Motor slow start control method and system, and cleaning device with same

Abstract

This invention relates to a method, system, and cleaning equipment incorporating a motor slow-start control. The method includes: acquiring the target operating voltage of the motor in the cleaning equipment when it is started; adjusting the duty cycle of the motor's PWM signal; and controlling the motor to slowly operate to the target operating voltage according to the adjusted PWM signal duty cycle, thus completing the slow start of the motor. This invention enables the motor to start slowly by acquiring the target operating voltage of the motor at startup, i.e., the operating voltage during the stable operation phase of the motor; and by adjusting the duty cycle of the motor's PWM signal to slowly adjust the motor's operating voltage to this stable operating voltage. This allows the cleaning operation of the cleaning equipment to begin gradually, rather than operating directly at the normal cleaning speed, preventing the user from feeling suddenly pulled forward and effectively improving the user experience.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment, and in particular to a method, system, and cleaning equipment having the same for controlling a slow start of a motor. Background Technology

[0002] With the development of technology and the improvement of people's living standards, cleaning equipment has gradually become an indispensable household appliance in people's daily lives, including floor scrubbers and vacuum cleaners. When cleaning equipment performs cleaning work, the motor is an essential component. For example, in a floor scrubber, the component that performs the cleaning work is the floor brush assembly, which includes a floor brush motor and a roller brush. The mainboard controls the operation of the floor brush motor, which in turn drives the roller brush to achieve the cleaning purpose.

[0003] However, when using existing floor scrubbers and other cleaning equipment, once the user presses the power button, the cleaning components such as the roller brush will work directly at the normal cleaning speed driven by the motor. The user will feel as if they are suddenly being pulled forward, which will cause discomfort and a poor user experience. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is how to control the motor to start slowly when cleaning equipment such as floor scrubbers is put into use, so as to improve the user experience.

[0005] To solve the above-mentioned technical problems, the present invention provides a motor slow start control method for cleaning equipment, comprising:

[0006] Obtain the target operating voltage of the motor in the cleaning equipment when it is started;

[0007] Adjust the duty cycle of the PWM signal of the motor, and control the motor to slowly work up to the target operating voltage according to the adjusted PWM signal duty cycle, thereby completing the slow start of the motor.

[0008] Optionally, obtaining the target operating voltage of the motor in the cleaning equipment when it is started includes:

[0009] Obtain a throttle signal to start the cleaning device, the throttle signal being a signal generated by the user operating a rotatable handle assembly on the cleaning device;

[0010] The target operating voltage is obtained by identifying the throttle signal.

[0011] Optionally, before obtaining the target operating voltage of the motor in the cleaning equipment when starting the cleaning equipment, the method further includes:

[0012] Determine whether a power signal is present to start the cleaning equipment;

[0013] If present, the throttle signal for activating the cleaning device is acquired.

[0014] Optionally, the PWM signal duty cycle includes a first PWM signal duty cycle and a second PWM signal duty cycle;

[0015] The step of adjusting the duty cycle of the PWM signal of the motor, and controlling the motor to slowly operate to the target operating voltage according to the adjusted PWM signal duty cycle, thereby completing the slow start of the motor, includes:

[0016] Based on the target operating voltage, determine the limiting operating voltage of the motor; wherein the limiting operating voltage is less than the target operating voltage;

[0017] Obtain the ramp function, adjust the duty cycle of the first PWM signal of the motor according to the ramp function, and control the motor to work to the limit operating voltage according to the adjusted duty cycle of the first PWM signal;

[0018] The duty cycle of the second PWM signal of the motor is adjusted by a proportionally increasing method, and the motor is controlled to operate from the limit operating voltage to the target operating voltage according to the adjusted duty cycle of the second PWM signal, thereby completing the slow start of the motor.

[0019] Optionally, the step of obtaining the ramp function, adjusting the duty cycle of the first PWM signal of the motor according to the ramp function, and controlling the motor to operate to the limit operating voltage according to the adjusted first PWM signal duty cycle includes:

[0020] The first output voltage from the preset ramp generator and the second output voltage from the preset triangle wave generator are obtained respectively.

[0021] Compare the magnitudes of the first output voltage and the second output voltage;

[0022] Based on the aforementioned size, the ramp function for adjusting the duty cycle of the first PWM signal of the motor is obtained;

[0023] According to the ramp function, the duty cycle of the first PWM signal is adjusted from 0 to 100%;

[0024] Based on the adjusted duty cycle of the first PWM signal, the operating voltage of the motor is controlled to rise from 0 to the limit operating voltage.

[0025] Optionally, obtaining the ramp function for adjusting the duty cycle of the first PWM signal of the motor based on the magnitude includes:

[0026] When the first output voltage is greater than or equal to the second output voltage, the first PWM signal controlling the motor is turned on; when the first output voltage is less than the second output voltage, the first PWM signal is turned off.

[0027] The ramp function that adjusts the duty cycle of the first PWM signal corresponding to the first PWM signal is:

[0028] ;

[0029] in, f ( t ) is the slope function. γ The coefficients are function coefficients and satisfy 0 ≤ γ ≤1, t It is a time variable and satisfies 0 ≤ t ≤ t 1, t 1 represents the rise time of the ramp generator.

[0030] Optionally, the step of adjusting the duty cycle of the second PWM signal of the motor using a proportionally increasing method, and controlling the motor to operate from the extreme operating voltage to the target operating voltage according to the adjusted duty cycle of the second PWM signal to complete the slow start of the motor, includes:

[0031] The initial duty cycle and the common increment ratio of the motor when adjusting the duty cycle of the second PWM signal are obtained respectively;

[0032] Using a proportionally increasing method, based on the initial duty cycle and the common increasing ratio, the duty cycle of the second PWM signal of the motor is adjusted from the initial duty cycle to 100%.

[0033] Based on the adjusted duty cycle of the second PWM signal, the operating voltage of the motor is controlled to rise from the limit operating voltage to the target operating voltage, thereby completing the slow start of the motor.

[0034] Furthermore, this invention also proposes a motor slow-start control system for cleaning equipment, comprising:

[0035] A voltage acquisition module is used to acquire the target operating voltage of the motor in the cleaning equipment when the cleaning equipment is started.

[0036] The main control module is communicatively connected to the voltage acquisition module and is used to adjust the duty cycle of the PWM signal of the motor. Based on the adjusted PWM signal duty cycle, the main control module controls the motor to slowly operate to the target operating voltage, thereby completing the slow start of the motor.

[0037] Optionally, the PWM signal duty cycle includes a first PWM signal duty cycle and a second PWM signal duty cycle;

[0038] The main control module includes:

[0039] The control unit, which is communicatively connected to the voltage acquisition module, is used to determine the limiting operating voltage of the motor based on the target operating voltage; wherein the limiting operating voltage is less than the target operating voltage;

[0040] The first adjustment unit is communicatively connected to the control unit and is used to obtain a ramp function, adjust the duty cycle of the first PWM signal of the motor according to the ramp function, and control the motor to work to the limit operating voltage according to the adjusted duty cycle of the first PWM signal.

[0041] The second adjustment unit is communicatively connected to the control unit and is used to adjust the duty cycle of the second PWM signal of the motor using a proportionally increasing method, and control the motor to operate from the extreme operating voltage to the target operating voltage according to the adjusted duty cycle of the second PWM signal, thereby completing the slow start of the motor.

[0042] Optionally, the voltage acquisition module is specifically used for:

[0043] Obtain a throttle signal to start the cleaning device, the throttle signal being a signal generated by the user operating a rotatable handle assembly on the cleaning device;

[0044] The target operating voltage is obtained by identifying the throttle signal.

[0045] Furthermore, the present invention also proposes a cleaning device, comprising:

[0046] Equipment body;

[0047] The aforementioned motor slow start control system is located on the main body of the equipment;

[0048] A motor, mounted on the device body and electrically connected to the motor slow-start control system, is used to complete a slow start under the control of the motor slow-start control system; and

[0049] A cleaning component is mounted on the device body and electrically connected to the motor, used for cleaning under the drive of the motor.

[0050] Optionally, it also includes:

[0051] A rotatable handle assembly is disposed on the device body and electrically connected to the motor slow start control system, used to provide a throttle signal to the motor slow start control system when rotating.

[0052] The technical solution provided by this invention has the following advantages:

[0053] The present invention provides a motor slow start control method, system, and cleaning equipment having the same. By obtaining the target operating voltage of the motor when the cleaning equipment starts, the operating voltage of the motor during the stable operation phase of the cleaning equipment can be determined. By adjusting the duty cycle of the motor's PWM signal, the operating voltage of the motor is slowly adjusted to the target operating voltage for stable operation, thereby realizing the slow start of the motor. This allows the cleaning operation of the cleaning equipment to start slowly, and the user can gradually adapt after starting the cleaning equipment without feeling suddenly pulled forward by the cleaning equipment, effectively improving the user experience. Attached Figure Description

[0054] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0055] Figure 1 This is a flowchart of a motor slow start control method according to Embodiment 1 of the present invention;

[0056] Figure 2 This is a flowchart illustrating the process of obtaining the target operating voltage in Embodiment 1 of the present invention;

[0057] Figure 3 This is a circuit diagram of the linear Hall sensor, main control module, and signal processing circuit in Embodiment 1 of the present invention;

[0058] Figure 4 This is a flowchart of step S2 in Embodiment 1 of the present invention;

[0059] Figure 5 This is a flowchart illustrating the process of controlling the motor to operate at its maximum operating voltage in Embodiment 1 of the present invention.

[0060] Figure 6 This is a circuit diagram showing the connection between the ramp generator and triangular wave comparator, the control unit in the main control module, and the motor in Embodiment 1 of the present invention.

[0061] Figure 7 The waveforms are shown for the first output voltage output by the ramp generator, the second output voltage output by the triangular wave comparator, and the first PWM signal output after passing through the main control module in Embodiment 1 of the present invention.

[0062] Figure 8This is a flowchart illustrating the process of controlling the motor to operate from the limit operating voltage to the target operating voltage in Embodiment 1 of the present invention;

[0063] Figure 9 This is a structural diagram of a motor slow start control system according to Embodiment 2 of the present invention;

[0064] Figure 10 This is a structural diagram of another motor slow start control system in Embodiment 2 of the present invention;

[0065] Figure 11 This is a structural diagram of the floor scrubber in Embodiment 3 of the present invention.

[0066] Explanation of reference numerals in the attached figures:

[0067] 100. Equipment body; 101. Handle assembly; 102. Cleaning assembly; 103. Switch button; 104. Water storage assembly. Detailed Implementation

[0068] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0069] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0070] In this invention, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this invention.

[0071] In traditional technologies, when a user presses the power button on a cleaning device, the cleaning components, such as the roller brush, operate directly at the normal cleaning speed driven by the motor. The user may feel a sudden pulling motion, causing discomfort and a poor user experience. To address these issues, this invention proposes a motor slow-start control method, system, and cleaning device incorporating the same.

[0072] The motor slow-start control method, system, and cleaning equipment incorporating the present invention can be applied to various cleaning equipment equipped with motors. In the following embodiments, the present invention is illustrated using a sweeper as an example.

[0073] Example 1

[0074] like Figure 1 As shown, this embodiment provides a motor slow start control method for cleaning equipment, the method including:

[0075] S1: Obtain the target operating voltage of the motor in the cleaning equipment when the cleaning equipment is started;

[0076] S2: Adjust the duty cycle of the motor's PWM signal, and control the motor to slowly work up to the target operating voltage according to the adjusted PWM signal duty cycle, thus completing the slow start of the motor.

[0077] The motor slow start control method of this embodiment can determine the operating voltage of the motor during the stable operation phase when the cleaning equipment is performing cleaning work by obtaining the target operating voltage of the motor when the cleaning equipment starts. By adjusting the duty cycle of the motor's PWM signal, the operating voltage of the motor is slowly adjusted to the target operating voltage for stable operation, thereby realizing the slow start of the motor. This allows the cleaning work of the cleaning equipment to start slowly, so that the user can gradually adapt after starting the cleaning equipment and will not feel suddenly pulled forward by the cleaning equipment, effectively improving the user experience.

[0078] Preferably, such as Figure 2 As shown, S1 includes:

[0079] S11: Obtain the throttle signal to start the cleaning equipment. The throttle signal is the signal generated by the user operating the rotatable handle assembly on the cleaning equipment.

[0080] S12: Identify the throttle signal to obtain the target operating voltage.

[0081] When the user starts the cleaning equipment, they can operate the rotatable handle assembly installed on the cleaning equipment. The rotatable handle assembly can generate corresponding throttle signals at different rotation angles. By recognizing the throttle signals, the operating voltage of the motor at different rotation angles when the user starts the cleaning equipment can be obtained, that is, the target operating voltage.

[0082] Specifically, the rotatable handle assembly includes a linear Hall sensor. The output of the linear Hall sensor is connected to the main control module of the cleaning equipment. When the user rotates the handle assembly, the linear Hall sensor outputs a voltage signal to the main control module, which then outputs it to the signal processing circuit for processing, thereby obtaining the target operating voltage corresponding to the motor. The specific circuit diagram is as follows... Figure 3 As shown.

[0083] exist Figure 3In the circuit, the linear Hall sensor is electrically connected to the main control module, and the signal processing circuit includes an operational amplifier U1, capacitors C1 and C2, resistors R1, R2, and R3, and diode D1.

[0084] The positive input signal pin of operational amplifier U1 is electrically connected to the main control module, the ground pin of operational amplifier U1 is grounded, the first end of capacitor C1 is electrically connected to the main control module, and the second end of capacitor C1 is electrically connected to the ground pin of operational amplifier U1.

[0085] The first end of resistor R1 is connected to the common connection between the second end of capacitor C1 and the ground pin of operational amplifier U1. The second end of resistor R1 is electrically connected to the negative input signal pin of operational amplifier U1. The negative input signal pin of operational amplifier U1 is also electrically connected to the 5V power supply in sequence through resistors R2 and R3.

[0086] The power input pin of operational amplifier U1 is electrically connected to a 5V power supply. The first end of capacitor C2 is connected to the common connection between the power input pin of operational amplifier U1 and the 5V power supply, and the second end of capacitor C2 is grounded. The output pin of operational amplifier U1 is connected to the common connection between resistor R2 and resistor R3. The positive terminal of diode D1 is grounded, and the negative terminal of diode D1 is electrically connected to the output pin of operational amplifier U1.

[0087] Preferably, before S1, it further includes:

[0088] Determine if a power signal is present to start the cleaning equipment;

[0089] If present, obtain the throttle signal to start the cleaning equipment.

[0090] Before obtaining the throttle signal to get the target operating voltage of the motor, first determine whether there is a power signal to start the cleaning equipment to ensure that the cleaning equipment is properly connected to the power supply, thereby ensuring the normal operation of the cleaning equipment.

[0091] Specifically, in this embodiment, when the user operates the switch button on the cleaning device, the main control module determines whether a power signal is present based on whether it receives an activation signal. If the main control module receives an activation signal, it indicates that the cleaning device is connected to a power source and needs to be started, and the subsequent acquisition of the throttle signal can proceed. If the main control module does not receive an activation signal, it indicates that the cleaning device is not connected to a power source, and the subsequent acquisition of the throttle signal is not performed.

[0092] Preferably, the PWM signal duty cycle includes a first PWM signal duty cycle and a second PWM signal duty cycle; for example... Figure 4 As shown, S2 includes:

[0093] S21: Determine the motor's limiting operating voltage based on the target operating voltage; wherein the limiting operating voltage is less than the target operating voltage;

[0094] S22: Obtain the ramp function, adjust the duty cycle of the motor's first PWM signal according to the ramp function, and control the motor to work to the limit operating voltage according to the adjusted duty cycle of the first PWM signal;

[0095] S23: The duty cycle of the second PWM signal of the motor is adjusted by a proportionally increasing method, and the motor is controlled to work from the limit working voltage to the target working voltage according to the adjusted duty cycle of the second PWM signal, thus completing the slow start of the motor.

[0096] By adjusting the duty cycle of the first PWM signal and the duty cycle of the second PWM signal respectively, the operating voltage of the motor is gradually adjusted in two stages. That is, the actual slow start of the motor is achieved through two stages of adjustment. In the first stage, the operating voltage of the motor is gradually increased from 0 to the limit operating voltage. In the second stage, the operating voltage of the motor is increased from the limit operating voltage to the target operating voltage, so that the motor gradually enters the stable operation stage. The process involves two phases: the first phase ends when the motor's actual operating voltage reaches the limit operating voltage determined by the target operating voltage, and the second phase ends when the motor's actual operating voltage reaches the target operating voltage, at which point the motor enters a stable operating phase. In the first phase, the duty cycle of the first PWM signal is adjusted using an acquired ramp function, and the motor is controlled to operate up to the limit operating voltage based on this duty cycle. This ensures a smooth, slow start for the motor, allowing the cleaning equipment to begin its cleaning operation gradually. Users can adapt slowly after starting the cleaning equipment without feeling suddenly pulled forward. In the second phase, the duty cycle of the second PWM signal is adjusted in a proportional increment, and the motor is controlled to operate from the limit operating voltage to the target operating voltage based on this duty cycle. This ensures that the motor, while still starting slowly, can quickly adjust to the target operating voltage for stable operation, allowing the cleaning equipment to quickly enter a stable operating state. After the adaptation in the first phase and the control in the second phase, users are neither suddenly pulled forward by the cleaning equipment nor unable to operate it quickly to complete the cleaning work, ensuring the efficiency of the cleaning equipment.

[0097] Specifically, in S21, after the user operates the rotatable handle assembly, obtains the throttle signal, and determines the target operating voltage of the motor based on the throttle signal, the limiting operating voltage can be determined based on the target operating voltage. If the limiting operating voltage is lower than the target operating voltage, a suitable voltage value can be selected as the limiting operating voltage within a range below the target operating voltage, depending on the actual situation. For example, half of the target operating voltage can be set as the limiting operating voltage, or two-thirds of the target operating voltage can be set as the limiting operating voltage. In one specific embodiment, two-thirds of the target operating voltage is determined as the limiting operating voltage.

[0098] Preferably, such as Figure 5 As shown, S22 includes:

[0099] S221: Obtain the first output voltage from the preset ramp generator and the second output voltage from the preset triangle wave generator, respectively;

[0100] S222: Compare the magnitudes of the first and second output voltages;

[0101] S223: Based on the magnitude, obtain the ramp function for adjusting the duty cycle of the first PWM signal of the motor;

[0102] S224: Adjust the duty cycle of the first PWM signal from 0 to 100% according to the ramp function;

[0103] S225: Based on the adjusted duty cycle of the first PWM signal, control the motor's operating voltage to rise from 0 to the limit operating voltage.

[0104] By comparing the magnitudes of the first output voltage from the ramp generator and the second output voltage from the triangular wave generation circuit, a first PWM signal is generated. The duty cycle of the first PWM signal increases linearly according to the ramp function. This first PWM signal can control the motor's operating voltage to rise linearly from 0 to the limit operating voltage, thereby achieving slow start control of the motor in the first stage. This prevents the speed of the cleaning component from increasing directly to the speed of its stable operating state when performing cleaning work, so that the user will not feel the cleaning equipment suddenly moving forward.

[0105] Specifically, S223 includes:

[0106] When the first output voltage is greater than or equal to the second output voltage, the first PWM signal controlling the motor is turned on; when the first output voltage is less than the second output voltage, the first PWM signal is turned off.

[0107] The ramp function that adjusts the duty cycle of the first PWM signal is:

[0108] ;

[0109] in, f ( t ) is the slope function. γ The coefficients are function coefficients and satisfy 0 ≤ γ ≤1, t It is a time variable and satisfies 0 ≤ t ≤ t 1, t 1 represents the rise time of the ramp generator.

[0110] When the first output voltage is greater than or equal to the second output voltage, the first PWM signal is turned on; when the first output voltage is less than the second output voltage, the first PWM signal is turned off. Based on the continuous turning on and off of the first PWM signal, the slope function of the duty cycle of the corresponding first PWM signal can be obtained. This slope function represents the functional relationship between the duty cycle of the first PWM signal and time. Based on this slope function, a smooth slow start of the motor can be achieved through a combination of hardware and software, at a low cost.

[0111] In one specific implementation, the main control module of the cleaning equipment is pre-installed with a ramp generator and a triangular wave generator. The outputs of both the ramp generator and the triangular wave comparator are connected to the inputs of the control unit (e.g., MCU) in the main control module. The output of the entire main control module is connected to the motor, such as... Figure 6 As shown in the figure, the waveforms of the first output voltage from the ramp generator, the second output voltage from the triangular wave comparator, and the first PWM signal output after passing through the main control module are as follows: Figure 7 As shown, Figure 7 The upper part includes the waveforms of the first output voltage from the ramp generator and the second output voltage from the triangular wave comparator. The lower part includes the waveform of the first PWM signal output by the main control module after comparing the magnitudes of the first and second output voltages. Both the ramp generator and the triangular wave generator are existing conventional signal generators, and their details will not be elaborated here.

[0112] Preferably, such as Figure 8 As shown, S23 includes:

[0113] S231: Obtain the initial duty cycle and the common increment ratio of the motor when adjusting the duty cycle of the second PWM signal;

[0114] S232: Using a proportionally increasing method, the duty cycle of the motor's second PWM signal is adjusted from the initial duty cycle to 100% based on the initial duty cycle and the common increasing ratio;

[0115] S233: Based on the adjusted duty cycle of the second PWM signal, control the motor's operating voltage to rise from the limit operating voltage to the target operating voltage, thus completing the slow start of the motor.

[0116] By using the aforementioned proportionally increasing method, the duty cycle of the second PWM signal can be quickly adjusted. This allows for a slower start-up of the motor, preventing the motor's operating voltage from directly rising to the target operating voltage. Furthermore, it enables a faster slow start-up speed compared to the first stage, gradually increasing the motor's operating voltage from the limit to the target operating voltage. Because of the buffering effect of the first stage, the difference between the motor's actual operating voltage (i.e., the limit operating voltage) and the target operating voltage is relatively small, minimizing discomfort for the user when starting the cleaning equipment. Therefore, a faster slow start-up speed further improves the motor's operating efficiency, thereby enhancing the cleaning equipment's efficiency. This approach, while improving the user experience, better reflects the actual usage of the cleaning equipment.

[0117] The initial duty cycle and the incremental common ratio in this embodiment can be preset and adjusted according to the actual situation; the specific details will not be elaborated here.

[0118] Example 2

[0119] like Figure 9 As shown, this embodiment provides a motor slow-start control system for cleaning equipment. The system includes:

[0120] The voltage acquisition module is used to acquire the target operating voltage of the motor in the cleaning equipment when the cleaning equipment is started.

[0121] The main control module communicates with the voltage acquisition module and is used to adjust the duty cycle of the motor's PWM signal. Based on the adjusted PWM signal duty cycle, the motor is controlled to slowly operate until the target operating voltage is reached, thus completing the slow start of the motor.

[0122] The motor slow start control system provided in this embodiment can determine the operating voltage of the motor during the stable operation phase of the cleaning equipment by obtaining the target operating voltage of the motor when the cleaning equipment starts. By adjusting the duty cycle of the motor's PWM signal, the operating voltage of the motor is slowly adjusted to the target operating voltage for stable operation, thus realizing the slow start of the motor. This allows the cleaning work of the cleaning equipment to start slowly, and the user can gradually adapt after starting the cleaning equipment without feeling suddenly pulled forward by the cleaning equipment, effectively improving the user experience.

[0123] Preferably, the PWM signal duty cycle includes a first PWM signal duty cycle and a second PWM signal duty cycle;

[0124] like Figure 10 As shown, the main control module includes:

[0125] The control unit, which is connected in communication with the voltage acquisition module, is used to determine the limit operating voltage of the motor in the first slow start phase based on the target operating voltage.

[0126] The first adjustment unit is connected in communication with the control unit. It is used to obtain the ramp function, adjust the duty cycle of the first PWM signal of the motor in the first slow start phase according to the ramp function, and control the motor to work to the limit operating voltage according to the adjusted duty cycle of the first PWM signal.

[0127] The second adjustment unit is connected in communication with the control unit. It is used to adjust the duty cycle of the second PWM signal of the motor in the second slow start stage by using a proportional increment method, and to control the motor to work from the limit operating voltage to the target operating voltage according to the adjusted duty cycle of the second PWM signal, so as to complete the slow start of the motor.

[0128] Specifically, the voltage acquisition module in this embodiment is the signal processing circuit in Embodiment 1.

[0129] Preferably, such as Figure 10 As shown, the main control module also includes:

[0130] A ramp generator, communicatively connected to the control unit, is used to output a first output voltage to the control unit; and

[0131] The triangular wave generator is connected in communication with the control unit and is used to output a second output voltage to the control unit.

[0132] The first adjustment unit acquires the ramp function, adjusts the duty cycle of the motor's first PWM signal according to the ramp function, and controls the motor to operate up to the limit operating voltage according to the adjusted duty cycle of the first PWM signal. Specifically, this includes:

[0133] Receives the first output voltage and the second output voltage;

[0134] Compare the magnitudes of the first and second output voltages;

[0135] Based on the magnitude, the ramp function for adjusting the duty cycle of the first PWM signal of the motor is obtained;

[0136] Based on the ramp function, the duty cycle of the first PWM signal is adjusted from 0 to 100%;

[0137] Based on the adjusted duty cycle of the first PWM signal, the operating voltage of the motor is controlled to rise from 0 to the limit operating voltage.

[0138] By combining the aforementioned ramp generator and triangular wave generator with the control unit and the first adjustment unit, a smooth slow start of the motor can be achieved through a combination of hardware and software, at a low cost.

[0139] Preferably, the second adjustment unit uses a proportionally increasing method to adjust the duty cycle of the motor's second PWM signal, and controls the motor to operate from the limit operating voltage to the target operating voltage according to the adjusted duty cycle of the second PWM signal, thereby completing the slow start of the motor. Specifically, this includes:

[0140] The initial duty cycle and the common increment ratio of the motor when adjusting the duty cycle of the second PWM signal are obtained respectively;

[0141] Using a proportionally increasing method, the duty cycle of the motor's second PWM signal is adjusted from the initial duty cycle to 100% based on the initial duty cycle and the common increasing ratio;

[0142] Based on the adjusted duty cycle of the second PWM signal, the operating voltage of the motor is controlled to rise from the limit operating voltage to the target operating voltage, thus completing the slow start of the motor.

[0143] The functions of each module in the motor slow start control system described in this embodiment correspond to the steps of the motor slow start control method in Embodiment 1. For details not covered in this embodiment, please refer to Embodiment 1 and... Figures 1 to 8 The specific details will not be repeated here.

[0144] Example 3

[0145] This embodiment provides a cleaning device, which includes:

[0146] Equipment body;

[0147] The motor slow start control system of Embodiment 2 is installed on the equipment body;

[0148] A motor, mounted on the equipment body, is electrically connected to a motor slow-start control system, and is used to complete a slow start under the control of the motor slow-start control system; and

[0149] The cleaning component, located on the main body of the device, is electrically connected to the motor and is used to perform cleaning under the drive of the motor.

[0150] The cleaning device provided in this embodiment adjusts the motor's operating voltage to the target operating voltage for stable operation by adjusting the duty cycle of the motor's PWM signal, thus achieving a slow start of the motor. This allows the cleaning operation of the cleaning device to start slowly, enabling users to gradually adapt after starting the cleaning device without feeling suddenly pulled forward by it, effectively improving the user experience.

[0151] Optionally, it also includes:

[0152] A rotatable handle assembly is disposed on the device body and electrically connected to the motor slow start control system, used to provide a throttle signal to the motor slow start control system when rotating.

[0153] The aforementioned rotatable handle assembly facilitates the provision of corresponding throttle signals to different users, thereby obtaining the target operating voltage of the corresponding motor, adapting to the slow start control needs of different users, and enhancing the user experience.

[0154] Specifically, in this embodiment, such as Figure 11 The floor scrubber shown includes a main body 100, a handle assembly 101 and a sweeping assembly 102 on the main body, wherein the motor slow start control system and the motor are both located inside the main body (not shown in the figure); it also includes a switch button 103 and a water storage assembly 104 on the main body 100, the water storage assembly 104 including a clean water tank (for storing clean water) and a wastewater tank (for storing wastewater).

[0155] The motor slow start control system described in this embodiment has the same structure as the motor slow start control system in Embodiment 2. For details not covered in this embodiment, please refer to Embodiments 1 and 2. Figures 1 to 10 The specific details will not be repeated here.

[0156] Obviously, the embodiments described above are merely some, not all, embodiments of the present invention. Based on the embodiments of the present invention, those skilled in the art can make other variations or modifications without creative effort, and all such variations or modifications should fall within the scope of protection of the present invention.

Claims

1. A method for controlling a slow start of a motor, used in cleaning equipment, characterized in that, include: When the cleaning equipment is started, the target operating voltage of the motor in the cleaning equipment is obtained, wherein the motor is used to drive the roller brush of the cleaning equipment to rotate; Adjust the duty cycle of the PWM signal of the motor, wherein the duty cycle of the PWM signal includes a first PWM signal duty cycle and a second PWM signal duty cycle; The motor is controlled to slowly operate to the target operating voltage based on the adjusted PWM signal duty cycle, including: Based on the target operating voltage, determine the limiting operating voltage of the motor; wherein the limiting operating voltage is less than the target operating voltage; Obtain the ramp function, adjust the duty cycle of the first PWM signal of the motor according to the ramp function, and control the motor to work to the limit operating voltage according to the adjusted duty cycle of the first PWM signal; The duty cycle of the second PWM signal of the motor is adjusted by a proportionally increasing method, and the motor is controlled to operate from the limit operating voltage to the target operating voltage according to the adjusted duty cycle of the second PWM signal, thereby completing the slow start of the motor.

2. The motor slow start control method of claim 1, wherein The step of obtaining the target operating voltage of the motor in the cleaning equipment when the cleaning equipment is started includes: Obtain a throttle signal to start the cleaning device, the throttle signal being a signal generated by the user operating a rotatable handle assembly on the cleaning device; The target operating voltage is obtained by identifying the throttle signal.

3. The motor slow start control method of claim 2, wherein Before obtaining the target operating voltage of the motor in the cleaning equipment when starting the cleaning equipment, the process further includes: Determine whether a power signal is present to start the cleaning equipment; If present, the throttle signal for activating the cleaning device is acquired.

4. The motor slow start control method of claim 1, wherein The step of obtaining the ramp function, adjusting the duty cycle of the first PWM signal of the motor according to the ramp function, and controlling the motor to operate to the limit operating voltage according to the adjusted duty cycle of the first PWM signal includes: The first output voltage from the preset ramp generator and the second output voltage from the preset triangle wave generator are obtained respectively. Compare the magnitudes of the first output voltage and the second output voltage; Based on the aforementioned size, the ramp function for adjusting the duty cycle of the first PWM signal of the motor is obtained; According to the ramp function, the duty cycle of the first PWM signal is adjusted from 0 to 100%; Based on the adjusted duty cycle of the first PWM signal, the operating voltage of the motor is controlled to rise from 0 to the limit operating voltage.

5. The motor slow start control method of claim 4, wherein, The step of obtaining the ramp function for adjusting the duty cycle of the first PWM signal of the motor based on the magnitude includes: When the first output voltage is greater than or equal to the second output voltage, the first PWM signal controlling the motor is turned on; when the first output voltage is less than the second output voltage, the first PWM signal is turned off. The ramp function that adjusts the duty cycle of the first PWM signal corresponding to the first PWM signal is: ； in, f ( t ) is the slope function. γ The coefficients are function coefficients and satisfy 0 ≤ γ ≤1, t It is a time variable and satisfies 0 ≤ t ≤ t 1, t 1 represents the rise time of the ramp generator.

6. The motor slow start control method of claim 1, wherein The method of adjusting the duty cycle of the second PWM signal of the motor using a proportionally increasing method, and controlling the motor to operate from the extreme operating voltage to the target operating voltage according to the adjusted duty cycle of the second PWM signal, thereby completing the slow start of the motor, includes: The initial duty cycle and the common increment ratio of the motor when adjusting the duty cycle of the second PWM signal are obtained respectively; Using a proportionally increasing method, based on the initial duty cycle and the common increasing ratio, the duty cycle of the second PWM signal of the motor is adjusted from the initial duty cycle to 100%. Based on the adjusted duty cycle of the second PWM signal, the operating voltage of the motor is controlled to rise from the limit operating voltage to the target operating voltage, thereby completing the slow start of the motor.

7. A motor slow start control system for a cleaning device, characterized by include: A voltage acquisition module is used to acquire the target operating voltage of the motor in the cleaning equipment when the cleaning equipment is started, wherein the motor is used to drive the roller brush of the cleaning equipment to rotate; The main control module is communicatively connected to the voltage acquisition module and is used to adjust the duty cycle of the PWM signal of the motor. Based on the adjusted duty cycle of the PWM signal, the main control module controls the motor to slowly operate to the target operating voltage, thereby completing the slow start of the motor. The PWM signal duty cycle includes a first PWM signal duty cycle and a second PWM signal duty cycle; the main control module includes: The control unit, which is communicatively connected to the voltage acquisition module, is used to determine the limiting operating voltage of the motor based on the target operating voltage; wherein the limiting operating voltage is less than the target operating voltage; The first adjustment unit is communicatively connected to the control unit and is used to obtain a ramp function, adjust the duty cycle of the first PWM signal of the motor according to the ramp function, and control the motor to work to the limit operating voltage according to the adjusted duty cycle of the first PWM signal. The second adjustment unit is communicatively connected to the control unit and is used to adjust the duty cycle of the second PWM signal of the motor using a proportionally increasing method, and control the motor to operate from the extreme operating voltage to the target operating voltage according to the adjusted duty cycle of the second PWM signal, thereby completing the slow start of the motor.

8. The motor slow start control system of claim 7, wherein, The voltage acquisition module is specifically used for: Obtain a throttle signal to start the cleaning device, the throttle signal being a signal generated by the user operating a rotatable handle assembly on the cleaning device; The target operating voltage is obtained by identifying the throttle signal.

9. A cleaning apparatus, characterized by include: Equipment body; The motor slow start control system as described in any one of claims 7 to 8 is disposed on the device body; A motor is mounted on the main body of the equipment and is electrically connected to the motor slow start control system, and is used to complete a slow start under the control of the motor slow start control system. as well as A cleaning component is mounted on the device body and electrically connected to the motor, used for cleaning under the drive of the motor.

10. The cleaning apparatus of claim 9, wherein, Also includes: A rotatable handle assembly is disposed on the device body and electrically connected to the motor slow start control system, used to provide a throttle signal to the motor slow start control system when rotating.

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