor provided by an embodiment of the present invention;

[0050] Figure 9a is Figure 8Partial enlarged view of the current signal in the normal operation state of the stepper motor, 9b is Figure 8 Partial enlarged view of the current signal in the over-slip state of the stepper motor, 9c is Figure 8 Partial enlarged view of the current signal in the full-slip state of the stepper motor;

[0051] Figure 10 Schematic diagrams of the curtain motor in the released state and the clamped state. Detailed implementation manners

[0052] For the convenience of understanding the present invention, the present invention will be described in more detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not used to limit the present invention.

[0053] It should be noted that if there is no conflict, the various features in the embodiments of the present invention can be combined with each other, and all are within the protection scope of the present invention. In addition, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different module division from that in the device schematic diagram or a different order from that in the flowchart. In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0054] Figure 1 It is a schematic diagram of an application environment provided by an embodiment of the present invention, and the method for controlling the clamping of the curtain motor can be applied to this application environment. As Figure 1As shown, the application environment includes: a server 11, a control terminal 12, a gateway 13, a wireless communication module 14 and a sub-device. Among them, the server 11 is used to generate and issue control data related to the curtain motor 15, including a cloud server or other server ends; the control terminal 12 includes but is not limited to smart terminals such as mobile phones, tablets, and smart speakers; the wireless communication module 14 is used to establish a communication connection between the gateway 13 and the curtain motor 14, including but not limited to a Bluetooth module or a zigbee module; the sub-device in this embodiment is the curtain motor 15, and in other scenarios of the application environment, the sub-device can also be a device such as a door and window sensor or a smart switch. The server 11 is connected to the gateway 13 by signal. In actual use, the control data is sent to the gateway 13 according to the corresponding control instructions, and the gateway 13 forwards the control data. The control instruction can be that the control terminal 12 logs in to the client APP of the curtain motor control system, operates on the corresponding interface on the APP, and generates a control instruction to the server 11. The server 11 can further generate control data for the curtain motor 15 according to the control instruction, and control the curtain motor 15 with the control data. The curtain motor control system can be controlled by an APP on a mobile phone or tablet, or by voice control on a smart speaker, to achieve intelligent control of the curtain motor system. For example, the curtain can be controlled to open and close automatically, or the curtain can be controlled to open or close automatically at a preset time.

[0055] The control data sent by the server 11 is sent to the wireless communication module 14 through the gateway 13. The wireless communication module 14 is connected to the curtain motor 15 by signal. After receiving the control data, the wireless communication module 14 outputs it to the curtain motor 15 connected to it, and the curtain motor 15 drives the curtain to open or close according to the control data. The gateway 13 is connected to the wireless communication module 14 by signal, receives the control data sent by the server 11, and forwards the control data to the wireless communication module 14.

[0056] The wireless communication module 14 and the curtain motor 15 may be one or more. When multiple wireless communication modules 14 and multiple curtain motors 15 are included, one wireless communication module may correspond to one curtain motor 15. The wireless communication module 14 and the curtain motor 15 may be separated independently. In some other embodiments, the curtain motor 15 may also include the wireless communication module 14, and the curtain motor 15 is connected to other devices through the wireless communication module 14.

[0057] It should be noted that Figure 1 This is just an example of an application environment. The method for detecting the tightness of a curtain motor and the curtain motor provided by the embodiment of the present invention can also be applied to other application environments.

[0058] Figure 2It is a hardware block diagram of a curtain motor provided by an embodiment of the present invention. The curtain motor 15 can be applied to the above application environment. The curtain motor 15 includes a driving device 151, a tensioning mechanism 152, and a controller 153. The controller 153 is respectively signal-connected to the driving device 151 and the tensioning mechanism 152. The driving device 151 is used to drive the curtain to move according to the control signal sent by the controller 153. The tensioning mechanism 152 includes a stepping motor 1523. The tensioning mechanism 152 is used to control the vertical movement of the curtain motor according to the control signal sent by the controller 153. The controller 153 is used to collect the current signal of the stepping motor 1523, and identify the operating state of the stepping motor 1523 according to the current signal. The operating state of the stepping motor 1523 includes: normal operating state, slip transition state, and complete slip state. When the stepping motor 1523 is in the slip transition state, the holding state of the curtain motor 15 is determined according to the slip transition state. Among them, the slip transition state means that the stepping motor 1523 continues to operate, has a longitudinal displacement, but is subject to resistance, and the stepping motor 1523 will miss steps internally, resulting in unstable current signals. The complete slip state means that although the stepping motor 1523 continues to operate, there will be no longitudinal displacement, and the stepping motor 1523 is completely slipping, and the current signal becomes smaller and tends to be stable.

[0059] Among them, as Figure 2 shown, the driving device 151 further includes a DC motor 1512 and a driving wheel 1511. The DC motor 1512 is respectively connected to the driving wheel 1511 and the controller 153. The DC motor 1512 is used to drive the driving wheel 1511 to rotate according to the control signal sent by the controller 153. The driving wheel 1511 is used to drive the horizontal movement of the curtain motor 15 when it contacts the track of the curtain and rotates.

[0060] The process of the curtain motor 15 controlling the driving wheel 1511 to hold tightly with the track of the curtain can be applied to the scenario of the first debugging of the driving wheel 1511 and the track after the curtain motor 15 is installed. Please refer to Figure 10, in this scenario, usually the driving wheel 1511 is in a non-contact state with the track. Through the actions of the above-mentioned driving device 151, tensioning mechanism 152, and controller 153, the driving wheel 1511 and the track reach a clamped state. The curtain motor 15 and the track are also in a clamped state. At this time, the driving wheel 1511 and the track are completely locked and will not undergo longitudinal displacement, but can only roll horizontally along the track, enabling the curtain motor 15 to operate stably and drive the curtain to move in the horizontal direction, thus avoiding abnormal phenomena such as slipping. In addition to being applicable to the scenario where the driving wheel 1511 and the track are clamped for the first time after the curtain motor 15 is installed as described above, it can also be applied to other scenarios that require detecting the clamping of the curtain motor. For example, it can be applied to the scenario of performing a clamping detection after the curtain motor has been running for a period of time, etc.

[0061] Figure 3 It is a schematic structural diagram of a curtain motor provided by an embodiment of the present invention. The curtain motor 15 includes: a housing, a driving wheel 1511, a DC motor 1512, a hanging buckle push rod 1521, a lead screw 1522, a stepping motor 1523, a tensioning mechanism bracket 1524, a controller 153, and a main machine hanging buckle 154. Among them, the curtain motor 15 is mounted on the curtain track through the main machine hanging buckle 154. For example, one end of the main machine hanging buckle 154 extends out of the housing and is connected to a curtain hook on the curtain track, so that the curtain motor 15 is mounted on the curtain hook. The other end of the main machine hanging buckle 154 is fixedly connected to the hanging buckle push rod 1521, for example, by a threaded connection.

[0062] The driving wheel 1511 and the DC motor 1512 can jointly form a driving device 151. A part of the driving wheel 1511 extends out of the housing. When the driving wheel 1511 is clamped with the curtain track, the driving wheel 1511 and the track are completely locked and will not undergo longitudinal displacement, but can only roll horizontally along the track. The driving wheel 1511 is connected to the DC motor 1512. The DC motor 1512 can include a motor and a reduction gearbox. A clutch can be provided on the driving wheel 1511, and the driving wheel 1511 is connected to the DC motor 1512 through the clutch and the reduction gearbox. The DC motor 1512 is disposed inside the housing and is in signal connection with the controller 153. The DC motor 1512 is used to drive the driving wheel 1511 to rotate according to the control signal sent by the controller 153. The driving wheel 1511 is used to abut against the curtain track and drive the curtain motor 15 to move horizontally along the track during rotation.

[0063] In this embodiment, the curtain motor 15 also includes a structure for measuring and collecting the current signal of the stepper motor 1523. The curtain motor 15 may include a sampling resistor, which is connected in series with the stepper motor 1523. The current signal flowing through the sampling resistor is equivalent to the current signal of the stepper motor 1523 by calculating the current signal. The resistance value of the sampling resistor should not be too large, usually less than 5Ω. In addition, the curtain motor 15 may also include a Hall current sensor, which is used to detect the current signal of the stepper motor 1523. In addition to the above two designs that can collect the current signal of the stepper motor 1523, the curtain motor 15 may also include other structures for collecting the current signal of the stepper motor 1523. However, compared with other methods, the above-mentioned current signal collection through the sampling resistor or the Hall current sensor has lower cost and less design difficulty, and the collection accuracy is not low. It is a practical and cost-effective method in comprehensive comparison.

[0064] In some embodiments, Figure 2 As shown, the curtain motor 15 may further include a battery 156 , which may be a rechargeable lithium battery having the characteristics of large capacity and high power storage capacity. The battery 156 is used to supply power to each module of the curtain motor 15 .

[0065] Different from the prior art, the curtain motor provided in the embodiment of the present invention can automatically detect the clamping state between the curtain motor and the curtain track. For example, it can be used in the scenario of debugging the clamping of the driving wheel and the track after the curtain motor is installed. This process does not require human intervention and provides convenience to the user. It detects that the curtain motor and the track are in a clamping state, which can avoid the occurrence of driving wheel slippage, idling and the like, ensures the stable operation of the curtain during the automatic opening and closing process, improves the stability of the curtain motor operation, improves the performance of the curtain, and provides a better user experience.

[0066] Figure 4 1 is a flow chart of a method for detecting the tightness of a curtain motor provided by an embodiment of the present invention. The method can be applied to the curtain motor 15 in the above embodiment. The method includes:

[0067] S10. Collect the current signal of the stepper motor. Among them, the current signal of the stepper motor can be collected by connecting a sampling resistor in series with the stepper motor. The sampling resistor is usually used in cases where the voltage is not high and the current is relatively small. The electrical signal directly obtained on the sampling resistor is a very small analog signal, and an external amplifier circuit is required to amplify the signal, and then it is converted into a digital signal through an A / D conversion circuit. This method has high precision, simple structure and low cost, and is a very practical method suitable for the application environment of the present invention. The current signal of the stepper motor can also be collected by a current transformer. By utilizing the nonlinearity and asymmetry when the iron core in the iron core coil is magnetized by both DC and AC currents, the large DC current passing through the coil is inversely transformed into a small DC current according to the turns ratio through a rectifier circuit. However, this method is usually used to measure large DC currents and is not a very suitable method in the application environment of the present invention. The current signal of the stepper motor can also be collected by a Hall current sensor. The Hall current sensor only needs to be externally connected to positive and negative DC power supplies, and the current bus of the stepper motor passes through the sensor, so that the isolation detection between the main circuit and the control circuit can be completed, simplifying the circuit design, and at the same time having the advantages of high precision, good linearity and fast response.

[0068] S20. Identify the operating state of the stepper motor according to the current signal. Among them, the operating states of the stepper motor include: normal operating state, slipping transition state and complete slipping state. When the stepper motor controls the curtain motor to move in the vertical direction, the driving wheel will gradually approach the track of the curtain until it contacts the track and finally holds the track tightly. During this process, steps are lost and slipping will occur inside the stepper motor, and the current signal of the stepper motor will change. At this time, the operating state of the stepper motor can be identified by detecting the change amount of the current signal, and thus the purpose of detecting that the curtain motor holds the track tightly can be achieved.

[0069] Please refer to Figure 8 and Figure 10 , Figure 8 is a schematic diagram of the waveform of the current signal in a method for detecting the tight holding of a curtain motor provided by an embodiment of the present invention, Figure 10 is a schematic diagram of the released state and the tightly held state of the curtain motor. Figure 8 The waveform diagram of the current signal when the stepper motor is in the normal operating state is shown in the left frame. At this time, the curtain motor is in a state of continuous vertical upward movement, and the driving wheel is not in contact with the track. Figure 8 The waveform diagram of the current signal when the stepper motor is in the slipping transition state is shown in the middle frame. At this time, the curtain motor and the track are in contact but not tightly held. At this time, the driving wheel is in contact with the track but not completely locked with the track. If the driving wheel rolls horizontally along the track at this time, slipping may occur. Figure 8The waveform diagram of the current signal when the stepping motor is in a complete slipping state is shown in the right frame. At this time, the curtain motor and the track are in a clamped state, and the driving wheel is in contact with the track and completely locked.

[0070] Please refer to Figure 5 , the recognizing the operating state of the stepping motor according to the current signal includes:

[0071] S21. Obtain the peak value or valley value in the current signal. Combining Figure 9a , 9b and 9c, find the peak value or valley value in the current signal. If the current value at time p is greater than the current value at time (p + 1) and the current value at time p is greater than the current value at time (p - 1), then the current value at time p is a peak value in the current signal; similarly, if the current value at time p is less than the current value at time (p + 1) and the current value at time p is less than the current value at time (p - 1), then the current value at time p is a valley value in the current signal. In this embodiment, taking obtaining the peak value as an example, obtain the peak value in the current signal.

[0072] S22. Determine the window length according to the sampling frequency of the current signal. Here, the window length refers to the time window length. Window the current signal of the stepping motor collected, divide the signal into many data segments of a certain length, and the length of the data segment is the time window length, and then process them segment by segment, which will be more convenient when processing the data. The window length can be determined according to the actual sampling frequency of the current signal. The sampling frequency refers to the number of samples extracted from a continuous signal per second and composed into a discrete signal, usually expressed in Hertz (Hz). For example, when the sampling frequency is 2 kHz, a time length of 0.2 s can be taken as a window length.

[0073] S23. Calculate the variance of the peak value or valley value within a single window length. Identify the operating state of the stepping motor according to the discrete degree of the peak value or the valley value. Combining Figure 9a , 9b and 9c, it can be seen that when the stepping motor is in a normal operating state, the discrete degree of the peak value or valley value is usually within a certain range, and when the stepping motor is in an excessive slipping state, the discrete degree of the peak value or valley value of the current signal of the stepping motor will change greatly compared with the discrete degree of the peak value or valley value of the current signal of the stepping motor in the normal operating state. When the stepping motor is in a complete slipping state, the discrete degree of the peak value or valley value will gradually become smaller and tend to a fixed value. This solution mainly detects the change of the current signal by calculating the discrete degree of the peak value or valley value of the current signal, and then judges the operating state of the stepping motor.

[0074] S24. Calculate a reference value based on the variance of the peaks or valleys within the window length. In this embodiment, taking the peak as an example, calculate the variance of all peaks within one window, retain two decimal places of the variance, and use this value as the reference value of the peak variance of this window.

[0075] S25. Identify the operating state of the stepper motor based on the reference value. The reference value can represent the degree of dispersion of the peak value of the current signal, and the operating state of the stepper motor can be detected based on the degree of dispersion. Please refer to Figure 6 , the identifying the operating state of the stepper motor based on the reference value specifically includes:

[0076] S251. Obtain the reference value of the current window;

[0077] S252. Obtain the median of the reference values of the five windows adjacent to the current window in the previous order;

[0078] S253. Compare the reference value of the current window with twice the median of the reference values of the five windows adjacent to the current window in the previous order. Assume that the reference value corresponding to the current window WLn is BLn, and the reference values of the five windows adjacent to the current window WLn in the previous order [WL(n - 5), WL(n - 4), WL(n - 3), WL(n - 2), WL(n - 1)] are [BL(n - 5), BL(n - 4), BL(n - 3), BL(n - 2), BL(n - 1)]. Denote the median of the reference values of the five windows adjacent to the current window in the previous order as BLa. BLa is the median of BL(n - 5), BL(n - 4), BL(n - 3), BL(n - 2), and BL(n - 1). Comparing the reference value of the current window with twice the median of the reference values of the five windows adjacent to the current window in the previous order is to compare the magnitudes of BLn and 2BLa. It should be noted that in this embodiment, step S252 is to obtain the median of the reference values of the five windows adjacent to the current window in the previous order; step S253 is to compare the reference value of the current window with twice the median of the reference values of the five windows adjacent to the current window in the previous order. In some other embodiments, step S252 can also be to obtain the average value or other data of the reference values of the five windows adjacent to the current window in the previous order; step S253 can also be to compare the reference value of the current window with twice the average value of the reference values of the five windows adjacent to the current window in the previous order.

[0079] S254. If the reference value of the current window is greater than twice the median of the reference values of the five windows adjacent to it in the previous order, then determine that the stepper motor enters the slip transition state. If BLn is greater than 2BLa, then determine that the stepper motor enters the slip transition state.

[0080] S30, when the stepper motor is in the slip transition state, determine that the curtain motor reaches the clamping state according to the slip transition state or the complete slip state, and the curtain motor reaches the clamping state, which means that the curtain motor and the track reach the clamping state. Since the slip transition state of the stepper motor lasts for a very short time, only a few seconds, if it is detected that the stepper motor reaches the slip transition state, the stepper motor will definitely reach the complete slip state, and it can be determined that the curtain motor and the track will reach the clamping state.

[0081] It should be noted that, in the above method embodiment, comparing the baseline value of the current window with the median value of the baseline values of the first five windows adjacent to the current window at twice the current window is the most appropriate calculation method for identifying the operating state of the stepper motor deduced through multiple experiments, and it is not limited to only this one calculation method for identifying the operating state of the stepper motor. In some other embodiments, there may be other calculation methods for identifying the operating state of the stepper motor. For example, the calculation method may be to compare the baseline value of the current window with the median or average value of the baseline values of the first three windows adjacent to the current window at twice the current window, or to compare the baseline value of the current window with the median or average value of the baseline values of the first five windows adjacent to the current window at three times the current window, etc., which are not listed one by one here.

[0082] The method for detecting the tightening of the curtain motor provided by the embodiment of the present invention detects the change of the current signal of the stepper motor and the operating state of the stepper motor, and automatically detects whether the curtain motor and the track have reached the tightening state according to the operating state, thereby avoiding the occurrence of slipping and the like. The present invention does not require the additional use of a pressure sensor, avoids the wear caused by the rigid contact between the pressure sensor and the tensioning mechanism, reduces the mechanical fatigue of the motor operation, and has lower material costs and assembly costs.

[0083] See also Figure 7 , Figure 7 1 is a flow chart of another method for detecting the tightness of a curtain motor provided by an embodiment of the invention, and the method can be applied to the curtain motor 15 in the above embodiment. The method includes:

[0084] S1. Collecting the current signal of the stepper motor. The method for collecting the current signal can refer to the method for collecting the current signal in the above method embodiment, and no further explanation is given here.

[0085] S2, obtain the peak value and valley value of the current signal, and combine Figure 9a , 9band 9c, finding the peak or valley value in the current signal. If the current value at time p is greater than the current value at time (p+1), and the current value at time p is greater than the current value at time (p-1), then the current value at time p is a peak value in the current signal; similarly, if the current value at time p is less than the current value at time (p+1), and the current value at time p is less than the current value at time (p-1), then the current value at time p is a valley value in the current signal. In this embodiment, the peak and valley values in the current signal are obtained.

[0086] S3. Calculate the degree of discreteness of the peak value and the valley value. The calculation of the degree of discreteness of the peak value and the valley value may be specifically to determine the window length according to the sampling frequency of the current signal, respectively calculate the variance of the peak value and the variance of the valley value within a single window length, and calculate the reference value according to the variance of the peak value and the variance of the valley value, and the reference value is a manifestation of the degree of discreteness of the peak value and the valley value. This embodiment takes the variance of the peak value and the variance of the valley value as an example, calculates the variance Dp of all peak values in a window, and simultaneously calculates the variance Dq of all valley values in the window, and takes the median of Dp and Dq as the reference value BLm of the variance of the peak value and the valley value of the window.

[0087] S4. Identify whether the stepper motor has entered an overslip state according to the discrete degree. The identification of whether the stepper motor has entered an overslip state according to the discrete degree can specifically be to obtain a reference value BLm of the current window WLm, obtain a median BLb of the reference values [BL(m-5), BL(m-4), BL(m-3), WL(m-2), WL(m-1)] of the first five windows adjacent to the current window [WL(m-5), WL(m-4), WL(m-3), WL(m-2), WL(m-1)], and compare the sizes of BLm and 2BLb.

[0088] S5, the curtain motor is held tight. If BLm is greater than 2BLb, it is determined that at the moment corresponding to the current window, the stepper motor enters the over-slip state. At the same time, since the over-slip state of the stepper motor lasts for a very short time, only a few seconds, if the stepper motor enters the over-slip state, it means that the stepper motor will and will definitely enter the complete slip state, and the curtain motor is held tight. If BLm is not greater than 2BLb, it is determined that at the moment corresponding to the current window, the stepper motor is still in a normal operating state and has not entered the over-slip state, then return to step S2, calculate the discrete degree in the next window according to the peak and valley values of the current signal, until the BLm of a certain window is greater than 2BLb, and reach step S5, the curtain motor is held tight.

[0089] An embodiment of the present invention further provides a curtain, which includes a curtain track, a curtain fabric, and the curtain motor in the above embodiment. The curtain motor is used to drive the curtain fabric to move on the curtain track, and the curtain motor can also specifically be used to execute the method in the above method embodiment. Among them, the curtain motor can be connected to the curtain through a main body hanging buckle provided thereon and a curtain hook on the curtain track, so that the curtain motor is connected to the curtain. The curtain motor can also be connected to the curtain in other ways. For example, a transmission box and a motor mounting seat for the curtain motor are provided on one side of the curtain track. The motor mounting seat is detachably arranged on the transmission box, and a through hole for the motor shaft to pass through is provided through the motor mounting seat. In this embodiment, the curtain motor can be connected to the curtain in a variety of ways, not limited to the above two ways.

[0090] The curtain provided by the embodiment of the present invention can operate stably during the automatic opening and closing processes of its curtain fabric, can avoid unstable phenomena such as slipping, and overall improves the performance of the curtain.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; under the idea of the present invention, the technical features in the above embodiments or different embodiments can also be combined, and the steps can be implemented in any order, and there are many other changes in different aspects of the present invention as described above. For the sake of brevity, they are not provided in detail; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for detecting whether a curtain motor is tightly held, characterized in that: The curtain motor comprises a stepper motor, and the stepper motor is used to control the curtain motor to move in a vertical direction. The method comprises: Collecting a current signal of the stepper motor; Acquire a peak value or a valley value in the current signal; identify the operating state of the stepper motor according to the discrete degree of the peak value or the valley value, wherein the operating state of the stepper motor includes: a normal operating state, a slip transition state, and a complete slip state; It is determined that the curtain motor reaches a clamped state according to the slip transition state or the complete slip state.

2. The method according to claim 1, characterized in that, The curtain motor includes a sampling resistor, and the current signal of the stepper motor is collected including: The current signal of the stepper motor is collected through the sampling resistor.

3. The method according to claim 1, wherein The curtain motor includes a Hall current sensor, and the current signal of the stepper motor is collected including: The current signal of the stepper motor is collected by the Hall current sensor.

4. The method according to claim 1, wherein The step of identifying the operating state of the stepper motor according to the discrete degree of the peak value or the valley value comprises: Determining a window length according to a sampling frequency of the current signal; Calculate the variance of the peak or valley value within a single window length; Calculate the reference value according to the variance of the peak value or the valley value within the window length; An operating state of the stepping motor is identified according to the reference value.

5. The method according to claim 4, characterized in that The step of identifying the operating state of the stepper motor according to the reference value comprises: Get the reference value of the current window; Get the median of the reference values of the five windows adjacent to the current window; Compare the reference value of the current window with the median of the reference values of the first five windows adjacent to the current window twice; If the reference value of the current window is greater than twice the median value of the reference values of the previous five adjacent windows, it is determined that the stepper motor enters a slip transition state.

6. A curtain motor, which is used to execute the method described in any one of the above claims 1 to 5, characterized in that, The curtain motor comprises a housing, in which a driving device, a tensioning mechanism and a controller are arranged, and the controller is respectively connected to the driving device and the tensioning mechanism by signals; The driving device is used to drive the curtain to move according to the control signal sent by the controller; The tensioning mechanism includes a stepping motor, and the tensioning mechanism is used to control the curtain motor to move in a vertical direction according to a control signal sent by the controller; The controller is used to: Collecting a current signal of the stepper motor; Acquire a peak value or a valley value in the current signal; identify the operating state of the stepper motor according to the discrete degree of the peak value or the valley value, wherein the operating state of the stepper motor includes: a normal operating state, a slip transition state, and a complete slip state; It is determined that the curtain motor reaches a clamped state according to the slip transition state or the complete slip state.

7. The curtain motor according to claim 6, characterized in that, The driving device further comprises a DC motor and a driving wheel, wherein the DC motor is connected to the driving wheel and the controller respectively. The DC motor is used to drive the driving wheel to rotate according to the control signal sent by the controller; The driving wheel is used for driving the curtain motor to move in a horizontal direction when the driving wheel contacts the track of the curtain and during the rotation of the driving wheel.

8. The curtain motor according to claim 6 or 7, characterized in that The curtain motor further includes a main body hanging buckle. One end of the main body hanging buckle passes through the outer shell and is connected to a curtain hook disposed on the track of the curtain. The other end of the main body hanging buckle is connected to the tensioning mechanism; The main body hanging buckle is used to mount the curtain motor through the curtain hook; The tensioning mechanism is used to receive a control signal sent by the controller, and drive the main body hanging buckle to move up or down according to the control signal, so that the curtain motor moves down or up.

9. A curtain, characterized in that, It includes the curtain motor, the track and the curtain fabric according to any one of claims 6 to 8, and the curtain motor drives the curtain fabric to move on the track.

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