Motor starting control method and device, cleaning equipment and machine readable medium

Abstract

The invention provides a motor starting control method and device, cleaning equipment and a machine readable medium, and belongs to the field of electrical control. The motor starting control method comprises the steps of determining starting initial power and a current upper limit value of a motor based on an operation gear and a working condition of cleaning equipment; in the starting process of the motor, the power of the motor is gradually increased in a staged increasing mode, so that the power of the motor is increased from the starting initial power to the target power corresponding to the operation gear. According to the motor starting control method and device, the cleaning equipment and the machine readable medium provided by the invention, cooperative control of the starting initial power, the current upper limit value constraint and the staged incremental power is carried out; therefore, sudden torque change caused by sudden power instruction change can be reduced, starting transient current peak is suppressed, battery voltage drop and bus voltage fluctuation are reduced, misjudgment risks such as over-current and under-voltage are reduced, the starting process is smoother, noise and mechanical shock are smaller, and the service life of a device is prolonged.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of electrical control, and particularly relates to a motor starting control method and device, a cleaning device and a machine readable medium. BACKGROUND

[0002] In the field of cleaning devices, the motor is the core power component for generating suction force or driving the cleaning mechanism. During the starting process, it usually needs to establish sufficient output capacity in a short time to meet the suction force demand under different operating gears. However, the existing cleaning devices generally use a more direct control method during the motor starting stage, that is, a higher power target or a higher current target is applied to the motor at the starting moment, so that the motor can reach the expected speed or output capacity as soon as possible.

[0003] Because the equivalent impedance of the motor is low when it is in a static or low speed state, the current demand on the power supply side often rises significantly at the starting moment, especially in a portable cleaning device powered by a battery. The factors such as battery internal resistance, connection harness resistance, and power device conduction voltage drop are superimposed, which can easily cause obvious battery voltage drop and current surge during the starting transient state. The battery voltage drop can cause the bus voltage to drop for a short time, thereby causing the controller power supply fluctuation, power drive capacity decline, or system state instability; the current surge can increase the transient stress of the power device, motor winding, and battery, which can cause the device temperature to rise rapidly, the service life to decay rapidly, and can induce abnormal noise and mechanical impact, affecting the user experience. SUMMARY

[0004] The purpose of the present disclosure is to provide a motor starting control method, device, cleaning device and machine readable medium, which can improve the smoothness of the motor starting process and reduce mechanical impact.

[0005] To achieve the above-mentioned purpose, the technical solutions provided by the present disclosure are as follows:

[0006] In a first aspect, the present disclosure provides a motor starting control method for a cleaning device, comprising:

[0007] Based on the operating gear and working condition of the cleaning device, the starting initial power and current upper limit value of the motor are determined; during the starting process of the motor, the power of the motor is gradually increased in a staged manner, so that the power of the motor is increased from the starting initial power to the target power corresponding to the operating gear; wherein in each stage of the starting process of the motor, the current demand value corresponding to the current power target and bus voltage is calculated, the current demand value is compared with the current upper limit value, and the smaller value is taken as the actual input current of the motor. By increasing the power in stages and calculating the current demand based on the bus voltage and limiting the current according to the current upper limit, the starting transient current peak and battery voltage drop can be inhibited, and the starting process can be smoother.

[0008] In one or more embodiments, the starting initial power and current upper limit value of the motor are determined based on the operating gear and working condition of the cleaning device, including receiving an operating instruction sent by a host computer, determining the operating gear of the cleaning device according to the operating instruction; determining the starting initial power and current upper limit value of the motor based on the operating gear and the preset priority of the working condition of the cleaning device; wherein the working condition includes at least one of the blockage state, temperature state and altitude of the cleaning device, and the priority of the blockage state is higher than that of the temperature state, and the priority of the temperature state is higher than that of the altitude. By introducing the operating gear recognition and determining the working condition according to the priority of the blockage state, the temperature state and the altitude, the starting initial power and current upper limit value can be adaptively adjusted under different gears and different environments / loads, reducing the impact and misjudgment under different working conditions.

[0009] In one or more embodiments, the starting process of the motor includes a preparatory phase, an incremental phase, a transition phase and a target phase executed in sequence; wherein in the preparatory phase, the motor starting condition is established with the starting initial power; in the incremental phase, the power of the motor is gradually increased in a stepped or smooth incremental manner with a first power increase step; in the transition phase, the power of the motor is increased to the target power with a second power increase step, which is smaller than the first power increase step; in the target phase, the motor is maintained at the target power. By subdividing the starting process into preparatory phase, incremental phase, transition phase and target phase, and using a smaller second power increase step when approaching the target power, the power establishment is controlled first fast and then slow, reducing the overshoot and mechanical impact when approaching the target power.

[0010] In one or more embodiments, the motor starting control method further includes: in each phase of the motor starting process, the motor operating state is detected in real time; if no motor abnormality is detected, the next phase is entered after the end condition of the current phase is met; otherwise, the power increase is suspended and / or the protection process is triggered. By detecting the motor operating state in each phase and using the phase end condition as the switching basis, the power increase is promoted when there is no abnormality, and suspended or entered into protection when there is an abnormality, improving the starting safety.

[0011] In one or more embodiments, the motor starting control method further includes: during the motor starting process, at least one protection mechanism related to motor failure is shielded or delayed in execution; when the motor reaches the target power and / or the starting time reaches a preset duration, the motor operating state is switched to a normal operating state, and the protection mechanism related to motor failure is restored. By shielding or delaying the failure protection mechanism during the starting phase, and restoring the protection after reaching the target power and / or timeout, the unexpected shutdown or downshift caused by misjudging the starting transient as a failure is reduced.

[0012] In one or more embodiments, the motor start-up control method further includes: acquiring the start-up voltage of the floor brush of the cleaning equipment, and determining whether the cleaning equipment is connected to a floor brush and the type of floor brush based on the magnitude of the start-up voltage; adjusting the initial start-up power, the upper limit of current, and / or the power increment curve based on the determination result related to the floor brush. By acquiring the start-up voltage of the floor brush, the connection status and type of the floor brush are identified, and the initial start-up power, the upper limit of current, and / or the power increment curve are adjusted in conjunction to match the start-up rhythm of the main motor and the floor brush load.

[0013] In one or more embodiments, the motor start-up control method further includes: when the cleaning equipment is under at least one special operating condition, such as high temperature, blockage, or altitude change, switching to a special start-up mode corresponding to the special operating condition to reduce the initial start-up power, power increment rate, and / or current upper limit during motor start-up. By switching to a special start-up mode and lowering the initial start-up power, power increment rate, and / or current upper limit under special operating conditions such as high temperature, blockage, or altitude change, the current surge in high-risk scenarios can be reduced.

[0014] Secondly, this disclosure provides a motor starting control device for cleaning equipment, comprising a parameter determination module, a power module, and a current module. The parameter determination module is used to determine the initial starting power and upper limit value of the motor based on the operating gear and working conditions of the cleaning equipment. The power module is used to gradually increase the power of the motor in a phased manner when starting the motor, so that the power of the motor is increased from the initial starting power to the target power corresponding to the operating gear. The current module is used to calculate the corresponding current demand value based on the current power target and bus voltage at each stage of power increase, and compare the current demand value with the upper limit value of the current, taking the smaller value as the actual input current of the motor.

[0015] Thirdly, this disclosure provides a cleaning device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the motor start control method as described above.

[0016] Fourthly, this disclosure provides a machine-readable medium carrying executable instructions, which, when executed by a processor, are used to implement the motor start control method described above.

[0017] The motor starting control method, apparatus, cleaning equipment, and machine-readable medium disclosed herein reduce torque surges and mechanical shocks caused by sudden power command changes through coordinated control of initial starting power, upper current limit constraints, and phased incremental power. Simultaneously, at each stage, the current demand value is calculated based on the current stage's power target and bus voltage, and compared with the upper current limit, with the smaller value being taken as the actual input current. This ensures that power increases are always limited to the acceptable current, preventing passive amplification of current demand when the bus voltage drops, which could lead to increased battery voltage drop and false protection triggering. This suppresses transient current spikes during startup, reduces battery voltage drop and bus voltage fluctuations, lowers the risk of misjudgments such as overcurrent and undervoltage, and makes the startup process smoother with less noise and mechanical shock, thus extending device lifespan. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments recorded in this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart of a motor start-up control method in one embodiment of the present disclosure;

[0020] Figure 2 This is a schematic diagram of the control logic of a motor starting control method in one embodiment of the present disclosure;

[0021] Figure 3 This is a schematic diagram of a motor starting control device in one embodiment of the present disclosure;

[0022] Figure 4 This is a schematic diagram of a cleaning device according to one embodiment of the present disclosure. Detailed Implementation

[0023] To enable those skilled in the art to better understand the technical solutions in this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this disclosure.

[0024] The motors of cleaning equipment are often at low speed or stationary at the moment of startup. At this time, the motor's demand for torque is concentrated. In order to quickly establish suction or driving capability, the drive side often tends to give a high power or current target directly at the beginning of startup.

[0025] After reviewing the startup process, the inventors discovered that, given the non-negligible internal resistance of the battery, voltage drop of the wiring harness, and conduction losses of the power devices, the large transient current during startup would cause significant bus voltage fluctuations. These bus voltage fluctuations would then amplify the current demand and trigger protection decisions, leading to problems such as startup noise, mechanical shock, false triggering of protection, and inconsistent startup behavior under different gears and operating conditions.

[0026] In addition, cleaning equipment typically has multiple operating modes, with different modes corresponding to different target power and output capacity requirements. During actual use, cleaning equipment may also be subjected to different operating conditions, such as sudden load changes due to suction port blockage, differences in battery discharge capacity due to ambient temperature changes, and changes in aerodynamic load and cooling conditions at different altitudes.

[0027] Traditional startup control strategies are often relatively fixed, such as fixed ramp power boosting or single current limiting control. Because these strategies lack a linkage mechanism with operating gear and conditions, inconsistencies in the startup process can easily occur when faced with load differences or bus voltage fluctuations: unnecessary current surges may still occur during startup when the load is light or the battery is in good condition; while startup delays, starting difficulties, or power output fluctuations during startup may occur when the load is heavy or the bus voltage is low.

[0028] Meanwhile, cleaning equipment is typically equipped with overcurrent, overvoltage, locked rotor, and overtemperature protection mechanisms to ensure the safety of the motor and power supply system. Current spikes and bus voltage fluctuations during startup can easily couple with protection thresholds, causing misjudgments in the protection logic during startup. This can result in unnecessary downsizing, power limiting, or shutdown, reducing equipment reliability and stability.

[0029] Based on the above understanding, the technical implementation idea of ​​this disclosure is: by organizing the motor starting process in stages and parameters, the power increase and current constraint are coordinated, thereby achieving smooth motor starting performance under different gears and different operating conditions.

[0030] Specifically, this disclosure uses the operating requirements and conditions of the cleaning equipment as inputs to the startup strategy, enabling the initial startup state and allowable current boundaries to adapt to different scenarios. At the same time, the startup process is transformed from a one-time jump to a phased evolution, allowing the power to transition to the target power in a relatively smooth and controllable manner. On this basis, a constraint mechanism based on the power supply state is further introduced, limiting the power increase to the safe current boundary, thereby suppressing the current surge and bus voltage drop during startup transients from the source.

[0031] Please refer to Figure 1 and Figure 2The diagram shown is a flowchart of a motor starting control method according to an embodiment of this disclosure. The motor starting control method specifically includes the following steps:

[0032] S101: Determine the initial starting power and upper limit of current of the motor based on the operating speed and working conditions of the cleaning equipment.

[0033] Step S101 is used to establish starting parameters that match the starting stage before the motor enters the starting control. Its core is to use the operating gear and working conditions of the cleaning equipment as input for the starting decision, thereby determining the initial starting power and upper limit of the current of the motor, so that the motor can suppress current surges during the starting transient stage.

[0034] In practical implementation, after obtaining the operating gear information of the cleaning equipment, the controller maps the operating gear to the corresponding target power level and adjusts the startup parameters based on the operating conditions, thereby determining the initial startup power and current upper limit. The operating gear can be obtained through a startup command sent from the host computer or through the gear selection status of the local interactive component; the operating conditions can be derived from blockage detection results, temperature detection results, and altitude status recognition results, etc. The controller selects more conservative or more aggressive startup parameters based on the determination of the operating conditions to ensure stable startup without triggering false protection in scenarios where the cleaning equipment's battery power supply is limited or the risk of sudden load changes is high.

[0035] In one implementation, the controller can pre-store a table showing the correspondence between operating speeds and initial starting power, and store correction coefficients or amounts for the operating conditions on the initial starting power and the upper limit of current. When the cleaning equipment is running at a low speed, the initial starting power can be set to a lower power level, allowing the motor to start with less energy injection; when the cleaning equipment is running at a high speed, the initial starting power can be increased accordingly to meet the requirements of the high speed for start-up time and target power establishment speed.

[0036] Meanwhile, if the operating conditions are characterized as a congested state or a congestion trend, the controller can reduce the initial starting power and tighten the upper limit of the current to avoid a sudden increase in load caused by congestion and resulting in a current surge. If the operating conditions are characterized as a high temperature, the controller can reduce the initial starting power and lower the upper limit of the current without changing the operating gear, thereby limiting the thermal stress on the power devices and motor windings. If the operating conditions are characterized as an abnormal altitude or a high-altitude environment, the controller can also select milder starting parameters to take into account the starting uncertainties caused by changes in power supply capacity, heat dissipation conditions, and aerodynamic load.

[0037] In one exemplary embodiment, the controller can receive a running instruction sent by a host computer and determine the operating level of the cleaning equipment according to the running instruction; based on the operating level and a preset priority, the controller can determine the operating conditions of the cleaning equipment to determine the initial starting power and upper limit of the current of the motor; wherein, the operating conditions include at least one of the following: the clogging state of the cleaning equipment, the temperature state, and the altitude, and the clogging state has a higher priority than the temperature state, and the temperature state has a higher priority than the altitude.

[0038] It should be noted that the operating command can be a gear code, mode identifier, or power level parameter issued by the host computer according to the communication protocol. By parsing the gear field in the operating command, the controller can map the operating status of the cleaning equipment to at least one of the following: no gear, low gear, medium gear, high gear, automatic gear, cooling gear, high altitude gear, and automatic high altitude gear, so that the determination of the start-up parameters has clear operating target constraints.

[0039] Since different operating gears correspond to different target power requirements and user expectations, for example, the low gear emphasizes battery life and low noise, the high gear emphasizes suction power, the automatic gear emphasizes dynamic adaptation to load changes, the cooling gear emphasizes thermal safety boundaries, and the high altitude gear and automatic high altitude gear emphasize environmental adaptability. Therefore, the operating gear, as the basic input for determining the starting parameters, helps to form a consistent strategy link between the initial starting power and the upper limit of current and the subsequent target power, avoiding oscillations or sudden changes caused by inconsistent control intentions between the starting stage and the steady state stage.

[0040] After determining the operating gear, the controller further assesses the operating conditions of the cleaning equipment based on the operating gear and preset priorities to determine the initial starting power and upper limit of the motor current. Operating conditions include at least one of the following: the cleaning equipment's blockage status, temperature status, and altitude. Blockage status has a higher priority than temperature status, and temperature status has a higher priority than altitude. This priority setting is based on the fact that different operating conditions have varying degrees of impact on starting risk.

[0041] A blockage typically indicates a significant increase in air resistance or mechanical load on the cleaning equipment. During the start-up phase, the motor requires higher electromagnetic torque to overcome the resistance. If a higher power target is still given according to the normal setting, the drive side will quickly increase the current to keep up with the power output, which can easily cause a sudden current surge and trigger overcurrent or undervoltage protection. Therefore, the blockage state is set as the highest priority, so that a more conservative initial starting power and a stricter current limit value can be used when there is a risk of blockage.

[0042] Temperature status reflects the thermal safety boundary when motor windings, power devices, or batteries are at high temperatures or have an abnormal temperature rise trend. Under high temperature conditions, the margin for devices to withstand current surges decreases. If high current spikes are still allowed during the startup phase, it may accelerate heat accumulation and shorten device life. Therefore, temperature status has a higher priority than altitude to ensure that thermal risks are given priority in startup strategies.

[0043] Altitude affects air density and heat dissipation conditions, and may also affect aerodynamic load and duct operation. However, in most cases, its risk intensity is usually lower than that of blockage and high temperature. Therefore, altitude is set as a lower priority to avoid excessive interference of low-risk factors with startup parameters when multiple operating conditions are superimposed.

[0044] In one implementation, the controller can pre-establish a reference mapping relationship between operating gears and starting parameters. For example, it can configure a set of reference initial starting power and reference current upper limit values ​​for each operating gear, and further configure corresponding correction strategies for blockage conditions, temperature conditions, and altitude. The correction strategies can be expressed as correction coefficients, correction amounts, or parameter coverage rules. After parsing the operating command to obtain the operating gear, the controller first selects the reference starting parameters from the mapping relationship, then reads or calculates the judgment result of the operating conditions, and performs correction or coverage according to the preset priority.

[0045] For example, when a blockage condition is determined to be established, the controller can use the set of starting parameters corresponding to the blockage condition to overwrite the baseline starting parameter set, thereby starting the motor at a lower initial power and current limit. When the blockage condition is not established but the temperature condition is abnormal, the controller uses the set of starting parameters corresponding to the temperature condition to replace or correct the baseline starting parameter set. When both the blockage condition and the temperature condition are normal, but the altitude is in the high-altitude range, the controller then uses the set of starting parameters corresponding to the high altitude for correction. Through overwriting or correction, the process of determining starting parameters can maintain the basic goal of consistency with the operating gear, and can prioritize switching to a safer starting boundary when high-risk operating conditions occur.

[0046] Assuming the cleaning equipment receives an operating command corresponding to the high setting, and the blockage status, temperature, and altitude are all normal, the controller can select a higher baseline initial power and a larger baseline current limit based on the high-level operation. This allows the motor to quickly build suction and improve response speed. If a blockage is detected at the same high-level operation, even if the operating command still requires high-level output, the controller will use the blockage start-up parameter set with the highest priority, setting a more conservative starting power and a smaller current limit. This suppresses transient current spikes during motor startup, reduces battery voltage drop, and avoids false triggering of the protection mechanism.

[0047] In one exemplary embodiment, when the cleaning equipment is in at least one special operating condition such as high temperature, blockage, or altitude change, it switches to a special start-up mode corresponding to the special operating condition to reduce the initial start-up power, power increment rate, and / or current limit during motor start-up.

[0048] Since the motor is usually at low speed or stationary during the startup phase, the back electromotive force of the motor is small. The drive side often generates a large current demand in order to achieve the predetermined power target. Under special operating conditions, the battery discharge capacity, device temperature rise margin, air path resistance or heat dissipation conditions may deteriorate, making it easier for the same power command to be converted into a larger current spike or a larger voltage drop fluctuation. Therefore, introducing a special startup mode can actively converge the speed and magnitude of energy injection during the startup phase, thereby reducing impact and risk.

[0049] Special startup modes can be implemented by combining state determination and parameter switching. The controller can determine high-temperature operating conditions based on temperature detection results. For example, by collecting at least one of the following: driver power device temperature, motor winding temperature, control board temperature, or battery temperature, it can determine whether the temperature exceeds a preset threshold or is in a rapid upward trend.

[0050] The controller can also determine blockage conditions based on blockage detection results, such as by detecting air pressure difference, the matching relationship between fan speed and current, suction change trends, or blockage sensor signals to identify abnormal air resistance. The controller can also determine altitude change conditions by estimating altitude, such as by using barometric pressure sensors, positioning information, or pre-stored altitude calibration relationships to determine whether the current altitude has exceeded a preset threshold or has changed significantly in a short period of time.

[0051] When any special operating condition is met, the controller will mark the operating state as a special start-up mode and select a set of start-up parameters that match the special operating condition, so that the initial start-up power, power increment rate and current upper limit are executed according to more conservative boundaries.

[0052] To further improve strategy stability, the controller can also use priority or fusion rules to handle the superposition of multiple special operating conditions. For example, when blockage and high temperature occur at the same time, the special start-up mode parameter set corresponding to blockage is given priority, or a stricter current upper limit and a lower initial start-up power are used in the multi-operation parameter set, so as to ensure that the start-up strategy always converges in the direction of lower risk.

[0053] S102: During the motor startup process, the motor power is gradually increased in a phased manner, so that the motor power is increased from the initial startup power to the target power corresponding to the operating gear.

[0054] Step S102 is used to establish a controllable power ramp-up process during motor startup, so that the motor power can smoothly transition from the initial startup power to the target power corresponding to the operating gear, thereby avoiding problems such as current surge, bus voltage fluctuation, noise and mechanical shock caused by a one-time surge in the power target during startup.

[0055] Step S102 gradually increases the motor power by adopting a phased incremental approach, transforming the power build-up process from a single jump into multiple adjustable gradual increases. This constrains the rate and magnitude of change in the power target, weakens the drastic changes in the starting transient, and makes the motor acceleration process smoother.

[0056] In one implementation, the motor starting process can be divided into multiple power increment stages. Each power increment stage can correspond to a stage power target and a stage duration or stage switching condition. The stage power target can be gradually increased from the initial starting power according to a preset ratio or preset increment until the target power is reached. The stage power target is updated when entering each power increment stage, and the stage power target is used as a power reference to control the motor output within that stage, so that the motor completes a certain speed or torque establishment within the stage before entering the next stage for further increase.

[0057] To balance startup response and smoothness, the power increase rhythm can be designed to be slower initially and faster later, or faster initially and slower as it approaches the target power, ensuring the power ramp-up pattern matches the motor's startup characteristics. Stage switching conditions can be triggered by time-based or motor state conditions, such as the motor power reaching the current stage's target, the motor speed reaching a preset threshold, the bus voltage returning to a preset range, or the motor current fluctuation within a preset range. This ensures the stage switching matches the motor's actual operating state, preventing premature power increases that could cause a sudden current surge before the motor has stabilized.

[0058] Power increments can be implemented in stages or by ramping. Step-wise increments gradually raise the power target through multiple discrete power steps, making them suitable for scenarios where controller computing power is limited or where easier stage management and state determination are desired. Ramp-wise increments, on the other hand, achieve a smooth transition through a continuously changing power reference. The power reference can be increased at a fixed slope or at segmented slopes. In particular, a smaller slope is used when approaching the target power to reduce the risk of overshoot, allowing the motor to smoothly transition from acceleration to steady-state output.

[0059] In one exemplary embodiment, at each stage of the motor startup process, the corresponding current demand value can be calculated based on the current stage's power target and bus voltage. The current demand value is then compared with the current upper limit value, and the smaller value is taken as the motor's actual input current.

[0060] It should be noted that bus voltage can be understood as the DC supply voltage that the power system of the cleaning equipment provides energy to the motor. For battery-powered cleaning equipment, the bus voltage is typically generated by the battery output and transmitted to the drive side through switching devices, protection devices, wiring harnesses, and connectors. Due to the rapid changes in current and large load changes during motor startup, the battery's internal resistance and line impedance will cause transient voltage drops on the bus side. Therefore, the bus voltage is not a constant value, but rather a voltage that fluctuates in real time with the current demand, load status, and battery status during motor startup.

[0061] In addition, bus voltage can also be used as a monitoring parameter for the stability of the startup process. If abnormal load or insufficient power supply occurs during startup, the bus voltage will often drop abnormally or remain low. This can be used to determine whether the startup process is in a healthy state, and to adjust the power increase rhythm in conjunction with a phased power increase strategy to avoid strong impacts caused by sudden power increases.

[0062] In one implementation, the bus voltage can be acquired in real time, and the current demand value can be obtained by using the current power target as the calculation input. The current demand value can be calculated according to the correspondence between power and bus voltage, for example, current demand value ≈ current power target / bus voltage.

[0063] When considering differences in drive link efficiency or power definition, the current demand value can also be corrected by introducing an efficiency coefficient. For example, the current demand value can be ≈ the current stage power target / (bus voltage × η), where η is a preset or online estimated efficiency parameter used to make the current demand value closer to the actual input demand.

[0064] The bus voltage can be obtained by sampling the DC bus through an analog-to-digital converter. To improve the stability of the calculation, the bus voltage can be filtered, such as by moving average or low-pass filtering, to reduce the disturbance of transient ripple on the calculation of current demand value. Correspondingly, the current demand value can also be limited and de-jittered to avoid frequent jitter of current demand value due to short-term spikes in bus voltage or sampling noise.

[0065] After calculating the current demand value, the current demand value is compared with the aforementioned upper limit value of current, and the smaller of the two values ​​is taken as the actual input current of the motor. The actual input current of the motor can be further used as a reference value for current loop control to modulate the duty cycle of the driver or the current command, thereby realizing the current output boundary after limiting at the control level.

[0066] For example, if the current power target is 300W and the bus voltage is 24V, the current requirement is approximately 12.5A. If the upper limit of the current is set to 10A, the actual input current of the motor obtained after comparison is 10A. The controller uses 10A as the allowable current reference for this stage, and the power output will be gradually built up based on the combination of bus voltage and 10A, without generating a current surge exceeding 10A.

[0067] Conversely, when the bus voltage is high and the current demand is lower than the current limit, the current demand is used as the actual input current of the motor, thereby achieving an adaptive balance between the starting response speed and the power supply safety boundary.

[0068] By incorporating control logic that calculates current demand and minimizes the upper limit of current at each stage of the startup process, the actual input current of the motor is limited to within the upper limit. This reduces the transient current spike during startup, thereby decreasing the battery voltage drop and bus voltage sag, and improving power supply stability. Furthermore, since the bus voltage is involved in the current demand calculation, the current control can respond to changes in bus voltage. When the bus voltage is low, it automatically tends towards a conservative output, reducing the probability of false triggering of undervoltage and overcurrent protection, and minimizing unexpected downshifts or shutdowns.

[0069] In one exemplary embodiment, the motor starting process includes a preparatory stage, an incremental stage, a transition stage, and a target stage executed sequentially. In the preparatory stage, the motor starting conditions are established using the initial starting power. In the incremental stage, the motor power is gradually increased using a first power increase step size, either in a step-by-step or smooth-increase manner. In the transition stage, the motor power is increased to the target power using a second power increase step size, where the second power increase step size is smaller than the first power increase step size. In the target stage, the motor is maintained at the target power.

[0070] Because the back electromotive force and equivalent impedance of a motor are low in the initial stage of startup, directly applying a high target power often requires the drive side to rapidly increase the input current to establish electromagnetic torque, which can easily lead to increased battery voltage drop and trigger false protection. Decomposing the startup process into four stages allows the power target to gradually and controllably approach the target power from the initial startup power, and further reduces the granularity of power increase when approaching the target power, thereby achieving a more stable transition and smoother startup performance.

[0071] The preparatory phase establishes the motor's starting conditions with an initial starting power. This is primarily used to drive the motor to overcome static friction and initial load under low power conditions, establishing a stable starting trend. The initial starting power in the preparatory phase can be determined by the operating gear and working conditions, ensuring that the preparatory phase is neither overly conservative, leading to starting difficulties, nor overly aggressive, causing current surges. In practice, the initial starting power can be maintained for a period during the preparatory phase, or the preparatory phase can end when the motor speed reaches a preset threshold, the motor current enters a stable range, or the bus voltage returns to a preset range. This ensures that the motor has a basic speed foundation and power supply stability before entering the incremental phase, thereby reducing the risk of subsequent power increases.

[0072] The incremental phase can be implemented using either a stepped or smooth increase method, gradually increasing the motor's power with a first power increase step size. This is used to quickly establish the main output capability after the motor has started running. A stepped increase can be understood as increasing the power target in discrete steps, with the power target remaining constant for a period of time after each increase, allowing the system to complete current regulation and speed response. A smooth increase, on the other hand, can be understood as gradually raising the power target with a continuously changing power reference, making the power change more continuous. This is suitable for scenarios that are sensitive to noise and vibration or where it is desirable to reduce power target fluctuations.

[0073] The first power boost step size is used to characterize the main boost granularity of the incremental stage. It can be a fixed step size or it can adaptively change as the stage progresses. For example, a larger first power boost step size can be used in the first half of the incremental stage to shorten the start-up time, while the first power boost step size can be appropriately reduced in the second half of the incremental stage to improve smoothness. The stage switching condition for the incremental stage can be based on time conditions or combined with motor operating status conditions. For example, the next power boost can be executed when the motor current fluctuation is less than a preset threshold and the speed increase trend is stable, thereby avoiding the superposition of current spikes caused by continuous power increases before the system is stable.

[0074] During the transition phase, the motor power is increased to the target power using a second power increase step size. This second power increase step size is smaller than the first power increase step size. This is used to refine the power increase granularity as the power approaches the target power, reducing the risk of overshoot, jitter, and impact during the approach phase. Since the motor is already at a relatively high power output state when approaching the target power, load disturbances, bus voltage fluctuations, and the response characteristics of the control loop are more likely to cause transient overshoot or current spikes in the power output.

[0075] By switching the power increase step size from a first power increase step size to a smaller second power increase step size, the change in the power target becomes more subtle, the drive-side current adjustment is more gentle, and the motor acceleration change is smoother, thereby reducing noise and mechanical shock, and lowering the probability of false protection triggering. In implementation, the transition phase can be determined based on the difference between the power target in the incremental phase and the target power. For example, when the power target reaches a preset proportion of the target power or the difference is less than a preset threshold, the system switches to the transition phase and continues to use the second power increase step size in the transition phase until the target power is reached.

[0076] The target phase is used to maintain the motor at the target power, marking the completion of the startup process and the entry into the steady-state output state corresponding to the operating gear. During the target phase, the target power is used as the motor's power reference for maintenance control. The more conservative current upper limit or protection strategy used during startup can be switched to the parameter set used in normal operation, enabling the system to maintain stable output while possessing normal protection capabilities. The entry conditions for the target phase can be that the power target is reached and stable operation is maintained for a preset time, or that the motor speed, current, and other state parameters continuously meet the conditions within a preset stable range.

[0077] In one exemplary embodiment, during motor startup, the starting voltage of the floor brush of the cleaning equipment can be collected, and the value of the starting voltage can be used to determine whether the cleaning equipment is connected to the floor brush and the type of floor brush; then, based on the determination results related to the floor brush, the initial startup power, the upper limit of current and / or the power increment curve can be adjusted.

[0078] As a load component of cleaning equipment, the start-up or connection of the floor brush will change the load characteristics of the motor during the start-up phase. When the cleaning equipment is connected to different types of floor brushes or not connected to floor brushes, the current demand, bus voltage drop and mechanical resistance during the start-up of the whole machine may be different. If a uniform initial power, current limit and power increment curve are still used, it is easy to have a large current surge in light load scenarios and a slow start-up or unstable start-up in heavy load scenarios.

[0079] Therefore, the starting voltage of the floor brush can be collected during the preparatory stage or the initial stage of the motor startup. The starting voltage of the floor brush can be understood as the voltage value presented by the floor brush power supply terminal or the floor brush detection terminal during startup transient. This voltage value will show different value ranges depending on whether the floor brush is connected, the internal circuit characteristics of the floor brush, and the type of floor brush.

[0080] The starting voltage of the floor brushes can be sampled using an analog-to-digital converter and combined with a pre-calibrated threshold range or feature mapping relationship to determine the connection status and type of the floor brushes. To improve the reliability of the determination, the sampling of the floor brush starting voltage can be performed by averaging multiple samples or by median filtering to suppress the influence of ripple and noise. De-jittering can also be performed before or at the beginning of motor startup to avoid fluctuations in the determination results due to contact transients or load transients.

[0081] In one implementation, the controller can pre-store at least three types of interval thresholds, corresponding to unconnected ground brushes, connected first-type ground brushes, and connected second-type ground brushes, respectively. When the collected ground brush start-up voltage falls into the corresponding interval, the corresponding judgment result is output. In addition to voltage amplitude, the judgment can further combine features such as voltage change slope, transient drop amplitude, or settling time to improve the ability to distinguish ground brushes with similar voltage intervals, thereby achieving more refined ground brush type identification without adding additional hardware.

[0082] After obtaining the judgment results related to the floor brush, the controller can adaptively adjust the initial starting power, current upper limit, and power increment curve based on the judgment results, so that the starting process of the main motor and the floor brush are matched.

[0083] The adjustment of the initial starting power is used to change the power starting point during the startup phase. When it is determined that the ground brush is not connected, the initial starting power can be taken as a relatively low value to avoid unnecessary current surges under light load. When it is determined that the ground brush is connected and the ground brush load is large, the initial starting power can be appropriately increased or a starting point more suitable for overcoming the starting resistance can be adopted to ensure the success rate of starting.

[0084] The adjustment of the upper limit of current is used to limit the maximum input current allowed during the startup phase. When connecting the ground brush increases the current demand of the whole machine, the upper limit of current can adopt a more conservative or phased relaxation strategy to avoid the current spike formed by the moment the ground brush is connected and the moment the main motor starts. In scenarios where the bus voltage is sufficient and the type of ground brush allows for a higher starting current, the upper limit of current can also be appropriately relaxed within the safety boundary to shorten the startup time.

[0085] Adjusting the power ramp-up curve alters the pace of power increase. For example, when connecting a heavy-load ground brush, reducing the power ramp-up slope or decreasing the power ramp-up step size makes the power ramp-up smoother and allows time for bus voltage recovery and current-limited regulation. When the ground brush is not connected or is connected to a light-load ground brush, the power ramp-up slope can be appropriately increased to improve response speed. Through these coordinated adjustments, the startup control strategy can be transformed from a single fixed strategy into a set of strategies related to the load configuration, thereby improving the stability and smoothness of the startup process.

[0086] In one exemplary embodiment, the motor operating status is monitored in real time at each stage of the motor startup process; if no motor abnormality is detected, the next stage is entered after the end condition of the current stage is met; otherwise, power boost is suspended and / or protection procedures are triggered.

[0087] Since the motor is in a state of rapid speed change and high load uncertainty during the startup phase, the dynamic changes of key quantities such as motor current, speed, temperature and bus voltage can reflect whether the startup process is healthy and stable. Therefore, using the motor operating status as the basis for phase switching and abnormal handling can improve the controllability and reliability of the startup process.

[0088] Real-time monitoring of motor operating status can include at least one of motor current, speed, temperature, and bus voltage. Multiple parameters can also be collected simultaneously to form a combined judgment mechanism, depending on hardware configuration and control accuracy requirements. Motor current can be obtained through a current sampling resistor, Hall sensor, or internal sampling channel of the driver, used to characterize electromagnetic torque demand and load changes. Speed ​​can be obtained from Hall signals, encoder signals, back EMF estimation, or driver speed estimation, used to characterize whether start-up is smooth and acceleration is stable. Temperature can be obtained from at least one of power device temperature, motor winding temperature, and control board temperature, used to assess thermal safety boundaries. Bus voltage can be obtained by sampling the DC bus through an analog-to-digital converter, used to reflect battery power supply capacity and transient voltage drop.

[0089] When no motor abnormality is detected, proceeding to the next stage depends on meeting the termination conditions of the current stage, thus providing clear rules for stage switching. The termination conditions of the current stage can include at least one of the power dimension conditions and the time dimension conditions. For example, the motor power reaches the power target of the current stage and remains stable for a preset duration, or the duration of the current stage reaches a preset duration, or the motor speed reaches a preset threshold matching the current stage and the bus voltage is within a preset range.

[0090] By designing the termination condition as a combination of conditions related to the achievement of the power target, state stability, and phase duration, we can avoid the jitter caused by switching as soon as the power target is reached, and also avoid the startup lag caused by excessively long phase duration.

[0091] When a motor malfunction is detected, pausing power increase and / or triggering protection procedures are used to promptly stop the power increase when a risk occurs, preventing the fault from escalating. Pausing power increase can manifest as maintaining the current power target without further upward adjustment, reverting the power target to the previous level, or reducing the power increment rate to enter a more conservative ramp-up mode.

[0092] The protection process can be triggered according to the type of abnormality. For example, when the motor current exceeds the preset threshold, it enters the overcurrent protection process; when the bus voltage drops below the preset threshold, it enters the undervoltage process; when the speed fails to be established within the preset time or abnormal fluctuations occur, it enters the stall or start-up failure process; and when the temperature exceeds the preset threshold or rises rapidly, it enters the overtemperature process.

[0093] In one exemplary embodiment, during the motor startup process, at least one protection mechanism related to motor faults is shielded or delayed in execution; when the motor reaches the target power and / or the startup time reaches a preset duration, the motor operating state is switched to normal operating state, and the protection mechanism related to motor faults is restored.

[0094] When the motor is in the starting stage, the speed and back electromotive force are relatively low. In order to generate the starting torque, the drive side usually generates a high motor current. At the same time, the battery internal resistance, wiring harness impedance and power device voltage drop will cause the bus voltage to drop instantaneously. These phenomena often occur in a concentrated manner on the time scale and last for a short period of time, but they are normal dynamic responses in the starting process.

[0095] If the protection mechanism still makes real-time judgments based on the threshold and judgment window under normal operating conditions, it is easy to misjudge short-term motor current peaks as overcurrent, misjudge measurement disturbances related to bus voltage fluctuations as abnormal, misjudge the initial state before the speed has climbed as stalled, or misjudge the temperature rise trend during the start-up phase as overtemperature.

[0096] In one implementation, the motor operating state can be divided into a startup phase and a normal operating phase. A startup flag is set when entering the startup phase, causing the motor fault-related protection mechanisms to enter a startup-dedicated judgment mode. This startup-dedicated judgment mode can manifest as shielding the judgment signals of at least one protection mechanism, or setting a delayed execution window for at least one protection mechanism, i.e., temporarily not triggering the corresponding protection action within a preset time window, only monitoring and recording; alternatively, it can manifest as temporarily adjusting the judgment threshold of at least one protection mechanism according to preset rules during the startup phase, making the protection judgment less sensitive to short-term spikes, and then restoring the threshold and judgment window corresponding to the normal operating phase after the startup phase ends.

[0097] To ensure safety, shielding or delaying execution during the startup phase does not mean completely canceling the protection logic. Instead, it adapts the timing of the protection logic's intervention to the startup dynamics. For example, a time window is used to confirm short-term motor current peaks, a delay in the start-up setup time is used for speed-related stall judgments, and more stable sampling and a longer confirmation time are used for temperature-related judgments. This ensures that the protection mechanism still responds effectively to real and persistent anomalies.

[0098] When the motor reaches the target power and / or the startup time reaches the preset duration, the motor's operating state can be switched to normal operation and the motor fault-related protection mechanism can be restored, ensuring that the protection logic returns to the normal safety boundary promptly after startup. Reaching the target power can be determined by power control or power feedback quantities, and reaching the preset startup time can be determined by a timer; either condition being met serves as the trigger condition for ending the startup phase.

[0099] After switching to normal operation, the controller can cancel the start flag and restore the normal threshold and judgment window of the motor fault-related protection mechanism, so that the protection mechanism can normally judge and execute the action for abnormalities such as overcurrent, overvoltage, stalled rotor, and overtemperature during the steady-state output stage.

[0100] By shielding or delaying the execution of at least one protection mechanism related to motor faults during motor startup, and restoring the protection mechanism when the motor reaches the target power and / or the startup time reaches a preset duration, startup control and protection judgment can be reasonably decoupled in the time dimension. This prevents normal transients during startup from being mistakenly amplified into fault events, reduces unnecessary shutdowns and downshifts, improves the continuity and smoothness of the startup process, and ensures that the safety boundary of the normal operating state is returned to in a timely manner after startup, thus ensuring the integrity and effectiveness of fault protection in the steady-state stage. This balances startup smoothness and equipment safety.

[0101] Please refer to Figure 3 As shown, based on the same inventive concept as the aforementioned motor start control method, this disclosure provides a motor start control device 300, which includes a parameter determination module 301, a power module 302 and a current module 303.

[0102] The parameter determination module 301 determines the initial starting power and upper limit current of the motor based on the operating level and conditions of the cleaning equipment. The power module 302 gradually increases the motor power in stages during startup, raising it from the initial starting power to the target power corresponding to the operating level. The current module 303 calculates the corresponding current demand value based on the current power target and bus voltage at each stage of power increase, compares the current demand value with the upper limit current value, and takes the smaller value as the actual input current of the motor.

[0103] Please refer to Figure 4As shown, this disclosure also provides a cleaning device 400, which includes at least one processor 401, a memory 402 (e.g., non-volatile memory), a main memory 403, and a communication interface 404, and the at least one processor 401, memory 402, main memory 403, and communication interface 404 are connected together via an internal bus 405. The at least one processor 401 is used to invoke at least one program instruction stored or encoded in the memory 402 to cause the at least one processor 401 to perform various operations and functions of the motor starting control method described in the various embodiments of this specification.

[0104] In the embodiments of this specification, the cleaning device 400 may be configured with a functional terminal to carry the above-described hardware structure. The terminal includes, but is not limited to, personal computers, server computers, workstations, desktop computers, laptop computers, notebook computers, mobile electronic devices, smartphones, tablet computers, cellular phones, personal digital assistants (PDAs), handheld devices, messaging devices, wearable electronic devices, consumer electronic devices, etc.

[0105] This disclosure also provides a machine-readable medium carrying executable instructions, which, when executed by a processor, can be used to implement various operations and functions of the motor starting control method described in the various embodiments of this specification.

[0106] The machine-readable medium in this disclosure can be a machine-readable signal medium or a machine-readable storage medium, or any combination thereof. A machine-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a machine-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a machine-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0107] In this disclosure, the machine-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying machine-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The machine-readable signal medium may also be any machine-readable medium other than a machine-readable storage medium, capable of transmitting, propagating, or transmitting a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the machine-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wireline, optical fiber, RF, etc., or any suitable combination thereof.

[0108] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a program product embodied on one or more storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing program code.

[0109] It will be apparent to those skilled in the art that this disclosure is not limited to the details of the exemplary embodiments described above, and that this disclosure can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of this disclosure is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this disclosure. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0110] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A motor starting control method for cleaning equipment, characterized in that, include: Based on the operating speed and working conditions of the cleaning equipment, determine the initial starting power and upper limit of the current of the motor. During the motor startup process, the motor power is gradually increased in stages to raise the motor power from the initial startup power to the target power corresponding to the operating gear. Specifically, during each stage of the motor startup process, the corresponding current demand value is calculated based on the current power target and bus voltage. The current demand value is then compared with the upper limit value of the current, and the smaller value is taken as the actual input current of the motor.

2. The motor starting control method according to claim 1, characterized in that, Based on the operating speed and conditions of the cleaning equipment, determine the initial starting power and upper limit of the current of the motor, including: Receive the operating instructions sent by the host computer, and determine the operating level of the cleaning equipment according to the operating instructions; The operating conditions of the cleaning equipment are determined based on the operating gear and preset priority to determine the initial starting power and upper limit of the current of the motor. The operating conditions include at least one of the following: the clogging status of the cleaning equipment, the temperature status, and the altitude, with the clogging status having a higher priority than the temperature status, and the temperature status having a higher priority than the altitude.

3. The motor starting control method according to claim 1, characterized in that, The motor starting process includes a preparatory stage, an incremental stage, a transition stage, and a target stage, which are executed sequentially. In the preparatory stage, the motor start-up conditions are established using the initial starting power. During the incremental phase, the power of the motor is gradually increased by stepping up or smoothly increasing, starting with the first power increase step size. During the transition phase, the motor power is increased to the target power by a second power increase step size, wherein the second power increase step size is smaller than the first power increase step size. During the target phase, the motor is kept running at the target power.

4. The motor starting control method according to claim 1, characterized in that, The motor start control method further includes: The motor's operating status is monitored in real time at each stage of the motor startup process; If no motor abnormality is detected, proceed to the next stage after the end conditions of the current stage are met; otherwise, suspend power increase and / or trigger the protection process.

5. The motor starting control method according to claim 1, characterized in that, The motor start control method further includes: During motor startup, at least one protection mechanism related to motor faults is shielded or its execution is delayed. When the motor reaches the target power and / or the start-up time reaches the preset duration, the motor operating state is switched to normal operating state, and the motor fault-related protection mechanism is restored.

6. The motor starting control method according to claim 1, characterized in that, The motor start control method further includes: The starting voltage of the floor brush of the cleaning equipment is collected, and the value of the starting voltage is used to determine whether the cleaning equipment is connected to the floor brush and the type of floor brush. Based on the judgment results related to the ground brush, adjust the initial startup power, current upper limit and / or power increment curve.

7. The motor starting control method according to claim 1, characterized in that, The motor start control method further includes: When the cleaning equipment is in at least one special operating condition such as high temperature, blockage, or altitude change, it switches to a special start-up mode corresponding to the special operating condition to reduce the initial start-up power, power increment rate, and / or current limit during motor start-up.

8. A motor starting control device for cleaning equipment, characterized in that, include: The parameter determination module is used to determine the initial starting power and upper limit of current of the motor based on the operating speed and working conditions of the cleaning equipment. The power module is used to gradually increase the power of the motor in a phased and incremental manner when starting the motor, so that the power of the motor is increased from the initial starting power to the target power corresponding to the operating gear. The current module is used to calculate the corresponding current demand value based on the current power target and bus voltage at each stage of power increase, and compare the current demand value with the current upper limit value, taking the smaller value as the actual input current of the motor.

9. A cleaning device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the motor start control method as described in any one of claims 1 to 7.

10. A machine-readable medium, characterized in that, The machine-readable medium carries execution instructions, which, when executed by a processor, are used to implement the motor start control method as described in any one of claims 1 to 7.

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