Method of determining state of three-phase motor and electronic device performing same

Abstract

A method of determining the state of a three-phase motor in a walking assistance device or some other suitable device may comprise the steps of: applying a control voltage to an input terminal of a diagnosis circuit electrically connected to terminals of the three-phase motor; measuring a diagnosis voltage appearing at an output terminal of the diagnosis circuit; and determining whether coils of the three-phase motor are normal on the basis of the diagnosis voltage.

Description

Method for determining the state of a three-phase motor and electronic device performing the method

[0001] The present application relates to a technique for determining the state of a three-phase motor.

[0002] As we enter an aging society, the number of people complaining of discomfort and pain in walking due to muscle weakness or joint problems caused by aging is increasing, and interest in walking assistance devices that enable the elderly with weakened muscle strength or patients / people with muscle and joint problems to walk and / or exercise smoothly with less effort is growing.

[0003] According to one embodiment, a method for determining a state of a three-phase motor may include applying a control voltage to an input terminal of a diagnostic circuit that is directly or indirectly electrically connected to terminals of the three-phase motor, measuring a diagnostic voltage appearing at an output terminal of the diagnostic circuit, and determining whether coils of the three-phase motor are normal based on the diagnostic voltage.

[0004] According to one embodiment, a diagnostic module for determining whether coils of a three-phase motor are normal includes a processor and a diagnostic circuit, wherein the processor can perform an operation of applying a control voltage to an input terminal of the diagnostic circuit that is directly or indirectly electrically connected to terminals of the three-phase motor, an operation of measuring a diagnostic voltage appearing at an output terminal of the diagnostic circuit, and an operation of determining whether coils of the three-phase motor are normal based on the diagnostic voltage.

[0005] According to one embodiment, a method for determining a state of a three-phase motor may include: measuring an operating voltage appearing at an output terminal of a diagnostic circuit that is directly or indirectly electrically connected to terminals of the three-phase motor while the three-phase motor is controlled by a motor driver circuit based on PWM; terminating application of a driving voltage to the three-phase motor when the operating voltage is not normal; applying a control voltage to an input terminal of the diagnostic circuit; measuring a diagnostic voltage appearing at the output terminal of the diagnostic circuit; and determining whether coils of the three-phase motor are normal based on the diagnostic voltage.

[0006] Other features and aspects will become apparent from the detailed description, drawings and claims below.

[0007] The above and other aspects, features and advantages of the various embodiments will become more apparent from the following detailed description taken in conjunction with the accompanying drawings.

[0008] FIG. 1 is a drawing for explaining an overview of a wearable device worn on a user's body according to one embodiment.

[0009] FIG. 2 is a diagram illustrating an exercise management system including a wearable device and an electronic device according to one embodiment.

[0010] FIG. 3 illustrates a rear schematic diagram of a wearable device according to one embodiment.

[0011] FIG. 4 illustrates a left side view of a wearable device according to one embodiment.

[0012] FIGS. 5A and 5B are diagrams illustrating the configuration of a control system of a wearable device according to one embodiment.

[0013] FIG. 6 is a diagram illustrating the interaction between a wearable device and an electronic device according to one embodiment.

[0014] FIG. 7 is a diagram illustrating a configuration of an electronic device according to one embodiment.

[0015] FIG. 8 is a flowchart of a method for determining the state of a three-phase motor according to one embodiment.

[0016] Figure 9 illustrates a motor driver circuit according to one embodiment.

[0017] FIG. 10 illustrates a diagnostic circuit according to one embodiment.

[0018] FIG. 11A is a flowchart of a method for determining whether coils of a three-phase motor are broken, according to one embodiment.

[0019] FIG. 11b illustrates a control voltage, a driving voltage, and a diagnostic voltage according to one embodiment.

[0020] FIG. 12a is an equivalent circuit of a three-phase motor, a motor driver circuit, and a diagnostic circuit when all of the coils of the three-phase motor and the transistors of the motor driver circuit are normal, according to one embodiment.

[0021] FIG. 12b is an equivalent circuit of a three-phase motor, a motor driver circuit, and a diagnostic circuit when a coil of phase U of the three-phase motor is broken, according to one embodiment.

[0022] FIG. 12c is an equivalent circuit of a three-phase motor, a motor driver circuit, and a diagnostic circuit when the V-phase coil of the three-phase motor is broken, according to one embodiment.

[0023] FIG. 12d is an equivalent circuit of a three-phase motor, a motor driver circuit, and a diagnostic circuit when the coil of the W phase of the three-phase motor is broken, according to one embodiment.

[0024] FIG. 12e is an equivalent circuit of a three-phase motor, a motor driver circuit, and a diagnostic circuit in a case where multiple coils of the three-phase motor are broken, according to one embodiment.

[0025] FIG. 13 is a flowchart of a method for determining whether a lower transistor of a motor driver circuit is broken, according to one embodiment.

[0026] FIG. 14a is an equivalent circuit of a three-phase motor, motor driver circuit, and diagnostic circuit when the lower transistor of the motor driver circuit is broken, according to one embodiment.

[0027] FIG. 14b is an equivalent circuit of a three-phase motor, a motor driver circuit, and a diagnostic circuit when the coil of the U phase of the three-phase motor and the lower transistor of the motor driver circuit are broken, according to one embodiment.

[0028] FIG. 14c is an equivalent circuit of a three-phase motor, a motor driver circuit, and a diagnostic circuit when the V-phase coil of the three-phase motor and the lower transistor of the motor driver circuit are broken, according to one embodiment.

[0029] FIG. 14d is an equivalent circuit of a three-phase motor, a motor driver circuit, and a diagnostic circuit when the coil of the W phase of the three-phase motor and the lower transistor of the motor driver circuit are broken, according to one embodiment.

[0030] FIG. 15A is a flowchart of a method for determining whether an upper transistor of a motor driver circuit is broken, according to one embodiment.

[0031] FIG. 15b illustrates a control voltage, a driving voltage, and a diagnostic voltage according to one embodiment.

[0032] FIG. 16a is an equivalent circuit of a three-phase motor, motor driver circuit, and diagnostic circuit when the upper transistor of the motor driver circuit is broken, according to one embodiment.

[0033] FIG. 16b is an equivalent circuit of a three-phase motor, a motor driver circuit, and a diagnostic circuit when the coil of the U-phase of the three-phase motor and the upper transistor of the motor driver circuit are broken, according to one embodiment.

[0034] FIG. 16c is an equivalent circuit of a three-phase motor, a motor driver circuit, and a diagnostic circuit when the V-phase coil of the three-phase motor and the upper transistor of the motor driver circuit are broken, according to one embodiment.

[0035] FIG. 16d is an equivalent circuit of a three-phase motor, a motor driver circuit, and a diagnostic circuit when the coil of the W phase of the three-phase motor and the upper transistor of the motor driver circuit are broken, according to one embodiment.

[0036] FIG. 17 is a flowchart of a method for monitoring the status of a three-phase motor while the three-phase motor is controlled based on PWM by a motor driver circuit, according to one embodiment.

[0037] FIG. 18 illustrates control voltages, driving voltages, and diagnostic voltages that appear during normal operation of a three-phase motor and motor driver circuit according to one embodiment.

[0038] FIG. 19 illustrates control voltages, driving voltages, and diagnostic voltages that appear when a three-phase motor or motor driver circuit does not operate normally, according to one embodiment.

[0039] FIG. 20 is a flowchart of a method for notifying a user of a broken state when a circuit of a 3-phase motor or motor driver is broken, according to one embodiment.

[0040] FIG. 21 illustrates a diagnostic circuit having a different structure from the diagnostic circuit illustrated with reference to FIG. 9, according to one embodiment.

[0041] Hereinafter, various embodiments of the present disclosure will be described with reference to the attached drawings. However, this is not intended to limit the present disclosure to specific embodiments, and it should be understood that the present disclosure encompasses various modifications, equivalents, and / or alternatives of the embodiments.

[0042] FIG. 1 is a drawing for explaining an overview of a wearable device worn on a user's body according to one embodiment.

[0043] Referring to FIG. 1, in one embodiment, a wearable device (100) may be a device worn on a user's (110) body to assist the user's (110) walking, exercise, and / or work. In one embodiment, the wearable device (100) may also be used to measure the user's (110) physical ability (e.g., walking ability, exercise ability, exercise posture). In the embodiments, the term 'wearable device' may be replaced with 'wearable robot', 'walking assistance device', or 'exercise assistance device'. The user (110) may be a human or an animal, but is not limited thereto. A wearable device (100) may be worn on a user's (110) body (e.g., lower body (legs, ankles, knees, etc.), upper body (torso, arms, wrists, etc.), or waist) to apply external forces, such as assistance force and / or resistance force, to the body movements of the user (110). Assistance force refers to a force applied in the same direction as the body movement direction of the user (110), and represents a force that assists the body movements of the user (110). Resistance force refers to a force applied in the opposite direction to the body movement direction of the user (110), and represents a force that hinders the body movements of the user (110). The term 'resistance force' may also be referred to as 'exercise load'.

[0044] In one embodiment, the wearable device (100) may operate in a walking assistance mode to assist the walking of a user (110). In the walking assistance mode, the wearable device (100) may assist the walking of the user (110) by applying an assistive force generated from the driving module (120) of the wearable device (100) to the body of the user (110). The wearable device (100) may assist the force required for the walking of the user (110), thereby enabling the user (110) to walk independently or to walk for a long time, thereby expanding the walking ability of the user (110). The wearable device (100) may also help improve the walking of a pedestrian with abnormal walking habits or walking posture. Here, the “driving module” may include a motor and / or a circuit.

[0045] In one embodiment, the wearable device (100) may operate in an exercise assistance mode to enhance the exercise effect of the user (110). In the exercise assistance mode, the wearable device (100) may impede the body movement of the user (110) or provide resistance to the body movement of the user (110) by applying a resistance force generated from the driving module (120) to the body of the user (110). If the wearable device (100) is a hip-type wearable device worn on the waist (or pelvis) and legs (e.g., thighs) of the user (110), the wearable device (100) may provide an exercise load to the leg movement of the user (110) while being worn on the legs, thereby further enhancing the exercise effect on the legs of the user (110). In one embodiment, the wearable device (100) may also apply an assistive force to the body of the user (110) to assist the exercise of the user (110). For example, when a disabled person or an elderly person wears a wearable device (100) to exercise, the wearable device (100) may provide assistive force to assist body movements during the exercise. In one embodiment, the wearable device (100) may provide a combination of assistive force and resistance force by exercise section or time section, such as providing assistive force in some exercise sections and resistance force in other exercise sections.

[0046] In one embodiment, the wearable device (100) may operate in a physical ability measurement mode for measuring the physical ability of a user (110). The wearable device (100) may measure movement information of the user (110) using sensors (e.g., an angle sensor (125), an inertial measurement unit (IMU) (135)) provided in the wearable device (100) while the user (110) walks or performs exercise, and may evaluate the physical ability of the user (110) based on the measured movement information. For example, the gait index or exercise ability index (e.g., muscle strength, endurance, balance, exercise movement) of the user (110) may be estimated through the movement information of the user (110) measured by the wearable device (100). The physical ability measurement mode may include an exercise movement measurement mode for measuring the exercise movement of the user (110).

[0047] In various embodiments of the present disclosure, for convenience of explanation, a hip-type wearable device (100) as illustrated in FIG. 1 is described as an example, but is not limited thereto. As described above, the wearable device (100) may be worn on other body parts (e.g., upper arms, lower arms, hands, calves, feet) other than the waist and legs (particularly, thighs), and the shape and configuration of the wearable device (100) may vary depending on the body part on which it is worn.

[0048] According to one embodiment, the wearable device (100) may include a support frame for supporting the body of the user (110) when the wearable device (100) is worn on the body of the user (110) (e.g., leg support frame (50, 55) and waist support frame (20) of FIG. 3), a sensor module for obtaining sensor data including movement information about the body movement of the user (110) (e.g., leg movement, upper body movement) (e.g., sensor module (520) of FIG. 5A), a driving module (120) for generating a torque applied to the leg of the user (110) (e.g., driving module (35, 45) of FIG. 3), and a control module (130) for controlling the wearable device (100) (e.g., control module (510) of FIGS. 5A and 5B).

[0049] According to one embodiment, the wearable device (100) may further include a diagnostic circuit (e.g., the diagnostic circuit (560) of FIG. 5A) that diagnoses the status of the drive module (120). The combination of the control module (130) and the diagnostic circuit of the wearable device (100) may be referred to as a diagnostic module.

[0050] The sensor module may include an angle sensor (125) and an inertial measurement device (135). The angle sensor (125) may measure a rotation angle of a leg support frame of the wearable device (100) corresponding to a hip joint angle value of the user (110). The rotation angle of the leg support frame measured by the angle sensor (125) may be estimated to be a hip joint angle value (or leg angle value) of the user (110). The angle sensor (125) may include, for example, an encoder and / or a hall sensor. In one embodiment, the angle sensors (125) may be located near the right hip joint and the left hip joint of the user (110), respectively. The inertial measurement device (135) may include an acceleration sensor and / or an angular velocity sensor, and may measure a change in acceleration and / or angular velocity according to a movement of the user (110). The inertial measurement device (135) can measure, for example, the upper body movement value of the user (110) corresponding to the movement value of the waist support frame (or base body (base body (80) of FIG. 3)) of the wearable device (100). The movement value of the waist support frame measured by the inertial measurement device (135) can be estimated as the upper body movement value of the user (110).

[0051] In one embodiment, the control module (130) and the inertial measurement device (135) may be placed in the base body of the wearable device (100) (e.g., the base body (80) of FIG. 3). The base body may be positioned at the lumbar region (waist region) of the user (110) while the user (110) wears the wearable device (100). The base body may be formed or attached to the outside of the lumbar support frame of the wearable device (100). The base body may be mounted at the lumbar region of the user (110) to provide a cushioning feeling to the lumbar region of the user (110) and support the lumbar region of the user (110) together with the lumbar support frame.

[0052] FIG. 2 is a diagram illustrating an exercise management system including a wearable device and an electronic device according to one embodiment.

[0053] Referring to FIG. 2, the exercise management system (200) may include a wearable device (100) worn on a user's body, an electronic device (210), another wearable device (220), and a server (230). In one embodiment, the exercise management system (200) may omit at least one of these devices (e.g., another wearable device (220) or the server (230)) or may add one or more other devices (e.g., a dedicated controller device of the wearable device (100)).

[0054] In one embodiment, the wearable device (100) may be worn on the user's body in a walking assistance mode to assist the user's movements. For example, the wearable device (100) may be worn on the user's leg to generate an assistive force to assist the user's leg movements, thereby assisting the user's walking.

[0055] In one embodiment, the wearable device (100) may generate and apply to the user's body a resistance force to hinder the user's body movement or an assistive force to assist the user's body movement in order to enhance the user's exercise effect in the exercise assistance mode. In the exercise assistance mode, the user may select an exercise program (e.g., squats, split lunges, dumbbell squats, lunges and knee ups, stretching, etc.) to be exercised using the wearable device (100) through the electronic device (210) and / or an exercise intensity to be applied to the wearable device (100). The wearable device (100) may control the drive module of the wearable device (100) according to the exercise program selected by the user, and may acquire sensor data including information on the user's movement through the sensor module. The wearable device (100) may adjust the strength of the resistance force or the assistive force to be applied to the user according to the exercise intensity selected by the user. For example, the wearable device (100) can control the drive module to generate a resistance corresponding to the exercise intensity selected by the user.

[0056] In one embodiment, the wearable device (100) may be used to measure a user's physical ability in conjunction with an electronic device (210). The wearable device (100) may operate in a physical ability measurement mode, which is a mode for measuring the user's physical ability under the control of the electronic device (210), and may transmit sensor data acquired by the user's movements in the physical ability measurement mode to the electronic device (210). The electronic device (210) may analyze the sensor data received from the wearable device (100) to estimate the user's physical ability.

[0057] The electronic device (210) can communicate with the wearable device (100), remotely control the wearable device (100), or provide the user with status information about the status of the wearable device (100) (e.g., booting status, charging status, sensing status, error status). The electronic device (210) can receive sensor data acquired by a sensor of the wearable device (100) from the wearable device (100), and estimate the user's physical ability or exercise result based on the received sensor data. In one embodiment, when the user wears the wearable device (100) and exercises, the wearable device (100) can acquire sensor data including movement information of the user using sensors, and transmit the acquired sensor data to the electronic device (210). The electronic device (210) can extract the user's movement value from the sensor data, and evaluate the user's exercise motion based on the extracted movement value. The electronic device (210) can provide the user with exercise motion measurement values ​​and exercise motion evaluation information for the user's exercise motion through a graphical user interface.

[0058] In one embodiment, the electronic device (210) may execute a program (e.g., an application) for controlling the wearable device (100), and the user may adjust the operation or setting values ​​(e.g., the torque intensity output from the driving module (e.g., the driving module (35, 45) of FIG. 3), the volume of the audio output from the sound output module (e.g., the sound output module (550) of FIGS. 5A and 5B), the brightness of the light unit (e.g., the light unit (85) of FIG. 3)) of the wearable device (100) through the program. The program executed in the electronic device (210) may provide a graphical user interface (GUI) for interaction with the user. The electronic device (210) may be a device of various forms. For example, the electronic device (210) may include, but is not limited to, a portable communication device (e.g., a smartphone), a computer device, an access point, a portable multimedia device, or a home appliance device (e.g., a television, an audio device, a projector device).

[0059] According to one embodiment, the electronic device (210) may be connected to the server (230) using short-range wireless communication or cellular communication. The server (230) may receive user profile information of a user using the wearable device (100) from the electronic device (210) and store and manage the received user profile information. The user profile information may include, for example, information on at least one of name, age, gender, height, weight, or body mass index (BMI). The server (230) may receive exercise history information on exercise performed by the user from the electronic device (210) and store and manage the received exercise history information. The server (230) may provide various exercise programs or physical ability measurement programs that may be provided to the user to the electronic device (210).

[0060] According to one embodiment, the wearable device (100) and / or the electronic device (210) may be connected to another wearable device (220). The other wearable device (220) may be, for example, wireless earphones (222), a smartwatch (224), or smartglasses (226), but is not limited to the aforementioned devices. In one embodiment, the smartwatch (224) may measure a bio-signal including heart rate information of the user, and transmit the measured bio-signal to the electronic device (210) and / or the wearable device (100). The electronic device (210) may estimate heart rate information of the user (e.g., current heart rate, maximum heart rate, average heart rate) based on the bio-signal received from the smartwatch (224), and may provide the estimated heart rate information to the user.

[0061] In one embodiment, the user's exercise result information, physical ability information, and / or exercise motion evaluation information evaluated by the electronic device (210) may be transmitted to another wearable device (220) and provided to the user through the other wearable device (220). Status information of the wearable device (100) may also be transmitted to another wearable device (220) and provided to the user through the other wearable device (220). In one embodiment, the wearable device (100), the electronic device (210), and the other wearable device (220) may be connected to each other through wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0062] In one embodiment, the wearable device (100) may provide (or output) feedback (e.g., visual feedback, auditory feedback, tactile feedback) corresponding to the state of the wearable device (100) according to a control signal received from the electronic device (210). For example, the wearable device (100) may provide visual feedback through a light unit (e.g., light unit (85) of FIG. 3) and may provide auditory feedback through an audio output module (e.g., audio output module (550) of FIGS. 5A and 5B). The wearable device (100) may include a haptic module and may provide tactile feedback in the form of vibration to the user's body through the haptic module. The electronic device (210) may also provide (or output) feedback (e.g., visual feedback, auditory feedback, tactile feedback) corresponding to the state of the wearable device (100).

[0063] In one embodiment, the electronic device (210) may present personalized exercise goals to the user in an exercise assistance mode. The personalized exercise goals may include exercise volume targets for each of the exercise types (e.g., strength training, balance training, aerobic training) that the user wishes to perform, as determined by the electronic device (210) and / or the server (230). When the server (230) determines the exercise volume targets, the server (230) may transmit information about the determined exercise volume targets to the electronic device (210). The electronic device (210) may present exercise volume targets for the exercise types of strength training, aerobic training, and balance training in a personalized manner according to the exercise program to be performed (e.g., squats, split lunges, lunge and knee-ups) and / or the user's physical characteristics (e.g., age, height, weight, BMI). The electronic device (210) may display a GUI screen indicating the exercise volume targets for each exercise type on the display.

[0064] In one embodiment, the electronic device (210) and / or the server (230) may include a database storing information on a plurality of exercise programs that may be provided to the user through the wearable device (100). To achieve the user's exercise goal, the electronic device (210) and / or the server (230) may recommend an exercise program suitable for the user. The exercise goal may include, for example, at least one of muscle strength improvement, physical strength improvement, cardiopulmonary endurance improvement, core stability improvement, flexibility improvement, or symmetry improvement. The electronic device (210) and / or the server (230) may store and manage exercise programs performed by the user and the results of the exercise programs performed.

[0065] Figure 3 illustrates a rear schematic diagram of a wearable device according to one embodiment. Figure 4 illustrates a left side view of the wearable device according to one embodiment.

[0066] Referring to FIGS. 3 and 4, a wearable device (100) according to one embodiment may include a base body (80), a waist support frame (20), a driving module (35, 45), a leg support frame (50, 55), a thigh fastening part (1, 2), and a waist fastening part (60). The base body (80) may include a lighting unit (85). In one embodiment, the wearable device (100) may omit at least one of these components (e.g., the lighting unit (85)), or may have one or more other components (e.g., a haptic module) added.

[0067] The base body (80) can be positioned on the user's lower back while the user wears the wearable device (100). The base body (80) can be mounted on the user's lower back to provide a cushioning feeling to the user's lower back and support the user's lower back. The base body (80) can be hung over the user's buttocks (hip area) to prevent or reduce the possibility of the wearable device (100) being separated downward due to gravity while the user wears the wearable device (100). The base body (80) can distribute a portion of the weight of the wearable device (100) to the user's lower back while the user wears the wearable device (100). The base body (80) can be directly or indirectly connected to the lower back support frame (20). Lower back support frame connection elements (not shown) that can be directly or indirectly connected to the lower back support frame (20) can be provided at both ends of the base body (80).

[0068] In one embodiment, a lighting unit (85) may be disposed outside the base body (80). The lighting unit (85) may include a light source (e.g., a light emitting diode (LED)). The lighting unit (85) may emit light under the control of a control module (not shown) (e.g., the control module (510) of FIGS. 5A and 5B). According to an embodiment, the control module including a circuit may control the lighting unit (85) so that visual feedback corresponding to the status of the wearable device (100) may be provided (or output) to the user through the lighting unit (85).

[0069] The lumbar support frame (20) may extend from both ends of the base body (80). The user's lower back may be accommodated on the inside of the lumbar support frame (20). The lumbar support frame (20) may include at least one rigid body beam. Each beam may have a curved shape having a predetermined curvature so as to surround the user's lower back. A lumbar fastening member (60) may be directly or indirectly connected to an end of the lumbar support frame (20). A driving module (35, 45) may be directly or indirectly connected to the lumbar support frame (20).

[0070] In one embodiment, a control module, an inertial measurement device (not shown) (e.g., an inertial measurement device (135) of FIG. 1, an inertial measurement device (522) of FIG. 5B), a communication module (not shown) (e.g., a communication module (516) of FIGS. 5A and 5B), and a battery (not shown) may be arranged inside the base body (80). The base body (80) may protect the control module, the inertial measurement device, the communication module, and the battery. The control module may generate a control signal for controlling the operation of the wearable device (100). The control module may include a control circuit including a processor and a memory for controlling the actuators of the drive modules (35, 45). The control module may further include a power supply module (not shown) for supplying power from the battery to each component of the wearable device (100).

[0071] In one embodiment, the wearable device (100) may include a sensor module (not shown) (e.g., sensor module (520) of FIG. 5A) that obtains sensor data from one or more sensors. The sensor module may obtain sensor data that changes according to the user's movement. In one embodiment, the sensor module may obtain sensor data including movement information of the user and / or movement information of components of the wearable device (100). The sensor module may include, but is not limited to, an inertial measurement device (e.g., inertial measurement device (135) of FIG. 1, inertial measurement device (522) of FIG. 5B) for measuring a movement value of the user's upper body or a movement value of the waist support frame (20) and an angle sensor (e.g., angle sensor (125) of FIG. 1, first angle sensor (524) and second angle sensor (524-1) of FIG. 5B) for measuring a hip joint angle value of the user or a movement value of the leg support frames (50, 55). For example, the sensor module may further include at least one of a position sensor, a temperature sensor, a biosignal sensor, or a proximity sensor.

[0072] The waist fastening member (60) can be directly or indirectly connected to the waist support frame (20) and can secure the waist support frame (20) to the user's waist. The waist fastening member (60) can include, for example, a pair of belts.

[0073] The drive module (35, 45) can generate an external force (or torque) applied to the user's body based on a control signal generated by the control module. For example, the drive module (35, 45) can generate an assistive force or a resistance force applied to the user's leg. In one embodiment, the drive module (35, 45) can include a first drive module (45) positioned corresponding to the user's right hip joint position and a second drive module (35) positioned corresponding to the user's left hip joint position. The first drive module (45) can include a first actuator and a first joint member, and the second drive module (35) can include a second actuator and a second joint member. The first actuator can provide power transmitted to the first joint member, and the second actuator can provide power transmitted to the second joint member. The first actuator and the second actuator may each include a motor that receives power from a battery and generates force (or torque). When powered and driven, the motor may generate a force to assist the user's body movements (assistive force) or a force to impede the user's body movements (resistive force). For example, the motor may be a three-phase motor. In one embodiment, the control module may control the strength and direction of the force generated by the motor by adjusting the voltage and / or current supplied to the motor.

[0074] In one embodiment, the first joint member and the second joint member can receive power from the first actuator and the second actuator, respectively, and apply an external force to the user's body based on the received power. The first joint member and the second joint member can be disposed at positions corresponding to the user's joints, respectively. One side of the first joint member can be directly or indirectly connected to the first actuator, and the other side can be directly or indirectly connected to the first leg support frame (55). The first joint member can be rotated by the power received from the first actuator. An encoder or a hall sensor that can act as an angle sensor for measuring a rotation angle of the first joint member (corresponding to the user's joint angle) can be disposed on one side of the first joint member. One side of the second joint member can be directly or indirectly connected to the second actuator, and the other side can be directly or indirectly connected to the second leg support frame (50). The second joint member can be rotated by power transmitted from the second actuator. An encoder or hall sensor that can act as an angle sensor for measuring the rotation angle of the second joint member can also be arranged on one side of the second joint member.

[0075] In one embodiment, the first actuator may be disposed laterally of the first joint member, and the second actuator may be disposed laterally of the second joint member. The rotational axis of the first actuator and the rotational axis of the first joint member may be disposed to be spaced apart from each other, and the rotational axis of the second actuator and the rotational axis of the second joint member may also be disposed to be spaced apart from each other. However, the present invention is not limited thereto, and the actuator and the joint member may share a rotational axis. In one embodiment, each actuator may be disposed to be spaced apart from the joint member. In this case, the drive module (35, 45) may further include a power transmission module (not shown) that transmits power from the actuator to the joint member. The power transmission module may be a rotating body such as a gear, or a longitudinal member such as a wire, a cable, a string, a spring, a belt, or a chain. However, the scope of the embodiment is not limited by the positional relationship between the actuator and joint member and the power transmission structure described above.

[0076] In one embodiment, the leg support frame (50, 55) can support the user's leg (e.g., thigh) when the wearable device (100) is worn on the user's leg. The leg support frame (50, 55) can transmit power (torque) generated from, for example, the driving module (35, 45) to the user's thigh, and the power can act as an external force applied to the movement of the user's leg. One end of the leg support frame (50, 55) can be directly or indirectly connected to a joint member and rotated, and the other end of the leg support frame (50, 55) can be directly or indirectly connected to a thigh fastening part (1, 2), so that the leg support frame (50, 55) can support the user's thigh while transmitting the power generated from the driving module (35, 45) to the user's thigh. For example, the leg support frame (50, 55) can push or pull the user's thigh. The leg support frame (50, 55) may extend along the length of the user's thigh. The leg support frame (50, 55) may be bent to wrap around at least a portion of the user's thigh. The leg support frame (50, 55) may include a first leg support frame (55) for supporting the user's right leg and a second leg support frame (50) for supporting the user's left leg.

[0077] The thigh fastening portions (1, 2) are directly or indirectly connected to the leg support frame (50, 55) and can secure the leg support frame (50, 55) to the thigh. The thigh fastening portions (1, 2) may include a first thigh fastening portion (2) for securing the first leg support frame (55) to the user's right thigh and a second thigh fastening portion (1) for securing the second leg support frame (50) to the user's left thigh.

[0078] In one embodiment, the first thigh fastening part (2) may include a first cover, a first fastening frame, and a first strap, and the second thigh fastening part (1) may include a second cover, a second fastening frame, and a second strap. The first cover and the second cover may apply a torque generated from the driving module (35, 45) to the user's thigh. The first cover and the second cover may be disposed on one side of the user's thigh and may push or pull the user's thigh. The first cover and the second cover may be disposed on the front side of the user's thigh, for example. The first cover and the second cover may be disposed along the circumferential direction of the user's thigh. The first cover and the second cover may extend in both directions with the other end of the leg support frame (50, 55) as the center, and may include a curved surface corresponding to the user's thigh. One end of the first cover and the second cover may be connected to the fastening frame, and the other end may be connected to the strap.

[0079] The first fastening frame and the second fastening frame may be arranged to, for example, surround at least a portion of the user's thigh, thereby preventing or reducing the possibility of the user's thigh becoming separated from the leg support frame (50, 55). The first fastening frame may have a fastening structure connecting the first cover and the first strap, and the second fastening frame may have a fastening structure connecting the second cover and the second strap.

[0080] The first strap may encircle the user's right thigh, the remaining portion not covered by the first cover and the first fastening frame, and the second strap may encircle the user's left thigh, the remaining portion not covered by the second cover and the second fastening frame. The first strap and the second strap may comprise, for example, an elastic material (e.g., a band).

[0081] FIGS. 5A and 5B are diagrams illustrating the configuration of a control system of a wearable device according to one embodiment.

[0082] Referring to FIG. 5A, a wearable device (100) may be controlled by a control system (500). The control system (500) may include a control module (510), a communication module (516), a sensor module (520), a driving module (530), an input module (540), and an audio output module (550). In one embodiment, the control system (500) may omit at least one of these components (e.g., an audio output module (550)), or may have one or more other components (e.g., a haptic module) added.

[0083] According to one embodiment, the control system (500) may further include a diagnostic circuit (560) for diagnosing the diagnostic status of the drive module (530). The structure of the diagnostic circuit (560) is described in detail with reference to FIG. 10.

[0084] The drive module (530) may include a motor (534) capable of generating power (e.g., torque) and a motor driver circuit (532) for driving the motor (534). In the embodiment of FIG. 5A, a drive module (530) including one motor driver circuit (532) and one motor (534) is illustrated, but this is merely an example. Referring to FIG. 5B, as in the control system (500-1) illustrated in FIG. 5B, the number of motor driver circuits (532, 532-1), motors (534, 534-1), and diagnostic circuits (560, 560-1) may each be plural (e.g., two or more). A drive module (530) including a motor driver circuit (532) and a motor (534) may correspond to the first drive module (45) of FIG. 3, and a drive module (530-1) including a motor driver circuit (532-1) and a motor (534-1) may correspond to the second drive module (35) of FIG. 3. The descriptions of each of the motor driver circuit (532), the motor (534), and the diagnostic circuit (560) described below may also be applied to the motor driver circuit (532-1), the motor (534-1), and the diagnostic circuit (560-1) illustrated in FIG. 5B.

[0085] Returning to FIG. 5A, the sensor module (520) may include a sensor circuit including at least one sensor. The sensor module (520) may acquire sensor data including movement information of the user or movement information of the wearable device (100). The sensor module (520) may transmit the acquired sensor data to the control module (510). The sensor module (520) may include an inertial measurement device (522) and an angle sensor (e.g., a first angle sensor (524) and a second angle sensor (524-1)) as illustrated in FIG. 5B. The inertial measurement device (522) may measure movement values ​​of the user's upper body. For example, the inertial measurement device (522) may sense accelerations of the X-axis, Y-axis, and Z-axis and angular velocities of the X-axis, Y-axis, and Z-axis according to the movement of the user. The inertial measurement device (522) may be used to measure, for example, at least one of forward and backward tilt, left and right tilt, or rotation of the user's body. In addition, the inertial measurement device (522) may obtain movement values ​​(e.g., acceleration values ​​and angular velocity values) of the lumbar support frame of the wearable device (e.g., the lumbar support frame (20) of FIG. 3). The movement values ​​of the lumbar support frame may correspond to movement values ​​of the user's upper body.

[0086] The angle sensor can measure a hip joint angle value according to the movement of the user's legs. Sensor data that can be measured by the angle sensor can include, for example, a hip joint angle value of the right leg, a hip joint angle value of the left leg, and information on the movement direction of the legs. For example, the first angle sensor (524) of FIG. 5B can obtain a hip joint angle value of the user's right leg, and the second angle sensor (524-1) can obtain a hip joint angle value of the user's left leg. Each of the first angle sensor (524) and the second angle sensor (524-1) can include, for example, an encoder and / or a Hall sensor. In addition, the angle sensor can obtain a movement value of the leg support frame of the wearable device (100). For example, the first angle sensor (524) can obtain a movement value of the first leg support frame (55), and the second angle sensor (524-1) can obtain a movement value of the second leg support frame (50). The movement value of the leg support frame can correspond to the hip joint angle value.

[0087] In one embodiment, the sensor module (520) may further include at least one of a position sensor for obtaining a position value of the wearable device (100), a proximity sensor for detecting the proximity of an object, a biosignal sensor for detecting a biosignal of a user, or a temperature sensor for measuring an ambient temperature.

[0088] The input module (540) can receive commands or data to be used in a component of the wearable device (100) (e.g., a processor (512)) from an external source (e.g., a user) of the wearable device (100). The input module (540) can include an input component circuit. The input module (540) can include, for example, a key (e.g., a button) or a touch screen.

[0089] The audio output module (550) can output audio signals to the outside of the wearable device (100). The audio output module (550) can provide auditory feedback to the user. For example, the audio output module (550) can include a speaker that plays a guide audio signal (e.g., a driving start sound, an operation error notification sound, an exercise start notification sound), a music content, or a guide voice to audibly inform specific information (e.g., exercise result information, exercise movement evaluation information).

[0090] In one embodiment, the control system (500) may further include a battery (not shown) for supplying power to each component of the wearable device (100). The wearable device (100) may convert the power of the battery to an operating voltage of each component of the wearable device (100) and supply the converted power to each component.

[0091] The drive module (530) can generate an external force applied to the user's leg under the control of the control module (510). The drive module (530) can generate a torque applied to the user's leg based on a control signal generated by the control module (510). The control module (510) can transmit the control signal to the motor driver circuit (532). The motor driver circuit (532) can control the operation of the motor (534) by generating a current signal (or voltage signal) corresponding to the control signal and supplying the current signal to the motor (534). In some cases, the current signal may not be supplied to the motor (534). When the motor (534) is driven by supplying a current signal to the motor (534), the motor (534) can generate a torque for an assistive force that assists the movement of the user's leg or a resistive force that hinders the movement of the leg.

[0092] The control module (510) controls the overall operation of the wearable device (100) and can generate control signals for controlling each component (e.g., communication module (516), driving module (530)). The control module (510) may include a processor (512) and a memory (514). Here, the “module” may include a circuit.

[0093] The processor (512) may, for example, execute software to control at least one other component (e.g., a hardware or software component) of the wearable device (100) directly or indirectly connected to the processor (512), and may perform various data processing or calculations. The software may include an application for providing a GUI. According to one embodiment, as at least a part of the data processing or calculation, the processor (512) may store instructions or data received from another component (e.g., a communication module (516) including a communication circuit) in the memory (514), process the instructions or data stored in the memory (514), and store the result data after the processing in the memory (514). According to one embodiment, the processor (512) may include a main processor (e.g., a central processing unit or an application processor) or an auxiliary processor (e.g., a graphics processing unit, a neural processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor) that can operate independently or together therewith. The auxiliary processor may be implemented separately from the main processor or as part of it.

[0094] The memory (514) can store various data used by at least one component (e.g., processor (512)) of the control module (510). The data can include, for example, input data or output data for software, sensor data, and commands related thereto. The memory (514) can include volatile memory or non-volatile memory (e.g., RAM, DRAM, SRAM).

[0095] The communication module (516) may support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the control module (510) and other components of the wearable device (100) or an external electronic device (e.g., the electronic device (210) or another wearable device (220) of FIG. 2), and the performance of communication through the established communication channel. The communication module (516) may include a communication circuit for performing a communication function. The communication module (516) may, for example, receive a control signal from an electronic device (e.g., the electronic device (210)) and transmit sensor data acquired by the sensor module (520) to the electronic device. According to one embodiment, the communication module (516) may operate independently from the processor (512) and may include one or more communication processors (not shown) that support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module (516) may include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) and / or a wired communication module. Any of these communication modules may communicate with other components of the wearable device (100) and / or external electronic devices via a short-range communication network such as, for example, Bluetooth, wireless fidelity (Wi-Fi), or infrared data association (IrDA), or a long-range communication network such as a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., a LAN or WAN).

[0096] In one embodiment, the control system (500, 500-1) may further include a haptic module (not shown). The haptic module may provide tactile feedback to a user under the control of the processor (512). The haptic module may convert an electrical signal into a mechanical stimulus (e.g., vibration or movement) or an electrical stimulus that a user may perceive through a tactile or kinesthetic sense. The haptic module may include a motor, a piezoelectric element, or an electrical stimulation device. In one embodiment, the haptic module may be located in at least one of the base body (e.g., the base body (80)), the first thigh fastening portion (2), or the second thigh fastening portion (1).

[0097] FIG. 6 is a diagram illustrating the interaction between a wearable device and an electronic device according to one embodiment.

[0098] Referring to FIG. 6, the wearable device (100) can communicate with the electronic device (210). For example, the electronic device (210) may be a user terminal of a user using the wearable device (100) or a dedicated controller device for the wearable device (100). According to one embodiment, the wearable device (100) and the electronic device (210) may be connected to each other through short-range wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0099] In one embodiment, the electronic device (210) may execute an application to check the status of the wearable device (100) or to control or operate the wearable device (100). By executing the application, a screen of a user interface (UI) for controlling the operation of the wearable device (100) or determining the operation mode of the wearable device (100) may be displayed on the display (212) of the electronic device (210). The UI may be, for example, a graphical user interface (GUI).

[0100] In one embodiment, a user may input a command to control the operation of the wearable device (100) (e.g., a command to execute a walking assistance mode, an exercise assistance mode, or a physical ability measurement mode) or change the settings of the wearable device (100) through a GUI screen on a display (212) of the electronic device (210). The electronic device (210) may generate a control command (or a control signal) corresponding to the motion control command or setting change command input by the user, and transmit the generated control command to the wearable device (100). The wearable device (100) may operate according to the received control command, and transmit a control result according to the control command and / or sensor data measured by a sensor module of the wearable device (100) to the electronic device (210). The electronic device (210) may analyze the control result and / or sensor data to provide the user with result information (e.g., walking ability information, exercise ability information, exercise movement evaluation information) through the GUI screen.

[0101] FIG. 7 is a diagram illustrating a configuration of an electronic device according to one embodiment.

[0102] Referring to FIG. 7, the electronic device (210) may include a processor (710), a memory (720), a communication module (730), a display module (740), an audio output module (750), and an input module (760). In one embodiment, the electronic device (210) may omit at least one of these components (e.g., an audio output module (750)), or may have one or more other components (e.g., a sensor module, a battery) added.

[0103] The processor (710) may control at least one other component (e.g., hardware or software component) of the electronic device (210) and perform various data processing or calculations. According to one embodiment, as at least a part of the data processing or calculation, the processor (710) may store commands or data received from another component (e.g., communication module (730)) in the memory (720), process the commands or data stored in the memory (720), and store result data in the memory (720).

[0104] According to one embodiment, the processor (710) may include a main processor (e.g., a central processing unit or an application processor) or an auxiliary processor (e.g., a graphics processing unit, a neural network processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor) that can operate independently or in conjunction therewith.

[0105] The memory (720) can store various data used by at least one component of the electronic device (210) (e.g., the processor (710) or the communication module (730) including the communication circuit). The data can include, for example, input data or output data for a program (e.g., an application) and instructions related thereto. The memory (720) can include at least one instruction executable by the processor (710). The memory (720) can include volatile memory or non-volatile memory.

[0106] A communication module (730) including a communication circuit can support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the electronic device (210) and another electronic device (e.g., wearable device (100), another wearable device (220), server (230)), and the performance of communication through the established communication channel. The communication module (730) can include a communication circuit for performing a communication function. The communication module (730) can operate independently from the processor (710) (e.g., application processor) and can include one or more communication processors that support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module (730 or 516) can include a wireless communication module (e.g., a Bluetooth communication module, a cellular communication module, a Wi-Fi communication module, or a GNSS communication module) or a wired communication module (e.g., a LAN communication module or a power line communication module) that performs wireless communication. The communication module (730) may, for example, transmit a control command to the wearable device (100) and receive at least one of sensor data including body movement information of a user wearing the wearable device (100), status data of the wearable device (100), or control result data corresponding to the control command from the wearable device (100).

[0107] The display module (740) can visually provide information to an external party (e.g., a user) of the electronic device (210). The display module (740) may include, for example, an LCD or OLED display, a holographic device, or a projector device. The display module (740) may further include a control circuit for controlling display operation. In one embodiment, the display module (740) may further include a touch sensor configured to detect a touch, or a pressure sensor configured to measure the intensity of a force generated by the touch.

[0108] The audio output module (750) can output an audio signal to the outside of the electronic device (210). The audio output module (750) can include a speaker that plays a guide audio signal (e.g., a driving start sound, an operation error notification sound), music content, or a guide voice based on the status of the wearable device (100). If it is determined that the wearable device (100) is not properly worn on the user's body, for example, the audio output module (750) can output a guide voice to notify the user of an abnormal wearing or to induce normal wearing. The audio output module (750) can also output a guide voice corresponding to exercise evaluation information or exercise result information that evaluates the user's exercise, for example.

[0109] The input module (760) can receive commands or data to be used in a component of the electronic device (210) (e.g., a processor (710)) from an external source (e.g., a user) of the electronic device (210). The input module (760) can include an input component circuit and can receive user input. The input module (760) can include, for example, a key (e.g., a button) or a touch screen.

[0110] FIG. 8 is a flowchart of a method for determining the state of a three-phase motor according to one embodiment.

[0111] The operations 810 to 830 below may be performed by a wearable device (e.g., the wearable device (100) of FIG. 1). For example, the operations 810 to 830 may be performed by a diagnostic module of the wearable device. The diagnostic module of the wearable device may include a processor (e.g., the processor (512) of FIG. 5A) and a diagnostic circuit (e.g., the diagnostic circuit (560) of FIG. 5). The processor may include a microcontroller unit (MCU).

[0112] For example, operation 810 may be performed when it is determined that the user is wearing a wearable device. For example, operation 810 may be performed when the wearable device is powered on.

[0113] In operation 810, the processor of the diagnostic module may apply a control voltage to an input terminal of a diagnostic circuit that is directly or indirectly electrically connected to terminals of a motor (e.g., motor (534) of FIG. 5A). For example, the motor may be a three-phase motor. The structure of the diagnostic circuit is described in detail below with reference to FIG. 10.

[0114] According to one embodiment, the processor can apply a control voltage to the diagnostic circuit by outputting a control signal to a general purpose input / output (GPIO) port of the processor. For example, the GPIO port may be configured internally in a push-pull mode or an open-drain mode. The GPIO port may be in a high-impedance state when the control signal is not output. For example, the control voltage may be a voltage between 0 V and 5 V, but is not limited to the described embodiment.

[0115] According to one embodiment, the diagnostic module may apply a control voltage to an input terminal of the diagnostic circuit in a state where no driving voltage is applied to the motor. The driving voltage may be a voltage applied to a motor driver circuit (e.g., the motor driver circuit (532) of FIG. 5A). When the driving voltage is applied to the motor driver circuit, the motor may be controlled based on pulse width modulation (PWM). The structure of the motor driver circuit is described in detail below with reference to FIG. 9.

[0116] At operation 820, the processor of the diagnostic module can measure a diagnostic voltage appearing at an output terminal of the diagnostic circuit. The diagnostic voltage may be a voltage reflecting the status of each of a three-phase motor and a motor driver circuit directly or indirectly connected to the diagnostic circuit.

[0117] At operation 830, the processor of the diagnostic module can determine whether the coils of the 3-phase motor are normal based on the diagnostic voltage.

[0118] In one embodiment, the voltage of the output terminals that appears when the three-phase motor and motor driver circuit are not damaged may be preset to a normal diagnostic voltage. The processor of the diagnostic module may determine that the coils of the three-phase motor are normal if the measured diagnostic voltage corresponds to the normal diagnostic voltage.

[0119] According to one embodiment, when a three-phase motor is broken and the motor driver circuit is not broken, the voltage of the output terminal may be preset as a first abnormal diagnostic voltage. The processor of the diagnostic module may determine that at least one of the coils of the three-phase motor is broken if the measured diagnostic voltage corresponds to the first abnormal diagnostic voltage.

[0120] According to one embodiment, the voltage of the output terminal that appears when the motor driver circuit is broken may be preset to a second abnormal diagnostic voltage. The processor of the diagnostic module may determine that the motor driver circuit is broken when the measured diagnostic voltage corresponds to the second abnormal diagnostic voltage.

[0121] According to one embodiment, when it is determined that the three-phase motor and the motor driver circuit are normal, the processor may terminate the application of the control voltage and apply a driving voltage to the motor driver circuit. When the driving voltage is applied to the motor driver circuit, the three-phase motor may be controlled by the motor driver circuit based on the PWM. A method for determining whether the three-phase motor or the motor driver circuit is normal based on a diagnostic voltage measured after the driving voltage is applied to the motor driver circuit is described in detail with reference to FIGS. 15A to 19.

[0122] According to one embodiment, if a three-phase motor or motor driver circuit is determined to be broken, the processor may notify the user of the broken state of the three-phase motor or motor driver circuit. A method for notifying the user of the broken state of the three-phase motor or motor driver circuit is described in detail below with reference to FIG. 20.

[0123] Figure 9 illustrates a motor driver circuit according to one embodiment.

[0124] According to one embodiment, a 3-phase motor (900) (e.g., motor (534) of FIG. 5 a) may include a U-phase coil (902), a V-phase coil (904), and a W-phase coil (906).

[0125] According to one embodiment, a motor driver circuit (910) (e.g., motor driver circuit (532) of FIG. 5A) may include a switch (911), a first transistor (912), a second transistor (913), a third transistor (914), a fourth transistor (915), a fifth transistor (916), and a sixth transistor (917). Each of the first transistor (912), the second transistor (913), and the third transistor (914) may be an upper transistor of the motor driver circuit (910). Each of the fourth transistor (915), the fifth transistor (916), and the sixth transistor (917) may be a lower transistor of the motor driver circuit (910).

[0126] A switch (911) may be used to control the driving voltage applied to the motor driver circuit (910). The driving voltage may be generated by a driving power source (920). For example, the driving power source (920) may be a system power source or a battery.

[0127] The source terminal of the first transistor (912) may be directly or indirectly connected to the U-phase coil (902) of the three-phase motor (900). The drain terminal of the fourth transistor (915) may be directly or indirectly connected to the U-phase coil (902) of the three-phase motor (900). The source terminal of the second transistor (913) may be directly or indirectly connected to the V-phase coil (904) of the three-phase motor (900). The drain terminal of the fifth transistor (916) may be directly or indirectly connected to the V-phase coil (904) of the three-phase motor (900). The source terminal of the third transistor (914) may be directly or indirectly connected to the W-phase coil (906) of the three-phase motor (900). The drain terminal of the sixth transistor (917) can be directly or indirectly connected to the W-phase coil (906) of the three-phase motor (900).

[0128] According to one embodiment, a processor (e.g., a processor (512) of FIG. 5A) of a control module (e.g., a control module (130) of FIG. 1 or a control module (510) of FIG. 5A) of a wearable device (e.g., a wearable device (100) of FIG. 1) may control the operations of a first transistor (912), a second transistor (913), a third transistor (914), a fourth transistor (915), a fifth transistor (916), and a sixth transistor (917) so that a motor is controlled based on PWM. For example, the processor may control the gate voltages of each of the first transistor (912), the second transistor (913), the third transistor (914), the fourth transistor (915), the fifth transistor (916), and the sixth transistor (917) for PWM.

[0129] FIG. 10 illustrates a diagnostic circuit according to one embodiment.

[0130] According to one embodiment, the diagnostic circuit (1000) (e.g., the diagnostic circuit (560) of FIG. 5a) may be electrically connected to the three-phase motor (900) (e.g., the motor (534) of FIG. 5a) described above with reference to FIG. 9. For example, the diagnostic circuit (1000) may be connected to the U-phase coil (902), the V-phase coil (904), and the W-phase coil (906) of the three-phase motor (900), respectively.

[0131] According to one embodiment, the diagnostic circuit (1000) may be electrically connected to the motor driver circuit (910) described above with reference to FIG. 9 through the terminal of the U-phase coil (902), the terminal of the V-phase coil (904), and the terminal of the W-phase coil (906) of the 3-phase motor (900).

[0132] Below, the U-phase coil (902) may be referred to as the first coil, the V-phase coil (904) as the second coil, and the W-phase coil (906) as the third coil.

[0133] The diagnostic circuit (1000) may include a first terminal resistor (1001) connected to a first terminal connected to a first coil of a three-phase motor (900), a second terminal resistor (1002) connected to a second terminal connected to a second coil of the three-phase motor (900), and a third terminal resistor (1003) connected to a third terminal connected to a third coil of the three-phase motor (900). The third terminal resistor (1003) may be connected to an output terminal (1012).

[0134] The diagnostic circuit (1000) may include a first resistor (1004) positioned between a first terminal resistor (1001) and an input terminal (1011).

[0135] The diagnostic circuit (1000) may include a first transistor (1008) having a drain terminal connected to a first terminal resistor (1001) and a first resistor (1004), a source terminal connected to a second resistor (1005), and a gate terminal connected to an input terminal (1011). The first transistor (1008) may be an n-FET (field effect transistor).

[0136] The diagnostic circuit (1000) may include a second resistor (1005) positioned between the source terminal of the first transistor (1008) and the second terminal resistor (1002).

[0137] The diagnostic circuit (1000) may include a second transistor (1009) having a drain terminal connected to a second terminal resistor (1002) and a second resistor (1005), a source terminal connected to a third resistor (1006), and a gate terminal connected to an input terminal (1011). The second transistor (1009) may be an n-FET.

[0138] The diagnostic circuit (1000) may include a third resistor (1006) positioned between the third terminal resistor (1003) and the source terminal of the second transistor (1009).

[0139] The diagnostic circuit (1000) may include a fourth resistor (1007) having a first terminal connected to a terminal resistor (1003) and a third resistor (1006) and a second terminal connected to ground. A first terminal of the fourth resistor (1007) may be connected to an output terminal (1012).

[0140] The diagnostic circuit (1000) may include a pull-down resistor (1010) having an input terminal (1011), a first terminal connected to the gate terminal of the first transistor (1008) and the gate terminal of the second transistor (1009), and a second terminal connected to ground.

[0141] According to one embodiment, a processor of a diagnostic module (e.g., processor (512) of FIG. 5A) may output a control signal to apply a control voltage to an input terminal (1011). For example, the processor may apply the control voltage to the input terminal (1011) of the diagnostic circuit by outputting the control signal to a GPIO port of the processor. Before outputting the control signal to the input terminal (1011), the processor may apply 0 V to the gate terminal of the first transistor (1008) and the gate terminal of the second transistor (1009) through a pull-down resistor.

[0142] According to one embodiment, the processor of the diagnostic module can measure the voltage appearing at the output terminal (1012) as a diagnostic voltage.

[0143] FIG. 11A is a flowchart of a method for determining whether coils of a three-phase motor are broken, according to one embodiment.

[0144] According to one embodiment, operations 1110 and 1120 below may be related to operation 830 described above with reference to FIG. 8. For example, operation 830 may include operations 1110 and 1120.

[0145] According to one embodiment, operations 1110 and 1120 below may be performed by a diagnostic module of a wearable device (e.g., the wearable device (100) of FIG. 1 ). For example, operations 1110 and 1120 may be performed by a processor of the diagnostic module (e.g., the processor (512) of FIG. 5A ).

[0146] At operation 1110, the processor(s) of the diagnostic module may determine whether the diagnostic voltage corresponds to the first voltage.

[0147] According to one embodiment, the processor can determine whether the diagnostic voltage corresponds to a normal diagnostic voltage that appears when a three-phase motor (e.g., motor (534) of FIG. 5A or three-phase motor (900) of FIG. 9) and a motor driver circuit (e.g., motor driver circuit (532) of FIG. 5A or motor driver circuit (910) of FIG. 9) are not broken as the first voltage. An equivalent circuit of a three-phase motor, motor driver circuit, and diagnostic circuit (e.g., diagnostic circuit (560) of FIG. 5A or diagnostic circuit (1000) of FIG. 10) when the three-phase motor and motor driver circuit are not broken is illustrated with reference to FIG. 12A.

[0148] In one embodiment, the processor may determine whether the diagnostic voltage corresponds to a first abnormal diagnostic voltage that appears when a three-phase motor is broken as a first voltage and the motor driver circuit is not broken. For example, the processor may determine whether the diagnostic voltage corresponds to a U-phase coil breakdown voltage that appears when a U-phase coil of the three-phase motor (e.g., U-phase coil (902) of FIG. 9) is broken. For example, the processor may determine whether the diagnostic voltage corresponds to a V-phase coil breakdown voltage that appears when a V-phase coil of the three-phase motor (e.g., V-phase coil (904) of FIG. 9) is broken. For example, the processor may determine whether the diagnostic voltage corresponds to a W-phase coil breakdown voltage that appears when a W-phase coil of the three-phase motor (e.g., W-phase coil (906) of FIG. 9) is broken. The equivalent circuits of a three-phase motor, motor driver circuit, and diagnostic circuit when the three-phase motor is broken and the motor driver circuit is not broken are illustrated with reference to FIGS. 12b, 12c, 12d, and 12e.

[0149] In operation 1120, the processor of the diagnostic module may determine that a first coil (or target coil) (e.g., U-phase coil, V-phase coil, or W-phase coil) corresponding to the first voltage (e.g., U-phase coil breakdown voltage, V-phase coil breakdown voltage, or W-phase coil breakdown voltage) among the coils of the 3-phase motor is broken if the diagnostic voltage corresponds to the first voltage.

[0150] FIG. 11b illustrates a control voltage, a driving voltage, and a diagnostic voltage according to one embodiment.

[0151] According to one embodiment, a processor (e.g., a processor (512) of FIG. 5A) of a diagnostic module of a wearable device (e.g., a wearable device (100) of FIG. 1) may apply a control voltage (1160) to an input terminal (e.g., an input terminal (1011) of FIG. 10) of a diagnostic circuit (e.g., a diagnostic circuit (560) of FIG. 5A or a diagnostic circuit (1000) of FIG. 10) by outputting a control signal to a GPIO port of the processor. For example, the control voltage may be 5 V, and is not limited to the described embodiment.

[0152] According to one embodiment, the processor may apply a control voltage to an input terminal of the diagnostic circuit in a state where a driving voltage (1170) is not applied to a three-phase motor (e.g., motor (534) of FIG. 5A or three-phase motor (900) of FIG. 9). The driving voltage may be a voltage applied to a motor driver circuit (e.g., motor driver circuit (532) of FIG. 5A or motor driver circuit (910) of FIG. 9) by a driving power source (e.g., driving power source (920) of FIG. 9).

[0153] According to one embodiment, the processor may measure a voltage appearing at an output terminal of the diagnostic circuit (e.g., output terminal (1012) of FIG. 10) as a diagnostic voltage (1180). By way of example, the diagnostic voltage (1180) is illustrated to correspond to a normal diagnostic voltage appearing when the three-phase motor and motor driver circuit are normal, but the diagnostic voltage (1180) may appear differently depending on whether the three-phase motor is damaged or whether the motor driver circuit is damaged.

[0154] According to one embodiment, resistive elements having different resistance values ​​may be used in the diagnostic circuit so that the measured diagnostic voltages are different depending on the breakage of each coil of the three-phase motor and each bottom transistor of the broken motor driver circuit.

[0155] FIG. 12a is an equivalent circuit of a three-phase motor, a motor driver circuit, and a diagnostic circuit when all of the coils of the three-phase motor and the transistors of the motor driver circuit are normal, according to one embodiment.

[0156] According to one embodiment, with reference to FIG. 9, the U-phase coil (902), the V-phase coil (904), and the W-phase coil (906) of the 3-phase motor (900) and the transistors (912 to 917) of the motor driver circuit (910) are all normal, and an equivalent circuit (1202) of the 3-phase motor (900), the motor driver circuit (910), and the diagnostic circuit (1000) described above with reference to FIG. 10 are illustrated.

[0157] For example, the resistance value of the first terminal resistor (1001) may be 1 kΩ, the resistance value of the second terminal resistor may be 1.5 kΩ, the resistance value of the third terminal resistor (1003) may be 21.5 kΩ, the resistance value of the first resistor (1004) may be 100Ω, the resistance value of the second resistor (1005) may be 12.4 kΩ, the resistance value of the third resistor (1006) may be 15 kΩ, the resistance value of the fourth resistor may be 2.37 kΩ, and the control voltage may be 5 V. In the above example, the diagnostic voltage of the equivalent circuit (1202) may be 0.942 V.

[0158] FIG. 12b is an equivalent circuit of a three-phase motor, a motor driver circuit, and a diagnostic circuit when a coil of phase U of the three-phase motor is broken, according to one embodiment.

[0159] According to one embodiment, an equivalent circuit (1204) is illustrated for the case where the U-phase coil (902) of the 3-phase motor (900) is broken in the equivalent circuit (1202) described above in FIG. 12a.

[0160] For example, the resistance value of the first terminal resistor (1001) may be 1 kΩ, the resistance value of the second terminal resistor may be 1.5 kΩ, the resistance value of the third terminal resistor (1003) may be 21.5 kΩ, the resistance value of the first resistor (1004) may be 100Ω, the resistance value of the second resistor (1005) may be 12.4 kΩ, the resistance value of the third resistor (1006) may be 15 kΩ, the resistance value of the fourth resistor (1007) may be 2.37 kΩ, and the control voltage may be 5 V. In the above example, the diagnostic voltage of the equivalent circuit (1204) may be 0.495 V.

[0161] FIG. 12c is an equivalent circuit of a three-phase motor, a motor driver circuit, and a diagnostic circuit when the V-phase coil of the three-phase motor is broken, according to one embodiment.

[0162] According to one embodiment, an equivalent circuit (1206) is illustrated for the case where the V-phase coil (904) of the 3-phase motor (900) is broken in the equivalent circuit (1202) described above in FIG. 12a.

[0163] For example, the resistance value of the first terminal resistor (1001) may be 1 kΩ, the resistance value of the second terminal resistor may be 1.5 kΩ, the resistance value of the third terminal resistor (1003) may be 21.5 kΩ, the resistance value of the first resistor (1004) may be 100Ω, the resistance value of the second resistor (1005) may be 12.4 kΩ, the resistance value of the third resistor (1006) may be 15 kΩ, the resistance value of the fourth resistor (1007) may be 2.37 kΩ, and the control voltage may be 5 V. In the above example, the diagnostic voltage of the equivalent circuit (1206) may be 0.799 V.

[0164] FIG. 12d is an equivalent circuit of a three-phase motor, a motor driver circuit, and a diagnostic circuit when the coil of the W phase of the three-phase motor is broken, according to one embodiment.

[0165] According to one embodiment, an equivalent circuit (1208) is illustrated for the case where the W-phase coil (906) of the 3-phase motor (900) is broken in the equivalent circuit (1202) described above in FIG. 12a.

[0166] For example, the resistance value of the first terminal resistor (1001) may be 1 kΩ, the resistance value of the second terminal resistor may be 1.5 kΩ, the resistance value of the third terminal resistor (1003) may be 21.5 kΩ, the resistance value of the first resistor (1004) may be 100Ω, the resistance value of the second resistor (1005) may be 12.4 kΩ, the resistance value of the third resistor (1006) may be 15 kΩ, the resistance value of the fourth resistor (1007) may be 2.37 kΩ, and the control voltage may be 5 V. In the above example, the diagnostic voltage of the equivalent circuit (1208) may be 0.606 V.

[0167] FIG. 12e is an equivalent circuit of a three-phase motor, a motor driver circuit, and a diagnostic circuit in a case where multiple coils of the three-phase motor are broken, according to one embodiment.

[0168] According to one embodiment, an equivalent circuit (1210) is illustrated for the case where two or more coils of a three-phase motor (900) are broken in the equivalent circuit (1202) described above in FIG. 12a.

[0169] For example, the resistance value of the first terminal resistor (1001) may be 1 kΩ, the resistance value of the second terminal resistor may be 1.5 kΩ, the resistance value of the third terminal resistor (1003) may be 21.5 kΩ, the resistance value of the first resistor (1004) may be 100Ω, the resistance value of the second resistor (1005) may be 12.4 kΩ, the resistance value of the third resistor (1006) may be 15 kΩ, the resistance value of the fourth resistor (1007) may be 2.37 kΩ, and the control voltage may be 5 V. In the above example, the diagnostic voltage of the equivalent circuit (1210) may be 0.397 V.

[0170] FIG. 13 is a flowchart of a method for determining whether a lower transistor of a motor driver circuit is broken, according to one embodiment.

[0171] According to one embodiment, operations 1310 and 1320 below may be related to operation 830 described above with reference to FIG. 8. For example, operation 830 may include operations 1310 and 1320.

[0172] According to one embodiment, operations 1310 and 1320 below may be performed by a diagnostic module of a wearable device (e.g., the wearable device (100) of FIG. 1). For example, operations 1310 and 1320 may be performed by a processor of the diagnostic module (e.g., the processor (512) of FIG. 5A).

[0173] At operation 1310, the processor of the diagnostic module may determine whether the diagnostic voltage corresponds to a second voltage.

[0174] In one embodiment, the processor may determine whether the diagnostic voltage corresponds to a second abnormal diagnostic voltage that occurs when a motor driver circuit (e.g., motor driver circuit (532) of FIG. 5A or motor driver circuit (910) of FIG. 9) is broken as a second voltage. For example, the diagnostic voltage may correspond to the second abnormal diagnostic voltage when a lower transistor of the motor driver circuit is broken.

[0175] For example, the processor can determine whether the diagnostic voltage corresponds to a lower transistor breakdown voltage that appears when a fourth transistor (e.g., the fourth transistor (915) of FIG. 9), a fifth transistor (e.g., the fifth transistor (916) of FIG. 9), or a sixth transistor (e.g., the sixth transistor (917) of FIG. 9) of the motor driver circuit is broken. An equivalent circuit of a three-phase motor, a motor driver circuit, and a diagnostic circuit when the lower transistor of the motor driver circuit is broken is illustrated with reference to FIG. 14A.

[0176] According to one embodiment, the processor can determine whether the diagnostic voltage corresponds to an additional bottom transistor breakdown voltage that appears when a bottom transistor of the motor driver circuit and a coil (e.g., a U-phase coil (902), a V-phase coil (904), or a W-phase coil (906)) of a three-phase motor (e.g., a motor (534) of FIG. 5A or a three-phase motor (900) of FIG. 9) are broken as a second voltage. For example, when a bottom transistor of the motor driver circuit and a coil of the three-phase motor are broken simultaneously, the diagnostic voltage can correspond to a second abnormal diagnostic voltage (e.g., an additional bottom transistor breakdown voltage). Equivalent circuits of a three-phase motor, a motor driver circuit, and a diagnostic circuit when a bottom transistor of the motor driver circuit and a coil of the three-phase motor are broken simultaneously are illustrated with reference to FIGS. 14b, 14c, and 14d.

[0177] At operation 1320, the processor(s) of the diagnostic module may determine that at least one of the lower transistors of the motor driver circuit is broken if the diagnostic voltage corresponds to a second voltage (e.g., a lower transistor breakdown voltage).

[0178] In one embodiment, the processor of the diagnostic module may determine that at least one of the lower transistors of the motor driver circuit and the coil of the three-phase motor are simultaneously broken when the diagnostic voltage corresponds to a second voltage (e.g., an additional lower transistor breakdown voltage).

[0179] FIG. 14a is an equivalent circuit of a three-phase motor, motor driver circuit, and diagnostic circuit when the lower transistor of the motor driver circuit is broken, according to one embodiment.

[0180] According to one embodiment, with reference to FIG. 9, an equivalent circuit (1401) of a three-phase motor (900), a motor driver circuit (910), and a diagnostic circuit (1000) described above with reference to FIG. 10 is illustrated for the case where a lower transistor (e.g., a fourth transistor (915), a fifth transistor (916), or a sixth transistor (917)) among the transistors (912 to 917) of the motor driver circuit (910) described above is broken.

[0181] For example, the resistance value of the first terminal resistor (1001) may be 1 kΩ, the resistance value of the second terminal resistor may be 1.5 kΩ, the resistance value of the third terminal resistor (1003) may be 21.5 kΩ, the resistance value of the first resistor (1004) may be 100Ω, the resistance value of the second resistor (1005) may be 12.4 kΩ, the resistance value of the third resistor (1006) may be 15 kΩ, the resistance value of the fourth resistor (1007) may be 2.37 kΩ, and the control voltage may be 5 V. In the above example, the diagnostic voltage of the equivalent circuit (1401) may be 0.056 V.

[0182] FIG. 14b is an equivalent circuit of a three-phase motor, a motor driver circuit, and a diagnostic circuit when the coil of the U phase of the three-phase motor and the lower transistor of the motor driver circuit are broken, according to one embodiment.

[0183] According to one embodiment, with reference to FIG. 9, an equivalent circuit (1402) of a 3-phase motor (900), a motor driver circuit (910), and a diagnostic circuit (1000) described above with reference to FIG. 10 is illustrated for the case where the U-phase coil (902) of the 3-phase motor (900) described above and the lower transistor (e.g., the fourth transistor (915), the fifth transistor (916), or the sixth transistor (917)) of the transistors (912 to 917) of the motor driver circuit (910) are simultaneously broken.

[0184] For example, the resistance value of the first terminal resistor (1001) may be 1 kΩ, the resistance value of the second terminal resistor may be 1.5 kΩ, the resistance value of the third terminal resistor (1003) may be 21.5 kΩ, the resistance value of the first resistor (1004) may be 100Ω, the resistance value of the second resistor (1005) may be 12.4 kΩ, the resistance value of the third resistor (1006) may be 15 kΩ, the resistance value of the fourth resistor (1007) may be 2.37 kΩ, and the control voltage may be 5 V. In the above example, the diagnostic voltage of the equivalent circuit (1402) may be 0.0619 V.

[0185] FIG. 14c is an equivalent circuit of a three-phase motor, a motor driver circuit, and a diagnostic circuit when the V-phase coil of the three-phase motor and the lower transistor of the motor driver circuit are broken, according to one embodiment.

[0186] According to one embodiment, with reference to FIG. 9, an equivalent circuit (1404) of a 3-phase motor (900), a motor driver circuit (910), and a diagnostic circuit (1000) described above with reference to FIG. 10 is illustrated for the case where the V-phase coil (904) of the 3-phase motor (900) described above and the lower transistor (e.g., the fourth transistor (915), the fifth transistor (916), or the sixth transistor (917)) of the transistors (912 to 917) of the motor driver circuit (910) are simultaneously broken.

[0187] For example, the resistance value of the first terminal resistor (1001) may be 1 kΩ, the resistance value of the second terminal resistor may be 1.5 kΩ, the resistance value of the third terminal resistor (1003) may be 21.5 kΩ, the resistance value of the first resistor (1004) may be 100Ω, the resistance value of the second resistor (1005) may be 12.4 kΩ, the resistance value of the third resistor (1006) may be 15 kΩ, the resistance value of the fourth resistor (1007) may be 2.37 kΩ, and the control voltage may be 5 V. In the above example, the diagnostic voltage of the equivalent circuit (1404) may be 0.3275 V.

[0188] FIG. 14d is an equivalent circuit of a three-phase motor, a motor driver circuit, and a diagnostic circuit when the coil of the W phase of the three-phase motor and the lower transistor of the motor driver circuit are broken, according to one embodiment.

[0189] According to one embodiment, with reference to FIG. 9, an equivalent circuit (1406) of a 3-phase motor (900), a motor driver circuit (910), and a diagnostic circuit (1000) described above with reference to FIG. 10 is illustrated for the case where the W-phase coil (906) of the 3-phase motor (900) described above and the lower transistor (e.g., the fourth transistor (915), the fifth transistor (916), or the sixth transistor (917)) of the transistors (912 to 917) of the motor driver circuit (910) are simultaneously broken.

[0190] For example, the resistance value of the first terminal resistor (1001) may be 1 kΩ, the resistance value of the second terminal resistor may be 1.5 kΩ, the resistance value of the third terminal resistor (1003) may be 21.5 kΩ, the resistance value of the first resistor (1004) may be 100Ω, the resistance value of the second resistor (1005) may be 12.4 kΩ, the resistance value of the third resistor (1006) may be 15 kΩ, the resistance value of the fourth resistor (1007) may be 2.37 kΩ, and the control voltage may be 5 V. In the above example, the diagnostic voltage of the equivalent circuit (1406) may be 0.0617 V.

[0191] FIG. 15A is a flowchart of a method for determining whether an upper transistor of a motor driver circuit is broken, according to one embodiment.

[0192] According to one embodiment, operations 1510 to 1540 below may be performed by a diagnostic module of a wearable device (e.g., the wearable device (100) of FIG. 1 ). For example, operations 1510 to 1540 may be performed by a processor(s) of the diagnostic module (e.g., the processor (512) of FIG. 5A ).

[0193] According to one embodiment, operations 1510 to 1540 may be performed after operation 830 described above with reference to FIG. 8 is performed. For example, when it is determined that coils (e.g., U-phase coil (902), V-phase coil (904), and W-phase coil (906)) of a 3-phase motor (e.g., motor (534) of FIG. 5A or 3-phase motor (900) of FIG. 9) are normal and lower transistors of a motor driver circuit (e.g., motor driver circuit (532) of FIG. 5A or motor driver circuit (910) of FIG. 9) are normal, operation 1510 may be performed.

[0194] In operation 1510, if the processor of the diagnostic module determines that the coils of the three-phase motor are normal, the processor may terminate the application of the control voltage and apply a driving voltage to the motor driver circuit connected to the three-phase motor. The driving voltage may be a voltage applied to the motor driver circuit by a driving power source (e.g., the driving power source (920) of FIG. 9). For example, the processor may connect the driving power source (920) and the motor driver circuit (910) using a switch (911) of the motor driver circuit (910) to apply the driving voltage to the motor driver circuit (910).

[0195] At operation 1520, the processor of the diagnostic module can measure an additional diagnostic voltage appearing at an output terminal (e.g., output terminal (1012) of FIG. 10) of a diagnostic circuit (e.g., diagnostic circuit (560) of FIG. 5A or diagnostic circuit (1000) of FIG. 10). The processor of the diagnostic module can continuously measure the voltage appearing at the output terminal as a diagnostic voltage, and the term "additional diagnostic voltage" is intended to distinguish it from the "diagnostic voltage" measured at operation 820 described above with reference to FIG. 8.

[0196] At operation 1530, the processor of the diagnostic module may determine whether the additional diagnostic voltage corresponds to a third voltage.

[0197] In one embodiment, the processor may determine whether the additional diagnostic voltage corresponds to a third abnormal diagnostic voltage that occurs when the motor driver circuit is damaged as a third voltage. For example, if the upper transistor of the motor driver circuit is damaged, the additional diagnostic voltage may correspond to the third abnormal diagnostic voltage.

[0198] In one embodiment, the processor may determine whether the additional diagnostic voltage corresponds to an additional third abnormal diagnostic voltage that appears when a motor driver circuit and a coil of a three-phase motor (e.g., a U-phase coil (902), a V-phase coil (904), or a W-phase coil (906)) are simultaneously broken. For example, the additional diagnostic voltage may correspond to the additional third abnormal diagnostic voltage when a top transistor of the motor driver circuit and a coil of a three-phase motor are simultaneously broken. For example, the coil of the three-phase motor may not have been broken before operation 830 described above with reference to FIG. 8 is performed, but the coil of the three-phase motor may have been broken before operation 1520 is performed.

[0199] For example, the processor can determine whether the additional diagnostic voltage corresponds to an upper transistor breakdown voltage that appears when a first transistor (e.g., a first transistor (912) of FIG. 9), a second transistor (e.g., a second transistor (913) of FIG. 9), or a third transistor (e.g., a third transistor (914) of FIG. 9) of the motor driver circuit is broken. An equivalent circuit of a three-phase motor, a motor driver circuit, and a diagnostic circuit when the upper transistor of the motor driver circuit is broken is illustrated with reference to FIG. 16A.

[0200] In one embodiment, the processor may determine whether the diagnostic voltage corresponds to an additional upper transistor breakdown voltage that occurs when a top transistor of the motor driver circuit and a coil of the three-phase motor (e.g., a U-phase coil (902), a V-phase coil (904), or a W-phase coil (906)) are simultaneously broken as a third voltage. For example, when a top transistor of the motor driver circuit and a coil of the three-phase motor are simultaneously broken, the diagnostic voltage may correspond to a third abnormal diagnostic voltage (e.g., an additional upper transistor breakdown voltage). Equivalent circuits of a three-phase motor, a motor driver circuit, and a diagnostic circuit when a top transistor of the motor driver circuit and a coil of the three-phase motor are simultaneously broken are illustrated with reference to FIGS. 16b, 16c, and 16d.

[0201] At operation 1540, the processor of the diagnostic module may determine that at least one upper transistor of the one or more transistors of the motor driver circuit is broken if the additional diagnostic voltage corresponds to a third voltage (e.g., an upper transistor breakdown voltage).

[0202] In one embodiment, the processor of the diagnostic module may determine that at least one of the upper transistors of the motor driver circuit and the coil of the three-phase motor are simultaneously broken if the diagnostic voltage corresponds to a third voltage (e.g., an additional upper transistor breakdown voltage).

[0203] FIG. 15b illustrates a control voltage, a driving voltage, and a diagnostic voltage according to one embodiment.

[0204] According to one embodiment, in the first section (1551), the processor of the diagnostic module (e.g., the processor (512) of FIG. 5A) may apply a control voltage (1560) to an input terminal (e.g., the input terminal (1011) of FIG. 10) of a diagnostic circuit (e.g., the diagnostic circuit (560) of FIG. 5A or the diagnostic circuit (1000) of FIG. 10) by outputting a control signal to a GPIO port of the processor. For example, the control voltage may be 5 V, and is not limited to the described embodiment. The first section (1551) may correspond to the time at which operations 810 to 830 described above with reference to FIG. 8 are performed.

[0205] According to one embodiment, in the first section (1551), the processor of the diagnostic module can measure the voltage (1580) appearing at the output terminal of the diagnostic circuit (e.g., the output terminal (1012) of FIG. 10) as the diagnostic voltage.

[0206] According to one embodiment, in the second section (1552), the processor of the diagnostic module may terminate the application of the control voltage (1560) and apply a driving voltage (1570) to the motor driver circuit (e.g., the motor driver circuit (532) of FIG. 5A or the motor driver circuit (910) of FIG. 9). For example, the driving voltage (1570) applied in the second section (1552) may be 5 V, and is not limited to the described embodiment.

[0207] According to one embodiment, in the second section (1552), the processor of the diagnostic module can measure the voltage (1580) appearing at the output terminal of the diagnostic circuit as an additional diagnostic voltage.

[0208] In one embodiment, the processor may determine whether the additional diagnostic voltage corresponds to a third abnormal diagnostic voltage that occurs when the motor driver circuit is damaged as a third voltage. For example, if the upper transistor of the motor driver circuit is damaged, the additional diagnostic voltage may correspond to the third abnormal diagnostic voltage.

[0209] In one embodiment, the processor may determine that at least one of the one or more transistors of the motor driver circuit is broken if the additional diagnostic voltage corresponds to a third voltage.

[0210] FIG. 16a is an equivalent circuit of a three-phase motor, motor driver circuit, and diagnostic circuit when the upper transistor of the motor driver circuit is broken, according to one embodiment.

[0211] According to one embodiment, with reference to FIG. 9, an equivalent circuit (1601) of a 3-phase motor (900), a motor driver circuit (910), and a diagnostic circuit (1000) described above with reference to FIG. 10 is illustrated for a case where the U-phase coil (902), the V-phase coil (904), and the W-phase coil (906) of the 3-phase motor (900) described above and the upper transistor (e.g., the first transistor (912), the second transistor (913), or the third transistor (914)) among the transistors (912 to 917) of the motor driver circuit (910) are broken. The equivalent circuit (1601) is a circuit that appears when a control voltage is not applied to the diagnostic circuit (1000) and a driving voltage is applied to the motor driver circuit (910).

[0212] For example, the resistance value of the first terminal resistor (1001) may be 1 kΩ, the resistance value of the second terminal resistor may be 1.5 kΩ, the resistance value of the third terminal resistor (1003) may be 21.5 kΩ, the resistance value of the first resistor (1004) may be 100Ω, the resistance value of the second resistor (1005) may be 12.4 kΩ, the resistance value of the third resistor (1006) may be 15 kΩ, the resistance value of the fourth resistor (1007) may be 2.37 kΩ, and the driving voltage may be 5 V. In the above example, the additional diagnostic voltage of the equivalent circuit (1601) may be 3.253 V.

[0213] FIG. 16b is an equivalent circuit of a three-phase motor, a motor driver circuit, and a diagnostic circuit when the coil of the U-phase of the three-phase motor and the upper transistor of the motor driver circuit are broken, according to one embodiment.

[0214] According to one embodiment, an equivalent circuit (1602) of a 3-phase motor (900), a motor driver circuit (910), and a diagnostic circuit (1000) described above with reference to FIG. 10 is illustrated for a case where the U-phase coil (902) of the 3-phase motor (900) described above with reference to FIG. 9 and the upper transistor (e.g., the first transistor (912), the second transistor (913), or the third transistor (914)) among the transistors (912 to 917) of the motor driver circuit (910) are simultaneously broken. The equivalent circuit (1602) is a circuit that appears when a control voltage is not applied to the diagnostic circuit (1000) and a driving voltage is applied to the motor driver circuit (910).

[0215] For example, the resistance value of the first terminal resistor (1001) may be 1 kΩ, the resistance value of the second terminal resistor may be 1.5 kΩ, the resistance value of the third terminal resistor (1003) may be 21.5 kΩ, the resistance value of the first resistor (1004) may be 100Ω, the resistance value of the second resistor (1005) may be 12.4 kΩ, the resistance value of the third resistor (1006) may be 15 kΩ, the resistance value of the fourth resistor (1007) may be 2.37 kΩ, and the driving voltage may be 5 V. In the above example, the additional diagnostic voltage of the equivalent circuit (1602) may be 3.24 V.

[0216] FIG. 16c is an equivalent circuit of a three-phase motor, a motor driver circuit, and a diagnostic circuit when the V-phase coil of the three-phase motor and the upper transistor of the motor driver circuit are broken, according to one embodiment.

[0217] According to one embodiment, an equivalent circuit (1604) of a three-phase motor (900), a motor driver circuit (910), and a diagnostic circuit (1000) described above with reference to FIG. 10 is illustrated for a case where the V-phase coil (904) of the three-phase motor (900) described above with reference to FIG. 9 and the upper transistor (e.g., the first transistor (912), the second transistor (913), or the third transistor (914)) among the transistors (912 to 917) of the motor driver circuit (910) are simultaneously broken. The equivalent circuit (1604) is a circuit that appears when a control voltage is not applied to the diagnostic circuit (1000) and a driving voltage is applied to the motor driver circuit (910).

[0218] For example, the resistance value of the first terminal resistor (1001) may be 1 kΩ, the resistance value of the second terminal resistor may be 1.5 kΩ, the resistance value of the third terminal resistor (1003) may be 21.5 kΩ, the resistance value of the first resistor (1004) may be 100Ω, the resistance value of the second resistor (1005) may be 12.4 kΩ, the resistance value of the third resistor (1006) may be 15 kΩ, the resistance value of the fourth resistor (1007) may be 2.37 kΩ, and the driving voltage may be 5 V. In the above example, the additional diagnostic voltage of the equivalent circuit (1604) may be 2.6 V.

[0219] FIG. 16d is an equivalent circuit of a three-phase motor, a motor driver circuit, and a diagnostic circuit when the coil of the W phase of the three-phase motor and the upper transistor of the motor driver circuit are broken, according to one embodiment.

[0220] According to one embodiment, with reference to FIG. 9, an equivalent circuit (1606) of a three-phase motor (900), a motor driver circuit (910), and a diagnostic circuit (1000) described above with reference to FIG. 10 is illustrated for a case where the W-phase coil (906) of the three-phase motor (900) described above and the upper transistor (e.g., the first transistor (912), the second transistor (913), or the third transistor (914)) among the transistors (912 to 917) of the motor driver circuit (910) are simultaneously broken. The equivalent circuit (1606) is a circuit that appears when a control voltage is not applied to the diagnostic circuit (1000) and a driving voltage is applied to the motor driver circuit (910).

[0221] For example, the resistance value of the first terminal resistor (1001) may be 1 kΩ, the resistance value of the second terminal resistor may be 1.5 kΩ, the resistance value of the third terminal resistor (1003) may be 21.5 kΩ, the resistance value of the first resistor (1004) may be 100Ω, the resistance value of the second resistor (1005) may be 12.4 kΩ, the resistance value of the third resistor (1006) may be 15 kΩ, the resistance value of the fourth resistor (1007) may be 2.37 kΩ, and the driving voltage may be 5 V. In the above example, the additional diagnostic voltage of the equivalent circuit (1606) may be 2.03 V.

[0222] FIG. 17 is a flowchart of a method for monitoring the status of a three-phase motor while the three-phase motor is controlled based on PWM by a motor driver circuit, according to one embodiment.

[0223] According to one embodiment, operations 1710 to 1730 below may be performed by a diagnostic module of a wearable device (e.g., the wearable device (100) of FIG. 1). For example, operations 1710 to 1730 may be performed by a processor of the diagnostic module (e.g., the processor (512) of FIG. 5A).

[0224] According to one embodiment, operations 1710 to 1730 may be performed after operation 830 described above with reference to FIG. 8 is performed. For example, if it is determined that the coils (e.g., the U-phase coil (902), the V-phase coil (904), and the W-phase coil (906)) of a three-phase motor (e.g., the motor (534) of FIG. 5A or the three-phase motor (900) of FIG. 9) are normal and the lower transistors of a motor driver circuit (e.g., the motor driver circuit (532) of FIG. 5A or the motor driver circuit (910) of FIG. 9) are normal, operation 1510 may be performed.

[0225] At operation 1710, if the processor of the diagnostic module determines that the coils of the three-phase motor are normal, the application of the control voltage may be terminated and the driving voltage may be applied to the motor driver circuit connected to the three-phase motor. The description of operation 1710 may be similar to the description of operation 1510 described above with reference to FIG. 15A.

[0226] At operation 1720, the processor of the diagnostic module can measure an operating voltage appearing at an output terminal (e.g., an output terminal (1012) of FIG. 10) of a diagnostic circuit (e.g., a diagnostic circuit (560) of FIG. 5A or a diagnostic circuit (1000) of FIG. 10) while the three-phase motor is controlled by the motor driver circuit based on PWM. The processor of the diagnostic module can continuously measure the voltage appearing at the output terminal as a diagnostic voltage, and the term "operating voltage" is intended to distinguish it from the "diagnostic voltage" measured at operation 820 described above with reference to FIG. 8 and the "additional diagnostic voltage" measured at operation 1520 described above with reference to FIG. 15A.

[0227] According to one embodiment, operation 1720 may be performed when all transistors of the motor driver circuit are determined to be normal through operations 1520 to 1540 described above with reference to FIG. 15A. For example, when all transistors of the motor driver circuit are determined to be normal, a three-phase motor may be controlled by the motor driver circuit based on PWM.

[0228] At operation 1730, the processor of the diagnostic module may terminate the application of the driving voltage if the operating voltage is abnormal. For example, the processor of the diagnostic module may calculate a normal reference operating voltage for an equivalent circuit of a motor driver circuit that changes based on PWM, and determine whether the operating voltage appearing at the output terminal corresponds to the reference operating voltage. If the operating voltage does not correspond to the reference operating voltage, the processor may determine that the operating voltage is abnormal.

[0229] According to one embodiment, after operation 1730 is performed, operations 810 to 830 described above with reference to FIG. 8 may be re-performed. Additionally, if it is determined through the re-performed operations 810 to 830 that the coils of the three-phase motor are normal, operations 1510 to 1540 described above with reference to FIG. 15a may be re-performed.

[0230] FIG. 18 illustrates control voltages, driving voltages, and diagnostic voltages that appear during normal operation of a three-phase motor and motor driver circuit according to one embodiment.

[0231] According to one embodiment, in the first section (1801), a processor of a diagnostic module (e.g., processor (512) of FIG. 5A) may apply a control voltage (1810) to an input terminal (e.g., input terminal (1011) of FIG. 10) of a diagnostic circuit (e.g., diagnostic circuit (560) of FIG. 5A or diagnostic circuit (1000) of FIG. 10) by outputting a control signal to a GPIO port of the processor. For example, the control voltage may be 5 V, and is not limited to the described embodiment. The first section (1801) may correspond to a time at which operations 810 to 830 described above with reference to FIG. 8 are performed.

[0232] According to one embodiment, in the first section (1801), the processor of the diagnostic module can measure the voltage (1830) appearing at the output terminal of the diagnostic circuit (e.g., the output terminal (1012) of FIG. 10) as the diagnostic voltage.

[0233] According to one embodiment, in the second section (1802), the processor of the diagnostic module may terminate the application of the control voltage (1810) and apply a driving voltage (1820) to the motor driver circuit (e.g., the motor driver circuit (532) of FIG. 5A or the motor driver circuit (910) of FIG. 9). For example, the driving voltage (1820) applied in the second section (1802) may be 5 V, and is not limited to the described embodiment.

[0234] According to one embodiment, in the second section (1802), the processor of the diagnostic module can measure the voltage (1830) appearing at the output terminal of the diagnostic circuit as an operating voltage. For example, the processor of the diagnostic module can calculate a normal reference operating voltage for an equivalent circuit of a motor driver circuit that changes based on PWM, and determine whether the operating voltage appearing at the output terminal corresponds to the reference operating voltage. If the operating voltage corresponds to the reference operating voltage, the processor can determine that the operating voltage is normal.

[0235] FIG. 19 illustrates control voltages, driving voltages, and diagnostic voltages that appear when a three-phase motor or motor driver circuit does not operate normally, according to one embodiment.

[0236] According to one embodiment, in the first section (1901), a processor of a diagnostic module (e.g., processor (512) of FIG. 5A) may apply a control voltage (1910) to an input terminal (e.g., input terminal (1011) of FIG. 10) of a diagnostic circuit (e.g., diagnostic circuit (560) of FIG. 5A or diagnostic circuit (1000) of FIG. 10) by outputting a control signal to a GPIO port of the processor. For example, the control voltage may be 5 V, and is not limited to the described embodiment. The first section (1901) may correspond to a time when operations 810 to 830 described above with reference to FIG. 8 are performed.

[0237] According to one embodiment, in the first section (1901), the processor of the diagnostic module can measure the voltage (1930) appearing at the output terminal of the diagnostic circuit (e.g., the output terminal (1012) of FIG. 10) as the diagnostic voltage.

[0238] According to one embodiment, in the second section (1902), the processor of the diagnostic module may terminate the application of the control voltage (1910) and apply a driving voltage (1920) to the motor driver circuit (e.g., the motor driver circuit (532) of FIG. 5A or the motor driver circuit (910) of FIG. 9). For example, the driving voltage (1920) applied in the second section (1902) may be 5 V, and is not limited to the described embodiment.

[0239] According to one embodiment, in the second section (1902), the processor of the diagnostic module can measure the voltage (1930) appearing at the output terminal of the diagnostic circuit as an operating voltage. For example, the processor of the diagnostic module can calculate a normal reference operating voltage for an equivalent circuit of the motor driver circuit that changes based on the PWM, and determine whether the operating voltage appearing at the output terminal corresponds to the reference operating voltage. If the operating voltage does not correspond to the reference operating voltage, the processor can determine that the operating voltage is not normal. For example, if the coils (e.g., U-phase coil (902), V-phase coil (904), and W-phase coil (906)) of a three-phase motor (e.g., motor (534) of FIG. 5A or three-phase motor (900) of FIG. 9) are determined to be normal in the first section (1901), but at least one of the coils of the three-phase motor is broken in the second section (1902), the operating voltage may not correspond to the reference operating voltage.

[0240] According to one embodiment, if the operating voltage is determined to be abnormal, the processor of the diagnostic module may stop controlling the 3-phase motor based on PWM and terminate the application of the driving voltage (1920).

[0241] According to one embodiment, in the third section (1903), the processor of the diagnostic module may apply a control voltage (1910) to the diagnostic circuit. The processor of the diagnostic module may measure a voltage (1930) appearing at an output terminal of the diagnostic circuit as the diagnostic voltage.

[0242] The processor of the diagnostic module can determine which coil of the three-phase motor is broken or which transistor of the motor driver circuit is broken based on whether the diagnostic voltage corresponds to the first voltage or the second voltage.

[0243] FIG. 20 is a flowchart of a method for notifying a user of a broken state when a circuit of a 3-phase motor or motor driver is broken, according to one embodiment.

[0244] According to one embodiment, the operations 2010 and 2020 below may be performed by a diagnostic module of a wearable device (e.g., the wearable device (100) of FIG. 1 ). For example, the operations 2010 and 2020 may be performed by a processor of the diagnostic module (e.g., the processor (512) of FIG. 5A ).

[0245] According to one embodiment, operations 2010 and 2020 may be performed after operation 1120 described above with reference to FIG. 11A is performed. For example, operations 2010 and 2020 may be performed when at least one of the coils (e.g., the U-phase coil (902), the V-phase coil (904), and the W-phase coil (906)) of a three-phase motor (e.g., the motor (534) of FIG. 5A or the three-phase motor (900) of FIG. 9) is determined to be abnormal. Operations 2010 and 2020 may be performed in parallel and independently of each other.

[0246] According to one embodiment, operations 2010 and 2020 may be performed after operation 1320 described above with reference to FIG. 13 is performed. For example, operations 2010 and 2020 may be performed if at least one of the lower transistors of the motor driver circuit (e.g., the motor driver circuit (532) of FIG. 5A or the motor driver circuit (910) of FIG. 9) is determined to be abnormal.

[0247] In operation 2010, the processor of the diagnostic module may transmit information about a breakdown state of a 3-phase motor or motor driver circuit to a server (e.g., server (230) of FIG. 2). For example, the processor of the diagnostic module may transmit information about a breakdown state of a 3-phase motor or motor driver circuit to the server via a communication module (e.g., communication module (516) of FIG. 5A).

[0248] In one embodiment, the processor of the diagnostic module may transmit information about the failure status of the 3-phase motor or motor driver circuit, along with the wearable device's unique number or user account information, to the server. For example, the server may search for a response method for the failure based on the failure information received from the wearable device and transmit the response method to the wearable device or the user's electronic device (e.g., the electronic device (210) of FIG. 2). For example, the response method for the failure may be guidance on the location of a service center available to the user.

[0249] In operation 2020, the processor of the diagnostic module may notify the user of a breakage condition of the 3-phase motor or motor driver circuit. For example, the processor of the diagnostic module may notify the user of a breakage condition of the 3-phase motor or motor driver circuit through a user interface, such as a lighting unit (e.g., lighting unit (85) of FIG. 1). For example, the processor of the diagnostic module may transmit information about the breakage condition of the 3-phase motor or motor driver circuit to the user's electronic device through a communication module.

[0250] FIG. 21 illustrates a diagnostic circuit having a different structure from the diagnostic circuit illustrated with reference to FIG. 9, according to one embodiment.

[0251] According to one embodiment, the diagnostic circuit (2100) (e.g., the diagnostic circuit (560) of FIG. 5a) may be electrically connected to the three-phase motor (900) described above with reference to FIG. 9 (e.g., the motor (534) of FIG. 5a). For example, the diagnostic circuit (2100) may be connected to the U-phase coil (902), the V-phase coil (904), and the W-phase coil (906) of the three-phase motor (900), respectively.

[0252] According to one embodiment, the diagnostic circuit (2100) may be electrically connected to the motor driver circuit (910) described above with reference to FIG. 9 through the terminal of the U-phase coil (902), the terminal of the V-phase coil (904), and the terminal of the W-phase coil (906) of the 3-phase motor (900).

[0253] Below, the U-phase coil (902) may be referred to as the first coil, the V-phase coil (904) as the second coil, and the W-phase coil (906) as the third coil.

[0254] The diagnostic circuit (2100) may include a first terminal resistor (2101) connected to a first terminal connected to a first coil of a three-phase motor, a second terminal resistor (2102) connected to a second terminal connected to a second coil of the three-phase motor, and a third terminal resistor (2103) connected to a third terminal connected to a third coil of the three-phase motor. The third terminal resistor (2103) may be connected to an output terminal (2115).

[0255] The diagnostic circuit (2100) may include a first resistor (2104), a first gate resistor (2112), a second gate resistor (2113), and a third gate resistor (2114), each connected to a power source. For example, the power source may be a system power source or a battery.

[0256] The diagnostic circuit (2100) may include a first transistor (2108) having a gate terminal connected to a second gate resistor (2113), a drain terminal connected to a first terminal resistor (2101), and a source terminal connected to a second resistor (2105). The first transistor (2108) may be a p-FET.

[0257] The diagnostic circuit (2100) may include a second resistor (2105) positioned between the source terminal of the first transistor (2108) and the second terminal resistor (2102).

[0258] The diagnostic circuit (2100) may include a second transistor (2109) having a gate terminal connected to a third gate resistor (2114), a drain terminal connected to a second terminal resistor (2102), and a source terminal connected to a third resistor (2106). The second transistor (2109) may be a p-FET.

[0259] The diagnostic circuit (2100) may include a third resistor (2106) positioned between the source terminal of the second transistor (2109) and the third terminal resistor (2103).

[0260] The diagnostic circuit (2100) may include a fourth resistor (2107) having a first terminal connected to the third terminal resistor (2103) and the third resistor (2106) and a second terminal connected to ground. A first terminal of the fourth resistor (2107) may be connected to an output terminal (2115).

[0261] The diagnostic circuit (2100) may include a third transistor (2110) having a gate terminal connected to a first gate resistor (2112), a drain terminal connected to a first resistor (2104), and a source terminal connected to a first terminal resistor (2101). The third transistor (2110) may be a p-FET.

[0262] The diagnostic circuit (2100) may include a first gate resistor (2112), a second gate resistor (2113), a third gate resistor (2114), a drain terminal connected to the gate terminal of the first transistor (2108), the gate terminal of the second transistor (2109), and the gate terminal of the third transistor (2110), a source terminal connected to the pull-down resistor (2116), and a fourth transistor (2111) having a gate terminal connected to the input terminal. The fourth transistor (2111) may be an n-FET.

[0263] The diagnostic circuit (2100) may include a pull-down resistor (2116) positioned between the source terminal of at least the fourth transistor (2111) and ground.

[0264] According to one embodiment, a method for determining a condition of a three-phase motor (534; 900) may include an operation (810) of applying a control voltage to an input terminal (1011) of a diagnostic circuit (560; 1000; 2100) that is electrically directly or indirectly connected to terminals of the three-phase motor (534; 900), an operation (820) of measuring a diagnostic voltage appearing at an output terminal (1012) of the diagnostic circuit (560; 1000; 2100), and an operation (830) of determining whether coils (902; 904; 906) of the three-phase motor (534; 900) are normal based on the diagnostic voltage.

[0265] According to one embodiment, the diagnostic circuit (560; 1000; 2100) may include a first terminal resistor (1001) directly or indirectly connected to a first terminal, which is directly or indirectly connected to a first coil (902) of the three-phase motor (534; 900).

[0266] According to one embodiment, the diagnostic circuit (560; 1000; 2100) may include a second terminal resistor (1002) directly or indirectly connected to a second terminal, which is directly or indirectly connected to a second coil (904) of a three-phase motor (534; 900).

[0267] According to one embodiment, the diagnostic circuit (560; 1000; 2100) may include a third terminal resistor (1003) directly or indirectly connected to a third terminal, which is directly or indirectly connected to a third coil (906) of a three-phase motor (534; 900), and directly or indirectly connected to an output terminal (1012).

[0268] According to one embodiment, the diagnostic circuit (560; 1000; 2100) may include a first resistor (1004) positioned between the first terminal resistor (1003) and the input terminal (1011).

[0269] According to one embodiment, the diagnostic circuit (560; 1000; 2100) may include a first transistor (1008) having a drain terminal directly or indirectly connected to a first terminal resistor (1001) and a first resistor (1004), a source terminal directly or indirectly connected to a second resistor (1005), and a gate terminal directly or indirectly connected to an input terminal (1011).

[0270] According to one embodiment, the diagnostic circuit (560; 1000; 2100) may include a second resistor (1005) positioned between at least the source terminal of the first transistor (1008) and the second terminal resistor (1002).

[0271] According to one embodiment, the diagnostic circuit (560; 1000; 2100) may include a second transistor (1009) having a drain terminal directly or indirectly connected to a second terminal resistor (1002) and a second resistor (1005), a source terminal directly or indirectly connected to a third resistor (1006), and a gate terminal directly or indirectly connected to an input terminal (1011).

[0272] According to one embodiment, the diagnostic circuit (560; 1000; 2100) may include at least a third resistor (1006) positioned between the third terminal resistor (1003) and the source terminal of the second transistor (1009).

[0273] According to one embodiment, the diagnostic circuit (560; 1000; 2100) may include a fourth resistor (1007) having a first terminal directly or indirectly connected to a third terminal resistor (1003) and a third resistor (1006) and a second terminal directly or indirectly connected to ground.

[0274] According to one embodiment, the diagnostic circuit (560; 1000; 2100) may include a pull-down resistor (1010) having a first terminal directly or indirectly connected to an input terminal (1011), a gate terminal of a first transistor (1008), and a gate terminal of a second transistor (1009), and a second terminal directly or indirectly connected to ground.

[0275] According to one embodiment, each of the first transistor (1008) and the second transistor (1009) may be an n-FET.

[0276] According to one embodiment, the diagnostic circuit (560; 1000; 2100) may include a first terminal resistor (2101) directly or indirectly connected to a first terminal, which is directly or indirectly connected to a first coil (902) of a three-phase motor (534; 900).

[0277] According to one embodiment, the diagnostic circuit (560; 1000; 2100) may include a second terminal resistor (2102) directly or indirectly connected to a second terminal, which is directly or indirectly connected to a second coil (904) of a three-phase motor (534; 900).

[0278] According to one embodiment, the diagnostic circuit (560; 1000; 2100) may include a third terminal resistor (2103) directly or indirectly connected to a third terminal, which is directly or indirectly connected to a third coil (906) of a three-phase motor (534; 900), and directly or indirectly connected to an output terminal.

[0279] According to one embodiment, the diagnostic circuit (560; 1000; 2100) may include a first resistor (2104), a first gate resistor (2112), a second gate resistor (2113), and a third gate resistor (2114), each of which is directly or indirectly connected to a power source.

[0280] According to one embodiment, the diagnostic circuit (560; 1000; 2100) may include a first transistor (2108) having a gate terminal directly or indirectly connected to a second gate resistor (2113), a drain terminal directly or indirectly connected to a first terminal resistor (2101), and a source terminal directly or indirectly connected to a second resistor (2105).

[0281] According to one embodiment, the diagnostic circuit (560; 1000; 2100) may include a second resistor (2105) positioned between the source terminal of at least the first transistor (2108) and the second terminal resistor (2102).

[0282] According to one embodiment, the diagnostic circuit (560; 1000; 2100) may include a second transistor (2109) having a gate terminal directly or indirectly connected to a third gate resistor (2114), a drain terminal directly or indirectly connected to a second terminal resistor (2102), and a source terminal directly or indirectly connected to a third resistor (2106).

[0283] According to one embodiment, the diagnostic circuit (560; 1000; 2100) may include a third resistor (2106) positioned between at least the source terminal of the second transistor (2109) and the third terminal resistor (2103).

[0284] According to one embodiment, the diagnostic circuit (560; 1000; 2100) may include a fourth resistor (2107) having a first terminal directly or indirectly connected to a third terminal resistor (2103) and a third resistor (2106) and a second terminal directly or indirectly connected to ground.

[0285] According to one embodiment, the diagnostic circuit (560; 1000; 2100) may include a third transistor (2110) having a gate terminal directly or indirectly connected to a first gate resistor (2112), a drain terminal directly or indirectly connected to a first resistor (2104), and a source terminal directly or indirectly connected to a first terminal resistor (2101). Here, “connected” may cover both direct connections and indirect connections.

[0286] Here, each embodiment can be used in combination with other embodiments described herein.

[0287] According to one embodiment, the diagnostic circuit (560; 1000; 2100) may include a fourth transistor (2111) having a first gate resistor (2112), a second gate resistor (2113), a third gate resistor (2114), a drain terminal directly or indirectly connected to a gate terminal of a first transistor (2108), a gate terminal of a second transistor (2109), and a gate terminal of a third transistor (2110), a source terminal directly or indirectly connected to a pull-down resistor (2116), and a gate terminal directly or indirectly connected to an input terminal.

[0288] According to one embodiment, the diagnostic circuit (560; 1000; 2100) may include a pull-down resistor (2116) positioned between the source terminal of at least the fourth transistor (2111) and ground.

[0289] According to one embodiment, each of the first transistor (2108), the second transistor (2109), and the third transistor (2110) may be a p-FET, and the fourth transistor (2111) may be an n-FET.

[0290] According to one embodiment, the operation (830) of determining whether the coils (902; 904; 906) of the 3-phase motor (534; 900) are normal based on the diagnostic voltage may include the operation (1110) of determining whether the diagnostic voltage corresponds to a first voltage, and, if the diagnostic voltage corresponds to the first voltage, the operation (1120) of determining that a target coil among the coils (902; 904; 906) corresponding to the first voltage is broken.

[0291] According to one embodiment, the operation (830) of determining whether the coils (902; 904; 906) of the three-phase motor (534; 900) are normal based on the diagnostic voltage may include the operation (1310) of determining whether the diagnostic voltage corresponds to a second voltage, and, if the diagnostic voltage corresponds to the second voltage, the operation (1320) of determining that at least one of the transistors (915; 916; 917) of the motor driver circuit (910) directly or indirectly connected to the three-phase motor (534; 900) is broken.

[0292] According to one embodiment, a method for determining a state of a three-phase motor (534; 900) may further include: when it is determined that coils (902; 904; 906) of the three-phase motor (534; 900) are normal, terminating the application of a control voltage and applying a driving voltage to a motor driver circuit (910) directly or indirectly connected to the three-phase motor (534; 900) (1510); measuring an additional diagnostic voltage appearing at an output terminal (1012) of a diagnostic circuit (560; 1000; 2100) (1520); determining whether the additional diagnostic voltage corresponds to a third voltage (1530); and when the additional diagnostic voltage corresponds to the third voltage, determining that at least one of one or more transistors (912; 913; 914) of the motor driver circuit (910) is broken (1540).

[0293] According to one embodiment, a method for determining a state of a three-phase motor (534; 900) may further include an operation (1710) of terminating the application of a control voltage and applying a driving voltage to a motor driver circuit (910) directly or indirectly connected to the three-phase motor (534; 900) when it is determined that the coils (902; 904; 906) of the three-phase motor (534; 900) are normal, an operation (1720) of measuring an operating voltage appearing at an output terminal (1012) of a diagnostic circuit (560; 1000; 2100) while the three-phase motor (534; 900) is controlled by the motor driver circuit (910) based on PWM, and an operation (1730) of terminating the application of the driving voltage when the operating voltage is not normal.

[0294] According to one embodiment, a diagnostic module for determining whether coils (902; 904; 906) of a 3-phase motor (534; 900) are normal includes a processor (512) and a diagnostic circuit (560; 1000; 2100), wherein the processor (512) can perform an operation (810) of applying a control voltage to an input terminal (1011) of a diagnostic circuit (560; 1000; 2100) that is electrically directly or indirectly connected to terminals of the 3-phase motor (534; 900), an operation (820) of measuring a diagnostic voltage appearing at an output terminal (1012) of the diagnostic circuit (560; 1000; 2100), and an operation (830) of determining whether coils (902; 904; 906) of the 3-phase motor (534; 900) are normal based on the diagnostic voltage. there is.

[0295] According to one embodiment, the processor (512) may further perform an operation (1110) of determining whether the diagnostic voltage corresponds to the first voltage, and, if the diagnostic voltage corresponds to the first voltage, an operation (1120) of determining that a target coil among the coils (902; 904; 906) corresponding to the first voltage is broken.

[0296] According to one embodiment, the processor (512) may further perform the operation (1310) of determining whether the diagnostic voltage corresponds to the second voltage, and if the diagnostic voltage corresponds to the second voltage, the operation (1320) of determining that at least one of one or more transistors (915; 916; 917) of the motor driver circuit (910) directly or indirectly connected to the three-phase motor (534; 900) is broken.

[0297] According to one embodiment, the processor (512) may further perform an operation (1510) of terminating the application of the control voltage and applying a driving voltage to a motor driver circuit (910) directly or indirectly connected to the three-phase motor (534; 900) when it is determined that the coils (902; 904; 906) of the three-phase motor (534; 900) are normal, an operation (1520) of measuring an additional diagnostic voltage appearing at an output terminal (1012) of the diagnostic circuit (560; 1000; 2100), an operation (1530) of determining whether the additional diagnostic voltage corresponds to a third voltage, and an operation (1540) of determining that at least one of one or more transistors (912; 913; 914) of the motor driver circuit (910) is broken when the additional diagnostic voltage corresponds to the third voltage.

[0298] According to one embodiment, the processor (512) may further perform an operation (1710) of terminating the application of a control voltage and applying a driving voltage to a motor driver circuit (910) directly or indirectly connected to the three-phase motor (534; 900) when it is determined that the coils (902; 904; 906) of the three-phase motor (534; 900) are normal, an operation (1720) of measuring an operating voltage appearing at an output terminal (1012) of a diagnostic circuit (560; 1000; 2100) while the three-phase motor (534; 900) is controlled by the motor driver circuit (910) based on PWM, and an operation (1730) of terminating the application of the driving voltage when the operating voltage is not normal.

[0299] According to one embodiment, a method for determining a state of a three-phase motor (534; 900) comprises: an operation (1720) of measuring an operating voltage appearing at an output terminal (1012) of a diagnostic circuit (560; 1000; 2100) electrically connected to terminals of a three-phase motor (534; 900) while the three-phase motor (534; 900) is controlled by a motor driver circuit (910) based on a PWM; an operation (1730) of terminating the application of a driving voltage to the three-phase motor (534; 900) when the operating voltage is not normal; an operation (810) of applying a control voltage to an input terminal (1011) of the diagnostic circuit (560; 1000; 2100); an operation (820) of measuring a diagnostic voltage appearing at an output terminal (1012) of the diagnostic circuit (560; 1000; 2100); and An operation (830) may include determining whether the coils (902; 904; 906) of the 3-phase motor (534; 900) are normal based on the diagnostic voltage. Here, “based on” includes at least based on.

[0300] The embodiments described above may be implemented using hardware components, software components, and / or a combination of hardware components and software components. For example, the devices, methods, and components described in the embodiments may be implemented using a general-purpose computer or a special-purpose computer, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing instructions and responding to them. The processing device may execute an operating system (OS) and software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing device is sometimes described as being used alone; however, one of ordinary skill in the art will recognize that the processing device may include multiple processing elements and / or multiple types of processing elements. For example, a processing unit may include multiple processors, or a processor and a controller. Other processing configurations, such as parallel processors, are also possible.

[0301] Here, each "processor" may include processing circuitry, or may include multiple processors. For example, the term "processor," as used herein, including in the claims, may include various processing circuitry, including at least one processor, wherein one or more of the at least one processors may be individually and / or collectively configured to perform the various functions described herein. As used herein, when the terms "processor," "at least one processor," and "one or more processors" are described as being configured to perform a number of functions, such terms encompass, for example, without limitation, a situation where one processor performs some of the recited functions, other processor(s) perform other of the recited functions, and a situation where a single processor may perform all of the recited functions. Furthermore, the at least one processor may include a combination of processors that perform various recited / disclosed functions, for example, in a distributed manner. The at least one processor may execute program instructions to achieve or perform various functions.

[0302] Software may include a computer program, code, instructions, or a combination of one or more of these, which may configure a processing device to perform a desired operation or may, independently or collectively, command the processing device. The software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, computer storage medium or device, or transmitted signal wave, for interpretation by the processing device or for providing instructions or data to the processing device. The software may also be distributed over networked computer systems and stored or executed in a distributed manner. The software and data may be stored on a computer-readable recording medium.

[0303] The method according to the embodiment may be implemented in the form of program commands that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program commands, data files, data structures, etc., alone or in combination, and the program commands recorded on the medium may be those specially designed and configured for the embodiment or may be known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands such as ROMs, RAMs, and flash memories. Examples of program commands include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc.

[0304] The hardware device described above may be configured to operate as one or more software modules to perform the operations of the embodiment, and vice versa.

[0305] Although the embodiments described above have been described with limited drawings, those skilled in the art will appreciate that various technical modifications and variations can be applied based on the described embodiments. For example, appropriate results can still be achieved even if the described techniques are performed in a different order than described, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents.

[0306] While this disclosure has been described and illustrated with reference to various embodiments, it should be understood that the various embodiments are illustrative, not limiting. Furthermore, those skilled in the art should understand that various changes in form and detail may be made without departing from the true spirit and scope of the disclosure, including the appended claims and their equivalents. Furthermore, it should be understood that any of the embodiments described herein can be used with any other embodiment described herein.

[0307] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims described below.

Claims

1. A method for determining the state of a three-phase motor (534; 900), An operation (810) of applying a control voltage to an input terminal (1011) of a diagnostic circuit (560; 1000; 2100) electrically connected to the terminals of the above 3-phase motor (534; 900); An operation (820) of measuring a diagnostic voltage appearing at an output terminal (1012) of the above diagnostic circuit (560; 1000; 2100); and An operation (830) for determining whether the coils (902; 904; 906) of the 3-phase motor (534; 900) are normal based on the above diagnostic voltage. Including, How to determine the status of a 3-phase motor.

2. In paragraph 1, The above diagnostic circuit (560; 1000; 2100) A first terminal resistor (1001) connected to a first terminal connected to a first coil (902) of the above 3-phase motor (534; 900); A second terminal resistor (1002) connected to a second terminal connected to a second coil (904) of the above 3-phase motor (534; 900); A third terminal resistor (1003) connected to a third terminal connected to the third coil (906) of the above 3-phase motor (534; 900) and connected to the output terminal (1012); A first resistor (1004) located between the first terminal resistor (1003) and the input terminal (1011); A first transistor (1008) having a drain terminal connected to the first terminal resistor (1001) and the first resistor (1004), a source terminal connected to the second resistor (1005), and a gate terminal connected to the input terminal (1011); A second resistor (1005) located between the source terminal of the first transistor (1008) and the second terminal resistor (1002); A second transistor (1009) having a drain terminal connected to the second terminal resistor (1002) and the second resistor (1005), a source terminal connected to the third resistor (1006), and a gate terminal connected to the input terminal (1011); The third resistor (1006) located between the third terminal resistor (1003) and the source terminal of the second transistor (1009); A fourth resistor (1007) including a first terminal connected to the third terminal resistor (1003) and the third resistor (1006) and a second terminal connected to ground; and A pull-down resistor (1010) having a first terminal connected to the input terminal (1011), the gate terminal of the first transistor (1008), and the gate terminal of the second transistor (1009), and a second terminal connected to the ground Including, How to determine the status of a 3-phase motor.

3. In paragraph 1 or 2, Each of the first transistor (1008) and the second transistor (1009) is an n-FET (field effect transistor). How to determine the status of a 3-phase motor.

4. In any one of paragraphs 1 to 3, The above diagnostic circuit (560; 1000; 2100) A first terminal resistor (2101) connected to a first terminal connected to a first coil (902) of the above 3-phase motor (534; 900); A second terminal resistor (2102) connected to a second terminal connected to a second coil (904) of the above 3-phase motor (534; 900); A third terminal resistor (2103) connected to a third terminal connected to the third coil (906) of the above 3-phase motor (534; 900) and connected to the output terminal; A first resistor (2104), a first gate resistor (2112), a second gate resistor (2113), and a third gate resistor (2114) each connected to a power source; A first transistor (2108) having a gate terminal connected to the second gate resistor (2113), a drain terminal connected to the first terminal resistor (2101), and a source terminal connected to the second resistor (2105); The second resistor (2105) located between the source terminal and the second terminal resistor (2102) of the first transistor (2108); A second transistor (2109) having a gate terminal connected to the third gate resistor (2114), a drain terminal connected to the second terminal resistor (2102), and a source terminal connected to the third resistor (2106); The third resistor (2106) located between the source terminal of the second transistor (2109) and the third terminal resistor (2103); A fourth resistor (2107) including a first terminal connected to the third terminal resistor (2103) and the third resistor (2106) and a second terminal connected to ground; A third transistor (2110) having a gate terminal connected to the first gate resistor (2112), a drain terminal connected to the first resistor (2104), and a source terminal connected to the first terminal resistor (2101); A fourth transistor (2111) having a drain terminal connected to the first gate resistor (2112), the second gate resistor (2113), the third gate resistor (2114), the gate terminal of the first transistor (2108), the gate terminal of the second transistor (2109), and the gate terminal of the third transistor (2110), a source terminal connected to a pull-down resistor (2116), and a gate terminal connected to the input terminal; and The pull-down resistor (2116) located between the source terminal of the fourth transistor (2111) and the ground Including, How to determine the status of a 3-phase motor.

5. In any one of paragraphs 1 to 4, Each of the first transistor (2108), the second transistor (2109), and the third transistor (2110) is a p-FET, The above fourth transistor (2111) is an n-FET. How to determine the status of a 3-phase motor.

6. In any one of paragraphs 1 to 5, The operation (830) of determining whether the coils (902; 904; 906) of the 3-phase motor (534; 900) are normal based on the above diagnostic voltage is: An operation (1110) for determining whether the above diagnostic voltage corresponds to the first voltage; and If the above diagnostic voltage corresponds to the first voltage, an operation (1120) for determining that the target coil among the coils (902; 904; 906) corresponding to the first voltage is broken Including, How to determine the status of a 3-phase motor.

7. In any one of paragraphs 1 to 6, The operation (830) of determining whether the coils (902; 904; 906) of the 3-phase motor (534; 900) are normal based on the above diagnostic voltage is: An operation (1310) for determining whether the above diagnostic voltage corresponds to a second voltage; and An operation (1320) of determining that at least one of the transistors (915; 916; 917) of the motor driver circuit (910) connected to the 3-phase motor (534; 900) is broken when the diagnostic voltage corresponds to the second voltage. Including, How to determine the status of a 3-phase motor.

8. In any one of paragraphs 1 to 7, When it is determined that the coils (902; 904; 906) of the above 3-phase motor (534; 900) are normal, an operation (1510) of terminating the application of the control voltage and applying a driving voltage to the motor driver circuit (910) connected to the above 3-phase motor (534; 900); An operation (1520) of measuring an additional diagnostic voltage appearing at the output terminal (1012) of the above diagnostic circuit (560; 1000; 2100); An operation (1530) for determining whether the above additional diagnostic voltage corresponds to a third voltage; and An operation (1540) of determining that at least one of the transistors (912; 913; 914) of the motor driver circuit (910) is broken when the additional diagnostic voltage corresponds to the third voltage. Including more, How to determine the status of a 3-phase motor.

9. In any one of paragraphs 1 to 8, When it is determined that the coils (902; 904; 906) of the above 3-phase motor (534; 900) are normal, an operation (1710) of terminating the application of the control voltage and applying a driving voltage to the motor driver circuit (910) connected to the above 3-phase motor (534; 900); An operation (1720) of measuring an operating voltage appearing at the output terminal (1012) of the diagnostic circuit (560; 1000; 2100) while the 3-phase motor (534; 900) is controlled by the motor driver circuit (910) based on PWM (pulse width modulation); and If the above operating voltage is not normal, operation (1730) of terminating the application of the above driving voltage Including more, How to determine the status of a 3-phase motor.

10. A computer-readable recording medium containing a program for performing any one of the methods of clauses 1 to 9. 11.3- A diagnostic module that determines whether the coils (902; 904; 906) of the phase motor (534; 900) are normal, Diagnostic Circuit (560; 1000; 2100) Including, At least one processor (512) comprising a processing circuit, individually or collectively: An operation (810) of applying a control voltage to an input terminal (1011) of the diagnostic circuit (560; 1000; 2100) electrically connected to the terminals of the above 3-phase motor (534; 900); An operation (820) of measuring a diagnostic voltage appearing at an output terminal (1012) of the above diagnostic circuit (560; 1000; 2100); and An operation (830) for determining whether the coils (902; 904; 906) of the 3-phase motor (534; 900) are normal based on the above diagnostic voltage. To perform, Diagnostic module.

12. In paragraph 11, The above diagnostic circuit (560; 1000; 2100) A first terminal resistor (1001) connected to a first terminal connected to a first coil (902) of the above 3-phase motor (534; 900); A second terminal resistor (1002) connected to a second terminal connected to a second coil (904) of the above 3-phase motor (534; 900); A third terminal resistor (1003) connected to a third terminal connected to the third coil (906) of the above 3-phase motor (534; 900) and connected to the output terminal (1012); A first resistor (1004) located between at least the first terminal resistor (1003) and the input terminal (1011); A first transistor (1008) having a drain terminal connected to the first terminal resistor (1001) and the first resistor (1004), a source terminal connected to the second resistor (1005), and a gate terminal connected to the input terminal (1011); A second resistor (1005) located between at least the source terminal of the first transistor (1008) and the second terminal resistor (1002); A second transistor (1009) having a drain terminal connected to the second terminal resistor (1002) and the second resistor (1005), a source terminal connected to the third resistor (1006), and a gate terminal connected to the input terminal (1011); At least the third resistor (1006) located between the third terminal resistor (1003) and the source terminal of the second transistor (1009); A fourth resistor (1007) including a first terminal connected to the third terminal resistor (1003) and the third resistor (1006) and a second terminal connected to ground; and A pull-down resistor (1010) having a first terminal connected to the input terminal (1011), the gate terminal of the first transistor (1008), and the gate terminal of the second transistor (1009), and a second terminal connected to the ground Including, Diagnostic module.

13. In paragraph 11 or 12, Each of the first transistor (1008) and the second transistor (1009) is an n-FET (field effect transistor). Diagnostic module.

14. In any one of paragraphs 11 to 13, The above diagnostic circuit (560; 1000; 2100) A first terminal resistor (2101) connected to a first terminal connected to a first coil (902) of the above 3-phase motor (534; 900); A second terminal resistor (2102) connected to a second terminal connected to a second coil (904) of the above 3-phase motor (534; 900); A third terminal resistor (2103) connected to a third terminal connected to the third coil (906) of the above 3-phase motor (534; 900) and connected to the output terminal; A first resistor (2104), a first gate resistor (2112), a second gate resistor (2113), and a third gate resistor (2114) each connected to a power source; A first transistor (2108) having a gate terminal connected to the second gate resistor (2113), a drain terminal connected to the first terminal resistor (2101), and a source terminal connected to the second resistor (2105); The second resistor (2105) located between at least the source terminal and the second terminal resistor (2102) of the first transistor (2108); A second transistor (2109) having a gate terminal connected to the third gate resistor (2114), a drain terminal connected to the second terminal resistor (2102), and a source terminal connected to the third resistor (2106); The third resistor (2106) located between at least the source terminal of the second transistor (2109) and the third terminal resistor (2103); A fourth resistor (2107) including a first terminal connected to the third terminal resistor (2103) and the third resistor (2106) and a second terminal connected to ground; A third transistor (2110) having a gate terminal connected to the first gate resistor (2112), a drain terminal connected to the first resistor (2104), and a source terminal connected to the first terminal resistor (2101); A fourth transistor (2111) having a drain terminal connected to the first gate resistor (2112), the second gate resistor (2113), the third gate resistor (2114), the gate terminal of the first transistor (2108), the gate terminal of the second transistor (2109), and the gate terminal of the third transistor (2110), a source terminal connected to a pull-down resistor (2116), and a gate terminal connected to the input terminal; and The pull-down resistor (2116) located between the source terminal of the fourth transistor (2111) and the ground Including, Diagnostic module.

15. In any one of paragraphs 11 to 14, Each of the first transistor (2108), the second transistor (2109), and the third transistor (2110) is a p-FET, The above fourth transistor (2111) is an n-FET. Diagnostic module.

Images