A method for protecting a roller brush motor and an automatic cleaning device

Abstract

This invention discloses a roller brush motor protection method and an automatic cleaning device. In this invention, a corresponding overcurrent counting strategy is determined based on the operating current of the roller brush motor in each overcurrent detection cycle. Based on the updated overcurrent protection count value and the execution status of the overcurrent protection measures, the method for executing or stopping the overcurrent protection measures is determined. This reduces the number of times the overcurrent protection measures of the roller brush motor are triggered, thereby reducing the number of times the roller brush motor stops due to overcurrent, improving the working efficiency of the automatic cleaning device, and enhancing the user experience. This solves the technical problem in the prior art where the roller brush motor protection logic of automatic cleaning devices reduces the working efficiency of the automatic cleaning device.

Description

Technical Field

[0001] This application relates to the field of automation, and more particularly to a method for protecting a roller brush motor and an automatic cleaning device. Background Technology

[0002] In existing technologies, the protection logic for the roller brush motor in automatic cleaning equipment typically triggers protection when an overcurrent is detected in the roller brush motor, under the premise of temperature rise protection. However, the operating temperature of the roller brush motor increases with the duration of operation. When the roller brush motor just starts running, although there is an overcurrent, its operating temperature has not yet reached the level that requires triggering temperature rise protection. If the protection is triggered at this time, it will reduce the working efficiency of the automatic cleaning equipment and affect the user experience.

[0003] In summary, the existing protection logic for the roller brush motor in automatic cleaning equipment presents a technical problem that reduces the working efficiency of the automatic cleaning equipment. Summary of the Invention

[0004] This invention provides a roller brush motor protection method and an automatic cleaning device, which can reduce the number of times the roller brush motor overcurrent protection measures are triggered, reduce the number of times the roller brush motor stops due to overcurrent, improve the working efficiency of the automatic cleaning device, improve the user experience, and solve the technical problem that the roller brush motor protection logic of the existing automatic cleaning device reduces the working efficiency of the automatic cleaning device.

[0005] In a first aspect, embodiments of the present invention provide a method for protecting a roller brush motor, comprising:

[0006] After triggering the overcurrent detection cycle, the operating current of the roller brush motor is collected;

[0007] Based on the current range of the operating current, determine the corresponding overcurrent counting strategy;

[0008] The overcurrent protection count and overcurrent recovery count are updated according to the overcurrent counting strategy, and the overcurrent protection count is associated with the overcurrent recovery count;

[0009] Based on the overcurrent protection count and the execution status of the overcurrent protection measures, determine whether to execute or stop the overcurrent protection measures and trigger the next overcurrent detection cycle.

[0010] The step of determining the corresponding overcurrent counting strategy based on the current range of the operating current includes:

[0011] Multiple overcurrent sampling current values ​​are determined based on the operating current;

[0012] When the current range of multiple overcurrent sampling current values ​​of the operating current meets the slight overcurrent condition during the overcurrent detection cycle, the overcurrent counting strategy is determined to be the first overcurrent counting strategy, which is used to increase the value of the overcurrent protection count.

[0013] When the current range of multiple overcurrent sampling current values ​​of the operating current meets the severe overcurrent condition during the overcurrent detection cycle, the overcurrent counting strategy is determined to be the second overcurrent counting strategy. The second overcurrent counting strategy is used to increase the value of the overcurrent protection count, and the value increased by the second overcurrent counting strategy is greater than the value increased by the first overcurrent counting strategy.

[0014] When the current range of multiple overcurrent sampling current values ​​of the operating current meets the recovery condition within the overcurrent detection cycle, the overcurrent counting strategy is determined to be the third overcurrent counting strategy, which is used to increase the value of the overcurrent recovery count.

[0015] Wherein, when the overcurrent counting strategy is the first overcurrent counting strategy or the second overcurrent counting strategy, updating the overcurrent protection count and overcurrent recovery count according to the overcurrent counting strategy includes:

[0016] The overcurrent protection count is increased, and the overcurrent recovery count is cleared to zero. The increase in the overcurrent protection count is preset in the first overcurrent counting strategy and the second overcurrent counting strategy.

[0017] Wherein, when the overcurrent counting strategy is the third overcurrent counting strategy, updating the overcurrent protection count and overcurrent recovery count according to the overcurrent counting strategy includes:

[0018] The overcurrent recovery count is increased, and it is determined whether the overcurrent recovery count meets the protection count reduction condition; the value of the overcurrent recovery count increase is preset in the third overcurrent counting strategy.

[0019] If the protection count reduction condition is met, the value of the overcurrent protection count is reduced, and the overcurrent recovery count is cleared to zero.

[0020] This also includes:

[0021] If the overcurrent protection count exceeds the overcurrent protection execution threshold, the overcurrent protection count is updated to the overcurrent protection execution threshold.

[0022] The step of determining whether to execute or stop the overcurrent protection measure and triggering the next overcurrent detection cycle based on the overcurrent protection count and the execution status of the overcurrent protection measure includes:

[0023] If the overcurrent protection count reaches the overcurrent protection execution threshold and the overcurrent protection measure is not executed, the overcurrent protection measure is executed and the next overcurrent detection cycle is triggered;

[0024] If the overcurrent protection count is less than the overcurrent protection stop threshold and the overcurrent protection measure has already been executed, the overcurrent protection measure is stopped and the next overcurrent detection cycle is triggered.

[0025] The overcurrent protection measure is to control the roller brush motor to run for a first preset duration.

[0026] This also includes:

[0027] After the stall detection cycle is triggered, the operating current of the roller brush motor is collected;

[0028] The corresponding stall protection counting strategy is determined based on the current range of the operating current.

[0029] The stall protection count and stall recovery count are updated according to the stall protection counting strategy, and the stall protection count is associated with the stall recovery count;

[0030] Based on the stall protection count, determine whether to implement stall protection measures and trigger the next overcurrent detection cycle.

[0031] The step of determining the corresponding stall protection counting strategy based on the current range of the operating current includes:

[0032] Multiple stall sampling current values ​​are determined based on the operating current;

[0033] When the current range of multiple stall sampling current values ​​of the operating current meets the stall condition within the stall detection cycle, the stall protection counting strategy is determined to be the protection count increment strategy. The protection count increment strategy is used to increase the value of the stall protection count and clear the stall recovery count to zero.

[0034] When the current range of multiple stall sampling current values ​​of the operating current does not meet the stall condition within the stall detection cycle, the stall protection counting strategy is determined to be a recovery count increment strategy. The recovery count increment strategy is used to increase the value of the stall recovery count. If the stall recovery count increases continuously in a first preset number of stall detection cycles, the value of the stall protection count is decreased. If the stall recovery count increases continuously in a second preset number of stall detection cycles, the stall protection count is cleared to zero. The second preset number is greater than the first preset number.

[0035] The process, after determining whether to implement stall protection measures based on the stall protection count, further includes:

[0036] Determine whether the stall protection count has reached the shutdown threshold;

[0037] When the stall protection count reaches the shutdown threshold, the roller brush motor is controlled to stop running and exit the stall detection cycle.

[0038] Secondly, embodiments of the present invention provide an automatic cleaning device, the automatic cleaning device including a processor and a memory;

[0039] The memory is used to store computer programs and to transfer the computer programs to the processor;

[0040] The processor is configured to execute a brush motor protection method as described in the first aspect, according to instructions in the computer program.

[0041] This invention discloses a method for protecting a roller brush motor and an automatic cleaning device. In this invention, based on the operating current of the roller brush motor in each overcurrent detection cycle, a corresponding overcurrent counting strategy is determined. The overcurrent protection count and overcurrent recovery count are updated according to the overcurrent counting strategy, and the overcurrent protection count and overcurrent recovery count are correlated during the update process. Finally, based on the updated overcurrent protection count and the execution status of the overcurrent protection measures, it is determined whether to execute or stop the overcurrent protection measures before triggering the next overcurrent detection cycle. This invention, by determining the corresponding overcurrent counting strategy based on the operating current of the roller brush motor in each overcurrent detection cycle, and determining whether to execute or stop the overcurrent protection measures based on the updated overcurrent protection count and the execution status of the overcurrent protection measures, can reduce the number of times the roller brush motor's overcurrent protection measures are triggered, thereby reducing the number of times the roller brush motor stops due to overcurrent, improving the working efficiency of the automatic cleaning device, and improving the user experience. It solves the technical problem in the prior art where the roller brush motor protection logic of automatic cleaning devices reduces the working efficiency of the automatic cleaning device. Attached Figure Description

[0042] Figure 1 This is one of the flowcharts of a method for protecting a roller brush motor provided in an embodiment of the present invention.

[0043] Figure 2 This is a second schematic flowchart of a brush motor protection method provided in an embodiment of the present invention.

[0044] Figure 3 This is one of the schematic diagrams of a brush motor protection method provided in an embodiment of the present invention.

[0045] Figure 4 This is the third flowchart illustrating a brush motor protection method provided in an embodiment of the present invention.

[0046] Figure 5 This is the fourth flowchart illustrating a brush motor protection method provided in an embodiment of the present invention.

[0047] Figure 6 This is the second schematic diagram of a brush motor protection method provided in an embodiment of the present invention.

[0048] Figure 7 This is a schematic diagram of an automatic cleaning device provided in an embodiment of the present invention. Detailed Implementation

[0049] The following description and accompanying drawings fully illustrate specific embodiments of this application to enable those skilled in the art to practice them. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. The scope of embodiments of this application includes the entire scope of the claims and all available equivalents of the claims. In this document, each embodiment may be referred to individually or collectively by the term "invention," which is merely for convenience and is not intended to automatically limit the scope of the application to any single invention or inventive concept if more than one invention is disclosed. Relational terms such as "first" and "second" are used herein only to distinguish one entity or operation from another, without requiring or implying any actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed. The various embodiments in this document are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the structures, products, etc., disclosed in the embodiments, since they correspond to the disclosed parts, the descriptions are relatively simple; relevant details can be found in the method section.

[0050] Figure 1This is one of the flowcharts of a roller brush motor protection method provided in this embodiment of the invention. The roller brush motor protection method in this application embodiment is used in an automatic cleaning device. This automatic cleaning device is equipped with a lidar, a water tank, cleaning modules such as roller brushes and cloths, and motion modules such as wheels. The electronically controlled components in these modules, as well as the lidar, are controlled by the microprocessor of the automatic cleaning device. Accordingly, the data collected by the lidar can be sent to the microprocessor for processing. The microprocessor can generate control commands based on the received data and send the control commands to the cleaning and motion modules to achieve work control under specific environmental conditions. Additionally, there are charging modules, communication modules, etc., which, along with the positioning module, cleaning module, and motion module, can be implemented with reference to relevant automatic cleaning device technology. Specific installation methods and basic working principles are not elaborated here, nor are the corresponding working contents described in detail. For example, the process of returning to the charging station and recharging via the charging module after cleaning is not described in detail.

[0051] Cleaning modules such as roller brushes in automated cleaning equipment require roller brush motors for driving. In existing technology, the protection logic for roller brush motors in automated cleaning equipment typically ensures that the operating temperature remains within the tolerable range of the roller brush motor and its structural components. When an overcurrent is detected in the roller brush motor, a protection action is triggered. Specifically, if the roller brush motor current exceeds a preset threshold within a set sampling period, the roller brush motor is stopped, waits for a preset duration, and then restarts.

[0052] However, the operating temperature of the roller brush motor increases with runtime. When the roller brush motor first starts running, although it experiences overcurrent, its operating temperature hasn't yet reached the level requiring temperature rise protection. If the roller brush motor is stopped at this point, the automatic cleaning equipment will stop working, reducing its efficiency. This is especially problematic when cleaning surfaces with high resistance, such as carpets. Due to the large contact area between the roller brush and the carpet, the resistance is significant. The automatic cleaning equipment needs to increase the current of the roller brush motor to drive its rotation during carpet cleaning. In this situation, the roller brush motor is prone to overcurrent. Once overcurrent occurs, the protection mechanism is triggered, severely impacting the cleaning efficiency of the automatic cleaning equipment and affecting the user experience.

[0053] Based on this, in order to solve the above-mentioned technical problems, the present invention provides a method for protecting a roller brush motor, such as... Figure 1 As shown, the brush motor protection method includes the following steps:

[0054] Step 101: After triggering the overcurrent detection cycle, collect the operating current of the roller brush motor.

[0055] First, once the automatic cleaning equipment begins its cleaning task, an overcurrent detection cycle is triggered. During this cycle, the operating current of the brush motor driving the brush rotation needs to be collected in real time. This operating current can be collected using a current sensor, such as a Rogowski coil current sensor or a Hall effect sensor, etc. The specific type can be selected according to actual needs; this embodiment does not impose a specific limitation. Additionally, the sampling frequency of the operating current also needs to be preset; for example, it can be set to sample once every 1 millisecond. In this embodiment, the duration of the overcurrent detection cycle needs to be preset for the automatic cleaning equipment; for example, the duration can be set to 1 second or 2 seconds, etc. The specific duration of the overcurrent detection cycle can be set according to actual needs; this embodiment does not impose a specific limitation.

[0056] Step 102: Determine the corresponding overcurrent counting strategy based on the current range of the operating current.

[0057] At the end of the overcurrent detection cycle, the automatic cleaning equipment needs to determine the overcurrent counting strategy corresponding to the current overcurrent detection cycle based on the operating current range collected during the cycle. This overcurrent counting strategy is used to update the overcurrent protection count and overcurrent recovery count, and it needs to be preset. The overcurrent protection count counts the number of times the roller brush motor experiences overcurrent. This count reflects, to some extent, the increase in the roller brush motor's operating temperature; that is, the more times the roller brush motor experiences overcurrent, the higher its operating temperature will become. The overcurrent recovery count counts the number of times the roller brush motor does not experience overcurrent. This count reflects, to some extent, the decrease in the roller brush motor's operating temperature; when the roller brush motor does not experience overcurrent, the increased operating temperature during overcurrent will decrease. In this embodiment, the overcurrent counting strategy is different when the operating current is in different current ranges. For example, when the operating current range is large, the overcurrent counting strategy is to increase the overcurrent protection count, while when the operating current range is small, the overcurrent counting strategy is to increase the overcurrent recovery count.

[0058] Step 103: Update the overcurrent protection count and overcurrent recovery count according to the overcurrent counting strategy, and the overcurrent protection count and overcurrent recovery count are associated.

[0059] Once the overcurrent counting strategy is determined, the overcurrent protection count and overcurrent recovery count can be updated according to the strategy, either by increasing the overcurrent protection count or the overcurrent recovery count. It can be understood that for the current overcurrent detection cycle, the initial values ​​of the overcurrent protection count and the overcurrent recovery count are the same as those updated after the end of the previous overcurrent detection cycle. It should be noted that in this embodiment, the overcurrent protection count and the overcurrent recovery count are related; that is, the values ​​of the overcurrent protection count and the overcurrent recovery count influence each other. In one embodiment, the overcurrent protection count decreases as the overcurrent recovery count increases. This is because when the overcurrent recovery count increases, the time the brush motor does not experience overcurrent increases, causing the operating temperature of the brush motor to decrease; therefore, the overcurrent protection count needs to be reduced. For example, when the overcurrent recovery count increases by 3, the overcurrent protection count can be reduced by 1.

[0060] Step 104: Based on the overcurrent protection count and the execution status of the overcurrent protection measures, determine whether to execute or stop the overcurrent protection measures and trigger the next overcurrent detection cycle.

[0061] After updating the overcurrent protection count and overcurrent recovery count for the current overcurrent detection cycle, the automatic cleaning equipment needs to determine whether to execute or stop the overcurrent protection measures based on the updated overcurrent protection count and the execution status of the overcurrent protection measures. Since the overcurrent protection count reflects the increase in the operating temperature of the roller brush motor to some extent, a high overcurrent protection count indicates that the operating temperature of the roller brush motor is too high. If the overcurrent protection measures are not yet executed, they need to be executed. If the updated overcurrent protection count is low, it indicates that the operating temperature of the roller brush motor is still within a tolerable range, and overcurrent protection measures are not required. If the updated overcurrent protection count is low and the overcurrent protection measures are being executed, they can be stopped. Then, the next overcurrent detection cycle can be triggered, and the above process will be executed in the next overcurrent detection cycle. The specific process will not be elaborated further. It should also be noted that the overcurrent protection count and overcurrent recovery count need to be reset to zero each time the automatic cleaning equipment restarts or pauses a cleaning task.

[0062] The present invention provides a method for protecting a roller brush motor. In this embodiment, a corresponding overcurrent counting strategy is determined based on the operating current of the roller brush motor in each overcurrent detection cycle. The overcurrent protection count and overcurrent recovery count are updated according to the overcurrent counting strategy, and the overcurrent protection count and overcurrent recovery count are correlated during the update process. Finally, based on the updated overcurrent protection count and the execution status of the overcurrent protection measures, it is determined whether to execute or stop the overcurrent protection measures before triggering the next overcurrent detection cycle. This method, which determines the corresponding overcurrent counting strategy based on the operating current of the roller brush motor in each overcurrent detection cycle and determines whether to execute or stop the overcurrent protection measures based on the updated overcurrent protection count and the execution status of the overcurrent protection measures, reduces the number of times the roller brush motor's overcurrent protection measures are triggered, thereby reducing the number of times the roller brush motor stops due to overcurrent, improving the working efficiency of the automatic cleaning equipment, and enhancing the user experience. It solves the technical problem in the prior art where the protection logic of the roller brush motor in automatic cleaning equipment reduces the working efficiency of the automatic cleaning equipment.

[0063] This invention also provides another method for protecting the roller brush motor; please refer to [the relevant documentation]. Figure 2 , Figure 2 This is a second schematic flowchart of a brush motor protection method provided in an embodiment of the present invention. Figure 2 The illustrated roller brush motor protection method is a specific embodiment of the aforementioned roller brush motor protection method. Figure 2 The methods for protecting the roller brush motor include:

[0064] Step 201: After triggering the overcurrent detection cycle, collect the operating current of the roller brush motor.

[0065] Step 202: Determine multiple overcurrent sampling current values ​​based on the operating current.

[0066] In this embodiment, after acquiring the operating current, it is necessary to further determine multiple overcurrent sampling current values, where the operating current is a set of multiple overcurrent sampling current values. It can be understood that the number of overcurrent sampling current values ​​is determined by the sampling frequency of the operating current. For example, when the overcurrent detection cycle duration is 1 second and the sampling frequency is once every 1 millisecond, then the number of overcurrent sampling current values ​​in one overcurrent detection cycle is 1000.

[0067] Step 203: When the current range of multiple overcurrent sampling current values ​​of the operating current meets the minor overcurrent condition during the overcurrent detection cycle, the overcurrent counting strategy is determined to be the first overcurrent counting strategy. The first overcurrent counting strategy is used to increase the value of the overcurrent protection count.

[0068] In this embodiment, for multiple overcurrent sampling current values ​​of the operating current within the current overcurrent detection cycle, if the current range of the multiple overcurrent sampling current values ​​meets a preset minor overcurrent condition, then the overcurrent counting strategy is determined to be the first overcurrent counting strategy. The first overcurrent counting strategy is used to increase the overcurrent protection count, for example, by increasing the overcurrent protection count by 1, i.e., increasing the overcurrent protection count by 1 when the minor overcurrent condition is met. In this embodiment, the minor overcurrent condition is used to characterize a minor overcurrent in the operating current of the brush motor. In one embodiment, the minor overcurrent condition can be set to the number of multiple overcurrent sampling current values ​​within a first preset current range reaching a first preset percentage. The first preset current range and the first preset percentage need to be manually preset. For example, the first preset current range can be set to 0.8A to 1A, and the first preset percentage can be set to 90%, i.e., when 90% of the overcurrent sampling current values ​​are within 0.8A to 1A, the first overcurrent counting strategy is determined to be adopted, and the overcurrent protection count is increased by 1.

[0069] Step 204: When the current range of multiple overcurrent sampling current values ​​of the operating current meets the severe overcurrent condition during the overcurrent detection cycle, the overcurrent counting strategy is determined to be the second overcurrent counting strategy. The second overcurrent counting strategy is used to increase the value of the overcurrent protection count, and the value increased by the second overcurrent counting strategy is greater than the value increased by the first overcurrent counting strategy.

[0070] For multiple overcurrent sampling current values ​​of the operating current within the current overcurrent detection cycle, if the current range of the multiple overcurrent sampling current values ​​meets a preset severe overcurrent condition, then the overcurrent counting strategy is determined to be the second overcurrent counting strategy. The second overcurrent counting strategy is used to increase the overcurrent protection count, and the increase in the second overcurrent counting strategy is greater than the increase in the first overcurrent counting strategy. In this embodiment, the severe overcurrent condition is used to characterize a severe overcurrent in the operating current of the brush motor. The second overcurrent statistical condition is that the number of overcurrent sampling current values ​​within a second preset current range reaches a second preset percentage, and the second preset current range is greater than the first preset current range. For example, in this embodiment, the second preset current range can be set to 1A to 1.2A. Since the second preset current range is greater than the first preset current range, when the overcurrent sampling current value is within the second preset current range, the heat generated by the current is greater than the heat generated when the overcurrent sampling current value is within the first preset current range. Therefore, the increase in the overcurrent protection count is greater than the increase under the minor overcurrent condition. For example, if the overcurrent protection count increases by 1 in the first overcurrent counting strategy, then the overcurrent protection count increases by 2 in the second overcurrent counting strategy. That is, when 90% of the overcurrent sampling current values ​​are within the range of 1A to 1.2A, the second overcurrent counting strategy is adopted, and the overcurrent protection count is increased by 2.

[0071] Step 205: When the current range of multiple overcurrent sampling current values ​​of the operating current meets the recovery condition during the overcurrent detection cycle, the overcurrent counting strategy is determined to be the third overcurrent counting strategy. The third overcurrent counting strategy is used to increase the value of the overcurrent recovery count.

[0072] If the current range of multiple overcurrent sampling current values ​​meets the preset recovery condition, then the overcurrent counting strategy is determined to be the third overcurrent counting strategy. The third overcurrent counting strategy is used to increase the overcurrent recovery count. The increase in the overcurrent recovery count can be set according to actual needs; the increase can be 1, meaning that when the recovery condition is met, the overcurrent recovery count is increased by 1. In this embodiment, the recovery condition is used to characterize that the operating current of the brush motor is not excessive. For example, the recovery condition is that the number of multiple overcurrent sampling current values ​​less than the first preset current value reaches a third preset percentage. Similarly, the first preset current value also needs to be preset. For example, the first preset current value can be set to 800mA, and the third preset percentage can be set to 90%. That is, when 90% of the overcurrent sampling current values ​​are less than 800mA, the third overcurrent counting strategy is determined to be used, and the overcurrent recovery count is increased by 1.

[0073] Step 206: Update the overcurrent protection count and overcurrent recovery count according to the overcurrent counting strategy, and the overcurrent protection count and overcurrent recovery count are associated.

[0074] Once the overcurrent counting strategy is determined, the overcurrent protection count and overcurrent recovery count can be updated based on the overcurrent count. Specifically, when the overcurrent counting strategy is either the first or the second overcurrent counting strategy, updating the overcurrent protection count and overcurrent recovery count according to the overcurrent counting strategy includes:

[0075] Step 2061: Increase the overcurrent protection count and clear the overcurrent recovery count. The value of the overcurrent protection count increase is preset in the first overcurrent counting strategy and the second overcurrent counting strategy.

[0076] In one embodiment, when the overcurrent counting strategy is the first overcurrent counting strategy, the overcurrent protection count needs to be increased according to the value required by the overcurrent protection count set in the first overcurrent counting strategy, for example, by incrementing the overcurrent protection count by 1 as mentioned above. When the overcurrent counting strategy is the second overcurrent counting strategy, the overcurrent protection count needs to be increased according to the value required by the overcurrent protection count set in the second overcurrent counting strategy, for example, by incrementing the overcurrent protection count by 2 as mentioned above. It should also be noted that in this embodiment, when increasing the overcurrent protection count, the overcurrent recovery count needs to be reset to zero. This is because the heat accumulated during each overcurrent event requires a certain amount of time to dissipate; therefore, the overcurrent recovery count needs to start counting from zero to allow sufficient time for the operating temperature of the brush motor to decrease.

[0077] When the overcurrent counting strategy is the third overcurrent counting strategy, the overcurrent protection count and overcurrent recovery count are updated according to the overcurrent counting strategy, including:

[0078] Step 2062: Increase the overcurrent recovery count and determine whether the overcurrent recovery count meets the protection count reduction condition; the value of the overcurrent recovery count increase is preset in the third overcurrent counting strategy.

[0079] Step 2063: If the protection count reduction condition is met, reduce the value of the overcurrent protection count and clear the overcurrent recovery count to zero.

[0080] When the overcurrent counting strategy is the third overcurrent counting strategy, the overcurrent recovery count needs to be increased according to the value set in the third overcurrent counting strategy, for example, by +1. Furthermore, in this embodiment, after updating the overcurrent recovery count, it is necessary to further determine whether the overcurrent recovery count meets the protection count reduction condition. If the overcurrent recovery count meets the protection count reduction condition, the value of the overcurrent protection count needs to be reduced, and the overcurrent recovery count reset to zero. In one embodiment, the protection count reduction condition can be set to the overcurrent recovery count reaching a first preset threshold, for example, the first preset threshold can be set to 3. Since the overcurrent recovery count needs to be reset to zero after each increase in the overcurrent protection count, the overcurrent recovery count can only reach the first preset threshold if the recovery condition is met within multiple consecutive overcurrent detection cycles. That is, the first preset threshold essentially reflects the cooling time reserved for the brush motor. In one embodiment, the first preset threshold can be set to 3, that is, when the overcurrent recovery count reaches 3, the value of the overcurrent protection count can be reduced. The reduction of the overcurrent protection count means that the operating temperature of the roller brush motor decreases. The value of the reduction of the overcurrent protection count can be set to 1, that is, when the overcurrent recovery count reaches 3, the overcurrent protection count is reduced by 1.

[0081] Step 207: If the overcurrent protection count reaches the overcurrent protection execution threshold and no overcurrent protection measures are implemented, implement the overcurrent protection measures and trigger the next overcurrent detection cycle.

[0082] In this embodiment, if the overcurrent protection count is greater than or equal to the overcurrent protection execution threshold, and the overcurrent protection measures for the roller brush motor are not currently being implemented, then it is determined that the overcurrent protection measures for the roller brush motor will be implemented. The overcurrent protection execution threshold can be set based on the maximum operating temperature that the roller brush motor can withstand. For example, if the overcurrent protection count reaches 600, the operating temperature of the roller brush motor exceeds its tolerance range, and the overcurrent protection execution threshold can be set to 600. When the overcurrent protection count is greater than or equal to the overcurrent protection execution threshold and the overcurrent protection measures for the roller brush motor are not being implemented, then it is determined that the protection measures will be implemented and the next overcurrent detection cycle will begin. In one embodiment, the overcurrent protection measure for the roller brush motor is to control the roller brush motor to run cyclically for a first preset duration. For example, the roller brush motor can be controlled to cycle for 1 second and then stop for 3 seconds, so that while reducing the operating temperature of the roller brush motor, the automatic cleaning equipment can continue to operate, ensuring the cleaning efficiency of the automatic cleaning equipment.

[0083] Based on the above embodiments, it also includes:

[0084] If the overcurrent protection count exceeds the overcurrent protection execution threshold, the overcurrent protection count will be updated to the overcurrent protection execution threshold.

[0085] In one embodiment, when the automatic cleaning device detects that the overcurrent protection count exceeds the overcurrent protection execution threshold, the device needs to update the overcurrent protection count to the threshold. The reason for limiting the maximum overcurrent protection count to the threshold in this embodiment is that without this limit, the count might continue to increase, requiring multiple consecutive increases before it decreases. However, the operating temperature of the roller brush motor may have already dropped to a manageable level, thus prolonging the overcurrent protection time and affecting the efficiency of the automatic cleaning device. Therefore, limiting the overcurrent protection count to the threshold ensures that the operating temperature decreases after the overcurrent protection measures are implemented, while minimizing the duration of the overcurrent protection and maximizing the efficiency of the automatic cleaning device.

[0086] Step 208: If the overcurrent protection count is less than the overcurrent protection stop threshold and the overcurrent protection measures have been implemented, stop the overcurrent protection measures and trigger the next overcurrent detection cycle. The overcurrent protection measures are to control the brush motor to run for a first preset duration.

[0087] If the overcurrent protection count is less than the overcurrent protection stop threshold, and the overcurrent protection measure for the roller brush motor is currently being implemented, the overcurrent protection measure for the roller brush motor will be stopped and the next overcurrent detection cycle will begin, since the operating temperature of the roller brush motor has already decreased. It is understood that, to allow sufficient time for the operating temperature of the roller brush motor to cool down, the overcurrent protection stop threshold needs to be less than the overcurrent protection execution threshold; for example, the overcurrent protection stop threshold can be set to 590. When the overcurrent protection count is less than 590 and the overcurrent protection measure for the roller brush motor is currently being implemented, the overcurrent protection measure will be stopped, and the next overcurrent detection cycle will begin. The principle and steps of the next overcurrent detection cycle are the same as those of the current overcurrent detection cycle, and will not be repeated in this embodiment.

[0088] For example, such as Figure 3 The diagram shown is one of the schematic diagrams of a roller brush motor protection method provided by an embodiment of the present invention. When the automatic cleaning equipment starts performing a cleaning task, the operating current of the roller brush motor of the automatic cleaning equipment can be collected in real time, and the sampling time of 1 second is defined as one overcurrent detection cycle. Within the current overcurrent detection cycle, when 90% of the overcurrent sampling current values ​​are within 1A to 1.2A, the overcurrent protection count is incremented by 2; when 90% of the overcurrent sampling current values ​​are within 0.8A to 1A, the overcurrent protection count is incremented by 1. Furthermore, when increasing the overcurrent protection count, the overcurrent recovery count is reset to zero, and the maximum value of the overcurrent protection count is limited to 600. Then, it is determined whether the overcurrent protection count is equal to 600. If it is equal to 600 and the overcurrent protection measures for the roller brush motor are not currently being implemented, the overcurrent protection measures for the roller brush motor are implemented, and the next overcurrent detection cycle begins. During the current overcurrent detection cycle, when 90% of the overcurrent sampling current values ​​are less than 0.8A, the overcurrent recovery count is incremented by 1. It is then checked whether the overcurrent recovery count is greater than or equal to 3. If it is, the overcurrent protection count is decremented by 1, and the overcurrent recovery count is reset to zero. Next, it is checked whether the overcurrent protection count is less than 590. If it is less than 590 and the overcurrent protection measures for the brush motor have already been implemented, the overcurrent protection measures for the brush motor are stopped, and the next overcurrent detection cycle begins.

[0089] The above-described embodiments of the present invention provide a brush motor protection method. Within each overcurrent detection cycle, when multiple overcurrent sampling current values ​​of the operating current meet either a minor overcurrent condition or a severe overcurrent condition, the overcurrent protection count is increased, and the overcurrent recovery count is reset to zero. Conversely, when multiple overcurrent sampling current values ​​meet the recovery condition, the overcurrent recovery count is increased, and if the overcurrent recovery count meets the protection count reduction condition, the overcurrent protection count is decreased, and the overcurrent recovery count is reset to zero. Finally, for the updated overcurrent protection count, when the overcurrent protection count is greater than the overcurrent protection execution threshold, the brush motor overcurrent protection measures are executed; when the overcurrent protection count is less than the overcurrent protection stop threshold, the execution of the brush motor overcurrent protection measures is stopped. In this embodiment of the invention, the overcurrent protection count and overcurrent recovery count are updated based on the operating current of the roller brush motor collected in each overcurrent detection cycle. The method of determining whether to implement overcurrent protection measures for the roller brush motor based on the updated overcurrent protection count value can reduce the number of times the roller brush motor overcurrent protection measures are triggered, thereby reducing the number of times the roller brush motor stops due to overcurrent, improving the working efficiency of the automatic cleaning equipment, and improving the user experience. This solves the technical problem of reduced working efficiency of the roller brush motor protection logic in the prior art.

[0090] This invention also provides another method for protecting the roller brush motor; please refer to [the relevant documentation]. Figure 4 , Figure 4 This is the third flowchart illustrating a brush motor protection method provided in an embodiment of the present invention. Figure 4 The illustrated roller brush motor protection method is a specific embodiment of the aforementioned roller brush motor protection method. Figure 4 The methods for protecting the roller brush motor include:

[0091] Step 301: After triggering the stall detection cycle, collect the operating current of the roller brush motor.

[0092] Step 302: Determine the corresponding stall protection counting strategy based on the current range of the operating current.

[0093] In this embodiment, while performing overcurrent detection on the roller brush motor, it is also necessary to perform stall detection on the roller brush motor. Specifically, the user needs to pre-set the duration of the stall detection cycle for the automatic cleaning equipment, where the stall detection cycle is the cycle for determining whether to implement the roller brush motor stall protection measure. Similarly, the start time of the first stall detection cycle is the moment when the automatic cleaning equipment begins to collect the operating current in real time. When the operating current collection time reaches the duration of the stall detection cycle, the next stall detection cycle begins. It should also be noted that the duration of the stall detection cycle in this embodiment differs from the duration of the overcurrent detection cycle. Considering that the operating current rises relatively quickly when the roller brush motor stalls, the duration of the stall detection cycle can be shorter than the duration of the overcurrent detection cycle in this embodiment; for example, the duration of the stall protection cycle can be set to 0.8 seconds.

[0094] For the stall detection cycle corresponding to the current moment, after the current stall detection cycle ends, the automatic cleaning equipment needs to determine the stall protection counting strategy corresponding to the ended stall detection cycle based on the operating current range collected during the stall detection cycle. The stall protection counting strategy is used to update the stall protection count and stall recovery count, and it needs to be preset. In this embodiment, the stall protection count is used to count the number of times the roller brush motor stalls. The stall protection count reflects, to some extent, the increase in the operating temperature of the roller brush motor. Since the current of the roller brush motor increases when it stalls, the more stalls occur, the higher the operating temperature of the roller brush motor will gradually become. The stall recovery count is used to count the number of times the roller brush motor does not stall. The stall recovery count reflects, to some extent, the decrease in the operating temperature of the roller brush motor. When the roller brush motor does not stall, its operating temperature will decrease and tend to stabilize.

[0095] Step 303: Update the stall protection count and stall recovery count according to the stall protection counting strategy, and the stall protection count and stall recovery count are associated.

[0096] Once the stall counting strategy is determined, the stall protection count and stall recovery count can be updated according to the strategy, either by increasing the stall protection count or the stall recovery count. It can be understood that for the current stall detection cycle, the initial values ​​of the stall protection count and the stall recovery count are the same as those updated after the end of the previous stall detection cycle. It should be noted that in this embodiment, the stall protection count and the stall recovery count are related; that is, the values ​​of the stall protection count and the stall recovery count influence each other. In one embodiment, the stall protection count decreases as the stall recovery count increases. This is because when the stall recovery count increases, the time the brush motor is not stalled increases, causing the operating temperature of the brush motor to decrease; therefore, the stall protection count needs to be reduced. For example, when the stall recovery count increases by 2, the stall protection count can be reduced by 1.

[0097] Step 304: Based on the stall protection count, determine whether to implement stall protection measures and trigger the next overcurrent detection cycle.

[0098] After updating the stall protection count, it can be determined whether to implement stall protection measures based on the updated count. Since the stall protection count reflects the number of times the brush motor stalls, when the brush motor stalls, its operating temperature rises sharply, requiring the triggering of stall protection measures. Therefore, in this embodiment, the execution of stall protection measures can be determined when the stall protection count increases within the current stall detection cycle. Overcurrent protection measures for the brush motor can include controlling the brush motor to stop rotating for a preset time, such as controlling the brush motor to stop rotating for 3 seconds. If the stall protection count does not increase within the current stall detection cycle, stall protection measures are not implemented. The process then continues into the next stall detection cycle, and steps 301 to 304 are executed within the next stall detection cycle. The specific process will not be elaborated further.

[0099] The roller brush motor protection method provided in the above-described embodiments of the present invention further updates the stall protection count and stall recovery count based on the operating current within each stall detection cycle. Then, based on the updated stall protection count, it determines whether to implement stall protection measures for the roller brush motor before proceeding to the next stall detection cycle. The method in this embodiment of the present invention, which determines whether to implement stall protection measures for the roller brush motor by updating the stall protection count within each stall detection cycle, can reduce the time the roller brush motor stops due to stalling, improve the working efficiency of the automatic cleaning equipment, enhance the user experience, and solve the technical problem in the prior art where the roller brush motor protection logic of automatic cleaning equipment reduces the working efficiency of the automatic cleaning equipment.

[0100] This invention also provides another method for protecting the roller brush motor; please refer to [the relevant documentation]. Figure 5 , Figure 5 This is the fourth flowchart illustrating a brush motor protection method provided in an embodiment of the present invention. Figure 5 The illustrated roller brush motor protection method is a specific embodiment of the aforementioned roller brush motor protection method. Figure 5 The methods for protecting the roller brush motor include:

[0101] Step 401: After triggering the stall detection cycle, collect the operating current of the roller brush motor.

[0102] Step 402: Determine multiple stall sampling current values ​​based on the operating current.

[0103] Step 403: When the current range of multiple stalled sampling current values ​​of the operating current meets the stalled condition within the stalled detection cycle, the stalled protection counting strategy is determined to be the protection count increment strategy. The protection count increment strategy is used to increase the value of the stalled protection count and clear the stalled recovery count to zero.

[0104] In this embodiment, for multiple stalled current sampling values ​​of the operating current within the current stalled detection cycle, if the multiple stalled current sampling values ​​meet a preset stalled condition, the stalled protection counting strategy is determined to be a protection count increment strategy. This protection count increment strategy is used to increase the stalled protection count and reset the stalled recovery count to zero. For example, the increment value of the stalled protection count can be set to 1, meaning that when the stalled condition is met, the stalled protection count increases by 1. In one embodiment, the stalled condition is that the number of stalled current sampling values ​​of the operating current that are greater than a second preset current value reaches a fourth preset percentage. The second preset current value and the fourth preset percentage need to be manually preset. For example, the second preset current value can be set to 1.2A, and the fourth preset percentage can be set to 60%, meaning that when 60% of the stalled current sampling values ​​are greater than 1.2A, the stalled protection count increases by 1. In addition, in this embodiment, while the stall protection count increases, the stall recovery count needs to be reset to zero. This is because the heat accumulated each time the motor stalls takes a certain amount of time to dissipate. Therefore, the stall recovery count needs to start counting from zero to allow sufficient time for the operating temperature of the roller brush motor to drop.

[0105] Step 404: When the current range of multiple stalled sampling current values ​​of the operating current does not meet the stalled condition within the stalled detection cycle, the stalled protection counting strategy is determined to be the recovery count increment strategy. The recovery count increment strategy is used to increase the value of the stalled recovery count. If the stalled recovery count increases continuously in the first preset number of stalled detection cycles, the value of the stalled protection count is decreased. If the stalled recovery count increases continuously in the second preset number of stalled detection cycles, the stalled protection count is cleared to zero. The second preset number is greater than the first preset number.

[0106] When multiple stall current sampling values ​​do not meet the preset stall conditions, the stall protection counting strategy is determined to be a recovery count increment strategy. This strategy increases the stall recovery count, for example, by 1. Furthermore, the recovery count increment strategy also decreases the stall protection count when the stall recovery count continuously increases within a first preset number of stall detection cycles. This is because when the stall recovery count continuously increases within the first preset number of stall detection cycles, it indicates that the brush motor has not stalled for a period of time, meaning the operating temperature of the brush motor tends to stabilize, thus reducing the stall protection count. In one embodiment, the first preset number can be set to 2, meaning that when the stall recovery count increases by 1 twice consecutively, the stall protection count is decreased by 1.

[0107] In addition, the recovery count increment strategy is also used to reset the stall protection count to zero when the stall recovery count increases continuously within a second preset number of stall detection cycles. The second preset number is greater than the first preset number. For example, when the first preset number is 2, the second preset number can be set to 5, meaning that when the stall recovery count increases by 1 five times consecutively, the stall protection count is directly reset to zero. It can be understood that when the stall recovery count increases continuously within the second preset number, it indicates that the brush motor has not experienced a stall for a considerable period, and the operating temperature and state of the brush motor have stabilized; therefore, the stall protection count can be reset to zero.

[0108] Step 405: Update the stall protection count and stall recovery count according to the stall protection counting strategy, and the stall protection count and stall recovery count are associated.

[0109] Step 406: Based on the stall protection count, determine whether to implement stall protection measures and trigger the next overcurrent detection cycle.

[0110] Finally, the execution strategy for the stall protection measures of the roller brush motor can be determined based on the stall protection count. Specifically, if an increase in the stall protection count is detected, the roller brush motor is controlled to stop running for 3 seconds. In one embodiment, it can be further determined whether the stall protection count has reached the shutdown threshold; if the stall protection count reaches the shutdown threshold, the roller brush motor is controlled to stop running and an alarm is triggered. After the stall protection count is cleared to zero, the stall detection cycle is exited. The shutdown threshold can be determined based on the maximum number of stalls the roller brush motor can withstand. For example, in this embodiment, the shutdown threshold can be set to 21. That is, when the stall protection count reaches 21, the roller brush motor is controlled to stop running, the automatic cleaning equipment pauses the cleaning task and triggers an alarm, and the stall protection count is cleared to zero so that the stall protection count starts counting from zero when the subsequent cleaning task restarts. In addition, the stall protection count and stall recovery count need to be cleared each time the automatic cleaning equipment restarts the cleaning task and pauses the cleaning task.

[0111] In one embodiment, please refer to Figure 6 , Figure 6 This is the second schematic diagram of a brush motor protection method provided in an embodiment of the present invention. Figure 6 In this system, once the automatic cleaning equipment begins its cleaning task, it simultaneously performs overcurrent and stall detection on the roller brush motor. During the stall detection cycle, if 60% of the stall sampling current values ​​are greater than 1.2A, the stall protection counter is incremented by 1, the roller brush motor is stopped for three seconds, and the stall recovery counter is reset to zero. Afterward, it checks if the stall protection counter is greater than 21. If it is less than 21, the next stall detection cycle begins. If it is greater than 21, the roller brush motor is stopped, the cleaning task is paused, an alarm is triggered, and the stall protection counter is reset to zero. Conversely, if 60% of the stall sampling current values ​​are less than or equal to 1.2A, the stall recovery counter is incremented by 1. After two consecutive increments, the stall protection counter is decremented by 1. After five consecutive increments, the stall protection counter is reset to zero, and the next stall detection cycle begins.

[0112] As described above, the brush motor protection method provided in this embodiment of the invention increases the stall protection count and executes stall protection measures when the stall sampling current value of the operating current meets the stall condition in each stall detection cycle. When the stall protection count exceeds the shutdown threshold, the brush motor is controlled to stop operation and an alarm is triggered. Conversely, when the stall sampling current value of the operating current does not meet the stall condition, a stall recovery count is increased, and the stall protection count is updated based on the stall recovery count. This embodiment of the invention determines whether to execute brush motor stall protection measures by using the updated stall protection count value in each stall detection cycle. This reduces the time the brush motor is stopped due to stalling, improves the working efficiency of automatic cleaning equipment, enhances the user experience, and solves the technical problem in existing automatic cleaning equipment brush motor protection logic that reduces the working efficiency of the automatic cleaning equipment.

[0113] This embodiment also provides an automatic cleaning device; please refer to [reference needed]. Figure 7 , Figure 7 This is a schematic diagram of the structure of an automatic cleaning device provided in an embodiment of the present invention. The automatic cleaning device 60 provided in this embodiment of the present invention includes a processor 600 and a memory 601.

[0114] The memory 601 is used to store the computer program 602 and to transfer the computer program 602 to the processor 600;

[0115] The processor 600 is used to execute the steps in the above embodiment of a brush motor protection method according to the instructions in the computer program 602.

[0116] For example, computer program 602 may be divided into one or more modules / units, one or more of which are stored in memory 601 and executed by processor 600 to complete this application. One or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of computer program 602 in automatic cleaning device 60.

[0117] The automatic cleaning device 60 may include, but is not limited to, a processor 600 and a memory 601. Those skilled in the art will understand that... Figure 7 This is merely an example of an automatic cleaning device 60 and does not constitute a limitation on the automatic cleaning device 60. It may include more or fewer components than shown, or combine certain components, or different components. For example, the automatic cleaning device 60 may also include input / output devices, network access devices, buses, etc.

[0118] The processor 600 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0119] The memory 601 can be an internal storage unit of the automatic cleaning device 60, such as a hard drive or RAM of the automatic cleaning device 60. The memory 601 can also be an external storage device of the automatic cleaning device 60, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the automatic cleaning device 60. Furthermore, the memory 601 can include both internal and external storage units of the automatic cleaning device 60. The memory 601 is used to store computer programs and other programs and data required by the automatic cleaning device 60. The memory 601 can also be used to temporarily store data that has been output or will be output.

[0120] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0121] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between apparatuses or units, and may be electrical, mechanical, or other forms.

[0122] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0123] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0124] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing computer programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0125] This invention also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform a brush motor protection method. The brush motor protection method includes the following steps:

[0126] After triggering the overcurrent detection cycle, the operating current of the roller brush motor is collected;

[0127] Determine the corresponding overcurrent counting strategy based on the current range of the operating current;

[0128] The overcurrent protection count and overcurrent recovery count are updated according to the overcurrent counting strategy, and the overcurrent protection count and overcurrent recovery count are associated.

[0129] Based on the overcurrent protection count and the execution status of the overcurrent protection measures, determine whether to execute or stop the overcurrent protection measures and trigger the next overcurrent detection cycle.

[0130] Note that the above are merely preferred embodiments and the technical principles applied in this invention. Those skilled in the art will understand that the embodiments of this invention are not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the protection scope of this invention. Therefore, although the embodiments of this invention have been described in detail above, the embodiments of this invention are not limited to the above embodiments. More other equivalent embodiments may be included without departing from the concept of the embodiments of this invention, and the scope of the embodiments of this invention is determined by the scope of the appended claims.

Claims

1. A method for protecting a roller brush motor, characterized in that, The method includes: After triggering the overcurrent detection cycle, the operating current of the roller brush motor is collected; Based on the current range of the operating current, determine the corresponding overcurrent counting strategy; The overcurrent protection count and overcurrent recovery count are updated according to the overcurrent counting strategy, and the overcurrent protection count is associated with the overcurrent recovery count; Based on the overcurrent protection count and the execution status of the overcurrent protection measures, determine whether to execute or stop the overcurrent protection measures and trigger the next overcurrent detection cycle.

2. The method for protecting a roller brush motor according to claim 1, characterized in that, The step of determining the corresponding overcurrent counting strategy based on the current range of the operating current includes: Multiple overcurrent sampling current values ​​are determined based on the operating current; When the current range of multiple overcurrent sampling current values ​​of the operating current meets the slight overcurrent condition during the overcurrent detection cycle, the overcurrent counting strategy is determined to be the first overcurrent counting strategy, which is used to increase the value of the overcurrent protection count. When the current range of multiple overcurrent sampling current values ​​of the operating current meets the severe overcurrent condition during the overcurrent detection cycle, the overcurrent counting strategy is determined to be the second overcurrent counting strategy. The second overcurrent counting strategy is used to increase the value of the overcurrent protection count, and the value increased by the second overcurrent counting strategy is greater than the value increased by the first overcurrent counting strategy. When the current range of multiple overcurrent sampling current values ​​of the operating current meets the recovery condition within the overcurrent detection cycle, the overcurrent counting strategy is determined to be the third overcurrent counting strategy, which is used to increase the value of the overcurrent recovery count.

3. The method for protecting a roller brush motor according to claim 2, characterized in that, When the overcurrent counting strategy is either the first overcurrent counting strategy or the second overcurrent counting strategy, updating the overcurrent protection count and overcurrent recovery count according to the overcurrent counting strategy includes: The overcurrent protection count is increased, and the overcurrent recovery count is cleared to zero. The increase in the overcurrent protection count is preset in the first overcurrent counting strategy and the second overcurrent counting strategy.

4. The method for protecting a roller brush motor according to claim 2, characterized in that, When the overcurrent counting strategy is the third overcurrent counting strategy, updating the overcurrent protection count and overcurrent recovery count according to the overcurrent counting strategy includes: The overcurrent recovery count is increased, and it is determined whether the overcurrent recovery count meets the protection count reduction condition; the value of the overcurrent recovery count increase is preset in the third overcurrent counting strategy. If the protection count reduction condition is met, the value of the overcurrent protection count is reduced, and the overcurrent recovery count is cleared to zero.

5. The method for protecting a roller brush motor according to claim 1, characterized in that, Also includes: If the overcurrent protection count exceeds the overcurrent protection execution threshold, the overcurrent protection count is updated to the overcurrent protection execution threshold.

6. The method for protecting a roller brush motor according to claim 1, characterized in that, The step of determining whether to execute or stop the overcurrent protection measure based on the overcurrent protection count and the execution status of the overcurrent protection measure, and triggering the next overcurrent detection cycle, includes: If the overcurrent protection count reaches the overcurrent protection execution threshold and the overcurrent protection measure is not executed, the overcurrent protection measure is executed and the next overcurrent detection cycle is triggered; If the overcurrent protection count is less than the overcurrent protection stop threshold and the overcurrent protection measure has already been executed, the overcurrent protection measure is stopped and the next overcurrent detection cycle is triggered. The overcurrent protection measure is to control the roller brush motor to run for a first preset duration.

7. The method for protecting a roller brush motor according to any one of claims 1 to 6, characterized in that, Also includes: After the stall detection cycle is triggered, the operating current of the roller brush motor is collected; The corresponding stall protection counting strategy is determined based on the current range of the operating current. The stall protection count and stall recovery count are updated according to the stall protection counting strategy, and the stall protection count is associated with the stall recovery count; Based on the stall protection count, determine whether to implement stall protection measures and trigger the next overcurrent detection cycle.

8. The method for protecting a roller brush motor according to claim 7, characterized in that, The step of determining the corresponding stall protection counting strategy based on the current range of the operating current includes: Multiple stall sampling current values ​​are determined based on the operating current; When the current range of multiple stall sampling current values ​​of the operating current meets the stall condition within the stall detection cycle, the stall protection counting strategy is determined to be the protection count increment strategy. The protection count increment strategy is used to increase the value of the stall protection count and clear the stall recovery count to zero. When the current range of multiple stall sampling current values ​​of the operating current does not meet the stall condition within the stall detection cycle, the stall protection counting strategy is determined to be a recovery count increment strategy. The recovery count increment strategy is used to increase the value of the stall recovery count. If the stall recovery count increases continuously in a first preset number of stall detection cycles, the value of the stall protection count is decreased. If the stall recovery count increases continuously in a second preset number of stall detection cycles, the stall protection count is cleared to zero. The second preset number is greater than the first preset number.

9. The method for protecting a roller brush motor according to claim 7, characterized in that, After determining whether to implement the stall protection measure based on the stall protection count, the method further includes: Determine whether the stall protection count has reached the shutdown threshold; When the stall protection count reaches the shutdown threshold, the roller brush motor is controlled to stop running and exit the stall detection cycle.

10. An automatic cleaning device, characterized in that, The automatic cleaning device includes a processor and a memory; The memory is used to store computer programs and to transfer the computer programs to the processor; The processor is configured to execute the brush motor protection method as described in any one of claims 1-9 according to instructions in the computer program.

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