Switching device, control method for switching device and computer-readable medium

Description

TECHNICAL FIELD

[0001] The present invention relates to the technical field of control of electrical devices, and in particular to a switching device, a control method for the switching device and a computer-readable medium.

[0002] A switching device according to the preamble of claim 1 is known from CN 110 491 741 A.BACKGROUND ART

[0003] In the application of a control device, it is usually necessary to drive a handle of a corresponding main device such as a circuit breaker or a leakage protection switch to close and open. The control device has certain speed requirements in a closing or opening process. Therefore, if the opening and closing speed is too fast, there will be a certain impact when the handle reaches an end position. This impact causes varying degrees of damage to the internal mechanical structure of the remote control device and the corresponding main device, which will affect the quality and life of the product. If the opening and closing speed is too slow, the fault current cannot be cut off, causing accidents such as over-tripping or explosion.

[0004] Therefore, how to provide a switching device, a control method for the switching device and a computer-readable medium to solve the defect that the existing control device cannot reasonably control the product speed in the opening and closing process has become a technical problem that needs to be urgently solved by those skilled in the art.SUMMARY OF THE INVENTION

[0005] In view of this, the present invention provides a switching device, a control method for a switching device and a computer-readable medium, which can enable the switching device to reasonably control the rotational speed of the switching device by setting a control inflection point. That is, it is possible to allow the switching device to reduce the impact when the speed is too fast, thereby avoiding damage to product parts, and increasing the service life. It is also possible to allow the switching device to adjust the speed when the speed is too slow to successfully close or open the switch. At the same time, the switching device can match different loads and has stronger compatibility.

[0006] In a first aspect, the present invention provides a switching device. The switching device comprises: a motor, a handle assembly, a handle sheet, a signal source, a circuit board, at least three sensors and a controller, wherein the motor is used for driving the handle assembly; the handle sheet is sleeved on the handle assembly, and can rotate along with the handle assembly when the motor drives the handle assembly to rotate; the signal source is provided on the handle sheet and is used for emitting a rotational position signal of a handle; the at least three sensors are provided on the circuit board, and the sensors are arranged one by one within an opening and closing rotation angle range of the handle and used for sensing a rotational position of the handle; the controller is provided on the circuit board, is separately connected to the motor and the sensors, and is used for: receiving the rotational position of the handle in real time in a closing or opening process of the switching device to detect whether the handle is rotated to a preset control inflection point; when it is detected that the handle is rotated to the preset control inflection point, determining a load characteristic of the switching device according to an operating parameter of the handle rotating to the preset control inflection point; and intervening in control of the motor according to the load characteristic of the switching device, so as to input energy matching the load characteristic to the motor to drive closing or opening of the switching device; the preset control inflection point is located within the opening and closing rotation angle range of the handle, and is pre-set according to the load characteristic of the switching device; and the opening and closing rotation angle range of the handle is between 0° and a closing angle or an opening angle.

[0007] In a possible implementation, the signal source comprises a magnet.

[0008] In a possible implementation, the sensors comprise a Hall sensor.

[0009] In a second aspect, the present invention provides a control method for a switching device. The switching device comprises: a motor, a handle assembly, a handle sheet, a signal source, a circuit board and a controller, wherein the motor is used for driving the handle assembly; the handle sheet is sleeved on the handle assembly, and can rotate along with the handle assembly when the motor drives the handle assembly to rotate; the signal source is provided on the handle sheet and is used for sending rotational position information of a handle; at least three sensors are provided on the circuit board, and the sensors are arranged one by one within an opening and closing rotation angle range of the handle and used for sensing the rotational position information of the handle and sending the rotational position information of the handle; the controller is provided on the circuit board, is separately connected to the motor and the sensors, and the control method comprises: receiving a rotational position of the handle in real time in a closing or opening process of the switching device to detect whether the handle is rotated to a preset control inflection point; when it is detected that the handle is rotated to the preset control inflection point, determining a load characteristic of the switching device according to an operating parameter of the handle rotating to the preset control inflection point; and intervening in control of the motor according to the load characteristic of the switching device, so as to input energy matching the load characteristic to the motor to drive closing or opening of the switching device; the preset control inflection point is located within the opening and closing rotation angle range of the handle, and is pre-set according to the load characteristic of the switching device; and the opening and closing rotation angle range of the handle is between 0° and a closing angle or an opening angle.

[0010] In a possible implementation, before the step of detecting whether the handle is rotated to a preset control inflection point, the control method further comprises: receiving the rotational position information of the handle sent by the sensors, and converting the received rotational position information of the handle into a working parameter of the handle in a rotation process, wherein the working parameter of the handle comprises a rotation angle or a rotation path length of the handle.

[0011] In a possible implementation, in the closing or opening process of the switching device, whether the handle is rotated to the preset control inflection point is detected by detecting in real time whether the working parameter of the handle in the rotation process matches a working parameter of the handle rotating to the preset control inflection point; when it is detected that a rotation angle of the handle in the rotation process matches a rotation angle of the handle rotating to the preset control inflection point, it indicates that the handle is detected to be rotated to the preset control inflection point; or when it is detected that the rotation path length of the handle in the rotation process matches the rotation path length of the handle rotating to the preset control inflection point, it indicates that the handle is detected to be rotated to the preset control inflection point.

[0012] In a possible implementation, the operating parameter of the handle rotating to the preset control inflection point comprises operating time of the handle rotating to the preset control inflection point and / or operating speed of the handle rotating to the preset control inflection point.

[0013] In a possible implementation, when it is detected that the handle is rotated to the preset control inflection point, the step of determining the load characteristic of the switching device according to the operating parameter of the handle rotating to the preset control inflection point further comprises: inferring the operating parameter of the handle rotating to the preset control inflection point according to the working parameter of the handle rotating to the preset control inflection point; wherein, when the working parameter of the handle rotating to the preset control inflection point is the rotation angle of the handle, the step of inferring the operating parameter of the handle rotating to the preset control inflection point according to the working parameter of the handle rotating to the preset control inflection point is as follows: calculating the operating time of the handle rotating to the preset control inflection point according to a time difference t of detecting the handle between a starting point and the preset control inflection point; and / or calculating the operating speed of the handle rotating to the preset control inflection point according to a formula v = θr t ; when the working parameter of the handle rotating to the preset control inflection point is the rotation path length of the handle, the step of inferring the operating parameter of the handle rotating to the preset control inflection point according to the working parameter of the handle rotating to the preset control inflection point is as follows: calculating the operating time of the handle rotating to the preset control inflection point according to a time difference t of detecting the handle between the starting point and the preset control inflection point; and / or calculating the operating speed of the handle rotating to the preset control inflection point according to a formula v = l t .

[0014] In a possible implementation, when the inferred operating parameter of the handle rotating to the preset control inflection point is the operating time of the handle rotating to the preset control inflection point, the step of determining the load characteristic of the switching device according to the operating parameter of the handle rotating to the preset control inflection point comprises: comparing the operating time of the handle rotating to the preset control inflection point with preset determination time domains one by one, the preset determination time domains being used to determine the load characteristic matching the operating time of the handle rotating to the preset control inflection point; or when the inferred operating parameter of the handle rotating to the preset control inflection point is the operating speed of the handle rotating to the preset control inflection point, the step of determining the load characteristic of the switching device according to the operating parameter of the handle rotating to the preset control inflection point comprises: comparing the operating speed of the handle rotating to the preset control inflection point with preset determination speed domains one by one, the preset determination speed domains being used to determine the load characteristic matching the operating speed of the handle rotating to the preset control inflection point.

[0015] In a possible implementation, if the load characteristic of the switching device is diverse or sudden, at least one preset trial control inflection point is preset within the opening and closing rotation angle range of the handle, and the preset trial control inflection point is located between 0° and the preset control inflection point; when a preset trial control inflection point is further set within the opening and closing rotation angle range of the handle, before the step of detecting whether the handle is rotated to the preset control inflection point, the control method further comprises: detecting whether the handle is rotated to the preset trial control inflection point; if so, intervening in the control of the motor in advance according to the load characteristic of the preset trial control inflection point, after the intervention in advance is completed, turning to the step of detecting whether the handle is rotated to the preset control inflection point; and if not, continuing to execute the step of detecting whether the handle is rotated to the preset control inflection point.

[0016] In a third aspect, the present invention provides a computer-readable medium, wherein computer-readable instructions are stored on the computer-readable medium, and the computer-readable instructions, when executed by a processor, cause the processor to perform the steps in the control method described above.BRIEF DESCRIPTION OF THE DRAWINGS

[0017] FIG. 1 is a schematic diagram of a handle assembly of a switching device provided by an embodiment of the present application when it is at a 0° position; FIG. 2 is a schematic diagram of the handle assembly of the switching device provided by the embodiment of the present application when it is at a 100° position; FIG. 3 is a schematic diagram of an implementation flow of a control method provided by an embodiment of the present application; and FIG. 4 is a diagram of an example of energy control of a switching device in a closing process using the control method according to the embodiment of the present application. List of reference numerals:

[0018] 11Handle assembly12Handle sheet13Signal source14Circuit board15SensorS31 to S33Steps of control method DETAILED DESCRIPTION OF EMBODIMENTS

[0019] To enable those skilled in the art to better understand the technical solution in the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly described below in detail with reference to the drawings in the embodiments of the present application. Obviously, the embodiments described are only some, not all, of the embodiments of the present application. All other embodiments obtained by those skilled in the art on the basis of embodiments in the embodiments of the present application should fall within the scope of protection of the embodiments of the present application.

[0020] It should be understood that the terms "first", "second", "third", etc. in the claims, description and drawings of the present disclosure are used to distinguish different objects rather than to describe a specific order. The terms "comprise" and "include" used in the description and claims of the present disclosure indicate the presence of the described features, integers, steps, operations, elements and / or assemblies, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, assemblies and / or their collections.

[0021] It should also be understood that terms used in the description of the present disclosure are for the purpose of describing specific embodiments only, but are not intended to limit the present disclosure. As used in the description and claims of the present disclosure, "a", "an", and "the" in the singular form are intended to include the plural form, unless other circumstances are clearly indicated in the context. It should be further understood that the term "and / or" used in the description and claims of the present disclosure refers to any and all possible combinations of one or more associated listed items and comprises these combinations.

[0022] Existing control devices cannot meet the requirements of the opening and closing speed of main devices such as circuit breakers and other switching devices, and main devices with different load resistances usually need to be matched with different types of remote controllers. Because there is no speed control function, if a controller with greater power is used, the speed will be too fast when matched with a main device with a smaller load, and the end impact will be greater; if a controller with less power is used, the faster speed requirement cannot be met when matched with a main device with a larger load. In order to solve the above defects, the present application provides a switching device as shown in FIG. 1. The switching device includes a motor, a handle assembly 11, a handle sheet 12, a signal source 13, a circuit board 14, at least three sensors 15 and a controller.

[0023] The motor is used to drive the handle assembly 11.

[0024] The handle sheet 12 is sleeved on the handle assembly 11, and can rotate along with the handle assembly 11 when the motor drives the handle assembly 11 to rotate.

[0025] The signal source 13 is provided on the handle sheet 12. The signal source 13 is used to transmit a rotational position signal of a handle.

[0026] The at least three sensors 15 are provided on the circuit board 14. The sensors 15 are arranged one by one within an opening and closing rotation angle range of the handle, wherein one is provided at the handle's rotation starting point, one is provided at the handle's rotation end point, and at least one is provided at the handle's preset control inflection point to sense the handle's rotational position. The handle's preset control inflection point is provided between the handle's rotation starting point and the handle's rotation end point. The handle's rotation starting point is a 0° position, and the handle's rotation end point is the handle's closing position or opening angle position. As shown in FIGS. 1 and 2, 4 sensors 15 are provided on the circuit board, that is, a sensor 15 is provided at each of 0°, 40°, 80° and 100°, for sensing the handle's rotational position. FIG. 1 shows a schematic diagram of the handle assembly at the 0° position, and FIG. 2 shows a schematic diagram of the handle assembly at the 100° position.

[0027] The controller is provided on the circuit board 14, and is separately connected to the motor and the sensors 15. The controller is used to receive the rotational position of the handle in real time in a closing or opening process of the switching device to detect whether the handle rotates to the preset control inflection point. When it is detected that the handle is rotated to the preset control inflection point, the load characteristic of the switching device is determined according to the operating parameter of the handle rotating to the preset control inflection point. According to the load characteristic of the switching device, the control of the motor is intervened so as to input energy matching the load characteristic to the motor to drive the closing or opening of the switching device. In this embodiment, the preset control inflection point is located within the closing and opening rotation angle range of the handle, and is preset according to the load characteristic of the switching device. The closing and opening rotation angle range of the handle is between 0° and a closing angle or an opening angle.

[0028] In this embodiment, in order to make the signal source structure simple and easy to implement, the signal source 13 includes a magnet. A magnetic signal is emitted through the magnet.

[0029] In this embodiment, in order to make the sensor structure simple and easy to implement, the sensors 15 include a Hall sensor. The Hall sensor senses the rotational position of the handle by receiving the magnetic signal emitted by the magnet. In this embodiment, the rotational position of the handle is a rotation angle of the handle.

[0030] In this embodiment, the controller sets a control inflection point to enable the switching device to reasonably control the rotational speed of the switching device. That is, it is possible to allow the switching device to reduce the impact when the speed is too fast, thereby avoiding damage to product parts, and increasing the service life. It is also possible to allow the switching device to adjust the speed when the speed is too slow to successfully close or open the switch. At the same time, the switching device can match different loads and has stronger compatibility.

[0031] Based on the above switching device, this embodiment further provides a control method executed by the above controller. Please refer to FIG. 3, which is a schematic diagram of an implementation flow of the control method. As shown in FIG. 3, the control method includes the following steps: S31, receiving the rotational position of the handle in real time in a closing or opening process of the switching device to detect whether the handle is rotated to a preset control inflection point; S32, when it is detected that the handle is rotated to the preset control inflection point, determining a load characteristic of the switching device according to an operating parameter of the handle rotating to the preset control inflection point; and S33, intervening in control of a motor according to the load characteristic of the switching device, so as to input energy matching the load characteristic to the motor to drive closing or opening of the switching device. In this embodiment, the preset control inflection point is located within the closing and opening rotation angle range of the handle, and is preset according to the load characteristic of the switching device. The closing and opening rotation angle range of the handle is between 0° and a closing angle or an opening angle. In practical applications, the load characteristic of the switching device refers to the matching of the load size of the switching device with the driving energy of the motor. The preset control inflection point is pre-selected according to the change of the load of the switching device in the whole process.

[0032] For example, when a circuit breaker is closing, the handle needs to rotate by 100° from the starting position to the closing position. The driving energy of the motor increases from 0° to 80°, and the driving energy of the motor is constant at 75° before reaching 80°. Therefore, 80° is preset as the control inflection point.

[0033] In order to make it possible to accurately detect the preset control inflection point, in this embodiment, before the step of detecting whether the handle is rotated to the preset control inflection point, S31 of the control method further includes: receiving rotational position information of the handle sent by the sensors, and converting the received rotational position information of the handle into the working parameter of the handle in the rotation process.

[0034] Specifically, in the closing or opening process of the switching device, whether the handle is rotated to the preset control inflection point is detected by detecting in real time whether the working parameter of the handle in the rotation process matches a working parameter of the handle rotating to the preset control inflection point.

[0035] When it is detected that the rotation angle of the handle in the rotation process matches the rotation angle of the handle rotating to the preset control inflection point, it indicates that the handle is detected to be rotated to the preset control inflection point; or when it is detected that the rotation path length of the handle in the rotation process matches the rotation path length of the handle rotating to the preset control inflection point, it indicates that the handle is detected to be rotated to the preset control inflection point.

[0036] In this embodiment, the operating parameter of the handle rotating to the preset control inflection point comprises operating time of the handle rotating to the preset control inflection point and / or operating speed of the handle rotating to the preset control inflection point. Each of the operating time of the handle rotating to the preset control inflection point and the operating speed of the handle rotating to the preset control inflection point can determine the load characteristic of the switching device.

[0037] For example, the preset control inflection point is set at 80°. Then, the longer the operating time when the handle is rotated to 80°, the heavier the load of the switching device, and the shorter the operating time when the handle is rotated to 80°, the lighter the load of the switching device.

[0038] For example, the preset control inflection point is set at 80°. Then, the slower the operating speed when the handle is rotated to 80°, the heavier the load of the switching device, and the faster the operating speed when the handle is rotated to 80°, the lighter the load of the switching device.

[0039] In order to make it possible to accurately determine the load characteristic of the switching device, in this embodiment, when it is detected that the handle is rotated to the preset control inflection point, S32 further includes: inferring the operating parameter of the handle rotating to the preset control inflection point according to the working parameter of the handle rotating to the preset control inflection point.

[0040] In this embodiment, in order to facilitate the implementation of the inference algorithm, the step of inferring the operating parameter of the handle rotating to the preset control inflection point according to the working parameter of the handle rotating to the preset control inflection point includes the following.

[0041] When the working parameter of the handle rotating to the preset control inflection point is the rotation angle of the handle, the step of inferring the operating parameter of the handle rotating to the preset control inflection point according to the working parameter of the handle rotating to the preset control inflection point is as follows: calculating the operating time of the handle rotating to the preset control inflection point according to a time difference t of detecting the handle between the starting point and the preset control inflection point; and / or calculating the operating speed of the handle rotating to the preset control inflection point according to a formula v = θr t ;

[0042] When the working parameter of the handle rotating to the preset control inflection point is the rotation path length of the handle, the step of inferring the operating parameter of the handle rotating to the preset control inflection point according to the working parameter of the handle rotating to the preset control inflection point is as follows: calculating the operating time of the handle rotating to the preset control inflection point according to a time difference t of detecting the handle between the starting point and the preset control inflection point; and / or calculating the operating speed of the handle rotating to the preset control inflection point according to a formula v = l t ;

[0043] In this embodiment, when the inferred operating parameter of the handle rotating to the preset control inflection point is the operating time of the handle rotating to the preset control inflection point, the step of determining the load characteristic of the switching device according to the operating parameter of the handle rotating to the preset control inflection point comprises: comparing the operating time of the handle rotating to the preset control inflection point with preset determination time domains one by one, the preset determination time domains being used to determine the load characteristic matching the operating time of the handle rotating to the preset control inflection point; or when the inferred operating parameter of the handle rotating to the preset control inflection point is the operating speed of the handle rotating to the preset control inflection point, the step of determining the load characteristic of the switching device according to the operating parameter of the handle rotating to the preset control inflection point comprises: comparing the operating speed of the handle rotating to the preset control inflection point with preset determination speed domains one by one, the preset determination speed domains being used to determine the load characteristic matching the operating speed of the handle rotating to the preset control inflection point.

[0044] In order to facilitate the implementation of the algorithm for determining the load characteristic of the switching device, in this embodiment, when the inferred operating parameter of the handle rotating to the preset control inflection point is the operating time of the handle rotating to the preset control inflection point, S32 includes: comparing the operating time of the handle rotating to the preset control inflection point with preset determination time domains one by one, the preset determination time domains being used to determine the load characteristic matching the operating time of the handle rotating to the preset control inflection point; or when the inferred operating parameter of the handle rotating to the preset control inflection point is the operating speed of the handle rotating to the preset control inflection point, S32 includes: comparing the operating speed of the handle rotating to the preset control inflection point with preset determination speed domains one by one, the preset determination speed domains being used to determine the load characteristic matching the operating speed of the handle rotating to the preset control inflection point.

[0045] In this embodiment, the preset determination time domains include a first preset determination time domain matching a large load, a second preset determination time domain matching a medium load, and a third preset determination time domain matching a small load.

[0046] In this embodiment, the determination speed domains include a first preset determination speed domain matching a large load, a second preset determination speed domain matching a medium load, and a third preset determination speed domain matching a small load.

[0047] Please refer to FIG. 4, which shows a diagram of an example of energy control of a switching device in a closing process using the control method. As shown in FIG. 4, the torque of the handle changes at 80° in the closing process, and 80° is set as the preset control inflection point. The handle is driven with full energy to rotate in the rotation process from 0° to 80° to reach the required speed. When the preset control inflection point 80° is reached, the operating time or operating speed of the handle from 0° to 80° is detected, and the load condition of the switching device is determined according to the operating time or operating speed. Then, according to the load condition of the switching device, the drive energy matching with it is selected to drive the handle in the process from 80° to 100° to avoid the end impact of the handle or failure to successfully close the switch.

[0048] On the contrary, the torque of the handle changes at 40° in the closing process, and 40° is set as the preset control inflection point. Therefore, when the handle is reversed from the 100° position to 0° for opening control, the same method can be used to control the end speed to reduce impact or failure to successfully open the switch. For example, the handle is driven with full energy from 100° to 40°, and the 40° position is used as the inflection point. The load condition of the switching device is determined according to the operating time or operating speed between 100° and 40°. The process of rotating from the 40° position to the 0° position is driven according to the energy matching the load to avoid the end impact of the handle or failure to successfully open the switch.

[0049] In this embodiment, since the load characteristic of the switching device can be diverse or sudden, in order to adapt to the diverse or sudden load characteristic, at least one preset test control inflection point can be preset within the opening and closing rotation angle range of the handle of this embodiment, and the preset test control inflection point is located between 0° and the preset control inflection point.

[0050] When a preset trial control inflection point is further set within the opening and closing rotation angle range of the handle, before the step of detecting whether the handle is rotated to the preset control inflection point, the control method further includes: detecting whether the handle is rotated to the preset trial control inflection point; if so, intervening in the control of the motor in advance according to the load characteristic of the preset trial control inflection point, after the intervention in advance is completed, turning to the step S31 of detecting whether the handle is rotated to the preset control inflection point; and if not, continuing to execute the step of detecting whether the handle is rotated to the preset control inflection point.

[0051] In this embodiment, the preset trial control inflection point is set according to the torque change in the load opening process.

[0052] For example, intervening in the control of the motor in advance according to the load characteristic of the preset trial control inflection point includes the continuous increase of the driving energy of the motor between 0° and the preset trial control inflection point, and the sudden drop of the driving energy of the motor between the preset trial control inflection point and the preset control inflection point.

[0053] For example, intervening in the control of the motor in advance according to the load characteristic of the preset trial control inflection point further includes the excessively rapid increase of the driving energy of the motor between 0° and the preset trial control inflection point, and the driving energy cannot be effectively controlled at the preset control inflection point, and the driving energy is controlled in advance by increasing the preset trial control inflection point.

[0054] The embodiments of the present application further propose a computer-readable medium, wherein computer-readable instructions are stored on the computer-readable medium, and the computer-readable instructions, when executed by a processor, cause the processor to perform the steps in the control method as described previously.

[0055] At any possible level of technical detail combination, the present application may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present application.

[0056] The computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. The computer-readable storage medium may be, for example, (but is not limited to) an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the above. More specific examples (non-exhaustive list) of the computer-readable storage medium include: portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memories), static random access memories (SRAM), portable compact disk read-only memories (CD-ROM), digital versatile disks (DVD), memory sticks, floppy disks, and mechanical encoding devices such as punch cards or protruding structures in grooves on which instructions are stored, and any suitable combination of the above. The computer-readable storage medium used here is not interpreted as a transient signal itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagated by wave guides or other transmission media (e.g., light pulses by optical fiber cables), or electrical signals transmitted by wires.

[0057] The computer-readable program described herein may be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device through a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network may include a copper transmission cable, optical fiber transmission, wireless transmission, a router, a firewall, a switch, a gateway computer, and / or an edge server. A network adapter card or network interface in each computing / processing device receives a computer-readable program instruction from the network, and forwards the computer-readable program instruction for storage in the computer-readable storage medium in each computing / processing device. The computer program instructions for performing the operation of the present application may be an assembly instruction, an instruction set architecture (ISA) instruction, a machine instruction, a machine-related instruction, a microcode, a firmware instruction, state setting data, integrated circuit configuration data, or a source code or object code written in any combination of one or more programming languages, wherein the programming language includes an object-oriented programming language, such as Smalltalk, C++, etc., and a procedural programming language, such as "C" language or similar programming language. The computer-readable program instructions may be executed completely or partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or completely on a remote computer or a server. In the case of the remote computer involved, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect through the Internet). In some embodiments, by using the state information of computer-readable program instructions to personalize an electronic circuit, such as programmable logic circuits, field programmable gate arrays (FPGAs) or programmable logic arrays (PLAs), the electronic circuit can execute computer-readable program instructions, thereby realizing various aspects of the present application.

[0058] The embodiments of the present application further propose an electronic device 500. FIG. 5 is a schematic diagram of the structure of an exemplary electronic device according to the present application. As shown in FIG. 5, the electronic device 500 includes a processor 502 and a memory 501. The memory 501 stores instructions, wherein the instructions are executed by the processor 502 to implement the method as described above.

[0059] At least one processor 502 may include a microprocessor, an application-specific integrated circuit (ASIC), a digital signal processor (DSP), a central processing unit (CPU), a graphics processing unit (GPU), a state machine, etc. Embodiments of the computer-readable medium include, but are not limited to, floppy disks, CD-ROMs, magnetic disks, memory chips, ROMs, RAMs, ASICs, configured processors, all-optical media, all magnetic tapes or other magnetic media, or any other medium from which a computer processor can read instructions. In addition, various other forms of the computer-readable medium may send or carry instructions to a computer, including a router, a dedicated or public network, or other wired and wireless transmission devices or channels. The instructions may include codes in any computer programming language, including C, C++, C language, Visual Basic, java, and JavaScript.

[0060] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application.

[0061] A noun or pronoun referring to a person in the present patent application is not limited to a specific gender.

Claims

1. A switching device, comprising: a motor and a handle assembly (11), the motor being used for driving the handle assembly (11); a handle sheet (12), which is sleeved on the handle assembly (11) and can rotate along with the handle assembly (11) when the motor drives the handle assembly (11) to rotate; a signal source (13), which is provided on the handle sheet (12) and is used for emitting a rotational position signal of a handle; a circuit board (14) on which at least three sensors (15) are provided, the sensors (15) being arranged one by one within an opening and closing rotation angle range of the handle and used for sensing a rotational position of the handle; and a controller, which is provided on the circuit board (14), is separately connected to the motor and the sensors (15), and is used for: receiving the rotational position of the handle in real time in a closing or opening process of the switching device to detect whether the handle is rotated to a preset control inflection point; characterised in that when it is detected that the handle is rotated to the preset control inflection point, determining a load characteristic of the switching device according to an operating parameter of the handle rotating to the preset control inflection point; and intervening in control of the motor according to the load characteristic of the switching device, so as to input energy matching the load characteristic to the motor to drive closing or opening of the switching device; the preset control inflection point being located within the opening and closing rotation angle range of the handle, and being pre-set according to the load characteristic of the switching device; and the opening and closing rotation angle range of the handle being between 0° and a closing angle or an opening angle.

2. The switching device according to claim 1, characterized in that the signal source (13) comprises a magnet.

3. The switching device according to claim 2, characterized in that the sensors (13) comprise a Hall sensor.

4. A control method for a switching device, characterized in that the switching device comprises a motor, a handle assembly (11), a handle sheet (12), a signal source (13), a circuit board (14) and a controller, wherein the motor is used to drive the handle assembly (11); the handle sheet (12) is sleeved on the handle assembly (11) and can rotate along with the handle assembly (11) when the motor drives the handle assembly (11) to rotate; the signal source (13) is provided on the handle sheet (12) and is used for sending rotational position information of the handle; at least three sensors (15) are provided on the circuit board (14), and the sensors (15) are arranged one by one within an opening and closing rotation angle range of the handle and are used for sensing rotational position information of the handle through the signal source (13) and sending the rotational position information of the handle; the controller is provided on the circuit board (14) and is separately connected to the motor and the sensors (15); the control method comprises: receiving the rotational position of the handle in real time in a closing or opening process of the switching device to detect whether the handle is rotated to a preset control inflection point; when it is detected that the handle is rotated to the preset control inflection point, determining a load characteristic of the switching device according to an operating parameter of the handle rotating to the preset control inflection point; and intervening in control of the motor according to the load characteristic of the switching device, so as to input energy matching the load characteristic to the motor to drive closing or opening of the switching device; the preset control inflection point being located within the opening and closing rotation angle range of the handle, and being pre-set according to the load characteristic of the switching device; and the opening and closing rotation angle range of the handle being between 0° and a closing angle or an opening angle.

5. The control method for the switching device according to claim 4, characterized in that before the step of detecting whether the handle is rotated to a preset control inflection point, the control method further comprises: receiving the rotational position information of the handle sent by the sensors, and converting the received rotational position information of the handle into a working parameter of the handle in a rotation process, wherein the working parameter of the handle comprises a rotation angle or a rotation path length of the handle.

6. The control method for the switching device according to claim 5, characterized in that in the closing or opening process of the switching device, whether the handle is rotated to the preset control inflection point is detected by detecting in real time whether the working parameter of the handle in the rotation process matches a working parameter of the handle rotating to the preset control inflection point; when it is detected that a rotation angle of the handle in the rotation process matches a rotation angle of the handle rotating to the preset control inflection point, it indicates that the handle is detected to be rotated to the preset control inflection point; or when it is detected that the rotation path length of the handle in the rotation process matches the rotation path length of the handle rotating to the preset control inflection point, it indicates that the handle is detected to be rotated to the preset control inflection point.

7. The control method for the switching device according to claim 6, characterized in that the operating parameter of the handle rotating to the preset control inflection point comprises operating time of the handle rotating to the preset control inflection point and / or operating speed of the handle rotating to the preset control inflection point.

8. The control method for the switching device according to claim 7, characterized in that when it is detected that the handle is rotated to the preset control inflection point, the step of determining the load characteristic of the switching device according to the operating parameter of the handle rotating to the preset control inflection point further comprises: inferring the operating parameter of the handle rotating to the preset control inflection point according to the working parameter of the handle rotating to the preset control inflection point; wherein, when the working parameter of the handle rotating to the preset control inflection point is the rotation angle of the handle, the step of inferring the operating parameter of the handle rotating to the preset control inflection point according to the working parameter of the handle rotating to the preset control inflection point is as follows: calculating the operating time of the handle rotating to the preset control inflection point according to a time difference t of detecting the handle between a starting point and the preset control inflection point; and / or calculating the operating speed of the handle rotating to the preset control inflection point according to a formula v = θr t ; when the working parameter of the handle rotating to the preset control inflection point is the rotation path length of the handle, the step of inferring the operating parameter of the handle rotating to the preset control inflection point according to the working parameter of the handle rotating to the preset control inflection point is as follows: calculating the operating time of the handle rotating to the preset control inflection point according to a time difference t of detecting the handle between the starting point and the preset control inflection point; and / or calculating the operating speed of the handle rotating to the preset control inflection point according to a formula v = l t ;9. The control method for the switching device according to claim 8, characterized in that when the inferred operating parameter of the handle rotating to the preset control inflection point is the operating time of the handle rotating to the preset control inflection point, the step of determining the load characteristic of the switching device according to the operating parameter of the handle rotating to the preset control inflection point comprises: comparing the operating time of the handle rotating to the preset control inflection point with preset determination time domains one by one, the preset determination time domains being used to determine the load characteristic matching the operating time of the handle rotating to the preset control inflection point; or when the inferred operating parameter of the handle rotating to the preset control inflection point is the operating speed of the handle rotating to the preset control inflection point, the step of determining the load characteristic of the switching device according to the operating parameter of the handle rotating to the preset control inflection point comprises: comparing the operating speed of the handle rotating to the preset control inflection point with preset determination speed domains one by one, the preset determination speed domains being used to determine the load characteristic matching the operating speed of the handle rotating to the preset control inflection point.

10. The control method for the switching device according to claim 9, characterized in that if the load characteristic of the switching device is diverse or sudden, at least one preset trial control inflection point is preset within the opening and closing rotation angle range of the handle, and the preset trial control inflection point is located between 0° and the preset control inflection point; when a preset trial control inflection point is further set within the opening and closing rotation angle range of the handle, before the step of detecting whether the handle is rotated to the preset control inflection point, the control method further comprises: detecting whether the handle is rotated to the preset trial control inflection point; if so, intervening in the control of the motor in advance according to the load characteristic of the preset trial control inflection point, after the intervention in advance is completed, turning to the step of detecting whether the handle is rotated to the preset control inflection point; and if not, continuing to execute the step of detecting whether the handle is rotated to the preset control inflection point.

11. A computer-readable medium, characterized in that computer-readable instructions are stored on the computer-readable medium, and the computer-readable instructions, when executed by a processor, cause the processor to perform the steps in the control method according to any one of claims 4 to 10.