A method, device, equipment and storage medium for detecting wear of a motor commutator

Abstract

The present invention relates to the field of detection technologies. The present invention discloses a method, device, equipment, and storage medium for detecting the wear of a motor commutator. A method for detecting the wear of a motor commutator, wherein a DC brush motor is configured in a robot, and the DC brush motor includes a commutator; the method includes: obtaining resolution information of the DC brush motor, and determining a plurality of detection points of the commutator based on the resolution information; for each detection point, obtaining a first position and a second position of the robot, and controlling the DC brush motor to operate so that the robot moves from the first position to the second position; obtaining operating parameters of a set type during the operation of the DC brush motor, and determining a wear detection result corresponding to the detection point based on the operating parameters of the set type. The wear detection results respectively corresponding to the plurality of detection points form a wear detection result of the commutator, realizing the wear detection of the motor commutator without disassembling the DC brush motor and improving the efficiency of commutator wear detection.

Description

Technical Field

[0001] The present invention relates to the field of detection technologies, and particularly to a method, device, equipment and storage medium for detecting wear of a motor commutator. Background Art

[0002] In recent years, with the development of electronic computers and industrial control technologies, surgical robots have been rapidly developed and applied. As a product integrating medicine and engineering, surgical robots have the characteristics of small trauma area, fast postoperative recovery, and suitability for fine operations in clinical applications, and are chosen by more and more patients.

[0003] The instrument motor of a surgical robot uses a DC brushed motor. The main structure of a DC brushed motor is a stator, a rotor, a brush and a commutator, and a driving torque is obtained through a rotating magnetic field to output kinetic energy. The brush continuously contacts and rubs against the commutator, playing a role in conducting electricity and commuting during rotation. The commutator of a DC brushed motor is affected by friction and wear, excessive current, high temperature, impurities, etc., and grooves will be formed on the surface of the commutator. These grooves will cause poor contact between the commutator and the brush, resulting in sparking and arcing phenomena, and seriously damaging the motor in severe cases.

[0004] In the prior art, the DC brushed motor is disassembled, and a multimeter is used to measure the resistance of the DC brushed motor. When the resistance value of the DC brushed motor is abnormal, it indicates that the motor cannot continue to be used normally. However, this method is not easy to operate, is somewhat destructive to the surgical robot, and has low efficiency in detecting wear of the commutator. Summary of the Invention

[0005] The present invention provides a method, device, equipment and storage medium for detecting wear of a motor commutator to solve the problem of low efficiency in detecting wear of the commutator in the case of disassembling the DC brushed motor to detect the wear state of the commutator in the prior art.

[0006] According to one aspect of the present invention, there is provided a method for detecting wear of a motor commutator. A DC brushed motor is configured in a robot, and a commutator is included in the DC brushed motor;

[0007] The method includes:

[0008] Obtain resolution information of the DC brushed motor, and determine a plurality of detection points of the commutator based on the resolution information;

[0009] For each detection point, obtain a first position and a second position of the robot, and control the DC brushed motor of the robot to operate so that the robot moves from the first position to the second position; wherein, the first position is the starting position of the robot for the detection point, and the second position is the target position reached by the robot when the commutator in the DC brushed motor runs at least one week.

[0010] Obtain the operating parameters of a set type during the operation of a DC brushed motor, determine the wear detection results corresponding to the detection points based on the operating parameters of the set type, and the wear detection results corresponding to multiple detection points form the wear detection results of the commutator.

[0011] According to another aspect of the present invention, there is provided a wear detection device for a commutator of a DC brushed motor. A DC brushed motor is configured in a robot, and the DC brushed motor includes a commutator;

[0012] The device includes:

[0013] A detection point determination module, configured to obtain the resolution information of the DC brushed motor and determine multiple detection points of the commutator based on the resolution information;

[0014] A DC brushed motor operation control module, configured to, for each detection point, obtain the first position and the second position of the robot, and control the operation of the DC brushed motor of the robot so that the robot moves from the first position to the second position; wherein, the first position is the starting position of the robot for the detection point, and the second position is the target position reached by the robot when the commutator in the DC brushed motor operates at least one week.

[0015] A wear detection result formation module, configured to obtain the operating parameters of a set type during the operation of the DC brushed motor, determine the wear detection results corresponding to the detection points based on the operating parameters of the set type, and the wear detection results corresponding to multiple detection points form the wear detection results of the commutator.

[0016] According to another aspect of the present invention, there is provided an electronic device, and the electronic device includes:

[0017] At least one processor; and

[0018] A memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the wear detection method for the motor commutator of any embodiment of the present invention.

[0020] According to another aspect of the present invention, there is provided a computer-readable storage medium, and the computer-readable storage medium stores computer instructions for causing a processor to implement the wear detection method for the motor commutator of any embodiment of the present invention when executed.

[0021] The technical solution of the embodiment of the present invention realizes the accurate determination of multiple detection points of the commutator by obtaining the resolution information of the DC brushed motor and determining multiple detection points of the commutator based on the resolution information; for each detection point, the first position and the second position of the robot are obtained, and the DC brushed motor of the robot is controlled to operate so that the robot moves from the first position to the second position; wherein, the first position is the starting position of the robot for the detection point, and the second position is the target position reached by the robot when the commutator in the DC brushed motor runs at least one week, realizing the control of the robot; by obtaining the operation parameters of a set type during the operation of the DC brushed motor, and determining the wear detection result corresponding to the detection point based on the operation parameters of the set type, the wear detection results corresponding to the multiple detection points form the wear detection result of the commutator, realizing the wear detection of the commutator, and realizing the wear detection of the motor commutator without disassembling the DC brushed motor, improving the efficiency of the wear detection of the motor commutator.

[0022] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0024] Figure 1 is a control schematic diagram of a DC brushed motor provided by an embodiment of the present invention;

[0025] Figure 2 is a flowchart of a method for detecting the wear of a motor commutator provided by Embodiment 1 of the present invention;

[0026] Figure 3 is a top view of a commutator provided by an embodiment of the present invention;

[0027] Figure 4 is a schematic diagram of voltage information obtained during the operation of a DC brushed motor provided by an embodiment of the present invention;

[0028] Figure 5 is another schematic diagram of voltage information obtained during the operation of a DC brushed motor provided by an embodiment of the present invention;

[0029] Figure 6It is a flowchart of a method for detecting wear of a motor commutator provided in the second embodiment of the present invention;

[0030] Figure 7 It is a schematic diagram of the rotation of a commutator provided in the embodiment of the present invention;

[0031] Figure 8 It is a flowchart of a method for detecting wear of a commutator of a DC brushed motor provided in the embodiment of the present invention;

[0032] Figure 9 It is a schematic structural diagram of a device for detecting wear of a motor commutator provided in the third embodiment of the present invention;

[0033] Figure 10 It is a schematic structural diagram of an electronic device provided in the fourth embodiment of the present invention. Detailed implementation manners

[0034] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0035] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order different from those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0036] It should be noted that the modifications of "one" and "multiple" mentioned in this disclosure are illustrative rather than restrictive. Those skilled in the art should understand that unless clearly stated otherwise in the context, it should be understood as "one or more".

[0037] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only for illustrative purposes and do not limit the scope of these messages or information.

[0038] It is understandable that before using the technical solutions disclosed in the embodiments of the present disclosure, the types, usage scopes, usage scenarios, etc. of the personal information involved in the present disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0039] For example, when responding to receiving an active request from a user, a prompt message is sent to the user to clearly prompt the user that the operation requested by the user will require obtaining and using the user's personal information. Thus, the user can autonomously choose whether to provide personal information to software or hardware such as an electronic device, an application program, a server, or a storage medium that executes the operations of the technical solutions of the present disclosure according to the prompt message.

[0040] As an optional but non-limiting implementation manner, the manner of sending a prompt message to the user in response to receiving an active request from the user can be, for example, in the form of a pop-up window. The prompt message can be presented in text in the pop-up window. In addition, the pop-up window can also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0041] It is understandable that the above process of notifying and obtaining the user's authorization is only illustrative and does not limit the implementation manner of the present disclosure. Other manners that meet relevant laws and regulations can also be applied to the implementation manner of the present disclosure.

[0042] It is understandable that the data involved in the present technical solution (including but not limited to the data itself, the acquisition or use of the data) should comply with the requirements of corresponding laws, regulations and related regulations.

[0043] A direct current brushed motor is configured in the robot. The direct current brushed motor includes a commutator. The direct current brushed motor is controlled by a control unit and a signal conversion unit. Among them, the control unit sends a control instruction to the signal conversion unit, and the signal conversion unit converts the control instruction and transmits it to the direct current brushed motor. The control unit can be arranged inside the robot or outside the robot, and can be set according to requirements, and there is no limitation here. When the control unit is arranged inside the robot, the control unit includes but is not limited to a processor and a controller. The control unit and the signal conversion unit can be connected through a network, or the signal conversion unit and the direct current brushed motor can be connected through a circuit. When the control unit is arranged outside the robot, the control unit includes but is not limited to a computer and a mobile terminal. The control unit and the signal conversion unit can be connected through a communication connection, for example, can be connected through an Ethercat protocol communication connection, or the signal conversion unit and the direct current brushed motor can be connected through a circuit. By measuring the voltage information during the operation of the direct current brushed motor, the wear detection of the motor commutator is realized without disassembling the direct current brushed motor.

[0044] Exemplarily, seeFigure 1 , Figure 1 is a control schematic diagram of a DC brushed motor provided by an embodiment of the present invention. Among them, the motor is a DC brushed motor, the master station is a control unit, the slave station is a signal conversion unit, the slave station includes an encoder, the master station and the slave station communicate through the Ethercat protocol, and the slave station and the motor are connected by a circuit. In the factory configuration, the master station can configure the parameters of the motor through the controller area network open protocol based on the Ethernet control automation technology. The master station can send control instructions to the slave station through the process data object, and the slave station converts the control instructions and transmits them to the motor to achieve the control of the motor.

[0045] Embodiment 1

[0046] Figure 2 is a flowchart of a method for detecting the wear of a motor commutator provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation of improving the wear detection efficiency of the motor commutator without disassembling the DC brushed motor. This method can be executed by a wear detection device for the motor commutator. The wear detection device for the motor commutator can be implemented in the form of hardware and / or software. Optionally, it can be implemented through an electronic device, which can be a mobile terminal, a PC, a processor, a controller, or a robot, etc.

[0047] In the case of wear of the commutator, the resistance value of the commutator is abnormal. The present invention controls the operation of the DC brushed motor without disassembling it, obtains the operating parameters during the operation of the DC brushed motor, and the operating parameters are related parameters of the resistance of the commutator, which can reflect the resistance value of the commutator during the operation of the DC brushed motor. If the resistance value of the commutator is abnormal, correspondingly, the operating parameters of the DC brushed motor are abnormal. The wear of the detection points of the commutator is detected through the operating parameters during the operation of the DC brushed motor, so as to realize the wear detection of the commutator without disassembly.

[0048] As Figure 2 shown, the method may specifically include:

[0049] S110. Obtain the resolution information of the DC brushed motor, and determine multiple detection points of the commutator based on the resolution information.

[0050] In this embodiment, the resolution information can be understood as the number of pulses per revolution fed back by the DC brushed motor encoder. The encoder is a device that can convert the rotational position of the DC brushed motor into an electrical signal, and the resolution of the encoder determines the detection accuracy of the position of the DC brushed motor. For example, the resolution information of the DC brushed motor can be that the number of pulses generated per revolution of the DC brushed motor is 1000. Different types of DC brushed motors can be configured with different resolution information, which can be set according to requirements and is not limited here. The detection points can be understood as the positions for wear detection in the commutator, and can be determined according to the resolution information. The detection points are evenly distributed on the circumference of the commutator. For example, there is a corresponding relationship between the value of the resolution information and the number of detection points, including but not limited to a proportional relationship. For example, if the resolution information of the DC brushed motor is that the number of pulses generated per revolution of the DC brushed motor is A, A detection points can be set, and the above A detection points are evenly distributed on the circumference of the commutator. By obtaining the resolution information of the DC brushed motor and determining multiple detection points of the commutator based on the resolution information, the accurate determination of the detection points is achieved.

[0051] S120. For each detection point, obtain the first position and the second position of the robot, and control the DC brushed motor of the robot to operate so that the robot moves from the first position to the second position; wherein, the first position is the starting position of the robot for the detection point, and the second position is the target position reached by the robot after the commutator in the DC brushed motor runs at least one week.

[0052] In this embodiment, the first position can be understood as the position where the robot is located when the commutator is at the detection point. The robot starts from the first position and moves to the second position. The second position can be understood as the position where the robot is located at the end of the detection for each detection point. The first position can be obtained by reading the encoder, and the second position can be calculated based on the first position. For example, the robot is located at the first position, control the DC brushed motor of the robot to operate, and the commutator runs two weeks. The robot starts running from the first position, and the reached position is used as the second position. The DC brushed motor can receive a first control instruction, which can be understood as a signal for controlling the robot to move from the first position to the second position. After receiving the first control instruction, the DC brushed motor operates according to the first control instruction until the DC brushed motor completes the first control instruction. At this time, the robot is located at the second position. For each detection point, obtain the first position and the second position of the robot, and control the DC brushed motor of the robot to operate so that the robot moves from the first position to the second position, achieving the control of the robot to move from the first position to the second position.

[0053] Exemplarily, refer to Figure 3 , Figure 3It is a top view of a commutator provided by an embodiment of the present invention. Among them, the dashed circle represents the commutator, the solid arrow represents the running direction of the commutator, A represents resolution information, and the detection movement represents the movement of the commutator during the wear detection process of the commutator. The detection movements A-2, A-1, and A respectively represent the movements of the detection points A-2, A-1, and A reached during the movement of the commutator.

[0054] S130. Obtain the operating parameters of a set type during the operation of the DC brushed motor, determine the wear detection result corresponding to the detection point based on the operating parameters of the set type, and the wear detection results corresponding to multiple detection points form the wear detection result of the commutator.

[0055] In this embodiment, the operating parameters can be understood as the parameters generated during the operation of the DC brushed motor, including but not limited to voltage and current, and can be used to evaluate the wear condition of the motor commutator. The operating parameters can be obtained by measurement. For example, when the operating parameter is voltage, it can be obtained by measuring the voltage during the operation of the DC brushed motor. The wear detection result corresponding to the detection point can be understood as a judgment result used to characterize the wear condition corresponding to the detection point. For example, the wear detection result corresponding to the detection point can be that there is no wear at this detection point. The wear detection result of the commutator can be understood as a judgment result used to characterize the wear condition of the commutator, and can be determined according to the wear detection results corresponding to multiple detection points respectively. For example, if N detection points are determined through resolution, and the wear detection results corresponding to the N detection points are all no wear, the wear detection result of the commutator is that the commutator has no wear, or at least one of the wear detection results corresponding to the detection points is wear, and the wear detection result of the commutator is that the commutator has wear.

[0056] By obtaining the operating parameters of a set type during the operation of the DC brushed motor, determining the wear detection result corresponding to the detection point based on the operating parameters of the set type, and forming the wear detection result of the commutator through the wear detection results corresponding to multiple detection points respectively, the wear detection of the motor commutator is realized without disassembling the DC brushed motor, and the efficiency of the wear detection of the commutator is improved.

[0057] Optionally, the operating parameters of the set type include voltage information.

[0058] Specifically, the voltage information can be understood as the voltage data generated during the operation of the DC brushed motor. In some embodiments, the voltage information can be amplified for determination.

[0059] Optionally, when the voltage information is greater than or equal to the set threshold, it is determined that there is wear at the detection point of the commutator.

[0060] Specifically, during the operation of a DC brushed motor, when the commutator wears, the resistance of the DC brushed motor becomes abnormal. To ensure the normal operation of the DC brushed motor, the voltage applied to the DC brushed motor increases, which in turn causes the voltage information of the DC brushed motor to exceed the safe range. The wear condition of the commutator at the detection point can be judged by measuring the voltage information during the operation of the DC brushed motor. The set threshold can be understood as a preset voltage reference value, which is used as the basis for judging the wear condition of the commutator, and can be set according to experience and the model of the DC brushed motor, for example. Exemplarily, refer to Figure 4 , Figure 4 FIG. is a schematic diagram of the voltage information obtained during the operation of a DC brushed motor provided by an embodiment of the present invention. Among them, the horizontal straight line represents the set threshold, and the curve represents the obtained voltage information. During the wear detection of the commutator, there is a situation where the voltage information is greater than the preset threshold, so the commutator is worn at the detection point.

[0061] Optionally, when the voltage information is less than the set threshold, it is determined that the commutator is not worn at the detected point.

[0062] Specifically, when the voltage information is less than the set threshold, during the operation of the DC brushed motor, the voltage information of the DC brushed motor is within the safe range, that is, the commutator is not worn at the detected point. Exemplarily, refer to Figure 5 , Figure 5 FIG. is another schematic diagram of the voltage information obtained during the operation of a DC brushed motor provided by an embodiment of the present invention. Among them, the horizontal straight line represents the set threshold, and the curve represents the obtained voltage information. During the wear detection of the commutator, the voltage information is less than the preset threshold, so the commutator is not worn at the detection point.

[0063] Optionally, the method further includes: determining the total number of detection points; when the detection of any detection point is completed, updating the number of completed detection points, and when the number of completed detection points reaches the total number of detection points, completing the wear detection of the commutator; and when the wear detection result of any detection point is wear, generating a wear prompt message for the commutator.

[0064] Specifically, the wear prompt information can be understood as the prompt information corresponding to the wear detection result of wear existing at any detection point. The wear prompt information includes, but is not limited to, text information, voice information, and sound information. For example, when the wear detection result at any detection point is that wear exists, the wear prompt information of the commutator "The commutator is worn and it is recommended to replace it" is displayed on the display page. For example, when the wear detection result at any detection point is that wear exists, it can be voice broadcasted that "The commutator is worn and it is recommended to replace it" to prompt the tester that the commutator is worn, and the tester can replace the commutator according to the voice prompt.

[0065] The technical solution of this embodiment realizes the accurate determination of multiple detection points of the commutator by obtaining the resolution information of the DC brushed motor and determining multiple detection points of the commutator based on the resolution information; for each detection point, obtain the first position and the second position of the robot, and control the DC brushed motor of the robot to run so that the robot moves from the first position to the second position; where the first position is the starting position of the robot for the detection point, and the second position is the target position reached by the robot when the commutator in the DC brushed motor runs at least one week, realizing the control of the robot; by obtaining the running parameters of the set type during the running of the DC brushed motor, determining the wear detection result corresponding to the detection point based on the running parameters of the set type, and the wear detection results corresponding to multiple detection points form the wear detection result of the commutator, realizing the wear detection of the commutator, and realizing the wear detection of the motor commutator without disassembling the DC brushed motor, improving the efficiency of the wear detection of the motor commutator.

[0066] Embodiment 2

[0067] Figure 6 is a flowchart of a method for detecting the wear of a motor commutator provided in Embodiment 2 of the present invention, and this embodiment is an optimization of the above embodiment. As Figure 6 shown, the method includes:

[0068] S210. Obtain the resolution information of the DC brushed motor, and determine multiple detection points of the commutator based on the resolution information.

[0069] S220. For each detection point, obtain the first position and the second position of the robot, where the second position is determined based on the first position, the target detection direction corresponding to the DC brushed motor, and the first rotation amount of the commutator, and control the DC brushed motor of the robot to run so that the robot moves from the first position to the second position; where the first position is the starting position of the robot for the detection point, and the second position is the target position reached by the robot when the commutator in the DC brushed motor runs at least one week.

[0070] In this embodiment, the target detection direction can be understood as the running direction of the DC brushed motor during the wear detection of the commutator, which can be set according to requirements. The first rotation amount can be understood as the amount of rotation of the commutator when the robot moves from the first position to the second position, and can be determined by the resolution information. For example, the first rotation amount can be A + 1, where A represents the resolution information. The second position can be determined according to the first position, the target detection direction corresponding to the DC brushed motor, and the first rotation amount of the commutator. For example, calculate the moving distance of the robot corresponding to the first rotation amount of the commutator rotation, determine the running direction of the robot according to the target detection direction corresponding to the DC brushed motor, calculate the moving distance of the robot corresponding to the first rotation amount of the commutator rotation when the robot runs along the running direction from the first position, and the position where the robot is located is the second position.

[0071] Optionally, the first rotation amount of the commutator is the sum of the unit rotation amount and the periodic rotation amount, where the unit rotation amount is the minimum rotation amount corresponding to the resolution information, and the periodic rotation amount is the rotation amount corresponding to one full rotation of the commutator.

[0072] Specifically, the unit rotation amount can be understood as the minimum rotation change amount of the DC brushed motor and can be determined by the resolution information. For example, if the resolution information of the DC brushed motor is 1000 pulses per revolution, the unit rotation amount can be represented by the value 1. Optionally, the unit rotation amount can correspond to a unit rotation angle. When the resolution information is A, the unit rotation angle can be 360° / A, that is, the above unit rotation amount 1 can correspond to the unit rotation angle 360° / A. Optionally, the unit rotation amount can correspond to the unit moving distance b of the robot. Correspondingly, the moving distance of the robot corresponding to one full rotation of the commutator can be A * b. The periodic rotation amount can be understood as the rotation amount corresponding to one complete rotation of the commutator and can be determined by the resolution information of the DC brushed motor. For example, if the resolution information of the DC brushed motor is A pulses per revolution of the DC brushed motor, the periodic rotation amount is A. The first rotation amount is the sum of the unit rotation amount and the periodic rotation amount. For example, if the unit rotation amount is 1 and the periodic rotation amount is A, then the first rotation amount is A + 1.

[0073] Optionally, the method further includes: obtaining a third position and a fourth position, controlling the robot to run along the detection direction so that the robot moves from the third position to the fourth position; where the third position is the initial zero position; the fourth position is the farthest moving position of the robot along the detection direction during the wear detection of the commutator; in the process of moving from the third position to the fourth position, when no obstacle is detected, the detection direction is determined as the target detection direction; in the process of moving from the third position to the fourth position, when an obstacle is detected, the detection direction is re-determined.

[0074] Specifically, the third position can be understood as the starting position where the robot begins to detect, which can be determined according to a preset coordinate system. For example, a reference point can be set, and a coordinate system is established with the reference point as the origin. The starting position where the robot begins to detect in this coordinate system is the third position. The detection direction can be understood as the direction in which the robot moves and can be set according to requirements, which is not limited here. The fourth position can be understood as the farthest moving position of the robot along the detection direction during the wear detection of the commutator, which can be calculated based on the third position, the detection direction, and the number of detection points. Exemplarily, during the wear detection of the commutator, the robot moves in the same direction without returning. Its farthest moving position is the position where the commutator rotates M weeks in the running direction. Here, the rotation amount M weeks can be determined according to the number of detection points and the rotation amount of each detection point during the detection process. The rotation amount of the DC brushed motor is determined according to the number of detection points. For example, the number of detection points is N, and the rotation amount of the DC brushed motor is M weeks, where M≥N. The robot starts moving from the third position along the detection direction and calculates the position of the robot after the DC brushed motor runs M weeks, which is the fourth position. During the movement of the robot from the third position to the fourth position, by determining whether the robot detects an obstacle, the target detection direction is determined, which is beneficial to improving the efficiency of commutator wear detection.

[0075] In some embodiments, in order to reduce the moving distance of the robot, during the wear detection of the commutator, the robot moves in the same direction with a return, that is, after the wear detection of any detection point in this direction, it moves back in the opposite direction of this direction and then performs the wear detection of the next detection point. Correspondingly, the movement range of the robot during the wear detection of multiple detection points is reduced, and the requirements for the scene during the wear detection process are lowered. For example, the number of detection points is N, and the rotation amount of the DC brushed motor is 2 weeks, where N>2. The robot starts moving from the third position along the detection direction and calculates the moving distance 2*A*b of the robot corresponding to the DC brushed motor running 2 weeks, and calculates the position where the robot moves 2*A*b from the third position along the detection direction, which is the fourth position.

[0076] In some embodiments, when an obstacle is detected during the movement from the third position to the fourth position, the detection direction is re-determined. For example, the opposite direction of the detection direction is selected as the new detection direction, the new fourth position is calculated according to the new detection direction, and the robot is controlled to run along the new detection direction so that the robot moves from the third position to the new fourth position. During the movement of the robot from the third position to the new fourth position, it is determined whether the robot detects an obstacle. If no obstacle is detected, the new detection direction is determined as the target detection direction. For another example, a direction is randomly selected as the new detection direction, the new fourth position is calculated according to the new detection direction, and the robot is controlled to run along the new detection direction so that the robot moves from the third position to the new fourth position. During the movement of the robot from the third position to the new fourth position, it is determined whether the robot detects an obstacle. If no obstacle is detected, the new detection direction is determined as the target detection direction.

[0077] When the robot moves to the second position, the commutator rotates by a first rotation amount, reducing the adjustment of the detection points of the commutator. The detection point corresponding to the second position can be directly used as the next detection point, realizing the sequential detection of the detection points to improve the efficiency of the commutator wear detection.

[0078] Optionally, the method further includes: when the robot moves to the second position, corresponding to the next detection point of the commutator, the next detection point is subjected to wear detection.

[0079] During the wear detection of the commutator, in order to reduce the movement range of the robot and prevent the robot from detecting an obstacle during movement, the DC brushed motor can be controlled to run in the opposite direction of the target detection direction.

[0080] Optionally, performing wear detection on the next detection point includes: determining a fifth position based on the second position, the opposite direction of the target detection direction, and the second rotation amount of the commutator, controlling the DC brushed motor to run so that the robot moves from the second position to the fifth position; the second rotation amount is a periodic rotation amount; the fifth position is used as the first position corresponding to the next detection point, and the second position corresponding to the next detection point is determined, and the next detection point is subjected to wear detection based on the first position and the second position corresponding to the next detection point.

[0081] Specifically, the second rotational momentum can be understood as the periodic rotational momentum of the commutator, that is, the rotational momentum corresponding to one full rotation of the commutator, which can be determined based on the first rotational momentum. For example, if the first rotational momentum is the sum of the unit rotational momentum and the periodic rotational momentum, the second rotational momentum can be the periodic rotational momentum. The fifth position can be understood as the position determined based on the second position, the opposite direction of the target detection direction, and the second rotational momentum of the commutator, and is used to determine the first position and the second position corresponding to the next detection point. The fifth position can be determined based on the second position, the opposite direction of the target detection direction, and the second rotational momentum of the commutator. For example, based on the second position, the DC brushed motor is controlled to operate in the opposite direction of the target detection direction, and the commutator rotates by the second rotational momentum. The position reached by the robot is the fifth position. The second position corresponding to the next detection point can be determined based on the first position corresponding to the next detection point, the target detection direction corresponding to the DC brushed motor, and the first rotational momentum of the commutator. Among them, the fifth position is used as the first position corresponding to the next detection point, and the DC brushed motor of the robot is controlled to operate so that the robot moves from the first position corresponding to the next detection point to the second position corresponding to the next detection point, thereby realizing the wear detection of the next detection point.

[0082] Exemplarily, referring to Figure 7 , Figure 7 FIG. is a schematic diagram of the rotation of a commutator provided by an embodiment of the present invention. Among them, L1 represents the first rotational momentum, and L2 represents the second rotational momentum. For the first detection point, the commutator rotates by the first rotational momentum, and the robot moves to the second position. The commutator rotates by the second rotational momentum, and the robot moves to the fifth position. For the second detection point, the fifth position is used as the first position of the second detection point. The commutator rotates by the first rotational momentum, and the robot moves to the second position corresponding to the second detection point, and so on, until the wear detection of all detection points is completed. In some embodiments, when the robot moves to the second position, it corresponds to the next detection point of the commutator, and the wear detection of the next detection point is performed. The second position is used as the first position of the next detection point. Based on the second position, the target detection direction corresponding to the DC brushed motor, and the first rotational momentum of the commutator, the second position of the next detection point is determined. The DC brushed motor is controlled so that the robot runs from the first position of the next detection point to the second position of the next detection point to perform the wear detection of the next detection point.

[0083] S230. Obtain the operating parameters of a set type during the operation of the DC brushed motor, and determine the wear detection result corresponding to the detection point based on the operating parameters of the set type. The wear detection results corresponding to multiple detection points form the wear detection result of the commutator.

[0084] Exemplarily, referring to Figure 8 , Figure 8It is a flowchart of a method for detecting the wear of a commutator of a DC brushed motor provided by an embodiment of the present invention. Among them, zeroing and resetting means setting a reference point and establishing a coordinate system with the reference point as the origin. The starting position PosStart represents the third position of the robot, PosEnd1 represents the fourth position of the robot, b represents the unit moving distance of the robot corresponding to the unit rotation amount, 2*A*b represents the moving distance of the robot corresponding to the commutator rotating two weeks. Whether the movement touches the soft limit means whether an obstacle is detected during the movement of the robot from the third position to the fourth position. Dir=-1 represents the reverse direction of the detection direction, Dir=+1 represents the detection direction. The number of detected movement lines Sum completed represents the number of detected points completed. A represents the resolution information and the total number of detected points. The current position PosCur1 represents the first position of the robot, PosEnd2 represents the second position of the robot, A+1 represents the first rotation amount of the commutator, (A+1)*b represents the moving distance of the robot corresponding to the commutator rotating the first rotation amount. The current position PosCur2 represents the first position of the robot at the next detection point, PosEnd3 represents the fifth position of the robot. The feedback PWM represents the set type of operating parameter during the operation of the DC brushed motor. Whether the feedback PWM exceeds the 90% threshold means whether the set type of operating parameter during the operation of the DC brushed motor is greater than or equal to the preset threshold. A*b represents the moving distance of the robot corresponding to the commutator rotating one week. Through zeroing and resetting, read the starting position PosStart, control the robot to move from the starting position PosStart to PosEnd1 along the detection direction, and judge whether an obstacle is detected during the movement from the starting position PosStart to PosEnd1. During the movement from the starting position PosStart to PosEnd1, if no obstacle is detected, determine the detection direction as the target detection direction; during the movement from the starting position PosStart to PosEnd1, if an obstacle is detected, determine the reverse direction of the detection direction as the target detection direction. Set the number of detected movement lines Sum completed, and judge whether all detections are completed. If all detections are not completed, read the current position PosCur1, control the DC brushed motor to operate so that the robot moves from the current position PosCur1 to PosEnd2, obtain the feedback PWM corresponding to PosEnd2, and judge whether the feedback PWM exceeds the 90% threshold. If the feedback PWM does not exceed the 90% threshold, update the current position and the number of detected movement lines completed, and judge whether all detections are completed. If all detections are not completed, start the next round of detection.In the case where any feedback PWM exceeds the 90% threshold, it indicates that the commutator is worn, and an output prompt "The motor cannot continue to work properly. It is recommended to replace it" is given. In the case where all detections are completed and all feedback PWMs do not exceed the 90% threshold, it indicates that the commutator is not worn, and an output prompt "The motor can work properly and can continue to be used" is given.

[0085] The technical solution of this embodiment realizes the accurate determination of multiple detection points of the commutator by obtaining the resolution information of the DC brushed motor and determining multiple detection points of the commutator based on the resolution information; for each detection point, the first position and the second position of the robot are obtained, and the second position is determined based on the first position, the target detection direction corresponding to the DC brushed motor, and the first rotation amount of the commutator. The DC brushed motor of the robot is controlled to operate so that the robot moves from the first position to the second position; wherein, the first position is the starting position of the robot for the detection point, and the second position is the target position reached by the robot when the commutator in the DC brushed motor runs at least one week, realizing the accurate determination of the second position; by obtaining the running parameters of the set type during the operation of the DC brushed motor, and determining the wear detection result corresponding to the detection point based on the running parameters of the set type, the wear detection results corresponding to multiple detection points form the wear detection result of the commutator, realizing the wear detection of the commutator, and realizing the wear detection of the commutator without disassembling the DC brushed motor, improving the efficiency of the wear detection of the motor commutator.

[0086] Embodiment 3

[0087] Figure 9 It is a schematic structural diagram of a wear detection device for a motor commutator provided by Embodiment 3 of the present invention. As Figure 9 shown, the device includes:

[0088] A detection point determination module 310, configured to obtain the resolution information of the DC brushed motor and determine multiple detection points of the commutator based on the resolution information;

[0089] A DC brushed motor operation control module 320, configured to, for each detection point, obtain the first position and the second position of the robot, and control the DC brushed motor of the robot to operate so that the robot moves from the first position to the second position; wherein, the first position is the starting position of the robot for the detection point, and the second position is the target position reached by the robot when the commutator in the DC brushed motor runs at least one week;

[0090] A wear detection result formation module 330, configured to obtain the running parameters of the set type during the operation of the DC brushed motor, and determine the wear detection result corresponding to the detection point based on the running parameters of the set type, and the wear detection results corresponding to multiple detection points form the wear detection result of the commutator.

[0091] Based on the above embodiments, optionally, the second position is determined based on the first position, the target detection direction corresponding to the DC brushed motor, and the first rotation amount of the commutator.

[0092] Optionally, the device further includes a target detection direction determination module, configured to: obtain a third position and a fourth position, and control the robot to move along the detection direction so that the robot moves from the third position to the fourth position; wherein, the third position is the initial zero position; the fourth position is the farthest moving position of the robot along the detection direction during the wear detection of the commutator; during the movement from the third position to the fourth position, when no obstacle is detected, determine the detection direction as the target detection direction; during the movement from the third position to the fourth position, when an obstacle is detected, re-determine the detection direction.

[0093] Optionally, the first rotation amount of the commutator is the sum of the unit rotation amount and the periodic rotation amount, where the unit rotation amount is the minimum rotation amount corresponding to the resolution information, and the periodic rotation amount is the rotation amount corresponding to one full rotation of the commutator.

[0094] Optionally, the DC brushed motor operation control module 320 is further configured to: when the robot moves to the second position, corresponding to the next detection point of the commutator, perform wear detection on the next detection point.

[0095] Optionally, the DC brushed motor operation control module 320 is further configured to: determine a fifth position based on the second position, the opposite direction of the target detection direction, and the second rotation amount of the commutator, and control the DC brushed motor to operate so that the robot moves from the second position to the fifth position; the second rotation amount is the periodic rotation amount; use the fifth position as the first position corresponding to the next detection point, and determine the second position corresponding to the next detection point, and perform wear detection on the next detection point based on the first position and the second position corresponding to the next detection point.

[0096] Optionally, the operating parameters of the set type include voltage information.

[0097] Optionally, the wear detection result formation module 330 is further configured to: when the voltage information is greater than or equal to the set threshold, determine that there is wear on the commutator at the detection point; when the voltage information is less than the set threshold, determine that there is no wear on the commutator at the detection point.

[0098] Optionally, the device further includes a wear prompt information generation module, configured to: determine the total number of detection points; update the number of detected points when the detection of any detection point is completed, and complete the wear detection of the commutator when the number of detected points reaches the total number of detection points; and generate wear prompt information of the commutator when the wear detection result of any detection point indicates wear.

[0099] The wear detection device for the motor commutator provided by the embodiment of the present invention can execute the wear detection method for the motor commutator provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0100] Embodiment IV

[0101] Figure 10 FIG. 10 is a schematic structural diagram of an electronic device provided by Embodiment IV of the present invention. The electronic device is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device (such as a helmet, glasses, a watch, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0102] As Figure 10 shown, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the random access memory (RAM) 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the read-only memory (ROM) 12, and the random access memory (RAM) 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0103] Multiple components in the electronic device 10 are connected to the input / output (I / O) interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0104] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the method for detecting wear of the motor commutator.

[0105] In some embodiments, the method for detecting wear of the motor commutator can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the read-only memory (ROM) 12 and / or the communication unit 19. When the computer program is loaded into the random access memory (RAM) 13 and executed by the processor 11, one or more steps of the method for detecting wear of the motor commutator described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the method for detecting wear of the motor commutator by any other suitable means (e.g., by means of firmware).

[0106] The various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special or general programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0107] A computer program for implementing the method for detecting wear of the motor commutator of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing devices, such that when executed by the processor, the functions / operations specified in the flowchart and / or block diagram are implemented. The computer program can be executed entirely on the machine, partially on the machine, executed partially on the machine and partially on a remote machine as an independent software package, or executed entirely on a remote machine or server.

[0108] Embodiment Five

[0109] Embodiment Five of the present invention also provides a computer-readable storage medium. The computer-readable storage medium stores computer instructions, and the computer instructions are used to cause the processor to execute a method for detecting wear of a motor commutator. A direct current brush motor is configured in a robot, and a commutator is included in the direct current brush motor; the method includes:

[0110] Obtain the resolution information of the direct current brush motor, and determine a plurality of detection points of the commutator based on the resolution information; for each detection point, obtain the first position and the second position of the robot, and control the operation of the direct current brush motor of the robot so that the robot moves from the first position to the second position; wherein, the first position is the starting position of the robot for the detection point, and the second position is the target position reached by the robot when the commutator in the direct current brush motor runs at least one week; obtain the running parameters of a set type during the operation of the direct current brush motor, and determine the wear detection result corresponding to the detection point based on the running parameters of the set type. The wear detection results corresponding to the plurality of detection points form the wear detection result of the commutator.

[0111] In the context of the present invention, the computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include electrical connections based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0112] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0113] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0114] A computing system can include a client and a server. The client and the server are generally far from each other and usually interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0115] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0116] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for detecting wear of an electric motor commutator, characterized in that, The robot is configured with a DC brushed motor, and a commutator is included in the DC brushed motor; The method includes: Obtaining the resolution information of the DC brushed motor, and determining a plurality of detection points of the commutator based on the resolution information; For each of the detection points, obtaining a first position and a second position of the robot, and controlling the DC brushed motor of the robot to operate so that the robot moves from the first position to the second position; wherein, the first position is the starting position of the robot for the detection point, and the second position is the target position reached by the robot when the commutator in the DC brushed motor operates at least one week; Obtaining the running parameters of a set type during the running of the DC brushed motor, and determining the wear detection result corresponding to the detection point based on the running parameters of the set type. The wear detection results respectively corresponding to the plurality of detection points form the wear detection result of the commutator; The second position is determined based on the first position, the target detection direction corresponding to the DC brushed motor, and the first rotation amount of the commutator; The method further includes: Obtaining a third position and a fourth position, and controlling the robot to run along the detection direction so that the robot moves from the third position to the fourth position; wherein, the third position is the initial zero position; the fourth position is the farthest moving position of the robot along the detection direction during the wear detection of the commutator; In the process of moving from the third position to the fourth position, when no obstacle is detected, determining the detection direction as the target detection direction; In the process of moving from the third position to the fourth position, when an obstacle is detected, re - determining the detection direction.

2. The wear detection method of the motor commutator according to claim 1, characterized in that The first rotation amount of the commutator is the sum of the unit rotation amount and the periodic rotation amount, wherein the unit rotation amount is the minimum rotation amount corresponding to the resolution information, and the periodic rotation amount is the rotation amount corresponding to the commutator rotating one week; The method further includes: When the robot moves to the second position, corresponding to the next detection point of the commutator, performing a wear detection on the next detection point.

3. The method for detecting wear of the motor commutator according to claim 2, wherein Performing the wear detection on the next detection point includes: Determining a fifth position based on the second position, the reverse direction of the target detection direction, and the second rotation amount of the commutator, and controlling the DC brushed motor to operate so that the robot moves from the second position to the fifth position; the second rotation amount is the periodic rotation amount; Taking the fifth position as the first position corresponding to the next detection point, and determining the second position corresponding to the next detection point, and performing a wear detection on the next detection point based on the first position and the second position corresponding to the next detection point.

4. The wear detection method of the motor commutator according to claim 1, characterized in that, The running parameters of the set type include voltage information; Determining the wear detection result corresponding to the detection point based on the running parameters of the set type includes: When the voltage information is greater than or equal to the set threshold, determining that there is wear on the commutator at the detection point; When the voltage information is less than the set threshold, it is determined that there is no wear on the commutator at the detection point.

5. The wear detection method of the motor commutator according to claim 1, wherein, The method further includes: determining the total number of the detection points; When the detection of any one of the detection points is completed, updating the number of the detected points that have been completed. When the number of the detected points that have been completed reaches the total number of the detection points, the wear detection of the commutator is completed; and when the wear detection result of any one of the detection points is that there is wear, generating a wear prompt message for the commutator.

6. A wear detection device for a commutator of a DC brushed motor, characterized in that, A DC brushed motor is configured in the robot, and a commutator is included in the DC brushed motor; The device includes: a detection point determination module, configured to obtain resolution information of the DC brushed motor, and determine a plurality of detection points of the commutator based on the resolution information; a DC brushed motor operation control module, configured to, for each of the detection points, obtain a first position and a second position of the robot, and control the DC brushed motor of the robot to operate so that the robot moves from the first position to the second position; wherein, the first position is the starting position of the robot for the detection point, and the second position is the target position reached by the robot when the commutator in the DC brushed motor runs at least one week; a wear detection result formation module, configured to obtain set-type operation parameters during the operation of the DC brushed motor, determine the wear detection result corresponding to the detection point based on the set-type operation parameters, and the wear detection results corresponding to the plurality of detection points form the wear detection result of the commutator; The second position is determined based on the first position, the target detection direction corresponding to the DC brushed motor, and the first rotation amount of the commutator; The device further includes a target detection direction determination module, configured to: obtain a third position and a fourth position, and control the robot to run along a detection direction so that the robot moves from the third position to the fourth position; wherein, the third position is the initial zero position; the fourth position is the farthest moving position of the robot along the detection direction during the wear detection of the commutator; When no obstacle is detected during the movement from the third position to the fourth position, determining the detection direction as the target detection direction; When an obstacle is detected during the movement from the third position to the fourth position, re-determining the detection direction.

7. An electronic device, characterized in that, The electronic device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for detecting wear of the motor commutator according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the method for detecting wear of the motor commutator according to any one of claims 1-5 when executed by a processor.

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