Motor control method, control equipment and dust collection equipment

Abstract

The invention relates to the technical field of electric appliances, in particular to a motor control method, control equipment and dust collection device.The method comprises the steps that under the condition that the dust collection equipment is started, a main motor of the dust collection equipment is controlled to be started, controlling the operation power of the main motor to gradually increase to the target starting power based on a starting power strategy corresponding to the target operation mode; the target operation mode comprises a soft operation mode or a normal operation mode, and in the process that the operation power of the main motor is gradually increased to the target starting power, the power up-regulation average speed indicated by the starting power strategy corresponding to the soft operation mode is smaller than the power up-regulation average speed indicated by the starting power strategy corresponding to the normal operation mode. The cleaning effect can be ensured, and the starting noise influence of the dust collection equipment can be effectively reduced.

Description

Technical Field

[0001] The present application relates to the technical field of electrical appliances, and particularly to a motor control method, a control device, and a vacuum cleaning device. Background Art

[0002] Vacuum cleaning devices have become important cleaning devices at present and are widely used in scenarios such as household cleaning and office cleaning. When a vacuum cleaning device starts, noise is inevitably generated, which in turn causes discomfort to relevant objects. For example, in a family with children and pets, the starting noise of the vacuum cleaner may cause fright or noise stress reactions, resulting in screaming and restlessness, etc., affecting the physical and mental health of relevant objects. Summary of the Invention

[0003] The present application provides a motor control method, a control device, and a vacuum cleaning device, which can effectively reduce the noise when the device starts, reduce the discomfort of relevant objects, and improve the user experience of the device on the premise of ensuring the cleaning effect.

[0004] On the one hand, the present application provides a motor control method applied to a vacuum cleaning device, and the method includes:

[0005] When the vacuum cleaning device starts, controlling the main motor of the vacuum cleaning device to start;

[0006] Controlling the operating power of the main motor to gradually increase to the target starting power based on the starting power strategy corresponding to the target operating mode;

[0007] The target operating mode includes a soft sound operating mode or a normal operating mode. During the process of gradually increasing the operating power of the main motor to the target starting power, the power increase average speed indicated by the starting power strategy corresponding to the soft sound operating mode is less than the power increase average speed indicated by the starting power strategy corresponding to the normal operating mode.

[0008] In a possible implementation manner, within the time period from the starting moment of the main motor to the moment when the operating power of the main motor reaches the target starting power, at the same moment, the operating power of the main motor corresponding to the soft sound operating mode is less than the operating power of the main motor corresponding to the normal operating mode.

[0009] In a possible implementation manner, the power increase average speed indicated by the starting power strategy refers to the average power change speed of the operating power of the main motor within the time period from the starting moment of the main motor to the moment when the operating power of the main motor reaches the target starting power.

[0010] In a possible implementation manner, if the target operating mode is the normal operating mode, controlling the operating power of the main motor to gradually increase to the target starting power based on the starting power strategy corresponding to the target operating mode includes:

[0011] Taking the first duration as the total increasing duration of the main motor, control the operating power of the main motor to increase uniformly to the target starting power;

[0012] Or,

[0013] Control the operating power of the main motor to increase uniformly to the target starting power at a first power change rate as the power increasing rate.

[0014] In a possible implementation, if the target operating mode is the soft voice operating mode, controlling the operating power of the main motor to gradually increase to the target starting power according to the starting power strategy corresponding to the target operating mode includes:

[0015] Taking the second duration as the total increasing duration of the main motor, control the operating power of the main motor to increase uniformly to the target starting power; the second duration is greater than the first duration, and the first duration is the total increasing duration indicated by the starting power strategy corresponding to the normal operating mode;

[0016] Or,

[0017] Control the operating power of the main motor to increase uniformly to the target starting power at a second power change rate as the power increasing rate; the second power change rate is greater than the first power change rate, and the first power change rate is the power increasing rate indicated by the starting power strategy corresponding to the normal operating mode.

[0018] In a possible implementation, if the target operating mode is the soft voice operating mode, controlling the operating power of the main motor to gradually increase to the target starting power according to the starting power strategy corresponding to the target operating mode includes:

[0019] Control the operating power of the main motor to increase step by step to the target starting power. The step - by - step increase means that the process of increasing the operating power to the target starting power includes at least two increasing stages and at least one platform stage that is temporally located between the two increasing stages, and the main motor operates at a stable operating power during the platform stage.

[0020] In a possible implementation, the power increasing rates corresponding to the at least two increasing stages are the same;

[0021] Or,

[0022] The at least two increasing stages correspond to at least a third power change rate and a fourth power change rate. The third power change rate is less than the fourth power change rate, and the increasing stage using the third power change rate is earlier in time sequence than the increasing stage using the fourth power change rate.

[0023] In a possible implementation manner, controlling the start of the main motor includes:

[0024] Controlling the main motor to start with an initial start-up power corresponding to the target operation mode;

[0025] The initial start-up power indicated by the start-up power strategy corresponding to the gentle operation mode is less than the initial start-up power indicated by the start-up power strategy corresponding to the normal operation mode;

[0026] Controlling the operating power of the main motor to gradually increase to the target start-up power based on the start-up power strategy corresponding to the target operation mode includes:

[0027] Controlling the operating power of the main motor to gradually increase from the initial start-up power to the target start-up power based on the start-up power strategy corresponding to the target operation mode.

[0028] In a possible implementation manner, after controlling the operating power of the main motor to gradually increase to the target start-up power based on the start-up power strategy corresponding to the target operation mode, the method further includes:

[0029] In a state where the operation gear of the dust collection device is in the automatic gear, monitoring the detection parameter information collected by the detection device of the dust collection device, where the detection parameter information includes at least one detection value;

[0030] Controlling the operating power of the main motor according to the power adjustment strategy corresponding to the target operation mode and the detection parameter information, where the power adjustment strategy is used to indicate the mapping relationship between different detection values and multiple motor powers in the automatic gear state of the target operation mode.

[0031] In a possible implementation manner, the detection device includes a dirt detection module and a motor current detection module, and the detection parameter information includes the dirt degree value periodically collected by the dirt detection module and the floor brush motor current value periodically collected by the motor current detection module; the power adjustment strategy is used to indicate the mapping relationship between different dirt degree values, different floor brush motor current values and multiple motor powers in the automatic gear state of the target operation mode;

[0032] Controlling the operating power of the main motor according to the power adjustment strategy corresponding to the target operation mode and the detection parameter information includes:

[0033] Periodically determining the motor power corresponding to the dirt degree value and the floor brush motor current value according to the power adjustment strategy, and using the determined motor power as the target operating power of the main motor;

[0034] Controlling the motor module to operate with the target operating power.

[0035] In a possible implementation, in the power adjustment strategy corresponding to the soft running mode and the power adjustment strategy corresponding to the normal running mode:

[0036] The motor power corresponding to the same detection parameter information is the same;

[0037] In the case of the same detection parameter information, the average power increase speed corresponding to the soft running mode is less than the average power increase speed corresponding to the normal running mode.

[0038] In a possible implementation, in the power adjustment strategy corresponding to the soft running mode and the power adjustment strategy corresponding to the normal running mode, in the case of the same detection parameter information, the average power decrease speed corresponding to the soft running mode is greater than or equal to the average power decrease speed corresponding to the normal running mode.

[0039] In a possible implementation, the power adjustment strategy is further used to indicate the mapping relationship between different detection values, multiple motor powers, and multiple power conversion levels in the automatic gear state of the target running mode. The power conversion level is a working gear set for the vacuuming device with a corresponding preset motor power, and the detection values corresponding to different power conversion levels are different;

[0040] If the target running mode is the soft running mode, in the automatic gear state, if the target running power in the subsequent cycle is higher than the target running power in the previous cycle in adjacent cycles, and the target running power in the subsequent cycle and the target running power in the previous cycle span at least one power conversion level, during the power increase adjustment process, control the running power of the main motor to increase to the motor power corresponding to each power conversion level and then maintain the operation for a first preset duration.

[0041] In a possible implementation, in the automatic gear state of the soft running mode, if the target running power in the subsequent cycle is lower than the target running power in the previous cycle in adjacent cycles, and the target running power in the subsequent cycle and the target running power in the previous cycle span at least one power conversion level, during the power decrease adjustment process, control the running power of the main motor to decrease uniformly.

[0042] In a possible implementation, if the target running mode is the normal running mode, in the automatic gear state, if the target running power in the subsequent cycle is lower than the target running power in the previous cycle in adjacent cycles, and the target running power in the subsequent cycle and the target running power in the previous cycle span at least one power conversion level, during the power decrease adjustment process, control the running power of the main motor to decrease to the motor power corresponding to each power conversion level and then maintain the operation for a second preset duration.

[0043] In a possible implementation, in the automatic gear state of the normal operation mode, if the target operating power in the latter cycle is higher than that in the previous cycle, and there is at least one power conversion gear level between the latter target operating power and the previous target operating power, during the power increase adjustment process, the operating power of the main motor is controlled to increase uniformly.

[0044] In a possible implementation, before the power decrease adjustment process, the method further includes:

[0045] Obtaining the duration of the main motor running at the previous target operating power;

[0046] If the duration is greater than or equal to a third preset duration, trigger the power decrease adjustment of the main motor.

[0047] On the other hand, the present application also provides a dust collection device, including:

[0048] A motor control module: used to control the main motor of the dust collection device to start when the dust collection device is started, and control the operating power of the main motor to gradually increase to the target starting power based on the starting power strategy corresponding to the target operation mode;

[0049] The target operation mode includes a soft voice operation mode or a normal operation mode. During the process of gradually increasing the operating power of the main motor to the target starting power, the power increase speed indicated by the starting power strategy corresponding to the soft voice operation mode is less than the power increase speed indicated by the starting power strategy corresponding to the normal operation mode.

[0050] In a possible implementation, within the time period from the starting moment of the main motor to the moment when the operating power of the main motor reaches the target starting power, at the same moment, the operating power of the main motor corresponding to the soft voice operation mode is less than the operating power of the main motor corresponding to the normal operation mode.

[0051] In a possible implementation, the power increase speed indicated by the starting power strategy refers to the average power change speed of the operating power of the main motor within the time period from the starting moment of the main motor to the moment when the operating power of the main motor reaches the target starting power.

[0052] In a possible implementation, the motor control module includes:

[0053] A first control sub-module: used to control the operating power of the main motor to increase uniformly to the target starting power with the first duration as the total increase duration of the main motor if the target operation mode is the normal operation mode;

[0054] Or,

[0055] When the target operation mode is the normal operation mode, control the operating power of the main motor to increase uniformly at a first power change rate until the target starting power is reached.

[0056] In a possible implementation, when the target operation mode is the soft voice operation mode, the motor control module includes:

[0057] A second control sub-module: When the target operation mode is the soft voice operation mode, use a second duration as the total increase duration of the main motor, and control the operating power of the main motor to increase uniformly until the target starting power is reached; the second duration is greater than the first duration, and the first duration is the total increase duration indicated by the starting power strategy corresponding to the normal operation mode;

[0058] Or,

[0059] When the target operation mode is the soft voice operation mode, control the operating power of the main motor to increase uniformly at a second power change rate until the target starting power is reached; the second power change rate is greater than the first power change rate, and the first power change rate is the power increase rate indicated by the starting power strategy corresponding to the normal operation mode.

[0060] In a possible implementation, the motor control module includes:

[0061] A third control sub-module: When the target operation mode is the soft voice operation mode, control the operating power of the main motor to increase step by step until the target starting power is reached. The step-by-step increase means that the process of increasing the operating power to the target starting power includes at least two increase stages and at least one platform stage that is temporally located between the two increase stages, and the main motor operates at a stable operating power during the platform stage.

[0062] In a possible implementation, the power increase rates corresponding to the at least two increase stages are the same;

[0063] Or,

[0064] The at least two increase stages correspond to at least a third power change rate and a fourth power change rate. The third power change rate is less than the fourth power change rate, and the increase stage using the third power change rate is earlier in time than the increase stage using the fourth power change rate.

[0065] In a possible implementation, the motor control module is further configured to: control the main motor to start with an initial starting power corresponding to the target operation mode; the initial starting power indicated by the starting power strategy corresponding to the soft running mode is less than the initial starting power indicated by the starting power strategy corresponding to the normal running mode;

[0066] and is configured to control the operating power of the main motor to gradually increase from the initial starting power to the target starting power based on the starting power strategy corresponding to the target operation mode.

[0067] In a possible implementation, the vacuuming device further includes:

[0068] a detection parameter monitoring module: configured to, after controlling the operating power of the main motor to gradually increase to the target starting power based on the starting power strategy corresponding to the target operation mode, monitor the detection parameter information collected by the detection device of the vacuuming device in a state where the operation gear of the vacuuming device is in the automatic gear, and the detection parameter information includes at least one detection value;

[0069] The motor control module is further configured to control the operating power of the main motor according to the power adjustment strategy corresponding to the target operation mode and the detection parameter information, and the power adjustment strategy is used to indicate the mapping relationship between different detection values and multiple motor powers in the automatic gear state of the target operation mode.

[0070] In a possible implementation, the detection device includes a dirt detection module and a motor current detection module, and the detection parameter information includes the dirt degree value periodically collected by the dirt detection module and the floor brush motor current value periodically collected by the motor current detection module; the power adjustment strategy is used to indicate the mapping relationship between different dirt degree values, different floor brush motor current values and multiple motor powers in the automatic gear state of the target operation mode;

[0071] The motor control module includes:

[0072] an operating power determination sub-module: configured to periodically determine the motor power corresponding to the dirt degree value and the floor brush motor current value according to the power adjustment strategy, and use the determined motor power as the target operating power of the main motor;

[0073] a fourth control sub-module: configured to control the motor module to operate with the target operating power.

[0074] In a possible implementation, in the power adjustment strategy corresponding to the soft running mode and the power adjustment strategy corresponding to the normal running mode:

[0075] the motor powers corresponding to the same detection parameter information are the same;

[0076] Under the condition of the same detected parameter information, the average power increase rate corresponding to the soft voice operation mode is less than the average power increase rate corresponding to the normal operation mode.

[0077] In a possible implementation manner, among the power adjustment strategies corresponding to the soft voice operation mode and the power adjustment strategies corresponding to the normal operation mode, under the condition of the same detected parameter information, the average power decrease rate corresponding to the soft voice operation mode is greater than or equal to the average power decrease rate corresponding to the normal operation mode.

[0078] In a possible implementation manner, the power adjustment strategy is further used to indicate the mapping relationship between different detected values, multiple motor powers, and multiple power conversion levels in the automatic gear state of the target operation mode. The power conversion level is a working gear set for the vacuuming device with a corresponding preset motor power, and the detected values corresponding to different power conversion levels are different;

[0079] The motor control module is further configured to: if the target operation mode is the soft voice operation mode, in the automatic gear state, if the subsequent target operation power is higher than the previous target operation power in adjacent cycles, and the subsequent target operation power and the previous target operation power span at least one power conversion level, during the power increase adjustment process, control the operation power of the main motor to increase to the motor power corresponding to each power conversion level and then maintain the operation for a first preset duration.

[0080] In a possible implementation manner, the motor control module is further configured to: in the automatic gear state of the soft voice operation mode, if the subsequent target operation power is lower than the previous target operation power in adjacent cycles, and the subsequent target operation power and the previous target operation power span at least one power conversion level, during the power decrease adjustment process, control the operation power of the main motor to decrease uniformly.

[0081] In a possible implementation manner, the motor control module is further configured to: if the target operation mode is the normal operation mode, in the automatic gear state, if the subsequent target operation power is lower than the previous target operation power in adjacent cycles, and the subsequent target operation power and the previous target operation power span at least one power conversion level, during the power decrease adjustment process, control the operation power of the main motor to decrease to the motor power corresponding to each power conversion level and then maintain the operation for a second preset duration.

[0082] In a possible implementation, the motor control module is further configured to: in the automatic gear state of the normal operation mode, if the target operating power in a subsequent period is higher than that in a previous period in adjacent periods, and there is at least one power conversion level spanned between the target operating power in the subsequent period and the target operating power in the previous period, during the power increase adjustment process, control the operating power of the main motor to increase uniformly.

[0083] In a possible implementation, the dust collection device further includes:

[0084] A duration acquisition module: configured to acquire the duration of the main motor operating at the previous target operating power before the power decrease adjustment process;

[0085] The motor control module is further configured to: if the duration is greater than or equal to a third preset duration, trigger the power decrease adjustment of the main motor.

[0086] On the other hand, the present application further provides a motor control device, the device includes a processor and a memory, and at least one instruction or at least one program segment is stored in the memory, and the at least one instruction or the at least one program segment is loaded and executed by the processor to implement the motor control method as described above.

[0087] On the other hand, the present application further provides a motor control system, the system includes the above-mentioned motor control device or motor control equipment.

[0088] On the other hand, the present application further provides a computer-readable storage medium, and at least one instruction or at least one program segment is stored in the storage medium, and the at least one instruction or the at least one program segment is loaded and executed by a processor to implement the motor control method as described above.

[0089] A motor control method, control device, system, storage medium and dust collection device provided by the present application have the following technical effects:

[0090] The technical solution of the present application, when the dust collection device is started, obtains the target operation mode of the dust collection device; controls the start of the main motor of the dust collection device, and controls the operating power of the main motor to gradually increase to the target start power based on the start power strategy corresponding to the target operation mode; the target operation mode includes a soft sound operation mode or a normal operation mode, and during the process of gradually increasing the operating power of the main motor to the target start power, the power increase speed indicated by the start power strategy corresponding to the soft sound operation mode is less than the power increase speed indicated by the start power strategy corresponding to the normal operation mode; thus, while not sacrificing the cleaning effect, noise mutation is avoided, the noise during device startup is effectively reduced, the harm of startup noise and the discomfort of related objects are reduced, and the product experience is improved. Description of the Drawings

[0091] To more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0092] Figure 1 It is a structural framework diagram of a dust collection device provided by an embodiment of the present application;

[0093] Figure 2 It is a schematic flowchart of a motor control method provided by an embodiment of the present application;

[0094] Figure 3 It is a schematic flowchart of another motor control method provided by an embodiment of the present application;

[0095] Figure 4 It is a schematic flowchart of another motor control method provided by an embodiment of the present application;

[0096] Figure 5 It is a schematic flowchart of another motor control method provided by an embodiment of the present application;

[0097] Figure 6 It is a schematic flowchart of another motor control method provided by an embodiment of the present application;

[0098] Figure 7 It is a schematic flowchart of another motor control method provided by an embodiment of the present application;

[0099] Figure 8 It is a schematic flowchart of another motor control method provided by an embodiment of the present application;

[0100] Figure 9 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0101] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0102] It should be noted that the terms "first", "second", etc. in the description, claims and the above-mentioned drawings of the present application are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described here can be implemented in an order other than 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 server comprising a series of steps or units does not necessarily 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.

[0103] The following combination Figure 1Introduce the structural framework diagram of the vacuuming device provided by some embodiments of the present application. The vacuuming device includes a control device, a motor drive module, a motor module, a detection device, a storage module, a display module, and a key detection module. Specifically, the control device is used to control the operation of the whole machine. For example, by obtaining the status of the key detection module, it controls functions such as turning the whole machine on / off, gear shifting, and mode switching; obtains the status of the keys and each module, determines the operating power required by the motor module currently, and outputs it to the motor drive module. For example, by receiving the information of the detection device, the key detection module, and the storage module, it determines the operating power required by the motor module currently according to the corresponding logic of the program, and controls the operation of the main motor and the floor brush motor through the motor drive module; the motor drive module is used to control the motor module to operate at the corresponding power according to the operating power signal sent by the control device; the motor module is controlled by the motor drive module and is used for functions such as vacuuming. It can include a main motor and a floor brush motor. The main motor is the motor used to provide suction force; the key detection module can include multiple keys, which can be physical keys or virtual keys, and can convert the operation information received by the keys into key signals and send them to the control device; exemplarily, the key detection module can at least include three keys, namely the power-on key, the gear-shifting key, and the soft sound mode key; the storage module is used to store the operation data of the vacuuming device, read and write through the control device, and can also be used for power-off error reporting, etc. Exemplarily, it can be used to store startup mode information such as whether the soft sound operation mode is enabled. For example, if it is enabled during this operation, after power-off and shutdown, when starting up next time, the soft sound operation mode is still enabled. If it is disabled during this operation, after power-off and shutdown, when starting up next time, the soft sound operation mode is still disabled; the display module can be used to display information such as the current battery level, the current gear, the dirt level value, and the status of the soft sound operation mode under the control of the control device when the whole machine is powered on and running; the detection device can include a dirt detection module and a motor current detection module, etc. The dirt detection module is located near the suction port of the vacuuming device. In the working state, it can sense the amount of dirt sucked into the vacuuming device and convert it into a dirt level value and transmit it to the control device. The dirt level value can include, but is not limited to, dust concentration, etc.; the motor current detection module can collect the current value of the floor brush motor during the operation of the whole machine and convert it into a digital quantity and transmit it to the control device. This floor brush motor current value can be the working current value of the floor brush motor. The larger the current value of the floor brush motor, the greater the floor brush load, the rougher the ground or the more garbage on the ground, etc. On the contrary, the smaller it is, the smaller the floor brush load, the smoother the ground or the less garbage on the ground, etc.

[0104] The following introduces the motor control method of this application, which is applied to a dust collection device. The dust collection device includes a motor module and a detection device. This application provides the method operation steps such as in the embodiments or flowcharts, but based on routine or non-creative labor, it may include more or fewer operation steps. The step sequences listed in the embodiments are only one way among the execution sequences of numerous steps and do not represent the only execution sequence. When the actual device, system, or equipment product executes, it can be executed in the method sequence shown in the embodiments or the drawings or executed in parallel (such as in an environment of parallel processors or multi-threaded processing). Specifically, referring to Figure 2 , the method may include:

[0105] S201: When the dust collection device starts, control the main motor of the dust collection device to start;

[0106] S203: And control the operating power of the main motor to gradually increase to the target starting power based on the starting power strategy corresponding to the target operating mode.

[0107] Specifically, the start of the dust collection device may refer to the power-on of the dust collection device and the triggering of the start of its operating mode. The target operating mode may at least include a soft operation mode or a normal operation mode. The storage module stores the starting power strategies corresponding to each operating mode. The starting power strategy is used to indicate the power increasing method during the start of the main motor in the corresponding operating mode, including at least one of the total increasing duration, the power increasing rate, the increasing method (such as uniform increasing or stepped increasing, etc.), and the initial starting power.

[0108] Specifically, both the soft operation mode and the normal operation mode control the operating power of the main motor to reach the target starting power based on their respective starting power strategies. Exemplarily, the target starting power may be 30% of the maximum value (Pn) of the rated power of the main motor.

[0109] Specifically, in the state of starting in the soft operation mode, the display module can be controlled to display the opening indication information of the soft operation mode. In the state of starting in the normal operation mode, the display module can be controlled to display the opening indication information of the normal operation mode.

[0110] In some embodiments, within the time period starting from the startup moment of the main motor until the operating power of the main motor reaches the target startup power, at the same moment, the operating power of the main motor corresponding to the soft running mode is less than that corresponding to the normal running mode. That is, in the soft running mode, the time period from the startup moment of the main motor until the operating power of the main motor reaches the target startup power is the first time period, and in the normal running mode, the time period from the startup moment of the main motor until the operating power of the main motor reaches the target startup power is the second time period. Align the start times of the first time period and the second time period. At the same moment, the operating power of the main motor at this moment in the first time period is less than that of the main motor at this moment in the second time period. In this way, it further ensures a small noise change during the soft startup process to optimize the soft startup process.

[0111] Specifically, during the process of the operating power of the main motor gradually increasing to the target startup power, the average power increase rate indicated by the startup power strategy corresponding to the soft running mode is less than that corresponding to the normal running mode. The average power increase rate indicated by the startup power strategy refers to the average power change speed (V stat ) of the operating power of the main motor within the time period (T) from the startup moment of the main motor until the operating power of the main motor reaches the target startup power (P aver ), V aver = P stat / T.

[0112] In this way, the main motor is started to the target startup power in an increasing manner, reducing the impact of sudden startup noise changes. By setting the average power increase rate of the soft running mode to be less than that of the normal running mode, the startup power increase speed is slowed down. Without sacrificing the cleaning effect, it further avoids sudden noise changes in the soft running mode, makes the noise increase slowly to achieve soft startup, increases the buffering time of surrounding objects for the startup noise, reduces the harm of startup noise, and improves the product experience.

[0113] In some embodiments, before S201, referring to Figure 3 , the method further includes S101 - S105:

[0114] S101: In response to the dust collection device startup event, obtain the startup mode information of the dust collection device;

[0115] S103: If the startup mode information indicates the soft running mode, determine the target running mode as the soft running mode;

[0116] S103: If the startup mode information indicates the normal running mode, determine the target running mode as the normal running mode.

[0117] Specifically, the dust collection device startup event can be triggered by a manual power-on operation and / or a startup operation, or it can also be automatically triggered by a timing setting. The control device reads the startup mode information stored in the storage module in response to the dust collection device startup event, and the startup mode information is used to indicate the operating mode automatically selected after the dust collection device starts up. The dust collection device can be set with at least two operating modes, such as including a soft sound operating mode and a normal operating mode, etc. It can be understood that more working modes can also be set, such as a high-speed operating mode, an ultra-high-speed operating mode, etc. In one embodiment, the startup mode information can be the operating mode information saved by the user before the last shutdown. For example, if the device is set with two working modes, the soft sound operating mode and the normal operating mode, and the soft sound operating mode is set to be on at the previous shutdown, then after the next startup, the startup mode information indicates starting in the soft sound operating mode. If the normal operating mode is set to be off at the previous shutdown, then the startup mode information for the next startup indicates starting in the normal operating mode. In this way, the operating mode at the previous shutdown is reproduced at the current startup by means of memory. In another embodiment, the startup mode information can be the default operating mode information selected by the user. In yet another embodiment, the startup mode information can be calculated based on the user's preferences. Of course, there can also be other implementation manners. The current operating mode of the device can be displayed through the display module. For example, an indicator light corresponding to the soft sound operating mode is set, and when the soft sound operating mode is turned on, the corresponding indicator light is controlled to turn on, so as to facilitate the user to understand the current working state information.

[0118] In some embodiments, controlling the main motor to start in S201 includes: controlling the main motor to start with the initial startup power corresponding to the target operating mode;

[0119] Correspondingly, in S203, controlling the operating power of the main motor to gradually increase to the target startup power based on the startup power strategy corresponding to the target operating mode includes: controlling the operating power of the main motor to gradually increase from the initial startup power to the target startup power based on the startup power strategy corresponding to the target operating mode.

[0120] Specifically, the initial startup power refers to the power output by the main motor after being powered on and loaded with an electrical signal in the corresponding operating mode. The initial startup power indicated by the startup power strategy corresponding to the soft sound operating mode is less than the initial startup power indicated by the startup power strategy corresponding to the normal operating mode. Exemplarily, the initial startup power corresponding to the soft sound operating mode can be 5% Pn, and the initial startup power corresponding to the normal operating mode can be 10% Pn. By setting a lower power to start, the impact of sudden initial noise is further reduced. And in the case where the dust collection device switches from other modes to the soft sound operating mode during operation, by setting a lower initial startup power, the operating noise can also be reduced to meet the user's demand for silent switching.

[0121] Understandably, in some cases, the starting power strategy presets the total increasing duration from the start of the independent motor to reaching the target starting power.

[0122] Correspondingly, in some embodiments, if the target operating mode is the normal operating mode, controlling the operating power of the main motor to gradually increase to the target starting power in S203 based on the starting power strategy corresponding to the target operating mode includes: using the first duration as the total increasing duration of the main motor, and controlling the operating power of the main motor to increase uniformly to the target starting power.

[0123] Specifically, the first duration is the total increasing duration indicated by the starting power strategy corresponding to the normal operating mode; by controlling the increasing duration, the growth rate of the main motor power can be adapted to the normal operating mode, thereby ensuring a quick entry into the cleaning state, and making the main motor power increase uniformly, reducing the impact of noise mutation.

[0124] In some embodiments, if the target operating mode is the soft sound operating mode, controlling the operating power of the main motor to gradually increase to the target starting power in S203 based on the starting power strategy corresponding to the target operating mode includes: using the second duration as the total increasing duration of the main motor, and controlling the operating power of the main motor to increase uniformly to the target starting power; the second duration is the total increasing duration indicated by the starting power strategy corresponding to the soft sound operating mode, and the second duration is greater than the first duration, that is, the second duration is A times the first duration, and A is greater than 1; thus, by controlling the longer increasing duration and the uniform power increasing method, it is ensured that the starting process of the soft sound operating mode has a lower average power increase rate, avoiding noise mutation during the starting process.

[0125] Understandably, in some cases, the starting power strategy presets the power increasing rate during the process from the start of the independent motor to reaching the target starting power.

[0126] Correspondingly, in some embodiments, if the target operating mode is the normal operating mode, controlling the operating power of the main motor to gradually increase to the target starting power in S203 based on the starting power strategy corresponding to the target operating mode includes: controlling the operating power of the main motor to increase uniformly to the target starting power at the first power change rate as the power increasing rate.

[0127] Specifically, the first power change rate is the power increasing rate indicated by the starting power strategy corresponding to the normal operation mode, that is, the power increasing rate during the starting process of the main motor. Exemplarily, it can be 50% Pn / second. Correspondingly, in one embodiment, the starting process of the normal operation mode is: after starting with 10% Pn, the power is increased at a power increasing rate of 50% Pn / second until it reaches 30% Pn, achieving the target starting power. Specifically, the first power change rate of the normal operation mode is higher than the second power change rate of the soft sound operation mode. In this way, by setting the power increasing speed matching the normal operation mode, the main motor can be quickly started to meet the high-efficiency cleaning requirements in scenarios with low noise impact.

[0128] In some embodiments, if the target operation mode is the soft sound operation mode, in S203, controlling the operating power of the main motor to gradually increase to the target starting power based on the starting power strategy corresponding to the target operation mode includes: controlling the operating power of the main motor to uniformly increase to the target starting power at a power increasing rate of the second power change rate; the second power change rate is greater than the first power change rate.

[0129] Specifically, the second power change rate is the power increasing rate indicated by the starting power strategy corresponding to the soft sound operation mode. Exemplarily, it can be 5% Pn / second. Correspondingly, in one embodiment, the starting process of the soft sound operation mode is: after starting with 5% Pn, the power is increased at a power increasing rate of 5% Pn / second until it reaches 30% Pn, achieving the target starting power. Specifically, the second power change rate of the soft sound operation mode is lower than the first power change rate of the normal operation mode. In this way, by setting the power increasing speed matching the soft sound operation mode, the main motor can be slowly and softly started, reducing the significant increase in noise during the starting and running of the vacuuming device, thereby enhancing the product experience. In addition, when the vacuuming device switches from other modes to the soft sound operation mode during operation, by setting the corresponding soft sound initial starting power and power change rate, the running noise can also be reduced to meet the user's silent switching requirement and avoid scaring the surrounding objects.

[0130] It can be understood that in some cases, the starting power strategy presets the increasing manner during the starting process of the main motor, such as a stepped increasing manner.

[0131] Accordingly, in some embodiments, if the target operation mode is the soft sound operation mode, in S203, controlling the operating power of the main motor to gradually increase to the target starting power based on the starting power strategy corresponding to the target operation mode includes: controlling the operating power of the main motor to increase step by step to the target starting power. The step-by-step increase means that the process of increasing the operating power to the target starting power includes at least two increasing stages and at least one platform stage that is temporally located between the two increasing stages. The main motor operates at a stable operating power during the platform stage. That is, during the power increase process, the main motor has a platform stage with stable power operation, and the operating power is basically unchanged or the change value is within a certain range during this stage, so as to reach a stable state after the power has increased for a period of time, maintain for a certain duration, and then perform the next stage of power increase, so as to further reduce the average power increase rate during the start-up process in the soft sound operation mode and avoid sudden noise changes. Preferably, the power of the main motor increases uniformly during the increasing stage.

[0132] In some embodiments, the step-by-step increase divides the increasing stage and the platform stage based on a preset power node. The power node refers to the power turning point between adjacent increasing stages and platform stages. Exemplarily, the step-by-step increase process of the soft sound operation mode is as follows: in the first increasing stage, starting from the start of the main motor, it increases to 20% of the target starting power at the fifth power change rate, and the platform stage is to work at this 20% of the target starting power for a period of time. In the second increasing stage, it continues to increase to the target starting power at the fifth power change rate. The fifth power change rate may be the same as or different from the aforementioned second power change rate.

[0133] In one embodiment, the step-by-step increase process may include at least two platform stages; Exemplarily, first increase to 20% of the target starting power at the sixth power change rate (the first increasing stage), work at this 20% of the target starting power for a period of time (the first platform stage), then increase to 60% of the target starting power at the sixth power change rate (the second increasing stage), continue to work for a period of time (the second platform stage), and then continue to increase to the target starting power at the sixth power change rate (the third increasing stage). The sixth power change rate may be the same as or different from the aforementioned second power change rate, or the first power change rate may be the same as or different from the aforementioned first power change rate.

[0134] In some cases, the power increase rates corresponding to at least two increasing stages are the same; the power increase rate may be, for example, the aforementioned second power change rate or the first power change rate. In this way, the complexity of the increase control is simplified.

[0135] In other cases, at least two increasing stages respectively correspond to at least a third power change rate and a fourth power change rate, the third power change rate is less than the fourth power change rate, and the increasing stage adopting the third power change rate is earlier in time than the increasing stage adopting the fourth power change rate. That is, in the earlier increasing stage after the main motor starts, a smaller and slower power increase method is adopted to further slow down the noise change after sudden start. Exemplarily, the third power change rate may be the same as the aforementioned second power change rate, and the fourth power change rate may be the same as the aforementioned first power change rate.

[0136] Exemplarily, the stepped increase process of the soft running mode is as follows: first increase to 20% of the target starting power at the third power change rate (the first increasing stage), work at this 20% of the target starting power for a period of time (the first platform stage), then increase to 60% of the target starting power at the second power change rate (the second increasing stage), continue to work for a period of time (the second platform stage), and then continue to increase to the target starting power at the fourth power change rate (the third increasing stage).

[0137] Based on some or all of the above embodiments, in some embodiments, referring to Figure 4 , after S203, the method further includes S205 - S207:

[0138] S205: Monitor the detection parameter information collected by the detection device of the dust collection device when the operation gear of the dust collection device is in the automatic gear state.

[0139] Specifically, the automatic gear refers to a gear that intelligently adapts the motor operating power based on the detection parameter information. In some embodiments, the automatic gear is the default gear when the dust collection device starts. In other embodiments, the automatic gear can also be a gear obtained by intelligent calculation based on the historical usage data of the dust collection device.

[0140] Specifically, the detection parameter information refers to the status parameters collected by the detection device, which are used to indicate the operating status of the detected component and include at least one detection value. For example, the detection parameter information may include the dirtiness degree value and the floor brush motor current value, etc. The dirtiness degree value is used to indicate the amount of dirt inhaled by the dust collection component of the dust collection device, and the floor brush motor current value is used to indicate the working current value of the floor brush motor. The larger the working current value of the floor brush motor, the greater the floor brush load, the rougher the ground or the more ground garbage, etc. On the contrary, the smaller it is, the smaller the floor brush load, the smoother the ground or the less ground garbage, etc. Combining the detection parameter information can predict the dirtiness status of the current working area of the dust collection device, and then determine the appropriate motor power.

[0141] S207: Control the operating power of the main motor according to the power adjustment strategy corresponding to the target operating mode and the detection parameter information.

[0142] Specifically, the storage module stores power adjustment strategies corresponding to respective operation modes, and the power adjustment strategies for different operation modes are different from each other. Specifically, the power adjustment strategy is used to indicate the mapping relationship between different detection values and multiple motor powers in the automatic gear state of the target operation mode. For example, it may include a first power adjustment strategy and a second power adjustment strategy. The first power adjustment strategy is used to indicate the mapping relationship between different detection values and multiple motor powers in the automatic gear state of the normal operation mode, and the second power adjustment strategy is used to indicate the mapping relationship between different detection values and multiple motor powers in the automatic gear state of the soft voice operation mode. Combining the mapping relationship in the power adjustment strategy, the appropriate motor power is determined based on the currently acquired detection parameter information, and then the main motor in the motor module is controlled to operate at the corresponding motor power to achieve intelligent cleaning.

[0143] In some embodiments, the average motor power corresponding to the first power adjustment strategy is the same as the average motor power corresponding to the second power adjustment strategy. The average motor power refers to the average value of the motor powers of each power change level involved in the corresponding power adjustment strategy. Under the conditions of the same starting operating power and target operating power, the power increase average speed corresponding to the first power adjustment strategy is greater than the power increase average speed corresponding to the second power adjustment strategy. Here, the power increase average speed refers to the average rate of power increase within a certain period during the operation of the normal operation mode and the soft voice operation mode after the main motor starts to the target starting power. Under the conditions of the same starting operating power and target operating power, the power decrease average speed corresponding to the first power adjustment strategy is less than or equal to the power decrease average speed corresponding to the second power adjustment strategy. Here, the power decrease average speed refers to the average rate of power decrease within a certain period during the operation of the normal operation mode and the soft voice operation mode after the main motor starts to the target starting power. In this way, the power of the automatic gear of the soft voice operation mode and the normal operation mode is set to the same value, and by setting a lower power increase average speed, the power during the operation of the soft voice operation mode changes smoothly, further reducing the working noise without sacrificing the cleaning effect, and realizing soft voice dust collection.

[0144] In some embodiments, the detection device includes a dirt detection module and a motor current detection module, and the detection parameter information includes the dirt degree value periodically collected by the dirt detection module and the floor brush motor current value periodically collected by the motor current detection module; specifically, the collection period can be set according to actual needs. In some cases, periodic collection can be equivalent to quasi-real-time collection. Correspondingly, the power adjustment strategy is used to indicate the mapping relationship between different dirt degree values, different floor brush motor current values and multiple motor powers in the automatic gear state of the target operation mode; correspondingly, referring to Figure 5 , S207 may include S401 - S403:

[0145] S401: periodically determining the motor power corresponding to the dirtiness value and the current value of the floor brush motor according to the power regulation strategy, and using the determined motor power as the target operating power of the main motor;

[0146] S403: Control the motor module to operate at the target operating power.

[0147] Specifically, the period determined periodically here may be consistent with the collection period of the aforementioned detection device, or may be a pre-set period that is different from the collection period.

[0148] Specifically, the dirtiness value may include but is not limited to the dust concentration sucked in by the dust collection component, etc. The floor brush motor current value may be the working current value of the floor brush motor in the motor module, and the floor brush motor current value may indicate the roughness of the detected surface to be cleaned. The larger the floor brush motor current value, the rougher the surface to be cleaned, and the greater the required suction power, and vice versa. Combined with the mapping relationship between the dirtiness value, the floor brush motor current value and the motor power of the main motor in the first power adjustment strategy, the motor power corresponding to the current detection parameter information can be determined, and then determined as the target operating power. In this way, by collecting the dirtiness and motor current in quasi-real time, the motor operating power can be automatically adapted to the current environment to improve cleaning efficiency and reduce energy consumption. At the same time, the motor power setting corresponding to the soft sound operation mode is configured to reduce the noise impact during automatic vacuum cleaning.

[0149] Specifically, the power adjustment strategy includes at least two power conversion gears, and each power conversion gear corresponds to the motor power of a main motor. The power conversion gear is a working gear with a corresponding preset motor power set for the dust collection device, and the preset motor power of multiple power conversion gears gradually changes. In one embodiment, in the power adjustment strategies of the soft sound operation mode and the normal operation mode, the corresponding relationship between each power conversion gear and the motor power is consistent, and the preset motor power corresponding to the same power conversion gear in the first power adjustment strategy of the soft sound operation mode is equal to the preset motor power in the second power adjustment strategy of the normal operation mode. All power change gears corresponding to the power adjustment strategy correspond to at least two power increases, and the power increase refers to the difference in motor power between adjacent power conversion gears. In some embodiments, the power increase is determined based on the degree of dirtiness. When the degree of dirtiness is at a high dirtiness level, the corresponding power increase is high, otherwise it is low. Exemplarily, when the dust concentration is in a high range, the increase in motor power is large, otherwise it is small, so as to achieve soft sound switching and operation. In other embodiments, the power increase can be set based on actual needs, not limited to the above description. Preferably, during the power regulation process of two adjacent power conversion levels, the power can be uniformly regulated, such as uniformly increasing or uniformly decreasing.

[0150] In one embodiment, the power transformation level division corresponding to the power adjustment strategy can be as shown in Table 1 below. The degree of dirt is the dust concentration, the floor brush motor current value is the floor brush motor current value. The multiple degrees of dirt ranges include zero concentration, low concentration, medium concentration, and high concentration. The multiple motor current ranges include less than 0.5A, greater than or equal to 0.5A and less than 1.0A, and greater than or equal to 1.0A, thus correspondingly forming 12 power transformation levels (Class1-12) in the automatic gear. For different power transformation levels, the specific values corresponding to different dust concentration ranges and floor brush motor current value ranges can be seen in Table 1. Exemplarily, if the currently collected dust concentration is medium concentration and the floor brush motor current value is 0.8A, then the determined first target power is 60%Pn.

[0151] Table 1

[0152]

[0153] It can be understood that in the automatic gear operation state, the switching between different power transformation levels is automatically triggered based on the detected parameter information. The target operating powers determined in different cycles may be different, and the two target operating powers in adjacent cycles may span one or more power transformation levels. For example, when rising from 30%Pn in Table 1 to 45%Pn, two power transformation levels are spanned.

[0154] In some embodiments, in the power adjustment strategy corresponding to the soft running mode and the power adjustment strategy corresponding to the normal running mode: the motor powers corresponding to the same detected parameter information are the same; to ensure the cleaning effect.

[0155] In some embodiments, in the power adjustment strategy corresponding to the soft running mode and the power adjustment strategy corresponding to the normal running mode: in the case of the same detected parameter information, the average power increase rate corresponding to the soft running mode is less than the average power increase rate corresponding to the normal running mode; to further reduce the noise mutation during the operation and switching of the soft running mode while maintaining the cleaning effect.

[0156] In one embodiment, during the switching process between two adjacent power transformation levels, the power increase rate corresponding to the soft running mode is less than the power increase rate corresponding to the normal running mode; Exemplarily, during the transformation from Class5 (50%) to Class6 (55%), the power increase rate of the soft running mode can be 5%Pn, and the power increase rate of the normal running mode can be 50%Pn.

[0157] In some embodiments, in the power adjustment strategy corresponding to the soft running mode and the power adjustment strategy corresponding to the normal running mode, when the same detection parameter information is present, the average power reduction speed corresponding to the soft running mode is greater than or equal to the average power reduction speed corresponding to the normal running mode; to further reduce the running noise of the soft running mode, improve the downshift switching efficiency, and efficiently reduce the noise when switching from other running modes to the soft running mode.

[0158] In one embodiment, during the switching process between two adjacent power conversion levels, the power reduction rate corresponding to the soft running mode is greater than or equal to the power reduction rate corresponding to the normal running mode; for example, during the conversion from Class12(10%) to Class11(80%), the power reduction rate of the soft running mode can be 50%Pn, and the power reduction rate of the normal running mode can be 10%Pn.

[0159] Combined with the above, in some embodiments, the power adjustment strategy is also used to indicate the mapping relationship between different detection values, multiple motor powers, and multiple power conversion levels in the automatic gear state of the target running mode. The power conversion level is a working gear set for the vacuum cleaning device with a corresponding preset motor power, and the detection values corresponding to different power conversion levels are different.

[0160] Correspondingly, if the target running mode is the soft running mode, in the automatic gear state, if the power of the latter target running power is higher than the power of the former target running power in adjacent cycles, and the latter target running power and the former target running power span at least one power conversion level, during the power increase adjustment process, control the running power of the main motor to increase to the motor power corresponding to each power conversion level and then maintain the operation for a first preset duration.

[0161] Specifically, in the automatic gear state of the soft running mode, when the power increases across one or more power conversion levels during two adjacent cycles, the switching between different power conversion levels is not triggered immediately. Instead, after the target operating power in the previous cycle rises to the adjacent power conversion level, it maintains operation for a first preset duration, and then triggers the power increase adjustment to the next power conversion level. After reaching it, it maintains operation for the first preset duration again, and so on, until the operating power reaches the target operating power of the next cycle. Exemplarily, the first preset duration can be 0.5 s. When rising from Class1 (30%) to Class5 (50%), the rising process is from Class1 (maintaining operation for 0.5 seconds) → Class2 (maintaining operation for 0.5 s) → Class3 (maintaining operation for 0.5 s) → Class4 (maintaining operation for 0.5 s), and then rising to Class5. In this way, in the soft running mode, during the power increase adjustment of adjacent cycles, during the switching process from a low power conversion level to a high power conversion level, it rises slowly at intervals of the first preset duration, further optimizing the impact of operating noise.

[0162] In some embodiments, in the automatic gear state of the soft running mode, if the target operating power in the next cycle is lower than the target operating power in the previous cycle during two adjacent cycles, and the target operating power in the next cycle and the target operating power in the previous cycle span at least one power conversion level, during the power decrease adjustment process, the operating power of the main motor is controlled to decrease evenly.

[0163] Specifically, in the automatic gear state of the soft running mode, when the power decreases across one or more power conversion levels during two adjacent cycles, the switching between different power conversion levels is triggered immediately, without waiting for the first preset duration to trigger, but immediately descending from the current power gear level to the next power gear level. In this way, the real-time performance of low-power switching is ensured as much as possible, and the duration of operation at a lower power is extended, further optimizing the impact of operating noise.

[0164] In some embodiments, if the target operating mode is the normal operating mode, in the automatic gear state, if the target operating power in the next cycle is lower than the target operating power in the previous cycle during two adjacent cycles, and the target operating power in the next cycle and the target operating power in the previous cycle span at least one power conversion level, during the power decrease adjustment process, the operating power of the main motor is controlled to decrease to the motor power corresponding to each power conversion level and then maintain operation for a second preset duration.

[0165] Specifically, in the automatic gear state of the normal operation mode, when the power is reduced across one or more power conversion gear levels during two adjacent periods, the switching between different power conversion gear levels is not triggered immediately. Instead, after the target operating power of the previous period drops to the adjacent power conversion gear level, it maintains operation for a second preset duration, and then triggers the power reduction adjustment to the next power conversion gear level. After reaching the next level, it maintains operation for the second preset duration again, and so on, until the operating power reaches the target operating power of the next period. Exemplarily, the second preset duration can be 0.5 s. When descending from Class5 (50%) to Class1 (30%), the descending process is Class5 → Class4 (maintaining operation for 0.5 s) → Class3 (maintaining operation for 0.5 s) → Class2 (maintaining operation for 0.5 s), and then descending to Class1. Thus, in the normal operation mode, during the power reduction adjustment of adjacent periods, during the switching process from a high power conversion gear level to a low power conversion gear level, it slowly descends at intervals of the second preset duration, further ensuring the cleaning efficiency.

[0166] In some embodiments, in the automatic gear state of the normal operation mode, if the target operating power of the next period is higher than that of the previous period in two adjacent periods, and the target operating power of the next period and the target operating power of the previous period span at least one power conversion gear level, during the power increase adjustment process, the operating power of the main motor is controlled to increase uniformly.

[0167] Specifically, in the automatic gear state of the normal operation mode, when the power is increased across one or more power conversion gear levels during two adjacent periods, the switching between different power conversion gear levels is triggered immediately, without waiting for the second preset duration to trigger. Instead, it immediately rises from the current power gear level to the next power gear level. Thus, it is ensured that the motor operates at a high power as much as possible, further ensuring the cleaning efficiency and cleaning effect.

[0168] In some embodiments, when the power is reduced from a high power switching gear level to a low power switching gear level, to prevent the user from feeling too rapid power changes, it is necessary to maintain a certain duration at the current high power switching gear level to avoid the user experience of erratic power adjustment. Correspondingly, before the power reduction adjustment process, refer to Figure 6 , the method further includes S501 - S503:

[0169] S501: Obtain the duration of the main motor operating at the previous target operating power;

[0170] S503: If the duration is greater than or equal to the third preset duration, trigger the power reduction adjustment of the main motor.

[0171] Specifically, when adjusting the operating power of the motor during adjacent two-week periods, if a power reduction adjustment needs to be performed, first determine whether the operating duration of the target operating power in the previous cycle is greater than or equal to the third preset duration. If so, trigger the power reduction adjustment. Otherwise, if not, continue to operate at the target operating power of the previous cycle until its duration reaches the third preset duration. Exemplarily, the third preset duration can be 3s. The descent process from Class5 (50%) to Class1 (30%) is as follows: from Class5 (duration not less than 3s) → Class4 (maintain operation for 0.5s) → Class3 (maintain operation for 0.5s) → Class2 (maintain operation for 0.5s), and then descend to Class1.

[0172] In some embodiments, the vacuuming device is further provided with one or more grading gears, and the grading gears are fixed-power operation gears. Exemplarily, three grading gears, namely a low gear, a medium gear, and a high gear, can be provided. The key signal corresponding to the user's gear switching operation can be received through the gear switching button, and then the target gear to be switched to currently can be determined. Accordingly, referring to Figure 7 , the method may further include S601 - S603:

[0173] S601: In the gentle operation mode, in response to the triggering of the gear switching of the vacuuming device from the automatic gear to multiple grading gears, control the display order of the multiple grading gears to switch from the low-power grading gear to the high-power grading gear.

[0174] Specifically, the gear switching trigger can be generated by a physical operation on the gear switching button. After receiving the trigger signal for switching from the automatic gear to the grading gear, control the displayed gear switching order to first switch from the automatic gear to the lowest-power grading gear, and then gradually switch incrementally to higher-power grading gears. Exemplarily, the gear display order is switched in a cycle of "automatic gear → low gear → medium gear → high gear → automatic gear" in sequence, so as to preferentially display the low-power gear in the gentle operation mode and meet the slow upward trend of the overall gear switching distribution.

[0175] S603: In response to the selection operation of the target grading gear among the multiple grading gears, control the operating power of the main motor to change to the target operating power corresponding to the target grading gear in the gentle operation mode, and control the main motor to operate at a fixed gear with the target operating power corresponding to the target grading gear.

[0176] Specifically, the operation of selecting the target grading gear can be staying at a certain grading gear for a certain period of time, or selecting a certain grading gear by pressing a button, etc. The target operating power gradually increases from the low gear to the high gear. Exemplarily, the target operating powers of the low gear, medium gear, and high gear can be 30% Pn, 60% Pn, and 100% Pn respectively. The target operating power corresponding to the same grading gear in the soft sound operation mode is the same as the target operating power corresponding to it in the normal operation mode to meet the cleaning effect requirements; during the process of switching up gears, the average speed of power increase corresponding to the soft sound operation mode is less than the average speed of power increase corresponding to it in the normal operation mode; during the process of switching down gears, the average speed of power decrease corresponding to the soft sound operation mode is greater than or equal to the average speed of power decrease corresponding to it in the normal operation mode. In this way, it is ensured that when shifting up gears, the power change duration of the soft sound operation mode is longer and the power increase is slower, reducing the impact of noise mutation.

[0177] In some embodiments, after starting in the soft sound operation mode, in response to the trigger of mode switching, the vacuuming device is controlled to switch to the operation mode pointed to by the mode switching trigger, such as switching from the soft sound operation mode to the normal operation mode. The control display module displays the mode switching information and writes the current status data to the storage module to save the memory. If the operation mode before shutdown and power-off is the normal operation mode, the startup status information at the next device startup is to indicate startup in the normal operation mode.

[0178] The technical solution of the present application, by setting the soft sound operation mode, not only reduces the startup power of the vacuum cleaner and effectively avoids the huge noise generated suddenly after startup on the premise of ensuring consistent cleaning effects, but also makes the power changes of each gear smoother, effectively reducing the noise mutation during the operation of the vacuum cleaner and significantly improving the impact of the operation noise.

[0179] In some embodiments, referring to Figure 8 , the method may further include S701 - S703:

[0180] S701: In the normal operation mode, in response to the trigger of the gear shift of the vacuuming device from the automatic gear to multiple grading gears, control the display order of the multiple grading gears to switch from the high-power grading gear to the low-power grading gear.

[0181] Specifically, after receiving the trigger signal for switching from the automatic gear to the grading gear in the normal operation mode, control the displayed gear shift order to first switch from the automatic gear to the highest-power grading gear, and then gradually switch in a decreasing manner to the lower-power grading gears. Exemplarily, the gear display order is to switch in a cycle of "automatic gear → high gear → medium gear → low gear → automatic gear" in sequence to preferentially display the high-power gears in the normal operation mode to meet the high-power operation requirements.

[0182] S703: In response to the selection operation of the target grading level among multiple grading levels, control the operating power of the motor module to change to the target operating power corresponding to the target grading level in the normal operating mode, and control the motor module to operate at a fixed gear with the target operating power.

[0183] In some embodiments, after starting in the normal operating mode, in response to a mode switching trigger, control the vacuuming device to switch to the operating mode pointed to by the mode switching trigger, such as switching from the normal operating mode to the soft sound operating mode. Control the display module to display the mode switching information, and write the current status data to the storage module to save the memory. If the working mode before shutdown and power-off is the soft sound operating mode, the startup status information at the next device startup is to indicate startup in the soft sound operating mode.

[0184] The technical solution of this application realizes a brand-new soft sound operating mode, which does not sacrifice the cleaning effect, reduces the startup power of the vacuum cleaner, effectively avoids the huge noise generated suddenly after startup, and the power change of each gear becomes smoother, avoiding noise mutation. It enables pets to gradually adapt to this new sound environment during the operation of the vacuum cleaner, reducing the stress response caused by noise mutation. The soft sound operating mode of the vacuum cleaner is not only applicable to users with pets at home, but also can meet the needs of various special groups. For example, for families with infants and young children at home, they are particularly sensitive to noise changes or the sound environment. Using the soft sound operating mode can effectively reduce the fright and impact of sudden noise on them, allowing them to study and play in a relatively stable environment. In addition, for the elderly or those with mental weakness, the soft sound operating mode can also provide a more comfortable and peaceful cleaning experience. Generally speaking, the soft sound operating mode of the vacuum cleaner provides a more user-friendly design, which is a considerate consideration for pets, housewives, the elderly and children.

[0185] The embodiments of this application also provide a vacuuming device, which may include a motor control module 10: used to control the main motor of the vacuuming device to start when the vacuuming device starts, and control the operating power of the main motor to gradually increase to the target startup power based on the startup power strategy corresponding to the target operating mode;

[0186] The target operating mode includes the soft sound operating mode or the normal operating mode. During the process of gradually increasing the operating power of the main motor to the target startup power, the average power increase indicated by the startup power strategy corresponding to the soft sound operating mode is less than the average power increase indicated by the startup power strategy corresponding to the normal operating mode.

[0187] In some embodiments, within the time period starting from the startup moment of the main motor until the operating power of the main motor reaches the target startup power, at the same moment, the operating power of the main motor corresponding to the gentle operation mode is less than the operating power of the main motor corresponding to the normal operation mode.

[0188] In some embodiments, the average power increase rate indicated by the startup power strategy refers to the average power change rate of the operating power of the main motor within the time period starting from the startup moment of the main motor until the operating power of the main motor reaches the target startup power.

[0189] In some embodiments, the motor control module includes:

[0190] The first control sub-module: for controlling the operating power of the main motor to increase uniformly to the target startup power with the first duration as the total increase duration of the main motor if the target operating mode is the normal operation mode;

[0191] Or,

[0192] For controlling the operating power of the main motor to increase uniformly to the target startup power at a power increase rate of the first power change rate if the target operating mode is the normal operation mode.

[0193] In some embodiments, if the target operating mode is the gentle operation mode, the motor control module includes:

[0194] The second control sub-module: for controlling the operating power of the main motor to increase uniformly to the target startup power with the second duration as the total increase duration of the main motor if the target operating mode is the gentle operation mode; the second duration is greater than the first duration, and the first duration is the total increase duration indicated by the startup power strategy corresponding to the normal operation mode;

[0195] Or,

[0196] For controlling the operating power of the main motor to increase uniformly to the target startup power at a power increase rate of the second power change rate if the target operating mode is the gentle operation mode; the second power change rate is greater than the first power change rate, and the first power change rate is the power increase rate indicated by the startup power strategy corresponding to the normal operation mode.

[0197] In some embodiments, the motor control module includes a third control sub-module: for controlling the operating power of the main motor to increase stepwise to the target startup power if the target operating mode is the gentle operation mode, and the stepwise increase means that the process of increasing the operating power to the target startup power includes at least two increase stages and at least one platform stage located between the two increase stages in time sequence, and the main motor operates at a stable operating power during the platform stage.

[0198] In some embodiments, the power increase rates corresponding to the at least two increase stages are the same;

[0199] Or,

[0200] At least two increasing stages at least correspond to a third power change rate and a fourth power change rate, the third power change rate is less than the fourth power change rate, and the increasing stage using the third power change rate is earlier in time than the increasing stage using the fourth power change rate.

[0201] In some embodiments, the motor control module is further configured to: control the main motor to start with an initial start-up power corresponding to the target operating mode; the initial start-up power indicated by the start-up power strategy corresponding to the gentle operation mode is less than the initial start-up power indicated by the start-up power strategy corresponding to the normal operation mode;

[0202] And is configured to control the operating power of the main motor to gradually increase from the initial start-up power to the target start-up power based on the start-up power strategy corresponding to the target operating mode.

[0203] In some embodiments, the vacuuming device further includes:

[0204] A detection parameter monitoring module: configured to, after controlling the operating power of the main motor to gradually increase to the target start-up power based on the start-up power strategy corresponding to the target operating mode, monitor the detection parameter information collected by the detection device of the vacuuming device in the state that the operating gear of the vacuuming device is in the automatic gear, and the detection parameter information includes at least one detection value;

[0205] The motor control module is further configured to control the operating power of the main motor according to the power adjustment strategy corresponding to the target operating mode and the detection parameter information, and the power adjustment strategy is used to indicate the mapping relationship between different detection values and multiple motor powers in the automatic gear state of the target operating mode.

[0206] In some embodiments, the detection device includes a dirt detection module and a motor current detection module, the detection parameter information includes the dirt degree value periodically collected by the dirt detection module and the floor brush motor current value periodically collected by the motor current detection module; the power adjustment strategy is used to indicate the mapping relationship between different dirt degree values, different floor brush motor current values and multiple motor powers in the automatic gear state of the target operating mode;

[0207] The motor control module includes:

[0208] An operating power determination sub-module: configured to periodically determine the motor power corresponding to the dirt degree value and the floor brush motor current value according to the power adjustment strategy, and use the determined motor power as the target operating power of the main motor;

[0209] A fourth control sub-module: configured to control the motor module to operate with the target operating power.

[0210] In some embodiments, in the power adjustment strategy corresponding to the soft running mode and the power adjustment strategy corresponding to the normal running mode:

[0211] The motor power corresponding to the same detection parameter information is the same;

[0212] In the case of the same detection parameter information, the average speed of power increase corresponding to the soft running mode is less than the average speed of power increase corresponding to the normal running mode.

[0213] In some embodiments, in the power adjustment strategy corresponding to the soft running mode and the power adjustment strategy corresponding to the normal running mode, in the case of the same detection parameter information, the average speed of power decrease corresponding to the soft running mode is greater than or equal to the average speed of power decrease corresponding to the normal running mode.

[0214] In some embodiments, the power adjustment strategy is further used to indicate the mapping relationship between different detection values, multiple motor powers, and multiple power conversion levels in the automatic gear state of the target running mode. The power conversion level is a working gear set for the vacuuming device with a corresponding preset motor power, and the detection values corresponding to different power conversion levels are different;

[0215] The motor control module is further used for: if the target running mode is the soft running mode, in the automatic gear state, if the subsequent target running power in adjacent cycles is higher than the previous target running power, and the subsequent target running power and the previous target running power span at least one power conversion level, during the power increase adjustment process, control the running power of the main motor to increase to the motor power corresponding to each power conversion level and then maintain the operation for the first preset duration.

[0216] In some embodiments, the motor control module is further used for: in the automatic gear state of the soft running mode, if the subsequent target running power in adjacent cycles is lower than the previous target running power, and the subsequent target running power and the previous target running power span at least one power conversion level, during the power decrease adjustment process, control the running power of the main motor to decrease uniformly.

[0217] In some embodiments, the motor control module is further used for: if the target running mode is the normal running mode, in the automatic gear state, if the subsequent target running power in adjacent cycles is lower than the previous target running power, and the subsequent target running power and the previous target running power span at least one power conversion level, during the power decrease adjustment process, control the running power of the main motor to decrease to the motor power corresponding to each power conversion level and then maintain the operation for the second preset duration.

[0218] In some embodiments, the motor control module is further configured to: in the automatic gear state of the normal operation mode, if the target operating power in the latter period is higher than that in the previous period in adjacent periods, and the target operating power in the latter period and the target operating power in the previous period span at least one power conversion level, during the power increase adjustment process, control the operating power of the main motor to increase evenly.

[0219] In some embodiments, the vacuum cleaning device further includes:

[0220] A duration acquisition module: configured to acquire the duration of the main motor operating at the previous target operating power before the power decrease adjustment process;

[0221] The motor control module is further configured to: if the duration is greater than or equal to a third preset duration, trigger the power decrease adjustment of the main motor.

[0222] In the device embodiments and method embodiments of the present application, they are based on similar implementation manners.

[0223] The embodiments of the present application further provide a motor control device, which includes a processor and a memory. At least one instruction or at least one program segment is stored in the memory, and at least one instruction or at least one program segment is loaded and executed by the processor to implement the above-mentioned motor control method.

[0224] The embodiments of the present application further provide a motor control system, which includes the above-mentioned motor control device or motor control equipment.

[0225] The embodiments of the present application further provide a motor control device, which includes a memory and a processor. At least one instruction and at least one program segment are stored in the memory, and at least one instruction and at least one program segment are loaded and executed by the processor to implement the above-mentioned motor control method.

[0226] Furthermore, Figure 9 The figure shows a schematic hardware structure diagram of an electronic device for implementing the motor control method provided by the embodiments of the present application. The electronic device can participate in constituting or include the device or system provided by the embodiments of the present application. As Figure 9 shown, the electronic device 1 may include one or more (shown as 902a, 902b,..., 902n in the figure) processors 902 (the processor 902 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 904 for storing data, and a transmission device 906 for communication functions. In addition, it may further include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a power supply, and / or a camera. Those of ordinary skill in the art can understand, Figure 9The structure shown is only schematic and does not limit the structure of the above-mentioned electronic device. For example, the electronic device 1 may also include more or fewer components than those shown in Figure 9 or have a different configuration from that shown in Figure 9 .

[0227] It should be noted that one or more of the above-mentioned processors 902 and / or other data processing circuits can generally be referred to as "data processing circuits" herein. The data processing circuit can be embodied in software, hardware, firmware, or any combination thereof, in whole or in part. In addition, the data processing circuit can be a single independent processing module, or be incorporated in whole or in part into any one of other elements in the electronic device 1 (or mobile device). As involved in the embodiments of the present application, the data processing circuit is a kind of processor control (such as the selection of a variable resistor terminal path connected to an interface).

[0228] The memory 904 can be used to store software programs and modules of application software, such as the program instructions / data storage devices corresponding to the methods in the embodiments of the present application. The processor 902 executes various functional applications and data processing by running the software programs and modules stored in the memory 904, that is, implements the above-mentioned motor control method. The memory 904 can include high-speed random access memory, and can also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memories. In some instances, the memory 904 can further include a memory remotely set relative to the processor 902, and these remote memories can be connected to the electronic device 1 through a network. Examples of the above-mentioned network include, but are not limited to, the Internet, enterprise intranets, local area networks, mobile communication networks, and combinations thereof.

[0229] The transmission device 906 is used to receive or send data via a network. Specific examples of the above-mentioned network can include the wireless network provided by the communication provider of the electronic device 1. In one instance, the transmission device 906 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station and thus communicate with the Internet. In one instance, the transmission device 906 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0230] The display can be, for example, a touch-screen liquid crystal display (LCD), which enables the user to interact with the user interface of the electronic device 1 (or mobile device).

[0231] In the embodiments of the present application, the memory can be used to store software programs and modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for functions, etc.; the data storage area can store data created according to the use of the device, etc. In addition, the memory can include high-speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices. Correspondingly, the memory can also include a memory controller to provide the processor with access to the memory.

[0232] Embodiments of the present application also provide a computer-readable storage medium, including a memory and a processor. At least one instruction and at least one program segment are stored in the memory. The at least one instruction and the at least one program segment are loaded and executed by the processor to implement the motor control method as described in the above claims.

[0233] The present application also provides a vacuuming device, which includes the motor control device or the motor control equipment as described above.

[0234] Optionally, in this embodiment, the above storage medium can be located in at least one of multiple network servers in a computer network. Optionally, in this embodiment, the above storage medium can include, but is not limited to: various media that can store program codes, such as USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs.

[0235] According to one aspect of the present application, a computer program product or a computer program is provided. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the methods provided in the above various optional implementation manners.

[0236] As can be seen from the embodiments of the motor control method, control device, system, vacuum cleaning device, storage medium, or computer program product provided by the present application above, when the vacuum cleaning device is started, the target operation mode of the vacuum cleaning device is obtained; the main motor of the vacuum cleaning device is controlled to start, and the operating power of the main motor is gradually increased to the target starting power based on the starting power strategy corresponding to the target operation mode; the target operation mode includes a soft voice operation mode or a normal operation mode. During the process of gradually increasing the operating power of the main motor to the target starting power, the average power increase indicated by the starting power strategy corresponding to the soft voice operation mode is less than the average power increase indicated by the starting power strategy corresponding to the normal operation mode; thus, while not sacrificing the cleaning effect, noise mutation is avoided, the noise during device startup is effectively reduced, the harm of startup noise and the discomfort of related objects are reduced, and the product experience is improved.

[0237] It should be noted that the above sequence of the embodiments of the present application is only for description and does not represent the superiority or inferiority of the embodiments. And the above specific embodiments of the present application have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be executed in a different order than in the embodiments and still achieve the desired result. Additionally, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired result. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0238] Each embodiment in the present application is described in a progressive manner. The same or similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and equipment embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0239] Those of ordinary skill in the art can understand that all or part of the steps to implement the above embodiments can be completed by hardware, or can be completed by a program instructing relevant hardware. The above program can be stored in a computer-readable storage medium, and the above-mentioned storage medium can be a read-only memory, a magnetic disk, an optical disc, etc.

[0240] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A motor control method, applied to a dust collection device, characterized in that The method includes: When the vacuuming device is started, controlling the main motor of the vacuuming device to start; Based on the start power strategy corresponding to the target operation mode, controlling the operating power of the main motor to gradually increase to the target start power; The target operation mode includes a soft voice operation mode or a normal operation mode. During the process of gradually increasing the operating power of the main motor to the target start power, the average power increase speed indicated by the start power strategy corresponding to the soft voice operation mode is less than the average power increase speed indicated by the start power strategy corresponding to the normal operation mode.

2. The method according to claim 1, wherein Within the time period from the start moment of the main motor to the moment when the operating power of the main motor reaches the target start power, at the same moment, the operating power of the main motor corresponding to the soft voice operation mode is less than the operating power of the main motor corresponding to the normal operation mode; Preferably, the average power increase speed indicated by the start power strategy refers to the average power change speed of the operating power of the main motor within the time period from the start moment of the main motor to the moment when the operating power of the main motor reaches the target start power.

3. The method according to claim 1, wherein If the target operation mode is the normal operation mode, the controlling the operating power of the main motor to gradually increase to the target start power based on the start power strategy corresponding to the target operation mode includes: Taking the first duration as the total increasing duration of the main motor, controlling the operating power of the main motor to increase uniformly to the target start power; Or, Controlling the operating power of the main motor to increase uniformly at a first power change rate as the power increasing rate to the target start power; Preferably, if the target operation mode is the soft voice operation mode, the controlling the operating power of the main motor to gradually increase to the target start power based on the start power strategy corresponding to the target operation mode includes: Taking the second duration as the total increasing duration of the main motor, controlling the operating power of the main motor to increase uniformly to the target start power; the second duration is greater than the first duration, and the first duration is the total increasing duration indicated by the start power strategy corresponding to the normal operation mode; Or, Controlling the operating power of the main motor to increase uniformly at a second power change rate as the power increasing rate to the target start power; the second power change rate is greater than the first power change rate, and the first power change rate is the power increasing rate indicated by the start power strategy corresponding to the normal operation mode; Preferably, if the target operation mode is the soft voice operation mode, the controlling the operating power of the main motor to gradually increase to the target start power based on the start power strategy corresponding to the target operation mode includes: Controlling the operating power of the main motor to increase in a stepped manner to the target start power. The stepped increase means that the process of increasing the operating power to the target start power includes at least two increasing stages and at least one platform stage located between the two increasing stages in time sequence, and the main motor operates at a stable operating power during the platform stage.

4. The method according to claim 3, wherein The power increasing rates corresponding to the at least two increasing stages are the same; Or, The at least two increasing stages respectively correspond to at least a third power change rate and a fourth power change rate, the third power change rate is less than the fourth power change rate, and the increasing stage adopting the third power change rate is earlier in time than the increasing stage adopting the fourth power change rate.

5. The method according to any one of claims 1-4, characterized in that, The controlling the main motor to start includes: Controlling the main motor to start with an initial starting power corresponding to the target operation mode; The initial starting power indicated by the starting power strategy corresponding to the gentle operation mode is less than the initial starting power indicated by the starting power strategy corresponding to the normal operation mode; The controlling the operating power of the main motor to gradually increase to the target starting power based on the starting power strategy corresponding to the target operation mode includes: Controlling the operating power of the main motor to gradually increase from the initial starting power to the target starting power based on the starting power strategy corresponding to the target operation mode; Preferably, after controlling the operating power of the main motor to gradually increase to the target starting power based on the starting power strategy corresponding to the target operation mode, the method further includes: In a state where the operation gear of the dust collection device is in the automatic gear, monitoring the detection parameter information collected by the detection device of the dust collection device, and the detection parameter information includes at least one detection value; Controlling the operating power of the main motor according to the power adjustment strategy corresponding to the target operation mode and the detection parameter information, and the power adjustment strategy is used to indicate the mapping relationship between different detection values and multiple motor powers in the automatic gear state of the target operation mode.

6. The method according to claim 5, wherein The detection device includes a dirt detection module and a motor current detection module, and the detection parameter information includes the dirt degree value periodically collected by the dirt detection module and the floor brush motor current value periodically collected by the motor current detection module; the power adjustment strategy is used to indicate the mapping relationship between different dirt degree values, different floor brush motor current values and multiple motor powers in the automatic gear state of the target operation mode; The controlling the operating power of the main motor according to the power adjustment strategy corresponding to the target operation mode and the detection parameter information includes: Periodically determining the motor power corresponding to the dirt degree value and the floor brush motor current value according to the power adjustment strategy, and using the determined motor power as the target operating power of the main motor; Controlling the motor module to operate with the target operating power; Preferably, in the power adjustment strategies corresponding to the gentle operation mode and the normal operation mode: The motor powers corresponding to the same detection parameter information are the same; Under the condition of the same detection parameter information, the average speed of power increase corresponding to the gentle operation mode is less than the average speed of power increase corresponding to the normal operation mode; Preferably, in the power adjustment strategies corresponding to the gentle operation mode and the normal operation mode, under the condition of the same detection parameter information, the average speed of power decrease corresponding to the gentle operation mode is greater than or equal to the average speed of power decrease corresponding to the normal operation mode.

7. The method according to claim 5, wherein The power adjustment strategy is also used to indicate the mapping relationship among different detection values, multiple motor powers, and multiple power conversion levels in the automatic gear state of the target operation mode. The power conversion level is a working gear set for the vacuuming device with a corresponding preset motor power, and the detection values corresponding to different power conversion levels are different; If the target operation mode is the soft running mode, in the automatic gear state, if the target operation power in the latter period is higher than that in the previous period in adjacent cycles, and the target operation power in the latter period and the target operation power in the previous period span at least one power conversion level, during the power increase adjustment process, control the running power of the main motor to increase to the motor power corresponding to each power conversion level and then maintain the operation for a first preset duration; Preferably, in the automatic gear state of the soft running mode, if the target operation power in the latter period is lower than that in the previous period in adjacent cycles, and the target operation power in the latter period and the target operation power in the previous period span at least one power conversion level, during the power decrease adjustment process, control the running power of the main motor to decrease uniformly; Preferably, if the target operation mode is the normal running mode, in the automatic gear state, if the target operation power in the latter period is lower than that in the previous period in adjacent cycles, and the target operation power in the latter period and the target operation power in the previous period span at least one power conversion level, during the power decrease adjustment process, control the running power of the main motor to decrease to the motor power corresponding to each power conversion level and then maintain the operation for a second preset duration; Preferably, in the automatic gear state of the normal running mode, if the target operation power in the latter period is higher than that in the previous period in adjacent cycles, and the target operation power in the latter period and the target operation power in the previous period span at least one power conversion level, during the power increase adjustment process, control the running power of the main motor to increase uniformly.

8. The method according to claim 7, wherein Before the power decrease adjustment process, the method further includes: Obtaining the continuous duration of the main motor running at the previous target operation power; If the continuous duration is greater than or equal to a third preset duration, trigger the power decrease adjustment of the main motor.

9. A dust suction device, characterized in that, Including: Motor control module: used to control the start of the main motor of the vacuuming device when the vacuuming device is started, and control the running power of the main motor to gradually increase to the target start power based on the start power strategy corresponding to the target operation mode; The target operation mode includes a soft running mode or a normal running mode. During the process of gradually increasing the running power of the main motor to the target start power, the power increase speed indicated by the start power strategy corresponding to the soft running mode is less than the power increase speed indicated by the start power strategy corresponding to the normal running mode.

10. A motor control device, characterized in that, The device includes a processor and a memory. At least one instruction or at least one program segment is stored in the memory, and the at least one instruction or the at least one program segment is loaded and executed by the processor to implement the motor control method according to any one of claims 1 to 8.

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