Temperature detection method, strength training device and electronic equipment

Abstract

The invention discloses a temperature detection method, a strength training device and electronic equipment, the temperature detection method is applied to a motor, the motor comprises a rotor, a stator and a temperature sensor, the stator is provided with a plurality of windings, at least one winding is a temperature detection winding, and the temperature sensor is used for detecting the temperature of the temperature detection winding. The temperature detection method comprises the following steps: controlling the rotor to rotate to a preset detection area, so that the temperature detection winding meets a temperature detection condition; and when the temperature detection winding satisfies a temperature detection condition, determining that the temperature of the temperature detection winding is a detection temperature. The position of the rotor is adjusted to the preset detection area through the position control strategy, so that the temperature detected by the temperature detection winding is the highest temperature in all the windings under the condition, and the accurate temperature of the motor can be obtained in the locked-rotor state of the motor.

Description

Technical Field

[0001] The present invention relates to the technical field of temperature detection, and in particular to a temperature detection method, a strength training device and an electronic device. Background Art

[0002] In the prior art, to detect the temperature of a motor winding, a temperature sensor is typically installed in a specific winding. The temperature of the corresponding winding is determined by reading the sensor's reading. Because the current flowing through each winding varies slightly in magnitude and duration, it can be inferred that the temperatures of the other windings are nearly identical to the measured temperature, meaning that this temperature directly represents the temperature of the motor winding.

[0003] However, resistance motors, primarily used in strength training equipment, typically operate in a stalled state. The current flowing through each winding and the duration of the current flow vary significantly, leading to significant temperature variations across the windings. In such cases, measuring only the temperature of one winding makes it difficult to infer the temperatures of other windings, and therefore, to determine the maximum temperature of the motor windings. Summary of the Invention

[0004] The present application provides a temperature detection method, a strength training device, and an electronic device to solve the problem in the prior art that resistance motors are difficult to detect temperature.

[0005] In a first aspect, the present application provides a temperature detection method applied to a motor, the motor comprising a rotor, a stator, and a temperature sensor, the stator being provided with a plurality of windings, at least one of which is a temperature detection winding, the temperature sensor being configured to detect the temperature of the temperature detection winding, the method comprising:

[0006] Controlling the rotor to rotate to a preset detection area so that the temperature detection winding meets the temperature detection condition;

[0007] When the temperature detection winding meets the temperature detection condition, the temperature of the temperature detection winding is determined to be the detection temperature.

[0008] Optionally, controlling the rotor to rotate to a preset detection zone so that the temperature detection winding meets a temperature detection condition includes:

[0009] Get the rotor position;

[0010] determining the rotor position state according to the rotor position and the detection area;

[0011] The power parameters of the motor are changed according to the rotor position state and a preset position control strategy so that the temperature detection winding meets the temperature detection condition.

[0012] Optionally, determining the rotor position state according to the rotor position and the detection area includes:

[0013] Determining whether the rotor position is within the detection zone, wherein the detection zone is a rotor position interval corresponding to when the temperature detection winding meets the temperature detection condition;

[0014] If yes, determining that the rotor position state is the first state;

[0015] If not, it is determined that the rotor position state is the second state.

[0016] Optionally, the power parameter includes torque, and when the rotor state is the first state, changing the power parameter of the motor according to the rotor position state and a preset position control strategy so that the temperature detection winding satisfies the temperature detection condition includes:

[0017] Increasing the torque of the motor to reduce the current speed of the rotor;

[0018] Determining whether the current rotation speed is less than a preset stall speed;

[0019] If so, determining that the temperature detection winding meets the temperature detection condition;

[0020] If not, continue to increase the torque to further reduce the current speed until the current speed is less than the stall speed.

[0021] Optionally, the power parameter includes torque, and when the rotor state is the second state, changing the power parameter of the motor according to the rotor position state and a preset position control strategy so that the temperature detection winding satisfies the temperature detection condition includes:

[0022] reducing the torque of the motor to increase the current speed of the rotor;

[0023] determining whether the rotor position is within the detection area;

[0024] If so, re-determine that the rotor state is the first state, and change the torque of the motor according to the first state and the position control strategy so that the temperature detection winding meets the temperature detection condition;

[0025] If not, the torque is continued to be reduced to further increase the current rotational speed until the rotor position is within the detection zone.

[0026] Optionally, reducing the torque of the motor to increase the current rotational speed of the rotor includes:

[0027] Obtaining a boundary position of the detection area;

[0028] calculating a current distance between the boundary position and the rotor position;

[0029] determining a torque difference to be reduced according to the current distance;

[0030] The torque of the motor is reduced according to the torque difference to increase the current rotational speed.

[0031] Optionally, before obtaining the rotor position, the method further includes:

[0032] Get the current speed of the rotor;

[0033] Determining whether the rotor speed is less than a preset detection speed;

[0034] When the rotor speed is less than the detection speed, the rotor position is acquired.

[0035] Optionally, it also includes:

[0036] Obtain current distribution records;

[0037] determining, based on the current distribution record, a rotor position interval corresponding to when the main current flows through the temperature detection winding;

[0038] The rotor position interval is determined as the detection zone.

[0039] In a second aspect, the present application further provides a strength training device, comprising:

[0040] resistance motor;

[0041] The driving mechanism is provided with a rope, and the rope is connected to the resistance motor through the driving mechanism;

[0042] A monitoring mechanism comprising at least one temperature sensor disposed within the resistance motor;

[0043] A control mechanism is communicatively connected to the resistance motor and the monitoring mechanism, and the control mechanism is configured to determine the detected temperature of the resistance motor according to the method described in the first aspect.

[0044] In a third aspect, the present application also provides an electronic device comprising a memory and a processor, wherein the memory is connected to the processor, and the processor is used to execute one or more computer programs stored in the memory. When the processor executes the one or more computer programs, the electronic device implements the method described in the first aspect.

[0045] In a fourth aspect, the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes the method as described in the first aspect.

[0046] In the technical solution provided in this application, the rotor position is adjusted to a preset detection area through a position control strategy, so that the temperature detected by the temperature detection winding in this case is the highest temperature among all windings, thereby enabling the accurate temperature of the resistance motor to be obtained when the resistance motor is stalled. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0048] Figure 1 A schematic diagram of an application environment for a temperature detection method provided in one embodiment of the present application;

[0049] Figure 2 A schematic diagram of the structure of a strength training device provided in one embodiment of the present application;

[0050] Figure 3 A schematic flow chart of a temperature monitoring method according to an embodiment of the present application;

[0051] Figure 4 A conceptual diagram of a detection area provided in one embodiment of the present application;

[0052] Figure 5 A method for defining a detection zone provided in one embodiment of the present application;

[0053] Figure 6 A flow chart of a method for changing the torque according to the rotor position state and the position control strategy so that the temperature detection winding meets the temperature detection conditions, provided in one embodiment of the present application;

[0054] Figure 7 This is a graph showing the relationship between the speed and torque as the rotor position changes in one embodiment of the present application;

[0055] Figure 8 This is a graph showing the relationship between the speed and torque as the rotor position changes in another embodiment of the present application;

[0056] Figure 9 This is a schematic diagram of the preparatory steps of the temperature detection method in one embodiment of the present application;

[0057] Figure 10 A schematic diagram of the architecture of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0059] It should be noted that, if there is no conflict, the various features in the embodiments of the present application can be combined with each other and are all within the scope of protection of the present application. In addition, although the functional modules are divided in the device schematic and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order than the module division in the device or the order in the flow chart. Furthermore, the words "first", "second", "third", etc. used in this application do not limit the data and execution order, but only distinguish between the same items or similar items with basically the same functions and effects.

[0060] First, to facilitate the explanation of the temperature detection method provided in the embodiment of the present application, the application environment of the method provided in the embodiment of the present application is introduced.

[0061] See also Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the application environment of the temperature detection method provided in one embodiment of the present application. Figure 2 This is a schematic diagram of the structure of a strength training device provided in one embodiment of the present application. This application scenario includes a strength training device 10, which is used as a user's fitness equipment. Specifically, the strength training device 10 includes a resistance motor 11, a drive mechanism 12, a monitoring mechanism 13, and a control mechanism 14.

[0062] The resistance motor 11 comprises at least a stator and a rotor. The stator is the fixed portion of the motor, equipped with multiple coil windings. The stator's primary function is to generate a rotating magnetic field, while the rotor rotates around the stator. Its primary function is to be cut by magnetic lines of force in the rotating magnetic field, thereby generating current. It is understood that motors can be divided into various types based on their structure, operating principle, and power supply type, such as synchronous and asynchronous motors, DC and AC motors, and brushless and brushed motors. Regardless of the type of motor, the stator and rotor are its fundamental components, and the remaining accessories are optional depending on the motor type.

[0063] The drive mechanism 12 is provided with a rope 121. One end of the rope 121 is connected to the output shaft of the resistance motor 11 through the drive mechanism 12, and the other end is pulled by the user, allowing the user to exert force to counteract the torque generated by the motor, thereby exercising the user's body. Specifically, in this embodiment, the drive mechanism 12 includes a reel and a gear box pivotally connected to the reel. The gear box is driven by the resistance motor. One end of the rope 121 is provided on the reel, thereby connecting the rope 121 to the resistance motor.

[0064] The monitoring mechanism 13 includes at least one temperature sensor provided on the winding. The winding provided with the temperature sensor is a temperature monitoring winding. The temperature sensor is used to obtain the temperature of the temperature detection winding. In some embodiments, the monitoring mechanism 13 includes a plurality of temperature sensors, each of which is provided correspondingly to a separate winding. As mentioned above, under normal circumstances, the operating conditions of the various windings are similar, and the temperature difference between the windings is small. Therefore, the temperature of the temperature detection winding can directly represent the highest temperature among all the windings. However, in the application scenario of the strength training device 10, the user applies tension through the rope to achieve a force balance with the torque of the resistance motor 11, causing the resistance motor 11 to enter a stalled state. In the stalled state, due to the uneven current distribution, the temperature detected by the temperature detection winding is significantly different from the temperature of other windings. Therefore, it is impossible to infer the temperature of other windings based on the temperature detected by the temperature detection winding, nor is it possible to determine the highest temperature among all the windings.

[0065] In some embodiments, the monitoring mechanism 13 further includes a position sensor and a speed sensor disposed within the resistance motor 11. The position sensor is used to determine the position of the rotor relative to the stator in the resistance motor, and the speed sensor is used to determine the rotational speed of the rotor in the resistance motor. Specifically, the position sensor can be, for example, a resolver, a Hall effect sensor, or a laser-based sensor. Preferably, the position sensor and the speed sensor are integrated into a single sensor, i.e., the sensor can simultaneously detect the position and speed of the rotor.

[0066] The control mechanism 14 is the control core of the strength training device, which is in communication with the monitoring mechanism 13 and the resistance motor 11 and can be used to analyze and process various types of control logic. Specifically, the control mechanism 14 analyzes the data obtained by the monitoring mechanism 13 and sends control instructions to adaptively adjust the operating parameters of the resistance motor 11. The control mechanism 14 can be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array, a single-chip microcomputer, an ARM or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components. In addition, the controller can also be any traditional processor, microcontroller, or state machine. The controller can also be implemented as a combination of computing devices, for example, a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors combined with a DSP, and / or any other such configuration.

[0067] When the strength training device 10 is in working state, one end of the rope 121 is connected to the resistance motor 11 through the drive mechanism 12. The torque of the resistance motor 11 drives the rope to retract. The user then holds the other end of the rope to exert force. The user needs to control the force to keep the rope from being retracted. The user's pulling force is roughly balanced with the torque generated by the resistance motor, so that the rope reaches a force balance. In this case, the resistance motor 11 enters a stalled state, that is, the rotor stops rotating, but the resistance motor 11 is still able to output a certain torque. At this time, the torque output by the resistance motor 11 is a stalled torque. The current distribution of the resistance motor 11 is uneven. It is possible that some windings have a larger current and some windings have a smaller current. As a result, the heat generated by different windings due to different currents is also different, which in turn causes different temperatures of different windings. If the temperature of one of the windings is too high, it may cause the resistance motor to burn out. Therefore, it is necessary to determine the highest temperature among all the windings of the resistance motor 11 as the monitoring temperature of the resistance motor 11 to determine whether it is necessary to activate overheat protection and reasonably protect the resistance motor.

[0068] Based on the above application scenario description, the temperature monitoring method provided in the embodiment of the present application is introduced below.

[0069] See also Figure 3 , Figure 3 A schematic flow chart of a temperature monitoring method provided in one embodiment of the present application includes:

[0070] S31, controlling the rotor to rotate to a preset detection area so that the temperature detection winding meets the temperature detection conditions. Specifically, S31 includes the following steps:

[0071] S311. Obtain the rotor position.

[0072] In this step, the rotor position is defined as the position of the rotor relative to the stator. For example, the rotor is provided with a detection mark for detection by a position sensor, with true north as the coordinate direction. As the rotor rotates, when the angle between the detection mark and the coordinate direction is 30 degrees, the distance between the rotor and the stator remains constant, so the position of the rotor relative to the stator can be described as 30 degrees. It will be understood that in other embodiments, depending on the type of position sensor, the rotor position can be represented by other parameters, as long as it can be represented by quantifiable parameters, and is not limited to the angles provided in this embodiment.

[0073] S312: Determine the rotor position state according to the rotor position and the preset detection area.

[0074] In this step, the detection zone is defined as the rotor position interval corresponding to when the temperature detection winding meets the temperature detection conditions. Figure 4 , Figure 4 A conceptual diagram of the detection zone provided for an embodiment of the present application. When the temperature detected by the temperature detection winding can represent the highest temperature among all windings, the rotor position must be located within the detection zone. For example, the rotor position is P0, and the position of the detection zone is [P2, P4]. When the rotor position P0∈[P2, P4], it can be further determined whether the temperature detection winding meets the temperature detection condition at this time, that is, the rotor position being located within the detection zone is a sub-condition of the temperature detection condition. Specifically, the detection zone is defined and generated in advance based on the detection data. The specific method for determining the detection zone is described in detail below and will not be elaborated here. It should be noted that if there are multiple temperature detection windings, the possible rotor positions corresponding to each temperature detection winding together constitute the detection zone. When obtaining the temperature, the corresponding detection temperature is selected from the multiple monitored temperatures according to the specific temperature detection winding corresponding to the rotor position as the final temperature. For example, strength training is specially equipped with two temperature sensors A1 and A2, corresponding to which there are two temperature detection windings. The detection area positions include [P1, P2] and [P3, P4]. When the rotor position P belongs to the interval [P1, P2], the measured temperature T1 of the temperature sensor A1 corresponding to the interval is taken as the final temperature; and when the rotor position P belongs to the interval [P3, P4], the measured temperature T2 of the temperature sensor A2 corresponding to the interval is taken as the final temperature, and so on.

[0075] In this step, the rotor position state is a parameter used to determine whether the rotor position is within the detection zone. For example, when the rotor position is within the detection zone, the rotor position state is set to the first state; when the rotor position is outside the detection zone, the rotor position state is set to the second state. Obviously, when the rotor position state is in the second state, it is necessary to first transition the rotor position state to the first state, that is, to rotate the rotor position into the detection zone. The rotor position state can be used to directly determine whether the rotor position is within the detection zone, facilitating subsequent operations.

[0076] S313: Change the power parameters of the motor according to the rotor position state and the preset position control strategy so that the temperature detection winding meets the temperature detection conditions.

[0077] In this step, the position control strategy is a method for controlling the rotor position. Specifically, the position control strategy indirectly controls the rotor position by changing the motor's dynamic parameters. Dynamic parameters are physical quantities related to rotor rotation in the motor, and can be specifically expressed as parameters such as motor torque, rotor speed, rotational force, and angular momentum. By changing the dynamic parameters, the rotor position is directly or indirectly controlled. For example, in some embodiments, by controlling the motor's torque, the rotor speed is changed, causing the rotor speed to continuously decrease until it nears a stop, thereby controlling the rotor's final position. The position control strategy varies depending on the rotor's position state. For example, when the rotor position state is the second state, the position control strategy requires controlling the rotor position from outside the detection zone to within the detection zone. When the rotor state is the first state, the position control strategy further requires stabilizing the rotor position within the detection zone, causing the motor to enter a stalled state and meet the temperature detection conditions. The specific position control strategy will also be described in detail later and will not be elaborated here.

[0078] In this step, the temperature detection condition is a condition for determining that the temperature detection winding has the highest temperature among all the windings. It is known that when the motor enters a stalled state, the current distribution is uneven, that is, the temperature detected by the temperature detection winding is not necessarily the highest. However, in some cases, the current is mainly distributed in the temperature detection winding. In this case, the temperature detected by the temperature detection winding must be the highest temperature among all the windings. When the temperature detection condition is met, it can be considered that the temperature detection winding is in this situation, that is, the current is mainly distributed in the temperature detection winding. Therefore, when the temperature detection condition is met, the temperature measured by the temperature detection winding is the highest temperature among all the windings in the motor. Specifically, the temperature detection condition includes two sub-conditions, one of which is that the rotor position state is in the first state, and the other is that the motor enters a stalled state.

[0079] S32: When the temperature detection winding meets the temperature detection condition, determine the temperature of the temperature detection winding as the detection temperature.

[0080] In this step, the temperature sensor provided in the temperature detection winding can continuously detect the temperature, that is, the temperature sensor obtains a series of temperature values, some of which are obtained when the temperature detection conditions are met and are used as the detected temperature of the motor.

[0081] In summary, the temperature detection method provided in the embodiment of the present application adjusts the rotor position to a preset detection zone through a position control strategy. When the rotor position is within the detection zone, the main current is also distributed on the temperature detection winding, so that the temperature detected by the temperature detection winding in this case is the highest temperature among all windings, thereby enabling the accurate temperature of the motor to be obtained when the motor is stalled.

[0082] The following describes a method for defining a detection zone in an embodiment of the present application.

[0083] See also Figure 5 , Figure 5 A method for defining a detection zone provided in one embodiment of the present application includes:

[0084] S51. Obtain current distribution records.

[0085] S52. Determine, based on the current distribution record, the rotor position interval corresponding to when the main current flows through the temperature detection winding.

[0086] S53: Determine the rotor position interval as a detection zone.

[0087] In S51, the current distribution record is obtained by performing current detection on the motor in a stalled state before performing temperature detection. Specifically, the current distribution record includes the rotor position and the distribution of current in different windings. For example, when the rotor position is P1, the current values ​​in the three windings A, B, and C are significantly greater than the current values ​​on the B and C windings because the motor is in a stalled state at this time. Therefore, it can be determined that the current on the A winding is the main current, and the temperature of the A winding is the highest temperature among the three windings A, B, and C. By analogy, according to any rotor position P i (i=1,2,……,n) can determine the main current situation in the winding.

[0088] In S52, the current distribution record can also be used to determine the corresponding rotor position when the main current is distributed in a specific winding. For example, assuming that winding A is a temperature detection winding, based on the current distribution record, it can be determined that when the main current is distributed in winding A, the rotor position is {P2, P3, P4}. Therefore, the rotor position interval can be determined to be [P2, P4].

[0089] In S53, the obtained rotor position interval is defined as a detection zone. Obviously, when the temperature detection winding is carrying a significant current, the corresponding rotor position forms the detection zone. Conversely, when the rotor position is within the detection zone, the significant current is also distributed in the temperature detection winding. At this time, the temperature detected by the temperature detection winding is the highest temperature among all windings. Therefore, there is no need to infer the temperatures of other windings; the temperature detected by the temperature detection winding can represent the motor temperature.

[0090] Based on the above-introduced concept of the detection zone, the method for determining the rotor position state in this application is described below.

[0091] Specifically, when the rotor position is within the detection zone, the rotor position state is determined to be the first state. When the rotor position is not within the detection zone, the rotor position state is determined to be the second state. Depending on the rotor position state, the subsequent position control strategy adopted is also specific. When the rotor position state is the second state, the purpose of the position control strategy is to transform the rotor position state to the first state and to re-position the rotor within the detection zone by changing the rotor position. When the rotor position state is the first state, the purpose of the position control strategy is to maintain the rotor position state in the first state so that the temperature detection winding can meet the other temperature detection sub-conditions.

[0092] See also Figure 6 , Figure 6 A schematic flow chart of a method for controlling the torque of a position control strategy to ensure that a temperature detection winding satisfies a temperature detection condition according to a rotor position state and a position control strategy is provided in one embodiment of the present application, including:

[0093] S61: Determine whether the rotor position state is the first state.

[0094] S63: If yes, increase the torque of the motor to reduce the current speed of the rotor.

[0095] S65: Determine whether the current rotation speed is less than a preset stall speed.

[0096] S67: If yes, determine whether the temperature detection winding meets the temperature detection condition.

[0097] S69: If not, continue to increase the torque to further reduce the current speed until the current speed is less than the stall speed.

[0098] In step S63, when the rotor position state is the first state, it means that the rotor position is already in the detection zone. At this time, if the motor torque is increased, the current speed of the rotor will be reduced, so that the rotor will not move from the detection zone to the outside of the detection zone due to the current high speed. Figure 7 , Figure 7This is a graph showing the relationship between speed and torque as they change with rotor position in one embodiment of the present application. P0 is the initial rotor position, and P1 and P2 are the two boundary points of the detection zone. P0 is initially located within the detection zone. Initial torque T0 increases to T1 based on the position control strategy. At this point, the rotor's current speed decreases from ω0 to the stall speed ω1.

[0099] In step S65, the stalled state theoretically occurs when the rotor speed is zero. In practice, the motor is considered stalled when the rotor speed falls below a threshold, which is a preset stall speed. For example, a stall speed of 0.5 rpm indicates that the rotor rotates only half a revolution around the stator per minute. This speed may be due to inertia or metering errors. When the current rotor speed falls below the stall speed, the motor is determined to be stalled.

[0100] In step S67, as can be seen from the above, the temperature detection condition includes two sub-conditions: the motor is in a stalled state and the rotor position is in the detection area. The temperature detection winding in S67 has met these two sub-conditions, so it can be determined that the temperature detection condition is met at this time.

[0101] In step S69, if the current speed is still greater than the stall speed, the torque is further increased to reduce the current rotor speed, and step S65 is repeated until the current speed is less than the stall speed, placing the motor in a stalled state. It will be appreciated that as the torque increase step is repeated, the torque increase value will gradually increase each time, ensuring that the motor is in a stalled state when the rotor position is within the detection zone.

[0102] Please continue reading Figure 6 , the method further comprises the following steps:

[0103] S61: Determine whether the rotor position state is the first state.

[0104] S62: If not, reduce the torque of the motor to increase the current rotational speed of the rotor.

[0105] S64: Determine whether the rotor position is within the detection area.

[0106] S66: If yes, redetermine that the rotor state is the first state, and change the torque of the motor according to the first state and the position control strategy so that the temperature detection winding meets the temperature detection condition.

[0107] S68: If not, continue to reduce the torque to further increase the current speed until the rotor position is within the detection area.

[0108] In step S62, when the rotor position state is the second state, it means that the rotor position is not within the detection zone. At this time, the current speed of the rotor is already low and the rotor position is difficult to change. Therefore, it is necessary to reduce the torque to increase the rotor speed so that the rotor can rotate into the detection zone. Figure 8 , Figure 8 This is a graph showing the relationship between speed and torque as they change with rotor position in another embodiment of the present application. P0 is the initial rotor position, and P1 and P2 are the two boundary positions of the detection zone. Initially, P0 is outside the detection zone. Therefore, the initial torque T0 is reduced to T1 according to the position control strategy. At this point, the current rotor speed increases slightly from ω0, causing the rotor position to move from P0 to the boundary position P1. After the rotor position moves to P1, the torque is increased again to T2, at which point the current speed is reduced to the stall speed ω1.

[0109] In step S66, when the rotor rotates to a position within the detection area, the rotor position state is re-determined to the first state, that is, the sub-condition regarding the rotor position in the temperature detection condition is met. At this time, step S63 is entered to increase the torque to put the motor in a stalled state.

[0110] In step S68, if the rotor has not yet rotated into the detection zone, the torque is further reduced to further increase the current rotor speed until the rotor position is within the detection zone. For example, if the first torque reduction value in step S62 is ΔT, the second torque reduction value in step S68 may be 1.2ΔT, the third torque reduction value may be 1.5ΔT, and so on.

[0111] Furthermore, reducing the torque to increase the current speed of the rotor in step S62 specifically includes:

[0112] S621. Obtain the boundary position of the detection area.

[0113] S622: Calculate the current distance between the boundary position and the rotor position.

[0114] S623: Determine the torque difference to be reduced according to the current distance.

[0115] S624: Reduce the torque of the motor according to the torque difference to increase the current rotation speed.

[0116] In step S621, the detection zone is represented by [P1, P2]. The rotor's rotation direction is fixed, meaning the rotor can only enter the detection zone from position P1 and not from position P2. Therefore, the detection zone's boundary is defined as the position at which the rotor enters the detection zone, i.e., the boundary position P1.

[0117] In step S622, the current rotor position of the rotor can be determined as P0 by the sensor, and the current distance between the rotor position P0 and the boundary position P1 can be calculated based on the rotor position P0 and the boundary position P1. Specifically, the current distance can be calculated according to the following exemplary formula:

[0118]

[0119] Among them, P0 is the rotor position, P1 is the boundary position, the direction from P0 to P1 is the rotation direction of the rotor, and ||||2 is the two-norm.

[0120] In step S623, the torque difference to be reduced is proportional to the current distance. That is, the farther the rotor position is from the boundary position, the greater the torque difference to be reduced, and the closer the rotor position is to the boundary position, the smaller the interpolated torque reduction. Thus, when the rotor position is far from the detection zone, the torque is quickly reduced and the speed is increased, allowing the rotor position to quickly rotate to the detection zone. When the rotor position is close to the detection zone, the torque is slowly reduced and the speed is slowly increased, preventing the rotor position from being unable to stay in the detection zone due to the current rotor speed being too high.

[0121] In some embodiments, before obtaining the rotor position, a pre-step of entering temperature detection is also included. Figure 9 , Figure 9 This is a schematic diagram of the preparatory steps of the temperature detection method in one embodiment of the present application, including:

[0122] S91. Obtain the current rotation speed of the rotor.

[0123] S92: Determine whether the current rotation speed is less than a preset detection speed.

[0124] S93: If yes, obtain the rotor position;

[0125] S94: If not, re-determine whether the rotor speed is less than the preset detection speed.

[0126] In step S91 , the current rotation speed may be obtained by a speed sensor disposed in the motor.

[0127] In step S92, the detection speed is preset as the critical speed value for starting the temperature detection method. If the current speed is greater than the detection speed, it means that the motor is currently in normal operation. At this time, the current distribution between the various windings of the motor is balanced, and the temperature of the other windings can be determined based on the temperature of the temperature detection winding. If the current speed of the rotor is less than the detection speed, it means that the motor may have entered a stalled state at this time, so it is necessary to start acquiring the rotor position and determine whether the rotor position is within the detection area. The detection speed is set to be less than the stalled speed. If the motor is already in a stalled state and the rotor has almost stopped rotating, it is difficult to adjust the rotor position to the detection area. Therefore, it is necessary to implement a position control strategy when the current speed of the rotor is less than the detection speed and greater than the stalled speed to adjust the rotor position to within the detection area.

[0128] In summary, the temperature detection method provided in the embodiment of the present application is activated when the rotor speed is lower than the detection speed and the resistance motor is close to a stalled state. After obtaining the rotor position and comparing it with the detection area, the rotor position is adjusted to the detection area through the position control strategy, and then the torque is changed to make the motor enter a stalled state, so that in this case the temperature detected by the temperature detection winding is the highest temperature among all windings, thereby being able to obtain the accurate temperature of the motor when the motor is stalled.

[0129] The present application also provides a strength training device comprising a resistance motor, a drive mechanism, a monitoring mechanism, and a control mechanism. The drive mechanism includes a rope connected to the resistance motor via a transmission mechanism. The monitoring mechanism includes a temperature sensor disposed within the resistance motor, as well as a position sensor and a speed sensor disposed within the resistance motor. The control mechanism is communicatively connected to the resistance motor and the monitoring mechanism and is configured to determine the detected temperature of the resistance motor according to the temperature monitoring method provided in the present application.

[0130] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. The computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the method of the aforementioned embodiment.

[0131] The embodiment of the present application also provides a computer device, which may be a server, and its internal structure diagram may be as shown in FIG. Figure 10As shown. The computer device includes a processor, a memory, a network interface and a database connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data to be saved in the method of the above embodiment. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, the method provided in the above embodiment is implemented.

[0132] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0133] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0134] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A temperature detection method, applied to a motor, wherein the motor comprises a rotor, a stator, and a temperature sensor, wherein the stator is provided with a plurality of windings, at least one of which is a temperature detection winding, and the temperature sensor is used to detect the temperature of the temperature detection winding, characterized in that: The method comprises: Controlling the rotor to rotate to a preset detection area so that the temperature detection winding meets the temperature detection condition; When the temperature detection winding meets the temperature detection condition, the temperature of the temperature detection winding is determined to be the detection temperature.

2. The method according to claim 1, characterized in that The controlling the rotor to rotate to a preset detection zone so that the temperature detection winding satisfies a temperature detection condition includes: Get the rotor position; determining the rotor position state according to the rotor position and the detection area; The power parameters of the motor are changed according to the rotor position state and a preset position control strategy so that the temperature detection winding meets the temperature detection condition.

3. The method according to claim 2, characterized in that Determining the rotor position state according to the rotor position and the detection area includes: Determining whether the rotor position is within the detection zone, wherein the detection zone is a rotor position interval corresponding to when the temperature detection winding meets the temperature detection condition; If yes, determining that the rotor position state is the first state; If not, it is determined that the rotor position state is the second state.

4. The method according to claim 3, characterized in that The power parameter includes torque. When the rotor state is in the first state, the power parameter of the motor is changed according to the rotor position state and a preset position control strategy so that the temperature detection winding satisfies the temperature detection condition, including: Increasing the torque of the motor to reduce the current speed of the rotor; Determining whether the current rotation speed is less than a preset stall speed; If so, determining that the temperature detection winding meets the temperature detection condition; If not, continue to increase the torque to further reduce the current speed until the current speed is less than the stall speed.

5. The method according to claim 3, characterized in that The power parameter includes torque. When the rotor state is the second state, the power parameter of the motor is changed according to the rotor position state and a preset position control strategy so that the temperature detection winding satisfies the temperature detection condition, including: reducing the torque of the motor to increase the current speed of the rotor; determining whether the rotor position is within the detection area; If so, re-determine that the rotor state is the first state, and change the torque of the motor according to the first state and the position control strategy so that the temperature detection winding meets the temperature detection condition; If not, the torque is further reduced to further increase the current rotational speed until the rotor position is within the detection zone.

6. The method according to claim 5, characterized in that The step of reducing the torque of the motor to increase the current rotational speed of the rotor includes: Obtaining a boundary position of the detection area; calculating a current distance between the boundary position and the rotor position; determining a torque difference to be reduced according to the current distance; The torque of the motor is reduced according to the torque difference to increase the current rotational speed.

7. The method according to claim 1, characterized in that Before obtaining the rotor position, the method further includes: Get the current speed of the rotor; Determining whether the current rotation speed is less than a preset detection speed; When the current rotation speed is less than the detection speed, the rotor position is acquired.

8. The method according to any one of claims 1 to 7, characterized in that Also includes: Obtain current distribution records; determining, based on the current distribution record, a rotor position interval corresponding to when the main current flows through the temperature detection winding; The rotor position interval is determined as the detection zone.

9. A strength training device, characterized in that: include: resistance motor; The driving mechanism is provided with a rope, and the rope is connected to the resistance motor through the driving mechanism; A monitoring mechanism comprising at least one temperature sensor disposed within the resistance motor; A control mechanism is communicatively connected to the resistance motor and the monitoring mechanism, and the control mechanism is configured to determine the detected temperature of the resistance motor according to the method according to any one of claims 1 to 8.

10. An electronic device, characterized in that: The electronic device comprises a memory and a processor, wherein the memory is connected to the processor, and the processor is used to execute one or more computer programs stored in the memory. When the processor executes the one or more computer programs, the electronic device implements the method as described in any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, which, when executed by a processor, cause the processor to perform the method according to any one of claims 1 to 8.

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