Motor temperature control method of cleaning robot and cleaning robot

Abstract

The invention discloses a motor temperature control method of a cleaning robot, the cleaning robot and a computer storage medium. The motor temperature control method of the cleaning robot comprises the steps that the current load current of a motor is acquired; acquiring a temperature change rate matched with the current load current; a current temperature of the electric machine is determined based on the temperature change rate. Through the mode, the problem that the size, the weight, the cost and the like of the cleaning robot are increased due to the fact that a temperature sensor is additionally arranged can be solved, and over-temperature protection of the motor and the cleaning robot is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning robots, and in particular to a motor temperature control method for a cleaning robot and a cleaning robot. Background Art

[0002] In related technologies, cleaning robots generally only perform abnormality detection on motors. Specifically, the load current of the motor is collected through a current sampling circuit to determine whether the load current is within a preset range. If there is no current value when the motor output is controlled, it means that the cleaning robot is not connected to the motor. If the current value exceeds the short-circuit threshold when the motor output is controlled, it means that the motor of the cleaning robot is short-circuited and cannot work.

[0003] In recent years, in order to improve the damage of the motor or other parts of the cleaning robot caused by motor overheating, temperature sensors are usually added to the cleaning robot to detect the temperature of the motor. However, adding temperature sensors will increase the size, weight and cost of the cleaning robot. Summary of the invention

[0004] The present application provides a motor temperature control method for a cleaning robot and a cleaning robot to solve the problem of increased volume, weight and cost of the cleaning robot due to the addition of a temperature sensor, and to achieve over-temperature protection of the motor and the cleaning robot.

[0005] The present application proposes a motor temperature control method for a cleaning robot. The motor temperature control method for a cleaning robot includes: obtaining a current load current of the motor; obtaining a temperature change rate matching the current load current; and determining the current temperature of the motor based on the temperature change rate.

[0006] Among them, the above-mentioned acquisition of the temperature change rate matching the current load current includes: comparing the current load current with the current threshold; acquiring the temperature change rate matching the current load current based on the comparison result; wherein the temperature change rate includes a heating rate or a cooling rate.

[0007] The step of acquiring the temperature change rate that matches the current load current based on the comparison result includes: if the current load current is greater than a current threshold, acquiring the temperature rise rate that matches the current load current.

[0008] The step of acquiring the temperature change rate that matches the current load current based on the comparison result includes: if the current load current is less than or equal to the current threshold, acquiring the temperature drop rate.

[0009] The heating rate is the slope of a straight line obtained by fitting the heating data of the motor from the ambient temperature over time under a plurality of different preset load currents using the least squares method.

[0010] The cooling rate is the slope of the straight line obtained by fitting the cooling data of the motor from the extreme high temperature reached by stalling to the ambient temperature using the least squares method.

[0011] Among them, the above-mentioned determination of the current temperature of the motor based on the temperature change rate includes: determining the current temperature change value of the motor based on the temperature change rate; obtaining the cumulative value of the temperature change corresponding to the current sampling moment, wherein the cumulative value of the temperature change is the sum of the cumulative value of the temperature change corresponding to the previous sampling moment and the current temperature change value; determining the current temperature of the motor based on the cumulative value of the temperature change at the current sampling moment and the ambient temperature.

[0012] The motor temperature control method further comprises: if the current temperature is greater than an upper limit value, the motor is controlled to stop working.

[0013] The present application proposes a cleaning robot. The cleaning robot comprises: a moving part; a motor connected to the moving part and used to provide driving force to the moving part; a control part connected to the motor and used to control the operation of the motor; a current acquisition part connected to the control part and the motor, the current acquisition part is used to acquire the current load current of the motor, the control part acquires the current load current of the motor and the temperature change rate matching the current load current, and determines the current temperature of the motor based on the temperature change rate.

[0014] The moving parts include: driving wheels or side wheels or mops or roller brushes.

[0015] The beneficial effects of the present application are as follows: the motor temperature control method of the cleaning robot provided in the embodiment of the present application first obtains the current load current of the motor, then obtains the temperature change rate that matches the current load current, and finally determines the current temperature of the motor based on the temperature change rate. In the above manner, the embodiment of the present application can determine the current temperature of the motor by the current load current of the motor and the temperature change rate when the motor is blocked, without the need to obtain the temperature information of the motor through a temperature sensor. Therefore, the cleaning robot provided in the present application can monitor the motor temperature without setting a temperature sensor, which can not only reduce the size, weight and cost of the cleaning robot, improve the lightweight degree of the cleaning robot and increase its endurance, but also improve the problem of poor reliability of the motor and the cleaning robot due to excessive motor temperature, and realize over-temperature protection; further, the temperature change rate of the embodiment of the present application can accurately reflect the relationship between the load current of the motor and the temperature change of the motor, so the current temperature corresponding to the current load current is determined by the temperature change rate, which can improve the accuracy of the motor temperature control. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0017] Figure 1 It is a structural schematic diagram of an embodiment of the cleaning robot of the present application;

[0018] Figure 2 It is a flow chart of an embodiment of a motor temperature control method of a cleaning robot of the present application;

[0019] Figure 3 yes Figure 2 A specific flow chart of step S22 in the embodiment;

[0020] Figure 4 yes Figure 2 A specific flow chart of step S23 in the embodiment;

[0021] Figure 5 It is a flow chart of an embodiment of a method for obtaining a heating rate in a motor control method of the present application;

[0022] Figure 6 It is a structural diagram of an embodiment of the computer storage medium of the present application. DETAILED DESCRIPTION

[0023] The present application is further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of the present application.

[0024] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0025] In the embodiments of the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0026] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0027] This application first proposes a cleaning robot, such as Figure 1 As shown, Figure 1 It is a structural schematic diagram of an embodiment of the cleaning robot of the present application. The cleaning robot of this embodiment includes: a moving part 10, a motor 13, a control part 14 and a current collection part 15; wherein the motor 13 is connected to the moving part 10 to provide driving force to the moving part 10; the control part 14 is connected to the motor 13 to control the operation of the motor 13; the current collection part 15 is connected to the control part 14 and the motor 13, and the current collection part 15 is used to collect the current load current of the motor 13, and the control part 14 obtains the current load current of the motor 13 and the temperature change rate matching the current load current, and determines the current temperature of the motor based on the temperature change rate.

[0028] The temperature change rate at least includes the temperature change rate when the motor 13 is stalled.

[0029] The control component 14 of this embodiment realizes temperature control of the motor 13 based on the current load current of the motor 13 collected by the current collection component 15, that is, temperature monitoring and related control. Therefore, the cleaning robot of this embodiment can monitor the temperature of the motor 13 without setting a temperature sensor, which can not only reduce the size, weight and cost of the cleaning robot, improve the lightweight degree of the cleaning robot and increase its endurance, but also improve the problem of poor reliability of the motor 13 and the cleaning robot due to excessively high motor temperature, and realize over-temperature protection.

[0030] For the specific implementation of the motor temperature control of the cleaning robot, please refer to the following introduction.

[0031] Optionally, the moving part 10 of this embodiment includes a cleaning part 11.

[0032] The cleaning component 11 refers to a component for cleaning the floor, such as a roller brush, a mop, etc. The control component 14 may be a microprocessor, or other integrated circuits or non-integrated circuits with data processing and control functions, etc. The current collection component 15 may be a current transformer, a current sampling circuit, etc.

[0033] Optionally, the moving part 10 of this embodiment includes a driving wheel 12. The driving wheel 12 is a wheel that drives the cleaning robot to walk on the ground.

[0034] In this embodiment, the motor 13 refers to a motor for driving the driving wheel to rotate, and the cleaning robot also includes a motor 111 for driving the cleaning member 11 .

[0035] In other embodiments, the motor 13 can also drive the cleaning member 11 to rotate, or drive the cleaning member 11 to rise and fall, etc.

[0036] In other embodiments, the moving part may further include a side wheel, and the motor may further drive the side wheel to rotate.

[0037] Of course, the cleaning robot also includes other components such as a shell, a garbage collection component, and a power supply component.

[0038] The present application further proposes a motor temperature control method for a cleaning robot, which can be used for the above-mentioned cleaning robot, such as Figure 2 As shown, Figure 2 1 is a flow chart of an embodiment of a motor temperature control method for a cleaning robot of the present application. The motor temperature control method of this embodiment specifically includes the following steps:

[0039] Step S21: Obtain the current load current of the motor.

[0040] The current acquisition component of the cleaning robot periodically obtains the current load current of the motor at intervals of a preset time. For example, the current load current of the motor can be monitored in real time through a current transformer, and the control component periodically obtains the current load current of the motor from the current transformer at intervals of a preset time; or the control component periodically obtains the electrical signal parameters fed back by the current sampling circuit at intervals of a preset time, and calculates the current load current of the motor based on the electrical signal parameters, and so on.

[0041] Step S22: Obtain a temperature change rate that matches the current load current.

[0042] The control component can pre-store multiple preset load currents and the temperature change rate corresponding to each preset load current. If the current load current is consistent with a preset load current or the difference is small, it can be considered that the current load current matches the temperature change rate corresponding to the preset load current.

[0043] The temperature change rate may include the temperature change rate when the motor is stalled.

[0044] Motor stalling is a situation where the motor still outputs torque when the speed is 0 rpm. The motor cannot start or stops rotating due to excessive motor load, mechanical failure of the drag, bearing damage and bore sweeping, etc. There may be many reasons for motor stalling: internal motor failure, such as bearing damage, rotor jam, stator winding short circuit, etc.; power supply failure, such as abnormal power supply voltage, power supply short circuit, etc.; excessive motor mechanical load or abnormal load, such as too tight bearing, too heavy load, transmission component failure, etc.; control system failure, such as control signal error, controller damage, etc.; other reasons, such as poor circuit contact, improper maintenance, etc.

[0045] Optionally, the temperature change rate includes a heating rate and / or a cooling rate. The heating rate refers to the temperature increase within a preset time period; the cooling rate refers to the temperature decrease within a preset time period. Figure 3 The method shown implements step S22, and the method of this embodiment specifically includes step S311 and step S312.

[0046] Step S311: Compare the current load current with the current threshold.

[0047] The control unit compares the current load current of the motor with a current threshold value, wherein the current threshold value is the load current when the motor is stable at high temperature.

[0048] For example, the current threshold is the load current at which the motor is stable at high temperature under the worst operating condition.

[0049] The worst operating condition of the motor belongs to the normal operating condition of the motor. If the operating condition further deteriorates, the motor will switch from the worst operating condition to the abnormal operating condition.

[0050] The motor will generate heat when it is stalled. The heat will not accumulate in a short time but will slowly dissipate. When the rate of heat generation is greater than the rate of heat dissipation, the temperature will accumulate and rise. When the rate of heat generation by the motor is similar to the heat dissipation rate of the cleaning robot structure design, the temperature will stabilize, and the load current of the motor will be the above current threshold.

[0051] Step S312: acquiring a temperature change rate that matches the current load current based on the comparison result.

[0052] Optionally, if the current load current is greater than the current threshold, a heating rate that matches the current load current is obtained, that is, a heating rate that corresponds to a preset load current that matches the current load current.

[0053] If the current load current is greater than the current threshold, the control unit matches the current load current of the motor with multiple pre-stored preset load currents. If the current load current is the same as the preset load current or the deviation is within the preset range, the control unit can determine that the current load current matches the preset load current. Among them, the preset range can be set based on the temperature control accuracy, the load current of the motor working condition, etc. Otherwise, the control unit can determine that the current load current does not match the preset load current, and the control unit continues to match the current load current with the next preset load current until the match is successful or all preset load currents are matched; the control unit obtains the temperature rise rate corresponding to the preset load current that successfully matches the current load current as the temperature change rate that matches the current load current.

[0054] For the setting of heating rate, please refer to the following.

[0055] This embodiment pre-stores multiple preset load currents and corresponding multiple temperature change rates, which can achieve the matching and acquisition of temperature change rates that match multiple different current load currents in the actual working conditions of the motor, and can achieve temperature control of the motor under different working conditions or different loads, thereby improving the effect of motor overtemperature protection, and further improving the reliability of the motor and the cleaning robot. Furthermore, because the heating rate can intuitively and accurately reflect the situation of motor overheating during stalling, this embodiment uses the heating rate to achieve the temperature change rate, which can improve the efficiency and accuracy of motor temperature control.

[0056] Optionally, if the current load current is greater than the current threshold, the cooling rate is obtained.

[0057] The cooling rate is the cooling rate of the motor from the motor stall limit high temperature to the ambient temperature. For example, the cooling rate is the cooling rate of the motor from the motor stall limit high temperature to the ambient temperature under the worst working condition. For the setting of the cooling rate, please refer to the following.

[0058] This embodiment only sets one cooling rate for the cooling of the motor. Therefore, this embodiment can omit the screening of the cooling rate and can further improve the efficiency of the motor temperature control. The cooling rate is the cooling rate of the motor from the motor stall limit high temperature to the ambient temperature under the worst operating condition, which can ensure the temperature control effect under all normal operating conditions and ensure the reliability of the motor and the cleaning robot.

[0059] In other embodiments, the current load current can be compared with the current threshold before obtaining the heating rate that matches the current load current. If the load current is greater than the current threshold, it is determined that the temperature of the motor is heating up, and the heating rate that matches the current load current is further obtained; if the load current is less than or equal to the current threshold, the cooling rate is obtained. Based on this, this embodiment can not only reduce the probability of failure to match the current load current with the temperature change rate, but also improve the efficiency of motor temperature control; and this embodiment only sets one cooling rate for the cooling condition of the motor, so this embodiment can omit the screening of the cooling rate, and can further improve the efficiency of motor temperature control, and the cooling rate is the cooling rate of the motor from the motor stall limit high temperature to the ambient temperature under the worst working condition, which can ensure the effect of temperature control under all normal working conditions and ensure the reliability of the motor and the cleaning robot.

[0060] Step S23: Determine the current temperature of the motor based on the temperature change rate.

[0061] The present embodiment can determine the current temperature of the motor through the current load current of the motor and the temperature change rate when the motor is stalled, and there is no need to obtain the temperature information of the motor through a temperature sensor. Therefore, the cleaning robot of the present embodiment can monitor the motor temperature without setting a temperature sensor, which can not only reduce the size, weight and cost of the cleaning robot, improve the lightweight degree of the cleaning robot and increase its endurance, but also improve the problem of poor reliability of the motor and the cleaning robot due to excessive motor temperature, and realize over-temperature protection; further, the temperature change rate of the present embodiment can accurately reflect the relationship between the load current of the motor and the temperature change of the motor. Therefore, the current temperature corresponding to the current load current is determined by the temperature change rate, which can improve the accuracy of motor temperature control.

[0062] Among them, in order to further improve the accuracy and real-time performance of motor temperature control, the present application periodically samples the current load current of the motor. For each sampling moment, the temperature change rate is obtained based on the current load current obtained at the current sampling moment, and the current temperature of the motor is determined based on the temperature change rate. That is, the present application periodically executes steps S21 to S23 in a loop.

[0063] Optionally, this embodiment may adopt Figure 4The method shown implements step S23, and the method of this embodiment includes steps S51 to S53.

[0064] Step S51: determining the current temperature change value of the motor based on the temperature change rate.

[0065] The load current of the motor is periodically acquired, the load current acquired at the current sampling moment is the current load current, and the temperature change value determined based on the temperature change rate corresponding to the current load current is the current temperature change value of the motor.

[0066] The current temperature change value refers to the change range of the temperature of the motor between the current sampling moment and the previous sampling moment, which can be determined based on the temperature change rate corresponding to the current load current and the sampling time interval.

[0067] The sampling period of the motor can be set based on the temperature control accuracy of the motor. The smaller the sampling period, the higher the temperature control accuracy. Of course, the setting of the sampling period also needs to consider the computing resources of the control component, etc.

[0068] Step S52: Obtain the accumulated temperature change value corresponding to the current sampling moment, wherein the accumulated temperature change value is the sum of the accumulated temperature change value corresponding to the previous sampling moment and the current temperature change value.

[0069] The accumulated value of the temperature change at the previous sampling moment refers to the sum of the temperature change values ​​corresponding to each sampling moment from the first sampling moment of the load current of the motor to the previous sampling moment.

[0070] The sum of the current temperature change value and the temperature change cumulative value at the previous sampling moment is the temperature change cumulative value corresponding to the current sampling moment. Similarly, the temperature change cumulative value at the previous sampling moment is the sum of the temperature change value corresponding to the previous sampling moment and the temperature change cumulative value at the previous sampling moment.

[0071] Step S53: Determine the current temperature of the motor based on the accumulated value of temperature change at the current sampling moment and the ambient temperature.

[0072] Specifically, the sum of the temperature change accumulation value at the current sampling moment and the ambient temperature is obtained as the current temperature of the motor, wherein the ambient temperature may be 20°C-40°C.

[0073] Among them, when the motor heats up, the temperature change value is positive, and when the motor cools down, the temperature change value is negative.

[0074] Optionally, the heating rate of this embodiment is the slope of a straight line obtained by fitting the heating data of the motor from the ambient temperature to the time under multiple different preset load currents by the least squares method. Figure 5The method shown in the figure obtains the heating rate of the motor; the heating rate can be obtained by the above method before the motor leaves the factory, and the heating rate is pre-stored in the control part of the motor. Figure 5 As shown, Figure 5 1 is a flow chart of an embodiment of a method for obtaining a heating rate in a motor control method of the present application. The method of this embodiment specifically includes the following steps:

[0075] Step S61: controlling the motor to operate at a plurality of different preset load currents.

[0076] In one application scenario, the preset load current of the motor can be adjusted by changing the weight of the cleaning robot. The greater the weight, the greater the load current of the motor, and the higher the heat generated by the motor.

[0077] Step S62: Determine the temperature rise rate corresponding to the preset load current.

[0078] Specifically, the temperature rise data of the motor under a preset load current as the ambient temperature changes over time is obtained; the temperature rise data is fitted to a straight line using the least squares method, and the slope of the straight line is obtained as the temperature rise rate.

[0079] In this embodiment, the load current of the motor is first collected by the current collection component, and the temperature rise data of the motor temperature from the normal temperature, that is, the ambient temperature, is recorded under the load current. Then, the data of the temperature rise phase under different load currents are fitted to a straight line by the least square method to obtain the slope of the straight line, that is, the temperature rise rate, so as to obtain the temperature rise rate under different load currents.

[0080] Among them, the least squares method fits the straight line: The least squares method is one of the most commonly used linear regression solutions in mathematics. It uses known data to derive a straight line so that the sum of the squares of the distances between it and the known data in the coordinate system is minimized.

[0081] The present application establishes a matching relationship between multiple preset load currents and corresponding heating rates through steps S61 and S62, so that in the actual operation of the motor, the heating rate matching the current load current can be obtained as long as data query and matching is required, which can improve the efficiency of motor temperature control.

[0082] In one embodiment, the cooling rate is the slope of a straight line obtained by fitting the cooling data of the motor from the extreme high temperature reached by stalling to the ambient temperature using the least squares method.

[0083] Specifically, the motor is locked to reach the set extreme high temperature, and then the motor is given a normal workload to make the motor work under the worst working condition, and the cooling data of the motor from the extreme high temperature to the ambient temperature under the worst working condition is obtained. Then, the data of the cooling stage of the cooling data are fitted with a straight line by the least squares method to obtain the slope of the straight line, that is, the cooling rate.

[0084] Among them, the extreme high temperature can be set according to the performance parameters of the motor and the performance parameters of the cleaning robot to ensure the reliability of the motor and the cleaning robot.

[0085] The temperature reduction rate can be obtained by the above method before the motor leaves the factory, and the temperature reduction rate can be pre-stored in the control component of the motor.

[0086] The present application obtains the cooling rate in advance, so that in the actual operation of the motor, the cooling rate can be obtained as soon as data query is needed, which can improve the efficiency of motor temperature control.

[0087] If the heating rate and the cooling rate are obtained within the set time, the current temperature information of the motor is obtained based on the two; if only the heating rate is obtained within the set time, the current temperature of the motor is obtained based on the heating rate; if only the cooling rate is obtained within the set time, the current temperature of the motor is obtained based on the cooling rate.

[0088] In another embodiment, the motor temperature control method of the cleaning robot further includes: if the current temperature is greater than or equal to an upper limit value, controlling the motor to stop working.

[0089] The cleaning robot sets an upper limit value for the motor temperature. When the control component estimates that the temperature change of the motor is greater than or equal to the upper limit value, the control component controls the motor to stop working to achieve over-temperature protection for the motor.

[0090] The control component can also control other heat-generating components in the cleaning robot to stop working, control the cleaning robot to stop working to dissipate heat, and realize over-temperature protection of the cleaning robot.

[0091] Furthermore, after the control unit controls the motor to stop working, a prompt message may be generated to remind the user that the current cleaning robot is in a harsh environment, and the cleaning robot may be restarted after the user tidies up the environment.

[0092] The harsh environment includes, but is not limited to: foreign objects are stuck on the wheels, the cleaning robot is working on a particularly long carpet, the cleaning robot is working with heavy objects on it, etc.

[0093] The present application further proposes a computer storage medium, such as Figure 6 As shown, Figure 6The computer storage medium 90 of the embodiment of the present application stores program instructions 91 therein, and the program instructions 91 are executed to implement the motor temperature control method of the cleaning robot.

[0094] Among them, the program instructions 91 can form a program file and be stored in the above-mentioned storage medium in the form of a software product, so that an electronic device (which can be a personal computer, a server, or a network device, etc.) or a processor (processor) executes all or part of the steps of each implementation method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes, or terminal devices such as computers, servers, mobile phones, tablets, etc.

[0095] The computer storage medium 90 of this embodiment can be, but is not limited to, a USB flash drive, an SD card, a PD optical drive, a mobile hard disk, a large-capacity floppy drive, a flash memory, a multimedia memory card, a server, etc.

[0096] In one embodiment, a computer program product or computer program is provided, the computer program product or computer program includes computer instructions, the computer instructions are stored in a computer storage medium. A processor of an electronic device reads the computer instructions from the computer storage medium, and the processor executes the computer instructions, so that the electronic device performs the steps in the above-mentioned method embodiments.

[0097] In addition, if the above functions are implemented in the form of software functions and sold or used as independent products, they can be stored in a storage medium readable by a mobile terminal, that is, the present application also provides a storage device storing program data, the program data can be executed to implement the method of the above embodiment, and the storage device can be, for example, a USB flash drive, an optical disk, a server, etc. In other words, the present application can be embodied in the form of a software product, which includes a number of instructions for enabling a smart terminal to execute all or part of the steps of the method described in each embodiment.

[0098] The above description is only an implementation method of the present application, and does not 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 used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A motor temperature control method for a cleaning robot, characterized in that: include: Get the current load current of the motor; Acquire a temperature change rate that matches the current load current; A current temperature of the motor is determined based on the rate of temperature change.

2. The motor temperature control method according to claim 1, characterized in that: The obtaining of a temperature change rate matching the current load current includes: comparing the current load current with a current threshold; Acquire a temperature change rate matching the current load current based on the comparison result; The temperature change rate includes a heating rate or a cooling rate.

3. The motor temperature control method according to claim 2, characterized in that: The acquiring the temperature change rate matching the current load current based on the comparison result includes: If the current load current is greater than the current threshold, the heating rate matching the current load current is obtained.

4. The motor temperature control method according to claim 2, characterized in that: The acquiring the temperature change rate matching the current load current based on the comparison result includes: If the current load current is less than or equal to the current threshold, the cooling rate is obtained.

5. The motor temperature control method according to claim 2, characterized in that: The heating rate is the slope of a straight line obtained by fitting the heating data of the motor under a plurality of different preset load currents as the ambient temperature changes with time using the least squares method.

6. The motor temperature control method according to claim 2, characterized in that: The cooling rate is the slope of a straight line obtained by fitting the cooling data of the motor from the extreme high temperature reached by stalling to the ambient temperature using the least squares method.

7. The motor temperature control method according to claim 1, characterized in that: Determining the current temperature of the motor based on the temperature change rate includes: determining a current temperature change value of the motor based on the temperature change rate; Obtaining a temperature change cumulative value corresponding to a current sampling moment, wherein the temperature change cumulative value is the sum of the temperature change cumulative value corresponding to a previous sampling moment and the current temperature change value; The current temperature of the motor is determined based on the accumulated value of the temperature change at the current sampling moment and the ambient temperature.

8. The motor temperature control method according to claim 1, characterized in that: The motor temperature control method further comprises: If the current temperature is greater than the upper limit value, the motor is controlled to stop working.

9. A cleaning robot, characterized in that: include: Moving parts; A motor connected to the moving part and used to provide driving force to the moving part; A control component, connected to the motor, and used to control the operation of the motor; A current acquisition component is connected to the control component and the motor, and the current acquisition component is used to collect the current load current of the motor. The control component obtains the current load current of the motor and the temperature change rate matching the current load current, and determines the current temperature of the motor based on the temperature change rate.

10. The cleaning robot according to claim 9, characterized in that: The moving parts include: driving wheels or side wheels or mops or rolling brushes.

Images