Control method and driving device

Abstract

The invention relates to a control method and a driving device.The driving device can communicate with a cloud server, the method comprises the steps that a starting instruction is received, and the starting instruction is sent by the cloud server when a set time condition in starting behavior configuration information is achieved; the starting behavior configuration information further comprises a target action range and an action execution period, and at least one of the target action range and the action execution period is predefined by a user; based on a target action range and an action execution period carried in the starting instruction, dividing the target action range into a plurality of sub-action intervals, and based on the action execution period and the number of the sub-action intervals, determining an execution interval between the sub-action intervals; and according to the sub-action intervals and the corresponding execution intervals, each sub-action interval is successively executed until the target action range is completed, so that progressive execution control of the target action range in the action execution period is realized.

Description

Technical Field

[0001] The present disclosure relates to the technical field of intelligent motor control, and particularly to a control method and a driving device. Background Art

[0002] In the prior art, a driving device usually drives the operation of a target object or device according to a preset opening and closing logic. For example, a curtain motor generally only supports automatic opening and closing based on a timing setting or single-opening and closing control based on a user instruction, and it is difficult to achieve fine-grained adjustment of the opening and closing stroke.

[0003] Therefore, the control method of the existing driving device is relatively fixed and the functions are relatively single, lacking flexibility, and it is difficult to meet the requirements of diverse usage scenarios, which in turn affects the user experience to a certain extent. Summary of the Invention

[0004] An object of the present invention is to provide a control method and a driving device, wherein the target action range and the action execution period for progressively executing an action can be arbitrarily changed according to user requirements, so as to achieve more diverse and flexible control.

[0005] Another object of the present invention is to provide a control method and a driving device, wherein through the above progressive execution strategy, the effects of "slow opening" or "slow closing" can be achieved.

[0006] Another object of the present invention is to provide a control method and a driving device, wherein at a predetermined execution moment of each sub-action interval, the driving device makes a dynamic judgment based on the current state to avoid repeated or meaningless actions.

[0007] Another object of the present invention is to provide a control method and a driving device, wherein when the user has a new operation intention, the original progressive execution process of the driving device can be interrupted in time, ensuring the user's immediate control right over the device and avoiding the problem that the execution strategy does not conform to the actual requirements.

[0008] Another object of the present invention is to provide a control method and a driving device, wherein by centrally configuring the startup behavior configuration information in the cloud and uniformly filtering complex rules and judging the startup timing by the cloud, the driving device only needs to passively receive instructions and execute operations without having to process complex logics by itself. Thus, while ensuring efficient and stable operation, it is possible to achieve non-interference and independent triggering of multiple sets of startup behavior configuration information, greatly improving flexibility, scalability, and the ability to adapt to different application scenarios.

[0009] Another object of the present invention is to provide a control method and a driving device, wherein by dynamically calculating the execution interval based on the overall action time and the number of sub-action intervals, the driving device can complete the target action in a smoother and more uniform rhythm.

[0010] Another object of the present invention is to provide a control method and a driving device, wherein during the execution process, the sub-action intervals completed by the driving device each time have the same action amplitude. Through the consistent design of the action amplitudes of each sub-action interval, the stepping control of the driving device during the execution process is more linear, the action coherence and predictability are better, and the progressive control experience is further optimized.

[0011] Another object of the present invention is to provide a control method and a driving device, wherein by dynamically adjusting the action amplitude and execution interval of the sub-action interval, it can adapt to different target stroke requirements and time constraint requirements, enabling the driving device to have higher execution flexibility.

[0012] Another object of the present invention is to provide a control method and a driving device, wherein it can flexibly allocate and accurately control the action trajectories under different action ranges and execution cycles, thereby enhancing the adaptability and stability of the action process.

[0013] Another object of the present invention is to provide a control method and a driving device, wherein after the driving device completes the operation process based on the set instruction, an external terminal is triggered to guide the user to select the current actual state of the driving device, thereby establishing a dynamic mapping relationship between the rotation direction of the device itself and the target action (such as curtain opening or closing).

[0014] Another object of the present invention is to provide a control method and a driving device, wherein there is no need to pre-define a fixed rotation direction in the initial configuration stage, which can effectively adapt to different installation methods and mechanical connection direction differences, improve the versatility, setting flexibility and direction determination accuracy of the device, and reduce the configuration complexity and error risk caused by changes in the installation environment.

[0015] Another object of the present invention is to provide a control method and a driving device, wherein before the user defines the start behavior configuration information, the action boundary must be configured based on the actual maximum actionable interval, so as to ensure that the subsequent wake-up action control can be carried out within a reasonable and effective range.

[0016] To achieve at least one of the above objects, according to a first aspect of the present disclosure, there is provided a control method applied to a driving device capable of communicating with a cloud server. The method includes: receiving a start instruction sent by the cloud server when a set time condition in the start behavior configuration information is met; the start behavior configuration information further includes a target action range and an action execution period, and at least one of the target action range and the action execution period is predefined by a user; based on the target action range and the action execution period, dividing the target action range into a plurality of sub-action intervals, and determining an execution interval between each sub-action interval based on the action execution period and the number of sub-action intervals; sequentially executing each sub-action interval according to the sub-action interval and the corresponding execution interval until the target action range is completed, so as to achieve progressive execution control of the target action range within the action execution period.

[0017] According to an embodiment of the present disclosure, before receiving the start instruction, the method further includes: obtaining a setting instruction and entering a preset first operating state accordingly to obtain rotation parameters characterizing the operating characteristics of the driving device; determining a division basis for the target action range based on the obtained rotation parameters; after completing the first operating state, sending a first prompt message to prompt an external terminal to provide at least one optional state for indicating the current state of the driving device; receiving a selection result returned by the external terminal, and determining the rotation direction of the driving device during progressive execution control based on the selection result.

[0018] According to an embodiment of the present disclosure, dividing the target action range into a plurality of sub-action intervals specifically includes: determining a corresponding action interval based on the target action range and its division basis, and dividing the action interval into a plurality of sub-action intervals with the same action amplitude.

[0019] According to an embodiment of the present disclosure, obtaining the setting instruction specifically includes: obtaining a setting instruction directly or indirectly triggered by an external terminal; wherein the setting instruction is specifically sent during the process that the external terminal enters an associated configuration operation process after the user confirms an operation on the presented guidance prompt information; the guidance prompt information is presented in advance when the external terminal detects that the current situation does not meet the preset configuration conditions in response to the user's configuration operation on the preset configuration information.

[0020] According to an embodiment of the present disclosure, the method further includes: independently executing corresponding target action range control based on different received start instructions respectively, and each start instruction is sent by the cloud server when the set time conditions in each group of start behavior configuration information are met; wherein, each group of start behavior configuration information includes a set time, a target action range, and an action execution period with a logical relationship, the set times among each group of start behavior configuration information are different, and the target action ranges and action execution periods among each group of start behavior configuration information can be the same.

[0021] According to an embodiment of the present disclosure, the action execution period is the total time for completing the target action range as a whole, and the driving device equally determines the execution interval time of adjacent sub-action intervals based on the action execution period and the number of sub-action intervals.

[0022] According to an embodiment of the present disclosure, the action amplitude of each sub-action interval and / or the execution interval time between adjacent sub-action intervals can be dynamically adjusted according to the target action range and the action execution period.

[0023] According to an embodiment of the present disclosure, the method further includes: during the execution of the target action range based on the start instruction, if an external trigger event is detected, the execution of the subsequent unexecuted sub-action intervals is terminated; wherein, the external trigger event includes a manual control operation applied by the user and / or a control instruction sent through an external control device.

[0024] According to an embodiment of the present disclosure, the driving device is a curtain motor, and the target action range includes the target travel of curtain opening and closing; each sub-action interval is sequentially executed according to the sub-action interval and the corresponding execution interval until the target action range is completed; specifically, it includes: sequentially adjusting the opening and closing ratio of the curtain based on the sub-action interval until the target travel is reached.

[0025] According to an embodiment of the present disclosure, the method further includes: after receiving the start instruction, if the current opening and closing ratio is greater than or equal to the target opening and closing ratio set at the action moment corresponding to the start instruction, the driving device pauses the action until the target opening and closing ratio at the subsequent action moment is greater than the current opening and closing ratio, and then executes the corresponding sub-action interval.

[0026] To achieve at least one of the above purposes, according to the second aspect of the present disclosure, a driving device is provided for implementing the control method as described in the first aspect above.

[0027] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. The above various inventive concepts can be combined arbitrarily, and these and other purposes of the present disclosure will be fully embodied by the following detailed description and the accompanying drawings.

[0028] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and do not limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following briefly introduces the drawings required for use in the description of the embodiments or the prior art. The drawings herein are incorporated into the specification and constitute a part of this specification, showing the embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0030] <00,00064>is a schematic flowchart of a control method in an embodiment of the present disclosure Figure 1 ;

[0031] Figure 2 is a schematic diagram of a progressive execution control timing in an embodiment of the present disclosure;

[0032] Figure 3 is a schematic diagram of a startup behavior configuration information definition interface in an embodiment of the present disclosure;

[0033] Figure 4 is a schematic flowchart of a control method in an embodiment of the present disclosure Figure 2 ;

[0034] Figure 5 is a schematic flowchart of a control method in an embodiment of the present disclosure Figure 3 ;

[0035] Figure 6 is a schematic diagram of a driving device in an embodiment of the present disclosure;

[0036] Figure 7 is a schematic diagram of the hardware structure of a driving device in an embodiment of the present disclosure Figure 1 ;

[0037] Figure 8 is a schematic diagram of the hardware structure of a driving device in an embodiment of the present disclosure Figure 2 ;

[0038] Figure 9 is a schematic diagram of the structure of a driving device according to an embodiment of the present invention installed on a track;

[0039] Figure 10 is a schematic diagram of the connection between a driving device and a connection box according to an embodiment of the present invention;

[0040] Figure 11 Schematic diagram of the assembly of the first end cap, drive assembly, detection circuit board, and housing in an embodiment of the present invention;

[0041] Figure 12 Schematic diagram of the assembly of the first end cap, drive assembly, detection circuit board, and housing in an embodiment of the present invention;

[0042] Figure 13 Schematic diagram of the rotation of the rotating part relative to the end cap bracket in an embodiment of the present invention;

[0043] Figure 14 Cross-sectional view of the drive assembly, output shaft, first end cap, rotation detection module, etc. in an embodiment of the present invention;

[0044] Figure 15 Is Figure 14 Enlarged view of part A in;

[0045] Figure 16 Schematic diagram of the assembly of the end cap bracket, drive assembly, output shaft, and detection circuit board in an embodiment of the present invention;

[0046] Figure 17 Schematic diagram of the assembly of the first end cap, drive assembly, output shaft, and detection circuit board in an embodiment of the present invention;

[0047] Figure 18 Schematic diagram of the assembly of the drive assembly and the rotation detection module in an embodiment of the present invention;

[0048] Figure 19 Exploded view of the clutch in an embodiment of the present invention.

[0049] Figure 20 Cross-sectional view of the clutch in an embodiment of the present invention;

[0050] Figure 21 Exploded view of the drive assembly in an embodiment of the present invention;

[0051] Figure 22 Schematic diagram of the assembly of the drive device in an embodiment of the present invention;

[0052] Figure 23 Schematic diagram of the structure of the second end cap, second limiting member, and first circuit board in an embodiment of the present invention;

[0053] Figure 24 Exploded view of the second end cap, second limiting member, first circuit board, and second circuit board in an embodiment of the present invention;

[0054] Figure 25 Cross-sectional view of the second end cap, second limiting member, first circuit board, and second circuit board in an embodiment of the present invention;

[0055] Figure 26 Exploded view of the second end cap, second limiting member, first circuit board, and second circuit board according to an embodiment of the present invention;

[0056] Figure 27 Schematic structural view of a driving component, a detection circuit board, and a flexible connecting member according to an embodiment of the present invention;

[0057] Figure 28 Cross-sectional view of a driving component, a housing, and a flexible connecting member according to an embodiment of the present invention;

[0058] Figure 29 Assembly schematic view of a driving component and a first limiting member according to an embodiment of the present invention;

[0059] Figure 30 Cross-sectional view of a first limiting member and a housing according to an embodiment of the present invention;

[0060] Figure 31 Schematic structural view of a driving device with the housing hidden according to an embodiment of the present invention;

[0061] Figure 32 Schematic structural view of a driving device with the housing hidden according to an embodiment of the present invention;

[0062] Figure 33 Stereoscopic cross-sectional view of a first limiting member and a housing according to an embodiment of the present invention;

[0063] Figure 34 Schematic structural view of a first limiting member and a second limiting member according to an embodiment of the present invention;

[0064] Figure 35 Schematic structural view of a second limiting member, a second end cap, a first circuit board, and a second circuit board according to an embodiment of the present invention;

[0065] Figure 36 Cross-sectional view of a second limiting member, a second end cap, and a second circuit board according to an embodiment of the present invention. Detailed implementation manners

[0066] The embodiments of the present disclosure will be described in detail below. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numerals in different drawings represent the same or similar elements. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present disclosure without creative efforts shall fall within the scope of protection of the present disclosure.

[0067] In various embodiments of the present disclosure, the symbol " / " indicates the meaning of having two functions simultaneously. For the symbol "A and / or B", it indicates that the combination between the front and rear objects connected by this symbol includes three cases: "A", "B", and "A and B".

[0068] In addition, the technical features involved in the various embodiments of the present disclosure described below can be combined with each other as long as they do not conflict with each other.

[0069] In the prior art, the driving device usually drives the operation of the target object or device according to a preset opening and closing logic. For example, a curtain motor generally only supports automatic opening and closing based on timing settings or single - time opening and closing control based on user instructions, and it is difficult to achieve fine - grained adjustment of the opening and closing stroke.

[0070] It can be seen that the control method of the existing driving device is relatively fixed and has a relatively single function, lacking flexibility, and it is difficult to meet the needs of diverse usage scenarios, thereby affecting the user experience to a certain extent.

[0071] Therefore, there is an urgent need for a motor control scheme that supports more flexible control logic to improve the control accuracy and user experience. Based on this, the embodiments of the present disclosure provide a control method, which is applied to a driving device and allows at least one of the target action range and the action execution period in the startup behavior configuration information to be predefined by the user, realizing more diverse and flexible control.

[0072] Next, the control method described in the embodiments of the present disclosure will be described in detail. Exemplarily, reference can be made to Figure 1 , Figure 1 FIG. 19 shows a flowchart of a control method 10 according to an embodiment of the present disclosure. The method 10 can be applied to a driving device or a chip in the driving device (such as the main control module in subsequent embodiments).

[0073] Among them, the driving device can communicate with a cloud server. Specifically, the driving device can enter a network - configuration state in response to a network - configuration operation, and send a network - configuration message outward in the network - configuration state. After an external terminal receives the network - configuration message, it guides the driving device to join a target network according to specified operations to complete the network - configuration of the driving device. After completing the network - configuration, the driving device can communicate with the cloud server through the target network, and communicate with the external terminal through the cloud server.

[0074] Taking the target network as a Bluetooth mesh network as an example, the driving device can connect to the Bluetooth mesh network formed by a Bluetooth gateway through a network - configuration operation, and connect to network access devices such as a router based on this network, and thereby connect to a wide - area network to communicate with the cloud server.

[0075] Next, the control method 10 will be described by taking its application to a driving device as an example. Refer to Figure 1 As shown, the control method 10 at least includes steps S10 to S12.

[0076] In step S10, the driving device receives a start instruction, which is sent by the cloud server when the set time condition in the start behavior configuration information is met. The start behavior configuration information further includes a target action range and an action execution period, and at least one of the target action range and the action execution period is predefined by the user.

[0077] Specifically, the start instruction is obtained through the target network. Further, before obtaining the start instruction, the method further includes: completing network configuration and accessing the target network, and then the start instruction is sent by the cloud server through the target network when the set time condition is met.

[0078] The set time condition includes a condition for triggering a subsequent action process based on a time parameter (set time) preset by the user, when the current time and the time parameter satisfy a matching relationship (for example: the current time is equal to the set time, or the current time falls within the time window specified by the set time).

[0079] In some embodiments, the set time condition may also be judged together with a repetition rule. Further, the set time condition includes a time trigger condition based on a preset time parameter and a repetition rule. For example: the repetition rule includes: repeating on weekdays, skipping holidays, not repeating, etc. When the user sets the time condition with a time trigger condition of repeating on weekdays, the corresponding start behavior configuration information will only be repeatedly executed on weekdays.

[0080] The target action range is used to define the action interval that the driving device needs to cover for this action. For example, the percentage interval that a curtain motor needs to open or close.

[0081] The action execution period is used to define the total time length required for the driving device to complete the target action range. For example, it is set to be completed within 30 minutes.

[0082] In step S11, based on the target action range S and the action execution period T, the driving device divides the target action range into multiple sub-action intervals (such as Figure 2 W1, W2, W3 in Figure 2 ), and determines the execution interval between each sub-action interval (such as t1 and t2 shown in Figure 2

[0083] Specifically, the driving device determines the number of sub-action intervals according to the size of the target action range and a predetermined sub-action interval division strategy (such as equal division or division according to a specific ratio). At the same time, based on the relationship between the action execution cycle and the number of sub-action intervals, the execution interval between each sub-action interval is determined to achieve uniform distribution of the action rhythm. Exemplarily, if the target action range is 30% of the stroke, the action execution cycle is 30 minutes, and it is divided into 3 sub-action intervals, then each sub-action interval is 10% of the stroke, and the execution interval between each sub-action is 10 minutes.

[0084] In step S12, the driving device sequentially executes each sub-action interval according to the sub-action interval and the corresponding execution interval (as Figure 2 shown, sequentially execute W1, W2, and W3), until the target action range is completed, so as to achieve progressive execution control of the target action range within the action execution cycle.

[0085] Furthermore, at each action moment, the corresponding sub-action interval will be started for execution. After the execution of the sub-action interval is completed, an execution interval will be reached. During the execution interval, the operation will stop. After the execution interval ends, the next action moment will be reached, and the next sub-action interval will be started. It can be seen that the driving device drives the corresponding sub-action interval according to the current execution plan to achieve progressive advancement of the overall action until the entire target action range is completed.

[0086] In the solution provided by the embodiments of the present disclosure, at least one of the target action range and the action execution cycle in the start behavior configuration information is predefined by the user. Furthermore, the target action range and the action execution cycle of the progressive execution action involved in the present invention can be arbitrarily changed according to the user's needs, so as to achieve more diverse and flexible control.

[0087] It is worth mentioning that in this embodiment, the driving device is allowed to orderly and smoothly complete the target action within the set action execution cycle according to the refined control strategy, improving the fineness of action control and the user experience.

[0088] In a feasible application scenario, as Figure 3 shown, the user can configure the start behavior configuration information to the cloud server through an external terminal (such as a smartphone application). The start behavior configuration information that can be freely defined by the user includes the following four items:

[0089] Set time: indicating a specific time point when the wake-up action is triggered;

[0090] Specified stroke: indicating the target action range, usually expressed as a percentage when the driving device ends the stroke. For example, 30% means the target action range is from 0% open to 70%.

[0091] Specified time: It indicates the duration required to complete a specified itinerary, that is, the action execution cycle, such as 30 minutes;

[0092] Repetition rule: It indicates the repetitive requirements for the trigger condition, such as triggering only on weekdays, or skipping holidays, etc.

[0093] The cloud server receives and stores the above startup behavior configuration information. The cloud server, based on the stored startup behavior configuration information, determines in real time whether the set time and the repetition rule meet the predetermined trigger condition, that is, whether the set time condition is met. When the judgment is made, the cloud server sends a startup instruction to the drive device. The startup instruction carries:

[0094] Specified itinerary;

[0095] Specified time.

[0096] After receiving the startup instruction, the drive device independently completes the action control process locally according to the parameters (specified itinerary, specified time) carried in the startup instruction. At this time, it no longer needs to rely on further control of the cloud server. Specifically, it includes:

[0097] The specified itinerary is divided into a preset number N (N is pre-set, or determined according to the specified itinerary and the specified time, and N is an integer greater than or equal to 1) sub-action intervals, and the travel amounts of each sub-action interval are equal or non-equal intervals are set as needed.

[0098] Then, based on the specified time and the number N of sub-action intervals, calculate the execution interval time between each sub-action interval, so that the overall action process is smoothly completed within the specified time. For example, if the specified time is 30 minutes and it is divided into 6 sub-action intervals, then an action is executed every 5 minutes.

[0099] The drive device advances the equipment action section by section according to the sub-action intervals and the corresponding execution intervals until the overall specified itinerary is completed. At each action moment, the drive device completes the advancement of the corresponding sub-action interval and maintains an adaptive and stable operation (such as uniform motion) during this period.

[0100] Through the above progressive execution strategy, the effect of "slow opening" or "slow closing" can be achieved. For example, the curtain slowly opens within 30 minutes in the early morning, bringing a more comfortable and natural experience to the user.

[0101] In some embodiments, the method further includes:

[0102] During the execution of the target action range based on the startup instruction, if an external trigger event is detected, the execution of the subsequent unexecuted sub-action intervals is terminated; wherein, the external trigger event includes but is not limited to at least one of the following:

[0103] Manual control operations applied by the user, such as manually pulling the curtain, to intervene in the motor operation;

[0104] Control instructions sent through external control devices (such as mobile terminals, remote controls, etc.); such as instructions for immediate full open, full close, pause, etc.

[0105] In the above manner, when the user has a new operation intention, the original progressive execution process of the driving device can be interrupted in a timely manner, ensuring the user's immediate control right over the device and avoiding the problem that the execution strategy does not match the actual requirements.

[0106] In some embodiments, there may be multiple groups of the startup behavior configuration information. When there are multiple groups of the startup behavior configuration information, the method further includes:

[0107] Based on the received different startup instructions, independently execute the corresponding target action range control respectively. Each startup instruction is sent by the cloud server respectively when the set time conditions in each group of startup behavior configuration information are met; wherein, each group of startup behavior configuration information is defined by the user in advance and stored in the cloud server. Each group of startup behavior configuration information includes a set time, a target action range, and an action execution period with a logical relationship. The set times among each group of startup behavior configuration information are different, and the target action ranges and action execution periods among each group of startup behavior configuration information may be the same.

[0108] Specifically, in the embodiments of the present disclosure, the startup behavior configuration information is uniformly managed on the cloud server side to enable the possibility of defining multiple groups of startup behavior configuration information. The startup behavior configuration information includes multiple groups of configuration contents. Each group of startup behavior configuration information includes at least a set time, a target action range, and an action execution period, where there is a logical association relationship (such as a one-to-one mapping relationship) between the set time, the target action range, and the action execution period. The set times of each group of startup behavior configuration information are different from each other, and the target action ranges and action execution periods of different groups may be the same or different.

[0109] In practical applications, the cloud server determines whether the startup condition is met according to the current time information and the set time conditions set in each group of startup behavior configuration information. Further, when the startup behavior configuration information includes a repetition rule, the repetition rule may also be considered in this determination, such as comprehensively considering periodic factors such as holidays and weekdays to avoid triggering startup instructions at inappropriate times.

[0110] Once the set time condition of a certain group of startup behavior configuration information is met, the cloud server actively sends a startup instruction to the driving device. After receiving the startup instruction, the driving device executes the corresponding action control process according to the target action range and action execution period carried in the instruction.

[0111] It should be noted that the target action range and the action execution period are carried by the start instruction, that is, the drive device does not store the target action range and the action execution period locally in advance. After receiving the start instruction, the corresponding target action range and action execution period are obtained based on the analysis of the start instruction.

[0112] In this process, the drive device itself does not need to perform complex time judgment or rule filtering, but only executes the corresponding action according to the received start instruction.

[0113] In the above manner, it is possible to support the definition of multiple groups of non-interfering start behavior configuration information in the cloud at the same time. Each group of start behavior configuration information is based on its own independent set time conditions, and respectively judges and independently triggers the corresponding start instruction in the cloud, avoiding conflicts, interferences or abnormal situations caused by limited local judgment capabilities.

[0114] Furthermore, in the embodiments of the present disclosure, by centrally configuring the start behavior configuration information in the cloud and uniformly performing complex rule filtering and start timing judgment by the cloud, the drive device only needs to passively receive instructions and execute operations, without having to process complex logics by itself. Thus, while ensuring efficient and stable operation, it is possible to achieve non-interference and independent triggering of multiple groups of start behavior configuration information, greatly improving flexibility, scalability and the ability to adapt to different application scenarios.

[0115] In some embodiments, the action execution period is the total time for overall completion of the target action range, and the drive device equally determines the execution interval time of adjacent sub-action intervals based on the action execution period and the number of sub-action intervals.

[0116] Specifically, in the embodiments of the present disclosure, the action execution period carried in the start instruction is used to represent the total time required for overall completion of the target action range. The drive device can determine the execution interval time of adjacent sub-action intervals based on the action execution period and the number of sub-action intervals, and each execution interval time is the same, thereby guiding the step-by-step execution of the sub-action intervals.

[0117] Furthermore, by dynamically calculating the execution interval based on the overall action time and the number of sub-action intervals, the drive device can complete the target action in a smoother and more uniform rhythm.

[0118] In some embodiments, the action amplitude of each sub-action interval and / or the execution interval time between adjacent sub-action intervals can be dynamically adjusted according to the target action range and the action execution period.

[0119] Specifically, in the embodiments of the present disclosure, the movement amplitude of each sub-movement interval and / or the execution interval time between adjacent sub-movement intervals can be dynamically adjusted according to the target movement range and the movement execution period. For example, when the target movement range is large or the execution period is short, the single movement amplitude can be reduced or the execution interval can be shortened.

[0120] Furthermore, by dynamically adjusting the movement amplitude and the execution interval of the sub-movement intervals, it is possible to adapt to different target travel requirements and time constraint requirements, enabling the driving device to have higher execution flexibility.

[0121] In a specific application scenario, the number of divisions N of the sub-movement intervals is a fixed value (for example, N = 10) and does not change with the change of the target movement range or the movement execution period. The movement amplitude of each sub-movement interval and the execution interval between adjacent sub-movement intervals are adjustable parameters, and under any determined conditions, the movement amplitudes of each sub-movement interval are consistent, and each execution interval is also consistent. Specifically, both the movement amplitude and the execution interval can be adjusted according to the change of the target movement range and / or the movement execution period to meet the requirements of movement control.

[0122] Specific examples are as follows:

[0123] Example a, when the target movement range is S1 and the movement execution period is T1, the movement amplitude of each sub-movement interval is S1 / N, and the execution interval between adjacent sub-movement intervals is T1 / N.

[0124] Example b, when the target movement range becomes S2 and the movement execution period becomes T2, the movement amplitude of each sub-movement interval is adjusted to S2 / N, and the execution interval between adjacent sub-movement intervals is adjusted to T2 / N.

[0125] Example c, when the target movement range is adjusted to S2 while the movement execution period remains T1, the movement amplitude of each sub-movement interval is adjusted to S2 / N, and the execution interval between adjacent sub-movement intervals remains T1 / N.

[0126] Example d, when the target movement range remains S1 while the movement execution period is adjusted to T2, the movement amplitude of each sub-movement interval remains S1 / N, and the execution interval between adjacent sub-movement intervals is adjusted to T2 / N.

[0127] Based on the above examples, it can be further concluded that:

[0128] Compared with Example a and Example b, since both the target movement range and the movement execution period change, the movement amplitude of each sub-movement interval and the execution interval between adjacent sub-movement intervals are adjusted accordingly.

[0129] Compared with Example a and Example c, since only the target action range changes, only the action amplitudes of each sub-action interval are adjusted, while the execution intervals between adjacent sub-action intervals remain unchanged.

[0130] Compared with Example a and Example d, since only the action execution period changes, only the execution intervals between adjacent sub-action intervals are adjusted, while the action amplitudes of each sub-action interval remain unchanged.

[0131] Through the above design, flexible allocation and precise control of the action trajectories under different action ranges and execution periods can be achieved, thereby improving... In some embodiments, the driving device is a curtain motor, and the target action range includes the target travel of curtain opening and closing.

[0132] Execute each sub-action interval successively according to the sub-action interval and the corresponding execution interval until the target action range is completed; specifically including:

[0133] Based on the sub-action interval, gradually adjust the opening and closing ratio of the curtain until the target travel is reached.

[0134] Specifically, the embodiments of the present disclosure give a specific application scenario of the driving device, that is, the driving device is a curtain motor, and the target action range includes the target travel of curtain opening and closing. The curtain motor can gradually adjust the opening and closing ratio of the curtain based on each sub-action interval until the set target travel state is reached. In some specific examples, the target travel can be freely defined by the user, and the setting range is 10% - 100% of the limit travel range; the action execution period can also be freely defined by the user, and the setting range is 10 - 240 minutes.

[0135] In this scenario, by subdividing the curtain opening and closing process into multiple sub-action intervals and cooperating with the execution intervals for gradual adjustment, progressive and smooth control of the curtain opening and closing actions can be achieved, avoiding the visual impact caused by the rapid opening and closing of traditional curtain motors, achieving the effect of slow opening, and can be used for slow waking up in the early morning or slow closing of the curtain in the evening. For example, when achieving slow waking up in the early morning, the curtain will be driven in the opening direction based on the start instruction to achieve progressive opening control within the target action range, and when achieving slow closing of the curtain in the evening, the curtain will be driven in the closing direction to achieve progressive closing control within the target action range.

[0136] In some embodiments, the method further includes:

[0137] After receiving the start instruction, if the current opening and closing ratio is greater than or equal to the target opening and closing ratio set at the action moment corresponding to the start instruction, the driving device pauses the action until the target opening and closing ratio at the subsequent action moment is greater than the current opening and closing ratio, and then executes the corresponding sub-action interval.

[0138] Specifically, at the moment of starting the action in each sub-action interval, the driving device makes a dynamic judgment based on the current state to avoid repeated or meaningless actions.

[0139] For example, it is set that the curtain motor opens the curtain by 30% within 30 minutes, and each 10% sub-action interval is executed every 10 minutes; if the current opening and closing state of the curtain motor has reached 20% when the start instruction is received, then no action is required in the first two 10-minute action stages, and only 10% of the action is executed in the 3rd action stage (i.e., the 20th minute), so that the total opening and closing ratio reaches 30%.

[0140] Through the above method, it is possible to avoid the driving device from repeatedly executing the existing action progress, improve the rationality of the execution strategy, further save energy consumption and extend the equipment life.

[0141] In addition, in an embodiment of the present disclosure, a method 40 for determining the limit travel range, opening direction, and / or closing direction involved in the above embodiment is given.

[0142] Specifically, as Figure 4 shown, the method 60 includes steps S41 to S45.

[0143] The above method 40 can be implemented independently or in combination with the embodiments disclosed in the above method 10. When implemented in combination, the method 40 should be located before receiving the start instruction in the method 10, as Figure 5 shown.

[0144] Hereinafter, each step in the method 40 will be specifically introduced:

[0145] In step S41, a setting instruction is obtained, and the setting instruction is used to start the setting of the maximum actionable interval.

[0146] Specifically, the setting instruction is sent by the external terminal when, in response to the user's configuration operation of the start behavior configuration information, the detection result indicates that the preset configuration condition associated with the start behavior configuration information is not satisfied.

[0147] In the embodiment of the present disclosure, first, by receiving the setting instruction, the driving device is triggered to execute the acquisition process of the maximum actionable interval Sm. The maximum actionable interval refers to the maximum range within which the driving device can drive the object or device to be driven (such as a door, window, curtain, etc.) according to the structural or usage requirements. For example, in the control application of a curtain motor, the maximum actionable interval is the physical limit trajectory of the curtain from fully closed to fully open.

[0148] In a specific scenario, the setting instruction can be sent from the cloud server. Specifically, the setting instruction is sent by the external terminal to the cloud server according to the user's further instruction when the detection result indicates that the maximum operable range has not been set yet after the external terminal judges the detection result in response to the user's definition of the startup behavior configuration information; wherein, the maximum operable range is used as the basis for dividing the target action range, and the target action range is delimited within the maximum operable range.

[0149] In step S42, in response to the setting instruction, enter a preset first operating state according to the setting instruction to obtain the rotation parameters characterizing the operating characteristics of the driving device.

[0150] Specifically, in the first operating state, control the driving device to execute the operating process for detecting the boundary of the maximum operable range, so as to move within at least part of the range covering the maximum operable range, and obtain the rotation parameters characterizing the operating characteristics of the driving device during the operating process.

[0151] More specifically, in the first operating state, the driving device moves according to a set strategy, and the rotation parameters such as the number of rotation turns, time, current, position information, etc. are collected in real time during the movement. These data are used for subsequent precise control.

[0152] In step S43, based on the obtained rotation parameters, determine the basis for dividing the target action range, that is, the maximum operable range.

[0153] Specifically, after the operating process is completed, determine the first working parameter according to the obtained rotation parameters. The first working parameter is used to characterize the maximum operable range of the driving device for driving an object or equipment, and this maximum operable range is used as the basis for dividing the target action range. That is, after the first operating state ends, finally based on the collected motor rotation parameters, determine the first working parameter as the standardized expression basis of the maximum operable range, for example, characterized by the number of rotation turns or the cumulative displacement.

[0154] It can be seen that the target action range is delimited within the maximum operable range and belongs to a sub-range of the maximum operable range. Only after the maximum operable range is determined can the target action range be determined. For example, the target action range is expressed by a percentage parameter, and the basis of this percentage parameter is the maximum operable range. For example, when the driving device is a curtain motor, the target action range is defined as 50%, then the actual corresponding stroke range is 0~0.5x (gradual opening), or x~0.5x (gradual closing), where x is the maximum operable range.

[0155] In step S44, after completing the first operating state, a first prompt message is sent to prompt an external terminal to provide at least one optional state for indicating the current state of the driving device.

[0156] Specifically, after the driving device finishes the operation process started by a setting instruction (issued by an external terminal / cloud), a prompt message is actively sent immediately, which is used to directly or indirectly (such as sent to the external terminal through a cloud server) notify the external terminal of the current operation result state of the driving device (such as whether the curtain is currently open or closed), and guide the user to make further selections based on the current state.

[0157] The optional state is presented by the external terminal according to the first prompt message after the driving device finishes the operation process started by the setting instruction;

[0158] The optional state lists all possible functional states of the driving device after the current operation process ends. For example, in the scenario where the driving device is a curtain motor, the optional state may include, for example:

[0159] The curtain is open;

[0160] The curtain is closed;

[0161] Other specific intermediate states (if needed).

[0162] In step S45, the selection result returned by the external terminal is received, and based on the selection result, the rotation direction of the driving device during progressive execution of control is determined.

[0163] Specifically, after the driving device receives the selection result returned by the external terminal (this selection result represents the optional state selected by the user), the second working parameter is set. The second working parameter is used to set the rotation direction of the driving device, and guide the driving device to drive an object or device in the correct direction within the target action range for progressive execution of control after receiving the start instruction.

[0164] Based on the actual state of the current driving device after movement (such as the curtain is currently open), the user selects the matching state item in the optional states (such as selecting "the curtain is open"). In this way, the user's selection result clarifies a key piece of information: the rotation direction (such as counterclockwise) of the current driving device from the starting limit position to the ending limit position corresponds to the curtain opening action; the reverse rotation (such as clockwise) corresponds to the curtain closing action.

[0165] Furthermore, according to the solution provided by the embodiments of the present disclosure, after the driving device completes the operation process started based on the setting instruction, a first prompt message is sent to an external terminal; so that: based on the first prompt message, the external terminal presents a set of selectable states describing the current operation end state of the driving device to the user, and the user selects the corresponding selectable state according to the actual operation result of the driving device to form a selection result; the driving device determines the correspondence between the rotation direction and the functional action (such as opening or closing) based on the selection result, thereby completing the binding of the action direction.

[0166] This method does not require predefining a fixed rotation direction in the initial configuration stage, can effectively adapt to different installation methods and mechanical connection direction differences, improves the versatility, setting flexibility and direction determination accuracy of the device, and reduces the configuration complexity and error risk caused by changes in the installation environment.

[0167] Furthermore, the target action range is divided into multiple sub-action intervals; specifically including:

[0168] Based on the target action range and its division basis, the corresponding action interval is determined, and the action interval is divided into multiple sub-action intervals with the same action amplitude.

[0169] Specifically, in the embodiments of the present disclosure, the driving device outputs driving force through a motor, and the action amplitudes corresponding to each sub-action interval are set to be the same. The action amplitude of the sub-action interval includes the motor rotation angle information or the travel information of the object or device driven by the driving device.

[0170] That is, in the embodiments of the present disclosure, during the execution process, each sub-action interval completed by the driving device has the same action amplitude. Through the consistent design of the action amplitudes of each sub-action interval, the control of the driving device during the execution process is more linear, the action coherence and predictability are better, and the progressive control experience is further optimized.

[0171] Furthermore, in the first operating state, the operation process for detecting the boundary of the maximum operable interval includes: controlling the driving device to operate in a first direction until it stops when the first limit position is detected, and collecting rotation parameters based on the first limit position; then operating in the reverse direction until it stops when the second limit position is detected, and collecting rotation parameters based on the second limit position.

[0172] Exemplarily, the driving device is a curtain motor; in the first operating state, controlling the driving device to execute the operation process for detecting the boundary of the action interval includes controlling the driving device to execute an action to cover the boundary range of the maximum operable interval; specifically including:

[0173] In the first operating state, after running to the first extreme position in the first direction, it then runs in the reverse direction to the second extreme position to determine the maximum operable range determined based on the first extreme position and the second extreme position as the boundary range;

[0174] Among them, the first extreme position is the position where the curtain is fully opened, and the second extreme position is the position where the curtain is fully closed.

[0175] Through this two-way motion detection method, the driving device can automatically and more comprehensively and accurately identify the motion boundary conditions of the driving device without additional external intervention.

[0176] Furthermore, the conditions for detecting the extreme position include: the load change characteristics of the driving device, the feedback of the position detection sensor, or the judgment result of the preset operating time or travel limit.

[0177] During the detection process of the motion range boundary, the first extreme position and the second extreme position can be detected through various triggering conditions, including but not limited to:

[0178] The load change characteristics (such as torque mutation) during the operation of the driving device;

[0179] The in-place signal feedback from the position detection sensor (such as encoder, travel switch, Hall sensor);

[0180] Overrun judgments such as the operating time exceeding the preset value or the cumulative travel exceeding the preset length.

[0181] The above different detection methods can be flexibly selected according to the specific application scenario to balance detection accuracy and response speed.

[0182] Furthermore, the load change characteristics refer to the state changes of the driving device during operation, such as torque mutation, speed dropping to a low threshold, or power rising to a high threshold.

[0183] In the preferred embodiment, the load change characteristics can specifically refer to the physical quantity mutation phenomenon that occurs when the driving device is near the extreme position during operation, for example:

[0184] The motor torque suddenly increases;

[0185] The motor speed drops below the set threshold;

[0186] The input power of the motor significantly rises above the set threshold;

[0187] The above physical property changes can be used as an important judgment basis for the driving device to be close to or reach the extreme position, thus realizing a soft detection scheme without additional hardware.

[0188] Further, the rotation parameters include at least one of the number of motor rotation turns, rotation time, current change data, or stroke length data deduced therefrom.

[0189] During operation, rotation parameters characterizing the motor operation process can be collected in real time. The rotation parameters include, but are not limited to:

[0190] The number of motor rotation turns (measured by an encoder, Hall sensor, etc.);

[0191] The operation time (timed from the start-stop signal);

[0192] The change trend of the motor working current;

[0193] Displacement data or stroke length deduced based on the number of rotation turns and the device structure parameters.

[0194] Based on the above rotation parameters, the maximum operable interval range of the driving device can be quantified more accurately.

[0195] Further, obtaining the setting instruction specifically includes:

[0196] Obtaining the setting instruction directly or indirectly triggered by an external terminal.

[0197] Among them, the setting instruction is specifically sent during the process when the external terminal enters the associated configuration operation process after the user confirms the presented guidance prompt information; the guidance prompt information is presented in advance when the external terminal responds to the user's configuration operation of the preset configuration information and indicates that the current situation does not meet the preset configuration conditions based on the detection result.

[0198] Further, in response to the user's operation of entering the configuration interface of the start behavior configuration information, the external terminal performs the following operations:

[0199] Detect whether the maximum operable interval associated with the start behavior configuration information has been set;

[0200] If no setting is detected, a prompt window (guidance prompt information) is popped up to prompt the user to complete the setting of the maximum operable interval first;

[0201] After the user confirms the prompt, it jumps to the setting interface of the maximum operable interval;

[0202] Before the maximum operable interval is set, the user is restricted from defining the start behavior configuration information;

[0203] After detecting that the maximum operable interval is set, the user is allowed to continue defining the start behavior configuration information.

[0204] Further, the setting instruction is specifically sent after an external terminal pops up a prompt window for guiding the user to preferentially complete the setting of the maximum operable range, jumps to the setting interface of the maximum operable range after the user confirms, and enters the configuration process (associated configuration operation process) of the maximum operable range after the user confirms.

[0205] The prompt window is popped up by the external terminal in response to the user's operation of entering the configuration interface of the startup behavior configuration information when no setting of the maximum operable range associated with the startup behavior configuration information is detected, so as to prohibit the user from defining the startup behavior configuration information before the maximum operable range is set.

[0206] Furthermore, in the embodiment of the present disclosure, when the external terminal detects that the user enters the configuration interface of the startup behavior configuration information, it first determines whether there is a setting result of the maximum operable range associated with the startup behavior configuration information based on the locally stored information or the synchronized data with the cloud server. When the determination result is negative, that is, the maximum operable range has not been configured yet, the external terminal immediately pops up a prompt window to prompt the user to preferentially complete the setting of the maximum operable range, and clearly informs the user in the prompt window that the maximum operable range is a prerequisite for defining the startup behavior configuration information. If the user selects to confirm in the prompt window, the external terminal automatically jumps to the setting interface of the maximum operable range, and after the interface jumps, sends a setting instruction to the driving device according to the user's operation of starting the maximum operable range (such as clicking the option of "start configuration") to prompt the driving device to automatically execute the operation process of determining the maximum operable range. During this period, the external terminal can continuously monitor the setting progress until it receives the setting completion feedback from the driving device.

[0207] Through the above design, it is ensured that the user must configure the action boundary based on the actual maximum operable range before defining the startup behavior configuration information.

[0208] In a further example, the prompt window includes an OK button and a Cancel button.

[0209] When the user selects the OK button, the external terminal jumps to the setting interface of the maximum operable range;

[0210] When the user selects the Cancel button, the external terminal terminates the definition process of the startup behavior configuration information.

[0211] Specifically, to ensure the rationality and accuracy of the definition of parameters such as the target action range and action execution period in the startup behavior configuration information, the external terminal preferentially executes the following logical process after receiving the user's operation of entering the configuration interface of the startup behavior configuration information:

[0212] First, the external terminal detects whether there is a setting record of the maximum actionable range associated with the startup behavior configuration information. If the detection result is that it is not set, the external terminal immediately pops up a prompt window to prompt the user, informing that the setting of the maximum actionable range needs to be completed first. The prompt window includes an OK button and a Cancel button, which are used to guide the user to perform the next operation.

[0213] When the user selects the OK button, the external terminal automatically jumps to the setting interface of the maximum actionable range for the user to set the maximum actionable range. Before the maximum actionable range is set, the external terminal restricts the user's definition of the startup behavior configuration information to ensure the accuracy of the subsequent setting information.

[0214] When the user selects the Cancel button, the external terminal terminates the current startup behavior configuration information definition process and does not allow the user to continue configuring the setting information until the maximum actionable range is set.

[0215] In some embodiments, during the daily operation of the driving device, the method further includes:

[0216] After the driving device obtains an external instruction, it first determines whether the instruction is a setting instruction. Among them, when the setting instruction is sent by the user triggering the stroke setting function of the driving device through the external terminal, the stroke setting function page displayed on the external terminal and the selection box page of the optional state popped up based on the first prompt information belong to the same page, ensuring that the user can continuously and smoothly complete various setting operations during the setting of the maximum actionable range.

[0217] If the instruction is a setting instruction, it is determined as a specific trigger, and the driving device starts the first operating state.

[0218] If the instruction is a normal control instruction, it is determined as a normal trigger. At this time, the driving device controls the motor to run in the direction and to the target position specified by the instruction based on the existing maximum actionable range and the bound action direction to complete the corresponding action.

[0219] Through the above method, a reasonable distinction and response processing for different instructions are realized, enabling the driving device to correctly enter the stroke calibration process in the stroke setting scenario and directly execute a quick response based on the established parameters in the daily control scenario.

[0220] As Figure 6 shown, based on the above method embodiments, an embodiment of the present disclosure further provides a driving device 60 for implementing the above method. The driving device can communicate with the cloud server.

[0221] As Figure 6As shown, the driving device 60 includes an instruction receiving unit 61, a policy customization unit 62, and an execution unit 63.

[0222] Among them, the instruction receiving unit 61 is used to receive a start instruction, which is sent by the cloud server when the set time condition in the start behavior configuration information is met; the start behavior configuration information further includes a target action range and an action execution period, and at least one of the target action range and the action execution period is predefined by the user;

[0223] The policy customization unit 62 is used to divide the target action range into multiple sub-action intervals based on the target action range and the action execution period, and determine the execution interval between the sub-action intervals based on the action execution period and the number of sub-action intervals;

[0224] The execution unit 63 is used to sequentially execute each sub-action interval according to the sub-action interval and the corresponding execution interval until the target action range is completed, so as to realize the progressive execution control of the target action range within the action execution period.

[0225] In some embodiments, before receiving the start instruction, the instruction receiving unit 61 is further used to: obtain a setting instruction.

[0226] The execution unit 63 is further used to enter a preset first operating state according to the setting instruction to obtain rotation parameters characterizing the operating characteristics of the driving device.

[0227] On this basis, as Figure 6 shown, the driving device further includes:

[0228] The parameter setting unit 64 is used to determine the division basis of the target action range based on the obtained rotation parameters.

[0229] The information sending unit 65 is used to send a first prompt message after completing the first operating state to prompt the external terminal to provide at least one optional state for indicating the current state of the driving device.

[0230] The feedback receiving unit 66 is used to receive the selection result returned by the external terminal and determine the rotation direction of the driving device during progressive execution control based on the selection result.

[0231] In some embodiments, obtaining the setting instruction specifically includes: obtaining a setting instruction directly or indirectly triggered by the external terminal; wherein, the setting instruction is specifically sent during the process of the external terminal entering an associated configuration operation process in response to the user's confirmation operation on the presented guiding prompt message; the guiding prompt message is presented in advance when the external terminal detects that the current does not meet the preset configuration condition in response to the user's configuration operation on the preset configuration information.

[0232] In some embodiments, the execution unit 63 is further configured to:

[0233] Independently execute corresponding target action range controls based on different received start instructions, where each start instruction is actively sent by the cloud server when the set time conditions in each group of start behavior configuration information are met; each group of start behavior configuration information includes a set time, a target action range, and an action execution period with a logical relationship. The set times among different groups of start behavior configuration information are different, and the target action ranges and action execution periods among different groups of start behavior configuration information can be the same.

[0234] In some embodiments, the action execution period is the total time to complete the target action range as a whole, and the driving device equally determines the execution interval time of adjacent sub-action intervals based on the action execution period and the number of sub-action intervals.

[0235] In some embodiments, the action amplitudes corresponding to each sub-action interval are the same.

[0236] In some embodiments, the action amplitude of each sub-action interval and / or the execution interval time between adjacent sub-action intervals can be dynamically adjusted according to the target action range and the action execution period.

[0237] In some embodiments, the execution unit 63 is further configured to:

[0238] During the execution of the target action range based on the start instruction, if an external trigger event is detected, the execution of subsequent unexecuted sub-action intervals is terminated; where the external trigger event includes a manual control operation applied by the user and / or a control instruction sent through an external control device.

[0239] In some embodiments, the driving device is a curtain motor, and the target action range includes the target travel for curtain opening and closing;

[0240] The execution unit 63 sequentially executes each sub-action interval according to the sub-action intervals and the corresponding execution intervals until the target action range is completed; specifically, it is configured to:

[0241] Based on the sub-action intervals, sequentially adjust the opening and closing ratio of the curtain until the target travel is reached.

[0242] In some embodiments, the execution unit 63 is further configured to:

[0243] After receiving the start instruction, if the current opening and closing ratio is greater than or equal to the target opening and closing ratio set at the action moment corresponding to the start instruction, the driving device pauses, and then executes the corresponding sub-action interval until the target opening and closing ratio at a subsequent action moment is greater than the current opening and closing ratio.

[0244] The driving device provided by the embodiments of the present disclosure can execute the steps of the control method in the above embodiments. The implementation principles and technical effects are similar and will not be elaborated here.

[0245] An embodiment of the present invention also provides a hardware implementation scheme of a driving device, as Figure 7 shown. The driving device includes a main control module, a power supply module, a rotation detection module, and a motor load module. Among them, the main control module serves as the control center, is powered by the power supply module, and is electrically connected to the rotation detection module and the motor load module to obtain the rotation parameters detected by the rotation detection module and drive the motor in the motor load module to work through a drive circuit. The driving device given in this embodiment can be used to implement the control method of the above embodiment, and can be specifically realized under the leadership of the main control module.

[0246] In addition, in some solutions, the driving device further includes an indication module, which is controlled by the main control module to emit an optical signal to indicate the working state of the driving device. The driving device further includes a key for receiving user operations to implement network configuration operations (for example, long pressing for 5 seconds). The main control module is electrically connected to the key and enters the network configuration mode when a network configuration operation is detected.

[0247] In a specific example, as Figure 8 shown, the main control module can adopt a Bluetooth module integrated with processing functions and Bluetooth communication functions (for example, the MHCB012G Bluetooth module, using Bluetooth mesh 2.0 communication). Its internal Bluetooth communication circuit can communicate externally, receive external instructions (such as start instructions, setting instructions), and send relevant information externally (such as the first prompt information).

[0248] The indication module adopts a blue LED status indicator, which flashes blue light when entering the network configuration mode.

[0249] The drive circuit is built based on the AT8222 motor drive chip. Its input end is electrically connected to the MHCB012G Bluetooth module, receives the PWM signal sent by the Bluetooth module, converts it into a drive signal, and then outputs it to the motor in the motor load module through the output end to drive the motor to rotate. Stepless speed regulation of 30 RPM - 90 RPM (default 60 RPM) can be achieved for the motor through the change of the PWM signal, and the output power can reach 22W (1.2NM).

[0250] The power supply module is powered by strong electricity, with a rated operating current of 0.3A. Specifically, it includes a 12VDC power supply unit and an LDO power supply unit that converts 12V to 3.3V. Specifically, the input end of the 12VDC power supply unit is connected to 220V industrial frequency alternating current. After conversion, it outputs 12V direct current, which is used to supply power to the drive circuit built by the AT8222 motor drive chip. The output end of the 12VDC power supply unit is electrically connected to the LDO power supply unit to output a 3.3V power supply through the LDO power supply unit. This 3.3V power supply is used to supply power to the MHCB012G Bluetooth module.

[0251] The rotation detection module uses a bipolar Hall switch built with HAL206SO Hall detection elements to detect the rotation of the motor. The forward / reverse rotation and stall states of the motor are determined by the output signals of 2 Hall switches. Among them, the forward / reverse rotation detection circuit is used to detect the forward / reverse rotation state of the motor. Among them, the rotation detection module is set at the drive output end of the drive device. The specific structure setting of the rotation detection module will be introduced in detail in the subsequent structural implementation examples and will not be elaborated here.

[0252] In addition, it is worth mentioning that in the embodiments of the present disclosure, the drive device has self-detection capabilities. When the motor is offline / open-circuited, etc., the main control module can identify (for example, when the PWM signal is normally output, but the motor does not operate normally, it is judged that the motor is offline / open-circuited) and automatically report the fault, so that the external terminal can display these fault information for the user to refer to. When the rotation parameters cannot be detected during both forward and reverse rotations of the motor, it is determined that the rotation detection module fails, and the device enters the speed measurement failure mode. In this failure mode, the motor stops by stalling, but the speed regulation and percentage control fail, and the motor runs at full speed. After entering the failure mode, when driving the motor, if the sampling voltage of the drive chip is 0, it is considered a motor fault.

[0253] In the embodiments of the present disclosure, the drive device also has a self-protection function. Specifically: when the motor stalls, it can automatically stop; the stall detection principle:

[0254] In the normal mode: drive the motor to rotate, but the rotation parameters cannot be detected, that is, it is considered stalled (corresponding to about 1.4N / M - 1.5N / M);

[0255] In the speed measurement failure mode: when the sampling voltage of the drive chip exceeds 40mV and lasts for more than 300ms, it is considered stalled (corresponding to about 0.6N / M).

[0256] The motor runs continuously for 4 minutes and automatically stops.

[0257] In addition, based on the descriptions of the above embodiments, it can be seen that the accurate acquisition of the rotation parameters is crucial for the operation of the progressive execution control and the determination of the maximum operable range. Taking the curtain motor as an example, in the prior art, there are defects in the positioning structure and the limit structure of the rotation detection module of the curtain motor, resulting in the rotation detection module being easily damaged during the assembly and disassembly processes, and the position accuracy between the rotation detection module and the drive assembly is not high. In the prior art, generally, the end cover is provided with buckles on both sides of the rotation detection module. During assembly, the assembly worker snaps the rotation detection module into the buckles by pressing. This is not only inconvenient for assembly, but also there is a risk of the rotation detection module being crushed. Moreover, it is difficult to disassemble the rotation detection module from the end cover, and the rotation detection module is also easily damaged during the disassembly process. Since the rotation detection module is snap-connected to the end cover, there is no direct positioning relationship between the rotation detection module and the drive assembly, resulting in the low position accuracy between the rotation detection module and the drive assembly, which affects the detection accuracy of the rotation detection module.

[0258] For this reason, an embodiment of the present invention also provides a structural implementation scheme of a driving device. Please refer to Figures 9 - 36 . Multiple embodiments of the driving device 100 provided by the present invention will be specifically explained. This device can also be used to implement the hardware scheme and control method of the above embodiments. The present disclosure will be described in detail by taking the curtain motor as an example, but the protection scope of the present invention is not limited to the curtain motor only.

[0259] In some embodiments, as Figure 9 shown, the driving device 100 is used to drive the curtain to open and close. The driving device 100 is cooperatively connected with a connection box 300 on the curtain track 200. A pulley connected to the output shaft 101 of the driving device 100 is arranged inside the connection box 300. A synchronous belt matched with the pulley is installed in the track 200. The synchronous belt is connected to the end 201. The driving device 100 drives the end 201 to slide on the track 200 through the synchronous belt. A plurality of slidable hanging rings 202 are arranged between the end 201 and the connection box 300. The curtain is hung on the end 201 and the hanging rings 202, and the end 201 drives the curtain to open and close.

[0260] As Figure 11 and Figures 16 - 18As shown, the driving device 100 includes a housing 1, a first end cover 2, and a driving component 3. The first end cover 2 is fixedly connected to the end of the housing 1. The driving component 3 is disposed inside the housing 1 and fixedly connected to the first end cover 2. The driving component 3 is connected to an output shaft 101, and the output shaft 101 passes through the first end cover 2 to output power externally. Among them, a rotation detection module 4 is further included for detecting the rotation parameters of the output end of the driving component 3. The rotation detection module 4 includes a detection circuit board 41, and the detection circuit board 41 is positioned by the driving component 3 to limit the degrees of freedom of movement and rotation of the detection circuit board 41 in the plane of the first surface. The first surface is the surface of the detection circuit board 41 facing the first end cover 2. The detection circuit board 41 is clamped and fixed by the driving component 3 and the first end cover 2.

[0261] Among them, the rotation parameters may be rotation speed, rotation direction, or rotation angle, etc. The rotation detection module 4 may be a Hall detection module or other modules capable of detecting the rotation parameters. The degree of freedom of movement of the plane where the first surface is located can be understood as the degree of freedom of movement in the direction parallel to the first surface; the degree of freedom of rotation of the plane where the first surface is located can be understood as the degree of freedom of rotation with the rotation axis perpendicular to the first surface. The positioning method between the detection circuit board 41 and the driving component 3 includes but is not limited to positioning by the cooperation of positioning posts and positioning holes, positioning by abutting against the edge of the detection circuit board 41, or positioning by other means.

[0262] In the embodiment of the present invention, the driving component 3 positions the detection circuit board 41, so that the two degrees of freedom of movement parallel to the first surface and the degree of freedom of rotation with the rotation axis perpendicular to the first surface of the detection circuit board 41 are restricted. And the detection circuit board 41 is clamped by the driving component 3 and the first end cover 2, so that the degree of freedom of movement perpendicular to the first surface and the two degrees of freedom of rotation with the rotation axis parallel to the first surface of the detection circuit board 41 are restricted. Thus, all six degrees of freedom of the detection circuit board 41 are restricted, so that the detection circuit board 41 is fixed. Since the detection circuit board 41 is directly positioned by the driving component 3, the position accuracy between the detection circuit board 41 and the driving component 3 is improved, which is beneficial to improving the detection accuracy of the rotation detection module 4.

[0263] Compared with the traditional snap-fitting fixation, the detection circuit board 41 provided by the present invention adopts clamping fixation, avoiding the action of pressing and snapping during the assembly process, which can prevent the rotation detection module 4 from being damaged during the assembly process. And compared with snap-fitting fixation, clamping fixation makes the rotation detection module 4 more convenient to disassemble, and the rotation detection module 4 will not be damaged during the disassembly process.

[0264] Thus, the driving device 100 provided by the present invention has solved the technical problems existing in the curtain motor in the prior art.

[0265] It should be noted that in the embodiment of the present invention, the detection circuit board 41 is fixed by the cooperation of positioning and clamping, which not only ensures the positioning accuracy but also improves the assembly convenience. When assembling, the assembly worker does not need to fix the detection circuit board 41. Just connect the driving component 3 with the first end cover 2, and the detection circuit board 41 can be clamped and fixed, simplifying the assembly steps.

[0266] Furthermore, as Figures 16 - 18 shown, the driving component 3 is provided with a first connection portion 32 facing the first end cover 2. The first connection portion 32 protrudes from the first end face 33 of the driving component 3, and the first end face 33 is the surface of the driving component 3 facing the first end cover 2. Among them, the first connection portion 32 is a threaded connection portion, and the first end cover 2 is fixedly connected to the first connection portion 32 through a connection screw 25. The detection circuit board 41 is provided with a positioning hole 411, and the first connection portion 32 is inserted into the positioning hole 411 to position the detection circuit board 41. Among them, the first connection portion 32 of the embodiment of the present invention is not only used to connect the first end cover 2 but also cooperates with the positioning hole 411 to position the detection circuit board 41, so that the driving component 3 does not need to be additionally provided with a positioning structure to position the detection circuit board 41, simplifying the structure. Moreover, the positioning structure and the connection structure are the same structure, ensuring that the detection circuit board 41 is clamped stably and reliably.

[0267] Among them, the first connection portion 32 protruding from the first end face 33 enables the first connection portion 32 to be inserted into the positioning hole 411 to achieve the positioning function. The first connection portion 32 can be structures such as a connection column or a connection block. In one embodiment, as Figure 18 shown, the first connection portion 32 includes a plurality of connection columns 321, and the first end cover 2 is fixedly connected to each of the connection columns 321 through a connection screw 25. The number of the positioning holes 411 is two, and the two positioning holes 411 are respectively positioned by the connection columns 321 to limit the degrees of freedom of movement and rotation of the detection circuit board 41 in the plane of the first surface. Among them, positioning the detection circuit board 41 by two connection columns 321 can not only improve the positioning accuracy but also enable the connection columns 321 to be conveniently inserted into the positioning holes 411, facilitating the assembly of the detection circuit board 41.

[0268] In some embodiments, as Figure 17As shown, the first connecting portion 32 includes a plurality of connecting columns 321. At positions corresponding to each of the connecting columns 321, the first end cover 2 is convexly provided with an annular positioning wall 211. The annular positioning wall 211 is sleeved on the corresponding connecting column 321 to realize the positioning between the first end cover 2 and the driving assembly 3. The first end cover 2 is fixedly connected to each of the connecting columns 321 by connecting screws 25. The end of the annular positioning wall 211 abuts against the detection circuit board 41, and the detection circuit board 41 is clamped and fixed by the annular positioning wall 211 and the driving assembly 3. Among them, by the annular positioning wall 211 abutting against the detection circuit board 41, the abutting part is close to the connecting column 321, and the first end cover 2 is supported by the connecting column 321, avoiding too large or too small tightening force of the connecting screw 25 resulting in too large a change in the abutting force, and ensuring that the abutting force meets the requirements. Moreover, the connecting column 321 can not only position the detection circuit board 41, but also position the first end cover 2, making the positional relationship between the detection circuit board 41 and the first end cover 2 accurate.

[0269] It is worth mentioning that the annular positioning wall 211 is not only used for positioning between the first end cover 2 and the connecting column 321, but also for abutting against the detection circuit board 41 to realize the clamping and fixing of the detection circuit board 41, making the structure simpler and the assembly steps simplified. In addition, the annular positioning wall 211 is sleeved on the connecting column 321, so that the annular positioning wall 211 plays a lateral supporting role on the connecting column 321, which can enhance the connection strength between the connecting column 321 and the first end cover 2 and avoid the fracture of the connection part.

[0270] The annular positioning wall 211 can be understood as an annular structure or a structure similar to an annular structure. It can be a complete ring, or an annular structure composed of a plurality of intermittently arranged rib positions. It can be a circular ring, a square ring, or an irregularly shaped ring. In one embodiment, as Figure 17 shown, the number of the annular positioning walls 211 is four. Among them, the lower two annular positioning walls 211 are complete circular ring structures, and the upper two annular positioning walls 211 are circular ring structures with notches. The four annular positioning walls 211 are arranged in a rectangular shape.

[0271] In one embodiment, the detection circuit board 41 is attached to the first end face 33 of the driving assembly 3, and the detection circuit board 41 is clamped and fixed by the annular positioning wall 211 and the first end face 33. In another embodiment, the first end face 33 can also be provided with a support protrusion, and the support protrusion abuts against the detection circuit board 41, and the detection circuit board 41 is clamped and fixed by the annular positioning wall 211 and the support protrusion.

[0272] Further, as Figure 16As shown, the connecting column 321 is configured as a cylinder, and the number of the connecting columns 321 is four, and the four connecting columns 321 are distributed in a rectangle. The connecting column 321 is provided with a threaded hole, and the first end cover 2 is provided with a connecting hole 217 at a position corresponding to each of the connecting columns 321. The annular positioning wall 211 surrounds the connecting hole 217. The connecting screw 25 is inserted into the connecting hole 217 from a side of the first end cover 2 away from the driving assembly 3, and the connecting screw 25 passes through the connecting hole 217 and is connected to the threaded hole.

[0273] In some embodiments, as Figure 17 and Figure 18 shown, the detection circuit board 41 includes: a first board 412 for being clamped and fixed by the driving assembly 3 and the first end cover 2; a second board 413 integrally formed on the first board 412 and protruding from an outer side surface of the driving assembly 3; the driving device 100 further includes a first circuit board 6 for electrically connecting the driving assembly 3 to control the driving assembly 3 to act; wherein, the first circuit board 6 is connected to the second board 413 through a flexible connector 69 to receive a detection signal transmitted by the detection circuit board 41. Wherein, the second board 413 protruding from the outer side surface of the driving assembly 3 enables the flexible connector 69 to have sufficient space to connect to the second board 413, and the flexible connector 69 will not be blocked by the driving assembly 3. In one embodiment, the second board 413 is provided with four first welding holes 414, and the flexible connector 69 is inserted into the first welding holes 414 and welded and fixed. The first circuit board 6 can be understood as a control circuit board, and a control module is arranged thereon for receiving the detection signal and controlling the driving assembly 3 to rotate.

[0274] Further, as Figure 18 and Figure 17 shown, the first end surface 33 is configured as an annular surface, and the first board 412 includes a semi-annular board to adapt to the first end surface 33; the number of the positioning holes 411 is two, and the two positioning holes 411 are respectively located at two ends of the first board 412; wherein, arranging the positioning holes 411 at two ends of the first board 412 can improve the positioning accuracy. The annular surface includes a surface similar to an annulus, such as an irregular annular surface, etc. The semi-annular board can be understood as a board with a shape similar to a semi-annulus, which can be a semi-circular annulus, a semi-square annulus, or other semi-annular shapes.

[0275] In one embodiment, the first end face 33 adopts an annular surface, an output hole is provided at the center of the first end face 33, a rotatable output boss 3414 is provided inside the output hole, the output boss 3414 is provided with a cross-shaped third key groove 3415, and the end of the output shaft 101 is provided with a third key shaft adapted to the third key groove 3415. The third key shaft is seamlessly inserted into the third key groove 3415, so that the power of the output boss 3414 is transmitted to the output shaft 101.

[0276] like Figure 17 As shown, the first end cap 2 has an abutment wall 212 protruding toward the detection circuit board 41. The abutment wall 212 abuts the detection circuit board 41, and the detection circuit board 41 is clamped and fixed by the abutment wall 212 and the first end surface 33. The abutment wall 212 and the annular positioning wall 211 abut against the detection circuit board 41, thereby more stably clamping the detection circuit board 41. In one embodiment, there are two abutment walls 212.

[0277] In some embodiments, as Figure 19 As shown, the drive assembly 3 includes an output disc 341 connected to the output shaft 101, a clutch housing 342 is provided on the outer side of the output disc 341, and the first connecting portion 32 is provided on the clutch housing 342; wherein, the output boss 3414 is integrally formed on the output disc 341, the first end face 33 is set as the end face of the clutch housing 342, the clutch housing 342 has the output hole, and the output boss 3414 passes through the output hole and protrudes from the first end face 33.

[0278] like Figure 19 and Figure 18 As shown, the output disk 341 is evenly arranged with multiple permanent magnets 343 along the circumference, and the clutch housing 342 is provided with a magnetically sensitive window 3421, which exposes a portion of the permanent magnet 343. The rotation detection module 4 includes two Hall sensors 42 (which can, for example, use the HAL206SO Hall detection element described above). The two Hall sensors 42 are arranged at corresponding positions of the magnetically sensitive windows 3421 and are used to convert magnetic field parameters into detection signals. The provision of the magnetically sensitive windows 3421 in the clutch housing 342 allows the Hall sensor to be closer to the permanent magnet 343, making the Hall sensor 42 more accurate. The use of two Hall sensors 42 can obtain forward and reverse rotation information of the output disk 341 through changes in the magnetic field phase. The detection signal is an electrical signal, which can be a digital signal or an analog signal. In one embodiment, the Hall sensor 42 is a patch-type Hall sensor soldered to the detection circuit board 41.

[0279] The output disk 341 has a second end face 3411 facing the first end cover 2. A magnet mounting groove is provided on the second end face 3411, and the permanent magnet 343 is embedded in the magnet mounting groove. The end face of the permanent magnet 343 is flush with the second end face 3411. The second end face 3411 is an annular surface, and the number of the permanent magnets 343 is twelve, and each permanent magnet 343 is evenly arranged on the second end face 3411.

[0280] Further, as Figure 18 shown, the first end face 33 is set as the side of the clutch housing 342 facing the first end cover 2; the Hall sensing element 42 is arranged on the second surface of the detection circuit board 41 facing away from the first surface and is embedded in the magnetic sensing window 3421, so that the first end face 33 is attached to the detection circuit board 41, and the detection circuit board 41 is clamped and fixed by the first end cover 2 and the first end face 33. Wherein, the Hall sensing element 42 is embedded in the magnetic sensing window 3421 so that the Hall sensor is closer to the permanent magnet 343 to improve the accuracy of the Hall sensing element 42 in sensing the magnetic field. The second surface can be understood as the side of the detection circuit board 41 facing the driving assembly 3, and the second surface is attached to the first end face 33 so that the detection circuit board 41 is clamped more stably.

[0281] In some embodiments, the distance between two Hall sensing elements 42 is greater than the distance between two adjacent permanent magnets 343, but less than twice the distance between two adjacent permanent magnets 343.

[0282] In some embodiments, as Figure 22 shown, the housing 1 is constructed as a tubular structure with both ends open, and the first end cover 2 and the second end cover 5 are respectively fixedly connected to both ends thereof; a second limiting member 8 and a first circuit board 6 are further arranged inside the housing 1, and the first circuit board 6 is limited by the second limiting member 8 to the second end cover 5; the driving assembly 3 and the first circuit board 6 are respectively loaded into the housing 1 from both ends thereof. Wherein, the first end cover 2 and the second end cover 5 are detachably fixedly connected to both ends of the housing 1. In one embodiment, the housing 1 is constructed as a square tube structure, and its cross-section is square. Threaded holes are respectively arranged at the four corners of the square, and the first end cover 2 and the second end cover 5 are both fixed to the housing 1 by long screws 11.

[0283] The second limiting member 8 can be integrally formed with the second end cover 5, or can be snap-connected to the second end cover 5, or can be fixed to the second end cover 5 by screws, or be connected to the second end cover 5 in other ways. The first circuit board 6 is jointly limited by the second limiting member 8 and the second end cover 5. The driving assembly 3 and the first circuit board 6 are enclosed inside the housing 1 by the first end cover 2 and the second end cover 5.

[0284] In the embodiment of the present invention, the driving assembly 3 is loaded into the housing 1 from one end following the first end cover 2, and the first circuit board 6 and the second limiting member 8 are loaded into the housing 1 from the other end following the second end cover 5. Such assembly has the following beneficial effects: 1. Improve the assembly efficiency; 2. Facilitate maintenance and replacement. The two ends of the housing 1 can be disassembled and maintained separately, and there is no need to disassemble the whole device; 3. The first circuit board 6 and the clutch 34 are respectively located at the two ends of the housing 1, avoiding electromagnetic interference of the permanent magnet 343 on the clutch housing 342 to the first circuit board 6.

[0285] Further, the detection circuit board 41 transmits the detection signal to the first circuit board 6 through the flexible connection member 69, and the first circuit board 6 obtains the rotation parameters of the output disk 341 based on the detection signal. Among them, since the detection circuit board 41 and the first circuit board 6 are respectively loaded into the housing 1 from the two ends, the distance between the two changes greatly during the assembly process. The flexible connection member 69 in this embodiment compensates for the distance change between the detection circuit board 41 and the first circuit board 6 during the assembly process by deforming, ensuring stable connection between the two. Moreover, due to the flexible connection member 69 being twistable and bendable, the position design of the detection circuit board 41 and the first circuit board 6 is more flexible.

[0286] The flexible connection member 69 can be understood as a flexible and conductive connection member, such as a wire, a flexible cable, etc. In one embodiment, the detection circuit board 41 is provided with four first welding holes 414, the flexible connection member 69 includes four first wires, one end of the first wire is welded to the first welding hole 414, and the other end is inserted into the first socket 61 on the first circuit board 6 through the first wiring terminal 691, so that the detection circuit board 41 is electrically connected to the first circuit board 6.

[0287] In some embodiments, as Figure 22 and Figure 16 shown, the housing 1 is constructed as a tubular structure with both ends open. The driving assembly 3 includes a columnar motor 36, a planetary gear reducer 35, and a clutch 34 arranged in sequence along the first direction. The columnar motor 36 is arranged at one end of the driving assembly 3 away from the first end cover 2, and the first direction is the direction in which the columnar motor 36 faces the first end cover 2. The first direction has been marked in Figure 22 the figure.

[0288] As Figure 19As shown, the clutch 34 includes the clutch housing 342, the output disk 341, the leaf-shaped input member 344, the magnetic movable member 345, and the attracting disk 346. The input end of the clutch 34 is connected to the leaf-shaped input member 344. The output disk 341 is provided with a rotation space 3412. Both the leaf-shaped input member 344 and the magnetic movable member 345 are disposed inside the rotation space 3412. The output disk 341 is provided with a transmission groove 3413 on the side wall of the rotation space 3412.

[0289] Among them, the rotation space 3412 is configured as a groove-shaped space that is open on one side and closed on the other side, and is open towards the input end of the clutch 34. The attracting disk 346 is disposed on the open side of the rotation space 3412. The magnetic movable member 345 is a permanent magnet, and its shape is cylindrical or spherical. The magnetic movable member 345 can move within the rotation space 3412. In one embodiment, as Figure 20 shown, the magnetic movable member 345 is configured as a cylinder, and its end is attracted by the attracting disk 346 and maintained in a state perpendicular to the attracting disk 346. Compared with the spherical magnetic movable member 345, the cylindrical magnetic movable member 345 adopted in this embodiment has a higher load-bearing capacity. The leaf-shaped input member 344 is configured as a stretched body similar to a leaf shape, and one of the magnetic movable members 345 is placed on each side thereof. The leaf-shaped input member 344 is made of plastic material. When the leaf-shaped input member 344 rotates, it can push the magnetic movable member 345 outward and snap the magnetic movable member 345 into the transmission groove 3413. Among them, the thickness of the leaf-shaped input member 344 is slightly greater than the height of the magnetic movable member 345. The attracting disk 346 is made of iron material and can attract the magnetic movable member 345. The transmission groove 3413 is configured as an arc groove, and its radius is slightly smaller than the radius of the magnetic movable member 345.

[0290] As Figure 20 shown, when the leaf-shaped input member 344 rotates within the rotation space 3412, the leaf-shaped input member 344 pushes the magnetic movable member 345 into the transmission groove 3413, and the power of the leaf-shaped input member 344 is transmitted to the output disk 341 through the magnetic movable member 345; when the thrust of the leaf-shaped input member 344 acting on the magnetic movable member 345 is removed, the attracting disk 346 attracts the magnetic movable member 345 to disengage from the transmission groove 3413, so that the power between the output disk 341 and the leaf-shaped input member 344 is cut off.

[0291] Among them, the two magnetic moving parts 345 can be simultaneously snapped into the transmission groove 3413, or only one of them can be snapped into the transmission groove 3413. The leaf-shaped input part 344 pushes the output disk 341 to rotate through the magnetic moving part 345 to transmit power. When the leaf-shaped input part 344 stops rotating, the magnetic attraction force received by the magnetic moving part 345 is not sufficient to disengage from the transmission groove 3413, and the magnetic moving part 345 is still clamped between the leaf-shaped input part 344 and the transmission groove 3413. When the leaf-shaped input part 344 rotates reversely by a certain angle or the output disk 341 is rotated by a certain angle in the previous direction under an external force, a gap is generated between the transmission groove 3413 and the magnetic moving part 345, and then the magnetic moving part 345 can disengage from the transmission groove 3413 under the action of the magnetic attraction force, so that the power between the output disk 341 and the leaf-shaped input part 344 is cut off.

[0292] A friction disk 347 made of plastic is arranged between the attracting disk 346 and the magnetic moving part 345. The attracting disk 346 is embedded in the side of the friction disk 347 facing away from the magnetic moving part 345. The magnetic moving part 345 is attached to the friction disk 347 and slides on the surface of the friction disk 347. The surface of the friction disk 347 is relatively smooth, so that the sliding friction resistance of the magnetic moving part 345 is small, and further enables the magnetic moving part 345 to disengage from the transmission groove 3413 under the attraction of the attracting disk 346.

[0293] As Figure 19 shown, the planetary gear reducer 35 includes a third reducer housing 354. The clutch housing 342 is clamped to the side of the third reducer housing 354. A cylindrical clutch 34 cavity is formed between the clutch housing 342 and the third reducer housing 354. The attracting disk 346, the friction disk 347, the leaf-shaped input part 344, the magnetic moving part 345 and the output disk 341 are all accommodated in the clutch 34 cavity. An annular connecting wall 3541 extends from the side wall of the third reducer housing 354 towards the clutch housing 342 in a circumferential direction. The clutch housing 342 is sleeved on the annular connecting wall 3541. The output disk 341 is embedded inside the annular connecting wall 3541. As Figure 20 shown, the clutch housing 342, the third reducer housing 354 and the output disk 341 are nested with each other. The output disk 341 is radially limited by the annular connecting wall 3541 around its side surface, so that the rotation of the output disk 341 is more stable.

[0294] As Figure 14 shown, the left side of the friction disk 347 abuts against the third reducer housing 354, the right side abuts against the output disk 341, and the side surface is limited by the annular connecting wall 3541. The attracting disk 346 is embedded in the friction disk 347 and is limited between the friction disk 347 and the third reducer housing 354.

[0295] In some embodiments, as Figure 21 and Figure 14 As shown, the output end of the cylindrical motor 36 is connected to the input end of the planetary gear reducer 35, and the output end of the planetary gear reducer 35 is connected to the input end of the clutch 34. A transmission wheel 361 is provided at the output end of the cylindrical motor 36. The transmission wheel 361 is processed with an external spline. The planetary gear reducer 35 includes a reducer input shaft 351. One end of the reducer input shaft 351 is processed with a spline groove. The transmission wheel 361 is embedded in the spline groove to realize power transmission between the cylindrical motor 36 and the planetary gear reducer 35.

[0296] The planetary gear reducer 35 also includes a first reducer housing 352, a second reducer housing 353, a first-stage planet carrier 355, a second-stage planet carrier 356, three first-stage planetary gears 357, and three second-stage planetary gears 358. The first-stage planet carrier 355 includes a first-stage planetary disk and three first-stage planetary shafts perpendicular to the first-stage planetary disk. The three first-stage planetary gears 357 are rotatably mounted on the three first-stage planetary shafts. The second-stage planet carrier 356 includes a second-stage planetary disk and three second-stage planetary shafts perpendicular to the second-stage planetary disk. The three second-stage planetary gears 358 are rotatably mounted on the three second-stage planetary shafts.

[0297] The reducer input shaft 351 is machined with a first-stage sun gear 3511, and the inner wall of the second reducer housing 353 is machined with a first-stage internal gear ring. The first-stage sun gear 3511, the first-stage planetary gears 357, and the first-stage internal gear ring cooperate with each other to form the first-stage planetary gear reducer 35. The first-stage sun gear 3511 and the first-stage planetary gears 357 are both helical gears, and the first-stage internal gear ring is a helical gear ring.

[0298] A second-stage sun gear 3551 is machined onto the end of the first-stage planetary carrier 355 facing away from the first-stage planetary shaft. A second-stage internal gear ring is machined onto the inner wall of the third reducer housing 354. The second-stage sun gear 3551, the second-stage planetary gears 358, and the second-stage internal gear ring cooperate to form the second-stage planetary gear reducer 35. The second-stage planetary carrier 356, serving as the output end of the planetary gear reducer 35, has a second keyway on its end facing away from the second-stage planetary shaft. The leaf-shaped input member 344 of the clutch 34 is integrally formed with a second key shaft, which engages in the second keyway to enable power transmission between the planetary gear reducer 35 and the clutch 34.

[0299] Further, if Figure 21As shown, one end of the first reducer housing 352 is fixed to the cylindrical motor 36 by screws, and the other end is clamped to the side of the third reducer housing 354. The second reducer housing 353 is arranged inside the first reducer housing 352, and an external gear 3531 is provided at one end of the second reducer housing 353 facing the third reducer housing 354. The external gear 3531 is embedded in the second-stage inner gear ring to achieve circumferential positioning between the second reducer housing 353 and the third reducer housing 354.

[0300] Further, if Figure 14 As shown, the first-stage sun gear 3511 is provided with a first positioning boss at its end. This boss inserts into a first positioning groove in the first planet carrier, ensuring more stable rotation of the reducer input shaft 351 and preventing tilting. The second-stage sun gear 3551 is provided with a second positioning boss at its end. This boss inserts into a second positioning groove in the second planet carrier, ensuring stable rotation of the first-stage planet carrier 355.

[0301] Further, if Figure 19 and Figure 18 As shown, the output disc 341 of the clutch 34 outputs power via the output shaft 101. A cross-shaped third keyway 3415 is provided on the side of the output disc 341 facing away from the planetary gear reducer 35. A third key shaft is provided at one end of the output shaft 101, which engages with the third keyway 3415 to enable power transmission between the two. The output disc 341 is provided with the output boss 3414, and the third keyway 3415 is provided on the output boss 3414. The clutch housing 342 defines a clutch output hole 3422, through which the output boss 3414 transmits power. The clutch output hole 3422 is connected to the magnetically sensitive window 3421.

[0302] like Figure 22 As shown, since the drive assembly 3 is in the shape of an elongated strip and only one end of the drive assembly 3 is fixedly connected to the first end cover 2, the drive assembly 3 and the first end cover 2 form a structure similar to a cantilever beam. However, the heavier columnar motor 36 is located at the end away from the first end cover 2, causing the drive assembly 3 to shake easily. When the drive device 100 falls, the drive assembly 3 shakes greatly and the columnar motor 36 hits the side wall of the housing 1, causing damage to the columnar motor 36 or the housing 1. To solve this problem, in one embodiment, as shown in FIG. Figure 27 and Figure 28As shown, a flexible buffer ring 362 is sleeved on the side of the columnar motor 36. The flexible buffer ring 362 abuts against the side wall of the housing 1. The flexible buffer ring 362 provides lateral buffering for the columnar motor 36 to prevent the columnar motor 36 from hitting the side wall of the housing 1 and causing damage to the columnar motor 36 or the housing 1. Among them, the flexible buffer ring 362 is a flexible ring structure, which can be made of foam, rubber, silica gel or other flexible materials.

[0303] In an embodiment, the flexible buffer ring 362 is made of foam, and its shape is a circular ring. The inner diameter is slightly smaller than the diameter of the columnar motor 36, so that there is an interference fit between the flexible buffer ring 362 and the columnar motor 36 to prevent the flexible buffer ring 362 from falling off.

[0304] Furthermore, as Figure 28 shown, the outer diameter of the flexible buffer ring 362 is slightly larger than the width of the inner wall of the housing 1, so that there is an interference fit between both sides of the flexible buffer ring 362 and the housing 1, and the buffering effect of the flexible buffer ring 362 is better.

[0305] As Figure 28 and Figure 27 shown, the cross-section of the inner cavity of the housing 1 is rectangular. There are wire routing spaces above and below the flexible buffer ring 362 in the inner cavity of the housing 1, and the flexible connector 69 passes through the wire routing spaces. Thanks to the flexible buffer ring 362 separating the wire routing spaces in the inner cavity of the housing 1, the flexible connector 69 can only route wires from the upper and lower sides of the columnar motor 36 and cannot reach the left and right sides of the columnar motor 36. Thus, when the driving device 100 drops, the columnar motor 36 swaying to the left and right sides will not squeeze the flexible connector 69, preventing the flexible connector 69 from being damaged; and there is sufficient space on the upper and lower sides of the columnar motor 36, and the up and down swaying amount of the columnar motor 36 is not enough to squeeze the flexible connector 69, avoiding damage to the flexible connector 69.

[0306] It is worth mentioning that since the driving component 3 and the first end cover 2 form a structure similar to a cantilever beam, when the driving device 100 drops, if the swaying amplitude of the driving component 3 is too large, there is a risk of fracture at the connection part between the driving component 3 and the first end cover 2. The flexible buffer ring 362 reduces the swaying amplitude of the driving component 3 to a certain extent and reduces the risk of fracture at the connection part. Further, as Figure 17 shown, the annular positioning wall 211 is sleeved on the connecting column 321, which can enhance the structural strength of the connection part and also play a role in preventing the connection part from breaking. Moreover, the first end cover 2 is provided with a plurality of reinforcing ribs on the outside of the annular positioning wall 211 to enhance the structural strength of the annular positioning wall 211 and further prevent the connection part from breaking.

[0307] Since the detection circuit board 41 and the first circuit board 6 are respectively inserted into the housing 1 from both ends, the distance between the detection circuit board 41 and the first circuit board 6 varies greatly during the assembly process, and the positions do not correspond. To solve this problem, in some embodiments, such as Figure 22 , Figure 27 , Figure 31 and Figure 32 shown, the detection circuit board 41 is electrically connected to the first circuit board 6 through the flexible connection member 69. During assembly, the flexible connection member 69 deforms to adapt to the driving assembly 3, and maintains the conductivity between the detection circuit board 41 and the first circuit board 6 in any deformed state. Among them, the deformation of the flexible connection member 69 adapting to the driving assembly 3 can be understood as that the flexible connection member 69 undergoes torsion, bending and other deformations along the side of the driving assembly 3. The flexible connection member 69 will adaptively deform with the change of the side shape of the driving assembly 3 to make up for the change in the distance between the detection circuit board 41 and the first circuit board 6, and ensure the stable connection between the two. And when the positions of the detection circuit board 41 and the first circuit board 6 do not correspond, the flexible connection member 69 can undergo torsion and bending to ensure the stable connection between the two, making the position design of the detection circuit board 41 and the first circuit board 6 more flexible.

[0308] In some embodiments, such as Figure 22 shown, the driving assembly 3 is a cylindrical strip-shaped structure. The first welding hole 414 is located on the second board 413 of the detection circuit board 41. The second board 413 protrudes downward from the driving assembly 3. The end of the flexible connection member 69 is provided with a first wiring terminal 691. The flexible connection member 69 bends upward along the side of the driving assembly 3, and the first wiring terminal 691 is inserted into the first socket 61 of the first circuit board 6.

[0309] In other embodiments, such as Figure 27 and Figure 28 shown, a flexible buffer ring 362 is sleeved on the side of the columnar motor 36. The flexible connection member 69 passes through the lower space of the flexible buffer ring 362, then bends upward, and the first wiring terminal 691 is inserted into the first socket 61.

[0310] In other embodiments, such as Figure 31 and Figure 32 shown, a first limiting member 9 is sleeved on the tail end of the columnar motor 36. The side of the first limiting member 9 abuts against the inner wall of the housing 1. The flexible connection member 69 passes through the first limiting member 9, then bends upward, and the first wiring terminal 691 is inserted into the first socket 61.

[0311] In Figure 22In the illustrated embodiment, the cross-section of the inner cavity of the housing 1 is rectangular, and its height in the vertical direction is greater than its width in the horizontal direction. The first circuit board 6 is arranged along the vertical direction so that the width of the first circuit board 6 in the vertical direction is wider, which is beneficial to shortening the length of the first circuit board 6 in the first direction, thereby shortening the overall length of the driving device 100 in the first direction.

[0312] As Figure 22 and Figure 23 shown, at one end of the first circuit board 6 facing the driving component 3, a first socket 61, a second socket 62, and a third socket 63 are sequentially arranged from top to bottom. The flexible connector 69 is inserted into the first socket 61 through a first terminal 691. A second terminal 363 is connected to the tail of the columnar motor 36, and the second terminal 363 is inserted into the second socket 62. The columnar motor 36 is electrically connected to the first circuit board 6 through the second terminal 363. A second circuit board 7 is further arranged inside the housing 1, and a fourth socket 71 is arranged on the second circuit board 7. The fourth socket 71 is connected to the third socket 63 through a third wire 72 to realize electrical connection between the second circuit board 7 and the first circuit board 6.

[0313] Further, the length of the flexible connector 69 is L1, and the distance between the detection circuit board 41 and the first circuit board 6 is L2. Then, L1 / 5 ≤ L1 - L2 ≤ L1 / 2 to adapt to the deformation of the flexible connector 69 during assembly. During assembly, first install the driving component 3 on the first end cap 2, then place the driving component 3 into the housing 1, and fix the first end cap 2 to the housing 1. Thanks to the fact that the length L1 of the flexible connector 69 satisfies L1 - L2 ≥ L1 / 5, the first terminal 691 can pass through from one end of the housing 1 to the other end, so as to facilitate inserting the first terminal 691 into the first socket 61 of the first circuit board 6. Subsequently, the first circuit board 6 and the second limiting member 8 are placed into the housing 1, and finally the second end cap 5 is installed on the other end of the housing 1. In an exemplary embodiment, the length L1 of the flexible connector 69 = 235 mm, the distance L2 between the detection circuit board 41 and the first circuit board 6 = 148 mm, and the length L3 of the housing 1 in the first direction = 188 mm.

[0314] In some embodiments, as Figures 23 - 26 shown, the structures of the first circuit board 6, the second circuit board 7, the second limiting member 8, and the second end cap 5 are shown. As Figure 24As shown, the first circuit board 6 is jointly limited by the second limiting member 8 and the second end cover 5. The second limiting member 8 is provided with a first slot 81. The first slot 81 has a first insertion end close to the second end cover 5 and a first stop end far from the second end cover 5. The first circuit board 6 is inserted into the first slot 81 from the first insertion end. When the second limiting member 8 is installed on the second end cover 5, the first circuit board 6 is limited between the first stop end and the second end cover 5. Among them, the first insertion end is Figure 24 the right end of the first slot 81 in Figure 24 , and the first stop end is Figure 24 the left end of the first slot 81 in

[0315] . The first stop end is provided with a stop block, a stop piece or other structures that can block the first circuit board 6 from moving leftward. The second end cover 5 blocks the first circuit board 6 from moving rightward. The first slot 81 restricts the up-and-down movement of the first circuit board 6. Thus, the position of the first circuit board 6 is restricted. In an embodiment, as Figure 24 shown, the first stop end is provided with a first stop piece 811. Figure 24 Figure 24 Figure 26

[0316]

[0317] shown, the second limiting member 8 is provided with a second slot 82 parallel to the first slot 81. The second slot 82 has a second insertion end close to the second end cover 5 and a second stop end far from the second end cover 5. The second circuit board 7 is inserted into the second slot 82 from the second insertion end. When the second limiting member 8 is installed on the second end cover 5, the second circuit board 7 is limited between the second stop end and the second end cover 5. Among them, the second insertion end is Figure 24 the right end of the second slot 82 in Figure 24 , and the second stop end is Figure 26 the left end of the second slot 82 in

[0316] . The second stop end is provided with a stop block, a stop piece or other structures that can block the second circuit board 7 from moving leftward. The second end cover 5 blocks the second circuit board 7 from moving rightward. The second slot 82 restricts the up-and-down movement of the second circuit board 7. Thus, the position of the second circuit board 7 is restricted. In an embodiment, as Figure 26 shown, the second stop end is provided with a second stop piece 821.

[0316] Furthermore, the second limiting member 8 is provided with the first slots 81 on both sides of the first circuit board 6 respectively, and both sides of the first circuit board 6 are respectively inserted into the first slots 81. The second limiting member 8 is provided with the second slots 82 on both sides of the second circuit board 7 respectively, and both sides of the second circuit board 7 are respectively inserted into the second slots 82.

[0317] During assembly, first insert the first circuit board 6 and the second circuit board 7 into the first slot 81 and the second slot 82 respectively, and then install the second limiting member 8 on the second end cover 5, so that the positions of the first circuit board 6 and the second circuit board 7 are limited by the second limiting member 8 and the second end cover 5.

[0318] Furthermore, if Figure 23 and Figure 25 As shown, Figure 25 is a cross-sectional view of the second limiting member 8, the first circuit board 6 and the second circuit board 7. Figure 25 In the figure, the electronic components on the first and second circuit boards 6 and 7 are not shown. The second circuit board 7 carries high-voltage circuits, while the first circuit board 6 carries low-voltage circuits. The first and second circuit boards 6 and 7 are electrically connected. The second stopper 8 includes a partition 83 between the first and second circuit boards 6 and 7. The partition 83 provides electrical isolation. The partition 83 is sized to cover the second circuit board 7, ensuring better isolation between the first and second circuit boards 6 and 7.

[0319] like Figure 26 and Figure 23 As shown, most of the electronic components on the second circuit board 7 are arranged on a side away from the first circuit board 6 , and most of the electronic components on the first circuit board 6 are arranged on a side away from the second circuit board 7 .

[0320] Furthermore, if Figure 25 and Figure 26 As shown, the second limiting member 8 also includes an integrally formed high-voltage cover 84. The high-voltage cover 84 and the partition 83 surround the second circuit board 7. The high-voltage cover 84 is used to electrically isolate the second circuit board 7 from the housing 1. The second limiting member 8 is provided with first snap-fitting protrusions 85 on both sides of the partition 83, and a second snap-fitting protrusion 86 is provided on the outside of the high-voltage cover 84. The inner wall of the second end cover 5 is provided with end cover buckles 51 at positions corresponding to the first snap-fitting protrusions 85 and the second snap-fitting protrusions 86. Each end cover buckle 51 is respectively snap-fitted to the first snap-fitting protrusion 85 and the second snap-fitting protrusion 86, so that the second limiting member 8 is snap-fitted and fixed to the second end cover 5. Furthermore, after the second limiting member 8 is snap-fitted and fixed to the second end cover 5, glue is applied to the positions of the first snap-fitting protrusion 85 and the second snap-fitting protrusion 86 to prevent the end cover buckle 51 from loosening.

[0321] In some embodiments, as Figure 24As shown, the second end cap 5 is provided with a button 52, and an electronic switch 68 is provided at a position corresponding to the button 52 on the first circuit board 6. The button 52 is used to trigger the electronic switch 68. The second end cap 5 is provided with a light guide hole 53, and an indicator light 64 is provided at a position corresponding to the light guide hole 53 on the first circuit board 6. The second end cap 5 is provided with a power interface 54, and a power connection terminal 73 is provided at a position corresponding to the power interface 54 on the second circuit board 7.

[0322] Among them, the electronic switch 68 and the indicator light 64 are arranged at the end of the first circuit board 6, and the trigger part of the electronic switch 68 protrudes from the first circuit board 6 so that the button 52 can trigger the electronic switch 68. The electronic switch 68 can be, for example, a tactile switch, a micro switch, a detection switch, etc. In one embodiment, the electronic switch 68 is a tactile switch. The indicator light 64 can be an LED lamp bead.

[0323] Furthermore, as Figure 24 shown, a wireless communication module 65 is provided on the first circuit board 6. The wireless communication module 65 is arranged at one end close to the second end cap 5 to prevent the housing 1 from shielding the wireless signal. The first circuit board 6 is hollowed out at a position corresponding to the antenna of the wireless communication module 65 to avoid the first circuit board 6 blocking the wireless signal.

[0324] As Figure 22 shown, the wireless communication module 65 is arranged at a position on the first circuit board 6 close to the upper side. After the driving device 100 is installed on the track 200, the wireless communication module 65 can be located on the side of the first circuit board 6 away from the wall, so that the strength of the wireless signal is higher. Specifically, as Figure 9 shown, the connection box 300 is arranged at the end of the track 200, generally close to the wall. The driving device 100 is connected to the connection box 300 of the track 200 through a hanging ear 23. The driving device 100 is provided with an operating rod 24 for controlling the rotation of the hanging ear 23. The operating rod 24 is arranged on the side close to the track 200. As Figure 22 shown, the wireless communication module 65 and the operating rod 24 are on the same side. Combining Figure 22 and Figure 9 it can be known that after the driving device 100 is installed on the track 200, the wireless communication module 65 can be located on the side of the first circuit board 6 away from the wall, avoiding the wireless signal being blocked by the wall and weakened.

[0325] Furthermore, as Figure 22As shown, the driving assembly 3 is configured as a long strip structure. One end of the driving assembly 3 is fixedly connected to the first end cover 2, such that the driving assembly 3 and the first end cover 2 form a cantilever structure. This cantilever structure can be understood as a structure similar to a cantilever beam. Such a structure is prone to shaking at the end far from the first end cover 2. Moreover, since the columnar motor 36 with a relatively large weight is located at the end far from the first end cover 2, the driving assembly 3 is even more prone to shaking. When the driving device 100 drops, the large shaking of the driving assembly 3 may cause the columnar motor 36 to impact the side wall of the housing 1, resulting in damage to the columnar motor 36 or the housing 1. Also, if the shaking amplitude of the driving assembly 3 is too large, there is a risk of fracture at the connection part between the driving assembly 3 and the first end cover 2.

[0326] In Figures 27 - 28 the embodiment shown, the flexible buffer ring 362 is used to provide lateral buffering for the columnar motor 36, preventing the columnar motor 36 from hitting the side wall of the housing 1 and causing damage to the columnar motor 36 or the housing 1. Moreover, the flexible buffer ring 362 reduces the shaking amplitude of the driving assembly 3 to a certain extent and reduces the risk of fracture at the connection part.

[0327] In other embodiments, as Figures 29 - 34 shown, two other feasible implementation manners are given. A first limiting member 9 is arranged inside the housing 1. The first limiting member 9 is sleeved on the end of the driving assembly 3 far from the first end cover 2, and is used for radially supporting the driving assembly 3 to prevent the driving assembly 3 from shaking, thereby preventing the columnar motor 36 from hitting the housing 1. Also, the first limiting member 9 reduces the shaking amplitude of the driving assembly 3 and avoids fracture at the connection part connected to the first end cover 2.

[0328] As Figure 30 and Figure 33 shown, in these two embodiments, the first limiting member 9 abuts against the inner wall of the housing 1 in the up, down, left, and right directions, such that the first limiting member 9 provides a more stable radial support for the columnar motor 36.

[0329] As Figures 29 - 31 shown, for a feasible embodiment, the second limiting member 8 is fixedly connected to the second end cover 5. The axial direction of the first limiting member 9 is jointly limited by the second limiting member 8 and the driving assembly 3. Among them, since the first limiting member 9 is sleeved on the driving assembly 3, the axial direction of the first limiting member 9 can be understood as the axial direction of the driving assembly 3. The axial displacement of the first limiting member 9 is jointly restricted by the second limiting member 8 and the driving assembly 3, and the radial displacement of the first limiting member 9 is restricted by the housing 1, such that the displacement degrees of freedom of the first limiting member 9 in all directions are restricted. The first limiting member 9 realizes the limiting function by relying on the limiting effect between parts, simplifies the limiting structure, and improves the assembly efficiency.

[0330] Among them, since the driving component 3 and the second limiting member 8 are respectively inserted into the housing 1 from both ends, in order to avoid an interference fit in the axial direction of the first limiting member 9, the driving component 3 and the second limiting member 8, in some embodiments, as Figure 31 shown, the axial direction of the first limiting member 9 is not completely limited, and there is an active space of about 1 mm in the axial direction, as long as the first limiting member 9 cannot be separated from the driving component 3.

[0331] Furthermore, as Figure 29 and Figure 30 shown, the second limiting member 8 and the first limiting member 9 are integrally formed. The first limiting member 9 includes a socket portion 91 and a radial support portion 92 provided around the socket portion 91. The socket portion 91 is sleeved on the driving component 3, and the radial support portion 92 abuts against the inner wall of the housing 1 so that the driving component 3 is radially supported by the first limiting member 9.

[0332] Furthermore, the radial support portion 92 and the socket portion 91 are integrally formed. The radial support portion 92 includes a radial support wall 921 and an axial support wall 922. The radial support wall 921 extends radially around from the side surface of the socket portion 91, and the axial support wall 922 extends axially from the end of the radial support wall 921.

[0333] As Figure 31 shown, the direction of the second limiting member 8 facing the first limiting member 9 is set as the second direction. The axial support wall 922 extends towards the first end cover 2, and the extension direction is inclined outward relative to the second direction. The included angle between the extension direction and the second direction is less than 10°, that is, the extension direction of the axial support wall 922 faces the first end cover 2 and is slightly inclined towards the side wall of the housing 1, so as to facilitate the first limiting member 9 to be inserted into the housing 1 from the left end following the driving component 3. As Figure 30 shown, the outward inclination of the axial support wall 922 makes the axial support wall 922 only abut against the side wall of the housing 1 at the end. The axial support wall 922 can ensure that the upper, lower, left, and right axial support walls 922 can all abut against the side wall of the housing 1 through slight elastic deformation, improving the support stability. Among them, in one embodiment, the second direction and the first direction are the same direction, and the second direction is marked in Figure 31 .

[0334] Furthermore, as Figure 30 shown, the flexible connecting member 69 includes at least one first wire. The radial support portion 92 is provided with a wire groove 923 for the first wire to pass through; as Figure 31As shown, the flexible connector 69 includes four first wires and first connection terminals 691 provided at the ends of the first wires. The first connection terminals 691 are connected to the first circuit board 6. The wire groove 923 communicates with the side surface of the radial support portion 92. The first wires are snapped into the wire groove 923 from the side surface of the radial support portion 92 to prevent the first connection terminals 691 from being unable to pass through the wire groove 923.

[0335] The wire groove 923 is elongated, and its width is adapted to the wire diameter of the first wire, so that the wire groove 923 can clamp the first wire to lock the position and bending posture of the first wire to prevent the first wire from being damaged.

[0336] As Figure 30 shown, the radial support wall 921 is provided with at least two arc-shaped buffer holes 924. The buffer holes 924 provide space for elastic deformation of the radial support wall 921. The axial support wall 922 is provided with a plurality of axially extending split holes 925. The split holes 925 extend to the end of the axial support wall 922 to divide the axial support wall 922 into multiple segments, so that the deformation ability of the axial support wall 922 is stronger. When the driving device 100 drops, the buffer holes 924 and the axial support wall 922 deform simultaneously to weaken the impact force and prevent the columnar motor 36 from being damaged.

[0337] In some embodiments, as Figure 29 and Figure 31 shown, the first limiting member 9 is provided with a first abutting portion 93 facing the second limiting member 8. The second limiting member 8 abuts against the first abutting portion 93 to limit the first limiting member 9 from moving axially in the first direction. The sleeved portion 91 of the first limiting member 9 is provided with a second abutting portion 911 at the position where the end of the driving assembly 3 is located. The end of the driving assembly 3 abuts against the second abutting portion 911 to limit the first limiting member 9 from moving axially in the second direction, and the second axial direction is opposite to the first axial direction. Among them, the first axial direction can be understood as the direction of the first limiting member 9 facing the second limiting member 8, and the second axial direction can be understood as the direction of the first limiting member 9 facing the first end cover 2.

[0338] Further, the sleeved portion 91 is configured as a sleeved ring, and the sleeved ring is sleeved on the driving assembly 3. The second abutting portion 911 is configured as a limiting ring, and the limiting ring abuts against the end of the driving assembly 3.

[0339] Further, as Figure 29 and Figure 31As shown, a second wire 365 is provided at the end of the driving assembly 3. The second wire 365 passes through the hollow part of the limiting ring and is connected to the first circuit board 6. Among them, the second wire 365 is connected to a second terminal 363, and the second terminal 363 is inserted into the second socket 62. The columnar motor 36 is electrically connected to the first circuit board 6 through the second terminal 363.

[0340] Furthermore, two conductive holders 364 are provided at the tail end of the columnar motor 36. The conductive holders 364 clamp the second wire 365 and conduct electricity. In some embodiments, the conductive holders 364 are sleeved with insulating sleeves.

[0341] In another feasible embodiment, as Figures 32 - 34 shown, a first limiting member 9 is provided at one end of the second limiting member 8 away from the second end cover 5. The first limiting member 9 and the second limiting member 8 are integrally formed; the first limiting member 9 includes a socket part 91 and radial support parts 92 located around the socket part 91. The socket part 91 is sleeved on the end of the driving assembly 3, and the radial support parts 92 abut against the inner wall of the housing 1 so that the driving assembly 3 is radially supported by the first limiting member 9.

[0342] Since the first limiting member 9 and the second limiting member 8 are both fixed to the second end cover 5, the first limiting member 9 and the driving assembly 3 are respectively inserted from both ends of the housing 1, making it difficult for the driving assembly 3 to be accurately inserted into the socket part 91. For this reason, as Figure 32 and Figure 33 shown, the socket part 91 is provided with a flared opening facing the driving assembly 3. The opening of the flared opening expands towards the driving assembly 3. The socket part 91 is sleeved on the driving assembly 3 through the flared opening for easy assembly.

[0343] Furthermore, as Figure 32 and Figure 34 shown, the radial support part 92 and the socket part 91 are integrally formed. The radial support part 92 includes a radial support wall 921 and an axial support wall 922. The radial support wall 921 extends radially around from the side surface of the socket part 91, and the axial support wall 922 extends axially from the end of the radial support wall 921.

[0344] As Figure 32As shown, the opposite direction of the second direction is set as the third direction. The axial support wall 922 extends towards the second end cap 5, and the extension direction is inclined outwards relative to the third direction. The included angle between the extension direction and the third direction is less than 10°. That is, the extension direction of the axial support wall 922 faces the second end cap 5 and is slightly inclined towards the side wall of the housing 1, so as to facilitate the first limiting member 9 to be inserted into the housing 1 from the right end following the second limiting member 8. The inclination of the axial support wall 922 towards the side wall of the housing 1 causes only the end of the axial support wall 922 to abut against the side wall of the housing 1. The axial support wall 922 can ensure that the upper, lower, left, and right axial support walls 922 can all abut against the side wall of the housing 1 through slight elastic deformation, improving the support stability.

[0345] Compared with Figure 24 the embodiment shown, in Figures 32 - 34 the embodiment of, the second limiting member 8 and the first limiting member 9 are integrally formed. In addition, in Figures 32 - 34 the embodiment of, other technical details of the second limiting member 8 are the same as those in Figure 24 the embodiment shown. The technical details of the second limiting member 8 have been described in detail above and will not be repeated here.

[0346] In another embodiment of the present invention, as shown in Figure 35 and Figure 36 the electronic components are not shown in the figure. The second limiting member 8 is integrally formed with the second end cap 5, and the first circuit board 6 is jointly limited by the second limiting member 8 and the second end cap 5.

[0347] Furthermore, as shown in Figure 35 the second limiting member 8 is respectively provided with third slots 88 on both sides of the first circuit board 6; the end of the third slot 88 far from the second end cap 5 is the third insertion end, and the first circuit board 6 is inserted into the third slot 88 from the third insertion end; the third insertion end is provided with a first buckle 881, and both sides of the first circuit board 6 are provided with first card interfaces 67; both sides of the first circuit board 6 are respectively inserted into the third slots 88, the end of the first circuit board 6 abuts against the second end cap 5, and the first buckle 881 is clamped to the first card interface 67, so that the first circuit board 6 is jointly limited by the third slot 88, the first buckle 881, and the second end cap 5.

[0348] Furthermore, a first mounting notch 882 is provided between the third slot 88 and the first clip 881, and first protrusions 66 are provided on both sides of the first circuit board 6 at one end close to the second end cover 5. The first protrusion 66 protrudes laterally from the first circuit board 6, and the first protrusion 66 is inserted into the third slot 88 through the first mounting notch 882; a first bevel is provided between the first protrusion 66 and the first card interface 67, and during the process of inserting the first circuit board 6 into the third slot 88, the first clip 881 is stretched to both sides by the first bevel, and when the first circuit board 6 abuts against the second end cover 5, the first clip 881 rebounds and snaps into the first card interface 67.

[0349] Furthermore, if Figure 35 and Figure 36 As shown, the second limiting member 8 is respectively provided with fourth slots 89 on both sides of the second circuit board 7, and the fourth slots 89 are parallel to the third slots 88; the end of the fourth slot 89 away from the second end cover 5 is the fourth insertion end, and the second circuit board 7 is inserted into the fourth slot 89 from the fourth insertion end; the fourth insertion end is provided with a second clip 891, and second card interfaces 74 are correspondingly provided on both sides of the second circuit board 7; the two sides of the second circuit board 7 are respectively inserted into the fourth slots 89, and the end of the second circuit board 7 abuts against the second end cover 5, and the second clip 891 is clipped into the second card interface 74, so that the second circuit board 7 is jointly limited by the fourth slot 89, the second clip 891 and the second end cover 5.

[0350] Furthermore, a second mounting notch 892 is provided between the fourth slot 89 and the second clip 891, and second protrusions 75 are provided on both sides of the second circuit board 7 at one end close to the second end cover 5. The second protrusion 75 protrudes laterally from the second circuit board 7, and the second protrusion 75 is inserted into the fourth slot 89 through the second mounting notch 892; a second bevel is provided between the second protrusion 75 and the second card interface 74, and during the process of inserting the second circuit board 7 into the fourth slot 89, the second clip 891 is stretched to both sides by the second bevel, and when the second circuit board 7 abuts against the second end cover 5, the second clip 891 rebounds and snaps into the second card interface 74.

[0351] In some embodiments, as Figure 9 and Figure 10As shown, the driving device 100 is cooperatively connected with the connection box 300 on the curtain track 200. A pulley is arranged inside the connection box 300, and a synchronous belt is installed inside the track 200. The driving device 100 drives the end 201 to slide on the track 200 through the synchronous belt, thereby driving the curtain to open and close. As Figure 10 As shown, a socket 301 and two arc-shaped connection grooves 302 surrounding the socket 301 are arranged on the lower surface of the connection box 300. The two arc-shaped connection grooves 302 are symmetrically arranged with the socket 301 as the center. The socket 301 is configured as a flat and long shape, and the shape of the output shaft 101 of the driving device 100 is adapted to the shape of the socket 301. The output shaft 101 is inserted into the socket 301, and power is transmitted to the pulley through the socket 301.

[0352] Two arc-shaped lugs 23 protrude from the end of the driving device 100. The positions of the lugs 23 correspond to the arc-shaped connection grooves 302. The two lugs 23 can rotate a certain angle around the output shaft 101. After the output shaft 101 is inserted into the socket 301, the two lugs 23 are inserted into the arc-shaped connection grooves 302, and the two lugs 23 rotate a certain angle and are hooked on the arc-shaped connection grooves 302, thereby connecting the driving device 100 to the connection box 300.

[0353] Furthermore, a plurality of insertion holes 304 are also arranged on the lower surface of the connection box 300. Two positioning posts 222 protrude from the end of the driving device 100. The positioning posts 222 are inserted into the insertion holes 304 to position the driving device 100 and the connection box 300, preventing the driving device 100 from falling off due to rotation relative to the connection box 300. Furthermore, a first positioning wall 213 extends upward along the edge of the end of the driving device 100. A second positioning wall 303 is arranged on the lower surface of the connection box 300. The second positioning wall 303 is embedded inside the first positioning wall 213 to improve the positioning reliability between the driving device 100 and the connection box 300.

[0354] Furthermore, as Figure 11 and Figure 12 As shown, the first end cover 2 is fixedly connected to the end of the housing 1 by four long screws 11. The first end cover 2 includes an end cover bracket 21 and an end cover iron sheet 22. The end cover iron sheet 22 is arranged on the side of the end cover bracket 21 away from the housing 1. The long screws 11 pass through the end cover iron sheet 22 and the end cover bracket 21 and are fixedly connected to the housing 1. The end cover iron sheet 22 is embedded in the end cover bracket 21 and is surrounded by the first positioning wall 213 of the end cover bracket 21. The connection screw 25 passes through the end cover bracket 21 and is fixedly connected to the driving assembly 3. The nut of the connection screw 25 is hidden behind the end cover iron sheet 22.

[0355] The end cap bracket 21 is provided with a circular boss 214 at a position corresponding to the output shaft 101. The end cap iron sheet 22 is provided with a mating hole 223 adapted to the circular boss 214. The circular boss 214 is inserted into the mating hole 223, and the output shaft 101 passes through the circular boss 214 to output power. A rotating portion 27 is sandwiched between the end cap bracket 21 and the end cap iron sheet 22. The rotating portion 27 includes a rotating ring 271 and a lever 272 extending outward from the rotating ring 271. The two hanging ears 23 are fixed to the rotating ring 271. The end cap iron sheet 22 is provided with an arc-shaped hole 221, and the hanging ears 23 extend through the arc-shaped hole 221. The rotating ring 271 is sleeved on the circular boss 214 and can rotate based on the circular boss 214. An operating rod 24 is vertically provided at the end of the lever 272 . The operating rod 24 passes through the end cover bracket 21 . The user can use the operating rod 24 to move the lever 272 to drive the rotating ring 271 to rotate, so that the rotating ring 271 drives the hanging ear 23 to rotate.

[0356] like Figure 13 As shown, the end cap bracket 21 is provided with an arc-shaped operating hole 215 at a position corresponding to the operating rod 24. The operating rod 24 passes through the arc-shaped operating hole 215 and swings within the range of the arc-shaped operating hole 215. When the operating rod 24 swings to the right end of the arc-shaped operating hole 215, the two hanging ears 23 are in the first position. When the operating rod 24 swings to the left end of the arc-shaped operating hole 215, the two hanging ears 23 are in the second position.

[0357] During the process of installing the drive device 100 to the connecting box 300, the operating lever 24 is first swung to the right end of the arc-shaped operating hole 215, and the ear 23 is in the first position. Then the output shaft 101 is inserted into the socket 301 of the connecting box 300, and the ear 23 is inserted into the arc-shaped connecting groove 302 of the connecting box 300; next, the operating lever 24 is swung to the left end of the arc-shaped operating hole 215, and the ear 23 is rotated from the first position to the second position. At this time, the ear 23 is hooked on the inner wall of the arc-shaped connecting groove 302, so that the drive device 100 is connected to the connecting box 300.

[0358] During the process of removing the driving device 100 from the connecting box 300, the operating lever 24 is swung to the right end of the arc-shaped operating hole 215, and the hanging ear 23 is rotated from the second position to the first position. The hanging ear 23 is no longer hooked on the arc-shaped connecting groove 302, and the driving device 100 can be removed immediately.

[0359] Furthermore, if Figure 12 and Figure 15 As shown, the operating rod 24 includes a rod sleeve 241, a rod core 242, and a spring 243 disposed between the rod sleeve 241 and the rod core 242. The rod core 242 passes through the spring 243 and the rod sleeve 241 and is riveted to the shifting rod 272.Figure 15 As shown, one end of the rod core 242 away from the lever 272 protrudes laterally with a shaft head, and a necking is provided at one end of the inner wall of the rod sleeve 241 near the lever 272. The spring 243 is limited between the shaft head and the necking. When the rod sleeve 241 is pulled in the direction away from the lever 272, the necking compresses the spring 243.

[0360] In Figure 15 , at this time, the lever 272 is in a vertical state. The rod core 242 passes through the arc-shaped operation hole 215 and is connected to the lever 272. The width of the arc-shaped operation hole 215 is slightly larger than the diameter of the rod core 242, so that the rod core 242 can swing within the arc-shaped operation hole 215. The width of the arc-shaped operation hole 215 is smaller than the outer diameter of the rod sleeve 241, so that the rod sleeve 241 cannot pass through the arc-shaped operation hole 215. As Figure 13 shown, a circular limiting hole 216 is provided at the left end of the arc-shaped operation hole 215. The diameter of the limiting hole 216 is slightly larger than the diameter of the operating rod 24. When the rod sleeve 241 swings to the position opposite to the limiting hole 216, the rod sleeve 241 is embedded in the limiting hole 216, so that the limiting hole 216 restricts the movement of the operating rod 24. The function of the limiting hole 216 is that when the hanging ear 23 is hooked to the arc-shaped connecting groove 302, the limiting hole 216 locks the position of the operating rod 24 to prevent the hanging ear 23 from disengaging from the arc-shaped connecting groove 302. Specifically:

[0361] During the process of disassembling the driving device 100 from the connection box 300, it is necessary to first pull the rod sleeve 241 in the direction away from the lever 272 so that the rod sleeve 241 disengages from the limiting hole 216 before the operating rod 24 can be swung to the right end of the arc-shaped operation hole 215, allowing the hanging ear 23 to no longer be hooked to the arc-shaped connecting groove 302. During the process of installing the driving device 100 on the connection box 300, when the operating rod 24 swings to the left end of the arc-shaped operation hole 215, the hanging ear 23 is hooked to the arc-shaped connecting groove 302, and the rod sleeve 241 automatically snaps into the limiting hole 216 under the elastic force of the spring 243. The limiting hole 216 locks the position of the operating rod 24, thus preventing the hanging ear 23 from disengaging from the arc-shaped connecting groove 302.

[0362] In the description of this specification, the description with reference to terms such as "some embodiments", "a specific implementation", "specific implementation process", "an example", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic expressions of the above terms corresponding to the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

Claims

1. A control method is applied to a driving device, and the driving device can communicate with a cloud server, characterized in that, The method includes: Receiving a start instruction sent by a cloud server when a set time condition in start behavior configuration information is met; the start behavior configuration information further includes a target action range and an action execution period, and at least one of the target action range and the action execution period is predefined by a user; Based on the target action range and the action execution period, dividing the target action range into multiple sub-action intervals, and determining an execution interval between each sub-action interval based on the action execution period and the number of sub-action intervals; Successively executing each sub-action interval according to the sub-action interval and the corresponding execution interval until the target action range is completed, so as to achieve progressive execution control of the target action range within the action execution period.

2. The method according to claim 1, characterized in that, Before receiving the start instruction, the method further includes: Obtaining a setting instruction and entering a preset first operating state accordingly to obtain rotation parameters characterizing the operating characteristics of a driving device; Based on the obtained rotation parameters, determining a basis for dividing the target action range; After completing the first operating state, sending a first prompt message to prompt an external terminal to provide at least one optional state for indicating the current state of the driving device; Receiving a selection result returned by the external terminal, and determining a rotation direction of the driving device during progressive execution control based on the selection result.

3. The method according to claim 2, wherein Dividing the target action range into multiple sub-action intervals; specifically including: Based on the target action range and its division basis, determining a corresponding action interval and dividing the action interval into multiple sub-action intervals with the same action amplitude.

4. The method according to claim 2, wherein Obtaining the setting instruction, specifically including: Obtaining a setting instruction directly or indirectly triggered by an external terminal; wherein, the setting instruction is specifically sent during a configuration operation process associated with the external terminal after the external terminal responds to a user's confirmation operation on presented guiding prompt information; the guiding prompt information is presented in advance when the external terminal responds to a user's configuration operation on preset configuration information and indicates that the current situation does not meet the preset configuration conditions based on a detection result.

5. The method according to claim 1, characterized in that The method further includes: Independently executing corresponding target action range control based on different received start instructions, and each start instruction is sent by the cloud server when a set time condition in each group of start behavior configuration information is met; Wherein, each group of start behavior configuration information includes a set time, a target action range, and an action execution period with a logical relationship, the set times between each group of start behavior configuration information are different, and the target action ranges and action execution periods between each group of start behavior configuration information can be the same.

6. The method according to claim 1, characterized in that, The action execution period is the total time for overall completion of the target action range, and the driving device equally determines the execution interval time between adjacent sub-action intervals based on the action execution period and the number of sub-action intervals.

7. The method according to claim 1, characterized in that, The action amplitude of each sub-action interval and / or the execution interval time between adjacent sub-action intervals can be dynamically adjusted according to the target action range and the action execution period.

8. The method according to claim 1, wherein The method further includes: During the execution of the target action range based on the start instruction, if an external trigger event is detected, the execution of the subsequent unexecuted sub-action intervals is terminated; wherein, the external trigger event includes a manual control operation applied by the user and / or a control instruction sent through an external control device.

9. The method according to any one of claims 1 to 8, characterized in that, The driving device is a curtain motor, and the target action range includes the target stroke of curtain opening and closing. Each sub-action interval is sequentially executed according to the sub-action interval and the corresponding execution interval until the target action range is completed; specifically including: Based on the sub-action interval, the opening and closing ratio of the curtain is sequentially adjusted until the target stroke is reached.

10. The method according to claim 9, wherein The method further includes: After receiving the start instruction, if the current opening and closing ratio is greater than or equal to the target opening and closing ratio set at the action moment corresponding to the start instruction, the driving device pauses the action until the target opening and closing ratio at the subsequent action moment is greater than the current opening and closing ratio, and then the corresponding sub-action interval is executed.

11. A driving device, characterized in that, It is used to implement the control method described in any one of claims 1 to 10 above.

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