Power control method for motor of air moving device

Abstract

A method of controlling an input power of a motor of an air moving device includes performing a measurement process to determine a first value of an operating parameter of the motor. The operating parameter is an operating pressure of the motor or an airflow rate through the motor. The method includes performing a determination process to determine a baseline value of an operating parameter of the motor based on a previous value of the operating parameter of the motor. The method includes controlling an input power of the motor based on a first value of an operating parameter of the motor and a baseline value of the operating parameter of the motor.

Description

Technical Field

[0001] The present invention relates to a method for controlling the input power of a motor of an air-moving device, a set of machine-readable instructions for performing the method, and an air-moving device having a storage device including such instructions and a processor configured to perform the method by executing the instructions. Background Technology

[0002] There is often a desire to improve air-moving devices, such as vacuum cleaners, in a variety of ways. For example, improvements may be needed in terms of efficiency, manufacturing costs, flexibility of use, and reliability. Summary of the Invention

[0003] According to a first aspect of the invention, a method for controlling the input power of a motor of an air-moving device is provided, the method comprising: performing a measurement process to determine a first value of an operating parameter of the motor, wherein the operating parameter is an operating pressure of the motor or an airflow rate through the motor; performing a determination process to determine a value of an inlet restriction of the air-moving device based on the first value of the operating parameter of the motor and a first predetermined relationship between the value of the operating parameter of the motor and a value of an inlet restriction of the air-moving device; and controlling the input power of the motor based on the determined value of the inlet restriction.

[0004] Controlling the motor's input power based on a determined inlet limit value allows the input power of the air-moving device to be adapted to an appropriate level of the inlet limit value. For example, an appropriate level could be one that allows the air-moving device to perform its task effectively and efficiently. For instance, a lower motor input power might be required to perform a given task when the inlet limit value is low, while a higher input power might be required when the inlet limit value is high. This method allows for dynamic control of the motor input power, for example, increasing the motor input power when the inlet limit value is high and decreasing it when the inlet limit value is low. Determining the inlet limit value based on motor operating parameters (e.g., operating pressure) allows for reliable determination of the inlet limit based on observable physical parameters without the need for direct measurement of the inlet limit. This method allows for the use of the inlet limit when a passive tool is attached to the device, which does not have any sensing device that would allow for the inference of the inlet limit. This method eliminates the need for additional sensors or processing for direct measurement of the inlet limit.

[0005] The operating parameters may be operating pressure, and the measurement process may include determining the first value of the motor's operating parameters based on ambient pressure measurements and motor inlet pressure measurements during motor operation.

[0006] Determining a first value for the operating parameter based on ambient pressure measurements and motor inlet pressure measurements during motor operation allows this first operating parameter value to become a differential operating pressure, which is reliably and accurately correlated with the inlet limit. It also allows measurements, such as ambient pressure, taken for other purposes related to the operation of the air-moving device, to be used to obtain the first value of the motor's operating parameter.

[0007] Ambient pressure and motor inlet pressure can be measured at different times using a single pressure sensor.

[0008] Measuring ambient pressure and motor inlet pressure at different times using a single pressure sensor allows for the acquisition of initial values ​​of operating parameters using a single pressure sensor, providing a cost- and space-efficient method for determining operating pressure.

[0009] The measurement process may include determining a first value of the motor's operating parameters based on: a first pressure measurement of the pressure at a first location in the motor assembly, where the motor is located; and a second pressure measurement of the pressure at a second location in the motor assembly, wherein the second location is downstream of the first location.

[0010] Accurate and reliable operating parameter measurements can be obtained in a simple way by using pressure measurements upstream and downstream of the motor.

[0011] The first predetermined relationship can associate the values ​​of the motor's operating parameters and one or more other parameters with the value of the inlet restriction of the air movement device. The determination process may include determining the value of the inlet restriction based on one or more corresponding additional parameter values ​​of one or more other parameters.

[0012] This allows the value of the inlet limit to be determined to compensate for other parameters, such as other measurable or determinable parameters related to the air movement device.

[0013] One or more additional parameters may include one or more of the following: ambient pressure; ambient temperature; motor input power; and construction tolerances of the air movement device.

[0014] These parameters can be easily determined, for example, by using sensors, or can be predetermined, for example, by a calibration procedure. Compensating for these parameters when determining the inlet limit can effectively map the initial values ​​of the motor's operating parameters to the values ​​of the inlet limit.

[0015] The determination process may include: determining a first normalized value of the operating parameter by normalizing a first value of the operating parameter using one or more corresponding values ​​of one or more other parameters; and determining a value of the inlet restriction of the air movement device based on the normalized operating parameter.

[0016] Normalizing the values ​​of the operating parameters using one or more additional parameters provides an efficient way to obtain values ​​of the operating parameters that map well to the inlet limit values ​​of the air movement device. For example, normalizing a first value of the operating parameter can reduce the dimensionality in a lookup performed based on the mapping between the normalized value of the operating parameter and the inlet limit value.

[0017] One or more additional parameters may include the filter load value of the air movement device's filter.

[0018] This allows for compensation of the filter load level of the air movement device's filter when determining the inlet limit level. Even if the filter load level changes during air movement device operation, this also allows for reliable mapping of operating parameter values ​​to the inlet limit values ​​to be maintained. Filter load can be the load level of the filter that removes particulate matter from the airflow passing through the motor. For example, filter load could be the load level of a filter before the motor. The load level can define the dynamic limitation on airflow provided by the filter, for example, due to impediment to airflow caused by dirt collected by the filter.

[0019] The determination process may include determining the value of the filter load.

[0020] This allows for reliable, current values ​​of the filter load to be obtained during operation of the air-moving device. This can help improve the accuracy of mapping operating parameter values ​​to inlet limit values.

[0021] Determining the filter load value may include performing a second measurement process, which includes determining a first value of a second operating parameter of the air movement device, the first value being the value of the second operating parameter when the air movement device operates under a first inlet limiting condition; and performing a second determination process to determine the filter load value, the determination process including determining the filter load value based on the first value of the second operating parameter and a second predetermined relationship, the second predetermined relationship associating the value of the second operating parameter with the value of the filter load for the air movement device operating under the first inlet limiting condition.

[0022] This allows for obtaining accurate values ​​of filter load without directly measuring the level of filter load. For example, the level of filter load can be obtained without additional sensors and processing that would otherwise be used to determine the filter load value based on measurements of upstream and downstream pressures.

[0023] The second operating parameter can be: the operating pressure of the motor of the air movement device; the speed of the motor of the air movement device; or the airflow rate through the motor of the air movement device.

[0024] The second operating pressure or speed of the motor of the air movement device can be correlated with the value of the filter load, and this correlation can be used to obtain the value of the filter load.

[0025] The second operating parameter can be the same as the operating parameters mentioned above. Using the same operating parameters allows values ​​already obtained as part of the method for determining the inlet limit value to also be used to obtain the filter load value. The speed of the motor of the air movement device can also be a parameter used in the monitoring or control device program, so using this parameter to estimate the filter load may be effective because no further sensors or further processing are required to obtain the measurement.

[0026] Determining a first value of a second operating parameter may include: determining multiple values ​​of the second operating parameter; determining a distribution of the multiple values ​​of the second operating parameter; determining a first attribute of the distribution; and determining a first value of the second operating parameter based on the first attribute of the distribution.

[0027] This provides an efficient way to obtain a value for a second operating parameter that is well mapped to the filter load. By determining a first value based on the distribution properties of the second operating parameter's value, predetermined information about the probability of the inlet limit value of the air movement device during operation can be considered, so as to correspond the first value to a predetermined value of the inlet limit.

[0028] The first property of a distribution can be its minimum value.

[0029] The minimum value in the distribution can be determined efficiently and correlates well with the value of the filter load.

[0030] Control may include adjusting the motor input power based on a set profile that correlates the motor input power value with the inlet limit value.

[0031] This allows input power to be controlled in a predetermined manner based on a defined inlet limit value, so as to provide appropriate input power for the defined inlet limit value.

[0032] The curve can be a continuous curve.

[0033] This allows for dynamic adjustment of the input power at a fine-grained level based on the determined inlet limit values. This enables the air-moving device to operate efficiently with the input power precisely matched to all inlet limit values.

[0034] The setting curve can include multiple discrete power levels, each power level corresponding to a range of values ​​for the inlet limit.

[0035] This allows for dynamic adjustment of input power at a low granularity. For example, it can keep the input power consistent with small variations defined in the inlet limits while also adapting to large variations defined in the inlet limits. This can provide a good level of efficiency while delivering a consistent experience to the user of the air-moving device during operation, even with small variations in the inlet limits.

[0036] The method may include performing measurement, determination, and control processes multiple times during the operation of the air-moving device.

[0037] This could involve, for example, continuously executing the method to continuously control the input power. This allows the device to dynamically adapt to changes in the value of a defined input limit.

[0038] According to a second aspect of the invention, a method for controlling the input power of a motor of an air-moving device is provided. The method includes: performing a measurement process to determine a first value of an operating parameter of the motor, wherein the operating parameter is an operating pressure of the motor or an airflow rate through the motor; performing a determination process to determine a baseline value of the operating parameter of the motor based on a previous value of the operating parameter; and controlling the input power of the motor based on the first value of the operating parameter and the baseline value of the operating parameter.

[0039] Controlling the motor's input power based on a predetermined first value and a baseline value of the operating parameters allows the input power of the air-moving device to adjust to an appropriate level in response to changes in the load on the air-moving device, such as variations between cleaning and idle modes or changes in the inlet cleaning tool. This may alter the air intake limits of the air-moving device, thereby changing the motor's operating pressure and / or the airflow rate through the motor—corresponding to changes in the inlet limit value of the air-moving device. For example, an appropriate level of input power might be one that allows the air-moving device to perform its task effectively and efficiently. For instance, a lower motor input power might be required to perform a given task when the inlet limit value is low, while a higher input power might be required when the inlet limit value is high. This method can allow for dynamic control of the motor input power, for example, increasing the motor input power when the inlet limit value increases and decreasing the motor input power when the inlet limit value decreases. This can be determined by comparing the values ​​of the operating parameters to baseline values ​​and controlling the input power accordingly.

[0040] The baseline value of the motor's operating parameters can be determined in response to a predetermined variance of multiple previous values ​​of the motor's operating parameters.

[0041] The baseline value is dynamic and can be determined or updated only when the operating parameter value changes by a certain amount, thereby reducing unnecessary control changes due to transient conditions. This enhances the control stability of the air-moving device. The predetermined variance corresponds to a threshold range of previous values ​​of the motor's operating parameters over a predetermined time period.

[0042] A baseline determination process can be performed based on one or more thresholds of the motor's operating parameters. The input power to control the motor can also be based on one or more thresholds of the motor's operating parameters. Using thresholds allows for the simple implementation of different control strategies, as these thresholds can be easily updated as needed.

[0043] Controlling the input power to the motor can include reducing the input power in response to a first value falling below the threshold, or increasing the input power in response to a first value exceeding the threshold. This allows for power reduction due to stopping cleaning and / or removing and / or replacing restrictive cleaning tools with restrictive ones.

[0044] In one example, the threshold may include an upper threshold and a lower threshold, and controlling the input power to the motor may include reducing the input power in response to a first value falling below the lower threshold and increasing the input power in response to a first value exceeding the upper threshold. This allows for the introduction of control hysteresis to prevent rapid switching of the input power as the first value of the operating parameter switches between above and below a single threshold, thereby improving the stability of the air-moving device.

[0045] This prevents the input power from decreasing or increasing until a predetermined period has elapsed after a previous decrease or increase in input power. This blanking allows the air-moving device to reach a stable state, for example, after being switched on but before automatic input power control begins. Similarly, this improves the stability of the air-moving device.

[0046] Motor control also depends on the motor's current input power. In some cases, additional control inputs can improve control response.

[0047] The first value can correspond to a predetermined time after input power is applied to the motor. Similarly, this "start-up" behavior can improve control stability by allowing the air-moving device to reach a steady state before automatic input power control begins.

[0048] The baseline values ​​of the operating parameters can be updated using the determined first values ​​of the operating parameters. The method can then determine subsequent values ​​of the motor's operating parameters for comparison with the baseline values. This allows the air-moving device to adapt its steady-state operation to its current conditions while still responding to more transient conditions, such as changes in cleaning modes or cleaning tools.

[0049] The method may further include: performing a determining process to determine the value of the air movement device inlet limit based on a first value of the motor's operating parameters and a first predetermined relationship between the value of the motor's operating parameters and the value of the air movement device inlet limit; and controlling the input power of the motor based on the determined inlet limit value.

[0050] Using baseline values ​​of the determined operating parameters and the determined inlet limit value to control the motor input power of an air-moving device can provide improved control in some cases. Determining the inlet limit value based on the motor's operating parameters (e.g., operating pressure) allows for reliable determination of the inlet limit based on observable physical parameters without the need for direct measurement. This method can allow the use of the inlet limit when a passive cleaning tool is attached to the device, which does not have any sensing device that would allow for inference of the inlet limit. This method eliminates the need for additional sensors or processing for direct measurement of the inlet limit.

[0051] The operating parameters may be operating pressure, and the measurement process may include determining a first value of the motor's operating parameters based on: an ambient pressure measurement; and a motor inlet pressure measurement during the operation of the motor.

[0052] Determining a first value for the operating parameter based on ambient pressure measurements and motor inlet pressure measurements during motor operation allows the value of the first operating parameter to become a differential operating pressure, which is reliably and accurately correlated with the inlet limit. It also allows measurements, such as ambient pressure, taken for other purposes related to the operation of the air-moving device, to be used to obtain the first value of the motor's operating parameter.

[0053] Ambient pressure and motor inlet pressure can be measured at different times using a single pressure sensor.

[0054] Measuring ambient pressure and motor inlet pressure at different times using a single pressure sensor allows for the acquisition of initial values ​​of operating parameters using a single pressure sensor, providing a cost- and space-efficient method for determining operating pressure.

[0055] The measurement process may include determining a first value of the motor's operating parameters based on: a first pressure measurement of the pressure at a first location in the motor assembly, where the motor is located; and a second pressure measurement of the pressure at a second location in the motor assembly, wherein the second location is downstream of the first location.

[0056] Accurate and reliable operating parameter measurements can be obtained in a simple way by using pressure measurements upstream and downstream of the motor.

[0057] The first predetermined relationship can associate the values ​​of the motor's operating parameters and one or more other parameters with the value of the inlet restriction of the air movement device. The determination process may include determining the value of the inlet restriction based on one or more corresponding additional parameter values ​​of the one or more other parameters.

[0058] This allows the value of the inlet limit to be determined to compensate for other parameters, such as other measurable or determinable parameters related to the air movement device.

[0059] One or more additional parameters may include one or more of the following: ambient pressure; ambient temperature; motor input power; and construction tolerances of the air movement device.

[0060] These parameters can be easily determined, for example, by using sensors, or can be predetermined, for example, by a calibration procedure. Compensating for these parameters when determining the inlet limit can effectively map the initial values ​​of the motor operating parameters to the values ​​of the inlet limit.

[0061] The determination process may include: determining a first normalized value of the operating parameter by normalizing a first value of the operating parameter using one or more corresponding values ​​of one or more other parameters; and determining a value of the inlet restriction of the air movement device based on the normalized operating parameter.

[0062] Normalizing the values ​​of operating parameters using one or more additional parameters provides an efficient way to obtain values ​​of operating parameters that map well to the inlet limit values ​​of the air movement device. For example, normalizing a first value of the operating parameter can reduce the dimensionality in a lookup performed based on the mapping between the normalized value of the operating parameter and the inlet limit value.

[0063] One or more additional parameters may include the filter load value of the air movement device's filter.

[0064] This allows for compensation of the filter load level of the air movement device's filter when determining the inlet limit level. Even if the filter load level changes during air movement device operation, this also allows for reliable mapping of operating parameter values ​​to the inlet limit values ​​to be maintained. Filter load can be the load level of the filter that removes particulate matter from the airflow passing through the motor. For example, filter load could be the load level of a filter before the motor. The load level can define the dynamic limitation on airflow provided by the filter, for example, due to impediment to airflow caused by dirt collected by the filter.

[0065] The determination process may include determining the value of the filter load.

[0066] This allows for reliable, current values ​​of the filter load to be obtained during operation of the air-moving device. This can help improve the accuracy of mapping operating parameter values ​​to inlet limit values.

[0067] Determining the filter load value may include performing a second measurement process, which includes determining a first value of a second operating parameter of the air movement device, the first value being the value of the second operating parameter when the air movement device operates under a first inlet limiting condition; and performing a second determination process to determine the filter load value, the determination process including determining the filter load value based on the first value of the second operating parameter and a second predetermined relationship, the second predetermined relationship associating the value of the second operating parameter with the value of the filter load for the air movement device operating under the first inlet limiting condition.

[0068] This allows for obtaining accurate values ​​of filter load without directly measuring the filter load level. For example, filter load level values ​​can be obtained without additional sensors and processing that would otherwise be used to determine the filter load value based on measurements of upstream and downstream pressures.

[0069] The second operating parameter may be: the operating pressure of the motor of the air movement device; the speed of the motor of the air movement device; or the airflow rate through the motor of the air movement device.

[0070] The second operating pressure or speed of the motor of the air movement device can be correlated with the value of the filter load, and this correlation can be used to obtain the value of the filter load.

[0071] The second operating parameter can be the same as the operating parameters mentioned above. Using the same operating parameters allows values ​​already obtained as part of the method for determining the inlet limit value to also be used to obtain the filter load value. The speed of the motor of the air movement device can also be a parameter used in the monitoring or control device program, so using this parameter to estimate the filter load may be effective because no further sensors or further processing are required to obtain the measurement value.

[0072] Determining a first value of a second operating parameter may include: determining multiple values ​​of the second operating parameter; determining a distribution of the multiple values ​​of the second operating parameter; determining a first attribute of the distribution; and determining a first value of the second operating parameter based on the first attribute of the distribution.

[0073] This provides an efficient way to obtain a value for a second operating parameter that is well mapped to the filter load. By determining a first value based on the distribution properties of the second operating parameter's value, predetermined information about the probability of the inlet limit value of the air movement device during operation can be considered, so as to correspond the first value to a predetermined value of the inlet limit.

[0074] The first property of a distribution can be its minimum value.

[0075] The minimum value in the distribution can be determined efficiently and correlates well with the value of the filter load.

[0076] Control may include adjusting the motor input power according to a set curve that correlates the motor input power value with the inlet limit value.

[0077] This allows input power to be controlled in a predetermined manner based on a defined inlet limit value, so as to provide appropriate input power for the defined inlet limit value.

[0078] The curve can be a continuous curve.

[0079] This allows for dynamic adjustment of the input power at a fine-grained level based on the determined inlet limit values. This enables the air-moving device to operate efficiently with the input power precisely matched to all inlet limit values.

[0080] The setting curve can include multiple discrete power levels, each power level corresponding to a range of values ​​for the inlet limit.

[0081] This allows for dynamic adjustment of input power at a low granularity. For example, it can keep the input power consistent with small variations defined in the inlet limits while also adapting to large variations defined in the inlet limits. This can provide a good level of efficiency while delivering a consistent experience to the user of the air-moving device during operation, even with small variations in the inlet limits.

[0082] The method may include performing measurement, determination, and control processes multiple times during the operation of the air-moving device.

[0083] This could involve, for example, continuously executing the method to continuously control the input power. This allows the device to dynamically adapt to changes in the value of a defined input limit.

[0084] According to a third aspect of the invention, a set of machine-readable instructions is provided, which, when executed by a processor of an air-moving device, cause the air-moving device to perform a method according to a first or second aspect of the invention.

[0085] According to a fourth aspect of the present invention, an air-moving device is provided, comprising: a processor; and a storage device including a set of machine-readable instructions, which, when executed by the processor, cause the processor to perform a method according to a first or second aspect of the present invention.

[0086] Air-moving devices can be vacuum cleaners.

[0087] Where appropriate, optional features of various aspects of the invention may be applied in the same way to other aspects of the invention. Attached Figure Description

[0088] The invention will now be described by way of example only with reference to the following figures, in which:

[0089] Figure 1 A schematic diagram of an exemplary motor assembly for an air-moving device is shown;

[0090] Figure 2 An example of an air-moving device is shown;

[0091] Figure 3 This is a flowchart illustrating a method for controlling the input power of the motor in an air-moving device.

[0092] Figure 4 An example graph showing the values ​​of operating pressure and inlet limit in an air-moving device;

[0093] Figure 5 Another example of a graph showing the values ​​of operating pressure and inlet limit is shown;

[0094] Figures 6A to 6C An example power control curve for an air-moving device is shown schematically.

[0095] Figure 7 This is a flowchart illustrating a method for determining the filter load value of an air movement device;

[0096] Figure 8 The illustrations schematically depict various aspects of an example method for determining the value of the filter load;

[0097] Figure 9 schematically shown Figure 8 Other aspects of the example method shown;

[0098] Figure 10 schematically shown Figure 8 and Figure 9 Other aspects of the example method shown;

[0099] Figure 11A and Figure 11B It shows Figures 8 to 10 Further aspects of the example methods shown;

[0100] Figure 12 A schematic diagram of another exemplary motor assembly for an air-moving device is shown;

[0101] Figure 13 A schematic diagram of another exemplary motor assembly for an air-moving device is shown;

[0102] Figure 14 A schematic diagram of some components of the motor assembly of an air-moving device according to an example is shown;

[0103] Figure 15 A schematic diagram of certain components of an exemplary motor assembly of an air-moving device according to another example is shown;

[0104] Figure 16 This is a flowchart illustrating a method for controlling the input power of the motor in an air-moving device.

[0105] Figure 17 An example of a graph showing the changes in operating parameter values ​​and power levels over time in an air-moving device is shown;

[0106] Figure 18 This is a flowchart illustrating a method for controlling the input power of the motor in an air-moving device; and

[0107] Figure 19 It is used to control reset Figure 18 The flowchart represents the baseline operating parameters of the method. Detailed Implementation

[0108] Figure 1 An exemplary schematic diagram of a motor assembly 100 for an air movement device is shown. The motor assembly 100 includes a set of coils 102, a shaft 104 on which magnets (not shown) are mounted, a bearing 106, and an impeller 108. The motor assembly 100 includes a motor air inlet 110 and an air outlet / diffuser 112. The motor assembly includes a circuit board 114 on which an ambient temperature sensor 116 and a first pressure sensor 118 are mounted. The motor assembly 100 includes a housing 124 in which other components are housed. The motor assembly 100 also includes a pre-motor filter 126 for filtering air drawn into the motor during use.

[0109] Figure 2An example air movement device 200 including a motor assembly 100 is shown. The air movement device 200 is a vacuum cleaner. The vacuum cleaner 200 includes an inlet tube 202, with a tool 204 attached to the distal end of the inlet tube 202. The tool 204 is for engaging a surface to be cleaned by the vacuum cleaner and includes an air inlet (not shown) leading to the vacuum cleaner 200. The tool 204 can be active, including one or more mechanically operated parts, such as a rotating brush bar, to assist in the cleaning task. Alternatively, the tool 204 can be passive and does not include any such mechanically operated parts. However, a passive tool may include elements such as bristles to assist in the cleaning task. In the example, the inlet tube 202 or a portion thereof may be removable. When the inlet tube 202 or a portion thereof is removed, a tool, such as a passive tool, can be attached to the device 200. The vacuum cleaner 200 also includes a dirt separation chamber 206, which may be, for example, a cyclone chamber. The vacuum cleaner 200 also includes a processor 208 and a memory 210, the memory 210 being used to store machine-readable instructions executed by the processor 208 to control the operation of components of the vacuum cleaner 200, including the motor 100. When executed, the machine-readable instructions can cause the processor 208 to perform any of the example methods described herein.

[0110] In use, the motor of the motor assembly 100 draws air through the air inlet to the air moving device 200, through the air moving device 200, and out of the exhaust port. The air is drawn through the device 200 along the airflow path 128, which passes through the inlet pipe 202, through the dirt separation chamber 206, through the motor assembly 100, and out of the device 200 through the exhaust port.

[0111] Return to Figure 1 When the motor is used in the air moving device 200, current flows through coil 102 in a manner that results in a changing magnetic field. This changing magnetic field is configured to act on a magnet on shaft 104, causing shaft 104 to rotate about its longitudinal axis. This, in turn, causes impeller 108 to rotate. Air driven by impeller 108 is drawn into the air moving device 200 and flows along airflow path 128. Airflow path 128 enters motor assembly 100, passes through pre-motor filter 126 which removes particulate matter from the air, and enters housing 124 through air inlet 110. Airflow path 128 continues through motor to impeller 108, and after passing impeller 108, exits motor assembly 100 through air outlet 112.

[0112] Figure 3 A flowchart representation of an example method 300 for controlling the input power of a motor in an air-moving device, such as a vacuum cleaner, is shown.

[0113] Method 300 includes performing a measurement procedure at block 302 to determine first values ​​of operating parameters of the motor. Operating parameters may be operating pressure or airflow rate.

[0114] The operating pressure of the motor is the air pressure associated with the motor when the motor is operating (i.e., when the motor is running). The operating pressure may involve the air pressure at one or more locations along the airflow path 128. The operating pressure may be a differential air pressure. The operating pressure may, for example, be the pressure difference between an upstream and downstream location within the motor assembly along the airflow path 128.

[0115] In another example, the operating pressure is the difference between a first pressure measured when the motor is not running and a second pressure measured when the motor is running. The first and second pressures can be measured at the same location. For example, the value of the operating pressure can be obtained by determining the difference between an ambient pressure measurement taken when the motor is not running (e.g., before the start-up of the air movement device 200) and a pressure measurement taken during motor operation. In some examples described herein, this operating pressure is referred to as Δ-P. The pressure measurement taken during motor operation can, for example, be taken at the air inlet 110. Alternatively, it can be taken at the air outlet of the motor. In some examples, the pressure measurement used to obtain the value of the operating pressure can be performed by the same pressure sensor. This allows the value of the operating pressure to be obtained using a single pressure sensor, which can be cost- and space-efficient.

[0116] Airflow rate is the rate at which air drawn in and flows through the motor during operation.

[0117] The following will describe in more detail examples of methods for obtaining operating pressure measurements and airflow rate measurements.

[0118] At block 304, method 300 includes performing a determining process to determine the value of the inlet limit of the air movement device 200 based on a first value of the motor's operating parameters and a first predetermined relationship between the value of the motor's operating parameters and the value of the inlet limit of the air movement device 200.

[0119] The inlet restriction value of the air movement device 200 defines the level of restriction acting on the air inlet through which air flows into the device 200. The level of inlet restriction can vary based on various factors, such as obstacles obstructing airflow into the device 200. For example, the inlet restriction can vary depending on the type of surface the vacuum cleaner 200 is cleaning. For instance, a carpeted surface or the like may impose a greater restriction on the airflow into the vacuum cleaner 200 than a smooth surface such as wood or tile. The inlet restriction value can also vary depending on the type of tool attached to the vacuum cleaner 200. Different tools may, for example, have different geometries and therefore restrict the flow of air into the vacuum cleaner 200 by different amounts. For example, different tools may have different air inlet diameters. Furthermore, some tools may include elements that obstruct airflow into the device 200, such as brush bristles for cleaning carpets, while other tools may not include such elements.

[0120] In some examples, directly measuring the inlet limit value of the air movement device 200 may be impossible or impractical. Therefore, according to the examples described herein, the values ​​of the motor's operating parameters are measured and used to determine the value of the inlet limit of the device 200. A first predetermined relationship can be defined based on a curve that correlates the values ​​of the motor's operating parameters with the value of the inlet limit of the air movement device 200.

[0121] The predetermined relationship between the values ​​of the operating parameters and the inlet restriction values ​​can be obtained, for example, through a calibration process. This calibration process may involve operating the device 200, for example, under known operating conditions, including known inlet restriction values, and measuring the values ​​of the operating parameters. This can be accomplished by operating the device 200 with an orifice plate having orifices of varying diameters that restrict airflow into the device 200. The inlet restriction value of the device in operation can then be defined based on the diameter of the orifice, which will provide an equivalent level of restriction on the airflow entering the device 200. For example, a vacuum cleaner 200 used for cleaning carpeted surfaces may operate at a high level of inlet restriction, which may be equivalent to operating under known conditions where the orifice plate has small-diameter orifices that restrict airflow into the vacuum cleaner 200. Conversely, when cleaning wood surfaces, the vacuum cleaner 200 may operate at a lower level of inlet restriction, equivalent to an inlet restriction presented by a larger-diameter orifice.

[0122] A first predetermined relationship can associate the values ​​of the motor's operating parameters and one or more other parameters with the value of the inlet limit of the air movement device. The value of the inlet limit can then be determined based on the first value of the operating parameters and the corresponding values ​​of one or more other parameters. The other parameters can be parameters of the air movement device 200 that affect the value of the operating pressure measured for a given inlet limit value. For example, different values ​​of parameters such as ambient pressure, ambient temperature, motor input power, filter load of the motor's filter, and construction tolerances of the air movement device may result in different values ​​of the operating parameters for the same inlet limit value.

[0123] Ambient pressure and ambient temperature form part of the external conditions for the operation of device 200. In some examples, ambient pressure can be measured before the motor is started by first pressure sensor 118. Ambient temperature can be measured by temperature sensor 116. Motor input power is the power supplied to drive the motor.

[0124] The motor input power can be controlled by the processor 208 and is supplied with DC or AC power, for example, from a battery (not shown) of the device 200 or from a mains power supply. The motor input power can control the suction power of the air-moving device.

[0125] Filter load can be the load level of a filter that filters particulate matter from the airflow passing through the motor. For example, filter load could be the load level of the pre-motor filter 126. Alternatively, filter load could be the load level of the post-motor filter, or the load levels of multiple filters (e.g., pre-motor and post-motor filters) could be considered. Filter load level can define how much dirt the filter has collected. In the example, this can be expressed as the amount of dirt the filter may have collected before it is considered to need replacement or cleaning. For example, a 100% filter load could indicate that the filter has collected a certain amount of dirt, making it considered to need replacement or cleaning. A 0% filter load level could indicate that the filter has not collected any dirt, for example, because it has been completely cleaned or replaced. Typically, during the use of device 200, the filter load level can steadily increase as air passes through the device and dirt is filtered out from the air.

[0126] The construction tolerances of the air movement device 200 can account for the variability in operation between different devices. For example, various operating parameters of the device can be measured during the calibration process after device assembly. The construction tolerance of a particular device can be expressed as a percentage of the total permissible tolerance. In one example, at the end of the device production line, an orifice plate with holes of a given diameter is connected to the inlet of the device, where the device is known to have a clean filter, i.e., a filter load value of 0%. Ambient temperature and pressure are measured. The device operates at a given power level, and operating parameters, such as Δ-P, are measured. Given that the values ​​of input power, ambient temperature, ambient pressure, and filter load are measured or otherwise known, the measured Δ-P indicates the construction tolerance factor. This process can be repeated at multiple power levels and different orifice diameters.

[0127] In some examples, the first presupposition can define a multidimensional lookup table that maps the values ​​of operating parameters and one or more other parameters to the values ​​of inlet limits. In one example, the first presupposition defines a six-dimensional lookup table that maps the corresponding values ​​of constructing tolerances, ambient pressure, ambient temperature, motor input power, filter load, and operating parameters, such as operating pressure, to the values ​​of inlet limits.

[0128] In another example, a lower-dimensional lookup table can be used, where normalized values ​​of the operating parameters are mapped to inlet limit values. Normalized values ​​of the operating parameters can be obtained by normalizing the values ​​of the operating parameters relative to one or more other parameters (such as those mentioned above). For example, a five-dimensional lookup table can be defined that maps the corresponding values ​​of build tolerance, ambient pressure, ambient temperature, motor input power, and operating pressure to the normalized value of the operating pressure. Another two-dimensional lookup table can then be used to obtain the inlet limit values ​​from the normalized values ​​of the operating pressure and the filter load. In this example, the lower dimension of the lookup table means simpler computation. However, the accuracy of the determined inlet limit values ​​is highly dependent on the accuracy of the normalization process. Conversely, using a higher-dimensional lookup table without performing a normalization process means that the computation may be computationally more expensive, but the accuracy of the output does not depend on the accuracy of any normalization process.

[0129] In another example, multidimensional curve fitting or artificial neural networks can be used to represent the first predetermined relationship. In some examples, such a representation can be more efficient than a lookup table in terms of storage requirements.

[0130] Figure 4 The image shows an example of a first predetermined relationship that associates a normalized value of operating pressure with a value of inlet limit. This example is used for a vacuum cleaner motor.

[0131] exist Figure 4In the example, the operating pressure shown on the y-axis is the Δ-P value, which defines the difference between the ambient pressure of the motor before startup and the pressure at the motor inlet during operation. Δ-P is in kPa. The inlet limit value is in millimeters in relation to the orifice diameter. A first curve 402 mapping the normalized Δ-P value to the inlet limit value was obtained through a proper calibration process involving operating the vacuum cleaner under known conditions, where the inlet limit is provided by orifices of various diameters. The orifice diameter and the corresponding values ​​of Δ-P have been measured. The first curve 402 was obtained by normalizing the value of Δ-P relative to build tolerances, ambient pressure, ambient temperature, and motor input power. The first curve 402 uniquely maps the normalized operating pressure value to the inlet limit value. However, as referenced... Figure 5 The normalized operating pressure described does not take into account the motor's filter load. Therefore, different filter load values ​​will result in different mappings between the normalized operating pressure and the inlet limit value.

[0132] Figure 5 A set of curves 402, 504, and 506 are shown that correlate the normalized value of the operating pressure with the inlet limit value. Each curve corresponds to a different filter load value. Figure 4 The first curve 402 is also Figure 5 The first curve, 502, corresponds to a value of 0% filter load. The second curve, 504, corresponds to a value of 50% filter load. The third curve, 506, corresponds to a value of 100% filter load. To determine the value of the inlet limit, this set of curves 402, 504, and 506 is used, and one of curves 402, 504, and 506 can be selected based on a given value of filter load. The normalized value of the operating pressure then uniquely determines the value of the inlet limit for the known value of the filter load. In some examples, method 300 involves determining the value of the filter load. Examples of methods for determining the value of the filter load are described in detail below.

[0133] return Figure 3 At block 306, method 300 includes controlling the motor's input power based on a determined inlet limit value. Control may include adjusting the motor input power according to a set curve that correlates the motor input power value with the inlet limit value. For example, a set curve may be defined that maps the determined inlet limit value to an input power value. The set curve may be used to determine the desired input power based on the determined inlet limit value. The motor's input power can then be adjusted to the determined desired input power.

[0134] In some examples, the setup curve includes multiple discrete power levels, each corresponding to a range of values ​​for the inlet limit. The number of discrete power levels can be, for example, two, three, or more. In other examples, the setup curve can be a continuous curve. For example, a power profile can include a curve that correlates a range of inlet limit values ​​with values ​​for the input power.

[0135] An example of this contour is... Figure 6A As shown in -C. Figure 6A In -C, the motor input power value is shown on the y-axis. The inlet limit value is shown on the x-axis, and is correlated with... Figure 4 and Figure 5 The same method applies to the orifice diameter.

[0136] Figure 6A The first example power curve is shown in the figure. Figure 6A In this method, the setting curve includes two discrete power levels: a first power level 602 and a second power level 604. The first power level 602 corresponds to a higher first power P1, and the second power level 604 corresponds to a lower second power level P2. A series of low orifice diameter values ​​are mapped to the first power level 602, while higher orifice diameter values ​​are mapped to the second power level 604. Therefore, when the inlet restriction of the air movement device is height-restricted, i.e., the orifice diameter value is low, the method determines that a first, higher input power P1 should be used. This allows for increased suction power of the device when the airflow entering the device is height-restricted. When the inlet restriction level is low, i.e., the orifice diameter value is high, the method determines that a lower second input power P2 should be used. When this is practical, using lower power at lower restriction levels allows the device to operate with lower power consumption while still providing sufficient suction power. This allows the device 200 to use less energy and, for example, allows battery-powered devices to operate for longer periods before the battery is depleted.

[0137] The power curve can also define transition points between different power levels. These transition points can vary depending on whether the transition is from a lower power level to a higher power level or from a higher power level to a lower power level. For example, an "upward" transition from a lower level to a higher level can occur at a lower orifice diameter compared to a "downward" transition from a higher power level to a lower power level. This can help prevent power levels from transitioning more frequently than desired, such as when there are small variations in the determined orifice diameter value around the boundary between power levels.

[0138] Figure 6A An example of this transition point is shown, indicated by dashed arrows 606a and 606b. From Figure 6A It can be seen that the first transition 606a from the lower power level 604 to the higher power level 602 occurs at a lower orifice diameter value than the second transition 606b from the higher power level 602 to the lower power level 604.

[0139] Figure 6B A second example power curve is shown. (Compared to...) Figure 6A Compared to the first example power curve with two discrete power levels, this second example power distribution includes three discrete power levels: 608, 610, and 612. Figure 6A Similar to the example, different transition points, indicated by dashed arrows, are defined between power levels 608, 610, and 612, depending on whether the transition is "up" or "down".

[0140] Figure 6C The third example power curve is shown. Figure 6C The power curve is continuous. That is, there are no transition points between discrete power levels, where the power level is discontinuous with respect to varying orifice diameters. Figure 6C The power curve includes a first segment 614 corresponding to low orifice diameters and a second segment 616 corresponding to higher orifice diameters. In this example, the first segment 614 is flat and maps a range of orifice diameter values ​​to a single high power value. The second segment 616 defines a curve that maps increasing orifice diameter values ​​to decreasing power values.

[0141] As will be understood, various other types of mappings from inlet constraint to input power can be used. For example, the power curve may include one or more continuous segments and / or one or more discontinuous segments in which the power level varies smoothly with respect to a changing orifice diameter, and in which the change in orifice diameter corresponds to a transition between one discrete power level and another discrete power level.

[0142] Method 300 can be performed multiple times during the operation of the air-moving device. For example, the input power of the motor can be continuously controlled based on the determined level of the inlet restriction. For example, the value of the inlet restriction can be determined at regular intervals according to the steps described above, and the value of the input power can be controlled accordingly. In this way, the input power can be continuously adjusted, for example, to suit the level of the inlet restriction at which the device is operating. Therefore, the input power can be continuously adjusted to an appropriate level for the task performed by the air-moving device.

[0143] As described above, determining the inlet limit value based on the motor's operating parameters allows for reliable and accurate determination of the inlet limit based on observable physical parameters, without the need for direct measurement of the inlet limit. This method also allows for determining the inlet limit for controlling input power without requiring additional sensors or processing to directly measure the inlet limit.

[0144] Figure 7 A flowchart representation of an example method 700 for determining the value of the filter load of an air movement device 200 is shown. In some examples, method 700 is performed to determine the value of the filter load used in a method for determining the input power of a motor. For example, example method 700 may be used as... Figure 3 This is part of example method 300 to be executed.

[0145] Method 700 includes: at block 702, performing a measurement process that includes determining a first value of a second operating parameter of the air movement device, the first value being the value of the second operating parameter when the air movement device operates under a first inlet restriction condition.

[0146] The second operating parameter can be the operating pressure of the motor of the air movement device 200. For example, the operating pressure can be Δ-P or any other type of operating pressure described above. For example, the operating pressure can be a normalized value of the operating pressure, such as a normalized Δ-P value. In some examples, the operating pressure can be the same operating pressure used in method 300 for determining the value of the motor's input power. This may be efficient because only one type of operating parameter may be needed to determine the filter load and input power. In other examples, different types of operating pressures can be used to determine the value of the filter load compared to the type of operating pressure used in the method for determining the motor input power.

[0147] In some examples, the operating parameter may be the speed of the motor of the air movement device 200. This speed may be measured, for example, by a suitable sensor (not shown in the figure). In other examples, the operating parameter may be the airflow rate. In some examples, the airflow rate may be determined based on pressure operating pressure measurements, as will be described below with reference to examples.

[0148] The first inlet restriction condition can indicate the minimum level of inlet restriction for the air movement device 200. For example, the first value of the second operating parameter can be the value of the second operating parameter measured when the air movement device 200 operates at the minimum level of inlet restriction or equivalently at the maximum equivalent orifice diameter. This minimum level of inlet restriction can correspond to the device 200 operating in free air. That is, the minimum level of inlet restriction can be the level of inlet restriction acting on the device 200 when the tool of the vacuum cleaner is not in contact with a surface, such that there is no external obstruction to airflow into the device 200.

[0149] In other examples, the first inlet constraint can be a known property of the distribution of inlet constraint values ​​of device 200. For example, the mean or mode inlet constraint value of device 200 during the operating period can be determined. Then, the first value of the second operating parameter can be a value measured when device 200 operates at the mean or mode inlet constraint value.

[0150] Method 700 further includes, at block 704, performing a determination process to determine a value of the filter load of the filter of the air movement device 200. The determination process includes determining the filter load value based on a first value of a second operating parameter and a first predetermined relationship, wherein, for the air movement device 200 operating under a first inlet limiting condition, the first predetermined relationship associates the value of the second operating parameter with the value of the filter load.

[0151] Now refer to Figure 8 An example describing the process for determining the value of the filter load. Figure 8 The above reference is shown. Figure 5 The description includes a set of normalized Δ-P curves 402, 504, and 506. Figure 8 A first probability distribution 802 of the applicable inlet restriction value for a vacuum cleaner is shown. The first probability distribution 802 represents the probability that the vacuum cleaner has a given level of inlet restriction in terms of the equivalent orifice diameter when operated with a first tool attached. This first probability distribution 802 corresponds to a passive tool including a relatively wide nozzle and a selectively engaging brush. From Figure 8 As can be seen in this example, the inlet restriction value of the first probability distribution 802 ranges from approximately 13 mm to approximately 47 mm. The minimum level of the inlet restriction in the first probability distribution 802 corresponds to an orifice diameter of approximately 47 mm.

[0152] Figure 8 The corresponding projections of the first probability distribution 802 onto the two curves 402 and 506 in the normalized Δ-P curve are also shown. The first projection 804 is the projection of the first probability distribution 802 onto the first curve 402, which, as described above, corresponds to a filter load of 0%. The second projection 804 is the projection of the first probability distribution 802 onto the third curve 506, which, as described above, corresponds to a filter load of 100%.

[0153] Projections 804 and 806 define corresponding probability distributions for the measured normalized value of Δ-P for 0% and 100% filter load values, respectively. In other words, the first projection 804 defines the probability of measuring a given normalized Δ-P value when the device operates at 0% filter load. Similarly, the second projection 806 defines the probability of measuring a given normalized Δ-P value when the device operates at 100% filter load. Figure 8The additional projection, not shown, is defined as the probability distribution of normalized Δ-P under different filter load values ​​(e.g., 25%, 50%, 75%, etc.).

[0154] Typically, the normalized Δ-P value defined by curves 402, 504, and 506 decreases rapidly for low orifice diameter values ​​but begins to plateau for high orifice diameter values. This plateauing means that at high orifice diameter values, a given value of normalized Δ-P can be uniquely mapped to a given curve in 402, 504, and 506. In the example, this property can be used to determine the level of filter load based on the measured value of normalized Δ-P.

[0155] For example, from the first probability distribution 802, it can be seen that the minimum normalized Δ-P value in probability distributions 804 and 806 corresponds to the device operating at a known maximum orifice diameter (approximately 47 mm in this example). To determine the filter load value, the minimum normalized Δ-P during vacuum cleaner operation can be measured and mapped to a given curve in curves 402, 504, and 506 at the known maximum orifice diameter. By determining which of curves 402, 504, and 506 the measured normalized Δ-P value maps to, the filter load value can be determined.

[0156] For example, in Figure 8 In the diagram, curve 506 and probability distribution 806 show that for a filter load value of 100%, the minimum normalized Δ-P corresponding to a maximum orifice diameter of approximately 47 mm is approximately 15.3 kPa. Therefore, if the minimum normalized Δ-P value of the vacuum cleaner is measured to be approximately 15.3 kPa, this indicates that the filter load is 100%. Similarly, curve 402 and probability distribution 804 show that for a filter load value of 0%, the minimum normalized Δ-P value (also corresponding to a maximum orifice diameter of approximately 47 mm) is approximately 11.2 kPa. Therefore, a measurement of the minimum normalized Δ-P value of approximately 11.2 kPa indicates that the filter load value is 0%.

[0157] Figure 9 Another example of a method for determining filter load values ​​is shown. Figure 9 Similar to Figure 8 However, this pertains to vacuum cleaners when operated with a second tool attached. Figure 9 A second probability distribution 902 is shown for the inlet restriction values ​​applicable when the vacuum cleaner is used with a second tool. Similar to the reference above. Figure 8 The above, Figure 9 The projections 904 and 906 of the second probability distribution 902 onto the first curve 402 and the third curve 506, respectively, are shown. (See above reference.) Figure 8As described, the filter load value can be determined by measuring the minimum normalized Δ-P value of the vacuum cleaner in use. It can then be determined which of several curves (e.g., curves 402, 504, 506) this minimum value maps to. The curve to which the minimum normalized Δ-P value maps indicates the filter load value.

[0158] A comparison of the second probability distribution 902 and the first probability distribution 802 shows that the second tool typically provides a higher level of inlet restriction than the first tool. For example, the second tool could be, for instance, a passive slit tool. In this example, the minimum level of inlet restriction provided by the second tool corresponds to an orifice diameter of approximately 23 mm, compared to approximately 47 mm for the first tool. Therefore, when using the second tool, the minimum normalized Δ-P value for a given filter load value is greater than the minimum normalized Δ-P value when using the first tool. For example, when using the second tool, the minimum normalized Δ-P value for a filter load of 100% is approximately 16.5 kPa, and the minimum normalized Δ-P value for a filter load of 0% is approximately 13.2 kPa. Figure 9 The arrows illustrate this difference 908 in the minimum normalized Δ-P value when the filter load is 0% between using the first tool and using the second tool. In some examples, this difference in the minimum normalized Δ-P value at the same filter load value can be used to determine when to change the tool attached to the device.

[0159] Figure 10 The graph shows the filter load value on the y-axis and the minimum normalized Δ-P value on the x-axis. Figure 10 The first filter load curve 1002 corresponding to the first tool and the second filter load curve 1004 corresponding to the second tool are shown. Figure 10 This illustrates how the minimum normalized value of Δ-P maps to a given filter load value for the first and second tools. Figure 10The difference 908 between the minimum normalized Δ-P values ​​of the first and second tools at a filter load value of 0% is shown. As mentioned above, the filter load value typically changes gradually as more dirt accumulates on the filter during the use of the device. Therefore, unless the operating conditions of the device change, a sudden, relatively large change in the defined value of the filter load is generally not expected. If such a sudden change is detected, it can be used in some examples to indicate a change in the operating conditions of the device. For example, a sudden change in the defined value of the detected minimum normalized Δ-P can be considered as an indication of a change in the tool attached to the vacuum cleaner. For example, if the measured minimum normalized Δ-P value changes by a difference 908 over a relatively short period of use of the device, it can be considered that this indicates the vacuum cleaner has switched from an operating state connected to the first tool to an operating state connected to the second tool. Furthermore, the correct filter load curve for associating the minimum normalized Δ-P value with the filter load value can be determined based on the type of tool connected to the device, for example, if the type of tool connected to the device is known. For example, after detecting a change 908 in the determined minimum normalized Δ-P value, the device can move from determining the filter load value using the first filter load curve 1002 to determining the filter load value using the second filter load curve 1004.

[0160] Figure 11A and 11B Examples of probability distributions 1102, 1104 of normalized Δ-P values ​​are shown when the device 200 is used with a given tool (e.g., a first tool). Figure 11A This corresponds to a vacuum cleaner operating at 0% filter load. Figure 11BThis corresponds to a vacuum cleaner operating at 100% filter load. In this example, to determine such a probability distribution, a fixed number of counters are defined, for example, 100 counters. Two one-dimensional arrays are defined: a pressure chamber array and a FIFO (First-In, First-Out) array. The FIFO array has a length equal to the fixed number of counters. The Δ-P value is measured and normalized. Counters are added to the pressure chambers corresponding to the measured and normalized values. Once all counters have been assigned to binary numbers, on the next measurement of normalized Δ-P, the earliest assigned counter (which could be a counter in the last position of the FIFO array) is moved to the binary number corresponding to the most recently measured normalized Δ-P value. In this way, a permanent rolling distribution can be maintained. The rolling distribution can be queried at any time and at any frequency. In the example where the minimum value of normalized Δ-P is determined and used to indicate the filter load value, the lowest fill interval is determined to determine the minimum value of normalized Δ-P. In some examples, a minimum counter threshold can be set at which counters in the bins are not counted, such that the lowest-fill bin is the lowest-fill bin with at least the threshold number of counters. This can act as a noise filter. In some examples, the distribution can be filtered, for example, by determining an exponential moving average, to further remove noise. In other examples, a FIFO array may not be defined, and, for example, once all counters have been assigned, counters can be removed from the pressure bins, and counter assignment can begin again.

[0161] Figure 11A and 11B The minimum normalized Δ-P value 1106 for distributions 1102 and 1104 is shown by way of example, indicating filter load values ​​of 0% and 100%, respectively. Figure 11A and 11B The threshold counter value 1108 is also shown by way of example. For the purpose of determining the minimum filled bin, the counter is not counted if the value is below the threshold counter value 1108.

[0162] The examples described above have been referenced to two specific tools. However, it should be understood that various different types of tools may be used with device 200, and each of these different tools may have an associated inlet limit value probability distribution, which can be used in methods for determining the filter load value of device 200. Furthermore, the inlet limit probability distribution of a given tool may vary depending on the application. However, assuming that a given property of the probability distribution (e.g., the minimum level of the inlet limit) does not change, that given property can be used to determine the filter load regardless of other variations in the overall probability distribution.

[0163] While in some instances described above the minimum value of the second operating parameter is used to indicate the level of filter load, in other instances, other values ​​of the second operating parameter can be used to indicate the filter load value. For example, different properties other than the minimum value of the probability distribution of the second operating parameter, such as the arithmetic mean, mode, or other properties, can be determined and used as values ​​for the second operating parameter to indicate the filter load value.

[0164] The examples described above can allow the determination of filter load values ​​based on the correspondence between filter load values ​​and motor operating parameters. In some examples, this can allow the determination of filter load values ​​without the use of additional sensors, such as pressure sensors upstream and downstream of the filter.

[0165] The filter load value can be used for various purposes. For example, as mentioned above, in some examples, determining the inlet limit value may require calibrating the filter load value. In another example, the filter load value can be used to provide an alarm. For instance, when the filter load value reaches a given threshold, an alarm can be issued to indicate that the filter should be cleaned or replaced.

[0166] Method 700 can also be performed multiple times during operation of the air-moving device, for example at regular intervals. For example, the filter load value can be determined at the same regular intervals as the operating parameters used to control the input power of the motor. As mentioned above, in some examples, this can be the same operating parameter as the second operating parameter; for example, both can be Δ-P.

[0167] Figure 12 Another example schematic diagram of the motor assembly 1200 is shown. The motor assembly 1200 includes components corresponding to those referenced above. Figure 1 The features of the described motor assembly 100 are, where applicable, marked with the same reference numerals. For clarity, Figure 12 The filter before the motor is not shown.

[0168] The motor assembly 1200 also includes a second pressure sensor 1220 and wiring 1222 electrically connecting the second pressure sensor 1220 to a circuit board 1214. The motor assembly 1200 also includes an inlet pipe 1226 that provides a fluid connection through a housing 1224 from the second pressure sensor 1220 to the inlet 1230 of the impeller 1208. This allows the second pressure sensor 1220 to measure the pressure at the impeller inlet 1230. Figure 12 As can be seen from the schematic diagram, the cross-sectional area of ​​the motor is narrower at the impeller inlet 1230 than at the motor inlet 1210.

[0169] Figure 13 Another exemplary motor assembly 1300 is shown. Motor assembly 1300 and... Figure 12 The motor assembly is the same as 1200, except that... Figure 13 In the motor assembly 1300, a second pressure sensor 1320 is located on a circuit board 1314. A channel or conduit 1322 provides a fluid connection between the second pressure sensor 1320 and the impeller inlet 1330. The channel 1322 allows the second pressure sensor 1320 to perform pressure measurements at the impeller inlet 1330 without requiring the second pressure sensor to be located at the impeller inlet 1330.

[0170] Such a channel can be provided in various ways. In one example, channel 1326 can be formed by a conduit. The conduit can, for example, extend along the outer surface of housing 1324 and through the hole 1326 in the housing to provide a fluid connection from the second pressure sensor 1320 to the impeller inlet 1330. At the end of channel 1326 where the second pressure sensor 1320 is located, an hermetically tight seal can be formed around the second pressure sensor 1320. The seal can, for example, include a circular (e.g., EPDM) foam seal that seals the conduit to the location of the second pressure sensor 1320 on circuit board 1314. Figure 12 A similar seal is formed around the second pressure sensor 1220 of the motor assembly 1200.

[0171] In another example, the channel can be integrated with the housing of the motor assembly. Figure 14 An exemplary schematic diagram of such a housing 1424 is shown, wherein a channel 1422 extends through the housing 1424. In such an example, the housing 1424 can be formed by an injection molding process, wherein the channel through the housing 1424 is formed during injection molding, for example by using removable pins 1430a, 1430b during injection molding. For use, refer to... Figure 13 The described method involves a hole 1426 through housing 1424 leading to the impeller inlet of the motor. In use, the second pressure sensor is located at the upstream end 1428 of channel 1422. This provides a fluid connection to the second pressure sensor via channel 1422 and allows the second pressure sensor to be configured to measure the pressure at the impeller inlet. This allows for easy positioning of the second pressure sensor. The second pressure sensor can, for example, be located on the circuit board of the device. Furthermore, forming channel 1422 integrally with housing 1424 can be cost-effective and convenient.

[0172] In another example, a channel may be formed between the outer surface of the housing and a mounting component positioned against the outer surface of the housing. Figure 15 An example of this is illustrated schematically. In Figure 15For example, a rubber mounting member 1532 has a groove 1534 therein. The mounting member 1532 is hermetically sealed against the outer surface of a housing 1524, which has an opening 1526 that leads to the impeller inlet during use. The channel 1522 is created by the gap provided between the mounting member 1532 and the outer surface of the housing 1524 by the groove 1534 in the mounting member 1532. Figure 14 and Figure 15 In both examples, during use, the second pressure sensor is hermetically sealed to channels 1422 and 1522 at their upstream ends 1428 and 1528. For example, in Figure 15 In the example, the mounting 1532 may be a rubber mounting that forms a seal around the second pressure sensor.

[0173] In each of the exemplary motor assemblies 1200 and 1300, a first pressure sensor 1218, 1318 is positioned to perform pressure measurement at air inlets 1210 and 1310. The pressure measurement performed by the first pressure sensor 1218, 1318 includes the ambient pressure p measured before the motor starts. a Furthermore, the pressure measurements performed by the first pressure sensors 1218 and 1318 include the measurement of a first pressure p1 during motor operation. Temperature sensors 1216 and 1316 are configured to measure the ambient temperature T. a Second pressure sensors 1220 and 1320 are configured to measure a second pressure p2 at impeller inlets 1230 and 1330 during motor operation. Ambient pressure p a Each of the first pressure p1 and the second pressure p2 is an absolute pressure.

[0174] In the example, measurements taken by the first pressure sensors 1218, 1318, the second pressure sensors 1220, 1320, and the temperature sensors 1216, 1316 are used to determine the dynamic pressure value. In one example, the dynamic pressure measurement is determined as follows.

[0175] By subtracting the ambient pressure p from the first pressure p1 a Determine the static pressure p in the motor static The initial pressure p1 is typically lower than the ambient pressure p. a The operation of the motor causes a partial vacuum to be created inside the motor housing 1324.

[0176] The total gauge pressure p at the impeller inlet is determined by subtracting the second pressure p2 from the first pressure p1. total The total pressure p at the impeller inlet total From static pressure p static and dynamic pressure p dynComposition. The second pressure p2 is typically lower than the first pressure p1 because the cross-sectional area at the impeller inlets 1230 and 1330 is smaller and the associated air velocity is higher compared to that at the motor inlets 1210 and 1310.

[0177] The dynamic pressure p at impeller inlet 1230 and 1330 dyn The total pressure p from the impeller inlets 1230 and 1330 total Subtract the static pressure p in the motor static To determine. Dynamic pressure p dyn It can also be referred to as air velocity pressure.

[0178] Dynamic pressure p dyn First pressure p1 and temperature T a Input into the density ratio formula to determine the dynamic pressure value p under STP. dyn@STP p dyn@STP The value is a dynamic pressure value corrected to standard temperature and pressure. Therefore, the dynamic pressure value is normalized for the environmental conditions under which the motor operates. For example, this allows for defining a single lookup curve that correlates the dynamic pressure value with airflow rate or other parameters. The applicable density ratio for a given motor may depend on the type of motor. For example, the following density ratio formulas (1) to (3) are applicable to constant power motors, AC series motors, and constant speed motors, respectively:

[0179] (1)

[0180] (2)

[0181] (3)

[0182] Where p dyn@STP p1 and p dyn In kPa, T a The values ​​are in degrees Celsius, 101.325 is the standard pressure in kPa, 293 is the standard temperature in Kelvin, and 273.15 is 0 degrees Celsius in Kelvin.

[0183] The determined dynamic pressure value can be mapped to various parameters. For example, in the example of the method described above, the dynamic pressure value can be used as the operating pressure. For example, the dynamic pressure value can be mapped to the value of inlet limit and / or filter load, for example, in a manner similar to that described above for the Δ-P value. Alternatively or concurrently, the dynamic pressure value can be mapped to the value of the airflow rate through the motor. The airflow rate can be used as an operating parameter in the example method described above. The mapping from dynamic pressure value to airflow rate can be determined, for example, through a calibration process. In such a calibration process, the air movement device can be operated together with an airflow rate measuring device, which may include a bell, venturi tube, or orifice plate, for measuring the airflow rate through the device, while simultaneously performing the measurement, which allows the determination of a dynamic pressure value that can correspond to the airflow measurement value. Therefore, when the device is operated after calibration, the dynamic pressure value can be determined and mapped to the airflow rate value in order to determine the airflow rate of the device in use.

[0184] Figure 16 A flowchart illustrating an example method 1600 for controlling the input power of a motor in an air-moving device, such as a vacuum cleaner, is shown. This method can be used in conjunction with... Figure 1 , 2 Used with the air-moving devices, motor assemblies or components described in 12-15.

[0185] Method 1600 includes performing a measurement procedure at block 1602 to determine a first value of an operating parameter of the motor. The operating parameter may be an operating pressure or an airflow rate. In the example, the operating parameter may be continuously measured or sampled, where the first value corresponds to the most recent measurement or sample, or an average or most recent measurement or sample.

[0186] As previously stated, the operating pressure of the motor is the air pressure associated with the motor when the motor is operating (i.e., when the motor is running). The operating pressure may involve the air pressure at one or more locations along the airflow path 128. The operating pressure may be a differential air pressure. The operating pressure may, for example, be the pressure difference between an upstream and downstream location in the motor assembly along the airflow path 128. Alternatively, the operating pressure is the difference between a first pressure (ambient pressure) measured when the motor is not running and a second pressure measured when the motor is running. The first and second pressures may be measured at the same location. For example, the value of the operating pressure can be obtained by determining the difference between an ambient pressure measurement taken when the motor is not running (e.g., prior to the start-up of the air movement device 200) and a pressure measurement taken during motor operation. In some examples described herein, this operating pressure is referred to as Δ-P. In some examples described herein, the operating pressure is normalized as previously stated; for example, the operating pressure may be a normalized Δ-P. The airflow rate is the rate at which air drawn in during motor operation flows through the motor. Various methods for obtaining operating pressure measurements and airflow rate measurements have been previously described.

[0187] At box 1604, method 1600 includes performing a determination process to determine a baseline value for the motor's operating parameters based on previous values ​​of the motor's operating parameters. In one example, the baseline value may be dynamic as it tracks changes in the operating parameters, depending on certain conditions described in more detail below.

[0188] As previously mentioned, the operating pressure of the motor or the airflow through the motor may be affected by restrictions on the airflow through the air movement device 200. Inlet restrictions can include tool attachment and the operating mode of the air movement device, such as whether the vacuum cleaner is cleaning a surface or is in idle, non-cleaning, or "free air" mode. For example, the inlet restriction can vary depending on the type of surface the vacuum cleaner 200 is cleaning. For instance, a carpeted surface or the like may impose a greater restriction on the airflow entering the vacuum cleaner 200 than a smooth surface such as wood or tile. The value of the inlet restriction can also vary depending on the type of tool attached to the vacuum cleaner 200. Different tools may, for example, have different geometries and therefore restrict the flow of air into the vacuum cleaner 200 by different amounts. For example, different tools may have different air inlet diameters. Furthermore, some tools may include elements that impede airflow into the device 200, such as brush bristles for cleaning carpets, while other tools may not include such elements.

[0189] As previously mentioned, the operating pressure may also be affected by limitations related to the filter load or filter load level, which filters particulate matter from the airflow passing through the motor. For example, the filter load could be the load level of the pre-motor filter 126. Alternatively, the filter load could be the load level of the post-motor filter, or the load levels of multiple filters (e.g., pre-motor and post-motor filters) could be considered. The filter load level can limit how much dirt has been collected by the filter. Typically, during the use of device 200, the filter load level can steadily increase as air passes through the device and dirt is filtered out from the air.

[0190] The baseline value for the motor's operating parameters is the operating pressure or airflow rate, which is set as a measured or initial value of the operating pressure after certain stability conditions are met. The baseline value can vary over time; for example, it can steadily increase as the filter load increases until the filter is changed and the baseline value returns to a lower value. Similarly, the baseline value can change in response to changes in equipment or tool attachments. This simplified approach does not require the predetermined relationships described earlier to explain the limiting variations, but can instead use combinations of these relationships.

[0191] In the example, multiple samples of the operating parameter can be identified and the variance calculated. The variance can be the maximum variance of the sampled values ​​over a shift period or window. If the calculated variance falls within a variance threshold, indicating a stable operating parameter, the baseline value can be reset or updated to the latest sample value or the average of the sample values ​​within the window.

[0192] At block 1606, method 1600 includes controlling the input power of the motor based on a first value and a baseline value of the motor's operating parameters. Control may include adjusting the motor input power according to a set curve having a switching threshold that correlates the motor input power value with the first value of the operating parameters, wherein the curve depends on the baseline value.

[0193] In some examples, different curves may correspond to different ranges of baseline values. Each of the setpoint curves may include multiple discrete power levels or thresholds, where each power level corresponds to a range of values ​​for a first value of the operating parameter. The number of discrete power levels or thresholds may be, for example, two, three, or more. The switching threshold used to increase power may be higher than the corresponding switching threshold used to decrease power, thereby providing a control hysteresis loop to improve control stability as described above. In other examples, the setpoint curves may be continuous curves. For example, the power curve for each baseline value may include a curve related to the range of values ​​for a first value of the operating parameter.

[0194] In some examples, baseline values ​​are updated to accommodate changes in constraints such as tool attachments and filter loads. The baseline value corresponds to a low power setting, which can be adapted to idle or non-cleaning modes where the air-moving device operates with free air. Power switching thresholds are calculated based on the baseline value, and power can be increased if measured operating parameters exceed these thresholds, and subsequently decreased when measured operating parameters fall below the appropriate switching threshold. This can correspond to cleaning events, such as applying an inlet to a surface, increasing the restriction on airflow to the air-moving device, thus causing an increase in measured operating parameter values. Similarly, when the inlet is removed from the surface, measured operating parameter values ​​decrease, which may correspond to a decrease in power level. Therefore, the motor's power level adapts to changing conditions, for example, increasing power when the user applies an inlet to a surface to be cleaned, and decreasing power when the user removes the inlet from the surface to allow the air-moving device to operate in free air. These changes in constraints during cleaning activities typically tend to be short-lived, with many variations in measured operating parameter values.

[0195] Changes in attachments are typically characterized by large, prolonged variations in measured operating parameter values. These variations tend to stabilize, showing little change over extended periods. For example, if a user removes a low-limit tool attachment and installs a high-limit tool attachment while the motor is running, the air movement device will operate in free-air or idle mode. The measured operating parameter values ​​will change from low values ​​corresponding to the idle or non-clean mode without tool attachments, followed by higher values ​​corresponding to the idle mode with the new, higher-limit tool attachment. Since the operating parameter values ​​will subsequently stabilize near these new, higher values, this condition can be used to reset the baseline conditions to the higher values. A new switching threshold can then be calculated against the new baseline, and power can be increased when a cleaning event occurs, such as applying pressure to the inlet to the surface causing further airflow restriction, and if the new switching threshold is exceeded, the power level can be increased.

[0196] Similarly, when the high-limit attachment tool is removed, the measured operating parameters will decrease because the air-moving device is now operating in free air. Since the new measured operating parameter values ​​will be lower than the previous baseline values, the baseline values ​​will be reset to the new, lower measured operating parameter values.

[0197] Changes in filter load tend to be characterized by slow, incremental changes in operating parameter values ​​over long periods. In this example, this can be determined by resetting the baseline value each time the motor starts. Upon startup, the unit may be in a non-clean or idle mode, corresponding to the lowest power level. At the lowest power level, after a period of stabilization or delay allowing the measured operating parameter values ​​to reach a steady state, the baseline value is reset to the measured operating parameter value. This allows the baseline value to adapt to increased filter load during multiple uses of the air-moving unit, and also allows the unit to adapt to filter replacements, which significantly reduces the filter load and limitations experienced by the unit. The baseline value can then be reset to the new, lower measured operating parameter value.

[0198] These different characteristics of the measured changes in operating parameters can be used to distinguish changes in filter load, tool attachments, and cleaning modes. The operation of the air-moving device can then be appropriately and optimally controlled automatically. In some examples, this can be achieved using a single sensor.

[0199] Figure 17 The diagram shows normalized Δ-P (lower part) and input power (upper part) over time for an example air-moving device (such as a vacuum cleaner). It illustrates the variation of normalized Δ-P corresponding to different events, such as when a user applies the device's inlet to (and removes) a surface for cleaning, and changes in tool attachments. The corresponding variation in motor input power is also shown.

[0200] As previously stated, Δ-P corresponds to the value of the operating pressure obtained by determining the difference between an ambient pressure measurement taken when the motor is not running (e.g., before the air movement device 200 is started) and a pressure measurement taken during motor operation. The Δ-P value can be normalized relative to the environmental conditions described above, such as values ​​relative to construction tolerances, ambient pressure, ambient temperature, and motor input power.

[0201] In this example, three different input power levels P1–P3 can be used for the motor; however, in other examples, different numbers and levels of input power can be used.

[0202] In the figure below, curve 1705 shows the normalized Δ-P over time, where specific times T0-T11 are shown. Normalized Δ-P is an operating parameter value used to measure and adjust the input power of the vacuum cleaner. Six switching lines 1710a-1710f are shown, corresponding to: a downward switching threshold (from P2->P1) for a first lower baseline (1710a); an upward switching threshold (from P1->P2) for the first lower baseline (1710b); a first downward switching threshold (P2->P1) for a second higher baseline (1710c); a first upward switching threshold (P1->P2) for the second baseline (1710d); a second downward switching threshold (P3->P2) for the second higher baseline (1710e); and a second upward switching threshold (P2->P3) for the second higher baseline (1710f).

[0203] Different thresholds can be calculated for different baseline normalized Δ-P values. In this example, the lower baseline uses only two power levels, P1 and P2. When the normalized Δ-P exceeds the threshold 1710b, the device switches upwards from P1 to the higher P2 level, and when the normalized Δ-P value is below the threshold 1710a, it switches downwards from the higher P2 level to the lower P1 level. A downward switching state may occur when the user removes the inlet from the surface to be cleaned, putting the device into a non-clean or idle mode. In some examples, a switching delay can be introduced to prevent the device from switching rapidly, for example, when the user intends to re-enter clean mode by quickly reapplying the device's inlet to another surface to be cleaned. Sometimes, even in idle mode, a downward switching state may occur when the user removes a restrictive tool attachment that requires higher pressure and a higher power level. A switching state may occur when the user applies the device's inlet to the surface to be cleaned, putting the device into clean mode, where higher pressure is involved due to airflow limitations, thus requiring higher power. Sometimes, when a user attaches a restrictive tool to the device, a state switch may occur, resulting in higher pressure to offset the increased airflow restriction, thus requiring a higher power level, even in non-clean or idle modes.

[0204] Switching the input power level may cause a change in the normalized Δ-P; however, for the sake of simplicity, these are not considered here, but are instead indicated by the upward sloping portion of curve 1705. Also for simplicity, the downward switching event of the input power level is shown as occurring immediately after falling below the corresponding switching threshold; however, as mentioned above, a downward switching delay can be introduced to improve control stability and user usability.

[0205] The figure below also shows the time intervals TB1 and TB2 for the changes in the baseline normalized Δ-P value. The baseline normalized Δ-P value can be reset when the measured or current normalized Δ-P value (from curve 1705) becomes stable within a predetermined time period and differs from the current baseline normalized Δ-P value. For example, if the variance of the measured normalized Δ-P value is below a variance threshold within a predetermined stabilization period (e.g., 2.5 seconds), the baseline normalized Δ-P value can be reset to the current normalized Δ-P, or the derivative of these values ​​within the predetermined stabilization period, such as the average.

[0206] In the above figure, input power curve 1720 shows the input power level over time, where the variation corresponds to the normalized Δ-P curve 1705 passing through thresholds 1710a-1710f, as shown. Three fixed input power levels P1–P3 are used to drive the motor; however, different numbers of input power levels can be used. The number of input power levels used for each baseline normalized Δ-P value can be the same or different.

[0207] At time T0, the vacuum cleaner operates at power level P2, where the normalized Δ-P is approximately 3.0 kPa. For illustrative purposes, it will be assumed that this operating pressure value has remained stable for a period of time, corresponding to a vacuum cleaner with a low-limit tool attached and operating in non-cleaning or idle mode. Further, it is assumed that the baseline normalized Δ-P of the vacuum cleaner is 3.0 kPa at this time.

[0208] At point T1, the normalized Δ-P has decreased to approximately 0.8 kPa, and the power level decreases from P2 to P1 when the normalized Δ-P value has fallen below the lower limit threshold of 1710a, as shown in the figure above. The lower normalized Δ-P value remains stable from T1 to time T2, exceeding the predetermined settling period. In practice, the normalized Δ-P may exhibit some small variations, but if the variance of the normalized Δ-P remains low (below the variance threshold) during the predetermined settling period, the variation in the normalized Δ-P can be considered stable.

[0209] When there is a stable change in the normalized Δ-P at time TB1, the baseline normalized Δ-P of the vacuum cleaner is reset. In this case, the baseline normalized Δ-P is reset from 3.0 kPa to 0.8 kPa, which corresponds to the vacuum cleaner operating freely without any attached tools and in non-cleaning or idle mode.

[0210] The predetermined stabilization period corresponds to the difference between T1 and TB1, and can be, for example, 2.5 seconds. However, other time periods can be used instead, and other factors, such as the current normalized Δ-P and / or power level, can also be considered. In some examples, the predetermined stabilization period can be different for these different factors. Moving to a new baseline normalized Δ-P value may also cause the input power level to change to the lowest level, corresponding to a vacuum cleaner in idle or non-cleaning mode with or without tools attached. In this case, the input power level has already dropped to P1, so no further change in input power is needed. However, in some examples where the input power level is higher than the lowest level (e.g., P2 or P3), the input power level can be forced to drop to the lowest level P1.

[0211] At time T2, the normalized Δ-P begins to increase and reaches approximately 2 kPa shortly after at time T3. The normalized Δ-P remains at this level until T4, at which point it falls back to the previous free-running level of 0.8 kPa. This corresponds to a cleaning event where the user applies the vacuum cleaner's inlet to the surface to be cleaned, resulting in restricted airflow through the device. The normalized Δ-P does not exceed the switching threshold 1710b, therefore no change in input power occurs.

[0212] At time T5, the normalized Δ-P rises to approximately 3.0 kPa until time T6, when it drops again to 0.8 kPa at time T7. Similarly, at time T8, the normalized Δ-P rises to approximately 3.0 kPa until time T9, when it drops again to 0.8 kPa. These two spikes in the normalized Δ-P correspond to cleaning events where the user applies the vacuum cleaner's inlet to the surface to be cleaned, resulting in restricted airflow through the device. In both cases, the normalized Δ-P does indeed exceed the switching threshold 1710b, so when the threshold 1710b is exceeded, the input power changes from P1 to P2, and when the normalized Δ-P subsequently falls back below the threshold 1710b, the input power changes from P2 to P1. These cleaning events can differ from the first cleaning event between T2 and T4; for example, the first cleaning event could be cleaning a flat surface such as tile, while the second and third cleaning events could be cleaning a carpet, resulting in greater airflow restriction and thus requiring a higher level of input power.

[0213] At time T10, the normalized Δ-P rises to approximately 3.5 kPa until time T11, when it rises to approximately 5 kPa. As the lower normalized Δ-P rises, it again crosses the threshold 1710b, causing the input power level to increase from P1 to P2.

[0214] The higher normalized Δ-P value of 5 kPa also remained stable until time TB2, exceeding the predetermined stabilization period. This caused the vacuum cleaner's baseline normalized Δ-P value to be reset again. In this case, the baseline normalized Δ-P was reset from 0.8 kPa to 3.5 kPa, which corresponds to the vacuum cleaner operating freely, with a new, more restrictive tool attached and in non-cleaning or idle mode. It should be noted that the new baseline normalized Δ-P of 3.5 kPa is slightly higher than the 3.0 kPa associated with time T0. Compared to the tool attached at time T0, this corresponds to a slightly more restrictive tool attached at time T10.

[0215] In some cases, resetting the baseline normalization Δ-P may also cause the input power to be reset to the lowest level, as shown in this case. However, even when operating in idle or non-clean mode, some highly restrictive tool attachments may force subsequent changes back to a higher power level P2.

[0216] The change in the baseline normalization Δ-P value will also change the switching threshold used from 1710a and 1710b to 1710c–1710f.

[0217] At time T11, the normalized Δ-P value rises to approximately 5 kPa and exceeds the switching up threshold 1710d, causing the power level to increase from P1 to P2. This corresponds to the user applying a newly assembled tool attachment to the surface to be cleaned. At time T12, the normalized Δ-P falls back to a new baseline of 3.5 kPa, dropping below the switching down threshold 1710c, causing the input power level to decrease from P2 to P1, and corresponding to the device operating in free air again without the limitations imposed by cleaning.

[0218] As stated above, this discussion ignores any pressure variations caused by changes in the input power level. However, proper setting of the switching threshold avoids control instability caused by triggering input power level switching, whereby the normalized Δ-P simply exceeds the switching threshold due to power level changes rather than user activities such as cleaning or changing tool accessories.

[0219] At time T13, the normalized Δ-P value rises to approximately 7 kPa, exceeding the first up-switching threshold 1710e, causing the input power level to increase from P1 to P2. Subsequently, the normalized Δ-P also exceeds the second up-switching threshold 1710f, causing the input power level to further increase from P2 to P3. This could correspond to the start of a new cleaning event, but this time with a more restrictive surface than the cleaning events between T11 and T12. For example, the surface cleaned in the earlier event might be tile, while the surface cleaned from T13 might be carpet. Although not shown, if the normalized Δ-P falls below the threshold 1710e, the power will decrease from P3 to P2, and then below the threshold 1710c, the power will decrease from P2 to P1.

[0220] It can be seen that the input power can increase or decrease when the normalized Δ-P value exceeds the threshold. When the normalized Δ-P value exhibits a stable change, the baseline normalized Δ-P value of the vacuum cleaner can be reset. Then, changes in the baseline normalized Δ-P value may lead to changes in the switching threshold.

[0221] In the example, the upward switching threshold corresponding to 1710b can be set to 300% of the current baseline normalized Δ-P value, and the downward switching threshold can be set to a lower value, such as 120% of the baseline value. This allows the vacuum cleaner to return to its lowest power level P1 when any tool is removed from the vacuum cleaner and / or when the vacuum cleaner is running in idle mode. This is even if the previous cleaning operation resulted in some additional filter load, as it is unlikely to increase the lowest recent baseline normalized Δ-P value by more than 20% in a single cleaning operation.

[0222] More generally, the upward switching threshold can be calculated based on baseline * upper gain + upper offset, and the downward switching threshold can be calculated based on baseline * lower gain + lower offset. Alternatively, different algorithms can be used to calculate the switching thresholds. In other examples, different percentages can be used, and these percentages can be different for baseline normalized Δ-P values ​​at different levels. The thresholds can also be calculated using parameters other than percentage increases, and algorithms derived, for example, from experiments can be used to optimize the automatic control of the vacuum cleaner. More than one upward and downward switching threshold can be provided for some or all baseline values. Different baseline values ​​can correspond to different tools; however, considering variations in filter load, the characteristic baseline of a tool can change over time and can overlap with different tools under different filter loads.

[0223] Controlling the input power level in this way prevents the vacuum cleaner from operating at unnecessarily high power levels, such as when cleaning is not required or when lower limits are not needed or tools are unavailable. However, a higher power level can be automatically applied when cleaning and / or limiting tool attachments are required. This method optimizes battery life and extends the vacuum cleaner's cleaning time. By avoiding unnecessarily high power levels, it also extends the lifespan of the device itself.

[0224] This method also allows the vacuum cleaner's control to adapt to changes in filter load over time. In one example, a baseline normalized Δ-P value can be set when the vacuum cleaner is started. Assuming the vacuum cleaner is started in non-cleaning or free-running mode, the load on the device will be attributed to the filter and any attached tools. Subsequently, when the vacuum cleaner's inlet is applied to the surface to be cleaned, control of the motor's input power is based on an appropriate switching threshold determined for the current baseline normalized Δ-P value and the measured normalized Δ-P value. Then, as already described, the input power level can be adjusted when the user engages in cleaning activities.

[0225] When a user starts the vacuum cleaner in cleaning mode, where the inlet is restricted by the surface being cleaned, the baseline normalized Δ-P value will initially be set to a higher level. However, once the user removes the inlet from the surface, allowing the vacuum cleaner to operate in idle mode, the baseline normalized Δ-P value will be reset to a lower value consistent with this free-running or non-cleaning mode. A more appropriate switching threshold will then be determined, and the vacuum cleaner motor's input power will be automatically controlled in response to changes in restrictions due to cleaning activity and / or attachment variations.

[0226] In the example, an initial settling time can be allowed after the device is started before resetting the baseline value using the measured normalized Δ-P value. For example, the settling time could be 2.5 seconds after the vacuum cleaner is started.

[0227] Therefore, as the filter load increases over time, the baseline normalized Δ-P value associated with a vacuum cleaner in free-running or idle mode for a given tool attachment will slowly increase over time as the filter becomes more clogged. When the filter is replaced or cleaned, the filter load decreases, resulting in a decrease in the baseline normalized Δ-P value for the same given tool attachment in free-running or idle mode. The baseline normalized Δ-P value can decrease further when any attached tools are removed, allowing the vacuum cleaner to operate in free-running or idle mode in free air. Therefore, the vacuum cleaner's control will always adapt to the filter load during operation.

[0228] Figure 18A flowchart illustrating an example method 1800 for controlling the input power of a motor in an air-moving device such as a vacuum cleaner is shown. This method can be used in conjunction with... Figure 1 , 2 Used with the air-moving devices, motor assemblies or components described in 12-15.

[0229] Method 1800 includes performing a startup stabilization delay at block 1802 in response to a user starting the device. An example stabilization delay is 2.5 seconds; however, any suitable duration may be used alternatively. The stabilization delay allows time for the measured operating parameters (e.g., normalized Δ-P) to reach a steady state after startup, when the measured value will be at or near an ambient value.

[0230] The method includes, at block 1804, determining one or more operating parameter values ​​for the motor of the air movement device. As previously described, this can be achieved by measuring the operating pressure or airflow rate at a sensor of the air movement device. In one example, a normalized Δ-P is calculated using a second sensor measurement and then used as an operating parameter. However, alternative operating parameters can be used, such as a normalized airflow rate measurement, a normalized operating pressure measurement (without comparing it to the second sensor measurement), or any other suitable metric. Multiple operating parameter values ​​can be determined over a period of time and used to generate operating parameter values ​​for the method, for example, by performing a moving average of these values.

[0231] The method includes setting an initial baseline operating parameter value at box 1806. This is achieved by setting the baseline value to a determined operating parameter value derived from box 1804. As previously described, the baseline operating parameter value will typically correspond to a non-clean mode, where the device operates in free air, with or without attached tools. This initial baseline will also automatically adapt to changes in filter load over time, where a heavily loaded or clogged filter corresponds to a higher baseline than a recently replaced or cleaned filter, while other effects such as operating mode (clean or non-clean) and tool attachment remain equal. Similarly, when restrictive tool attachments are fitted to the device at startup, the initial baseline value will be higher than the baseline when fewer restrictive or no tool attachments are fitted.

[0232] The method includes, at block 1808, calculating a switching threshold for the initial baseline operating parameter values ​​determined in block 1806. This can be calculated as previously described, for example, setting the power switching thresholds to 200% (downward switching) and 300% (upward switching) of the baseline operating parameter values. Alternatively, different calculations based on the baseline operating parameter values ​​can be used. Regarding... Figure 17Example switching thresholds 1710a–1710f are described. These switching thresholds correspond to operating parameter values ​​that increase and / or decrease the power input to the motor. The switching thresholds may differ for different baseline operating parameter values.

[0233] The method includes, at block 1810, determining one or more operating parameter values ​​for the motor of the air-moving device. This can be implemented in the same manner as in block 1804, and the determined operating parameter value may be referred to herein as a first value. This first value can be periodically updated by continuously or periodically sampling one or more sensors, and the first value is determined at regular time intervals based on these measurements. As previously described, in one example, the first value or operating parameter value may be a normalized Δ-P.

[0234] At box 1812, the method determines, for example, whether a valid blanking delay condition currently exists by checking a blanking flag controlled by a timer set when a new baseline value is established. The following is about... Figure 19 The method describes setting a new baseline value in more detail. However, when the baseline value changes, a blanking period can begin during which no other control changes are performed to improve control stability. Such other changes may include changing the power level or changing the baseline value again. Changing the baseline value can cause changes in the switching threshold, power level, and transient changes in operating parameters until a new equilibrium is reached. A suitable blanking period could be 2.5 seconds. If a current blanking condition (Y) exists, the method returns to box 1810 and updates the operating parameters until the blanking condition expires.

[0235] If no current blanking condition (N) exists, the method moves to box 1814. The method also moves to parallel control loop B to determine whether the baseline value should be updated. This is discussed below regarding... Figure 19 To describe in more detail.

[0236] At box 1814, the method determines whether a first value or operating parameter is higher than an upward switching threshold. If the first value is not higher than the upward switching threshold (N), the method moves to box 1818. If the first value is higher than the threshold (Y), the method moves to box 1816, where the current input power level of the motor is increased to the next highest level. This can correspond to Figure 17 The diagram shows the situation after times T5, T8, and T13. The method then returns to box 1810. In some examples, more than one upward switching threshold may be used, resulting in movement between multiple input power levels.

[0237] At box 1818, the method determines whether a first value or operating parameter is below a down-switching threshold. If this is not the case (N), the method returns to box 1810. If the first value is below the down-switching threshold, the method moves to box 1820. In some examples, more than one down-switching threshold may be used, resulting in movement between multiple input power levels.

[0238] At box 1820, the method determines whether a valid current down-switching delay condition exists, for example, by checking a down-switching flag controlled by a timer set after a previous down-switching event in which the input power level of the motor decreases. Adding a down-switching delay ensures that the device does not switch down too quickly when the user is cleaning, for example, between applying the device's inlet to a surface and then briefly removing it before applying it to an adjacent or nearby surface. Switching down during this brief period between cleaning operations can be frustrating for the user, as the device will lose power and suction before being applied to the second surface. Incorporating a switching delay allows the device to maintain a suitable power level for cleaning for a longer period, during which the device's inlet can be temporarily removed from the surface before being applied again. A suitable down-switching delay could be 2.5 seconds.

[0239] If the down-switch delay condition is valid (Y), the method moves to box 1810, where the operating parameters are updated and checked again relative to the down-switch threshold. If no down-switch delay is valid (N), the method moves to box 1822. This can correspond to... Figure 17 The diagram shows the situation after times T1, T6, T9, and T12. Although, as previously stated, Figure 17 The example does not use a downward switching delay.

[0240] At box 1822, the method reduces the motor's current input power level to the next lowest level. A down-switching delay condition is also set. The method then returns to box 1810. In some examples, more than one down-switching threshold may be used, resulting in movement between multiple input power levels.

[0241] Method 1800 sets initial baseline operating parameter values ​​and switching thresholds for the air-moving device, and then controls the device's input power level based on whether the currently determined operating parameters exceed or fall below the corresponding upward and downward switching thresholds. This method controls the device's power based on the relative difference between the sampled or current operating parameters and the baseline operating parameters. This provides a stable control mechanism that automatically changes the power level according to user requirements, such as applying the device's inlet to a clean surface requiring increased power, and then removing the inlet from the surface to allow the device to operate in free air, requiring less power. Avoiding unnecessarily high power operation reduces battery discharge, resulting in more operating time between recharging.

[0242] Because the baseline is reset each time the unit is started, the unit's control adapts to changes in filter load over multiple operating cycles when the filter is not replaced or cleaned. The initial baseline also applies to any tool attachments installed on the unit at startup, and power level control adjusts automatically for this, as the switching threshold depends on the baseline value. The baseline can also be updated during operating cycles between unit startup and power-off. The following is about... Figure 19 Describe the method for updating the baseline value.

[0243] Figure 19 A flowchart illustrating an example method 1900 for updating baseline operating parameter values ​​of an air-moving device (such as a vacuum cleaner) is shown. This method can be used in conjunction with... Figure 1 , 2 Used with the air-moving devices, motor assemblies or components described in 12-15.

[0244] Method 1900 includes calculating the variance of the determined operating parameters, for example, normalized Δ-P, at box 1902. This can be done after box 1812 when it has been determined that no suitable hidden-face condition exists. Figure 18 The method 1800 is implemented in B. However, method 1900 can be used in conjunction with other input power control methods.

[0245] Variance corresponds to a measure of the stability of the operating parameter value over time. Variance can be calculated in different ways, such as the amount of change in the operating parameter value determined within a stable period. The stable period can be any suitable time interval, such as 2.5 seconds. Within this period, the change could be 10%, meaning that the determined operating parameter value has changed by 10%, for example, between 3 kPa and 3.3 kPa. Alternatively, other stable periods or variance calculations can be used.

[0246] At box 1904, the method determines whether the calculated variance is within a variance threshold. In one example, the variance threshold could be 5%, however, other thresholds or comparisons could be used alternatively. If the calculated variance is within the variance threshold (Y), the method moves to box 1908. If the calculated variance is not within the variance threshold (N), the method can return to update the operating parameters according to the configuration, for example by returning to box 1810 in method 1800. In another instance, the method may move to box 1906.

[0247] Examples that satisfy the variance threshold are in Figure 17 The diagram shows the corresponding times TB1 and TB2. At TB1, the normalized Δ-P has decreased from 3 kPa to 0.8 kPa and remained stable for the desired predetermined stabilization period. The baseline operating parameters can then be reset to the new stable operating parameters (0.8 kPa), as described in more detail below. Similarly, at TB2, the normalized Δ-P has increased from 0.8 kPa to 3.5 kPa and remained stable for the desired predetermined stabilization period. The baseline operating parameters can then be reset to the new stable operating parameters (3.5 kPa).

[0248] At box 1906, the method determines whether the determined operating pressure is currently at or below the initial or lowest baseline value during the current operating cycle—between device startup and power-off. If this occurs, it is equivalent to the device having been started in clean mode and / or with tool attachments, and is now not in clean mode and / or with lower limits or without tool attachments. In this case, the baseline can be quickly reset without waiting for the variance threshold to be met. This provides faster initial stabilization of the device when starting under abnormal conditions, such as when the inlet is against a surface in initial clean mode.

[0249] If the determined operating pressure is the lowest (Y), the method moves to box 1908. If the determined operating pressure is not the lowest (N), the method returns to update the operating parameters, for example by returning to box 1810 in method 1800. In some examples, the method can be configured to move to box 1908 only if the determined operating pressure is sufficiently lower than the previous or initial operating pressure to avoid unnecessarily resetting the baseline values. A very small difference between the currently determined operating parameters and the lowest operating parameters may be due to sensor inaccuracy; therefore, ignoring this can avoid unnecessary control changes that could reduce stability. Similarly, a minimum time period can be introduced to keep the currently determined operating pressure below the lowest operating pressure.

[0250] At box 1908, the method resets the baseline operating parameters to the determined operating stress. As previously mentioned, a blanking period can be provided to prevent changes to the baseline operating parameters from occurring too frequently. This can be implemented, for example, using box 1812 from method 1800. Depending on the configuration, the method can then be moved to either box 1910 or box 1912.

[0251] At box 1910, the method reduces the input power level of the motor used in the device to a minimum power level—for example… Figure 17 P1 in the diagram. Since the baseline operating parameters correspond to the device operating in free air, reducing the device to the minimum power level may be appropriate. This can be a case unrelated to tool attachments. However, in some cases with very restrictive tool attachments, a higher power level may be required to achieve free operation or idling without stopping the device. This situation can be detected in conjunction with other considerations, such as operating parameters being within a variance threshold while exceeding a certain threshold.

[0252] Downgrading the power level prevents baseline operating parameters from being set too high, for example, when the device is equipped with slightly restrictive tool attachments but is operating in free air, after switching the power level from P3 to P2. Then, switching down to the lowest power level P1 allows the baseline to be subsequently reset to a lower level after the blanking period and device stabilization. Similarly, as explained below, resetting the baseline may cause a change in the switching threshold, which could cause the device to switch up the power level. Forcing the input power to the lowest level allows the device to stabilize at the lowest power level before further baseline resets and / or further power level switches. This improves overall stability and user experience.

[0253] At box 1912, the method calculates a switching threshold for the newly reset baseline operating parameters. This new switching threshold is then used to control changes in the power level of the device, for example, using boxes 1814-1822 in method 1800. The new switching threshold may differ from the switching threshold used with the previous baseline operating parameter values, or they may be the same. In one example, the switching threshold may be calculated based on a percentage of the baseline operating parameter values ​​(such as 200% and 300% as previously mentioned). Other methods for calculating the switching threshold may be used alternatively. In some examples, different baselines may use different numbers of switching thresholds; for example, a baseline corresponding to a free-running device without any tool attachments may use only two power levels, while a higher baseline corresponding to restrictive tool attachments may use three power levels.

[0254] At box 1914, the method begins the blanking period before returning to determine the operating parameters again, for example by returning to box 1810. In one example, the blanking period could be 2.5 seconds; however, other periods can be used alternatively. The use of a blanking period prevents the baseline operating parameter values ​​from being reset too quickly, thus providing more stable operational control of the air-moving device.

[0255] about Figures 16 to 19 The described method can be considered a relative operating parameter value method, where the current value of the operating parameter is compared to a baseline operating parameter value to determine whether to change the input power level of the motor of the air-moving device and whether to change the baseline operating parameter value. As previously mentioned, the operating parameter value can be a value based on operating pressure, such as normalized Δ-P, or a value based on airflow rate. In some examples, the method can be implemented using a single operating pressure sensor, such as a single pressure or airflow rate sensor. These methods allow for automatic power control of air-moving devices such as vacuum cleaners. For example, the device's motor can automatically switch up power when the user is performing a heavy cleaning task, and automatically switch down power when the device is running in free air. In one example, filter loading is automatically taken into account by resetting the baseline operating parameter value when the device is started. This eliminates the need for the user to constantly manually control the device power and also reduces unnecessarily high-power modes that would otherwise deplete battery power and thus reduce the device's operating time.

[0256] Although air-moving devices employing these methods do not need to include information about Figures 3 to 11B The methods discussed are varied, but in some examples, both methods can be advantageously used together. For instance, different methods can be used to control different power level conversions. In one example, regarding... Figure 16 The described method can be used between free air and contact with a surface (e.g., in...) Figure 17 The initial power level transition between P1 and P2 in the equation, and regarding Figure 3 The described method can be used between higher power levels using a specific equivalent diameter (e.g., in...). Figure 17 The switching between P2 (medium) and P3 (maximum) allows the system to continuously and dynamically update the baseline as the filter loads during use, avoiding any estimations that would need to account for additional limitations imposed by the loaded filter in the algorithm. The system simply measures the baseline and updates the threshold used for switching when the motor is turned on. This ensures a consistent switching experience for the user between free air and contact with a clean surface, regardless of filter load. Another method for switching between P2 (medium) and P3 (maximum) is... Figure 3The use of this method is that as the limit increases, the estimation of the inlet equivalent diameter has a decreasing error. Therefore, this means that for low limits (i.e., free air for passive tools with a large equivalent diameter opening), the error band for inlet estimation is large and therefore less acceptable for controlling power. As the limit decreases, we can better estimate the inlet limit with an acceptable error to ensure that above a certain limit, we can consistently switch to maximum power. This improves the reliability and consistency of providing maximum power at a fixed equivalent orifice diameter.

[0257] In some examples where more than one sensor is used, using Figure 3 This approach can provide greater system control to respond to a wider range of conditions and user activities.

[0258] The above embodiments should be understood as illustrative examples of the invention. Other embodiments are contemplated. It should be understood that any feature described with respect to any embodiment may be used alone or in combination with other described features, and may also be used in combination with one or more features of any other embodiment, or in any combination of any other embodiment. Furthermore, equivalents and modifications not described above may be employed without departing from the scope of the invention as defined in the appended claims.

Claims

1. A method for controlling the input power of a motor in an air-moving device, the method comprising: A measurement process is performed to determine a first value of the operating parameter of the motor, wherein the operating parameter is the operating pressure of the motor or the airflow rate through the motor; A determination process is performed to determine baseline values ​​for the motor's operating parameters based on previous values ​​of those parameters. The input power of the motor is controlled based on a first value of the motor's operating parameters and a baseline value of the motor's operating parameters.

2. The method according to claim 1, wherein, A baseline value for the motor's operating parameters is determined in response to a predetermined variance of multiple previous values ​​of the motor's operating parameters.

3. The method according to claim 2, wherein, The predetermined variance corresponds to a threshold range of previous values ​​of the motor's operating parameters within a predetermined time period.

4. The method according to any one of claims 1 to 3, comprising performing a determining process to determine one or more thresholds of the operating parameters of the motor based on baseline values ​​of the operating parameters of the motor; and wherein, The input power of the motor is controlled based on one or more threshold values ​​of the motor's operating parameters.

5. The method according to claim 4, wherein, Controlling the input power to the motor includes reducing the input power in response to the first value falling below the threshold, or increasing the input power in response to the first value exceeding the threshold.

6. The method according to claim 5, wherein, The threshold includes an upper threshold and a lower threshold, and wherein controlling the input power to the motor includes reducing the input power in response to the first value falling below the lower threshold, and increasing the input power in response to the first value exceeding the upper threshold.

7. The method according to claim 5 or 6, further comprising preventing a decrease or increase in input power until a predetermined period of time following a previous decrease or increase in input power.

8. The method according to any one of claims 1 to 7, wherein, Controlling the motor also depends on the motor's current input power.

9. The method according to any one of claims 1 to 7, wherein, The first value corresponds to a predetermined time after input power is applied to the motor.

10. The method according to any one of claims 1 to 8, comprising updating the baseline value of the operating parameter using a first value of the determined operating parameter.

11. The method according to any one of claims 1 to 10, comprising: A determination process is performed to determine the value of the inlet restriction of the air movement device based on a first value of the operating parameters of the motor and a first predetermined relationship between the value of the operating parameters of the motor and the value of the inlet restriction of the air movement device; and The input power of the motor is controlled based on the determined inlet limit value.

12. The method according to claim 11, wherein, The operating parameter is the operating pressure, and the measurement process includes determining a first value for the operating parameter of the motor based on the following: Environmental pressure measurement; and Motor inlet pressure measurement during motor operation.

13. The method according to claim 12, wherein, The ambient pressure measurement and the motor inlet pressure measurement are performed by a single pressure sensor at different times.

14. The method according to claim 11, wherein, The measurement process includes determining a first value for the operating parameters of the motor based on the following: A first pressure measurement of the pressure at a first location within the motor assembly where the motor is located; and A second pressure measurement of the pressure at the second position in the motor assembly; The second position is downstream of the first position.

15. The method according to any one of claims 11 to 14, wherein, The first predetermined relationship associates the values ​​of the motor's operating parameters and one or more other parameters with the inlet restriction value of the air movement device, and wherein the determination process includes: The value of the ingress limit is determined based on one or more corresponding additional parameter values ​​of the one or more parameters.

16. The method according to claim 15, wherein, The one or more additional parameters include one or more of the following: Environmental pressure; Ambient temperature; Motor input power; and The construction tolerances of the air movement device.

17. The method according to claim 15 or 16, wherein, The determination process includes: A first normalized value of the operating parameter is determined by normalizing a first value of the operating parameter using one or more corresponding values ​​of the other one or more parameters; and The inlet limit value for the air movement device is determined based on normalized operating parameters.

18. The method according to any one of claims 15 to 17, wherein, The one or more additional parameters include the filter load value of the filter of the air movement device.

19. The method according to claim 18, wherein, The determination process includes determining the value of the filter load.

20. The method according to claim 19, wherein, Determining the value of the filter load includes: Performing a second measurement process includes determining a first value of a second operating parameter of the air movement device, the first value being the value of the second operating parameter when the air movement device operates under a first inlet restriction condition; and A second determination process is performed to determine the value of the filter load, the determination process including: determining the value of the filter load based on a first value of the second operating parameter and a second predetermined relationship, the second predetermined relationship relating the value of the second operating parameter to the value of the filter load for an air movement device operating under a first inlet limiting condition.

21. The method according to claim 20, wherein, The second operating parameter is: Operating pressure of the motor in the air-moving device; The speed of the motor of the air-moving device; or The airflow rate of the motor of the air movement device.

22. The method of claim 20 or claim 21, wherein determining the first value of the second operating parameter comprises: Determine multiple values ​​for the second operation parameter; Determine the distribution of multiple values ​​for the second operation parameter; Determine the first attribute of the distribution; and The first value of the second operating parameter is determined based on the first attribute of the distribution.

23. The method according to claim 22, wherein, The first property of the distribution is the minimum value in the distribution.

24. The method according to any one of claims 11 to 23, wherein, The control includes adjusting the motor input power according to a set curve that correlates the motor input power value with the inlet limit value.

25. The method according to claim 24, wherein, The set curve is a continuous curve.

26. The method according to claim 24, wherein, The set curve includes multiple discrete power levels, each of which corresponds to a specific range of values ​​for the inlet limit.

27. The method according to any one of claims 11 to 26, comprising: During the operation of the air movement device, the measurement process, the determination process, and the control are performed multiple times.

28. A set of machine-readable instructions, when executed by a processor of an air-moving device, causing the air-moving device to perform the method according to any one of claims 1 to 27.

29. An air-moving device, comprising: processor; and A memory comprising a set of machine-readable instructions that, when executed by the processor, cause the processor to perform the method according to any one of claims 1 to 27.

30. The air-moving device according to claim 29, wherein, The air-moving device is a vacuum cleaner.

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