CN114625182B - Device driving method, device, electronic device and storage medium - Google Patents
Device driving method, device, electronic device and storage medium Download PDFInfo
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- CN114625182B CN114625182B CN202210135517.6A CN202210135517A CN114625182B CN 114625182 B CN114625182 B CN 114625182B CN 202210135517 A CN202210135517 A CN 202210135517A CN 114625182 B CN114625182 B CN 114625182B
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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Abstract
本申请公开了一种设备驱动方法、装置、电子设备以及存储介质，涉及智能家居技术领域。该方法包括：获取采集到的驱动设备的电机在窗帘移动到目标位置时的转速，其中，驱动设备用于驱动窗帘在承载装置上移动，基于转速，获得驱动设备在窗帘移动到目标位置时的驱动力，基于驱动力，获得驱动设备和承载装置之间的目标抱紧力，控制驱动设备基于目标抱紧力，驱动窗帘在所述承载装置上移动。从而实现根据驱动设备的电机的转速动态调节目标抱紧力，并根据该抱紧力控制驱动设备驱动窗帘在承载装置上移动，可以延长驱动设备的使用寿命，并且不需要其它辅助设备就可以改变抱紧力。
The present application discloses a device driving method, device, electronic device and storage medium, and relates to the field of smart home technology. The method comprises: obtaining the collected rotation speed of the motor of the driving device when the curtain moves to the target position, wherein the driving device is used to drive the curtain to move on the bearing device, based on the rotation speed, obtaining the driving force of the driving device when the curtain moves to the target position, based on the driving force, obtaining the target clamping force between the driving device and the bearing device, and controlling the driving device to drive the curtain to move on the bearing device based on the target clamping force. Thus, the target clamping force can be dynamically adjusted according to the rotation speed of the motor of the driving device, and the driving device can be controlled according to the clamping force to drive the curtain to move on the bearing device, which can extend the service life of the driving device, and the clamping force can be changed without other auxiliary devices.
Description
Technical Field
The present application relates to the field of smart home technologies, and in particular, to a device driving method, a device, an electronic device, and a storage medium.
Background
Along with the development of scientific technology, the application of intelligent curtain partners is more and more widespread. At present, the curtain can be pushed to move through the driving device, but the holding force of the driving device and the curtain rod is always fixed, so that the user experience is poor.
Disclosure of Invention
In view of the above, the present application proposes a device driving method, apparatus, electronic device, and storage medium to solve the above problems.
In a first aspect, an embodiment of the present application provides an apparatus driving method, where the method includes obtaining a rotation speed of a collected motor of a driving apparatus when a window curtain moves to a target position, where the driving apparatus is configured to drive the window curtain to move on a carrying device, obtaining a driving force of the driving apparatus when the window curtain moves to the target position based on the rotation speed, obtaining a target holding force between the driving apparatus and the carrying device based on the driving force, and controlling the driving apparatus to drive the window curtain to move on the carrying device based on the target holding force.
In a second aspect, an embodiment of the application provides a device driving device, which comprises a rotating speed acquisition module, a driving force acquisition module, a target holding force acquisition module and a curtain driving module, wherein the rotating speed acquisition module is used for acquiring the rotating speed of a motor of driving device when a curtain moves to a target position, the driving device is used for driving the curtain to move on a bearing device, the driving force acquisition module is used for acquiring the driving force of the driving device when the driving device moves at the target position based on the rotating speed, the target holding force acquisition module is used for acquiring the target holding force between the driving device and the bearing device based on the driving force, and the curtain driving module is used for controlling the driving device to drive the curtain to move on the bearing device based on the target holding force.
In a third aspect, an embodiment of the present application provides an electronic device comprising a memory and a processor, the memory coupled to the processor, the memory storing instructions that when executed by the processor perform the above-described method.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium having program code stored therein, the program code being callable by a processor to perform the above method.
According to the device driving method, the device, the electronic device and the storage medium, the rotating speed of the collected motor of the driving device when the curtain moves to the target position is obtained, wherein the driving device is used for driving the curtain to move on the bearing device, the driving force of the driving device when the curtain moves to the target position is obtained based on the rotating speed, the target holding force between the driving device and the bearing device is obtained based on the driving force, and the driving device is controlled to drive the curtain to move on the bearing device based on the target holding force. Therefore, the target enclasping force is dynamically adjusted according to the rotating speed of the motor of the driving device, the driving device is controlled to drive the curtain to move on the bearing device according to the enclasping force, the service life of the driving device can be prolonged, and the enclasping force can be changed without other auxiliary devices.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a device driving method according to an embodiment of the present application;
Fig. 2 is a schematic diagram of a first scenario of a device driving method according to an embodiment of the present application;
fig. 3 is a schematic diagram of a second scenario of a device driving method according to an embodiment of the present application;
FIG. 4 is a flow chart of a device driving method according to an embodiment of the present application;
FIG. 5 shows a block diagram of a device driver apparatus provided by an embodiment of the present application;
Fig. 6 shows a block diagram of an electronic device for performing a device driving method according to an embodiment of the present application;
fig. 7 illustrates a storage unit for storing or carrying program codes for implementing a device driving method according to an embodiment of the present application.
Detailed Description
In order to enable those skilled in the art to better understand the present application, the following description will make clear and complete descriptions of the technical solutions according to the embodiments of the present application with reference to the accompanying drawings.
At present, the holding force of the driving device in the intelligent curtain partner can be controlled to be changed, but other auxiliary devices are needed to change the holding force of the driving device in the intelligent curtain partner, for example, the curtain is weighed by the weighing device, the holding force of the driving device is set according to the weight of the curtain, the driving device drives the curtain to move on the bearing device by the holding force, but the weighing device is used for troublesome operation, so that the user experience is poor, for example, the force sensor is used for monitoring the resistance encountered by the driving device, the holding force is set according to the encountered resistance, and the driving device drives the curtain to move on the bearing device by the holding force, but the mechanical structure of the force sensor is high in assembly cost.
In order to solve the problems, the inventor discovers through long-term research and proposes the curtain method, the device, the server and the storage medium, wherein the driving device can obtain driving force according to the rotating speed of a motor of the driving device when the curtain moves to a target position, and the curtain is driven to move on the bearing device by using target holding force, so that a hanging ring of the driving device is used for a longer time, and auxiliary equipment with high cost and troublesome operation is not needed. The specific device driving method will be described in detail in the following embodiments.
Referring to fig. 1, fig. 1 is a schematic flow chart of a device driving method according to an embodiment of the application. In a specific embodiment, the device driving method is applied to the device driving apparatus 300 shown in fig. 5 and the electronic device 100 (fig. 6) configured with the device driving apparatus 300. The specific flow of the present embodiment will be described below by taking an electronic device as an example. The following will describe the flow shown in fig. 1 in detail, and the device driving method may specifically include the following steps:
Step S110, acquiring the rotation speed of the motor of the acquired driving device when the curtain moves to the target position, wherein the driving device is used for driving the curtain to move on the bearing device.
In some embodiments, the device driving method may be performed by a driving device. The driving apparatus can acquire the rotational speed of its motor when the window covering is moved to the target position. The target position is the position when the curtain receives the maximum resistance, that is, the position when the curtain is fully tightened. It should be noted that the carrying device may include a curtain rod, a curtain slideway, and the like, which are not limited herein.
In some embodiments, the driving apparatus may include a hall sensor, and thus the rotational speed of the motor of the driving apparatus, which is acquired through the hall sensor, when the window covering moves to the target position may be acquired.
In some embodiments, the device-driven manner may be performed by an electronic device. The electronic device may acquire the rotational speed of the motor of the driving device when the window covering is moved to the target position. Referring to fig. 2, fig. 2 is a schematic diagram illustrating a first scenario of a device driving method according to an embodiment of the present application. The electronic device 100 may be connected to the driving device 200 through bluetooth, WIFI, zigBee, so as to implement data interaction between the electronic device 100 and the driving device 200. The electronic device 100 may acquire the rotational speed of the motor of the driving device 200 when the resistance received by the window covering is maximum based on the connection with the driving device 200. The electronic device 100 may include, but is not limited to, a smart phone, a tablet computer, a smart bracelet, and other electronic devices.
Referring to fig. 3, fig. 3 is a schematic diagram illustrating a second scenario of a device driving method according to an embodiment of the present application. As shown in fig. 2, the driving apparatus 200 may drive the window covering 210 to move over the window covering rod 220.
The description will be given taking the execution subject as an electronic device as an example. In some embodiments, the electronic device may control the drive device such that the drive device obtains a rotational speed of a motor of the drive device when the window covering is moved to the target position. The electronic device can also detect the driving device, when the driving device is detected to drive the curtain to move, the rotating speed of the driving device in the process of driving the curtain to move is obtained, and the rotating speed of the motor of the driving device when the curtain moves to the target position is determined according to the change of the rotating speed.
In some embodiments, when the driving device drives the window curtain to move on the bearing device, the electronic device may acquire a rotation speed of the motor of the driving device when the window curtain moves to a preset end position, and determine the rotation speed of the motor of the driving device when the window curtain moves to the preset end position as the rotation speed when the resistance of the motor of the driving device received by the window curtain is maximum. As one way, when the driving device drives the curtain to move on the curtain rod, the electronic device can acquire the rotating speed of the motor of the driving device in real time, and then determine the rotating speed of the motor of the driving device when the curtain moves to the preset end position according to the change of the rotating speed. As still another way, when the driving apparatus drives the window covering to move on the carrying device, the electronic apparatus may detect whether the window covering moves to the preset end position, and when it is determined that the window covering moves to the preset end position, may detect the rotational speed of the motor of the driving apparatus at this time, and determine the rotational speed of the driving apparatus at this time as the rotational speed when the window covering moves to the target position.
It should be noted that, when the driving device needs to drive the window curtain to move on the bearing device, it is necessary to satisfy that the maximum driving force of the driving device is greater than or equal to the maximum resistance force of the window curtain, that is, satisfy the formula F Driving device (max)≥F Curtain (S) (max), where F Driving device (max) is the maximum driving force of the driving device and F Curtain (S) (max) is the maximum resistance force of the window curtain. When the driving device is in operation, the driving force of the driving device needs to be slightly larger than the maximum resistance of the curtain, if the driving force of the driving device is larger than the maximum resistance of the curtain, the hanging ring of the driving device is easy to damage, and if the driving force of the driving device is not larger than the maximum resistance of the curtain, the basic function of the driving device for driving the curtain to move cannot be met. The maximum resistance force F Curtain (S) (max) to which the window covering is subjected can thus be obtained, and then the maximum driving force F Curtain (S) (max) of the driving device can be adjusted according to the maximum resistance force to which the window covering is subjected. For example, if the driving force of the driving device is greater than 1.5 times the maximum resistance of the window covering, the driving force of the driving device is considered to be too much greater than the maximum resistance of the window covering, and if the driving force of the driving device is greater than the maximum resistance of the window covering and less than 1.5 times the resistance of the window covering, the driving force of the driving device is considered to be slightly greater than the maximum resistance of the window covering.
For normal driving curtain movement, along with the extrusion of the curtain, the driven curtain is heavier and heavier, so that the curtain resistance can reach the maximum value when the curtain is fully tightened, and the driving force of the driving equipment can realize the control of the opening and closing of the curtain only by meeting the maximum resistance value of the curtain. When the curtain is fully tightened, the resistance to the curtain can reach the maximum value, so the maximum resistance to the curtain can be replaced by the driving force of a motor of the driving device when the curtain is fully tightened, namely the formula F Driving device ＝F Curtain (S) (max)＝k Ring(s) m Curtain (S) g can be expressed, wherein F Driving device is expressed as the driving force of the driving device when the resistance to the curtain is maximum, F Curtain (S) (max) is expressed as the maximum resistance to the curtain, k Ring(s) is expressed as the friction coefficient of a hanging ring, m Curtain (S) is expressed as the weight of the curtain, and g is expressed as the earth gravity.
According to the formula F Driving device ＝F Curtain (S) (max)＝k Ring(s) m Curtain (S) g, k Ring(s) is expressed as a friction coefficient of a hanging ring, g is expressed as earth gravity and is a fixed value, the weight of the curtain has a unique corresponding relation with the driving force of the motor of the driving device when the resistance of the curtain is maximum, and the driving force of the motor of the driving device when the resistance of the curtain is maximum can be obtained according to the rotating speed of the motor of the driving device when the resistance of the curtain is maximum, so that the rotating speed of the motor of the driving device when the resistance of the curtain is maximum is obtained.
Step S120, based on the rotational speed, obtaining a driving force of the driving device when the window curtain moves to the target position.
In this embodiment, the electronic device may obtain the driving force of the driving device when the window curtain moves to the target position according to the rotation speed of the motor of the driving device when the window curtain moves to the target position.
In some embodiments, the torque of the driving device when the curtain moves to the target position is obtained according to the rotating speed of the driving device when the curtain moves to the target position, and the driving force of the driving device when the curtain moves to the target position is obtained according to the torque.
In some embodiments, the algorithm may be according to algorithm t=f Driving device ×r Driving device , algorithmAlgorithm t=ibl 1L2 is used to derive the algorithmAnd can be according to an algorithmCalculating the rotation speed to obtain the driving force of the driving device when the curtain moves to the target position, and it can be understood that in the formulaSince the rotational speed of the motor of the driving device is constant except for the rotational speed of the window covering moving to the target position, the rotational speed can be calculated according to the formula to obtain the driving force of the driving device when the window covering moves to the target position, wherein F Driving device represents the driving force of the driving device when the window covering moves to the target position, U represents the power supply voltage of the motor, L 1 represents the armature length of the internal coil of the motor, L 2 represents the armature radius of the internal coil of the motor, B represents the magnetic flux of the internal passing coil of the motor, R ( Driving device ) represents the radius of the driving wheel, R represents the equivalent coil winding of the motor, and n represents the rotational speed of the motor of the driving device when the window covering moves to the target position.
In some embodiments, the algorithm may be based onThe mapping relation between the rotating speed and the driving force of the driving device when the curtain moves to the target position is established, and as a mode, a memory can be arranged in the driving device, so that the mapping relation between the rotating speed and the driving force of the driving device when the curtain moves to the target position can be stored in the driving device, and the driving force of the driving device when the curtain moves to the target position is obtained by searching the driving force corresponding to the rotating speed in the mapping relation according to the rotating speed of the driving device when the curtain moves to the target position. As another way, the electronic device may store a mapping relationship between the rotational speed and the driving force of the driving device when the window curtain moves to the target position, and according to obtaining the rotational speed of the driving device when the window curtain moves to the target position, find the driving force corresponding to the rotational speed in the mapping relationship, and obtain the driving force of the driving device when the window curtain moves to the target position. The computing time of the driving device and/or the electronic device may be reduced while improving the user experience.
And step S130, obtaining a target enclasping force between the driving equipment and the bearing device based on the driving force.
In this embodiment, the target clasping force between the driving apparatus and the carrying device may be obtained according to the driving force of the driving apparatus when the window shade is moved to the target position. The carrying device may include a curtain rod, a curtain slideway and the like, which are not limited herein.
In some embodiments, it may be according toCalculating the driving force and the weight of the driving device to obtain a target holding force between the driving device and the bearing device, wherein F Driving device is represented as the driving force of the driving device when the curtain moves to the target position, F Pressing is represented as the target holding force between the driving device and the bearing device, k Wheel is represented as the friction coefficient of a driving wheel, k Ring(s) is represented as the friction coefficient of a hanging ring, m Machine for making food is represented as the weight of the driving device, and g is represented as the earth gravity.
And step 140, controlling the driving equipment to drive the curtain to move on the bearing device based on the target enclasping force.
In some embodiments, the drive apparatus may be controlled to drive the window covering to move over the carrier with a target hugging force. As one way, the electronic device may obtain a rotational speed of the motor of the driving device when the window curtain moves to the target position, calculate a minimum holding force, send the minimum holding force to the driving device, and control the driving device to drive the window curtain to move on the bearing device according to the minimum holding force.
In some embodiments, the electronic device may store the target hugging force, and the electronic device may also control the drive device to store the calculated target hugging force. It can be understood that the target holding force calculated according to the rotation speed is stored, and the target holding force can be directly used when the curtain runs next time, so that the rotation speed of the motor of the driving device when the curtain moves to the target position is not required to be calculated. When the change of the rotating speed of the motor of the driving device when the curtain moves to the target position is detected, the rotating speed of the motor of the new driving device when the curtain moves to the target position is calculated, a new target holding force is obtained, and the target holding force is stored. When the new curtain is replaced, the target holding force can be adaptively changed.
In some embodiments, there is a correspondence between the weight of the window curtain, the rotation speed and the target enclasping force, as a way, a mapping relationship between the rotation speed and the target enclasping force may be established, a mapping relationship between the rotation speed and the target enclasping force may be stored in the driving device, and according to the obtained rotation speed, the target enclasping force corresponding to the rotation speed is searched in the mapping relationship, and the driving device is controlled to drive the window curtain to move on the bearing device with the target enclasping force.
In some embodiments, when the driving device starts to start, the curtain is driven to move on the bearing device according to the preset enclasping force, when the target position is reached, the rotating speed of the motor of the driving device when the curtain moves to the target position is detected through the Hall sensor, calculation is performed again, the target enclasping force between the driving device and the bearing device is obtained, so that the target enclasping force is dynamically adjusted, and then the target enclasping force is finely adjusted according to the rotating speed of the motor of the real-time driving device when the curtain moves to the target position, so that the target enclasping force is more accurate.
According to the equipment driving method provided by the embodiment of the application, the acquired rotating speed of the motor of the driving equipment when the curtain moves to the target position is acquired, wherein the driving equipment is used for driving the curtain to move on the bearing device, the driving force of the driving equipment when the curtain moves to the target position is acquired based on the rotating speed, the target holding force between the driving equipment and the bearing device is acquired based on the driving force, and the driving equipment is controlled to drive the curtain to move on the bearing device based on the target holding force. Therefore, the target enclasping force is dynamically adjusted according to the rotating speed of the motor of the driving device, the driving device is controlled to drive the curtain to move on the bearing device according to the enclasping force, the service life of the driving device can be prolonged, and the enclasping force can be changed without other auxiliary devices.
Referring to fig. 4, fig. 4 is a schematic flow chart of a device driving method according to an embodiment of the application. In a specific embodiment, the driving device comprises a driving wheel, the driving wheel is used for driving the curtain to move on the bearing device, and the driving device is hung on the bearing device through a hanging ring. The following will describe the flow chart shown in fig. 4 in detail, and the device driving method may specifically include the following steps:
And S210, when the driving equipment drives the curtain to move on the bearing device, acquiring the acquired rotating speed of the motor of the driving equipment when the curtain moves to a preset end position.
In this embodiment, when the driving device drives the window curtain to move on the bearing device, the electronic device may obtain the rotational speed of the motor of the driving device when the window curtain moves to the preset end position. The electronic equipment can also detect the driving equipment, when the driving equipment is detected to drive the curtain to move, the rotating speed of the driving equipment in the process of driving the curtain to move is obtained, and the rotating speed of the motor of the driving equipment when the resistance of the curtain is maximum is determined according to the change of the rotating speed. It should be noted that the preset end point refers to that the current suddenly increases when the current encounters the maximum resistance of the window curtain, and after the characteristic that the current suddenly increases is detected, the driving device is considered to drive the window curtain to move to the window curtain fully tightened state.
In some embodiments, when the driving device drives the window curtain to move on the bearing device, the electronic device may acquire the rotation speed of the motor of the driving device in real time, and then determine the rotation speed of the motor of the driving device when the window curtain moves to the preset end position according to the change of the rotation speed.
In some embodiments, when the driving device drives the window covering to move on the bearing device, the electronic device may detect whether the window covering moves to a preset end position, and when it is determined that the window covering moves to the preset end position, may detect a rotational speed of the motor of the driving device at this time, and determine the rotational speed of the driving device at this time as a rotational speed of the motor of the driving device when the window covering moves to the preset end position.
And step S220, determining the rotating speed of the motor of the driving device when the curtain moves to a preset end position as the rotating speed of the motor of the driving device when the curtain moves to a target position.
In this embodiment, the curtain provides the maximum resistance at the preset end point, and the driving force of the driving device at this time is equal to the resistance of the curtain. The rotational speed of the motor of the driving device when the window covering is moved to the preset end position is thus determined as the rotational speed of the motor of the driving device when the window covering is moved to the target position.
And step S230, based on the rotating speed, obtaining the torque of the driving device when the curtain moves to the target position.
In this embodiment, the torque of the driving apparatus when the window shade is moved to the target position may be obtained according to the rotational speed of the driving apparatus when the window shade is moved to the target position.
In some embodiments, it may be according toThe rotational speed is calculated to obtain the torque of the driving device when the curtain moves to the target position, wherein T is represented as the torque of the driving device when the curtain moves to the target position, P is represented as the effective power of a motor of the driving device, and n is represented as the rotational speed.
In some embodiments, the rotational speed of the drive device when the window covering is moved to the target position corresponds to the torque of the drive device when the window covering is moved to the target position. As one way, a mapping relationship between the rotational speed and the torque may be established, the driving device may store the mapping relationship between the rotational speed and the torque, and according to the rotational speed obtained when the driving device moves the window curtain to the target position, the torque corresponding to the rotational speed is searched in the mapping relationship, and the torque is determined to be the torque when the driving device moves the window curtain to the target position. As another way, the mapping relation between the rotation speed and the torque can be stored in the electronic device, according to the rotation speed of the driving device when the curtain moves to the target position, the torque corresponding to the rotation speed is searched in the mapping relation, and the torque is determined as the torque of the driving device when the curtain moves to the target position.
Step S240, based on the torque, obtaining a driving force of the driving device when the window curtain moves to the target position.
In the present embodiment, the driving force of the driving device when the window shade is moved to the target position can be obtained from the torque of the driving device when the window shade is moved to the target position.
In some embodiments, it may be according toCalculating the torque of the driving device when the curtain moves to the target position to obtain the driving force of the driving device when the curtain moves to the target position, wherein F Driving device is represented as the driving force of the driving device when the curtain moves to the target position, T is represented as the torque of the driving device when the curtain moves to the target position, and r ( Driving device ) is represented as the radius of the driving wheel.
In some embodiments, the torque of the driving device when the window covering moves to the target position corresponds to the driving force of the driving device when the window covering moves to the target position. As one way, a mapping relationship between the torque and the driving force is established, and a memory may be disposed in the driving device, so that the mapping relationship between the torque and the driving force may be stored in the driving device, and according to the obtained torque of the driving device when the window curtain moves to the target position, the driving force corresponding to the torque is searched in the mapping relationship, and the driving force is determined to be the driving force of the driving device when the window curtain moves to the target position. As another way, the electronic device may store a mapping relationship between the torque and the driving force, and according to the obtained torque of the driving device when the window curtain moves to the target position, find the driving force corresponding to the torque in the mapping relationship, and determine the driving force as the driving force of the driving device when the window curtain moves to the target position. The computing time of the driving device and/or the electronic device may be reduced while improving the user experience.
Step S250, acquiring the weight of the driving device.
In this embodiment, the electronic apparatus may acquire the weight of the driving apparatus. As one way, the weight of the driving apparatus may be acquired in advance. As another way, the driving device includes a weighing means, the driving device detects its own weight, and the electronic device acquires the weight of the driving device.
Step S260, obtaining a target clasping force between the driving device and the bearing device based on the driving force and the weight of the driving device.
In some embodiments, the driving apparatus operates normally under conditions that the maximum driving force of the driving apparatus is greater than the maximum resistance experienced by the window covering, i.e., F Driving device (max)≥F Curtain (S) (max), F Driving device (max)＝(k Wheel -k Ring(s) )(F Pressing -m Machine for making food g) andBrought into the condition, i.eAnd when the maximum driving force of the driving device is equal to the maximum resistance of the curtain, the target holding force required by the driving device can be obtained, so when the maximum driving force of the driving device is equal to the maximum resistance of the curtain, the relation between the rotating speed and the target holding force can be obtained as followsWherein F Pressing is the target holding force between the driving device and the bearing device, m Machine for making food is the weight of the driving device, g is the earth gravity, U is the power supply voltage of the motor, L 1 is the armature length of the internal coil of the motor, L 2 is the armature radius of the internal coil of the motor, B is the magnetic flux of the internal through coil of the motor, k Wheel is the friction coefficient of the driving wheel, k Ring(s) is the friction coefficient of the hanging ring, R ( Driving device ) is the radius of the driving wheel, R is the equivalent coil winding of the motor, and n is the rotating speed of the driving device when the curtain moves to the target position.
In some embodiments, it may be according toCalculating the driving force of the driving device when the curtain moves to the target position and the weight of the driving device to obtain the target clasping force between the driving device and the bearing device, wherein F Driving device is represented as the driving force of the driving device when the curtain moves to the target position, F Pressing is represented as the target clasping force between the driving device and the bearing device, k Wheel is represented as the friction coefficient of a driving wheel, k Ring(s) is represented as the friction coefficient of a hanging ring, m Machine for making food is represented as the weight of the driving device, and g is represented as the earth gravity.
In some embodiments, a memory may be disposed in the driving device according to a mapping relationship between the driving force, the weight of the driving device, and the target holding force, so that the driving device may store the mapping relationship between the driving force, the weight of the driving device, and the target holding force, and according to the obtained driving force of the driving device when the window curtain moves to the target position, the target holding force corresponding to the driving force is found in the mapping relationship, the target holding force between the driving device and the bearing device is obtained, and the driving device is controlled to drive the window curtain to move according to the target holding force. In another way, the mapping relation among the driving force, the weight of the driving device and the target enclasping force can be stored in the electronic device, the target enclasping force corresponding to the driving force is searched in the mapping relation according to the obtained driving force of the driving device when the curtain moves to the target position, the target enclasping force between the driving device and the bearing device is obtained, and the driving device is controlled to drive the curtain to move according to the target enclasping force. The computing time of the driving device and/or the electronic device may be reduced while improving the user experience.
And step S270, controlling the driving equipment to drive the curtain to move on the bearing device based on the target enclasping force.
The specific description of step S270 is referred to step S140, and is not repeated here.
Compared with the device driving method shown in fig. 1, the device driving method provided by the embodiment of the application can also obtain the torque of the driving device when the curtain moves to the target position according to the rotating speed, obtain the driving force of the driving device when the curtain moves to the target position according to the torque of the driving device when the curtain moves to the target position, and obtain the target holding force between the driving device and the bearing device according to the driving force of the driving device when the curtain moves to the target position, thereby realizing dynamic adjustment of the target holding force according to the rotating speed of the motor of the driving device, controlling the driving device to drive the curtain to move on the bearing device according to the holding force, prolonging the service life of the driving device, obtaining the driving force of the driving device when the resistance of the curtain is the maximum is equivalent to obtaining the weight of the curtain, setting the target holding force according to the driving force, and improving the user experience.
Referring to fig. 5, fig. 5 is a block diagram of a curtain driving device according to an embodiment of the application. The window curtain driving device 300 is applied to the electronic apparatus, and will be described with reference to a block diagram shown in fig. 5, where the window curtain driving device 300 includes a rotation speed obtaining module 310, a minimum holding force obtaining module 320, and a window curtain driving module 330, where:
the rotation speed obtaining module 310 is configured to obtain the rotation speed of the motor of the driving device when the window curtain moves to the target position, where the driving device is configured to drive the window curtain to move on the bearing device.
Further, the rotational speed acquisition module 310 includes a hall sensor acquisition sub-module, wherein:
the Hall sensor acquisition sub-module is used for acquiring the rotating speed of the motor of the driving device acquired by the Hall sensor when the curtain moves to the target position.
Further, the rotational speed obtaining module 310 includes a first rotational speed obtaining sub-module and a second rotational speed obtaining sub-module, wherein:
the first rotating speed obtaining sub-module is used for obtaining the collected rotating speed of the motor of the driving device when the curtain moves to a preset end position when the driving device drives the curtain to move on the bearing device.
And the second rotating speed acquisition sub-module is used for determining the rotating speed of the motor of the driving equipment when the curtain moves to the preset end position as the rotating speed of the motor of the driving equipment when the curtain moves to the target position.
A driving force obtaining module 320, configured to obtain a driving force of the driving apparatus at the target position based on the rotation speed.
Further, the driving force obtaining module 320 includes a torque obtaining sub-module and a first driving force obtaining sub-module, wherein:
and the torque obtaining sub-module is used for obtaining the torque of the driving equipment when the curtain moves to the target position based on the rotating speed.
And the first driving force obtaining submodule is used for obtaining the driving force of the driving equipment when the curtain moves to the target position based on the torque.
Further, the driving force obtaining module 320 further includes a second driving force obtaining sub-module, wherein:
a second driving force obtaining sub-module for Calculating the rotating speed to obtain the driving force of the driving device when the curtain moves to the target position, wherein F Driving device represents the driving force of the driving device when the curtain moves to the target position, U represents the power supply voltage of the motor, L 1 represents the armature length of an internal coil of the motor, L 2 represents the armature radius of the internal coil of the motor, B represents the magnetic flux of the internal passing coil of the motor, R ( Driving device ) represents the radius of the driving wheel, R represents the winding of an equivalent coil of the motor, and n represents the rotating speed of the motor of the driving device when the curtain moves to the target position.
And a target enclasping force acquisition module 330 for acquiring a target enclasping force between the driving device and the bearing device based on the driving force.
Further, the target enclasping force acquisition module 330 includes a driving device acquisition sub-module and a first target enclasping force acquisition sub-module, wherein:
and the driving equipment acquisition submodule is used for acquiring the weight of the driving equipment.
And the first target enclasping force obtaining submodule is used for obtaining the target enclasping force between the driving equipment and the bearing device based on the driving force and the weight of the driving equipment.
Further, the first target enclasping force obtaining submodule includes a second target enclasping force obtaining unit, wherein:
a second target holding force obtaining unit for Calculating the driving force and the weight of the driving device to obtain a target clasping force between the driving device and the bearing device, wherein F Driving device represents the driving force of the driving device when the curtain moves to the target position, F Pressing represents the target clasping force between the driving device and the bearing device, k Wheel represents the friction coefficient of the driving wheel, k Ring(s) represents the friction coefficient of the hanging ring, m Machine for making food represents the weight of the driving device, and g represents the earth gravity.
And the curtain driving module 340 is configured to control the driving device to drive the curtain to move on the bearing device based on the target holding force.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the apparatus and modules described above may refer to the corresponding process in the foregoing method embodiment, which is not repeated herein.
In several embodiments provided by the present application, the coupling of the modules to each other may be electrical, mechanical, or other.
In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules.
Referring to fig. 6, a block diagram of an electronic device 100 according to an embodiment of the application is shown. The electronic device 100 may be a smart phone, a tablet computer, an electronic book, or the like capable of running an application program. The electronic device 100 of the present application may include one or more processors 110, a memory 120, and one or more application programs, wherein the one or more application programs may be stored in the memory 120 and configured to be executed by the one or more processors 110, the one or more program(s) configured to perform the methods as described in the foregoing method embodiments.
Wherein the processor 110 may include one or more processing cores. The processor 110 utilizes various interfaces and lines to connect various portions of the overall electronic device 100, perform various functions of the electronic device 100, and process data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 120, and invoking data stored in the memory 120. Alternatively, the processor 110 may be implemented in at least one hardware form of digital signal Processing (DIGITAL SIGNAL Processing, DSP), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA), programmable logic array (Programmable Logic Array, PLA). The processor 110 may integrate one or a combination of several of a central processing unit (Central Processing Unit, CPU), a graphics processor (Graphics Processing Unit, GPU), and a modem, etc. The CPU mainly processes an operating system, a user interface, an application program and the like, the GPU is used for rendering and drawing the content to be displayed, and the modem is used for processing wireless communication. It will be appreciated that the modem may not be integrated into the processor 110 and may be implemented solely by a single communication chip.
Memory 120 may include random access Memory (Random Access Memory, RAM) or Read-Only Memory (ROM). Memory 120 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 120 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described below, etc. The stored data area may also be data created by the electronic device 100 in use (e.g., phonebook, audiovisual data, chat log data), etc.
Referring to fig. 7, a block diagram of a computer readable storage medium according to an embodiment of the application is shown. The computer readable medium 400 has stored therein program code which can be invoked by a processor to perform the methods described in the method embodiments described above.
The computer readable storage medium 400 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. Optionally, computer readable storage medium 400 comprises a non-volatile computer readable medium (non-transitory computer-readable storage medium). The computer readable storage medium 400 has storage space for program code 410 that performs any of the method steps described above. The program code can be read from or written to one or more computer program products. Program code 410 may be compressed, for example, in a suitable form.
In summary, according to the device driving method, the device, the electronic device and the storage medium provided by the embodiments of the present application, the rotational speed of the collected motor of the driving device when the window curtain moves to the target position is obtained, wherein the driving device is used for driving the window curtain to move on the bearing device, the driving force of the driving device when the window curtain moves to the target position is obtained based on the rotational speed, the target holding force between the driving device and the bearing device is obtained based on the driving force, and the driving device is controlled to drive the window curtain to move on the bearing device based on the target holding force. Therefore, the target enclasping force is dynamically adjusted according to the rotating speed of the motor of the driving device, the driving device is controlled to drive the curtain to move on the bearing device according to the enclasping force, the service life of the driving device can be prolonged, and the enclasping force can be changed without other auxiliary devices.
It should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present application and not for limiting the same, and although the present application has been described in detail with reference to the above-mentioned embodiments, it will be understood by those skilled in the art that the technical solution described in the above-mentioned embodiments may be modified or some technical features may be equivalently replaced, and these modifications or replacements do not drive the essence of the corresponding technical solution to deviate from the spirit and scope of the technical solution of the embodiments of the present application.
Claims (9)
1. A device driving method, characterized in that the method comprises:
acquiring the rotating speed of a motor of the acquired driving equipment when the curtain moves to a target position, wherein the driving equipment is used for driving the curtain to move on a bearing device;
Based on the rotational speed, obtaining a driving force of the driving device when the window curtain moves to the target position;
Obtaining a target holding force between the driving device and the carrying device based on the driving force and the weight of the driving device;
and controlling the driving equipment to drive the curtain to move on the bearing device based on the target holding force.
2. The method of claim 1, wherein the acquiring the rotational speed of the motor of the driving apparatus when the window covering is moved to the target position comprises:
when the driving equipment drives the curtain to move on the bearing device, acquiring the acquired rotating speed of the motor of the driving equipment when the curtain moves to a preset end position;
and determining the rotating speed of the motor of the driving device when the curtain moves to a preset end position as the rotating speed of the motor of the driving device when the curtain moves to a target position.
3. The method according to claim 1, wherein the obtaining, based on the rotational speed, a driving force of the driving device when the window covering moves to the target position includes:
Based on the rotational speed, obtaining a torque of the driving device when the window curtain moves to the target position;
Based on the torque, a driving force of the driving device when the window shade is moved to the target position is obtained.
4. The method according to claim 1, wherein the driving force of the driving device when the window shade is moved to the target position is obtained based on the rotational speed, and the driving force is calculated by:
Wherein, the method comprises the steps of, wherein, Characterizing the driving force of the driving device when the curtain is moved to the target position, U characterizing the supply voltage of the motor,Characterizing the armature length of the internal coil of the motor,Characterizing the armature radius of the internal coils of the motor, B characterizing the magnetic flux of the internal through coils of the motor,And (3) representing the radius of a driving wheel, wherein R represents the equivalent coil winding of the motor, and n represents the rotating speed of the motor of the driving device when the curtain moves to a target position.
5. The method of claim 1, wherein the driving apparatus includes a driving wheel for driving the window covering to move on the carrier, the driving apparatus is hung on the carrier by a hanging ring, and the target holding force between the driving apparatus and the carrier is obtained based on the driving force and the weight of the driving apparatus, wherein the calculation formula of the target holding force is:
Wherein, the method comprises the steps of, wherein, Characterizing the driving force of the driving device when the window covering is moved to the target position,Characterizing a target hugging force between the drive device and the carrier means,The coefficient of friction of the drive wheel is characterized,The coefficient of friction of the suspension loop is characterized,Characterizing the weight of the driving device in question,Characterizing earth gravity.
6. The method of any one of claims 1-5, wherein the driving device includes a hall sensor, and wherein the acquiring the rotational speed of the motor of the driving device when the window covering is moved to the target position includes:
And acquiring the rotating speed of the motor of the driving device, which is acquired by the Hall sensor, when the curtain moves to the target position.
7. A curtain driving apparatus, the apparatus comprising:
The rotating speed acquisition module is used for acquiring the rotating speed of the motor of the driving equipment when the curtain moves to the target position, wherein the driving equipment is used for driving the curtain to move on the bearing device;
a driving force acquisition module configured to acquire a driving force of the driving apparatus at the target position based on the rotation speed;
a target enclasping force acquisition module for acquiring a target enclasping force between the driving device and the bearing device based on the driving force and the weight of the driving device;
and the curtain driving module is used for controlling the driving equipment to drive the curtain to move on the bearing device based on the target holding force.
8. An electronic device comprising a memory and a processor, the memory coupled to the processor, the memory storing instructions that when executed by the processor perform the method of any of claims 1-6.
9. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a program code, which is callable by a processor for executing the method according to any one of claims 1-6.
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| US10926970B2 (en) * | 2018-11-30 | 2021-02-23 | Ricoh Company, Ltd. | Post-processing apparatus, image forming apparatus incorporating the same, and image forming system incorporating the same |
| CN111496057A (en) * | 2019-01-14 | 2020-08-07 | 无锡朗贤轻量化科技股份有限公司 | Flexible cross beam type pull rod locking pipe fitting or sectional material hydraulic forming workstation equipment |
| CN209899045U (en) * | 2019-02-01 | 2020-01-07 | 连训金 | Transmission shaft type electric curtain frame |
| CN213081902U (en) * | 2020-05-26 | 2021-04-30 | 福州天石源超硬材料工具有限公司 | Walking driving mechanism capable of reducing impact and rope saw |
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| CN103620150A (en) * | 2011-03-11 | 2014-03-05 | 路创电子公司 | Motorized window treatment |
| CN108123657A (en) * | 2017-12-07 | 2018-06-05 | 宁波拓邦智能控制有限公司 | A kind of motor travels at the uniform speed control method, device, system and roller shade control system |
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