Motor blockage detection method, device and storage medium

Abstract

The present invention discloses a motor jam detection method, device, and storage medium, wherein the method includes: obtaining the motor speed; when the motor speed is less than or equal to a preset speed threshold, obtaining the current supply voltage and current power of the motor; when the current supply voltage is less than or equal to the preset voltage threshold, determining the current jam power corresponding to the current supply voltage based on a preset correspondence between supply voltage and jam power; the jam power refers to the power corresponding to a target degree of jam in the motor at the supply voltage; and determining whether the motor is jammed based on the current power and the current jam power. The present invention can solve the problem of inaccurate detection results when detecting motor jam based on motor speed as the supply voltage decreases.

Description

Technical Field

[0001] The present application belongs to the field of automatic control technology, and specifically relates to a motor blockage detection method, device and storage medium. Background Art

[0002] Currently, electronic devices often incorporate motors to achieve their driving functions. For example, in a vacuum cleaner, as the amount of dust drawn in increases during operation, the motor's air inlet may become clogged. This can shorten the motor's lifespan, necessitating a detection system for motor blockage.

[0003] When the air inlet of the motor is blocked, the load of the motor will decrease, thereby increasing the speed. Therefore, the traditional motor blockage detection method includes: determining that the motor is blocked when the motor speed is greater than a speed threshold.

[0004] However, the speed threshold is usually determined based on the rated voltage of the motor. As the motor works for a longer time, the motor's supply voltage will decrease. At this time, even if the motor is blocked, its speed will not reach the speed threshold, so the problem of motor blockage cannot be detected. Summary of the Invention

[0005] This application provides a motor blockage detection method, device, and storage medium that can solve the problem of inaccurate detection results when detecting whether a motor is blocked based on the motor speed as the power supply voltage decreases. This application provides the following technical solutions:

[0006] In a first aspect, a motor jam detection method is provided, comprising: obtaining a motor speed; when the motor speed is less than or equal to a preset speed threshold, obtaining a current supply voltage and a current power of the motor; when the current supply voltage is less than or equal to a preset voltage threshold, determining a current jam power corresponding to the current supply voltage based on a preset correspondence between the supply voltage and the jam power; the jam power refers to the power corresponding to a target degree of jam of the motor under the supply voltage; and determining whether the motor is jammed based on the current power and the current jam power.

[0007] Optionally, after the motor is started, constant power control is performed on the motor to keep the power of the motor within a preset range; accordingly, the voltage threshold is a critical value of the supply voltage when the constant power control cannot be performed on the motor.

[0008] Optionally, before determining the current congestion power corresponding to the current supply voltage based on the preset correspondence between the supply voltage and the congestion power, the method further includes: when using a calibrated supply voltage lower than the voltage threshold to power the motor with the target degree of congestion, collecting the calibrated power of the motor; and performing curve fitting on different calibrated supply voltages and the calibrated power corresponding to each calibrated supply voltage to obtain the preset correspondence.

[0009] Optionally, determining whether the motor is blocked based on the current power and the current blocked power includes: determining a blocked power threshold based on the current blocked power, the blocked power threshold being greater than the current blocked power; and determining that the motor is blocked when the current power is less than the blocked power threshold.

[0010] Optionally, when the rotation speed of the motor is greater than the rotation speed threshold, it is determined that the motor is blocked.

[0011] Optionally, when the motor is blocked, blocking protection is performed on the motor.

[0012] Optionally, performing blockage protection on the motor includes: determining whether the duration of detecting blockage of the motor reaches a preset duration; and performing blockage protection on the motor if the preset duration is reached.

[0013] Optionally, after the motor is started and before the constant power control is performed on the motor, the method further includes: in response to a motor start instruction, controlling the motor to run to a preset speed within a preset adjustment time, wherein the preset speed is less than the speed threshold.

[0014] In a second aspect, an electronic device is provided, comprising a memory, a controller, and a computer program stored in the memory and executable on the controller, wherein the controller implements the steps of the above-mentioned motor blockage detection method when executing the computer program.

[0015] In a third aspect, a computer-readable storage medium is provided, wherein a program is stored in the storage medium, and when the program is executed by a processor, it is used to implement the motor blockage detection method provided in the first aspect.

[0016] The beneficial effects of the present application include at least: obtaining the motor speed, and when the motor speed is less than or equal to a preset speed threshold, obtaining the current supply voltage and current power of the motor; when the current supply voltage is less than or equal to the preset voltage threshold, determining the current congestion power corresponding to the current supply voltage based on a preset correspondence between the supply voltage and the congestion power, where the congestion power refers to the power corresponding to a target degree of motor congestion at the supply voltage; and determining whether the motor is congested based on the current power and the current congestion power. This solves the problem of inaccurate detection results when detecting whether the motor is congested based on the motor speed as the supply voltage decreases. As the supply voltage decreases, the electronic device can determine the current congestion power corresponding to the current supply voltage. Since the current congestion power refers to the power the motor would have if it were congested at the current supply voltage, comparing the current power with the congestion power can determine whether the motor is congested, rather than determining whether it is congested based solely on the motor speed, thereby improving the accuracy of congestion detection results.

[0017] In addition, when a calibrated power supply voltage lower than the voltage threshold is used to power a motor with a target degree of blockage, the calibrated power of the motor is collected; curve fitting is performed on different calibrated power supply voltages and the calibrated power corresponding to each calibrated power supply voltage to obtain a preset corresponding relationship; this eliminates the need for electronic devices to store multiple sets of data consisting of calibrated power supply voltages and calibrated powers, thereby saving storage resources of electronic devices.

[0018] Furthermore, given the same supply voltage, the degree of congestion is negatively correlated with the congestion power. That is, the more severe the congestion, the lower the corresponding congestion power. By setting the congestion power threshold higher than the current congestion power, motor congestion can be detected even before the motor reaches the target congestion level. This prevents detection errors that can lead to delayed congestion detection and improves the timeliness of motor congestion detection.

[0019] In addition, since the controller needs to obtain other monitoring information before the motor stops, and this other monitoring information is valid when the motor is running, by waiting for a preset period of time before performing blockage protection on the motor, it can be ensured that the controller can obtain other monitoring information of the motor before the motor stops, thereby ensuring the validity of other monitoring information. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 This is a block diagram of a control system for a three-phase brushless DC motor provided by one embodiment of the present application;

[0022] Figure 2 This is a flow chart of a method for detecting motor blockage provided by one embodiment of the present application;

[0023] Figure 3 This is a flow chart of a method for detecting motor blockage provided by one embodiment of the present application;

[0024] Figure 4 is a block diagram of a motor blockage detection device provided by one embodiment of the present application;

[0025] Figure 5 This is a block diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0026] The technical solutions of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present application, not all embodiments. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other unless there is a conflict.

[0027] It should be noted that the terms "first", "second", etc. in the description and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0028] In this application, unless otherwise specified, directional words such as "up, down, top, bottom" are usually used with reference to the directions shown in the drawings, or with reference to the components themselves in the vertical, perpendicular or gravity direction; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above directional words are not used to limit this application.

[0029] Figure 1 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. The electronic device includes but is not limited to: a vacuum cleaner, a hair dryer, or a blower-vacuum machine and other devices with a blowing or suction function. This embodiment does not limit the implementation of the electronic device. Figure 1 As shown, the electronic device at least includes: a power supply component 110, a voltage acquisition circuit 120, a controller 130 and a motor 140.

[0030] The power supply component 110 is used to supply power to the electronic device. The power supply component 10 may be a battery pack or an independent battery. This embodiment does not limit the implementation of the power supply component 110.

[0031] The voltage acquisition circuit 120 is connected to the power supply component and is used to acquire the power supply voltage of the power supply component, which is the bus voltage of the motor 140 .

[0032] The voltage collection circuit 120 is connected to the controller 130 and is used to input the collected supply voltage into the controller 130 .

[0033] Motor 140 is a motor with a diversion function. It includes a fan located at the air inlet, a drive connected to the fan, and an air outlet. The passage between the air inlet and the air outlet forms the motor's air cavity. During the diversion process, air enters the motor through the air inlet, passes through the air cavity, and is discharged through the air outlet.

[0034] Optionally, the motor 140 may be a three-phase brushless DC motor, or this embodiment does not limit the implementation of the motor.

[0035] Motor 140 operates under the control of controller 130. Specifically, the driver in motor 140 is connected to controller 130. During operation, controller 130 is powered by power supply assembly 110; that is, power supply assembly 110 is connected to controller 130. Controller 130 may be a single-chip microcomputer or other chip capable of controlling motor 140. This embodiment does not limit the implementation of controller 130.

[0036] Generally, the controller 130 controls the operation of the motor in a constant power control mode. Constant power control refers to controlling the input power of the motor (i.e., the output power of the power supply assembly) to remain unchanged, and controlling the motor. At this time, during the operation of the electronic device, when the suction object blocks the air inlet of the motor, the air inlet area will decrease, the vacuum degree in the wind chamber will increase, and the load of the fan in the motor will decrease, causing the fan blade operating speed to increase. At the same time, due to the constant control of the input torque current, the speed increases and the loss also increases, causing the motor suction efficiency to decrease. In order to improve the motor suction efficiency, it is necessary to increase the torque of the motor to increase the speed of the motor, so that the motor suction efficiency can be improved in a short time.

[0037] Based on the above principle, the traditional motor blockage detection method is to detect whether the motor speed reaches a speed threshold. If the speed threshold is reached, it means that the motor is blocked.

[0038] Output power P of the power supply component in With the supply voltage V dc and the supply current I dc Among them, the supply current I dc It is basically equal to the torque current, so the supply current I dc The equivalent torque current method is used to achieve constant power control of the motor.

[0039] However, during the operation of electronic equipment, the power supply component V dc The supply voltage may gradually decrease. At this time, as the supply voltage drops, it may be impossible to achieve constant power control of the motor. In this embodiment, the supply voltage corresponding to the time when constant power control of the motor cannot be performed is determined as the voltage threshold. In other words, the voltage threshold is the critical value of the supply voltage when constant power control of the motor cannot be performed. Alternatively, in other embodiments, the voltage threshold may also be slightly larger than the critical value of the supply voltage, that is, the difference between the voltage threshold and the critical value of the supply voltage is greater than 0 and less than the preset threshold, so that the voltage threshold is close to the critical value of the supply voltage.

[0040] As the supply voltage decreases, the motor speed slows down. However, the speed threshold corresponding to a motor blockage is typically set at the rated supply voltage. In this case, even if the motor is blocked, the speed may not reach the speed threshold, making the blockage undetectable.

[0041] For example, if the supply voltage range is between 10 and 30 V and the rated voltage is 20 V, constant power control of the motor can be achieved at a supply voltage between 20 and 30 V, corresponding to a constant power range of 100 W to 150 W. However, if the supply voltage is lower than 20 V, constant power control of the motor cannot be achieved, that is, the voltage threshold is 20 V. In this case, the motor speed decreases and cannot reach the speed threshold set at the rated voltage, making motor blockage detection impossible.

[0042] Based on the above technical issues, in this embodiment, the controller 130 is used to: obtain the rotational speed of the motor; when the rotational speed of the motor is less than or equal to a preset rotational speed threshold, obtain the current supply voltage and current power of the motor; when the current supply voltage is less than or equal to a preset voltage threshold, determine the current congestion power corresponding to the current supply voltage based on a preset correspondence between the supply voltage and the congestion power; and determine whether the motor is congested based on the current power and the current congestion power.

[0043] In this case, the electronic device pre-stores a preset correspondence between the supply voltage and the blocking power. Thus, as the supply voltage decreases, the electronic device can determine the blocking power corresponding to the current supply voltage. By comparing the current power with the blocking power, it can determine whether the current power is consistent with the blocking power, thereby determining whether the motor is blocked. In this way, motor blocking can be detected even if the supply voltage decreases.

[0044] The motor blockage detection method provided in this application is introduced in detail below.

[0045] like Figure 2As shown, the embodiment of the present application provides a motor blockage detection method, which is used in the present embodiment to Figure 1 Taking the controller 130 in the electronic device shown in FIG. 1 as an example, the method includes at least the following steps:

[0046] Step 201: Obtain the rotation speed of the motor.

[0047] Optionally, a magnetic component is mounted on the rotating portion of the motor. During motor rotation, each time the magnetic component approaches a Hall sensor, the Hall sensor outputs a high level, indicating one rotation of the motor. Obtaining the motor speed includes counting the number of high levels output by the Hall sensor within a certain time period to obtain the motor speed. The magnetic component may be a magnet, a magnet, or the like, and this embodiment does not limit the implementation of the magnetic component.

[0048] In other embodiments, the rotation speed of the motor may also be calculated by a photoelectric sensor or the like. This embodiment does not limit the method for obtaining the rotation speed of the motor.

[0049] Optionally, before obtaining the motor speed, when the motor is started and the speed of the motor reaches a preset speed, constant power control is performed on the motor. In this case, before this step (i.e., after the motor is started and before constant power control is performed on the motor), the method further includes: in response to a motor start instruction, controlling the motor to run to a preset speed within a preset adjustment time, where the preset speed is less than a speed threshold.

[0050] The speed threshold is determined based on the jam speed when the motor is operating at rated voltage and a target jam occurs. Optionally, the speed threshold may be equal to or slightly less than the jam speed. This embodiment does not limit the value of the speed threshold.

[0051] The target degree of blockage may be that the air inlet of the motor is completely blocked, at which point the vacuum degree of the motor is 0; or that 1 / 2 of the air inlet is blocked. This embodiment does not limit the method for achieving the target degree of blockage.

[0052] Optionally, the electronic device is provided with a plurality of operating gears, and different operating gears correspond to different preset speeds. In this case, after the electronic device is started, the motor is controlled to run to the preset speed corresponding to the current gear.

[0053] Optionally, the electronic device is provided with a start control. Upon receiving a start operation applied to the start control, the start control generates a motor start instruction and transmits the instruction to the controller. Alternatively, the controller receives a motor start instruction from another device (e.g., a remote control). In actual implementation, the motor start instruction may be obtained in other ways, and this embodiment does not limit the method for obtaining the motor start instruction.

[0054] Step 202 : When the rotation speed of the motor is less than or equal to a preset rotation speed threshold, obtain the current supply voltage and current power of the motor.

[0055] When the motor's supply voltage is lower than the rated voltage, the motor's speed slows down. The speed threshold corresponding to a motor jam is typically set when the supply voltage is at the rated voltage. In this case, even if the motor is jammed, the motor's speed may not reach the speed threshold, making it impossible to detect a jam. Therefore, in this embodiment, if the motor's speed is less than or equal to the preset speed threshold, it cannot be determined that the motor is not jammed. The controller needs to obtain the motor's current supply voltage and current power to further determine whether the motor is jammed.

[0056] In addition, when the rotation speed of the motor is greater than a rotation speed threshold, it can be determined that the motor is blocked.

[0057] Optionally, when the rotational speed of the motor is greater than a rotational speed threshold, the controller may further perform speed limiting control on the motor to reduce the rotational speed of the motor, thereby avoiding loss to the motor.

[0058] Step 203 : When the current supply voltage is less than or equal to a preset voltage threshold, determine the current congestion power corresponding to the current supply voltage based on a preset correspondence between the supply voltage and the congestion power. The congestion power refers to the power corresponding to the target degree of congestion of the motor under the supply voltage.

[0059] The voltage threshold is pre-stored in the electronic device. In this embodiment, the corresponding supply voltage when constant power control cannot be performed on the motor is determined as the voltage threshold. In other words, the voltage threshold is the critical value of the supply voltage when constant power control cannot be performed on the motor. Alternatively, in other embodiments, the voltage threshold may also be slightly greater than the critical value of the supply voltage, that is, the difference between the voltage threshold and the critical value of the supply voltage is greater than 0 and less than the preset threshold, so that the voltage threshold is close to the critical value of the supply voltage.

[0060] Optionally, the preset correspondence between the supply voltage and the congestion power is pre-stored in the electronic device. In this embodiment, before determining the current congestion power corresponding to the current supply voltage based on the preset correspondence between the supply voltage and the congestion power, it is also necessary to obtain the preset correspondence between the supply voltage and the congestion power.

[0061] In one example, a method for obtaining a preset corresponding relationship includes: collecting the calibrated power of the motor when powering a motor with a target degree of blockage using a calibrated supply voltage lower than a voltage threshold; performing curve fitting on different calibrated supply voltages and the calibrated power corresponding to each calibrated supply voltage to obtain a preset corresponding relationship.

[0062] The preset corresponding relationship is represented by a mathematical model representing the fitted curve. Accordingly, based on the preset corresponding relationship between the supply voltage and the congestion power, determining the current congestion power corresponding to the current supply voltage includes: inputting the current supply voltage into the mathematical model representing the fitted curve to obtain the current congestion power value.

[0063] In other embodiments, the preset corresponding relationship may also be an array or a two-dimensional data table consisting of calibrated supply voltages and calibrated powers. This embodiment does not limit the implementation method of the preset corresponding relationship.

[0064] When there are multiple target degrees of congestion, for example, the target degrees of congestion are complete congestion and 1 / 2 congestion, different target degrees of congestion correspond to different corresponding relationships.

[0065] Step 204 : Determine whether the motor is blocked based on the current power and the current blocked power.

[0066] In one example, determining whether the motor is blocked based on the current power and the current blocking power includes: determining that the motor is blocked when the current power is less than the current blocking power.

[0067] Optionally, when the current power is greater than or equal to the current congestion power, it is determined that the motor is not currently congested, and step 202 is performed again.

[0068] In another example, there may be errors in the motor blockage detection. In order to avoid the problem of untimely blockage detection caused by errors, in this example, whether the motor is blocked is determined based on the current power and the current blockage power, including: determining a blockage power threshold based on the current blockage power, the blockage power threshold is greater than the current blockage power; when the current power is less than the blockage power threshold, it is determined that the motor is blocked.

[0069] Optionally, when the current power is less than the blocking power threshold, it is determined that the motor is not currently blocked, and step 202 is performed again.

[0070] In this embodiment, the current congestion power is used to determine the congestion power threshold, which is greater than the current congestion power. Given the same supply voltage, the congestion level and congestion power are negatively correlated. That is, the more severe the congestion, the lower the corresponding congestion power. In this embodiment, by setting the congestion power threshold greater than the current congestion power, motor congestion can be detected even before the motor has reached the target congestion level. This prevents detection errors that could lead to delayed congestion detection and improves the timeliness of motor congestion detection.

[0071] Optionally, in the event of motor blockage, the controller may further provide blockage protection for the motor. The blockage protection for the motor includes: determining whether the duration of motor blockage detection reaches a preset duration; and providing blockage protection for the motor if the preset duration is reached.

[0072] The blocking protection for the motor includes: controlling the motor to stop, and / or outputting a blocking prompt. This embodiment does not limit the manner in which the blocking protection for the motor is performed.

[0073] Because the controller needs to obtain other monitoring information before the motor stops, and this other monitoring information is valid when the motor is running, such as the vacuum degree of the motor, etc. Therefore, by waiting for a preset time before performing blockage protection on the motor, it can be ensured that the controller can obtain other monitoring information of the motor before the motor stops, thereby ensuring the validity of other monitoring information.

[0074] In summary, the motor jam detection method provided in this embodiment obtains the motor's speed and, when the motor speed is less than or equal to a preset speed threshold, obtains the motor's current supply voltage and current power. When the current supply voltage is less than or equal to the preset voltage threshold, the method determines the current jam power corresponding to the current supply voltage based on a preset correspondence between the supply voltage and the jam power. The jam power refers to the power corresponding to a target degree of motor jam at the supply voltage. The motor jam is determined based on the current power and the current jam power. This method solves the problem of inaccurate motor jam detection results when detecting motor jam based on motor speed as the supply voltage decreases. As the supply voltage decreases, the electronic device can determine the current jam power corresponding to the current supply voltage. Since the current jam power is the power the motor would experience if jammed at the current supply voltage, comparing the current power with the jam power can determine motor jam rather than determining jam based solely on motor speed, thereby improving the accuracy of jam detection results.

[0075] In addition, when a calibrated power supply voltage lower than the voltage threshold is used to power a motor with a target degree of blockage, the calibrated power of the motor is collected; curve fitting is performed on different calibrated power supply voltages and the calibrated power corresponding to each calibrated power supply voltage to obtain a preset corresponding relationship; this eliminates the need for electronic devices to store multiple sets of data consisting of calibrated power supply voltages and calibrated powers, thereby saving storage resources of electronic devices.

[0076] Furthermore, given the same supply voltage, the degree of congestion is negatively correlated with the congestion power. That is, the more severe the congestion, the lower the corresponding congestion power. By setting the congestion power threshold higher than the current congestion power, motor congestion can be detected even before the motor reaches the target congestion level. This prevents detection errors that can lead to delayed congestion detection and improves the timeliness of motor congestion detection.

[0077] In addition, since the controller needs to obtain other monitoring information before the motor stops, and this other monitoring information is valid when the motor is running, by waiting for a preset period of time before performing blockage protection on the motor, it can be ensured that the controller can obtain other monitoring information of the motor before the motor stops, thereby ensuring the validity of other monitoring information.

[0078] In order to more clearly understand the motor blockage detection method provided by the present application, this embodiment illustrates the method by taking an example. In this example, the controller 130 is used as an example to execute the method. Figure 3 , the method comprises at least the following steps:

[0079] Step 301, start the motor;

[0080] Step 302, adjusting the speed of the motor within a preset adjustment time so that the motor speed reaches a preset speed;

[0081] Step 303, determining whether the current speed of the motor reaches the preset speed, if so, executing step 304; if not, executing step 302;

[0082] Step 304, performing constant power control on the motor; Step 305, determining whether the current speed of the motor is greater than the speed threshold, if the current speed is greater than the speed threshold, executing step 306, otherwise, executing steps 304 and 307 respectively;

[0083] Step 306: Control the motor speed to below the speed threshold, and then execute step 311;

[0084] Step 307, obtaining the current supply voltage and current power value of the motor;

[0085] Step 308, determining whether the current supply voltage is less than the voltage threshold. If the current supply voltage is less than the voltage threshold, execute step 309; otherwise, execute step 305;

[0086] Step 309: determining a current congestion power corresponding to the current supply voltage based on a preset correspondence between the supply voltage and the congestion power, and determining a congestion power threshold based on the current congestion power;

[0087] Step 310, determining whether the current power value is less than the congestion power value, if the current power value is less than the congestion power value, executing step 311, otherwise executing step 305;

[0088] Step 311: After the blocking time reaches a preset time, blocking protection is performed on the motor.

[0089] In summary, as the motor's supply voltage decreases, the motor's speed slows down. The speed threshold corresponding to a motor jam is typically set when the supply voltage is at the rated voltage. In this case, even if the motor is jammed, the motor's speed may not reach the speed threshold, making it impossible to detect a motor jam. Therefore, in this embodiment, the electronic device pre-stores a preset correspondence between the supply voltage and the jam power. As the supply voltage decreases, the electronic device can determine the jam power corresponding to the current supply voltage, and then compare the current power with the jam power to determine whether the current power is consistent with the jam power, thereby determining whether the motor is jammed. This ensures that motor jam detection can be achieved even if the supply voltage decreases.

[0090] This embodiment provides a device for detecting motor blockage, such as Figure 4 As shown. This embodiment uses the device to Figure 1 In the controller shown, the device includes at least the following modules: a rotation speed acquisition module 410 , a parameter acquisition module 420 , a power determination module 430 and a blockage detection module 440 .

[0091] The speed acquisition module 410 is used to acquire the speed of the motor;

[0092] The parameter acquisition module 420 is used to acquire the current supply voltage and current power of the motor when the speed of the motor is less than or equal to a preset speed threshold;

[0093] Power determination module 430 is configured to determine, when the current supply voltage is less than or equal to a preset voltage threshold, a current congestion power corresponding to the current supply voltage based on a preset correspondence between the supply voltage and the congestion power; the congestion power is the power corresponding to a target degree of motor congestion at the supply voltage;

[0094] The congestion detection module 440 is configured to determine whether the motor is congested based on the current power and the current congestion power.

[0095] For relevant details, refer to the above method and device embodiments.

[0096] It should be noted that the motor jam detection device provided in the above embodiments, when performing motor jam detection, is merely illustrated by the division of the aforementioned functional modules. In actual applications, the aforementioned functions can be assigned to different functional modules as needed, i.e., the internal structure of the motor jam detection device can be divided into different functional modules to perform all or part of the functions described above. Furthermore, the motor jam detection device provided in the above embodiments and the motor jam detection method embodiment are based on the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0097] This embodiment provides an electronic device, such as Figure 5 The electronic device can be Figure 1 The electronic device at least includes a processor 501 and a memory 502.

[0098] The processor 501 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 501 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), or PLA (Programmable Logic Array). The processor 501 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 501 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 501 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0099] Memory 502 may include one or more computer-readable storage media, which may be non-transitory. Memory 502 may also include high-speed random access memory and non-volatile memory, such as one or more magnetic disk storage devices or flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in memory 502 is used to store at least one instruction, which is executed by processor 501 to implement the motor jam detection method provided in the method embodiments of this application.

[0100] In some embodiments, the electronic device may optionally include a peripheral device interface and at least one peripheral device. The processor 501, memory 502, and peripheral device interface may be connected via a bus or signal lines. Each peripheral device may be connected to the peripheral device interface via a bus, signal lines, or circuit boards. Illustratively, the peripheral devices include, but are not limited to, a radio frequency circuit, a touchscreen display, an audio circuit, and a power supply.

[0101] Of course, the electronic device may also include fewer or more components, which is not limited in this embodiment.

[0102] Optionally, the present application also provides a computer-readable storage medium, in which a program is stored. The program is loaded and executed by a processor to implement the motor blockage detection method of the above method embodiment.

[0103] The technical features of the above-described embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification. Obviously, the embodiments described above are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, ordinary technicians in this field can make other different forms of changes or modifications without making creative work, which should all fall within the scope of protection of this application.

Claims

1. A method for detecting motor blockage, characterized in that: The method comprises: Get the motor speed; When the rotation speed of the motor is less than or equal to a preset rotation speed threshold, obtaining a current supply voltage and a current power of the motor; When the current supply voltage is less than or equal to a preset voltage threshold, determining a current congestion power corresponding to the current supply voltage based on a preset correspondence between the supply voltage and the congestion power; the congestion power refers to the power corresponding to a target degree of congestion of the motor under the supply voltage; Based on the current power and the current congestion power, it is determined whether the motor is congested.

2. The method according to claim 1, characterized in that The method further comprises: After the motor is started, constant power control is performed on the motor to keep the power of the motor within a preset range; Correspondingly, the voltage threshold is a critical value of the supply voltage when the constant power control cannot be performed on the motor.

3. The method according to claim 1, characterized in that Before determining the current congestion power corresponding to the current power supply voltage based on the preset correspondence between the power supply voltage and the congestion power, the method further includes: collecting a calibrated power of the motor when powering the motor with the target degree of blockage using a calibrated supply voltage lower than the voltage threshold; Curve fitting is performed on different calibrated power supply voltages and the calibrated power corresponding to each calibrated power supply voltage to obtain the preset corresponding relationship.

4. The method according to claim 1, wherein The determining whether the motor is blocked based on the current power and the current blocked power includes: determining a congestion power threshold based on the current congestion power, wherein the congestion power threshold is greater than the current congestion power; When the current power is less than the congestion power threshold, it is determined that the motor is congested.

5. The method according to claim 1, wherein The method further comprises: When the rotation speed of the motor is greater than the rotation speed threshold, it is determined that the motor is blocked.

6. The method according to claim 5, characterized in that When the rotation speed of the motor is greater than the rotation speed threshold, the method further includes: The motor is subjected to speed limiting control to reduce the rotation speed of the motor.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: In the case that the motor is blocked, blocking protection is performed on the motor.

8. The method according to claim 7, characterized in that The blocking protection of the motor includes: Determining whether the motor blockage is detected for a predetermined time period; When the preset time is reached, the motor is protected from blocking.

9. The method according to claim 2, characterized in that After the motor is started and before the constant power control is performed on the motor, the method further includes: In response to a motor start instruction, the motor is controlled to run to a preset speed within a preset adjustment time, and the preset speed is less than the rotation speed threshold.

10. An electronic device, characterized in that: The device includes a processor and a memory; a program is stored in the memory, and the program is loaded and executed by the processor to implement the motor blockage detection method according to any one of claims 1 to 9.

11. A computer-readable storage medium, characterized in that The storage medium stores a program, and when the program is executed by the processor, it is used to implement the motor blockage detection method according to any one of claims 1 to 9.

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