Motor dot matrix control method and device, computer device and computer storage medium

Abstract

This application proposes a motor matrix control method. The motor matrix includes multiple control trajectories, and each control trajectory includes multiple motors arranged sequentially on the motor matrix. The method includes: acquiring the multiple control trajectories on the motor matrix; determining the start time and end time of each control trajectory based on the multiple control trajectories; and controlling the multiple motors on each control trajectory to operate sequentially based on the start time and end time of each control trajectory. This application sets multiple control trajectories on the motor matrix and determines the start time and end time of each control trajectory by editing the control trajectories, thereby achieving continuous action output of the motors on each control trajectory, quickly realizing the multi-point vibration motor function mode, reducing the difficulty of function implementation, and improving the control effect.

Description

Technical Field

[0001] This application relates to the electrical field, and more particularly to a method, apparatus, computer equipment, and computer storage medium for controlling a motor dot matrix. Background Technology

[0002] In existing technologies, the vibration effect of vibrating motors is utilized. By increasing the number of vibrating motors and adjusting their vibration intensity, different tactile sensations can be produced to the human body to achieve effects such as massage. This is widely used in the smart home field, such as in cushions and seat cushions. However, when implementing the functional modes of such products, each mode and each motor requires separate software programming, which involves a complex data editing process. This results in high difficulty in implementing the functions, low efficiency, and an unsatisfactory overall output consistency of the functional modes. Summary of the Invention

[0003] This application provides a motor dot matrix control method, device, computer equipment, and computer storage medium to solve the technical problems of low control efficiency and unsatisfactory overall output of functional modes in existing motor dot matrix control technology.

[0004] In a first aspect, this application proposes a motor matrix control method, wherein the motor matrix includes multiple control trajectories, and the control trajectories include multiple motors arranged sequentially on the motor matrix; the method includes:

[0005] Obtain multiple control trajectories on the motor dot matrix;

[0006] Based on the multiple control trajectories, determine the start time and end time of each control trajectory.

[0007] The multiple motors on each control trajectory are controlled to run sequentially according to the start time and end time of each control trajectory.

[0008] In conjunction with the first aspect, in one possible implementation, controlling the multiple motors on each control trajectory to operate sequentially based on the start time and end time of each control trajectory includes: determining the running time of each control trajectory based on the start time and end time of each control trajectory; determining the running time of each motor on each control trajectory based on the running time of each control trajectory; and controlling the multiple motors on each control trajectory to operate sequentially based on the running time of each motor on each control trajectory.

[0009] In conjunction with the first aspect, in one possible implementation, determining the runtime of each motor on each control trajectory based on the runtime of each control trajectory includes: determining the number of motors on each control trajectory; and determining the runtime of each motor on each control trajectory based on the runtime of each control trajectory and the number of motors on each control trajectory.

[0010] In conjunction with the first aspect, in one possible implementation, controlling the sequential operation of multiple motors on each control track based on the running time of each motor on each control track includes: determining the start time and end time of operation of each motor on each control track based on the running time of each motor on each control track and the start time of operation of each control track; or, determining the start time and end time of operation of each motor on each control track based on the running time of each motor on each control track and the end time of operation of each control track; and controlling the sequential operation of multiple motors on each control track based on the start time and end time of operation of each motor on each control track.

[0011] In conjunction with the first aspect, in one possible implementation, determining the start and end times of operation for each motor on each control trajectory based on the running time of each motor on each control trajectory and the start time of operation for each control trajectory; or, determining the start and end times of operation for each motor on each control trajectory based on the running time of each motor on each control trajectory and the end time of operation for each control trajectory, further includes: if the first control trajectory and the second control trajectory intersect, determining whether the first start time of the intersecting motor on the first control trajectory is earlier than the second start time on the second control trajectory, and whether the start time of operation of the motor on the first control trajectory is earlier than the second start time on the second control trajectory. Whether the first operation termination time is later than the second operation start time on the second control trajectory; wherein, the first control trajectory and the second control trajectory are any two of the plurality of control trajectories; if the first operation start time of the intersecting point motor on the first control trajectory is earlier than the second operation start time on the second control trajectory, and the first operation termination time on the first control trajectory is later than the second operation start time on the second control trajectory, then the first operation start time of the intersecting point motor on the first control trajectory is taken as the operation start time of the intersecting point motor, and the second operation termination time of the intersecting point motor on the second control trajectory is taken as the operation termination time of the intersecting point motor.

[0012] In conjunction with the first aspect, in one possible implementation, the method is applied to a motor matrix control circuit, which includes a time monitoring circuit. Controlling multiple motors on each control trajectory to run sequentially based on the start and end times of each control trajectory includes: when the time monitoring circuit detects that a first current time matches the start time of a third control trajectory, controlling the first motor sequentially arranged on the third control trajectory to start running; the three control trajectories are any one of the control trajectories; when the time monitoring circuit detects that a second current time matches the end time of the third control trajectory, controlling the last motor sequentially arranged on the third control trajectory to terminate running.

[0013] Secondly, this application proposes a motor matrix control device, wherein the motor matrix includes multiple control tracks, and the control tracks include multiple motors arranged sequentially on the motor matrix; the device includes:

[0014] The first determining module is used to acquire multiple control trajectories on the motor dot matrix;

[0015] The second determining module is used to determine the start time and end time of each control trajectory based on the multiple control trajectories.

[0016] The control module is used to control multiple motors on each control trajectory to run sequentially according to the start time and end time of each control trajectory.

[0017] In conjunction with the second aspect, in one possible design, the control module is further configured to determine the running time of each control trajectory based on the running start time and running end time of each control trajectory; determine the running time of each motor on each control trajectory based on the running time of each control trajectory; and control multiple motors on each control trajectory to run sequentially based on the running time of each motor on each control trajectory.

[0018] In conjunction with the second aspect, in one possible design, the control module is further configured to determine the number of motors on each control track; and to determine the running time of each motor on each control track based on the running time of each control track and the number of motors on each control track.

[0019] In conjunction with the second aspect, in one possible design, the control module is further configured to determine the start time and end time of operation of each motor on each control track based on the running time of each motor on each control track and the start time of operation of each control track; or, to determine the start time and end time of operation of each motor on each control track based on the running time of each motor on each control track and the end time of operation of each control track; and to control multiple motors on each control track to operate sequentially based on the start time and end time of operation of each motor on each control track.

[0020] In conjunction with the second aspect, in one possible design, the control module is further configured to, when the first control trajectory and the second control trajectory intersect, determine whether the first start time of the intersecting motor on the first control trajectory is earlier than the second start time on the second control trajectory, and whether the first end time on the first control trajectory is later than the second start time on the second control trajectory; wherein, the first control trajectory and the second control trajectory are any two of the plurality of control trajectories; if the first start time of the intersecting motor on the first control trajectory is earlier than the second start time on the second control trajectory, and the first end time on the first control trajectory is later than the second start time on the second control trajectory, then the first start time of the intersecting motor on the first control trajectory is taken as the start time of the intersecting motor, and the second end time of the intersecting motor on the second control trajectory is taken as the end time of the intersecting motor.

[0021] In conjunction with the second aspect, in one possible design, the device is applied to a motor matrix control circuit, which includes a time monitoring circuit; the control module is further configured to control the first motor sequentially arranged on the third control trajectory to start running when the time monitoring circuit detects that the first current time is consistent with the start time of the third control trajectory; the third control trajectory is any one of the control trajectories; when the time monitoring circuit detects that the second current time is consistent with the end time of the third control trajectory, it controls the last motor sequentially arranged on the third control trajectory to stop running.

[0022] Thirdly, this application provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor enables the processor to implement the motor dot matrix control method of the first aspect described above.

[0023] Fourthly, this application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform the motor dot matrix control method described in the first aspect.

[0024] This application can achieve the following beneficial effects: This application sets multiple control trajectories on the motor dot matrix, and determines the start time and end time of each control trajectory by editing the control trajectory, thereby realizing the continuous action output of the motor on each control trajectory, quickly realizing the multi-point vibration motor function mode, reducing the difficulty of function implementation mode, improving control efficiency, and thus improving the overall output effect of the function mode. Attached Figure Description

[0025] Figure 1 This application provides a schematic diagram of a motor dot matrix in a seat cushion.

[0026] Figure 2 A schematic diagram of a control trajectory provided in an embodiment of this application;

[0027] Figure 3 A schematic diagram of the running time of a control trajectory provided in an embodiment of this application;

[0028] Figure 4 A schematic flowchart illustrating a motor dot matrix control method provided in an embodiment of this application;

[0029] Figure 5 This is a schematic diagram of the structure of a motor dot matrix control device provided in an embodiment of this application;

[0030] Figure 6 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0031] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0032] The technical solution proposed in this application is applicable to various scenarios of motor matrix control. Specifically, in various scenarios involving motor matrix control, the technical solution proposed in this application can control the motor matrix to complete multiple consecutive outputs by controlling the control trajectory of at least one motor on the motor matrix. In practical applications, the technical solution proposed in this application can be applied to control circuits, devices, or equipment containing motor matrixes to complete various functions of the control circuits, devices, or equipment through the control of the motor matrix. For example, the technical solution proposed in this application can be applied to the field of smart homes, such as massage chairs and cushions. By controlling the motor matrix in the massage chair or cushion using the technical solution of this application, the operation of motors at different positions in the massage chair or cushion can be adjusted to produce different tactile sensations for the human body, thereby achieving a massage effect.

[0033] To facilitate understanding of the technical solution of this application, the control trajectory proposed in this application will be introduced first. For example... Figure 1 As shown, Figure 1 This is a schematic diagram of a motor dot matrix, which can be applied to devices such as cushions and massage chairs. Multiple motors are selected within the dot matrix, and the running trajectory of these motors in sequence constitutes a control trajectory. Sequential operation means controlling the motors on the control trajectory one after another, starting from the first end, until the last motor at the second end finishes its operation.

[0034] like Figure 2 As shown, Figure 2 For based on Figure 1 The diagram shows the control trajectories of the motor matrix setup. Trajectory 2 and Trajectory 3 are both control trajectories containing multiple motors. In practical applications, each control trajectory in the motor matrix operates independently without interference. The massage mode of devices such as cushions can be achieved by controlling the motors on one control trajectory sequentially, or by controlling the motors on multiple control trajectories sequentially. The output effect of a massage mode can be adjusted by modifying any one of the following parameters: the number of control trajectories required to complete a specific massage mode, the runtime of the motors within a control trajectory, the number of motors in a control trajectory, or the position of the motors within a control trajectory. This adjustment does not require modifying control trajectories unrelated to the massage mode.

[0035] like Figure 3 As shown, Figure 3This is a schematic diagram of the running time of the control trajectory. In Image 4, region A represents the running time of control trajectory 2 on the time axis; specifically, the left end of region A represents the start time of control trajectory 2, and the right end represents the end time. In Image 5, region B represents the running time of control trajectory 3 on the time axis; specifically, the left end of region B represents the start time of control trajectory 3, and the right end represents the end time. Image 6 shows the total running time of control trajectories 2 and 3 in the motor matrix; the interval between region A and region B indicates no control trajectory running. Based on... Figure 3 The massage effect of the cushion can also be adjusted by modifying the time interval between the two control tracks, that is, by modifying the time difference between the start times of the two control tracks.

[0036] In practical applications, before implementing the motor matrix control method proposed in this application, it is necessary to establish a control trajectory. The method for establishing the control trajectory can be as follows: first, establish a coordinate system based on the motor matrix, and determine the position coordinates of each motor in the motor matrix according to the established coordinate system; then, set the control trajectory number, and select at least one motor from the motor matrix as the motor on the control trajectory, recording the number of selected motors and the coordinate position of each motor; next, set the start time and end time of the control trajectory; finally, store the control trajectory number, start time, end time, number of motors on the control trajectory, and position coordinates of each motor in the control trajectory data table to complete the establishment of the control trajectory. It should be noted that users can set the relevant data of the motor matrix through a data interaction interface connected to a control circuit, device, or equipment containing the motor matrix.

[0037] The above is an introduction to the control trajectory. Next, the motor dot matrix control method proposed in this application will be explained. Firstly, as... Figure 4 As shown, this application proposes a motor matrix control method, wherein the motor matrix includes multiple control trajectories, and the control trajectories include multiple motors arranged sequentially on the motor matrix; the method includes:

[0038] Step 401: Obtain multiple control trajectories on the motor dot matrix.

[0039] The motor matrix can be a motor matrix included in a control circuit, device, or equipment; specifically, it can be such as... Figure 1The diagram shows a motor matrix. Multiple motors are selected within the motor matrix, and the trajectory of these motors running sequentially constitutes a control trajectory. The sequential operation of the multiple motors can begin from the first end of the control trajectory, with each motor running one after another until the last motor at the second end finishes; or it can begin from the second end of the control trajectory, with each motor running one after another until the last motor at the first end finishes. Based on the ability to control multiple motors, in one embodiment, when the control method of this application is applied to devices such as cushions and massage chairs, it allows for convenient adjustment of the massage mode in the cushion or massage chair, adjusting the operation of motors at different positions in the massage chair or cushion to provide different tactile sensations to the human body. Compared to existing technologies, which require individual software programming control for each motor in the motor matrix, this method offers higher control efficiency.

[0040] In one embodiment, multiple control trajectories on the motor dot matrix can be obtained by issuing control commands via communication methods such as a mobile APP, or by the user inputting control commands into devices such as cushions or massage chairs, which can then obtain the control trajectory information on the motor dot matrix.

[0041] It should be noted that the multiple control trajectories in this application can be either non-intersecting or intersecting. Similarly, it should be noted that the sequential operation of the motors on the control trajectories can be either the control of the first motor finishing its operation before the control of the next motor begins operation, or the control of the first motor starting its operation after a predetermined time.

[0042] This solution achieves multiple output modes for the motor matrix by controlling the operation of motors along control trajectories on the motor matrix. Therefore, when controlling the motor matrix, the control trajectory to be controlled must first be determined. Specifically, the pre-stored output mode data table is traversed, and the number of at least one control trajectory corresponding to one of the output modes is determined from the output mode data table. The output mode data table contains the control trajectory data table, and the output mode data is used to store the correspondence between the motor matrix output modes and the control trajectories.

[0043] Step 402: Determine the start time and end time of each control trajectory based on the multiple control trajectories.

[0044] The start time of each control track refers to the time when the first motor on each control track begins operation; the end time of each control track refers to the time when the last motor on each control track stops operation. The start and end times of each control track can be obtained from the control track data table. If the user needs to change the start and end times of any control track, they can input the new start and end times through a data interface connected to the control circuit, device, or equipment containing the motor matrix, and update the control track data table using the new start and end times.

[0045] Step 403: Based on the start time and end time of each control trajectory, control the multiple motors on each control trajectory to run in sequence.

[0046] In this system, after determining the start and end times of each control trajectory, the first motor on that trajectory can be started when the current time matches the start time of any other control trajectory; conversely, the last motor on that trajectory can be stopped when the current time matches the end time of any other control trajectory. For example, if the start time of control trajectory 2 is determined to be 10:00 am and the end time to be 10:03 am, then the first motor on control trajectory 2 will start running at 10:00 am, and the last motor on control trajectory 2 will stop running at 10:03 am. Thus, control trajectory 2 has completed one full output cycle between 10:00 am and 10:03 am. For example, as shown... Figure 2 As shown, track 2 can control the operation of 6 motors: M1, M2, M3, M4, M5, and M6. M1 is preset as the first motor and M6 as the last motor, so the 6 motors can be controlled to run according to preset rules.

[0047] This application sets multiple control trajectories on the motor dot matrix, and determines the start and end times of each control trajectory by editing the control trajectory, thereby realizing the continuous action output of the motor on each control trajectory, quickly realizing the multi-point vibration motor function mode, reducing the difficulty of function implementation mode, improving control efficiency, and thus improving the overall output effect of the function mode.

[0048] In one embodiment, the motor matrix control method proposed in this application is applied to a motor matrix control circuit, which includes a time monitoring circuit. The step of controlling multiple motors on each control trajectory to run sequentially according to the start and end times of each control trajectory includes: when the time monitoring circuit detects that a first current time matches the start time of a third control trajectory, controlling the first motor sequentially arranged on the third control trajectory to start running; the third control trajectory is any one of the control trajectories; when the time monitoring circuit detects that a second current time matches the end time of the third control trajectory, controlling the last motor sequentially arranged on the third control trajectory to terminate running.

[0049] The time monitoring circuit can include a digital clock or a circuit containing a chip with time monitoring functionality. When the time monitoring circuit detects that the current time is the same as the start time of the control trajectory, it sends a corresponding circuit signal to the control center of the device containing the motor matrix. The control center then controls the first motor of the control trajectory to start running. Similarly, when the time monitoring circuit detects that the current time is the same as the end time of the control trajectory, it sends a corresponding circuit signal to the control center of the device containing the motor matrix. The control center then controls the last motor of the control trajectory to stop running. In this embodiment, the time monitoring circuit can accurately control the running time of each control trajectory and each motor, effectively improving the accuracy of motor matrix control.

[0050] In one embodiment, controlling the sequential operation of multiple motors on each control trajectory based on the start and end times of each control trajectory includes: determining the running time of each control trajectory based on the start and end times of each control trajectory; determining the running time of each motor on each control trajectory based on the running time of each control trajectory; and controlling the sequential operation of multiple motors on each control trajectory based on the running time of each motor on each control trajectory.

[0051] Once the start and end times of each control trajectory are determined, the runtime of each control trajectory can be determined based on these times. Specifically, the runtime of a control trajectory is the time difference between the start and end times.

[0052] Furthermore, after determining the runtime of each control track, the runtime of each motor on each control track can be determined based on that runtime. Specifically, first, the number of motors on each control track is determined; then, the runtime of each motor on each control track is determined based on the runtime of each control track and the number of motors on each control track. The number of motors on each control track can be found in the control track data table using the track number. In practical applications, the runtime of each motor on each control track can be determined using the average method, which involves calculating the ratio between the runtime of the control track and the number of motors on that track. For example, if the runtime of a control track is 300 seconds and there are 10 motors on that track, then the runtime of each motor on that control track is 300 / 10 = 30 seconds. The mean method is used to determine the running time of each motor, which eliminates the need for complex operating procedures and effectively reduces the demand for control chips. Furthermore, the running time of each motor determined by the mean method is the same, which can reduce the control difficulty while realizing the motor dot matrix function output, further reducing the demand for control chips.

[0053] Furthermore, after determining the running time of each motor on the control trajectory, the motors on the control trajectory can be controlled to run in sequence to complete the functional output of the control trajectory.

[0054] In this embodiment, the running time of each motor on the control trajectory is determined by the start time and end time of the control trajectory, thereby controlling multiple motors on the control trajectory to run in sequence and realize a complete output of the control trajectory. This does not require a complex calculation process, which can effectively reduce the control difficulty of the motor matrix and improve the control efficiency of the motor matrix.

[0055] In one embodiment, controlling the sequential operation of multiple motors on each control track based on the running time of each motor on each control track includes: determining the start time and end time of operation of each motor on each control track based on the running time of each motor on each control track and the start time of operation of each control track; or, determining the start time and end time of operation of each motor on each control track based on the running time of each motor on each control track and the end time of operation of each control track; and controlling the sequential operation of multiple motors on each control track based on the start time and end time of operation of each motor on each control track.

[0056] Since each motor on the control trajectory operates sequentially, once the start and end times of the control trajectory and the running duration of each motor on the trajectory are determined, the start and end times of each motor on the control trajectory can be determined. Specifically, because each motor on the control trajectory operates sequentially and each motor has the same running duration, the start times of multiple motors on the control trajectory form an arithmetic sequence with a common difference equal to the motor's running duration, and the end times of multiple motors on the control trajectory also form an arithmetic sequence with a common difference equal to the motor's running duration.

[0057] Based on this, if the start time of control trajectory 2 is 10:00 am and the running time of each motor is 60 seconds, then the start time of the first motor on control trajectory 2 is 10:00 am and the end time is 10:01 am; the start time of the second motor on control trajectory 2 is 10:01 am and the end time is 10:02 am; the start time of the nth motor on control trajectory 2 is 10:00 am + 60(n-1) seconds and the end time is 10:01 am + 60(n-1) seconds. Therefore, when the time reaches 10:00 am, the first motor of control trajectory 2 starts running; when the time reaches 10:01 am, the first motor of control trajectory 2 stops running and the second motor starts running; when the time reaches 10:02 am, the second motor of control trajectory 2 stops running and the third motor starts running.

[0058] If the running end time of control trajectory 3 is 10:00 am and the running time of each motor is 60 seconds, then the running start time of the last motor on control trajectory 3 is 9:59 am and the running end time is 10:00 am; the running start time of the first motor before the last motor on control trajectory 3 is 9:58 am and the running end time is 9:59 am; the running start time of the nth motor before the last motor on control trajectory 3 is 9:59 am - 60(n-1) seconds and the running end time is 10:00 am - 60(n-1) seconds. Therefore, when the time reaches 9:58 am, the second motor before the last motor on control trajectory 3 stops running, and the first motor before the last motor starts running; when the time reaches 9:59 am, the first motor before the last motor on control trajectory 3 stops running, and the last motor starts running; when the time reaches 10:00 am, the last motor stops running.

[0059] In this embodiment, based on the fact that each motor runs sequentially on the control trajectory and each motor runs for the same duration, the start and end times of each motor's operation can be determined simply and quickly. This not only enables precise control of each motor but also effectively improves control efficiency.

[0060] In one embodiment, determining the start and end times of each motor on each control track based on the running time of each motor on each control track and the start time of each control track; or, determining the start and end times of each motor on each control track based on the running time of each motor on each control track and the end time of each control track, further includes: if the first control track and the second control track intersect, determining whether the first start time of the intersecting motor on the first control track is earlier than the second start time on the second control track, and whether the first end time of the intersecting motor on the first control track is earlier than the second start time on the second control track. Whether the first running start time of the intersecting motor on the first control trajectory is later than the second running start time on the second control trajectory; wherein, the first running start time of the intersecting motor on the first control trajectory is earlier than the second running start time on the second control trajectory, and the first running end time on the first control trajectory is later than the second running start time on the second control trajectory, then the first running start time of the intersecting motor on the first control trajectory is taken as the running start time of the intersecting motor, and the second running end time of the intersecting motor on the second control trajectory is taken as the running end time of the intersecting motor.

[0061] In this application, multiple control trajectories can be control trajectories with intersecting points. When the control trajectories intersect, and the first start time of the intersecting motor on the first control trajectory is earlier than the second start time of the intersecting motor on the second control trajectory, and the first end time of the intersecting motor on the first control trajectory is later than the second start time of the intersecting motor on the second control trajectory, this application uses the first start time of the intersecting motor on the first control trajectory as the start time of the intersecting motor's operation, and uses the second end time of the intersecting motor on the second control trajectory as the end time of the intersecting motor's operation. This eliminates the need for the intersecting motor to switch between the first and second control trajectory operating states, reducing the control difficulty of the intersecting motor and improving its stability.

[0062] like Figure 5 As shown, this application proposes a motor matrix control device, wherein the motor matrix includes multiple control trajectories, and the control trajectories include multiple motors arranged sequentially on the motor matrix; the device includes:

[0063] The first determining module 501 is used to acquire multiple control trajectories on the motor dot matrix.

[0064] The second determining module 502 is used to determine the start time and end time of each control trajectory based on the multiple control trajectories.

[0065] The control module 503 is used to control multiple motors on each control trajectory to run sequentially according to the start time and end time of each control trajectory.

[0066] In one embodiment, the control module is further configured to determine the running time of each control trajectory based on the running start time and running end time of each control trajectory; determine the running time of each motor on each control trajectory based on the running time of each control trajectory; and control multiple motors on each control trajectory to run sequentially based on the running time of each motor on each control trajectory.

[0067] like Figure 6 The diagram shows the internal structure of a computer device in one embodiment. This computer device may be a motor matrix control device, or a terminal or server connected to a motor matrix control device. Figure 6 As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and may also store a computer program that, when executed by the processor, enables the processor to implement a motor dot matrix control method. The internal memory may also store a computer program that, when executed by the processor, enables the processor to implement a motor dot matrix control method. The network interface is used for communication with external devices. Those skilled in the art will understand that… Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0068] In one embodiment, the motor dot matrix control method provided in this application can be implemented as a computer program, and the computer program can be implemented as follows: Figure 6 The computer device shown runs on this device. The computer device's memory can store various program templates that make up the motor matrix control device. For example, a first determining module 501, a second determining module 502, and a control module 503.

[0069] A computer device includes a memory and a processor. The memory stores a computer program that, when executed by the processor, causes the processor to perform the following steps: acquiring multiple control tracks on a motor matrix; determining the start time and end time of each control track based on the multiple control tracks; and controlling multiple motors on each control track to run sequentially based on the start time and end time of each control track.

[0070] In one embodiment, controlling the sequential operation of multiple motors on each control trajectory based on the start and end times of each control trajectory includes: determining the running time of each control trajectory based on the start and end times of each control trajectory; determining the running time of each motor on each control trajectory based on the running time of each control trajectory; and controlling the sequential operation of multiple motors on each control trajectory based on the running time of each motor on each control trajectory.

[0071] In one embodiment, determining the runtime of each motor on each control track based on the runtime of each control track includes: determining the number of motors on each control track; and determining the runtime of each motor on each control track based on the runtime of each control track and the number of motors on each control track.

[0072] In one embodiment, controlling the sequential operation of multiple motors on each control track based on the running time of each motor on each control track includes: determining the start time and end time of operation of each motor on each control track based on the running time of each motor on each control track and the start time of operation of each control track; or, determining the start time and end time of operation of each motor on each control track based on the running time of each motor on each control track and the end time of operation of each control track; and controlling the sequential operation of multiple motors on each control track based on the start time and end time of operation of each motor on each control track.

[0073] In one embodiment, determining the start and end times of each motor on each control track based on the running time of each motor on each control track and the start time of each control track; or, determining the start and end times of each motor on each control track based on the running time of each motor on each control track and the end time of each control track, further includes: if the first control track and the second control track intersect, determining whether the first start time of the intersecting motor on the first control track is earlier than the second start time on the second control track, and whether the first end time of the intersecting motor on the first control track is earlier than the second start time on the second control track. Whether the first running start time of the intersecting motor on the first control trajectory is later than the second running start time on the second control trajectory; wherein, the first running start time of the intersecting motor on the first control trajectory is earlier than the second running start time on the second control trajectory, and the first running end time on the first control trajectory is later than the second running start time on the second control trajectory, then the first running start time of the intersecting motor on the first control trajectory is taken as the running start time of the intersecting motor, and the second running end time of the intersecting motor on the second control trajectory is taken as the running end time of the intersecting motor.

[0074] In one embodiment, controlling the sequential operation of multiple motors on each control trajectory according to the start and end times of each control trajectory includes: when the time monitoring circuit detects that the first current time is consistent with the start time of the third control trajectory, controlling the first motor sequentially arranged on the third control trajectory to start running; the third control trajectory is any one of the control trajectories; when the time monitoring circuit detects that the second current time is consistent with the end time of the third control trajectory, controlling the last motor sequentially arranged on the third control trajectory to stop running.

[0075] A computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform the following steps: acquiring multiple control trajectories on the motor dot matrix; determining the start time and end time of each control trajectory based on the multiple control trajectories; and controlling multiple motors on each control trajectory to run sequentially based on the start time and end time of each control trajectory.

[0076] In one embodiment, controlling the sequential operation of multiple motors on each control trajectory based on the start and end times of each control trajectory includes: determining the running time of each control trajectory based on the start and end times of each control trajectory; determining the running time of each motor on each control trajectory based on the running time of each control trajectory; and controlling the sequential operation of multiple motors on each control trajectory based on the running time of each motor on each control trajectory.

[0077] In one embodiment, determining the runtime of each motor on each control track based on the runtime of each control track includes: determining the number of motors on each control track; and determining the runtime of each motor on each control track based on the runtime of each control track and the number of motors on each control track.

[0078] In one embodiment, controlling the sequential operation of multiple motors on each control track based on the running time of each motor on each control track includes: determining the start time and end time of operation of each motor on each control track based on the running time of each motor on each control track and the start time of operation of each control track; or, determining the start time and end time of operation of each motor on each control track based on the running time of each motor on each control track and the end time of operation of each control track; and controlling the sequential operation of multiple motors on each control track based on the start time and end time of operation of each motor on each control track.

[0079] In one embodiment, determining the start and end times of each motor on each control track based on the running time of each motor on each control track and the start time of each control track; or, determining the start and end times of each motor on each control track based on the running time of each motor on each control track and the end time of each control track, further includes: if the first control track and the second control track intersect, determining whether the first start time of the intersecting motor on the first control track is earlier than the second start time on the second control track, and whether the first end time of the intersecting motor on the first control track is earlier than the second start time on the second control track. Whether the first running start time of the intersecting motor on the first control trajectory is later than the second running start time on the second control trajectory; wherein, the first running start time of the intersecting motor on the first control trajectory is earlier than the second running start time on the second control trajectory, and the first running end time on the first control trajectory is later than the second running start time on the second control trajectory, then the first running start time of the intersecting motor on the first control trajectory is taken as the running start time of the intersecting motor, and the second running end time of the intersecting motor on the second control trajectory is taken as the running end time of the intersecting motor.

[0080] In one embodiment, controlling the sequential operation of multiple motors on each control trajectory according to the start and end times of each control trajectory includes: when the time monitoring circuit detects that the first current time is consistent with the start time of the third control trajectory, controlling the first motor sequentially arranged on the third control trajectory to start running; the third control trajectory is any one of the control trajectories; when the time monitoring circuit detects that the second current time is consistent with the end time of the third control trajectory, controlling the last motor sequentially arranged on the third control trajectory to stop running.

[0081] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0082] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0083] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for controlling a motor matrix, characterized in that, The motor matrix includes multiple control trajectories, and the control trajectories include multiple motors arranged sequentially on the motor matrix; the method includes: Obtain multiple control trajectories on the motor dot matrix; Based on the multiple control trajectories, determine the start time and end time of each control trajectory. The multiple motors on each control trajectory are controlled to run sequentially according to the start and end times of each control trajectory. The step of controlling multiple motors on each control trajectory to operate sequentially based on the start and end times of each control trajectory includes: The runtime of each control trajectory is determined based on the start and end times of each trajectory. The runtime of each motor on each control trajectory is determined based on the runtime of each control trajectory; The multiple motors on each control track are controlled to run sequentially according to the running time of each motor on each control track; The step of controlling the sequential operation of multiple motors on each control track based on the running time of each motor on each control track includes: The start and end times of operation for each motor on each control track are determined based on the running time of each motor on each control track and the start time of operation for each control track; or, the start and end times of operation for each motor on each control track are determined based on the running time of each motor on each control track and the end time of operation for each control track. The multiple motors on each control trajectory are controlled to run sequentially according to the start time and end time of each motor on each control trajectory; The step of determining the start and end times of operation for each motor on each control trajectory based on the running time of each motor on each control trajectory and the start time of operation for each control trajectory; or, determining the start and end times of operation for each motor on each control trajectory based on the running time of each motor on each control trajectory and the end time of operation for each control trajectory, further includes: In the case where the first control trajectory and the second control trajectory intersect, it is determined whether the first start time of the motor at the intersection point on the first control trajectory is earlier than the second start time on the second control trajectory, and whether the first end time on the first control trajectory is later than the second start time on the second control trajectory; wherein, the first control trajectory and the second control trajectory are any two of the plurality of control trajectories; If the first start time of the intersecting motor on the first control trajectory is earlier than the second start time of the intersecting motor on the second control trajectory, and the first end time of the intersecting motor on the first control trajectory is later than the second start time of the intersecting motor on the second control trajectory, then the first start time of the intersecting motor on the first control trajectory shall be taken as the start time of the intersecting motor, and the second end time of the intersecting motor on the second control trajectory shall be taken as the end time of the intersecting motor.

2. The method according to claim 1, characterized in that, Determining the runtime of each motor on each control trajectory based on the runtime of each control trajectory includes: Determine the number of motors on each control trajectory; The runtime of each motor on each control track is determined based on the runtime of each control track and the number of motors on each control track.

3. The method according to claim 1, characterized in that, The method is applied to a motor dot matrix control circuit, which includes a time monitoring circuit. The step of controlling multiple motors on each control trajectory to run sequentially according to the start and end times of each control trajectory includes: When the time monitoring circuit detects that the first current time is consistent with the start time of the third control trajectory, it controls the first motor arranged in sequence on the third control trajectory to start running; the third control trajectory is any one of the control trajectories. When the time monitoring circuit detects that the second current time is consistent with the running termination time of the third control trajectory, it controls the last motor arranged in sequence on the third control trajectory to stop running.

4. A motor dot matrix control device, characterized in that, The motor matrix includes multiple control tracks, and each control track includes multiple motors arranged sequentially on the motor matrix; the device includes: The first determining module is used to acquire multiple control trajectories on the motor dot matrix; The second determining module is used to determine the start time and end time of each control trajectory based on the multiple control trajectories. The control module is used to control multiple motors on each control trajectory to run sequentially according to the start time and end time of each control trajectory; The control module is further configured to determine the running time of each control trajectory based on the running start time and running end time of each control trajectory; determine the running time of each motor on each control trajectory based on the running time of each control trajectory; and control multiple motors on each control trajectory to run sequentially based on the running time of each motor on each control trajectory. The control module is further configured to determine the start time and end time of operation of each motor on each control track based on the running time of each motor on each control track and the start time of operation of each control track; or, to determine the start time and end time of operation of each motor on each control track based on the running time of each motor on each control track and the end time of operation of each control track; and to control multiple motors on each control track to operate sequentially based on the start time and end time of operation of each motor on each control track. The control module is further configured to, when the first control trajectory and the second control trajectory intersect, determine whether the first start time of the intersecting motor on the first control trajectory is earlier than the second start time on the second control trajectory, and whether the first end time on the first control trajectory is later than the second start time on the second control trajectory; wherein, the first control trajectory and the second control trajectory are any two of the plurality of control trajectories; if the first start time of the intersecting motor on the first control trajectory is earlier than the second start time on the second control trajectory, and the first end time on the first control trajectory is later than the second start time on the second control trajectory, then the first start time of the intersecting motor on the first control trajectory is taken as the start time of the intersecting motor, and the second end time of the intersecting motor on the second control trajectory is taken as the end time of the intersecting motor.

5. A computer device comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of the method as claimed in any one of claims 1 to 3.

6. A computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the steps of the method as claimed in any one of claims 1 to 3.

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