Encoder-based motor speed control methods, systems, and cleaning equipment thereof

Abstract

This invention relates to an encoder-based motor speed control method, system, and cleaning equipment having the same. The method includes: acquiring an output pulse signal generated by a rotary encoder in the cleaning equipment; determining the acceleration / deceleration adjustment direction and speed adjustment amount of the motor in the cleaning equipment based on the output pulse signal; and controlling the motor speed according to the acceleration / deceleration adjustment direction and the speed adjustment amount. The rotary encoder in the cleaning equipment of this invention is not limited to adjustment in a single 360° direction; it can perform cyclic adjustment in any number of 360° directions. By cyclically adjusting the rotary encoder in any number of 360° directions, arbitrary speed adjustment of the motor can be achieved, enabling high-precision motor speed control in the cleaning equipment, high operational flexibility, and effectively improving the user experience.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment, and in particular to an encoder-based method, system, and cleaning equipment having the same. Background Technology

[0002] In recent years, electric motors have been widely used in various fields, such as lathes and cleaning equipment. In practical applications within cleaning equipment, motor speed control can meet the different speed requirements of the equipment. Therefore, the design and research of speed controllers are crucial for achieving high speed control accuracy and a wide speed range in cleaning equipment.

[0003] Currently, most existing motor speed controllers are implemented by operating a rotary switch on a potentiometer (whose core component is a rotary encoder). In this type of motor speed controller, the rotary switch can only rotate in a single 360° direction. For example, to accelerate the motor, the rotary switch is operated instantaneously in a single 360° direction. After the rotary switch rotates one full clockwise rotation (i.e., a single 360°), the motor accelerates from an initial value to its maximum value. After that, the rotary switch can only be operated counterclockwise and cannot be operated clockwise again. Similarly, to decelerate the motor, the rotary switch is operated counterclockwise in a single 360° direction. After the rotary switch rotates one full counterclockwise rotation (i.e., a single 360°), the motor decelerates from an initial value to its minimum value. After that, the rotary switch can only be operated clockwise and cannot be operated counterclockwise again.

[0004] Therefore, this type of motor speed controller can only rotate in a single 360° direction, and cannot achieve high-precision motor speed regulation through cyclic adjustment in multiple 360° directions by a rotary encoder, resulting in poor operational flexibility. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention is how to achieve high-precision motor speed regulation by cyclically adjusting the rotary encoder in multiple 360° directions, thereby improving the operational flexibility of motor speed regulation.

[0006] To solve the above-mentioned technical problems, the present invention provides a motor speed control method based on an encoder, comprising:

[0007] Acquire the output pulse signal generated by the rotary encoder in the cleaning equipment;

[0008] Based on the output pulse signal, determine the acceleration / deceleration adjustment direction and speed adjustment amount of the motor in the cleaning equipment;

[0009] The motor speed is controlled according to the acceleration / deceleration adjustment direction and the speed adjustment amount.

[0010] Optionally, the output pulse signal includes at least one set of dual pulse signals, and each set of dual pulse signals includes two single pulse signals output sequentially.

[0011] The step of determining the acceleration / deceleration direction and speed adjustment amount of the motor in the cleaning equipment based on the output pulse signal includes:

[0012] The output sequence of the two single pulse signals in each group of dual pulse signals is identified respectively;

[0013] Based on the output order of the two single pulse signals in each group of double pulse signals, the corresponding count value of the double pulse signal is determined respectively.

[0014] The count values ​​of all the dual-pulse signals are summed to obtain the pulse value of the output pulse signal;

[0015] Based on the pulse value, the acceleration / deceleration adjustment direction and the speed adjustment amount of the motor are determined respectively.

[0016] Optionally, the two single pulse signals in each group of dual pulse signals are a first pulse signal and a second pulse signal, respectively.

[0017] The step of determining the count value of the corresponding double pulse signal based on the output order of the two single pulse signals in each double pulse signal includes:

[0018] In each group of dual-pulse signals, when the first pulse signal is output before the second pulse signal, the count value of the corresponding dual-pulse signal is +1; when the second pulse signal is output before the first pulse signal, the count value of the corresponding dual-pulse signal is -1.

[0019] Optionally, both the first pulse signal and the second pulse signal are high-level signals.

[0020] Optionally, determining the acceleration / deceleration adjustment direction and the speed adjustment amount of the motor based on the pulse value includes:

[0021] When the pulse value is positive, the acceleration / deceleration adjustment direction of the motor is determined to be acceleration adjustment; when the pulse value is negative, the acceleration / deceleration adjustment direction of the motor is determined to be deceleration adjustment.

[0022] The total number of pulses generated by the rotary encoder is obtained in advance when the knob configured on the rotary encoder rotates clockwise or counterclockwise once.

[0023] Compare the absolute value of the pulse count with the total number of pulses;

[0024] When the absolute value of the pulse value is less than the total number of pulses, the absolute value of the pulse value is determined as the number of speed adjustment gears of the motor.

[0025] When the absolute value of the pulse value is greater than or equal to the total number of pulses, the remainder after dividing the absolute value of the pulse value by the total number of pulses is determined as the number of speed adjustment gears of the motor.

[0026] The speed adjustment amount is calculated based on the number of speed adjustment gears and the preset speed gear setpoint; wherein, the preset speed gear setpoint refers to the change in motor speed corresponding to each speed adjustment gear in the number of speed adjustment gears.

[0027] Optionally, controlling the motor speed according to the acceleration / deceleration adjustment direction and the speed adjustment amount includes:

[0028] Obtain the current speed of the motor;

[0029] The target speed of the motor is obtained based on the current speed and the speed adjustment amount;

[0030] When the acceleration / deceleration adjustment direction is acceleration adjustment, the motor is accelerated according to the target speed; when the acceleration / deceleration adjustment direction is deceleration adjustment, the motor is decelerated according to the target speed.

[0031] Optionally, acquiring the output pulse signal generated by the rotary encoder in the cleaning equipment includes:

[0032] When the knob configured on the rotary encoder rotates clockwise by an angle α, the rotary encoder outputs a set of dual pulse signals, and the first pulse signal in the dual pulse signals is output before the second pulse signal;

[0033] When the knob configured on the rotary encoder rotates counterclockwise by an angle α, the rotary encoder outputs a set of dual-pulse signals, and the second pulse signal in the dual-pulse signals is output before the first pulse signal.

[0034] Furthermore, this invention also proposes an encoder-based motor speed control system, applied to the aforementioned encoder-based motor speed control method, comprising:

[0035] The signal acquisition module is used to acquire the output pulse signal generated by the rotary encoder in the cleaning equipment.

[0036] The main control module is used to determine the acceleration / deceleration adjustment direction and speed adjustment amount of the motor in the cleaning equipment according to the output pulse signal; it is also used to control the speed adjustment of the motor according to the acceleration / deceleration adjustment direction and the speed adjustment amount.

[0037] Furthermore, the present invention also proposes a cleaning device, comprising:

[0038] Equipment body;

[0039] A rotary encoder is mounted on the device body;

[0040] The motor is mounted on the main body of the device; and

[0041] The aforementioned encoder-based motor speed control system is mounted on the device body and is communicatively connected to both the rotary encoder and the motor.

[0042] Optionally, it also includes:

[0043] The power supply is located on the main body of the device and is electrically connected to the motor stepless speed regulation system based on the rotary encoder, the rotary encoder, and the motor.

[0044] The technical solution provided by this invention has the following advantages:

[0045] Acceleration / deceleration adjustment direction includes acceleration and deceleration adjustment, indicating whether the motor accelerates or decelerates; speed adjustment amount refers to how much the motor speed needs to be adjusted. When the rotary encoder on the cleaning equipment rotates, it generates output pulse signals. By acquiring these output pulse signals, the corresponding acceleration / deceleration adjustment direction of the motor can be determined when the user operates the rotary encoder once, i.e., whether the motor needs to accelerate or decelerate under the user's operation. Simultaneously, based on the output pulse signal, the corresponding speed change of the motor under the user's operation can also be determined. Based on this acceleration / deceleration adjustment direction and speed adjustment amount, the motor speed can be controlled accordingly according to the user's actual operating needs.

[0046] Since the output pulse signal is generated when the rotary encoder rotates, after the rotary encoder rotates one revolution, it will generate a corresponding output pulse signal whether it continues to rotate in the original direction or in the opposite direction. Therefore, when the rotary encoder is cyclically adjusted in multiple 360° directions, it can generate a corresponding output pulse signal. Based on the corresponding output pulse signal, the corresponding acceleration / deceleration adjustment and speed adjustment amount can be determined to realize the corresponding motor speed regulation.

[0047] The present invention provides a motor speed control method, system, and cleaning equipment based on an encoder. The rotation of the rotary encoder on the cleaning equipment is not limited to adjustment in one 360° direction, but can be cyclically adjusted in multiple 360° directions. By cyclically adjusting the rotary encoder in multiple 360° directions, the motor speed can be adjusted at any speed. This enables high-precision motor speed control of the cleaning equipment, high operational flexibility, and effectively improves the user's experience with the cleaning equipment. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 This is a flowchart of a motor speed control method based on an encoder according to Embodiment 1 of the present invention;

[0050] Figure 2a This is a timing diagram of the two single-pulse signals output by the rotary encoder when it rotates clockwise by an angle α in Embodiment 1 of the present invention;

[0051] Figure 2b This is a timing diagram of the two single-pulse signals output by the rotary encoder when it rotates counterclockwise by an angle α in Embodiment 1 of the present invention;

[0052] Figure 3 This is a flowchart illustrating the process of determining the acceleration / deceleration direction and speed adjustment amount of the motor in Embodiment 1 of the present invention.

[0053] Figure 4 This is a flowchart illustrating the motor speed control based on the acceleration / deceleration adjustment direction and speed adjustment amount in Embodiment 1 of the present invention.

[0054] Figure 5 This is a complete flowchart of the motor speed regulation of the vacuum cleaner in Embodiment 1 of the present invention;

[0055] Figure 6 This is a model structure diagram of an encoder-based motor speed control system according to Embodiment 2 of the present invention;

[0056] Figure 7 This is a model structural diagram of a cleaning device according to Embodiment 3 of the present invention. Detailed Implementation

[0057] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0058] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0059] In this invention, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this invention.

[0060] The encoder-based motor speed control method, system, and cleaning equipment of the present invention can be applied to any cleaning equipment equipped with a motor, such as a vacuum cleaner, floor scrubber, etc. The following embodiments are illustrated using a vacuum cleaner as an example.

[0061] Example 1

[0062] like Figure 1 As shown, this embodiment provides an encoder-based motor speed control method for cleaning equipment, including:

[0063] S1: Acquire the output pulse signal generated by the rotary encoder in the cleaning equipment;

[0064] S2: Determine the acceleration / deceleration adjustment direction and speed adjustment amount of the motor in the cleaning equipment based on the output pulse signal;

[0065] S3: Control the motor speed according to the acceleration / deceleration adjustment direction and the speed adjustment amount.

[0066] In the encoder-based motor speed control method provided in this embodiment, the rotary encoder on the cleaning equipment generates an output pulse signal when it rotates. By acquiring this output pulse signal, the acceleration / deceleration adjustment direction of the motor can be determined when the user operates the rotary encoder once, that is, whether the motor needs to accelerate or decelerate under the user's operation. At the same time, based on the output pulse signal, the corresponding speed change of the motor under the user's operation can also be determined. Based on the acceleration / deceleration adjustment direction and speed adjustment amount, the motor can be controlled to adjust the speed according to the user's actual operation needs.

[0067] Since the output pulse signal is generated when the rotary encoder rotates, after the rotary encoder rotates one revolution, it will generate a corresponding output pulse signal whether it continues to rotate in the original direction or in the opposite direction. Therefore, when the rotary encoder is cyclically adjusted in multiple 360° directions, it can generate a corresponding output pulse signal. Based on the corresponding output pulse signal, the corresponding acceleration / deceleration adjustment and speed adjustment amount can be determined to realize the corresponding motor speed regulation.

[0068] The encoder-based motor speed control method provided in this embodiment allows the rotation of the rotary encoder on the cleaning equipment to be adjusted in multiple 360° directions without being limited to a single 360° direction. By cyclically adjusting the rotary encoder in multiple 360° directions, the motor speed can be adjusted at any speed. This enables high-precision motor speed control of the cleaning equipment, provides high operational flexibility, and effectively improves the user experience.

[0069] Preferably, the output pulse signal includes at least one set of dual pulse signals, and each set of dual pulse signals includes two single pulse signals output sequentially.

[0070] By using at least one set of dual-pulse signals with an output sequence, it is convenient to obtain the pulse value of the output pulse signal, and then determine the motor's adjustment method and speed adjustment amount based on the pulse value.

[0071] Specifically, the two single pulse signals in each group of dual pulse signals are the first pulse signal and the second pulse signal, respectively.

[0072] In an optional embodiment, S1 includes:

[0073] When the knob configured on the rotary encoder rotates clockwise by an angle α, the rotary encoder outputs a set of dual pulse signals, and the first pulse signal in the dual pulse signals is output before the second pulse signal;

[0074] When the knob configured on the rotary encoder rotates counterclockwise by an angle α, the rotary encoder outputs a set of dual-pulse signals, and the second pulse signal in the dual-pulse signals is output before the first pulse signal.

[0075] In cleaning equipment, to facilitate motor control based on a rotary encoder, a knob is typically mounted on the rotary encoder for easy user rotation. Therefore, in this embodiment, the rotary encoder outputs a set of double-pulse signals every time it rotates by an angle α. More specifically, when rotating clockwise by an angle α, the rotary encoder outputs a set of double-pulse signals where the first pulse signal precedes the second pulse signal. The main control module of the cleaning equipment can receive the first and second pulse signals sequentially. Similarly, when rotating counterclockwise by an angle α, the rotary encoder outputs a set of double-pulse signals where the second pulse signal precedes the first pulse signal. The main control module of the cleaning equipment can receive the second and first pulse signals sequentially. Based on this generation mechanism, the output pulse signals facilitate subsequent determination of the count value of each set of double-pulse signals in the output pulse signals, thereby statistically calculating the pulse value of the output pulse signals. Furthermore, it allows for multiple speed settings of the motor to be adjusted by rotating the rotary encoder clockwise or counterclockwise, thus achieving stepless speed regulation of the motor.

[0076] The α angle can be set and adjusted according to the actual situation. For example, if the α angle is set to 36°, the rotary encoder will output a first pulse signal and then a second pulse signal for every 36° clockwise rotation of the knob on the rotary encoder; the rotary encoder will output a second pulse signal and then a first pulse signal for every 36° counterclockwise rotation of the knob on the rotary encoder. If the user operates the knob on the rotary encoder, rotating it 180° clockwise will output 5 sets of double-pulse signals sequentially, with the first pulse signal in each set preceding the second pulse signal. Similarly, rotating it 180° counterclockwise will output the same 5 sets of double-pulse signals, with the second pulse signal preceding the first pulse signal in each set. Rotating the knob 540° clockwise will output 15 sets of double-pulse signals sequentially, with the first pulse signal preceding the second pulse signal in each set. This means that adjusting the knob within a single 360° rotation allows for 10 speed settings.

[0077] Of course, in another optional embodiment, it can also be configured such that when rotating clockwise by an angle α, the rotary encoder outputs a set of double pulse signals in which the second pulse signal is output before the first pulse signal; and when rotating counterclockwise by an angle α, the rotary encoder outputs a set of double pulse signals in which the first pulse signal is output before the second pulse signal. This is understandable to those skilled in the art.

[0078] Specifically, both the first pulse signal and the second pulse signal are high-level signals.

[0079] In this embodiment, the rotary encoder has one ground wire and two output signal pins, namely signal pin A and signal pin B. Both output signal pins are connected to the main control module in the cleaning equipment. When the rotary encoder is rotated clockwise, signal pin A first outputs a high-level signal to the main control module, and signal pin B subsequently also outputs a high-level signal to the main control module. The waveforms of the two high-level signals output by the two output signal pins are shown in the figure. Figure 2a As shown; when the rotary encoder is rotated counterclockwise, signal pin B will first output a high-level signal to the main control module, and signal pin A will subsequently also output a high-level signal to the main control module. The waveforms of the two high-level signals output by the two output signal pins are shown in the figure. Figure 2b As shown. Of course, this embodiment can also be configured such that when the rotary encoder is rotated clockwise, signal pin B will first output a high-level signal to the main control module, and signal pin A will subsequently also output a high-level signal to the main control module; when the rotary encoder is rotated counterclockwise, signal pin A will first output a high-level signal to the main control module, and signal pin B will subsequently also output a high-level signal to the main control module.

[0080] It should be noted that the phase difference (i.e., the output time difference) between the first pulse signal and the second pulse signal can be preset according to the actual situation, and its specific value will not be listed here.

[0081] Preferably, such as Figure 3 As shown, S2 includes:

[0082] S21: Identify the output sequence of the two single pulse signals in each group of dual pulse signals;

[0083] S22: Determine the count value of the corresponding double pulse signal according to the output order of the two single pulse signals in each group of double pulse signals;

[0084] S23: Sum the count values ​​of all the dual-pulse signals to obtain the pulse value of the output pulse signal;

[0085] S24: Based on the pulse value, determine the acceleration / deceleration adjustment direction and the speed adjustment amount of the motor, respectively.

[0086] When a user operates the knob on the rotary encoder, the encoder generates at least one set of double-pulse signals with different output sequences in different rotation directions. These different rotation directions correspond to different acceleration / deceleration adjustment directions of the motor. Therefore, the output sequence of the two single-pulse signals in each set of double-pulse signals is first identified. Based on each output sequence, the count value of each set of double-pulse signals is determined. This count value reflects the rotation direction of the rotary encoder, facilitating subsequent analysis of the encoder's rotation direction and the calculation of the final pulse value. Ultimately, this allows for the determination of whether the motor is accelerating or decelerating. Furthermore, the number of double-pulse signals generated in the output pulse signal varies with the rotary encoder's rotation angle. Since different rotation angles correspond to different speed adjustments in the motor, the pulse value calculated from the double-pulse signal count also reflects the encoder's rotation angle, thus facilitating the determination of the final required adjustment amount for the motor speed.

[0087] This embodiment, through the method steps described in S21 to S24 above, can efficiently and accurately identify the acceleration / deceleration adjustment direction and speed adjustment amount of the motor in the cleaning equipment after the rotary encoder is operated by the user, which facilitates high-precision motor speed regulation.

[0088] In an optional embodiment, in S21, the main control module in the cleaning equipment can be used to identify the output signal sequence of the two single pulse signals in each group of double pulse signals. The specific identification method is existing technology and will not be described in detail here.

[0089] In an optional embodiment, S22 includes:

[0090] In each group of dual-pulse signals, when the first pulse signal is output before the second pulse signal, the count value of the corresponding dual-pulse signal is +1; when the second pulse signal is output before the first pulse signal, the count value of the corresponding dual-pulse signal is -1.

[0091] Using the above counting method, the positive or negative sign of the count value can be used to represent the output sequence of the two single pulse signals in each group of double pulse signals, and the specific value of the count value can be used to represent the number of double pulse signals. That is, the output sequence and number of double pulse signals are assigned to the corresponding count value, which makes it easier to use the count value assigned to the output sequence and number to count the final pulse value, and then analyze the acceleration adjustment direction and speed adjustment amount.

[0092] S23 directly sums all the count values ​​to obtain a pulse value that simultaneously reflects the acceleration / deceleration adjustment direction and the speed adjustment amount.

[0093] In an optional embodiment, in S24, determining the acceleration / deceleration adjustment method of the motor based on the pulse value includes:

[0094] When the pulse value is positive, the acceleration / deceleration adjustment direction of the motor is determined to be acceleration adjustment; when the pulse value is negative, the acceleration / deceleration adjustment direction of the motor is determined to be deceleration adjustment.

[0095] Since the pulse value is obtained by summing the count values ​​based on the output sequence and quantity of the dual pulse signals, the rotation direction of the knob on the rotary encoder can be directly and accurately analyzed based on the positive or negative value of the pulse value, thereby determining the required acceleration or deceleration adjustment direction. The method is simple, reliable, and easy to implement.

[0096] Specifically, when angle α is set to 36°, if the knob on the rotary encoder is rotated 180° clockwise, the count values ​​corresponding to the five sets of double pulse signals output by the rotary encoder are +1, +1, +1, +1, and +1 respectively, resulting in a final output pulse signal value of +5. Since this pulse value is positive, it indicates that the motor needs to accelerate. If the knob is rotated 180° counterclockwise, the count values ​​corresponding to the five sets of double pulse signals output are -1, -1, -1, -1, and -1 respectively, resulting in a final output pulse signal value of +5. If the pulse value is -5, which is negative, then the motor needs to decelerate. If the motor rotates 540° clockwise, the count values ​​corresponding to the 15 sets of double pulse signals output sequentially are all +1, resulting in a final output pulse value of +15, which is positive, indicating that the motor needs to accelerate. If the motor rotates 540° counterclockwise, the count values ​​corresponding to the 15 sets of double pulse signals output sequentially are all -1, resulting in a final output pulse value of -15, which is negative, indicating that the motor needs to decelerate.

[0097] Of course, it can also be set so that in each set of dual-pulse signals, when the first pulse signal is output before the second pulse signal, the count value of the corresponding dual-pulse signal is -1; when the second pulse signal is output before the first pulse signal, the count value of the corresponding dual-pulse signal is +1. Similar to the aforementioned embodiment, it is only necessary to adjust the mechanism for determining the acceleration / deceleration adjustment direction based on the sign of the final pulse value to: when the pulse value is negative, the acceleration / deceleration adjustment direction of the motor is determined to be acceleration adjustment; when the pulse value is positive, the acceleration / deceleration adjustment direction of the motor is determined to be deceleration adjustment. This is understandable to those skilled in the art.

[0098] In an optional embodiment, in S24, determining the motor speed adjustment amount based on the pulse value includes:

[0099] The total number of pulses generated by the rotary encoder is obtained in advance when the knob configured on the rotary encoder rotates clockwise or counterclockwise once.

[0100] Compare the absolute value of the pulse count with the total number of pulses;

[0101] When the absolute value of the pulse value is less than the total number of pulses, the absolute value of the pulse value is determined as the number of speed adjustment gears of the motor.

[0102] When the absolute value of the pulse value is greater than or equal to the total number of pulses, the remainder after dividing the absolute value of the pulse value by the total number of pulses is determined as the number of speed adjustment gears of the motor.

[0103] The speed adjustment amount is calculated based on the number of speed adjustment gears and the preset speed gear setpoint; wherein, the preset speed gear setpoint refers to the change in motor speed corresponding to each speed adjustment gear in the number of speed adjustment gears.

[0104] Since the knob on the rotary encoder in this embodiment can be cyclically adjusted in any number of 360° directions, the total number of pulses generated by the rotary encoder for each clockwise or counterclockwise rotation of the knob is pre-set and compared with the absolute value of the pulse value. This allows us to determine whether the user has experienced one or more 360° cyclic adjustments when actually rotating the knob. Furthermore, if the knob continues to cyclically adjust after experiencing one or more 360° adjustments, the corresponding motor speed will continue to adjust from the initial value before the cyclic adjustment (for example, if the knob starts from zero...). When the knob is rotated clockwise to the 360° position, the motor accelerates from the minimum speed to the maximum speed. If the knob continues to rotate clockwise from this 360° position, the motor speed will jump back to the minimum speed and continue to accelerate from that minimum speed. Therefore, based on the comparison of the total number of pulses and the absolute value of the pulse value, the actual amount of speed adjustment required for the motor when the knob configured on the rotary encoder has undergone any number of 360° cyclic adjustments can be accurately obtained (i.e., the speed adjustment amount). Thus, based on the rotary encoder's cyclic adjustments of any number of 360°, high-precision speed regulation of the motor can be achieved.

[0105] When determining the actual required adjustment of motor speed based on the comparison between the total number of pulses and the absolute value of the pulse value, if the absolute value of the pulse value is less than the total number of pulses, it indicates that the rotation angle of the knob has not exceeded 360°, meaning the rotary encoder only adjusts the motor speed within a single 360° range. In this case, the absolute value of the pulse value represents the number of speed settings actually adjusted by the motor within that single 360° range (i.e., the number of speed adjustment ranges). If the absolute value of the pulse value is greater than or equal to the total number of pulses, it indicates that the rotation angle of the knob has exceeded 360°, meaning the rotary encoder has undergone one or more 360° cycle adjustments. In this case, the pulse value... The absolute value of the pulse value divided by the total number of pulses gives the quotient, which represents the number of revolutions the knob rotates, i.e., the number of 360° cycles the rotary encoder completes. The remainder after dividing the absolute value of the pulse value by the total number of pulses represents the number of speed settings the motor actually adjusts after these n 360° cycles (i.e., the number of speed adjustment settings). When the remainder after dividing the absolute value of the pulse value by the total number of pulses is 0, it means that the knob's rotation angle is exactly equal to n 360°. At this time, the motor speed returns to the initial value before the cycle adjustment (i.e., the current speed), the number of speed adjustment settings is 0, that is, the motor speed adjustment amount is 0, and the motor speed remains unchanged during the actual process.

[0106] Specifically, when the α angle is set to 36°, the total number of pulses generated by the rotary encoder for each clockwise or counterclockwise rotation of the knob is 10, thus enabling 10 speed settings for the motor. If the knob on the rotary encoder is rotated 180° clockwise, the output pulse signal will have a pulse value of +5, whose absolute value is less than the total number of pulses. Therefore, the speed adjustment level is the absolute value of the pulse value, which is 5. If the knob is rotated 180° counterclockwise, the output pulse signal will have a pulse value of -5. If the absolute value is less than the total number of pulses, then the speed adjustment level is also the absolute value of the pulse value, which is 5. If the speed is rotated 540° clockwise, the output pulse signal value is +15, and its absolute value is greater than the total number of pulses. Therefore, the speed adjustment level is the remainder between the absolute value of the pulse value and the total number of pulses, which is 5. If the speed is rotated 540° counterclockwise, the output pulse signal value is -15, and its absolute value is also greater than the total number of pulses. Therefore, the speed adjustment level is also the remainder between the absolute value of the pulse value and the total number of pulses, which is also 5.

[0107] The preset speed setting value refers to the change in motor speed corresponding to each speed adjustment level. Specifically, for every rotation of the knob on the rotary encoder by an angle α, the motor speed changes by one level, and the amount of this change is the preset speed setting value. Based on this preset speed setting value and the number of speed adjustment levels, the total speed adjustment of the motor can be directly calculated.

[0108] Preferably, such as Figure 4 As shown, S3 includes:

[0109] S31: Obtain the current speed of the motor;

[0110] S32: Based on the current rotational speed and the speed adjustment amount, the target rotational speed of the motor is obtained;

[0111] S33: When the acceleration / deceleration adjustment direction is acceleration adjustment, the motor is accelerated according to the target speed; when the acceleration / deceleration adjustment direction is deceleration adjustment, the motor is decelerated according to the target speed.

[0112] The target speed that the motor needs to reach after the user operates the rotary encoder can be directly calculated from the current rotational speed and speed adjustment amount. According to the target speed and the direction of acceleration and deceleration adjustment, the corresponding speed control of the motor can be realized. This control method is simple, easy to implement, and highly reliable.

[0113] In S31, the current speed of the motor can be detected in real time by the speed sensor built into the cleaning equipment and stored in the storage unit of the main control module.

[0114] In an optional embodiment, assuming the current motor speed is 700 r / s and the preset speed setting value is 100 r / s, then under the adjustment of the rotary encoder, the motor speed changes by 100 r / s for each speed setting change. If it is an acceleration adjustment, the motor is controlled to accelerate to 800 r / s; if it is a deceleration adjustment, the motor is controlled to decelerate to 600 r / s. If the number of speed adjustment settings is m, then the motor speed changes by m settings, that is, the speed change is m × 100 r / s. If it is an acceleration adjustment, the motor is controlled to accelerate to (700 + m × 100) r / s; if it is a deceleration adjustment, the motor is controlled to decelerate to (700 - m × 100) r / s.

[0115] This embodiment uses a vacuum cleaner as an example. The complete process of motor speed regulation in a vacuum cleaner is as follows, based on the encoder-based motor speed regulation method of this embodiment. Figure 5 As shown.

[0116] It should be noted that in actual operation, when the vacuum cleaner is powered on, the motor starts at a preset minimum speed and enters automatic mode. In automatic mode, turning the knob on the rotary encoder clockwise switches the vacuum cleaner to manual mode, using the minimum speed as the current motor speed. The main control module inside the vacuum cleaner then operates according to this minimum speed. Figure 5 The process shown allows for real-time speed adjustment of the motor. When the knob on the rotary encoder is operated counterclockwise in automatic mode, the vacuum cleaner's main control module first automatically adjusts the motor speed to the maximum speed, using this maximum speed as the current motor speed, and then enters manual mode. The vacuum cleaner's internal main control module then proceeds according to... Figure 5 The process shown allows for real-time speed adjustment of the motor.

[0117] Example 2

[0118] like Figure 6 As shown, this embodiment provides an encoder-based motor speed control system, applied to the encoder-based motor speed control method in Embodiment 1, including:

[0119] The signal acquisition module is used to acquire the output pulse signal generated by the rotary encoder in the cleaning equipment.

[0120] The main control module is used to determine the acceleration / deceleration adjustment direction and speed adjustment amount of the motor in the cleaning equipment according to the output pulse signal; it is also used to control the speed adjustment of the motor according to the acceleration / deceleration adjustment direction and the speed adjustment amount.

[0121] The encoder-based motor speed control system provided in this embodiment allows the rotation of the rotary encoder on the cleaning equipment to be adjusted in multiple 360° directions without being limited to a single 360° direction. By cyclically adjusting the rotary encoder in multiple 360° directions, the motor speed can be adjusted at any speed, enabling high-precision motor speed control of the cleaning equipment. This provides high operational flexibility and effectively enhances the user experience of the cleaning equipment.

[0122] The functions of each module in the encoder-based motor speed control system described in this embodiment correspond to the steps of the encoder-based motor speed control method in Embodiment 1. For details not covered in this embodiment, please refer to Embodiment 1 and... Figures 1 to 5 The specific details will not be repeated here.

[0123] Example 3

[0124] like Figure 7 As shown, this embodiment provides a cleaning device, which includes:

[0125] Equipment body;

[0126] A rotary encoder is mounted on the device body;

[0127] The motor is mounted on the main body of the device; and

[0128] The encoder-based motor speed control system of Embodiment 2 is installed on the device body and is communicatively connected to both the rotary encoder and the motor.

[0129] The cleaning equipment provided in this embodiment achieves the increase or decrease of motor speed at any speed by cyclically adjusting the rotary encoder in any number of 360° directions. The speed range can be set arbitrarily, which can truly realize stepless speed regulation of the motor. Its speed regulation range is wider and the operation is more flexible.

[0130] Specifically, the rotary encoder in this embodiment is equipped with a knob and a communication module. The knob facilitates user operation, and the rotation of the knob triggers the rotary encoder to generate an output pulse signal. The communication module facilitates communication with the main control module in the cleaning equipment, and sends the output pulse signal to the main control module to achieve motor speed regulation.

[0131] Preferably, such as Figure 7 As shown, it also includes:

[0132] The power supply is located on the device body and is electrically connected to the motor speed control system based on the rotary encoder, the rotary encoder, and the motor.

[0133] The cleaning equipment is powered by a power supply that provides power to the rotary encoder, motor, and motor speed control system, ensuring that the equipment functions properly.

[0134] Specifically, it also includes:

[0135] The power switch is located on the device body and is electrically connected to the power supply.

[0136] The power on and power off of each component in the cleaning equipment is achieved by starting and stopping the switch.

[0137] Specifically, it also includes:

[0138] A display, located on the device body, is electrically connected to the encoder-based motor speed control system and the power supply, and is used to display the acceleration / deceleration adjustment direction, the number of speed adjustment gears, and the current speed.

[0139] Of course, in order to facilitate better operation of the rotary encoder, other conventional components that are used in conjunction with the rotary encoder can also be configured in the cleaning device of this embodiment, such as speed sensors, displacement sensors, etc. These are all existing technologies and will not be listed here.

[0140] The encoder-based motor speed control system described in this embodiment has the same structure as the encoder-based motor speed control system in Embodiment 2. For details not covered in this embodiment, please refer to Embodiments 1 and 2. Figures 1 to 6 The specific details will not be repeated here.

[0141] Obviously, the embodiments described above are merely some, not all, embodiments of the present invention. Based on the embodiments of the present invention, those skilled in the art can make other variations or modifications without creative effort, and all such variations or modifications should fall within the scope of protection of the present invention.

Claims

1. A motor speed control method based on an encoder, used in cleaning equipment, characterized in that, include: Acquire the output pulse signal generated by the rotary encoder in the cleaning equipment; Based on the output pulse signal, determine the acceleration / deceleration adjustment direction and speed adjustment amount of the motor in the cleaning equipment; The motor speed is controlled according to the acceleration / deceleration adjustment direction and the speed adjustment amount; The output pulse signal includes at least one set of dual pulse signals, and each set of dual pulse signals includes two single pulse signals output sequentially; the two single pulse signals in each set of dual pulse signals are a first pulse signal and a second pulse signal, respectively. The step of determining the acceleration / deceleration direction and speed adjustment amount of the motor in the cleaning equipment based on the output pulse signal includes: The output sequence of the two single pulse signals in each group of dual pulse signals is identified respectively; Based on the output order of the two single pulse signals in each group of double pulse signals, the corresponding count value of the double pulse signal is determined respectively. The count values ​​of all the dual-pulse signals are summed to obtain the pulse value of the output pulse signal; Based on the pulse value, the acceleration / deceleration adjustment direction and the speed adjustment amount of the motor are determined respectively; The step of determining the acceleration / deceleration adjustment direction and the speed adjustment amount of the motor based on the pulse value includes: When the pulse value is positive, the acceleration / deceleration adjustment direction of the motor is determined to be acceleration adjustment; when the pulse value is negative, the acceleration / deceleration adjustment direction of the motor is determined to be deceleration adjustment. The total number of pulses generated by the rotary encoder is obtained in advance when the knob configured on the rotary encoder rotates clockwise or counterclockwise once. Compare the absolute value of the pulse count with the total number of pulses; When the absolute value of the pulse value is less than the total number of pulses, the absolute value of the pulse value is determined as the number of speed adjustment gears of the motor. When the absolute value of the pulse value is greater than or equal to the total number of pulses, the remainder after dividing the absolute value of the pulse value by the total number of pulses is determined as the number of speed adjustment gears of the motor. The speed adjustment amount is calculated based on the number of speed adjustment gears and the preset speed gear setpoint; wherein, the preset speed gear setpoint refers to the change in motor speed corresponding to each speed adjustment gear in the number of speed adjustment gears.

2. The encoder-based motor speed control method according to claim 1, characterized in that, The step of determining the count value of the corresponding double pulse signal based on the output order of the two single pulse signals in each group of double pulse signals includes: In each group of dual-pulse signals, when the first pulse signal is output before the second pulse signal, the count value of the corresponding dual-pulse signal is +1; when the second pulse signal is output before the first pulse signal, the count value of the corresponding dual-pulse signal is -1.

3. The encoder-based motor speed control method according to claim 2, characterized in that, Both the first pulse signal and the second pulse signal are high-level signals.

4. The encoder-based motor speed control method according to claim 1, characterized in that, The step of controlling the motor speed adjustment according to the acceleration / deceleration adjustment direction and the speed adjustment amount includes: Obtain the current speed of the motor; The target speed of the motor is obtained based on the current speed and the speed adjustment amount; When the acceleration / deceleration adjustment direction is acceleration adjustment, the motor is accelerated according to the target speed; when the acceleration / deceleration adjustment direction is deceleration adjustment, the motor is decelerated according to the target speed.

5. The encoder-based motor speed control method according to claim 1, characterized in that, The acquisition of the output pulse signal generated by the rotary encoder in the cleaning equipment includes: When the knob configured on the rotary encoder rotates clockwise by an angle α, the rotary encoder outputs a set of dual pulse signals, and the first pulse signal in the dual pulse signals is output before the second pulse signal; When the knob configured on the rotary encoder rotates counterclockwise by an angle α, the rotary encoder outputs a set of dual-pulse signals, and the second pulse signal in the dual-pulse signals is output before the first pulse signal.

6. A motor speed control system based on an encoder, characterized in that, Applied to the encoder-based motor speed control method as described in any one of claims 1 to 5, comprising: The signal acquisition module is used to acquire the output pulse signal generated by the rotary encoder in the cleaning equipment. The main control module is used to determine the acceleration / deceleration adjustment direction and speed adjustment amount of the motor in the cleaning equipment according to the output pulse signal; it is also used to control the speed adjustment of the motor according to the acceleration / deceleration adjustment direction and the speed adjustment amount. The output pulse signal includes at least one set of dual pulse signals, and each set of dual pulse signals includes two single pulse signals output sequentially; the two single pulse signals in each set of dual pulse signals are a first pulse signal and a second pulse signal, respectively. The main control module determines the acceleration / deceleration direction and speed adjustment amount of the motor in the cleaning equipment based on the output pulse signal, specifically including: The output sequence of the two single pulse signals in each group of dual pulse signals is identified respectively; Based on the output order of the two single pulse signals in each group of double pulse signals, the corresponding count value of the double pulse signal is determined respectively. The count values ​​of all the dual-pulse signals are summed to obtain the pulse value of the output pulse signal; Based on the pulse value, the acceleration / deceleration adjustment direction and the speed adjustment amount of the motor are determined respectively; The step of determining the acceleration / deceleration adjustment direction and the speed adjustment amount of the motor based on the pulse value includes: When the pulse value is positive, the acceleration / deceleration adjustment direction of the motor is determined to be acceleration adjustment; when the pulse value is negative, the acceleration / deceleration adjustment direction of the motor is determined to be deceleration adjustment. The total number of pulses generated by the rotary encoder is obtained in advance when the knob configured on the rotary encoder rotates clockwise or counterclockwise once. Compare the absolute value of the pulse count with the total number of pulses; When the absolute value of the pulse value is less than the total number of pulses, the absolute value of the pulse value is determined as the number of speed adjustment gears of the motor. When the absolute value of the pulse value is greater than or equal to the total number of pulses, the remainder after dividing the absolute value of the pulse value by the total number of pulses is determined as the number of speed adjustment gears of the motor. The speed adjustment amount is calculated based on the number of speed adjustment gears and the preset speed gear setpoint; wherein, the preset speed gear setpoint refers to the change in motor speed corresponding to each speed adjustment gear in the number of speed adjustment gears.

7. A cleaning device, characterized in that, include: Equipment body; A rotary encoder is mounted on the device body; The motor is mounted on the main body of the device; as well as The encoder-based motor speed control system as described in claim 6 is mounted on the device body and is communicatively connected to both the rotary encoder and the motor.

8. The cleaning equipment according to claim 7, characterized in that, Also includes: The power supply is located on the device body and is electrically connected to the encoder-based motor speed control system, the rotary encoder, and the motor.

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