Cleaning robot and fan control method, device and storage medium thereof

Abstract

The present application discloses a sweeping robot and its fan control method, device and storage medium. The present application relates to the technical field of cleaning equipment. The fan control method is applied to the fan control module of the sweeping robot. The fan control module includes a signal sampling module, a main control module, a human-computer interaction module and a motor drive module. The fan control method includes: collecting the power parameters of the fan working circuit through the signal sampling module; estimating the fan operating parameters according to the power parameters and the pre-built sliding mode observer through the main control module; obtaining the setting parameters of the fan preset working mode through the human-computer interaction module; adjusting the fan operating parameters according to the setting parameters through the main control module to obtain the fan operation adjustment parameters; and controlling the fan operation according to the fan operation adjustment parameters through the motor drive module. The present application can improve the working stability of the small fan in the sweeping robot.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a sweeping robot and a fan control method, equipment and storage medium thereof. Background Art

[0002] Sweeping robots are often used in home scenes. When traditional sweeping robots clean the dust box in the base station, they mainly rely on the large fan in the base station to clean the garbage, and the efficiency of cleaning garbage is low. In addition, some sweeping robots perform cleaning work by setting up large and small fans in the base station, but the work of the small fan is affected by changes in its working environment. For example, as the speed of the large fan in the base station increases, the suction force gradually increases, and the back pressure (or resistance) on the small fan will gradually increase. At this time, the output power of the small fan will change; or when there is too much garbage in the dust box, causing the air outlet of the small fan to be reduced or completely blocked, the resistance of the small fan blades changes, causing the speed of the small fan to change. Therefore, when the large fan and the small fan of the base station work together to clean, it is easy to cause the speed and power of the small fan to be unstable, which in turn reduces the cleaning efficiency of the dust box.

[0003] Therefore, how to improve the working stability of the small fan in the sweeping robot is a problem that needs to be solved urgently. Summary of the invention

[0004] The main purpose of the present application is to provide a sweeping robot and its fan control method, device and storage medium, aiming to solve the technical problem of how to improve the working stability of the small fan in the sweeping robot.

[0005] To achieve the above object, the present application provides a fan control method, which is applied to a fan control module of a sweeping robot, wherein the fan control module includes a signal sampling module, a main control module, a human-computer interaction module and a motor drive module, and the fan control method includes:

[0006] The signal sampling module is used to collect the power parameters of the fan working circuit;

[0007] The main control module estimates the wind turbine operating parameters according to the power parameters and a pre-built sliding mode observer;

[0008] Acquire the setting parameters of the preset working mode of the fan through the human-computer interaction module;

[0009] The fan operation parameters are adjusted according to the set parameters by the main control module to obtain fan operation adjustment parameters;

[0010] The motor drive module controls the operation of the fan according to the fan operation adjustment parameters.

[0011] In one embodiment, the fan operating parameters include the fan operating power and the fan operating speed, and the setting parameters include the setting power of the fan preset working mode and the setting speed of the fan preset working mode;

[0012] The step of adjusting the fan operating parameters according to the set parameters to obtain the fan operating adjustment parameters comprises:

[0013] Determining a target speed of the fan to be adjusted according to the operating power of the fan and the operating speed of the fan;

[0014] Determining a fan speed adjustment value according to the set speed and the fan target speed;

[0015] The fan operation adjustment parameter is obtained according to the set power and the fan speed adjustment value.

[0016] In one embodiment, the fan is provided with a blocked hole and an open hole, the operating power includes the blocked hole power, and the fan operating speed includes the open hole speed and the blocked hole speed;

[0017] The step of determining the target speed of the fan to be adjusted according to the fan operating power and the fan operating speed comprises:

[0018] Comparing the magnitude relationship between the hole plugging power and the hole plugging power threshold;

[0019] When the hole blocking power is greater than the hole blocking power threshold, the hole opening speed is compared with the hole opening speed threshold to determine the target speed of the fan to be adjusted;

[0020] When the hole blocking power is less than the hole blocking power threshold, the hole blocking speed is compared with the hole blocking speed threshold to determine the target speed of the fan to be adjusted.

[0021] In one embodiment, the step of determining the fan speed adjustment value according to the set speed and the fan target speed includes:

[0022] Comparing the set speed with the fan target speed;

[0023] When the set speed is greater than the fan target speed, a preset unit speed is increased based on the fan target speed, and a speed after the fan target speed is increased by the preset unit speed is compared with a preset multiple of the set speed;

[0024] If the fan target speed is increased by a preset unit speed and the speed is less than the preset multiple of the set speed, the fan target speed is adjusted according to the preset multiple of the set speed to obtain a fan speed adjustment value;

[0025] When the set speed is less than the fan target speed, a preset unit speed is reduced based on the fan target speed to obtain a fan speed adjustment value.

[0026] In addition, to achieve the above-mentioned purpose, the present application also provides a fan control device, which is applied to a sweeping robot. The fan control device includes a signal sampling module, a main control module, a human-computer interaction module and a motor drive module. The fan control device includes:

[0027] The signal sampling module is used to collect power parameters of the fan working circuit;

[0028] The main control module is used to estimate the wind turbine operating parameters according to the power parameters and a pre-built sliding mode observer;

[0029] The human-computer interaction module is used to obtain the setting parameters of the preset working mode of the fan;

[0030] The main control module is further used to adjust the fan operation parameters according to the set parameters to obtain the fan operation adjustment parameters;

[0031] The motor driving module is used to control the operation of the fan according to the fan operation adjustment parameters.

[0032] In one embodiment, the human-computer interaction module includes a PWM receiving module and a FG feedback module, wherein:

[0033] The PWM receiving module is connected to the main control module and is used to obtain the PWM signal transmitted by the external interface, wherein the PWM signal includes the setting parameters of the preset working mode of the fan;

[0034] The FG feedback module is connected to the main control module and is used to feed back the FG signal to the external interface, wherein the FG signal includes the fan operation parameters.

[0035] In one embodiment, the fan control device further includes:

[0036] A power management module is connected to the signal sampling module, the motor driving module and the main control module, and is used to maintain the operation of the signal sampling module, the motor driving module and the main control module.

[0037] In one embodiment, the signal sampling module includes a bus voltage detection circuit, a phase current sampling circuit, a bus current sampling circuit and a back electromotive force sampling circuit, wherein:

[0038] The bus voltage detection circuit is connected to the main control module and the power management module, and is used to monitor the operation of the motor drive module and the main control module, and collect power parameters of the fan working circuit;

[0039] The phase current sampling circuit, the bus current sampling circuit and the back electromotive force sampling circuit are respectively connected to the motor phase lines of the fan and are used to monitor the operation of the fan and collect power parameters of the fan working circuit.

[0040] In addition, to achieve the above-mentioned purpose, the present application also proposes a fan control device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the fan control method described above.

[0041] In addition, to achieve the above-mentioned purpose, the present application also provides a storage medium, which is a computer-readable storage medium, and a program for implementing the fan control method is stored on the computer-readable storage medium. The program for implementing the fan control method is executed by a processor to implement the steps of the fan control method as described above.

[0042] The present application provides a fan control method, which first collects the power parameters of the fan working circuit and estimates them using a sliding mode observer, thereby monitoring the operating status and performance parameters of the fan; obtains the setting parameters of the fan's preset working mode, and adjusts the fan operating parameters according to the setting parameters, thereby determining whether the current fan operation is affected by changes in its working environment and causes unstable operation, and determining specific adjustment parameters; controls the fan operation according to the fan operation adjustment parameters, so that the adjusted fan operation meets the requirements of the fan's current working mode, thereby improving the stability of the small fan operation in the sweeping robot.

[0043] In summary, the present application monitors the operating status of the fan through a sliding mode observer, and realizes the identification of the current working status of the fan and the adjustment of the operating parameters in combination with the setting parameters of the preset working mode of the fan, thereby overcoming the technical defect of unstable operation caused by the influence of changes in the working environment of the fan, and improving the stability of the small fan in the sweeping robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0045] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0046] Figure 1A schematic diagram of a flow chart provided for the first embodiment of the fan control method of the present application;

[0047] Figure 2 A control flow diagram of a fan control method provided in Embodiment 1 of the fan control method of the present application;

[0048] Figure 3 This is a schematic diagram of the first module structure of the fan control device according to an embodiment of the present application;

[0049] Figure 4 This is a schematic diagram of the second module structure of the fan control device according to an embodiment of the present application;

[0050] Figure 5 This is a schematic diagram of the third module structure of the fan control device according to an embodiment of the present application;

[0051] Figure 6 A schematic diagram of the circuit design of the human-machine interaction module of the fan control device according to the embodiment of the present application;

[0052] Figure 7 A schematic diagram of the circuit design of a power management module of a fan control device according to an embodiment of the present application;

[0053] Figure 8 A schematic diagram of the circuit design of a phase current sampling circuit of a fan control device according to an embodiment of the present application;

[0054] Fig. 9 A schematic diagram of the circuit design of the back electromotive force sampling circuit of the fan control device according to an embodiment of the present application;

[0055] Fig.10 A schematic diagram of the circuit design of the motor drive module of the fan control device according to an embodiment of the present application;

[0056] Fig.11 Schematic diagram of the equipment structure of the hardware operating environment involved in the fan control method in the embodiment of the present application.

[0057] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0058] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0059] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0060] The main solution of the present application is: collecting the power parameters of the fan working circuit; estimating the fan operating parameters based on the power parameters and a pre-built sliding mode observer; obtaining the setting parameters of the fan preset working mode, and adjusting the fan operating parameters according to the setting parameters to obtain the fan operation adjustment parameters; controlling the fan operation according to the fan operation adjustment parameters.

[0061] At present, when traditional sweeping robots clean the dust box in the base station, they mainly rely on the large fan in the base station to clean the garbage, and the efficiency of cleaning garbage is low. In addition, some sweeping robots perform cleaning work by setting up large and small fans in the base station, but the work of the small fan is affected by changes in its working environment. For example, as the speed of the large fan in the base station increases, the suction force gradually increases, and the back pressure (or resistance) on the small fan will gradually increase. At this time, the output power of the small fan will change; or when there is too much garbage in the dust box, the air outlet of the small fan is reduced or completely blocked, and the resistance of the small fan blade changes, causing the speed of the small fan to change. Therefore, when the large and small fans of the base station work together to clean, it is easy to cause the speed and power of the small fan to be unstable, which in turn leads to a decrease in the cleaning efficiency of the dust box. Therefore, how to improve the stability of the small fan in the sweeping robot is a problem that needs to be solved urgently.

[0062] The present application monitors the operating status of the fan through a sliding mode observer, and realizes the identification of the current working status of the fan and the adjustment of the working parameters in combination with the setting parameters of the preset working mode of the fan, thereby overcoming the technical defect of unstable operation of the fan caused by the influence of changes in the working environment of the fan, and improving the stability of the operation of the small fan in the sweeping robot.

[0063] It should be noted that the execution subject of this embodiment may be a fan control system, or a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or a fan control device capable of realizing the above functions, etc., and this embodiment does not specifically limit this. The following takes the fan control device as the execution subject as an example to illustrate this embodiment and the following embodiments.

[0064] Based on this, the present application proposes a fan control method of the first embodiment, please refer to Figure 1 The fan control method is applied to a fan control module of a sweeping robot, the fan control module includes a signal sampling module, a main control module, a human-computer interaction module and a motor drive module, and the fan control method includes steps S10 to S50:

[0065] Step S10, collecting power parameters of the fan working circuit through the signal sampling module;

[0066] It should be noted that the power parameters may include bus voltage, phase voltage, phase current, back electromotive force, frequency or electric energy, etc., which can be used to analyze and calculate the working state of the fan. When the power parameters of the fan working circuit are collected by the signal sampling module, they can be collected in real time or periodically at a certain time interval, which is not specifically limited in this embodiment.

[0067] Step S20, estimating the wind turbine operating parameters according to the power parameters and a pre-built sliding mode observer by the main control module;

[0068] It should be noted that the sliding mode observer can be used to estimate the state or parameters that cannot be directly measured during the operation of the fan, including parameters such as fan speed, fan blade angle or fan load. The sliding mode observer is usually composed of a sliding surface and a sliding mode controller. It is constructed according to the relevant power parameters in the fan working circuit to obtain a sliding surface function that can reflect the system state, namely the sliding surface. The design of the sliding surface determines the shape and parameters of the sliding surface, and the sliding mode controller is used to drive the working state of the fan to move along the sliding surface. Through the pre-built sliding mode observer, the main control module can estimate the operating parameters of the fan based on the power parameters, so as to understand the working state of the fan and make corresponding control adjustments. At the same time, the sliding mode observer can also help stabilize the current signal input to the fan.

[0069] Step S30, obtaining setting parameters of a preset working mode of the fan through the human-computer interaction module;

[0070] Step S40, adjusting the fan operating parameters according to the set parameters by the main control module to obtain fan operating adjustment parameters;

[0071] It should be noted that the preset working mode refers to the fan operating mode set according to actual needs and conditions. It can be a working mode pre-set by the user and obtained through the human-computer interaction module; or a standard working mode automatically matched by the fan control device of the sweeping robot according to the current environment. The set parameters may include set power, speed, pressure or air volume and other parameters. By comparing the set parameters with the fan operating parameters calculated by the sliding mode observer, it can be determined whether the current working mode of the fan deviates from the preset working mode, resulting in unstable working of the fan. If so, the main control module adjusts the relevant fan operating parameters according to the set parameters, so as to adjust the fan working mode in time and ensure the stability of the small fan in the sweeping robot.

[0072] Step S50, controlling the operation of the fan according to the fan operation adjustment parameters through the motor drive module.

[0073] It should be noted that the fan operation can be controlled through Field-Oriented Control (FOC), which treats the fan motor as an independent control object and controls the motor current and magnetic field direction through the motor drive module to achieve precise torque control and speed control. The control strategy is determined according to the fan operation adjustment parameters, and the motor is controlled to work stably according to the required control strategy.

[0074] In addition, the fan operation can also be controlled by variable frequency speed regulation technology, PID control technology or vector control technology alone or in combination, and can be selected and implemented according to the specific fan type, application needs and performance requirements. This embodiment does not make specific limitations on this.

[0075] The present embodiment provides a fan control method, which first collects the power parameters of the fan working circuit and applies a sliding mode observer to estimate them, thereby monitoring the operating status and performance parameters of the fan; obtains the setting parameters of the fan's preset working mode, and adjusts the fan operating parameters according to the setting parameters, thereby determining whether the current fan operation is affected by the change of its working environment and causes unstable operation, and determines specific adjustment parameters; controls the fan operation according to the fan operation adjustment parameters, so that the adjusted fan operation meets the requirements of the fan's current working mode, thereby improving the stability of the small fan in the sweeping robot.

[0076] In summary, the present application monitors the operating status of the fan through a sliding mode observer, and realizes the identification of the current working status of the fan and the adjustment of the operating parameters in combination with the setting parameters of the preset working mode of the fan, thereby overcoming the technical defect of unstable operation caused by the influence of changes in the working environment of the fan, and improving the stability of the small fan in the sweeping robot.

[0077] In a feasible implementation manner, the fan operating parameters include the fan operating power and the fan operating speed, and the setting parameters include the set power of the fan preset working mode and the set speed of the fan preset working mode; step S40 may include steps S401~S403:

[0078] Step S401, determining a target speed of the fan to be adjusted according to the fan operating power and the fan operating speed;

[0079] Step S402, determining a fan speed adjustment value according to the set speed and the fan target speed;

[0080] Step S403, obtaining a fan operation adjustment parameter according to the set power and the fan speed adjustment value.

[0081] It should be noted that the load state of the fan's current operation can be determined based on the fan's operating power, and then the fan's target speed to be adjusted can be determined as a low-speed light-load speed, an accelerated load speed, or a high-speed load speed. Different load speeds can be determined according to actual conditions. After determining the fan's target speed, the speed set in the preset working mode is compared with the fan's target speed to determine the specific fan speed adjustment value. Based on the set power and the fan speed adjustment value, the fan operation adjustment parameters are obtained. In addition, the fan operation adjustment parameters can also be determined in combination with parameters such as the set current or set voltage in the fan's preset working mode. This allows the fan's working mode to be adjusted in time according to the fan operation adjustment parameters when affected by changes in the working environment, so that the fan's working parameters slowly tend toward the fan's target value of the fan operation adjustment parameters, thereby maintaining the stability of the fan's working performance and improving the stability of the small fan in the sweeping robot.

[0082] In this embodiment, the operating speed and operating power of the fan are dynamically adjusted to adapt the fan to different workloads and working environment conditions, thereby improving the working stability of the small fan in the sweeping robot and improving the cleaning efficiency of the dust box.

[0083] In a feasible implementation manner, the fan is provided with a blocked hole and an open hole, the operating power includes the blocked hole power, and the fan operating speed includes the open hole speed and the blocked hole speed; step S401 may include steps S4011 to S4013:

[0084] Step S4011, comparing the hole blocking power with a hole blocking power threshold;

[0085] Step S4012, when the hole blocking power is greater than the hole blocking power threshold, comparing the hole opening speed with the hole opening speed threshold to determine a target speed of the fan to be adjusted;

[0086] Step S4013: when the hole blocking power is less than the hole blocking power threshold, the hole blocking speed is compared with the hole blocking speed threshold to determine the target speed of the fan to be adjusted.

[0087] It should be noted that, depending on the structure of the fan, the fan usually has multiple openings on its casing to inhale air and debris. The size and position of the openings can be designed according to the required air flow and cleaning effect. In addition, plugging holes may be set on the casing of a small fan to adjust the direction of the airflow or control the air flow.

[0088] For example, when the fan is provided with an open hole and a blocked hole, there are corresponding rotation speeds at the open hole and the blocked hole respectively. Figure 2First, the hole blocking power can be compared with the hole blocking power threshold to confirm whether the fan is currently in a high-speed load state, and then the target fan speed to be adjusted is determined by combining the hole opening speed threshold or the hole blocking speed threshold. The fan target speed can be the hole opening acceleration speed, the hole opening speed or the hole blocking speed.

[0089] The hole blocking power threshold, hole opening speed threshold and hole blocking speed threshold can be set according to actual conditions. In a feasible implementation, the hole blocking power threshold can be set to a software per-unit value of 2720. Setting the software per-unit value can improve the compatibility of the operation to be compatible with fans of different manufacturers, different voltages or different power levels. The hole opening speed threshold can be set to 12101rpm, and the hole blocking speed threshold to 16812rpm. This implementation does not specifically limit the setting method of the hole blocking power threshold, the hole opening speed threshold and the hole blocking speed threshold.

[0090] In this embodiment, the load state of the fan is judged by comparing the size relationship between the hole blocking power and the hole blocking power threshold, and the target speed of the fan to be adjusted is further determined according to the size relationship between the hole opening speed and the hole opening speed threshold or the size relationship between the hole blocking speed and the hole blocking speed threshold, so as to ensure that the fan adapts to different workloads and working environment conditions, thereby improving the working stability of the small fan in the sweeping robot.

[0091] In a feasible implementation, step S402 may include steps S4021 to S4024:

[0092] Step S4021, comparing the set speed with the fan target speed;

[0093] Step S4022, when the set speed is greater than the fan target speed, increasing the preset unit speed based on the fan target speed, and comparing the speed after the fan target speed is increased by the preset unit speed with the set speed of the preset multiple;

[0094] Step S4023, if the fan target speed after increasing the preset unit speed is less than the preset multiple of the set speed, adjusting the fan target speed according to the preset multiple of the set speed to obtain a fan speed adjustment value;

[0095] Step S4024: when the set speed is less than the fan target speed, the fan speed adjustment value is obtained by reducing the preset unit speed based on the fan target speed.

[0096] It should be noted that the set speed may include an opening acceleration speed set value, an opening speed set value and a blocking speed set value, which are settings corresponding to the fan target speed. When the set speed is greater than the fan target speed, the fan target speed needs to be increased, and the preset unit speed may be increased to obtain the sum of the fan target speed and the preset unit speed. Subsequently, it is necessary to compare the fan target speed with the preset multiple of the set speed. If the fan target speed after the preset unit speed is increased is less than the preset multiple of the set speed, the fan target speed is adjusted according to the preset multiple of the set speed to obtain the fan speed adjustment value. For example, referring to Figure 2 , the preset unit speed is set to 2, the preset multiple is 0.5, then the fan target speed + 2 is compared with 0.5 times the set speed. If the fan target speed + 2 is less than 0.5 times the set speed, the fan speed adjustment value is the fan target speed + 0.5 times the set speed; otherwise, the fan speed adjustment value is the fan target speed + 2.

[0097] When the set speed is less than the fan target speed, the fan target speed needs to be reduced. The preset unit speed is reduced based on the fan target speed. For example, refer to Figure 2 , the preset unit speed is set to 2, then the fan speed adjustment value is the fan target speed - 2.

[0098] The preset unit speed and the preset multiple speed can be set according to actual conditions. The present embodiment does not specifically limit the preset unit speed and the preset multiple speed.

[0099] In this embodiment, by comparing the set speed with the target speed of the fan, the fan speed adjustment value is determined, and the speed value that needs to be adjusted by the fan is quantified to ensure that the fan adapts to the current workload and working environment conditions, thereby improving the stability of the small fan in the sweeping robot.

[0100] The present application also provides a fan control device for a sweeping robot. Figure 3 The fan control device is applied to a sweeping robot. The fan control device includes a signal sampling module, a main control module, a human-computer interaction module and a motor drive module. The fan control device includes:

[0101] The signal sampling module 10 is used to collect the power parameters of the fan working circuit;

[0102] The main control module 20 is used to estimate the wind turbine operating parameters according to the power parameters and a pre-built sliding mode observer;

[0103] The human-computer interaction module 30 is used to obtain setting parameters of the preset working mode of the fan;

[0104] The main control module 20 is further used to adjust the fan operation parameters according to the set parameters to obtain the fan operation adjustment parameters;

[0105] The motor driving module 40 is used to control the operation of the fan according to the fan operation adjustment parameters.

[0106] Reference Figure 4 and Figure 5 The fan control device includes a signal sampling module, a main control module, a human-computer interaction module and a motor drive module. Each module is connected through a single-chip microcomputer. The drive algorithm of the single-chip microcomputer adopts magnetic field oriented control, which can achieve high-precision and strong anti-interference control. Fig.10 This is an example of the circuit diagram design of the motor drive module. For a three-phase motor, there are usually three-phase windings U, V, and W. Each phase winding requires a half-bridge drive circuit to control the direction of its current flow. The circuit diagram of the motor drive module contains three groups of half-bridge drive circuits. Each group of half-bridge drive circuits controls the operation of the corresponding phase winding of the motor. For example, the leftmost U-phase half-bridge drive circuit receives and determines the direction of the current flow of the U phase according to the control signal AH and the control signal AL. Considering the problem of output stability, a damping loop is added to the output response stage of the motor drive module, so that the working parameters of the fan slowly tend to the target value of the fan operation adjustment parameter, thereby maintaining the stability of the fan working performance.

[0107] Optionally, the fan operating parameters include the fan operating power and the fan operating speed, and the setting parameters include the setting power of the fan preset working mode and the setting speed of the fan preset working mode;

[0108] The main control module 20 is also used for:

[0109] Determining a target speed of the fan to be adjusted according to the operating power of the fan and the operating speed of the fan;

[0110] Determining a fan speed adjustment value according to the set speed and the fan target speed;

[0111] The fan operation adjustment parameter is obtained according to the set power and the fan speed adjustment value.

[0112] Optionally, the fan is provided with a blocked hole and an open hole, the operating power includes the blocked hole power, and the fan operating speed includes the open hole speed and the blocked hole speed;

[0113] The main control module 20 is also used for:

[0114] The step of determining the target speed of the fan to be adjusted according to the fan operating power and the fan operating speed comprises:

[0115] Comparing the magnitude relationship between the hole plugging power and the hole plugging power threshold;

[0116] When the hole blocking power is greater than the hole blocking power threshold, the hole opening speed is compared with the hole opening speed threshold to determine the target speed of the fan to be adjusted;

[0117] When the hole blocking power is less than the hole blocking power threshold, the hole blocking speed is compared with the hole blocking speed threshold to determine the target speed of the fan to be adjusted.

[0118] The main control module 20 is also used for:

[0119] Comparing the set speed with the fan target speed;

[0120] When the set speed is greater than the fan target speed, a preset unit speed is increased based on the fan target speed, and a speed after the fan target speed is increased by the preset unit speed is compared with a preset multiple of the set speed;

[0121] If the fan target speed is increased by a preset unit speed and the speed is less than the preset multiple of the set speed, the fan target speed is adjusted according to the preset multiple of the set speed to obtain a fan speed adjustment value;

[0122] When the set speed is less than the fan target speed, a preset unit speed is reduced based on the fan target speed to obtain a fan speed adjustment value.

[0123] The above-mentioned fan control device, using the fan control method in the above-mentioned embodiment, can solve the technical problem of how to improve the working stability of the small fan in the fan control device. Compared with the prior art, the beneficial effects of the fan control device provided in the embodiment of the present application are the same as the beneficial effects of the fan control method provided in the above-mentioned embodiment, and other technical features in the fan control device are the same as the features disclosed in the above-mentioned embodiment method, which will not be repeated here.

[0124] In one embodiment, the human-computer interaction module includes a PWM receiving module and a FG feedback module, wherein:

[0125] The PWM receiving module is connected to the main control module and is used to obtain the PWM signal transmitted by the external interface, wherein the PWM signal includes the setting parameters of the preset working mode of the fan;

[0126] The FG feedback module is connected to the main control module and is used to feed back the FG signal to the external interface, wherein the FG signal includes the fan operation parameters.

[0127] Reference Figure 4 and Figure 5The fan control device also includes a human-computer interaction module, refer to Figure 6 This is an example of the circuit diagram design of the external interface of the human-computer interaction module, where pin 2 is connected to the signal feedback circuit, and the small fan speed and error information are fed back to the main board of the sweeping robot through the transistor circuit. Pin 1 is a spare pin with no connection circuit. The function of the PWM receiving module is to receive the PWM (Pulse Width Modulation) signal transmitted from the external interface, and control certain devices or perform certain actions by changing the width of the pulse. PWM signals are usually generated by external devices, such as remote controls, sensors or other controllers. The user operates the external device to obtain a PWM signal, which includes the setting parameters of the preset working mode of the fan. The PWM receiving module receives the PWM signal and passes it to the main control module for subsequent operating parameter processing and fan control. For example, refer to Figure 2 , PWM38 means that the PWM signal corresponding to the fan preset working mode set by the user is 38. Under this fan preset working mode, relevant setting parameters are configured.

[0128] In order to achieve closed-loop control or monitor the status of the system, it is necessary to obtain feedback signals from the device. The FG feedback module is used to transmit feedback signals from the main control module back to the external interface for the system to monitor and record the fan operating status, for the user to view the fan operating status or other purposes. The feedback signal contains the fan operating parameters of the device, including information such as the fan operating speed or fan operating power.

[0129] Through the PWM receiving module and FG feedback module, the human-computer interaction module can realize data exchange and control with external devices, and realize two-way communication and control.

[0130] In one embodiment, the fan control device further includes:

[0131] A power management module is connected to the signal sampling module, the motor driving module and the main control module, and is used to maintain the operation of the signal sampling module, the motor driving module and the main control module.

[0132] Reference Figure 4 and Figure 5 The fan control device also includes a power management module, which provides a stable power supply for the signal sampling module, the motor drive module and the main control module to ensure that the modules can work normally and ensure the stability and reliability of the operation of the entire fan control device. Figure 7 This is an example of the circuit diagram design of the external interface of the power management module, where pins 1 and 2 in the figure are connected as follows Figure 6In the signal feedback circuit shown, pins 4 and 5 are connected to the power filter circuit, which mainly receives external power, passes through the fuse F1 and then through the capacitor filters C1 and C2, and serves as the power source for the small fan control device. The diode D2 can be used to prevent reverse connection. In addition, functions including power protection, power regulation and power monitoring can also be realized.

[0133] In one embodiment, the signal sampling module includes a bus voltage detection circuit, a phase current sampling circuit, a bus current sampling circuit and a back electromotive force sampling circuit, wherein:

[0134] The bus voltage detection circuit is connected to the main control module and the power management module, and is used to monitor the operation of the motor drive module and the main control module, and collect power parameters of the fan working circuit;

[0135] The phase current sampling circuit, the bus current sampling circuit and the back electromotive force sampling circuit are respectively connected to the motor phase lines of the fan to monitor the operation of the fan and collect the power parameters of the fan working circuit. Figure 8 For the circuit diagram design example of the phase current sampling circuit, refer to Fig. 9 This is an example of the circuit diagram design of the back-EMF sampling circuit.

[0136] Reference Figure 8 The current signal GNA passes through an RC filter (resistor R22 and capacitor C8), and the high-frequency noise in the GNA signal is filtered out before connecting to the chip pin OCP as a hardware overcurrent protection circuit. The GNA signal passes through RS2 and then through the differential op amp circuit OPA2 for phase current collection. The GNA signal passes through R29 and then through the differential op amp circuit OPA3 for bus current collection.

[0137] Reference Fig. 9 , the voltages of U, V, and W of the three-phase windings of the three-phase motor are respectively transmitted to the detection pins of UEMF, VEMF, and WEMF after voltage division and RC filter (corresponding to the resistor R and capacitor C in the circuit). VCC is the power supply voltage of the circuit, which is transmitted to the detection pin of Vbus after voltage division and RC filter.

[0138] The bus voltage detection circuit is connected to the main control module and the power management module to monitor the operation of the motor drive module and the main control module, and collect the power parameters of the fan during operation, including the voltage information of the bus. The phase current sampling circuit, bus current sampling circuit and back electromotive force sampling circuit are respectively connected to different phase lines of the fan motor to monitor the working status of the fan, and collect the current parameters, bus current parameters and back electromotive force parameters on each phase line of the fan, so as to monitor, adjust and manage the fan operation in real time.

[0139] The present application provides a fan control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the fan control method in the above-mentioned embodiment one.

[0140] Reference below Fig.11 , which shows a schematic diagram of the structure of a wind turbine control device suitable for implementing the embodiment of the present application. The wind turbine control device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Fig.11 The fan control device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0141] like Fig.11 As shown, the wind turbine control device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the wind turbine control device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the wind turbine control device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a wind turbine control device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0142] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0143] The fan control device provided by the present application adopts the fan control method in the above embodiment to solve the technical problem of fan control. Compared with the prior art, the beneficial effects of the fan control device provided by the present application are the same as the beneficial effects of the fan control method provided by the above embodiment, and other technical features in the fan control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0144] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0145] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0146] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the fan control method in the above-mentioned embodiment.

[0147] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0148] The computer-readable storage medium may be included in the fan control device; or may exist independently without being assembled into the fan control device.

[0149] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the fan control device, the fan control device: collects the power parameters of the fan working circuit; estimates the fan operating parameters based on the power parameters and a pre-built sliding mode observer; obtains the setting parameters of the fan preset working mode, and adjusts the fan operating parameters according to the setting parameters to obtain the fan operation adjustment parameters; and controls the fan operation according to the fan operation adjustment parameters.

[0150] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0151] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0152] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0153] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned fan control method, and can solve the technical problem of how to improve the working stability of the small fan in the sweeping robot. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the fan control method provided in the above-mentioned embodiment, and will not be repeated here.

[0154] An embodiment of the present application provides a computer program product, including a computer program, which implements the steps of the above-mentioned wind turbine control method when executed by a processor.

[0155] The computer program product provided in this application can solve the technical problem of how to improve the working stability of the small fan in the sweeping robot. Compared with the prior art, the beneficial effects of the computer program product provided in the embodiment of this application are the same as the beneficial effects of the fan control method provided in the above embodiment, which will not be repeated here.

[0156] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent processing scope of the present application.

Claims

1. A fan control method, characterized in that: The fan control method is applied to a fan control module of a sweeping robot, the fan control module includes a signal sampling module, a main control module, a human-computer interaction module and a motor drive module, and the fan control method includes: The signal sampling module is used to collect the power parameters of the fan working circuit; The main control module estimates the wind turbine operating parameters according to the power parameters and a pre-built sliding mode observer; Acquire the setting parameters of the preset working mode of the fan through the human-computer interaction module; The fan operation parameters are adjusted according to the set parameters by the main control module to obtain fan operation adjustment parameters; Wherein, the fan operating parameters include the fan operating power and the fan operating speed, and the setting parameters include the setting power of the fan preset working mode and the setting speed of the fan preset working mode; Wherein, the step of adjusting the fan operating parameters according to the set parameters to obtain the fan operating adjustment parameters includes: Determining a target speed of the fan to be adjusted according to the operating power of the fan and the operating speed of the fan; Determining a fan speed adjustment value according to the set speed and the fan target speed; Obtaining a fan operation adjustment parameter according to the set power and the fan speed adjustment value; The motor drive module controls the operation of the fan according to the fan operation adjustment parameters.

2. The method according to claim 1, characterized in that The step of determining the fan speed adjustment value according to the set speed and the fan target speed comprises: Comparing the set speed with the fan target speed; When the set speed is greater than the fan target speed, a preset unit speed is increased based on the fan target speed, and a speed after the fan target speed is increased by the preset unit speed is compared with a preset multiple of the set speed; If the fan target speed is increased by a preset unit speed and the speed is less than the preset multiple of the set speed, the fan target speed is adjusted according to the preset multiple of the set speed to obtain a fan speed adjustment value; When the set speed is less than the fan target speed, a preset unit speed is reduced based on the fan target speed to obtain a fan speed adjustment value.

3. A fan control device, characterized in that: The fan control device is applied to a sweeping robot. The fan control device includes a signal sampling module, a main control module, a human-computer interaction module and a motor drive module. The fan control device includes: The signal sampling module is used to collect power parameters of the fan working circuit; The main control module is used to estimate the wind turbine operating parameters according to the power parameters and a pre-built sliding mode observer; The human-computer interaction module is used to obtain the setting parameters of the preset working mode of the fan; The main control module is further used to adjust the fan operation parameters according to the set parameters to obtain the fan operation adjustment parameters; Wherein, the fan operating parameters include the fan operating power and the fan operating speed, and the setting parameters include the setting power of the fan preset working mode and the setting speed of the fan preset working mode; Wherein, the main control module is also used for: Determining a target speed of the fan to be adjusted according to the operating power of the fan and the operating speed of the fan; Determining a fan speed adjustment value according to the set speed and the fan target speed; Obtaining a fan operation adjustment parameter according to the set power and the fan speed adjustment value; The motor driving module is used to control the operation of the fan according to the fan operation adjustment parameters.

4. The fan control device according to claim 3, characterized in that: The human-computer interaction module includes a PWM receiving module and a FG feedback module, wherein: The PWM receiving module is connected to the main control module and is used to obtain the PWM signal transmitted by the external interface, wherein the PWM signal includes the setting parameters of the preset working mode of the fan; The FG feedback module is connected to the main control module and is used to feed back the FG signal to the external interface, wherein the FG signal includes the fan operation parameters.

5. The fan control device according to claim 3, characterized in that: The fan control device of the sweeping robot also includes: A power management module is connected to the signal sampling module, the motor driving module and the main control module, and is used to maintain the operation of the signal sampling module, the motor driving module and the main control module.

6. The fan control device according to claim 5, characterized in that: The signal sampling module includes a bus voltage detection circuit, a phase current sampling circuit, a bus current sampling circuit and a back electromotive force sampling circuit, wherein: The bus voltage detection circuit is connected to the main control module and the power management module, and is used to monitor the operation of the motor drive module and the main control module, and collect power parameters of the fan working circuit; The phase current sampling circuit, the bus current sampling circuit and the back electromotive force sampling circuit are respectively connected to the motor phase lines of the fan and are used to monitor the operation of the fan and collect power parameters of the fan working circuit.

7. A fan control device, characterized in that: The wind turbine control device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the wind turbine control method according to any one of claims 1 to 2.

8. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the wind turbine control method according to any one of claims 1 to 2 are implemented.

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