Motor control method and device, cleaning equipment and storage medium
By monitoring the rate of change of motor drive voltage to predict power outage risks and switch states accordingly, the problem of incomplete shutdown of cleaning equipment during power outages is solved. This enables orderly shutdown of motors and preservation of critical data, thereby improving equipment reliability and component lifespan.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-27
- Publication Date
- 2026-03-31
AI Technical Summary
Existing cleaning equipment cannot predict power outage trends in advance, resulting in rapid power outages that prevent the system from completing a full and safe shutdown process due to insufficient remaining energy and time. This affects battery and device lifespan, the preservation of critical operating data, and reduces equipment reliability.
By monitoring the rate of change of the motor's drive voltage, the risk of power outage can be predicted, and the motor state can be switched using a shutdown state machine to perform different shutdown operations, including power outage warning, load reduction, shutdown preparation, and shutdown execution, to ensure that the motor shuts down in an orderly manner and that critical data is saved before a power outage.
It improves battery and device lifespan, ensures the orderly storage of critical operational data, and enhances device reliability and user experience.
Smart Images
Figure CN121770433A_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of motor control technology, specifically relating to a motor control method, device, cleaning equipment, and storage medium. Background Technology
[0002] Cleaning equipment such as vacuum cleaners and cleaning robots are powered by battery packs or adapters. When power is lost, they rely on hardware undervoltage reset or fixed voltage thresholds to quickly cut off power. This makes it impossible to predict the power outage trend in advance. The rapid power outage means that the system's remaining energy and time cannot complete a complete and safe shutdown process, resulting in problems such as damage to batteries and components, and failure to properly save critical operating data, which affects the reliability of the equipment. Summary of the Invention
[0003] The purpose of this application is to provide a motor control method, device, cleaning equipment, and storage medium to achieve orderly shutdown of the system by predicting power outage trends, improve battery and device lifespan, ensure the orderly preservation of critical operating data, and improve equipment reliability.
[0004] To achieve the above objectives, the first aspect of this application provides a motor control method, comprising:
[0005] Acquire the motor's drive voltage signal, and determine the voltage change rate based on the drive voltage signal;
[0006] Based on the voltage change rate, predict whether there is a risk of power outage;
[0007] If so, based on the driving voltage signal, determine the current driving voltage, and input the current driving voltage and the voltage change rate into the shutdown state machine. The shutdown state machine includes multiple states divided based on different voltage thresholds and / or different voltage change rate thresholds.
[0008] Based on the shutdown state machine, the control motor switches between the multiple states and performs a shutdown operation corresponding to the current state.
[0009] In one or more embodiments, the step of predicting whether there is a risk of power outage based on the voltage change rate specifically includes:
[0010] Based on the voltage change rate, determine whether the current state is a power outage;
[0011] If so, determine whether the absolute value of the voltage change rate is greater than the first rate threshold;
[0012] If so, there is a risk of power outage.
[0013] In one or more embodiments, the state includes a readiness to shut down, and the step of controlling the motor to switch between the plurality of states based on the shutdown state machine includes:
[0014] Determine whether the absolute value of the voltage change rate is greater than a second rate threshold;
[0015] If so, based on the driving voltage signal, obtain the current driving voltage and determine whether the current driving voltage is within the first voltage range;
[0016] If so, switch the motor's status to "ready to shut down";
[0017] The motor control method further includes:
[0018] When the motor's state switches to "ready to shut down," the motor's operating parameters are written into the memory, and a power outage warning command is sent to the motor controller, so that the motor controller responds to the power outage warning command by reducing the maximum output power of the motor.
[0019] In one or more embodiments, when the motor's state switches to prepare for shutdown, the method further includes:
[0020] The preset write rate is used as the maximum write rate of the memory.
[0021] In one or more embodiments, the state further includes performing a shutdown, and the step of controlling the motor to switch between the plurality of states based on the shutdown state machine includes:
[0022] Determine whether the absolute value of the voltage change rate is greater than a third rate threshold, wherein the third rate threshold is greater than or equal to the second rate threshold;
[0023] If so, determine whether the current driving voltage is in the second voltage range, where the second voltage range is smaller than the first voltage range;
[0024] If so, switch the motor's state to shutdown;
[0025] The motor control method further includes:
[0026] When the motor's state switches to shutdown, a power-off command is sent to the motor controller, causing the motor controller to respond to the power-off command and shut down the motor's drive signal.
[0027] In one or more embodiments, the state further includes unloading, and the step of controlling the motor to switch between the plurality of states based on the shutdown state machine includes:
[0028] Determine whether the absolute value of the voltage change rate is greater than a fourth rate threshold, wherein the fourth rate threshold is less than or equal to the second rate threshold;
[0029] If so, determine whether the current driving voltage is in the third voltage range, where the third voltage range is greater than the first voltage range;
[0030] If so, switch the motor's status to unloaded;
[0031] The motor control method further includes:
[0032] When the motor switches to a reduced load state, a power reduction command is sent to the motor controller so that the motor controller reduces the input power of the motor in response to the power reduction command.
[0033] In one or more embodiments, the state further includes a power outage warning, and the step of controlling the motor to switch between the plurality of states based on the shutdown state machine includes:
[0034] Determine whether the absolute value of the voltage change rate is greater than a fifth rate threshold, wherein the fifth rate threshold is less than or equal to the fourth rate threshold;
[0035] If so, determine whether the current driving voltage is in the fourth voltage range, where the fourth voltage range is greater than the third voltage range;
[0036] If so, switch the motor status to power failure warning;
[0037] The motor control method further includes:
[0038] When the motor's state switches to power failure warning, a current limiting command is sent to the motor controller, so that the motor controller responds to the current limiting command by using the motor's current input power as the motor's maximum input power.
[0039] In one or more embodiments, the shutdown state machine includes multiple states divided based on different voltage thresholds;
[0040] The motor control method further includes:
[0041] Based on the voltage change rate, determine whether the driving voltage increases;
[0042] If so, increase the voltage threshold in the shutdown state machine by a preset value, and input the current driving voltage into the shutdown state machine.
[0043] To achieve the above objectives, a second aspect of this application provides a motor control device, comprising:
[0044] The rate calculation module is used to acquire the drive voltage signal of the motor and determine the voltage change rate based on the drive voltage signal.
[0045] A power outage prediction module is used to predict whether there is a risk of power outage based on the voltage change rate.
[0046] The state prediction module is used to determine the current driving voltage based on the driving voltage signal when there is a risk of power failure, and input the current driving voltage and the voltage change rate into the shutdown state machine. The shutdown state machine includes multiple states divided based on different voltage thresholds and / or different voltage change rate thresholds.
[0047] The shutdown operation module is used to control the motor to switch between the multiple states based on the shutdown state machine, and to execute the shutdown operation corresponding to the current state.
[0048] To achieve the above objectives, a third aspect of this application provides a cleaning device, including a motor, at least one processor; and
[0049] A memory that stores instructions, which, when executed by the at least one processor, cause the at least one processor to perform the motor control method as described in any of the above embodiments.
[0050] To achieve the above objectives, a fourth aspect of this application provides a machine-readable storage medium storing executable instructions that, when executed, cause the machine to perform the motor control method as described in any of the above embodiments.
[0051] The advantages of this application, which differ from existing technologies, are:
[0052] This application predicts the risk of power outage by monitoring the rate of change of motor voltage. When a power outage risk exists, the motor state is switched by shutting down the state machine, and different shutdown operations are performed in different states. This avoids the impact of sudden power outages on the lifespan of batteries and devices, and helps to preserve key operating data in an orderly manner, thereby improving equipment reliability.
[0053] The shutdown state machine of this application can include power outage warning state, load reduction state, shutdown preparation state and shutdown execution state with different urgency. Based on the current drive voltage and voltage change rate of the motor, the motor can be controlled to switch between different states so that the motor can smoothly reduce frequency before final shutdown and ensure the proper preservation of key operating parameters, thereby significantly improving battery and device life, improving equipment reliability, and helping to enhance user experience. Attached Figure Description
[0054] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0055] Figure 1 This is a flowchart illustrating one embodiment of the motor control method of this application;
[0056] Figure 2 yes Figure 1 A flowchart of one embodiment corresponding to S102;
[0057] Figure 3 yes Figure 1 A flowchart illustrating one embodiment corresponding to S400;
[0058] Figure 4 yes Figure 1 A flowchart illustrating another implementation of S400;
[0059] Figure 5 yes Figure 1 A flowchart illustrating another implementation of S400;
[0060] Figure 6 yes Figure 1 A flowchart illustrating another implementation of S400;
[0061] Figure 7 This is a schematic diagram of one embodiment of the motor control device of this application;
[0062] Figure 8 This is a structural block diagram of one embodiment of the cleaning equipment of this application. Detailed Implementation
[0063] 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.
[0064] Existing motor power-off protection strategies rely on hardware undervoltage reset or fixed voltage thresholds for rapid power-off. Their power-off protection logic continuously monitors the motor voltage, and when the voltage is lower than the threshold, it forces the motor controller to stop all current operations and enter a reset state.
[0065] This rapid power-off method, after a power outage, allows the controller to maintain operation briefly due to the on-board capacitors and voltage regulator buffer mechanism. However, the voltage is already below the normal operating range of the motor and drive chip, leading to drive signal distortion. Furthermore, the MOSFETs, operating in the linear region, will continue to generate heat, affecting device lifespan. Simultaneously, the controller's attempt to maintain the target speed after the voltage drops below the rated value can cause filtering, secondary voltage drops, or pulse torque, damaging the battery and devices and impacting their lifespan.
[0066] In addition, critical motor operating data may be difficult to store in a timely manner during rapid power outages, affecting subsequent fault analysis and self-learning data accumulation.
[0067] In summary, existing power outage protection strategies are prone to problems such as insufficient remaining energy and time for the system to complete a full and safe shutdown process, resulting in damage to batteries and devices, and failure to properly save critical operating data, thus affecting equipment reliability.
[0068] To address the aforementioned issues, the applicant has developed a novel motor control method. This method predicts power outages by calculating the rate of change of the drive voltage and performs corresponding shutdown operations based on the current drive voltage range. This ensures the orderly shutdown of the system before a power outage, improves battery and device lifespan, guarantees the orderly preservation of critical operating data, and enhances equipment reliability.
[0069] Specifically, please refer to Figure 1 , Figure 1 This is a flowchart illustrating one embodiment of the motor control method of this application.
[0070] like Figure 1 As shown, the method includes:
[0071] S100: Obtain the motor drive voltage signal and determine the voltage change rate based on the drive voltage signal.
[0072] First, the rate of voltage change is determined based on the driving voltage signal.
[0073] In one implementation, the drive voltage signal can be denoised, for example by averaging, to smooth the drive voltage signal.
[0074] Furthermore, for the denoised driving voltage signal, the voltage change within a nearby preset time window is calculated, thereby obtaining the voltage change rate.
[0075] In one implementation, the slope of voltage change within a preset time window can be used as the rate of voltage change, so that subsequent segmentation based on a threshold can be performed.
[0076] S200 predicts the risk of power outage based on the rate of voltage change.
[0077] In this embodiment, the risk of power outage is predicted by monitoring the rate of change of the motor's voltage.
[0078] Specifically, please refer to Figure 2 , Figure 2 yes Figure 1 A flowchart of one embodiment corresponding to S102.
[0079] like Figure 2 As shown, methods for predicting the risk of power outages may include:
[0080] S201. Determine whether the current state is a power outage based on the voltage change rate.
[0081] First, by determining whether the voltage change rate is negative, it can be determined whether the current state is a power outage.
[0082] If the power is off, then:
[0083] S202. Determine whether the absolute value of the voltage change rate is greater than the first rate threshold.
[0084] If so, then:
[0085] S203, There is a risk of power outage.
[0086] When the absolute value of the voltage change rate is greater than the first rate threshold, it indicates that the system is in a rapid power-down state. At this time, regardless of whether the driving voltage is normal, it is considered that there is a risk of power failure and subsequent shutdown operations are performed.
[0087] Furthermore, when there is a risk of power outage, it also includes:
[0088] S300: Based on the driving voltage signal, determine the current driving voltage and input the current driving voltage and voltage change rate into the shutdown state machine.
[0089] The shutdown state machine includes multiple states based on different voltage thresholds and / or different voltage change rate thresholds.
[0090] For example, in one implementation, the shutdown state machine may include multiple states divided based on different voltage thresholds, and the motor state is switched by determining the voltage range corresponding to the current drive voltage.
[0091] In another embodiment, the shutdown state machine may also include a range of voltage change rates divided based on different voltage change rate thresholds, which switches the motor state by determining the voltage change rate range corresponding to the absolute value of the current voltage change rate.
[0092] In another implementation, the shutdown state machine may also include multiple states divided based on different voltage thresholds and different voltage change rate thresholds, and the motor state is switched by combining the absolute value of the current drive voltage and the current voltage change rate.
[0093] S400, based on a shutdown state machine, controls the motor to switch between multiple states and executes the shutdown operation corresponding to the current state.
[0094] This application uses a shutdown state machine to switch the state of the motor and performs different shutdown operations in different states to achieve orderly shutdown and data preservation before power failure.
[0095] In one implementation, the state of the shutdown state machine may include a state of readiness to shut down, which describes that the voltage is about to fall below the rated voltage.
[0096] Specifically, please refer to Figure 3 , Figure 3 yes Figure 1 A flowchart of one embodiment corresponding to S400.
[0097] like Figure 3 As shown, the method for switching the motor to the ready-to-shut-down state based on the shutdown state machine and performing the corresponding shutdown operation may include:
[0098] S401a. Determine whether the absolute value of the voltage change rate is greater than the second rate threshold.
[0099] The second rate threshold can be the same as or greater than the first rate threshold, and can be adjusted based on the actual operating conditions.
[0100] If so, then:
[0101] S402a. Based on the driving voltage signal, obtain the current driving voltage and determine whether the current driving voltage is within the first voltage range.
[0102] If so, then:
[0103] S403a, Switch the motor status to prepare for shutdown.
[0104] Based on the above steps, the system determines whether to switch the motor to the ready-to-shut-off state by using a preset second rate threshold and a first voltage range.
[0105] Furthermore, it also includes:
[0106] S404a When the motor state switches to prepare to shut down, the motor operating parameters are written into the memory and a power failure warning command is sent to the motor controller.
[0107] After receiving a power failure warning, the motor controller can reduce the maximum output power of the motor to achieve a smooth frequency reduction operation before the final power failure, thus realizing a gradual shutdown and avoiding the motor from stopping directly from high power when the power is cut off, which would cause noise and device impact.
[0108] Meanwhile, the time window between the preparation for shutdown and the final power outage is short, so it is necessary to quickly write important motor operating parameters into the memory to facilitate subsequent fault analysis and self-learning data accumulation.
[0109] Since memory, such as non-volatile memory, has a lifespan of erase and write cycles, this embodiment only performs a single write operation of motor operating parameters in the pre-shutdown state close to power failure, thus avoiding multiple writes that could affect the memory's lifespan.
[0110] Furthermore, to prevent fast writes from affecting the lifespan of the memory, the following measures are also included:
[0111] S405a When the motor state is switched to prepare to be turned off, the preset write rate is used as the maximum write rate of the memory.
[0112] By limiting the maximum write rate of the memory, the lifespan of the memory can be effectively extended.
[0113] Furthermore, in one embodiment, the state of the shutdown state machine may include performing shutdown, which describes that the voltage is now below the rated voltage and power needs to be cut off immediately.
[0114] Specifically, please refer to Figure 4 , Figure 4 yes Figure 1 A flowchart illustrating another implementation of S400.
[0115] like Figure 4 As shown, a method for switching a motor to the shutdown state and performing the corresponding shutdown operation based on a shutdown state machine may include:
[0116] S401b, Determine whether the absolute value of the voltage change rate is greater than the third rate threshold.
[0117] The third rate threshold can be greater than or equal to the second rate threshold, and can be adjusted based on the actual working conditions.
[0118] If the absolute value of the voltage change rate is greater than the third rate threshold, then:
[0119] S402b: Determine whether the current driving voltage is in the second voltage range.
[0120] The second voltage range is smaller than the first voltage range.
[0121] If so, then:
[0122] S403b: Switch the motor's state to shutdown.
[0123] Understandably, when the motor voltage drops continuously from the first voltage range to the second voltage range, the motor's state will switch from preparing to shut down to executing shutdown, and the system can perform the final power-off operation.
[0124] Specifically, it also includes:
[0125] S404b: When the motor state switches to shutdown, a power-off command is sent to the motor controller.
[0126] When the motor controller receives a power-off command, it can immediately shut down the motor drive signal, thus achieving a complete shutdown.
[0127] Since the maximum output power of the motor is limited during the online preparation shutdown phase, the actual output power of the battery has smoothly transitioned to a lower state during the shutdown phase. At this time, the noise and device impact of the shutdown operation are small, which effectively improves device life and enhances the user experience.
[0128] Furthermore, in order to reduce the frequency of the motor before it switches to the ready-to-shut-off state, so as to further reduce the power of the motor when it is finally turned off, in one embodiment, the state of the shutdown state machine may also include load reduction, which describes that the voltage has not yet dropped to the ready-to-shut-off stage, but is close to the ready-to-shut-off stage, and the power of the motor needs to be reduced.
[0129] Specifically, please refer to Figure 5 , Figure 5 yes Figure 1 A flowchart illustrating another implementation of S400.
[0130] like Figure 5 As shown, the method for switching the motor to a reduced-load state based on the shutdown state machine and executing the corresponding shutdown operation may include:
[0131] S401c, Determine whether the absolute value of the voltage change rate is greater than the fourth rate threshold.
[0132] The fourth rate threshold can be less than or equal to the second rate threshold, and can be adjusted based on the actual working conditions.
[0133] If the absolute value of the voltage change rate is greater than the fourth rate threshold, then:
[0134] S402c: Determine whether the current driving voltage is in the third voltage range.
[0135] The third voltage range is greater than the first voltage range.
[0136] If the current driving voltage is in the third voltage range, then:
[0137] S403c: Switch the motor's state to unloaded mode.
[0138] Understandably, when the motor's drive voltage gradually decreases, the motor's state will first switch to a load-reducing state, and then switch to a state ready to shut down. By pre-executing a shutdown operation to reduce motor power during the load-reducing phase, the power of the motor at the final shutdown can be further reduced, and a smooth transition of motor power can be achieved.
[0139] Specifically, it also includes:
[0140] S404c: When the motor state switches to unloaded mode, a power reduction command is sent to the motor controller.
[0141] When the motor controller receives a power reduction command, it can reduce the input power of the motor in response to the power reduction command.
[0142] Specifically, in one implementation, when the motor controller receives a power reduction command, it can gradually reduce the input power of the motor at a predetermined rate of decrease to achieve a smooth transition of motor power.
[0143] Furthermore, to prevent the motor from increasing its power in response to user commands or system preset commands before entering the unloaded state, the shutdown state machine can also include a power outage warning, which describes that a power outage is about to begin and that the motor's power should be prevented from increasing further.
[0144] Specifically, please refer to Figure 6 , Figure 6 yes Figure 1 A flowchart illustrating another implementation of S400.
[0145] like Figure 6 As shown, the method for switching the motor to a power failure warning state and performing the corresponding shutdown operation based on the shutdown state machine may include:
[0146] S401d: Determine whether the absolute value of the voltage change rate is greater than the fifth rate threshold.
[0147] The fifth rate threshold can be less than or equal to the fourth rate threshold, and can be adjusted based on the actual working conditions.
[0148] If the absolute value of the voltage change rate is greater than the fifth rate threshold, then:
[0149] S402d: Determine whether the current driving voltage is in the fourth voltage range.
[0150] The fourth voltage range is greater than the third voltage range.
[0151] If the current driving voltage is in the fourth voltage range, then:
[0152] S403d: Switch the motor status to power failure warning.
[0153] Understandably, when the motor's drive voltage gradually decreases, the motor's state will first switch to the power failure warning state, and then switch to the load reduction state. By avoiding an increase in motor power during the power failure warning state, the power of the motor at the final shutdown can be further reduced, thereby further reducing the noise of the shutdown operation and the impact on the device, effectively improving the device's lifespan, and enhancing the user experience.
[0154] Specifically, it also includes:
[0155] S404d: When the motor status switches to power failure warning, a current limiting command is sent to the motor controller.
[0156] When the motor controller receives a current limiting command, it can use the motor's current input power as the motor's maximum input power, thereby preventing the motor's input power from increasing further and affecting the execution effect of subsequent shutdown operations.
[0157] Based on the methods of the above embodiments, the shutdown state machine may include power outage warning state, load reduction state, shutdown preparation state and shutdown execution state with different levels of urgency.
[0158] Based on the motor's current drive voltage and voltage change rate, the motor can be controlled to switch between different states, so that the motor can smoothly reduce its frequency before final shutdown and ensure the proper preservation of key operating parameters. This significantly improves battery and device life, enhances equipment reliability, and helps improve the user experience.
[0159] In one implementation, during the execution of the above states, there may be fluctuations in the motor drive voltage, i.e., the drive voltage may rise. In this case, the state of the motor can be reset. For example, the motor in the ready-to-shut-off state can be switched to the unloaded state, or the motor in the unloaded state can be switched to the power failure warning state.
[0160] To avoid frequent and repeated changes in the motor's state, such as Figure 1 As shown, the method also includes:
[0161] S500 determines whether the drive voltage is rising based on the rate of voltage change.
[0162] If so, then:
[0163] S600: Increase the voltage threshold in the shutdown state machine by a preset value and input the current drive voltage into the shutdown state machine.
[0164] Based on the above scheme, when the drive voltage rises, the voltage threshold of the shutdown state machine is increased by a preset value to avoid repeated switching of the motor state when the drive voltage fluctuates around the voltage threshold, thus ensuring system stability.
[0165] For example, when the voltage threshold between the descent state and the ready-to-shut-off state is 600W, the preset value can be 10W. When the motor voltage drops from 605W to 590W, the motor state switches from descent to ready-to-shut-off. However, when the motor voltage rises from 590W to 605W, the motor state remains ready-to-shut-off until the motor voltage reaches 610W, at which point the motor state is switched to descent to avoid repeated state switching caused by voltage fluctuations.
[0166] Based on the methods described above, the power outage trend can be predicted by the rate of change of the motor voltage, and the motor state can be switched based on the motor drive voltage and the rate of change of the voltage when there is a risk of power outage. Different shutdown operations can be performed in different states, which can achieve smooth power reduction control of the motor before power outage and ensure the effective storage of key operating data before power outage. This helps to improve device life and equipment stability, and enhance the user experience.
[0167] This application also provides a motor control device; please refer to [link / reference]. Figure 7 , Figure 7 This is a schematic diagram of one embodiment of the motor control device of this application.
[0168] like Figure 7 As shown, the device includes a rate calculation module 21, a power outage prediction module 22, a status prediction module 23, and a shutdown operation module 24.
[0169] Among them, the rate calculation module 21 is used to acquire the driving voltage signal of the motor and determine the voltage change rate based on the driving voltage signal;
[0170] The power outage prediction module 22 is used to predict whether there is a risk of power outage based on the rate of voltage change;
[0171] The state prediction module 23 is used to determine the current driving voltage based on the driving voltage signal when there is a risk of power failure, and input the current driving voltage and voltage change rate into the shutdown state machine. The shutdown state machine includes multiple states divided based on different voltage thresholds and / or different voltage change rate thresholds.
[0172] The shutdown operation module 24 is used to control the motor to switch between multiple states based on the shutdown state machine and to execute the shutdown operation corresponding to the current state.
[0173] As per the above reference Figures 1 to 6 The motor control method according to embodiments of this specification has been described. The details mentioned in the above description of the method embodiments also apply to the motor control device of the embodiments of this specification. The above-described motor control device can be implemented in hardware, software, or a combination of hardware and software.
[0174] This application also provides a cleaning device; please refer to [link / reference]. Figure 8 , Figure 8 This is a structural block diagram of one embodiment of the cleaning equipment of this application. Figure 8 As shown, the cleaning device 30 may include a motor 31, at least one processor 32, a memory 33 (e.g., non-volatile memory), a RAM 34, and a communication interface 35, and the at least one processor 32, the memory 33, the RAM 34, and the communication interface 35 are connected together via a bus 36. The at least one processor 32 executes at least one computer-readable instruction stored or encoded in the memory 33.
[0175] It should be understood that the computer-executable instructions stored in memory 33, when executed, cause at least one processor 32 to perform the above-described combinations in the various embodiments of this specification. Figures 1-6 The description includes various operations and functions.
[0176] In the embodiments of this specification, the cleaning device 30 may include, but is not limited to: vacuum cleaner, floor scrubber, mite remover, cleaning robot, sweeping robot, etc.
[0177] According to one embodiment, a program product, such as a machine-readable medium, is provided. The machine-readable medium may have instructions (i.e., the elements implemented in software as described above), which, when executed by a machine, cause the machine to perform the above-described combinations of the various embodiments of this specification. Figures 1-6 The various operations and functions described. Specifically, a system or apparatus equipped with a readable storage medium storing software program code that implements the functions of any of the embodiments described above, and enabling the computer or processor of the system or apparatus to read and execute the instructions stored in the readable storage medium.
[0178] In this case, the program code read from the readable medium itself can perform the functions of any of the above embodiments, and therefore the machine-readable code and the readable storage medium storing the machine-readable code constitute a part of this specification.
[0179] Examples of readable storage media include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD-RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer or the cloud via a communication network.
[0180] Those skilled in the art will understand that the various embodiments disclosed above can be modified and varied without departing from the spirit of the invention. Therefore, the scope of protection of this specification should be defined by the appended claims.
[0181] It should be noted that not all steps and units in the above process and system structure diagrams are mandatory; some steps or units can be omitted according to actual needs. The execution order of each step is not fixed and can be determined as needed. The device structure described in the above embodiments can be a physical structure or a logical structure. That is, some units may be implemented by the same physical client, or some units may be implemented by multiple physical clients, or they may be jointly implemented by certain components in multiple independent devices.
[0182] In the above embodiments, the hardware units or modules can be implemented mechanically or electrically. For example, a hardware unit, module, or processor may include permanent dedicated circuitry or logic (such as a dedicated processor, FPGA, or ASIC) to perform the corresponding operation. The hardware unit or processor may also include programmable logic or circuitry (such as a general-purpose processor or other programmable processor), which can be temporarily configured by software to perform the corresponding operation. The specific implementation method (mechanical, dedicated permanent circuitry, or temporarily configured circuitry) can be determined based on cost and time considerations.
[0183] The specific embodiments described above with reference to the accompanying drawings are exemplary embodiments, but do not represent all embodiments that can be implemented or fall within the scope of the claims. The term "exemplary" as used throughout this specification means "serving as an example, instance, or illustration" and does not imply that it is "preferred" or "advantageous" compared to other embodiments. Specific details are included to provide an understanding of the described techniques. However, these techniques can be practiced without these specific details. In some instances, well-known structures and apparatuses are shown in block diagram form to avoid obscuring the concepts of the described embodiments.
[0184] The foregoing description of this disclosure is provided to enable any person skilled in the art to implement or use this disclosure. Various modifications to this disclosure will be apparent to those skilled in the art, and the general principles applicable herein can be applied to other variations without departing from the scope of this disclosure. Therefore, this disclosure is not limited to the examples and designs described herein, but is consistent with the widest scope of the principles and novel features disclosed herein.
Claims
1. A motor control method, characterized in that, include: Acquire the motor's drive voltage signal, and determine the voltage change rate based on the drive voltage signal; Based on the voltage change rate, predict whether there is a risk of power outage; If so, based on the driving voltage signal, determine the current driving voltage, and input the current driving voltage and the voltage change rate into the shutdown state machine. The shutdown state machine includes multiple states divided based on different voltage thresholds and / or different voltage change rate thresholds. Based on the shutdown state machine, the control motor switches between the multiple states and performs a shutdown operation corresponding to the current state.
2. The motor control method according to claim 1, characterized in that, The step of predicting whether there is a risk of power outage based on the voltage change rate is as follows: Based on the voltage change rate, determine whether the current state is a power outage; If so, determine whether the absolute value of the voltage change rate is greater than the first rate threshold; If so, there is a risk of power outage.
3. The motor control method according to claim 1, characterized in that, The state includes a readiness to shut down, and the step of controlling the motor to switch between the plurality of states based on the shutdown state machine includes: Determine whether the absolute value of the voltage change rate is greater than a second rate threshold; If so, based on the driving voltage signal, obtain the current driving voltage and determine whether the current driving voltage is within the first voltage range; If so, switch the motor's status to "ready to shut down"; The motor control method further includes: When the motor's state switches to "ready to shut down," the motor's operating parameters are written into the memory, and a power outage warning command is sent to the motor controller, so that the motor controller responds to the power outage warning command by reducing the maximum output power of the motor.
4. The motor control method according to claim 3, characterized in that, When the motor's state switches to "ready to be turned off," the following is also included: The preset write rate is used as the maximum write rate of the memory.
5. The motor control method according to claim 3, characterized in that, The state also includes performing a shutdown, and the step of controlling the motor to switch between the plurality of states based on the shutdown state machine includes: Determine whether the absolute value of the voltage change rate is greater than a third rate threshold, wherein the third rate threshold is greater than or equal to the second rate threshold; If so, determine whether the current driving voltage is in the second voltage range, where the second voltage range is smaller than the first voltage range; If so, switch the motor's state to shutdown; The motor control method further includes: When the motor's state switches to shutdown, a power-off command is sent to the motor controller, causing the motor controller to respond to the power-off command and shut down the motor's drive signal.
6. The motor control method according to claim 3, characterized in that, The state also includes load reduction, and the step of controlling the motor to switch between the multiple states based on the shutdown state machine includes: Determine whether the absolute value of the voltage change rate is greater than a fourth rate threshold, wherein the fourth rate threshold is less than or equal to the second rate threshold; If so, determine whether the current driving voltage is in the third voltage range, where the third voltage range is greater than the first voltage range; If so, switch the motor's status to unloaded; The motor control method further includes: When the motor switches to a reduced load state, a power reduction command is sent to the motor controller so that the motor controller reduces the input power of the motor in response to the power reduction command.
7. The motor control method according to claim 6, characterized in that, The state also includes a power outage warning, and the step of controlling the motor to switch between the multiple states based on the shutdown state machine includes: Determine whether the absolute value of the voltage change rate is greater than a fifth rate threshold, wherein the fifth rate threshold is less than or equal to the fourth rate threshold; If so, determine whether the current driving voltage is in the fourth voltage range, where the fourth voltage range is greater than the third voltage range; If so, switch the motor status to power failure warning; The motor control method further includes: When the motor's state switches to power failure warning, a current limiting command is sent to the motor controller, so that the motor controller responds to the current limiting command by using the motor's current input power as the motor's maximum input power.
8. The motor control method according to claim 1, characterized in that, The shutdown state machine includes multiple states based on different voltage thresholds; The motor control method further includes: Based on the voltage change rate, determine whether the driving voltage increases; If so, increase the voltage threshold in the shutdown state machine by a preset value, and input the current driving voltage into the shutdown state machine.
9. A motor control device, characterized in that, include: The rate calculation module is used to acquire the drive voltage signal of the motor and determine the voltage change rate based on the drive voltage signal. A power outage prediction module is used to predict whether there is a risk of power outage based on the voltage change rate. The state prediction module is used to determine the current driving voltage based on the driving voltage signal when there is a risk of power failure, and input the current driving voltage and the voltage change rate into the shutdown state machine. The shutdown state machine includes multiple states divided based on different voltage thresholds and / or different voltage change rate thresholds. The shutdown operation module is used to control the motor to switch between the multiple states based on the shutdown state machine, and to execute the shutdown operation corresponding to the current state.
10. A cleaning device, characterized in that, Includes a motor and at least one processor; as well as A memory that stores instructions, which, when executed by the at least one processor, cause the at least one processor to perform the motor control method as described in any one of claims 1 to 8.
11. A machine-readable storage medium storing executable instructions that, when executed, cause the machine to perform the motor control method as described in any one of claims 1 to 8.