Method, device and equipment for preventing motor from locking and storage medium

Abstract

Embodiments of the present application provide a motor stall prevention method, device, equipment and storage medium, the method is applied to a smooth surface cleaning device, the smooth surface cleaning device comprises a driving wheel and a driving motor for driving the driving wheel, the method comprises: obtaining a running electrical parameter corresponding to the driving motor; based on the running electrical parameter, determining whether the smooth surface cleaning device stalls; if the smooth surface cleaning device stalls, executing a stall prevention control logic. According to the running electrical parameter corresponding to the driving motor, the present application can effectively detect whether the smooth surface cleaning device stalls, and then can prevent the driving motor from being burned out due to keeping a high driving current output for a long time, effectively protecting the driving motor and prolonging the service life of the equipment.

Description

Technical Field

[0001] This invention relates to the field of automatic cleaning technology, and in particular to a method, apparatus, device, and storage medium for preventing motor stall. Background Technology

[0002] With the development of technology, some simple manual labor tasks no longer rely solely on manual labor but can be completed automatically by equipment. For example, family members no longer need to wipe windows manually but can choose to use smooth surface cleaning equipment, such as window cleaning machines, to automatically complete the window wiping work.

[0003] Inevitably, foreign objects can get caught in the window cleaning equipment, causing it to stall. When stalled, the drive wheels cannot reach the expected speed, and the drive motor will continuously increase the output current to accelerate the wheels. This causes the drive motor to overheat, potentially burning it out and reducing the equipment's lifespan. Summary of the Invention

[0004] This invention provides a method, apparatus, device, and storage medium for preventing motor stall, thereby improving the service life of the equipment.

[0005] In a first aspect, embodiments of the present invention provide a method for preventing motor stall, the method being applied to a smooth surface cleaning device, the smooth surface cleaning device including a drive wheel and a drive motor for driving the drive wheel to rotate, the method comprising: Obtain the operating electrical parameters corresponding to the drive motor; Based on the aforementioned operating electrical parameters, determine whether the smooth surface cleaning equipment has stalled; If the smooth surface cleaning equipment stalls, anti-stall control logic is executed.

[0006] Optionally, the operating electrical parameters include drive current and / or speed feedback pulse signals.

[0007] Optionally, the operating electrical parameter is the drive current, and determining whether the smooth surface cleaning equipment has stalled based on the operating electrical parameter includes: If the driving current is greater than the first preset threshold, it is determined that the smooth surface cleaning device has stalled.

[0008] Optionally, determining that the smooth surface cleaning device has stalled if the driving current is greater than a first preset threshold includes: If the driving current is greater than a first preset threshold, then it is detected whether the duration for which the driving current is greater than the first preset threshold reaches a second preset threshold. If the duration is detected to reach the second preset threshold, it is determined that the smooth surface cleaning equipment has stalled.

[0009] Optionally, the operating electrical parameters are speed feedback pulse signals, and determining whether the smooth surface cleaning equipment has stalled based on the operating electrical parameters includes: If the rotational speed feedback pulse signal is within a preset range, it is determined that the smooth surface cleaning equipment has stalled.

[0010] Optionally, the operating electrical parameters are speed feedback pulse signals, and determining whether the smooth surface cleaning equipment has stalled based on the operating electrical parameters includes: If the rotational speed feedback pulse signal is 0, it is determined that the smooth surface cleaning equipment has stalled.

[0011] Optionally, the operating electrical parameters are drive current and speed feedback pulse signal, and determining whether the smooth surface cleaning equipment has stalled based on the operating electrical parameters includes: If the driving current is greater than the first preset threshold and the rotational speed feedback pulse signal is within the preset range, then it is determined that the smooth surface cleaning device has stalled.

[0012] Optionally, the operating electrical parameters are drive current and speed feedback pulse signal, and determining whether the smooth surface cleaning equipment has stalled based on the operating electrical parameters includes: If the duration for which the driving current is greater than the first preset threshold reaches the second preset threshold, or if the speed feedback pulse signal is within a preset range when the driving current is greater than the first preset threshold, then it is determined that the smooth surface cleaning device has stalled.

[0013] Optionally, the smooth surface cleaning equipment includes window cleaning equipment or table cleaning equipment.

[0014] Optionally, the smooth surface cleaning device is the window cleaning device, which includes an exhaust motor. If the smooth surface cleaning device stalls, anti-stall control logic is executed, including: If the window cleaning device stalls, the drive motor is stopped and the speed of the suction motor is increased so that the window cleaning device adheres to the surface of the object being cleaned.

[0015] Optionally, after controlling the drive motor to stop operating and increasing the speed of the vacuum motor, the method further includes: Obtain the user communication identifier bound to the window cleaning device; Based on the user communication identifier, an alarm operation is performed on the user.

[0016] Optionally, the step of sending an alarm to the user based on the user communication identifier includes: Based on the user communication identifier, an alarm message is sent to the user, wherein the alarm message includes the speed feedback pulse signal corresponding to the drive motor.

[0017] Optionally, after issuing an alarm to the user based on the user communication identifier, the method further includes: Obtain the first usage time corresponding to the drive wheel; If the first usage time exceeds the third preset threshold, the user will be prompted that the drive wheel has exceeded the preset service life based on the user communication identifier.

[0018] Optionally, the window cleaning device further includes a conveyor belt, and after issuing an alarm to the user based on the user communication identifier, the method further includes: Obtain the second usage time corresponding to the track; If the second usage time exceeds the fourth preset threshold, the user will be prompted that the track has exceeded the preset service life based on the user communication identifier.

[0019] Optionally, the window cleaning device further includes a loudspeaker, and after controlling the drive motor to stop operating and increasing the speed of the exhaust motor, the method further includes: The alarm information is played through the loudspeaker.

[0020] Secondly, embodiments of the present invention provide an anti-motor stall device, disposed in a smooth surface cleaning device, the smooth surface cleaning device including a drive wheel and a drive motor for driving the drive wheel to rotate, the device comprising: The acquisition module is used to acquire the operating electrical parameters corresponding to the drive motor; The determination module is used to determine whether the smooth surface cleaning equipment has stalled based on the operating electrical parameters; The anti-stagnation module is used to execute anti-stagnation control logic when the smooth surface cleaning equipment stalls.

[0021] Optionally, the operating electrical parameters include drive current and / or speed feedback pulse signals.

[0022] Optionally, the operating electrical parameter is the drive current, and the determining module is used to: If the driving current is greater than the first preset threshold, it is determined that the smooth surface cleaning device has stalled.

[0023] Optionally, the determining module is configured to: If the driving current is greater than a first preset threshold, then it is detected whether the duration for which the driving current is greater than the first preset threshold reaches a second preset threshold. If the duration is detected to reach the second preset threshold, it is determined that the smooth surface cleaning equipment has stalled.

[0024] Optionally, the operating electrical parameters are speed feedback pulse signals, and the determining module is used for: If the rotational speed feedback pulse signal is within a preset range, it is determined that the smooth surface cleaning equipment has stalled.

[0025] Optionally, the operating electrical parameters are speed feedback pulse signals, and the determining module is used for: If the rotational speed feedback pulse signal is 0, it is determined that the smooth surface cleaning equipment has stalled.

[0026] Optionally, the operating electrical parameters are drive current and speed feedback pulse signal, and the determining module is used for: If the driving current is greater than the first preset threshold and the rotational speed feedback pulse signal is within the preset range, then it is determined that the smooth surface cleaning device has stalled.

[0027] Optionally, the operating electrical parameters are drive current and speed feedback pulse signal, and the determining module is used for: If the duration for which the driving current is greater than the first preset threshold reaches the second preset threshold, or if the speed feedback pulse signal is within a preset range when the driving current is greater than the first preset threshold, then it is determined that the smooth surface cleaning device has stalled.

[0028] Optionally, the smooth surface cleaning equipment includes window cleaning equipment or table cleaning equipment.

[0029] Optionally, the smooth surface cleaning device is the window cleaning device, which includes an air extraction motor and an anti-stall module, used for: If the window cleaning device stalls, the drive motor is stopped and the speed of the suction motor is increased so that the window cleaning device adheres to the surface of the object being cleaned.

[0030] Optionally, the device further includes an alarm module, the alarm module being used for: Obtain the user communication identifier bound to the window cleaning device; Based on the user communication identifier, an alarm operation is performed on the user.

[0031] Optionally, the alarm module is used to: Based on the user communication identifier, an alarm message is sent to the user, wherein the alarm message includes the speed feedback pulse signal corresponding to the drive motor.

[0032] Optionally, the alarm module is further configured to: Obtain the first usage time corresponding to the drive wheel; If the first usage time exceeds the third preset threshold, the user will be prompted that the drive wheel has exceeded the preset service life based on the user communication identifier.

[0033] Optionally, the alarm module is further configured to: Obtain the second usage time corresponding to the track; If the second usage time exceeds the fourth preset threshold, the user will be prompted that the track has exceeded the preset service life based on the user communication identifier.

[0034] Optionally, the window cleaning device further includes a loudspeaker, and the alarm module is further used for: The alarm information is played through the loudspeaker.

[0035] Thirdly, embodiments of the present invention provide a smooth surface cleaning device, including a processor and a memory, wherein the memory stores executable code, and when the executable code is executed by the processor, the processor can at least implement the anti-motor stall method in the first aspect.

[0036] Fourthly, embodiments of the present invention provide a non-transitory machine-readable storage medium storing executable code, wherein when the executable code is executed by a processor of a smooth surface cleaning device, the processor can at least implement the motor stall prevention method of the first aspect.

[0037] By using this invention, it is possible to effectively detect whether a smooth surface cleaning device is stalled based on the corresponding operating electrical parameters of the drive motor. This can prevent the drive motor from burning out due to maintaining a high drive current output for a long time, thus effectively protecting the drive motor and extending the service life of the equipment. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1A flowchart illustrating a method for preventing motor stalling provided in an embodiment of the present invention; Figure 2 A flowchart illustrating another method for preventing motor stalling provided in an embodiment of the present invention; Figure 3 A flowchart illustrating another method for preventing motor stalling provided in an embodiment of the present invention; Figure 4 A flowchart illustrating another method for preventing motor stalling provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of a scenario for sending alarm information provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of a motor stall prevention device provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of a smooth surface cleaning device provided in an embodiment of the present invention. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0042] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases “if determination” or “if detection (of the stated condition or event)” can be interpreted as “when determination” or “in response to determination” or “when detection (of the stated condition or event)” or “in response to detection (of the stated condition or event).”

[0043] Furthermore, the timing of the steps in the following method embodiments is merely an example and not a strict limitation.

[0044] This invention provides a method for preventing motor stall, which can be applied to a smooth surface cleaning device. Optionally, the smooth surface cleaning device can be a window cleaning device, a table cleaning device, etc. The smooth surface cleaning device may include a drive wheel and a drive motor that rotates the drive wheel.

[0045] Figure 1 A flowchart of a method for preventing motor stalling provided in an embodiment of the present invention is shown below. Figure 1 As shown, the method includes the following steps: 101. Obtain the operating electrical parameters corresponding to the drive motor.

[0046] 102. Based on the operating electrical parameters, determine whether the smooth surface cleaning equipment has stalled.

[0047] 103. If the smooth surface cleaning equipment stalls, the anti-stall control logic will be executed.

[0048] Optionally, the operating electrical parameters may include drive current, or a speed feedback pulse (Frequency Generator, abbreviated as FG) signal, or a combination of drive current and speed feedback pulse signals.

[0049] The solution provided by this invention will be explained below with reference to the operating electrical parameters for each of the three cases mentioned above.

[0050] like Figure 2 The diagram shows a flowchart of another method for preventing motor stalling provided by an embodiment of the present invention. This method may include: 201. Obtain the drive current corresponding to the drive motor.

[0051] 202. If the driving current is greater than the first preset threshold, it is determined that the smooth surface cleaning equipment has stalled.

[0052] 203. If the smooth surface cleaning equipment stalls, the anti-stall control logic will be executed.

[0053] In practical applications, the drive current output by the drive motor can be obtained. Theoretically, the larger the drive current, the faster the drive motor speed, and correspondingly, the drive wheel should rotate faster. However, when the drive current exceeds a certain range, for example, when the drive current exceeds a first preset threshold, the drive wheel may not rotate faster, but rather stall.

[0054] Understandably, during the automatic cleaning operation of a smooth surface cleaning device, the rotational speed of the drive wheels can be detected. If the drive wheel speed does not reach the expected level, the drive current output by the drive motor can be increased accordingly. However, when the smooth surface cleaning device stalls, the expected rotational speed of the drive wheels cannot be detected, thus continuously increasing the corresponding drive current of the drive motor. When the drive current exceeds a first preset threshold, it is outside the normal range and no longer the drive current required for normal acceleration of the drive wheels; therefore, it can be determined that the drive wheels have stalled.

[0055] In one possible implementation, the first preset threshold can be set to 1.1A. Thus, for example, when the detected drive current is less than or equal to 1.1A, it is determined that the drive current is the current required for normal acceleration of the drive wheels. Conversely, when the detected drive current is greater than 1.1A, it is determined that the smooth surface cleaning equipment has stalled.

[0056] When a stall is detected in the smooth surface cleaning equipment, anti-stall control logic can be executed. This can prevent the drive motor from burning out due to maintaining a high drive current output for a long time, effectively protecting the drive motor and extending its service life.

[0057] Furthermore, it is understood that there are various reasons why smooth surface cleaning equipment may stall, such as dust or other foreign objects entering the drive motor. Alternatively, foreign objects may become trapped in the drive wheels or the tracks between them, also causing the smooth surface cleaning equipment to stall. The method provided by this invention can effectively protect the drive motor.

[0058] In one possible implementation, the process of determining that the smooth surface cleaning device has stalled if the driving current is greater than the first preset threshold can be implemented as follows: if the driving current is greater than the first preset threshold, detect whether the duration of the driving current being greater than the first preset threshold reaches a second preset threshold; if the duration is detected to reach the second preset threshold, determine that the smooth surface cleaning device has stalled.

[0059] In practical applications, if the detected drive current exceeds a first preset threshold, the duration of this excess can be monitored. It's understandable that a short-term occurrence of a drive current exceeding the first preset threshold won't immediately burn out the drive motor. However, if the drive motor outputs a high drive current for a certain duration, continuous internal heating can lead to burnout. Therefore, it's possible to determine if the duration of the drive current exceeding the first preset threshold reaches a second preset threshold. If so, it's determined that the smooth surface cleaning equipment has stalled, and anti-stall control logic is executed.

[0060] For example, suppose the first preset threshold is 1.1A and the second preset threshold is 4 seconds. When a drive current greater than 1.1A is detected, the duration for which the drive current remains greater than 1.1A can be detected. If the drive current is greater than 1.1A for only 2 seconds and then drops below 1.1A, the anti-lock control logic does not need to be executed. If the drive current is greater than 1.1A for more than 4 seconds, the anti-lock control logic must be executed immediately.

[0061] When a stall is detected in the smooth surface cleaning equipment, anti-stall control logic can be executed. This can prevent the drive motor from burning out due to maintaining a high drive current output for a long time, effectively protecting the drive motor and extending its service life.

[0062] like Figure 3 The diagram shows a flowchart of another method for preventing motor stalling provided by an embodiment of the present invention. This method may include: 301. Obtain the speed feedback pulse signal corresponding to the drive motor.

[0063] 302. If the speed feedback pulse signal is within the preset range, it is determined that the smooth surface cleaning equipment has stalled.

[0064] 303. If the smooth surface cleaning equipment stalls, the anti-stall control logic will be executed.

[0065] The aforementioned speed feedback pulse signal can be the speed feedback pulse signal of the drive wheel driven by the drive motor. This speed feedback pulse signal reflects the speed of the drive wheel. When the speed feedback pulse signal is within a preset range, for example, when the waveform of the speed feedback pulse signal is a straight line or approximately a straight line, it indicates that the smooth surface cleaning equipment has stalled, and at this time, anti-stall control logic can be executed.

[0066] Optionally, the preset range can be set to an interval approximately equal to 0, such as [0, 0.1]. When the speed feedback pulse signal is in the [0, 0.1] interval, it is confirmed that the smooth surface cleaning equipment has stalled. Using an interval setting method can increase fault tolerance and improve the accuracy of determining whether the smooth surface cleaning equipment has stalled.

[0067] When a stall is detected in the smooth surface cleaning equipment, anti-stall control logic can be executed. This can prevent the drive motor from burning out due to maintaining a high drive current output for a long time, effectively protecting the drive motor and extending its service life.

[0068] In another possible implementation, the operating electrical parameter can be a speed feedback pulse signal. The process of determining whether the smooth surface cleaning equipment has stalled based on the operating electrical parameter can be implemented as follows: if the speed feedback pulse signal is 0, then it is determined that the smooth surface cleaning equipment has stalled.

[0069] In practical applications, when the speed feedback pulse signal is detected to be 0, it can be determined that the smooth surface cleaning equipment has stalled. Anti-stall control logic can be executed, which can prevent the drive motor from burning out due to maintaining a high drive current output for a long time. This effectively protects the drive motor and extends its service life.

[0070] like Figure 4 The diagram shows a flowchart of another method for preventing motor stalling provided by an embodiment of the present invention. This method may include: 401. Obtain the drive current and speed feedback pulse signal corresponding to the drive motor.

[0071] 402. If the driving current is greater than the first preset threshold and the speed feedback pulse signal is within the preset range, it is determined that the smooth surface cleaning equipment has stalled.

[0072] 403. If the smooth surface cleaning equipment stalls, the anti-stall control logic will be executed.

[0073] In practical applications, the drive current output by the drive motor can be obtained. Theoretically, the larger the drive current, the faster the drive motor speed, and correspondingly, the drive wheel should rotate faster. However, if the drive current exceeds a certain range, but the drive wheel is detected not to be rotating faster but rather to be close to stopping, then a stall condition can be identified.

[0074] Based on this, the drive current and speed feedback pulse signal corresponding to the drive motor can be obtained. It can be determined whether the drive current is greater than a first preset threshold, and at the same time, whether the speed feedback pulse signal is within a preset range. If the drive current is greater than the first preset threshold, and the speed feedback pulse signal is within the preset range, it indicates that the drive motor outputs a large drive current, but this drive current does not drive the drive wheel to rotate rapidly. On the contrary, the drive wheel is still in a near-stop state, thus confirming that the smooth surface cleaning equipment has stalled.

[0075] For example, if the detected drive current is greater than 1.1A and the drive wheel speed is relatively high, the waveform of the speed feedback pulse signal will not be a straight line, and the speed feedback pulse signal will not be within the preset range, so there is no need to execute the anti-stall control logic. However, if the detected drive current is greater than 1.1A and the drive wheel speed is close to 0, the waveform of the speed feedback pulse signal will be close to a straight line, and the speed feedback pulse signal will be within the interval [0, 0.1], then it is determined that the smooth surface cleaning equipment has stalled.

[0076] Optionally, in one possible implementation, to further ensure the accuracy of determining whether the smooth surface cleaning device has stalled, the embodiment of the present invention may further: determine whether the duration of the drive current being greater than the first preset threshold reaches the second preset threshold, or determine whether the speed feedback pulse signal is within a preset range when the drive current is greater than the first preset threshold. If either of these conditions occurs, it is determined that the smooth surface cleaning device has stalled.

[0077] In practical applications, when the detected drive current exceeds a first preset threshold, and the duration of this excess drive current reaches a second preset threshold, it is determined that the smooth surface cleaning equipment has stalled. Alternatively, it can also be detected whether the speed feedback pulse signal is within a preset range when the drive current exceeds the first preset threshold. If the speed feedback pulse signal is also within a preset range when the drive current exceeds the first preset threshold, it can be determined that the smooth surface cleaning equipment has stalled.

[0078] When a stall is detected in the smooth surface cleaning equipment, anti-stall control logic can be executed. This can prevent the drive motor from burning out due to maintaining a high drive current output for a long time, effectively protecting the drive motor and extending its service life.

[0079] Optionally, the aforementioned smooth surface cleaning equipment can be a window cleaning device. For window cleaning devices, an air extraction motor can be included. The air extraction motor can remove the air between the chassis of the window cleaning device and the surface of the object being cleaned, creating an approximately vacuum environment between the chassis and the surface. This creates negative pressure, pressing the window cleaning device against the surface and allowing it to perform the cleaning operation despite its own weight.

[0080] Based on this, if the smooth surface cleaning equipment stalls, the process of executing the anti-stall control logic can be implemented as follows: if the window cleaning equipment stalls, the drive motor is controlled to stop running, and the speed of the suction motor is increased so that the window cleaning equipment adheres to the surface of the object being cleaned.

[0081] Understandably, when the window cleaning device stalls, the drive motor can be immediately stopped to prevent it from overheating and burning out due to continuous high drive current. Simultaneously, to prevent the window cleaning device from falling off the surface of the object being cleaned, the speed of the suction motor can be increased, allowing the device to adhere more firmly to the surface.

[0082] In this embodiment of the invention, in order to further protect the window cleaning equipment and prevent damage to it, after controlling the drive motor to stop running and increasing the speed of the exhaust motor, the user communication identifier bound to the window cleaning equipment can also be obtained; based on the user communication identifier, an alarm operation can be performed on the user.

[0083] Understandably, when a user uses the window cleaning device for the first time, they can be prompted to register for the product, binding the device to their communication identifier. This identifier could be, for example, a user's mobile phone number or instant messaging account. When the window cleaning device is found to be stuck, it continues to operate because it needs to overcome its own gravity to adhere to the surface being cleaned. Therefore, it can retrieve the user's previously entered communication identifier and then issue an alarm to the user based on that identifier.

[0084] like Figure 5 The diagram illustrates an application scenario of the method provided in this embodiment of the invention. When a blockage is detected in the window cleaning device during the glass cleaning process, the system can obtain the user Xiaoming's mobile phone number and send a text message to the phone number corresponding to Xiaoming's number to inform him that the window cleaning device is blocked and to request that Xiaoming remove the device promptly and troubleshoot and resolve the blockage issue before using the device next time.

[0085] Optionally, the above process of alarming the user based on the user communication identifier can be implemented as follows: sending alarm information to the user based on the user communication identifier, wherein the alarm information includes the speed feedback pulse signal corresponding to the drive motor.

[0086] In practical applications, some users may possess certain technical experience. Therefore, when sending alarm information to users, the speed feedback pulse signal can be sent along with the signal. This allows users to quickly locate the stalling issue of the window cleaning equipment by observing the waveform of the speed feedback pulse signal, thus resolving the stalling problem more conveniently. Alternatively, users can provide the speed feedback pulse signal to maintenance personnel, allowing them to more effectively resolve the stalling problem based on the waveform of the speed feedback pulse signal.

[0087] Optionally, after issuing an alarm to the user based on the user communication identifier, the method provided in this embodiment of the invention may further include: obtaining a first usage duration corresponding to the drive wheel; if the first usage duration is greater than a third preset threshold, then prompting the user that the drive wheel has exceeded a preset service life based on the user communication identifier.

[0088] Understandably, window cleaning equipment is more prone to jamming after a certain period of use. This is because more debris accumulates inside the equipment, making it more difficult to clean, or the drive wheels may age, ultimately leading to jamming. Therefore, the usage time of the drive wheels can be recorded. When jamming is detected, the first usage time of the drive wheels is retrieved, and it is determined whether this first usage time exceeds a third preset threshold. If so, based on the user's communication identifier, the user can be notified that the drive wheels have exceeded a preset service life. For example, the user could be notified that the drive wheels have been used for more than three years and need to be replaced. Furthermore, the notification could include a link to purchase the drive wheels, along with instructions on disassembling and installing them. This approach can help users resolve window cleaning equipment jamming issues more quickly.

[0089] Optionally, in addition to the above methods, after issuing an alarm to the user based on the user communication identifier, the method provided in this embodiment of the invention may further include: obtaining the second usage duration corresponding to the track; if the second usage duration is greater than a fourth preset threshold, then prompting the user that the track has exceeded the preset service life based on the user communication identifier.

[0090] It is understandable that track jamming is likely to occur after the track has been used for more than its preset service life. Therefore, the track's usage time can be recorded. When a jamming issue is detected in the window cleaning device, the second usage time of the track can be obtained, and it can be determined whether this second usage time exceeds a fourth preset threshold. If so, the user can be notified that the track has exceeded its preset service life based on the user's communication identifier.

[0091] In addition to the methods mentioned above, it's understandable that, generally, when a user uses a window cleaning device, the user and the device may be located in the same building space. Therefore, alternatively, an alarm message can be played through a loudspeaker. For example, if the window cleaning device is detected to be stuck, an alarm message such as "Owner, I can't move it, please help check the stuck problem" can be played through the device's built-in loudspeaker. This way, after hearing the alarm, the user can promptly check the window cleaning device and remove it from the surface being cleaned to prevent it from falling and causing damage.

[0092] Using this invention, it is possible to effectively detect whether a smooth surface cleaning device is stuck, thereby preventing the drive motor from burning out due to maintaining a high drive current output for a long time, effectively protecting the drive motor and extending the service life of the equipment.

[0093] The following describes in detail one or more embodiments of the anti-motor stall device of the present invention. Those skilled in the art will understand that these anti-motor stall devices can be configured using commercially available hardware components through the steps taught in this solution.

[0094] Figure 6 This is a schematic diagram of a motor stall prevention device provided in an embodiment of the present invention. It is installed in a smooth surface cleaning device, which includes a drive wheel and a drive motor that rotates the drive wheel. Figure 6 As shown, the device includes: The acquisition module 61 is used to acquire the operating electrical parameters corresponding to the drive motor; Module 62 is used to determine whether the smooth surface cleaning equipment has stalled based on the operating electrical parameters; The anti-stall module 63 is used to execute anti-stall control logic when the smooth surface cleaning equipment stalls.

[0095] Optionally, the operating electrical parameters include drive current and / or speed feedback pulse signals.

[0096] Optionally, the operating electrical parameter is the drive current, and module 62 is used for: If the drive current is greater than the first preset threshold, it is determined that the smooth surface cleaning equipment has stalled.

[0097] Optionally, module 62 is defined for: If the drive current is greater than the first preset threshold, then it is detected whether the duration of the drive current being greater than the first preset threshold reaches the second preset threshold. If the detection time reaches the second preset threshold, it is determined that the smooth surface cleaning equipment has stalled.

[0098] Optionally, the operating electrical parameters are speed feedback pulse signals, and the determining module 62 is used for: If the speed feedback pulse signal is within the preset range, it is determined that the smooth surface cleaning equipment has stalled.

[0099] Optionally, the operating electrical parameters are speed feedback pulse signals, and the determining module 62 is used for: If the speed feedback pulse signal is 0, it indicates that the smooth surface cleaning equipment has stalled.

[0100] Optionally, the operating electrical parameters are the drive current and the speed feedback pulse signal, and the determining module 62 is used for: If the drive current is greater than the first preset threshold and the speed feedback pulse signal is within the preset range, it is determined that the smooth surface cleaning equipment has stalled.

[0101] Optionally, the operating electrical parameters are the drive current and the speed feedback pulse signal, and the determining module 62 is used for: If the duration of the drive current being greater than the first preset threshold reaches the second preset threshold, or if the speed feedback pulse signal is within the preset range when the drive current is greater than the first preset threshold, then it is determined that the smooth surface cleaning equipment has stalled.

[0102] Alternatively, the smooth surface cleaning equipment includes window cleaning equipment or table cleaning equipment.

[0103] Optionally, the smooth surface cleaning equipment is a window cleaning device, which includes an air extraction motor and an anti-stall module 63, used for: If the window cleaning equipment stalls, the drive motor will stop running, and the speed of the suction motor will be increased so that the window cleaning equipment adheres to the surface of the object being cleaned.

[0104] Optionally, the device further includes an alarm module, which is used for: Obtain the user communication identifier bound to the window cleaning device; Alarm operations are sent to users based on user communication identifiers.

[0105] Optionally, the alarm module is used for: Based on the user communication identifier, an alarm message is sent to the user, which includes the speed feedback pulse signal corresponding to the drive motor.

[0106] Optionally, the alarm module is also used for: Get the first usage time corresponding to the drive wheel; If the first usage time exceeds the third preset threshold, the user will be prompted that the drive wheel has exceeded the preset service life based on the user communication identifier.

[0107] Optionally, the alarm module is also used for: Obtain the second usage duration corresponding to the track; If the second usage time exceeds the fourth preset threshold, the user will be prompted that the track has exceeded the preset service life based on the user communication identifier.

[0108] Optionally, the window cleaning equipment also includes a loudspeaker, an alarm module, and is further used for: The alarm message was broadcast through a loudspeaker.

[0109] Figure 6 The device shown can perform the aforementioned Figures 1 to 5The method for preventing motor stall provided in the illustrated embodiment is described in detail in the foregoing embodiments for its execution process and technical effects, and will not be repeated here.

[0110] In one possible design, the above Figure 6 The structure of the anti-motor stall device shown can be implemented as a smooth surface cleaning device, such as... Figure 7 As shown, the smooth surface cleaning device may include a processor 91 and a memory 92. The memory 92 stores executable code, which, when executed by the processor 91, enables the processor 91 to at least perform the functions described above. Figures 1 to 5 The method for preventing motor stalling is provided in the illustrated embodiment.

[0111] Optionally, the smooth surface cleaning device may also include a communication interface 93 for communicating with other devices.

[0112] Furthermore, embodiments of the present invention provide a non-transitory machine-readable storage medium storing executable code, which, when executed by a processor of a smooth surface cleaning device, enables the processor to at least perform the functions described above. Figures 1 to 5 The method for preventing motor stalling is provided in the illustrated embodiment.

[0113] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separate. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0114] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of a necessary general-purpose hardware platform, or by a combination of hardware and software. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a computer product. The present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0115] The motor stall prevention method provided in this embodiment can be executed by a program / software, which can be provided by a network side. The smooth surface cleaning device mentioned in the foregoing embodiments can download the program / software to a local non-volatile storage medium. When it needs to execute the aforementioned motor stall prevention method, the CPU reads the program / software into memory, and then the CPU executes the program / software to implement the motor stall prevention method provided in the foregoing embodiments. The execution process can be found in the foregoing embodiments. Figures 1 to 5 The illustration is shown in the image.

[0116] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for preventing motor stall, characterized in that, An application in a smooth surface cleaning device, the smooth surface cleaning device including a drive wheel and a drive motor for driving the drive wheel to rotate, the method comprising: Obtain the operating electrical parameters corresponding to the drive motor; Based on the aforementioned operating electrical parameters, determine whether the smooth surface cleaning equipment has stalled; If the smooth surface cleaning equipment stalls, anti-stall control logic is executed.

2. The method according to claim 1, characterized in that, The operating electrical parameters include drive current and / or speed feedback pulse signals.

3. The method according to claim 2, characterized in that, The operating electrical parameter is the drive current. Determining whether the smooth surface cleaning equipment has stalled based on the operating electrical parameter includes: If the driving current is greater than the first preset threshold, it is determined that the smooth surface cleaning device has stalled.

4. The method according to claim 3, characterized in that, The step of determining that the smooth surface cleaning device has stalled if the driving current is greater than a first preset threshold includes: If the driving current is greater than a first preset threshold, then it is detected whether the duration for which the driving current is greater than the first preset threshold reaches a second preset threshold. If the duration is detected to reach the second preset threshold, it is determined that the smooth surface cleaning equipment has stalled.

5. The method according to claim 2, characterized in that, The operating electrical parameters are speed feedback pulse signals. Determining whether the smooth surface cleaning equipment has stalled based on these operating electrical parameters includes: If the rotational speed feedback pulse signal is within a preset range, it is determined that the smooth surface cleaning equipment has stalled.

6. The method according to claim 2, characterized in that, The operating electrical parameters are speed feedback pulse signals. Determining whether the smooth surface cleaning equipment has stalled based on these operating electrical parameters includes: If the rotational speed feedback pulse signal is 0, it is determined that the smooth surface cleaning equipment has stalled.

7. The method according to claim 2, characterized in that, The operating electrical parameters are the drive current and the speed feedback pulse signal. Determining whether the smooth surface cleaning equipment has stalled based on these operating electrical parameters includes: If the driving current is greater than the first preset threshold and the rotational speed feedback pulse signal is within the preset range, then it is determined that the smooth surface cleaning device has stalled.

8. The method according to claim 2, characterized in that, The operating electrical parameters are the drive current and the speed feedback pulse signal. Determining whether the smooth surface cleaning equipment has stalled based on these operating electrical parameters includes: If the duration for which the driving current is greater than the first preset threshold reaches the second preset threshold, or if the speed feedback pulse signal is within a preset range when the driving current is greater than the first preset threshold, then it is determined that the smooth surface cleaning device has stalled.

9. The method according to claim 1, characterized in that, The smooth surface cleaning equipment includes window cleaning equipment or table cleaning equipment.

10. The method according to claim 9, characterized in that, The smooth surface cleaning device is the window cleaning device, which includes an air extraction motor. If the smooth surface cleaning device stalls, anti-stall control logic is executed, including: If the window cleaning device stalls, the drive motor is stopped and the speed of the suction motor is increased so that the window cleaning device adheres to the surface of the object being cleaned.

11. The method according to claim 10, characterized in that, After controlling the drive motor to stop operating and increasing the speed of the vacuum motor, the method further includes: Obtain the user communication identifier bound to the window cleaning device; Based on the user communication identifier, an alarm operation is performed on the user.

12. The method according to claim 11, characterized in that, The alarm operation based on the user communication identifier includes: Based on the user communication identifier, an alarm message is sent to the user, wherein the alarm message includes the speed feedback pulse signal corresponding to the drive motor.

13. The method according to claim 11, characterized in that, After issuing an alarm to the user based on the user communication identifier, the method further includes: Obtain the first usage time corresponding to the drive wheel; If the first usage time exceeds the third preset threshold, the user will be prompted that the drive wheel has exceeded the preset service life based on the user communication identifier.

14. The method according to claim 11, characterized in that, The window cleaning device also includes a conveyor belt. After issuing an alarm to the user based on the user communication identifier, the method further includes: Obtain the second usage time corresponding to the track; If the second usage time exceeds the fourth preset threshold, the user will be prompted that the track has exceeded the preset service life based on the user communication identifier.

15. The method according to claim 10, characterized in that, The window cleaning device also includes a loudspeaker. After controlling the drive motor to stop operating and increasing the speed of the exhaust motor, the method further includes: The alarm information is played through the loudspeaker.

16. A device for preventing motor stall, characterized in that, The device is installed in a smooth surface cleaning apparatus, which includes a drive wheel and a drive motor for driving the drive wheel. The apparatus includes: The acquisition module is used to acquire the operating electrical parameters corresponding to the drive motor; The determination module is used to determine whether the smooth surface cleaning equipment has stalled based on the operating electrical parameters; The anti-stagnation module is used to execute anti-stagnation control logic when the smooth surface cleaning equipment stalls.

17. A smooth surface cleaning device, characterized in that, include: A memory and a processor; wherein the memory stores executable code, and when the executable code is executed by the processor, the processor performs the motor stall prevention method as described in any one of claims 1-15.

18. A non-transitory machine-readable storage medium, characterized in that, The non-transitory machine-readable storage medium stores executable code that, when executed by a processor of a smooth surface cleaning device, causes the processor to perform the motor stall prevention method as described in any one of claims 1-15.

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