WO2020133060A1

WO2020133060A1 - Control method, motor driving apparatus, control apparatus, and movable platform

Info

Publication number: WO2020133060A1
Application number: PCT/CN2018/124346
Authority: WO
Inventors: 周长兴; 陈超彬; 龚鼎
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-12-27
Filing date: 2018-12-27
Publication date: 2020-07-02
Also published as: CN111226177A

Abstract

Provided in embodiments of the present invention are a control method, a motor driving apparatus, a control apparatus, and a movable platform. The method comprises: acquiring an addressing command sent by a control apparatus, wherein the addressing command comprises a destination address number; acquiring a rotation state of a motor; and when the acquired rotation state of the motor meets a preset state requirement, sending, to the control apparatus, a feedback signal in response to the addressing command, and storing the destination address number according to the addressing command. In the invention, addressing of motor driving apparatuses can be performed by acquiring rotation states of corresponding motors, such that there is no need to disassemble the apparatuses in respective addressing operations, thereby realizing automatic and intelligent addressing control on motor driving apparatuses.

Description

Control method, motor drive equipment, control equipment and movable platform

Technical field

The invention relates to the technical field of control, in particular to a control method, a motor drive device, a control device and a movable platform.

Background technique

The application of multi-motor terminal devices such as unmanned vehicles, drones, wheeled robots, etc. is becoming more and more widespread. Usually, multiple motor drive devices included in such multi-motor terminal devices are mounted on the same bus. The position of the drive device on the bus is equivalent, so when the control device sends a control command to the bus, all motor drive devices can receive the control command. If the address distinction is not made between the motor drive devices, control cannot be achieved.

At present, the usual method is to address each motor drive device before installing the motor drive device, and then install the addressed motor drive devices to a fixed physical location of the integrated system. However, this method requires disassembly and assembly of equipment each time the addressing is performed, and the installation location is fixed, resulting in complicated operations and poor user experience. Therefore, how to control the terminals of multi-motor drive equipment more effectively is of great significance.

Summary of the invention

The embodiment of the invention provides a control method, a motor driving device, a control device and a movable platform, which can realize the automation and intelligent addressing of the motor driving device and improve the addressing efficiency.

In a first aspect, an embodiment of the present invention provides a method for controlling a motor-driven device, wherein the motor-driven device is used to control a motor connected to the motor, and the method includes:

Obtain the addressing instruction sent by the control device, where the addressing instruction includes the destination addressing number;

Obtaining the rotation state of the motor;

When the obtained rotation state of the motor meets the preset state requirements, a feedback signal of the addressing instruction is sent to the control device, and the destination addressing number is recorded according to the addressing instruction.

In a second aspect, an embodiment of the present invention provides a control method of a control device, wherein the control device is communicatively connected to a plurality of motor driving devices, and the motor driving device is used to control a motor communicatively connected thereto, the method include:

Broadcast an addressing instruction to the plurality of motor drive devices, wherein the addressing instruction includes a destination addressing number;

Determining whether a feedback signal of the addressing instruction sent by one of the plurality of motor drive devices is obtained, wherein the feedback signal is that one of the plurality of motor drive devices is determining the motor Is sent to the control device when the rotation state of the device meets the preset state requirements;

If so, the address number of the one motor-driven device is registered as the destination address number.

In a third aspect, an embodiment of the present invention provides a motor driving device, wherein the motor driving device is used to control a motor communicatively connected thereto, including: a memory and a processor,

The memory is used to store program instructions;

The processor is used to call the program instructions, and when the program instructions are executed, it is used to perform the following operations:

Obtaining the rotation state of the motor;

According to a fourth aspect, an embodiment of the present invention provides a control device, wherein the control device is communicatively connected to a plurality of motor driving devices, and the motor driving device is used to control a motor communicatively connected thereto, including: a memory and a processor ,

The memory is used to store program instructions;

If yes, register the address number of the one motor-driven device as the destination address number

According to a fifth aspect, an embodiment of the present invention provides a movable platform, wherein the movable platform includes: a plurality of motor driving devices and a control device, and the plurality of motor driving devices and the control device pass a bus connection,

The control device is used to broadcast an addressing instruction to a plurality of motor drive devices, wherein the addressing instruction includes a destination addressing number;

The motor driving device is used to obtain the addressing instruction sent by the control device and obtain the rotation state of the motor, and when the obtained rotation state of the motor meets the preset state requirements, send the control device the control device The feedback signal of the addressing instruction, and recording the destination addressing number according to the addressing instruction;

The control device is configured to register the address number of the one motor drive device as all if the feedback signal of the addressing instruction sent by one motor drive device of the plurality of motor drive devices is determined to be acquired Addressing number of the description.

According to a sixth aspect, an embodiment of the present invention provides a computer-readable storage medium that stores a computer program, and when the computer program is executed by a processor, the computer program is implemented as described in the first aspect or the second aspect method.

In the embodiment of the present invention, the motor driving device obtains the addressing instruction sent by the control device, wherein the addressing instruction includes the destination address number and obtains the rotation state of the motor, when the rotation state of the motor meets the preset state requirements , Send the feedback signal of the addressing instruction to the control device, and record the destination addressing number according to the addressing instruction, so that the addressing of the motor drive device can be completed by obtaining the rotation state of the motor, avoiding each time All addressing needs disassembly and assembly equipment to realize the automation and intelligence of the addressing control of the motor drive equipment, which improves the addressing efficiency.

BRIEF DESCRIPTION

In order to more clearly explain the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some of the present invention. For the embodiment, for those of ordinary skill in the art, without paying any creative labor, other drawings may be obtained based on these drawings.

1 is a schematic structural diagram of a movable platform provided by an embodiment of the present invention;

2 is a schematic flowchart of a method for controlling a motor drive device according to an embodiment of the present invention;

3 is a schematic flowchart of a control method of a control device according to an embodiment of the present invention;

4 is a schematic structural diagram of a motor driving device provided by an embodiment of the present invention;

5 is a schematic structural diagram of a control device according to an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present invention.

The following describes some embodiments of the present invention in detail with reference to the accompanying drawings. In the case of no conflict, the following embodiments and the features in the embodiments can be combined with each other.

An embodiment of the present invention provides a movable platform, the movable platform includes: a plurality of motor drive devices and a control device, the plurality of motor drive devices and the control device are connected by a bus, and the plurality of motor drives Two-way communication is possible between the device and the control device. In some embodiments, the motor-driven device may be installed on a mobile platform equipped with multiple motor-driven devices, such as an aircraft, an unmanned aerial vehicle, an unmanned boat, and a wheeled robot. In some embodiments, the control device may be spatially independent of the motor drive device.

For details, please refer to FIG. 1, which is a schematic structural diagram of a movable platform provided by an embodiment of the present invention. As shown in FIG. 1, the movable platform includes a control device 11 and a motor drive system 12, the motor drive system 12 includes a plurality of motor drive devices, such as a first motor drive device 121, a second motor drive device 122, and a first Three motor drive equipment 123. In some embodiments, the control device 11 and the motor drive system 12 establish a communication connection through the bus 13.

In one embodiment, the control device 11 may broadcast addressing instructions to a plurality of motor drive devices, where the addressing instruction includes a destination address number. When each motor drive device in the motor drive system 12 obtains the addressing instruction sent by the control device 11, each motor drive device in the motor drive system 12 may obtain the rotation state of the corresponding motor. If the first motor driving device 121 detects that the rotation state of the motor satisfies the preset state requirement, the first motor driving device 121 may register the address number as the destination address number carried in the addressing instruction, and The control device 11 sends a feedback signal of the addressing instruction to notify the control device 11 that the destination address number has been registered by the first motor driving device 121. If the control device 11 obtains the feedback signal of the addressing instruction sent by the first motor driving device 121, it may determine that the address number of the first motor driving device 121 is registered as the address number for the purpose. Similarly, the control device 11 may continue to send addressing instructions including other addressing numbers for addressing the second motor drive device 122 or the third motor drive device 123 in the motor drive system 12. Through this embodiment, the automatic and intelligent addressing control of the motor drive device is realized, and the addressing efficiency is improved.

The control method of the motor driving device provided by the embodiment of the present invention will be schematically described below with reference to FIG. 2.

Please refer to FIG. 2, which is a schematic flowchart of a method for controlling a motor-driven device according to an embodiment of the present invention. The method may be executed by a motor-driven device, and the motor-driven device may be provided on a movable platform, where , The motor-driven device may include an electronic ESC, and the movable platform may be a mobile intelligent terminal such as an aircraft, an unmanned aerial vehicle, an unmanned boat, a wheeled robot, etc., wherein the motor-driven device is used to control communication with it Connected motor. Specifically, the method in the embodiment of the present invention includes the following steps.

S201: Obtain the addressing instruction sent by the control device.

In the embodiment of the present invention, the motor driving device may obtain the addressing instruction sent by the control device, where the addressing instruction includes a destination addressing number. For example, the motor driving device may obtain an addressing instruction including the destination addressing number 1 sent by the control device. In some embodiments, the motor drive device and the control device establish a communication connection through the same bus. In some embodiments, the addressing instruction may be sent by the control device through the bus in the form of addressing data packets; in other embodiments, the addressing instruction may also be sent by the control device through the bus in other forms, The embodiments of the present invention are not specifically limited.

In one embodiment, before acquiring the addressing instruction sent by the control device, the motor driving device may also obtain a start addressing instruction sent by the control device through the bus, and control the motor driving device to enter the addressing state. After performing the addressing state, the motor drive device may perform the step of acquiring the addressing instruction sent by the control device.

S202: Obtain the rotation state of the motor.

In the embodiment of the present invention, after obtaining the addressing instruction sent by the control device, the motor driving device may obtain the rotation state of the motor of the motor driving device.

In one embodiment, when acquiring the rotation state of the motor, the motor driving device may determine the rotation state of the motor by acquiring the rotation angle of the motor.

In some embodiments, the motor driving device includes an angle sensor, wherein the angle sensor is used to measure the rotation angle of the motor, and the motor driving device may determine the motor by acquiring angle data output by the angle sensor Of rotation.

In some embodiments, the motor driving device includes an electrical signal sensor, wherein the electrical signal sensor is used to measure an induced electrical signal generated by the motor, and the motor driving device may obtain the induced electrical power output by the electrical signal sensor Signals to determine the rotation state of the motor. In some embodiments, the induced electrical signal may include induced electromotive force or induced current.

S203: When the acquired rotation state of the motor meets a preset state requirement, send a feedback signal of the addressing instruction to the control device, and record the destination addressing number according to the addressing instruction.

In the embodiment of the present invention, after acquiring the rotation state of the motor, the motor driving device may detect whether the rotation state of the motor meets a preset state requirement, and when the rotation state of the motor satisfies the preset state When required, the feedback signal of the addressing instruction can be sent to the control device, and the destination address number carried in the addressing instruction can be recorded according to the addressing instruction, that is, the motor drive device can send the destination The address number is determined to be your own address number.

In one embodiment, the rotation state of the motor meeting the preset state requirement may be that the rotation state of the motor obtained by the motor driving device is to indicate that the motor rotates. When the motor driving device detects that the rotation state of the motor is to indicate that the motor is rotating, the motor driving device may send a feedback signal of the addressing instruction to the control device, and according to the addressing instruction Record the destination addressing number carried in the addressing instruction.

For example, assuming that the addressing instruction included in the addressing instruction obtained by the motor driving device is 1, if the rotation state of the motor obtained by the motor driving device is to indicate that the motor rotates, the motor driving device The feedback signal of the addressing instruction may be sent to the control device, and the addressing number of the motor drive device is recorded as 1, that is, 1 is determined as its own addressing number.

In one embodiment, the rotation state of the motor meeting the preset state requirement may be that the motor driving device detects that the rotation angle of the motor is greater than or equal to a preset angle threshold. When the motor driving device detects that the angle of rotation of the motor is greater than or equal to a preset angle threshold, the motor driving device may send a feedback signal of the addressing instruction to the control device, and according to the addressing The instruction records the destination address number carried in the addressing instruction.

For example, assuming that the addressing instruction included in the addressing instruction obtained by the motor driving device is 1, and the preset angle threshold is 30 degrees, if the motor driving device detects that the motor rotation angle is 45 degrees, then It can be determined that 45 degrees is greater than the preset angle threshold of 30 degrees. Therefore, the motor driving device may send a feedback signal of the addressing instruction to the control device, and record the destination address number of the motor driving device as 1.

In some embodiments, the rotation state of the motor meeting the preset state requirement may also be that the rotation speed of the motor rotation is greater than or equal to a preset rotation speed threshold. When the motor drive device detects that the rotation speed of the motor rotation is greater than or equal to a preset speed threshold, the motor drive device may send a feedback signal of the addressing instruction to the control device, and according to the addressing The instruction records the destination address number carried in the addressing instruction.

For example, assume that the addressing instruction included in the addressing instruction obtained by the motor drive device is 1, and the preset speed threshold is 50 rpm, if the motor drive device detects that the motor rotates at a speed of 100 revolutions/second, it can be determined that 100 revolutions/second is greater than the preset speed threshold of 50 revolutions/second, so the motor drive device can send a feedback signal of the addressing instruction to the control device and record the motor drive The device's destination address number is 1.

In some embodiments, the rotation state of the motor meeting the preset state requirement may also be an induction signal output by the electric signal sensor obtained by the motor driving device indicating that the motor rotates. When detecting that the induction signal indicates that the motor is rotating, the motor driving device may send a feedback signal of the addressing instruction to the control device, and record the addressing instruction carried in the addressing instruction according to the addressing instruction The address number of the purpose.

In some embodiments, the induction signal includes an induction electromotive force, and the motor driving device may determine whether the motor rotates according to the induction electromotive force output by the electrical signal sensor. In some embodiments, the motor driving device may detect whether the induced electromotive force output by the electrical signal sensor is greater than a preset electromotive force threshold, and if it is detected that the induced electromotive force is greater than a preset electromotive force threshold, the induced electromotive force may be determined Instruct the motor to rotate.

For example, assume that the addressing instruction included in the addressing instruction obtained by the motor driving device is 1, and the induced signal is induced electromotive force, and the preset electromotive force threshold value is E1. If the motor driven device detects the induced electromotive force Is E2, and E2 is greater than the preset electromotive force threshold E1, it can be determined that the induced electromotive force indicates that the motor rotates.

In some embodiments, the induction signal includes an induction current, and the motor driving device may determine whether the motor rotates according to the induction current output by the electrical signal sensor. In some embodiments, the motor driving device may detect whether the induced current output by the electrical signal sensor is greater than a preset current threshold, and if it is detected that the induced current is greater than a preset current threshold, the induced current may be determined Instruct the motor to rotate.

For example, suppose that the addressing instruction included in the addressing instruction obtained by the motor driving device is 1, and the induction signal is an induction current, and the preset current threshold is 1A. If the motor driving device detects the induction current If it is 2A, then it can be determined that 2A is greater than a preset current threshold of 1A, so it can be determined that the induced current indicates that the motor is rotating.

In some embodiments, the rotation of the motor of the motor-driven device may be caused by a user directly or indirectly applying an external force to the motor. In some embodiments, the motor is used to drive the execution component, wherein the rotation of the motor is caused by the user applying an external force to the motor through the execution component, for example, the user toggles or rotates the execution The component in turn drives the motor to rotate. In some embodiments, the execution component includes one or more of a propeller, a wheel, and a track.

In some embodiments, a switch for controlling the start of the motor may be provided on the motor driving device, and the user may turn on the motor by toggling the switch to drive the execution component. In some embodiments, the user interface of the motor driving device may also be provided with an icon or button for turning on the motor, and the user may turn on the motor by pressing the icon or button on the user interface to drive the motor. Described executive component.

For example, assuming that the execution component is a wheel, the motor driving device is provided with a switch for controlling the start of the motor. If the user manually presses the switch for controlling the start of the motor, the wheel corresponding to the switch can be turned on.

In one embodiment, after recording the target addressing number included in the addressing instruction, the motor driving device may also send a prompting instruction for controlling the prompting device to issue prompting information through the bus. In some embodiments, the prompting device may be a buzzer, and the motor driving device may control the buzzer to emit a prompting sound. In some embodiments, the buzzer may be provided on the motor-driven device; or separately provided on a device that establishes a communication connection with the motor-driven device, which is not specifically limited in the embodiments of the present invention.

In one embodiment, if the motor drive device detects that the rotation state of the motor does not meet the preset state requirements, the addressing instruction may be deleted.

In one embodiment, after the motor drive device enters the addressing state, it can obtain the rotation state of the motor driven by the motor drive device if the rotation state of the motor driven by the motor drive device meets the preset state requirements , It can be detected whether an address number exists on the bus, and if an address number is detected on the bus, it can be determined that the address number has been addressed. The motor drive device may determine the destination address number according to the existing address number, register the address number of the motor drive device as the destination address number, and send the destination through the bus The feedback signal of the address number notifies the control device that the address number of the motor drive device has been registered as the destination address number.

For example, assuming that after the motor drive device enters the addressing state and obtains that the rotation state of the motor driven by the motor drive device satisfies the preset state requirements, it may be detected whether the address number exists on the bus. When there is an address number 1 on the bus, it can be determined that the address number 1 has been addressed. The motor drive device may determine the destination address number 2 according to the existing address number 1, and register the address number of the motor drive device as the destination address number 2, and send through the bus The feedback signal of the destination address number 2.

In the embodiment of the present invention, the motor driving device may obtain the rotation state of the motor when acquiring the addressing instruction sent by the control device, and when the obtained rotation state of the motor meets the preset state requirements, send the Describing the feedback signal of the addressing instruction, and recording the destination address number carried by the addressing instruction according to the addressing instruction. The addressing of the motor drive device can be completed by obtaining the rotation state of the motor, avoiding the need to disassemble and disassemble the device for each addressing, realizing the automation and intelligence of the addressing control of the motor drive device, and improving the addressing efficiency.

The control method of the control device provided by the embodiment of the present invention will be schematically described below with reference to FIG. 3.

Please refer to FIG. 3, which is a schematic flowchart of a method for controlling a control device according to an embodiment of the present invention. The method may be executed by a control device, and the control device may be provided on a movable platform. The movable platform may be a mobile intelligent terminal such as an aircraft, an unmanned aerial vehicle, an unmanned boat, a wheeled robot and the like. The control device may be communicatively connected to a plurality of motor driving devices, and the motor driving device is used to control the motor communicatively connected thereto. Specifically, the method in the embodiment of the present invention includes the following steps.

S301: Broadcast addressing instructions to multiple motor drive devices.

In the embodiment of the present invention, the control device may broadcast an addressing instruction to a plurality of motor driving devices through a bus, where the addressing instruction includes a destination addressing number. For example, assuming that the addressing instruction included in the addressing instruction is 1, the control device may broadcast the addressing instruction with the addressing number 1 to multiple motor drive devices through the bus.

In one embodiment, the control device may broadcast a start addressing instruction to the plurality of motor drive devices before broadcasting the addressing instruction to the multiple motor drive devices, the start addressing command is used to instruct the motor The drive device enters the addressing state.

S302: Determine whether a feedback signal of the addressing instruction sent by one of the plurality of motor drive devices is obtained, wherein the feedback signal is one of the plurality of motor drive devices. Sent to the control device when it is determined that the rotation state of the motor meets the requirements of the preset state.

In the embodiment of the present invention, after broadcasting the addressing instruction to a plurality of motor driving devices, the control device may determine whether a feedback signal of the addressing instruction sent by one of the plurality of motor driving devices is obtained. The feedback signal is sent to the control device when one of the plurality of motor drive devices determines that the rotation state of the motor satisfies the preset state requirements. In some embodiments, one motor driving device of the plurality of motor driving devices is any one of the plurality of motor driving devices.

In one embodiment, the rotation state of the motor meets a preset state requirement, including: the rotation state of the motor indicates that the motor rotates.

In one embodiment, the rotation state of the motor satisfies a preset state requirement, and further includes: the rotation angle of the motor is greater than or equal to a preset angle threshold, or the rotation speed of the motor rotation is greater than or equal to a preset rotation speed threshold.

In one embodiment, the rotation of the motor is caused by a user directly or indirectly applying an external force to the motor. In some embodiments, the motor is used to drive an actuator, wherein the rotation of the motor is caused by a user applying an external force to the motor through the actuator. In some embodiments, the execution component includes one or more of a propeller, a wheel, and a track.

In one embodiment, when the addressing instruction carrying the destination address number is broadcast to a plurality of motor drive devices, the control device may send a prompt message to the user interface, and the user interface outputs a prompt corresponding to the destination address number Information, wherein the prompt information is used to instruct the user to directly or indirectly apply an external force to the target motor among the plurality of motors communicatively connected to the motor drive device. Through this implementation, it can be ensured that the user addresses each motor drive device to the correct destination address number.

Taking a movable platform as a remote control car for a schematic description, if the remote control car has 4 motor-driven devices and 4 motors communicatively connected to the motor-driven device, the 4 motors respectively drive the 2 wheels and 2 wheels on the left and right of the tail. In the normal control logic, the destination address numbers of the motor drive devices corresponding to these four wheels should be 1, 2, 3, and 4, respectively. When the control device broadcasts the addressing instruction with the number 1 to the four motor-driven devices, the user interface may display a prompt message corresponding to the address number 1, for example, the user interface displays "Please turn the left side of the carriage head "Wheel", when the user turns the wheel on the left side of the carriage head to drive the corresponding target motor to rotate, the address number of the motor drive device that drives the target motor on the wheel on the left side of the carriage head is determined to be 1. In this way, the user can be prompted to apply external force to the designated motor, address the designated destination address number to the designated motor drive device, and increase the success rate of addressing.

In one embodiment, the control device may broadcast a start addressing instruction to the multiple motor drive devices to instruct the motor drive device to enter the addressing state, and then determine whether the multiple motor drive devices are acquired One of the motor drive devices sends the feedback signal of the addressing instruction.

S303: If yes, register the address number of the one motor drive device as the destination address number.

In the embodiment of the present invention, if the control device obtains a feedback signal of the addressing instruction sent by one of the plurality of motor drive devices, the control device may register the address number of the one motor drive device as all Addressing number of the description. In some embodiments, after registering the address number of the one motor drive device as the destination address number, the control device may continue to send addressing instructions carrying other address numbers to Register the address number of the motor drive device for addressing.

For example, it is assumed that the destination address number carried in the addressing instruction broadcast by the control device to multiple motor drive devices is 1, if the control device obtains the multiple motor drive devices among the multiple motor drive devices If a motor drive device sends the feedback signal of the addressing instruction, the address number 1 of one of the plurality of motor drive devices can be registered as the destination address number, that is, the multiple The address number of one of the motor-driven devices is 1.

In one embodiment, if the control device determines that the feedback signal responded by the one of the motor driving devices is not received, it may send an alarm instruction for controlling the alarm device to issue alarm information to remind the user that the control device has not received The feedback signal to the motor drive device response.

In one embodiment, after registering the address number of the one motor drive device as the destination address number, the control device may send a prompt instruction for controlling the prompt device to issue a prompt message to prompt the user The destination address number has been registered.

In some embodiments, the prompting device is a buzzer, and when the control device sends a prompting command for controlling the prompting device to issue prompting information, it may send a prompting command for controlling the buzzer to emit a prompting sound . In some embodiments, the buzzer is provided on the control device, or separately, that is, on the device that establishes a communication connection with the control device.

In the embodiment of the present invention, the control device may broadcast the addressing instruction to the plurality of motor driving devices, and determine whether a feedback signal of the addressing instruction sent by one of the plurality of motor driving devices is obtained, Wherein, the feedback signal is sent by one of the plurality of motor driving devices to the control device when it is determined that the rotation state of the motor satisfies the preset state requirements; if it is determined that the plurality of motor driving devices are acquired If a motor drive device in the device sends a feedback signal of the addressing instruction, the address number of the one motor drive device may be registered as the destination address number. The addressing of the motor drive device can be completed by obtaining the rotation state of the motor, avoiding the need to disassemble and disassemble the device for each addressing, realizing the automation and intelligence of the addressing control of the motor drive device, and improving the addressing efficiency.

Please refer to FIG. 4. FIG. 4 is a schematic structural diagram of a motor driving device according to an embodiment of the present invention. The device includes a memory 401 and a processor 402. The processor 402 is configured with a proxy component and a set of functional components. The functional component set includes multiple functional components, and each functional component is configured with an application interface;

The memory 401 may include a volatile memory (volatile memory); the memory 401 may also include a non-volatile memory (non-volatile memory); the memory 401 may also include a combination of the foregoing types of memories. The processor 402 may be a central processing unit (central processing unit, CPU). The processor 402 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (complex programmable logic device, CPLD), field programmable logic gate array (field-programmable gate array, FPGA), or any combination thereof.

The processor 402 is used to call the program instruction, and when the program instruction is executed, is used to perform the following operations:

Obtaining the rotation state of the motor;

Further, the rotation state of the motor satisfies a preset state requirement, including: the rotation state of the motor indicates that the motor rotates.

Further, the rotation state of the motor satisfies a preset state requirement, which further includes: the rotation angle of the motor is greater than or equal to a preset angle threshold, or the rotation speed of the motor rotation is greater than or equal to a preset rotation speed threshold.

Further, the rotation of the motor is caused by the user directly or indirectly applying an external force to the motor.

Further, the motor is used to drive an actuator, wherein the rotation of the motor is caused by a user applying an external force to the motor through the actuator.

Further, the execution component includes one or more of a propeller, a wheel, and a track.

Further, the processor 402 is also used to:

Obtain the start addressing instruction sent by the control device, and control the motor drive device to enter the addressing state;

When the processor obtains the addressing instruction sent by the control device, it is specifically used to:

After entering the addressing state, the addressing instruction sent by the control device is obtained.

Further, when the processor 402 obtains the rotation state of the motor, it is specifically used to:

Acquiring angle data output by an angle sensor, wherein the angle sensor is used to measure the rotation angle of the motor;

The rotation state of the motor is determined according to the angle data.

Acquiring an induced electrical signal output by an electrical signal sensor, wherein the electrical signal sensor is used to measure the induced electrical signal generated by the motor;

The rotation state of the motor is determined according to the induced electrical signal.

Further, after the processor 402 records the destination address number, it is also used to:

Send a prompting command for controlling the prompting device to send out prompting information.

Further, the prompting device is a buzzer, and the motor driving device controls the buzzer to emit a prompting sound.

Further, the buzzer is provided in the motor driving device, or separately.

Further, the processor 402 is also used to:

When the acquired rotation state of the motor does not meet the requirements of the preset state, the addressing instruction is deleted

Please refer to FIG. 5. FIG. 5 is a schematic structural diagram of a control device provided by an embodiment of the present invention. The device includes a memory 501 and a processor 502. The processor 502 is configured with a collection of agent components and function components. The functional component set includes multiple functional components, and each functional component is configured with an application interface;

The memory 501 may include a volatile memory (volatile memory); the memory 501 may also include a non-volatile memory (non-volatile memory); the memory 501 may also include a combination of the foregoing types of memories. The processor 502 may be a central processing unit (central processing unit, CPU). The processor 502 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (complex programmable logic device, CPLD), field programmable logic gate array (field-programmable gate array, FPGA), or any combination thereof.

The processor 502 is used to call the program instruction, and when the program instruction is executed, is used to perform the following operations:

Further, the processor 502 is also used to:

Broadcasting a start addressing instruction to the plurality of motor drive devices, the start addressing command used to instruct the motor drive device to enter an addressing state;

When the processor 502 determines whether a feedback signal of the addressing instruction sent by one of the plurality of motor drive devices is obtained, it is specifically used to:

After broadcasting the start addressing instruction, it is determined whether a feedback signal of the addressing instruction sent by one of the plurality of motor driving devices is obtained.

Further, the processor 502 is also used to:

If it is determined that the feedback signal responded by the one of the motor driving devices is not received, an alarm instruction for controlling the alarm device to issue alarm information is sent.

Further, after the processor 502 registers the address number of the one motor drive device as the destination address number, it is also used to:

Further, the prompting device is a buzzer, and when the processor 502 sends a prompting command for controlling the prompting device to send prompting information, it is specifically used to:

A prompt instruction for controlling the buzzer to emit a prompt sound is sent.

Further, the buzzer is provided in the control device or separately.

An embodiment of the present invention also provides a movable platform, the movable platform includes: a plurality of motor driving devices and a control device, the plurality of motor driving devices and the control device are connected by a bus,

Further, the control device is also used to:

When the control device determines whether a feedback signal of the addressing instruction sent by one of the plurality of motor drive devices is obtained, it is specifically used to:

Further, the motor driving device is also used for:

When the motor drive device obtains the addressing instruction sent by the control device, it is specifically used for:

Further, when the motor driving device obtains the rotation state of the motor, it is specifically used to:

The rotation state of the motor is determined according to the angle data.

Further, after the motor drive device records the destination address number, it is also used to:

Further, the buzzer is provided in the motor driving device, or separately.

Further, the motor driving device is also used for:

When the acquired rotation state of the motor does not meet the requirements of the preset state, the addressing instruction is deleted.

Further, the control device is also used to:

Further, after the control device registers the address number of the one motor drive device as the destination address number, it is also used to:

In the embodiment of the present invention, the control device is configured to broadcast an addressing instruction to a plurality of motor drive devices, wherein the addressing instruction includes a destination address number;

The motor driving device obtains the addressing instruction sent by the control device and obtains the rotation state of the motor, and sends the addressing instruction to the control device when the obtained rotation state of the motor meets the preset state requirements Feedback signal of the target address and record the destination addressing number according to the addressing instruction; if the control device determines that the feedback signal of the addressing instruction sent by one of the plurality of motor drive devices is acquired , Then the address number of the one motor-driven device is registered as the destination address number. The addressing of the motor drive device can be completed by obtaining the rotation state of the motor, avoiding the need to disassemble and disassemble the device for each addressing, realizing the automation and intelligence of the addressing control of the motor drive device, and improving the addressing efficiency.

Embodiments of the present invention also provide a computer-readable storage medium that stores a computer program, and when the computer program is executed by a processor, the method described in the embodiment of the present invention can also be implemented. The device of the embodiment corresponding to the present invention will not be repeated here.

The computer-readable storage medium may be an internal storage unit of the device according to any of the foregoing embodiments, such as a hard disk or a memory of the device. The computer-readable storage medium may also be an external storage device of the device, for example, a plug-in hard disk equipped on the device, a smart memory card (Smart Media Card, SMC), and a secure digital (SD) card , Flash card (Flash Card), etc. Further, the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the terminal. The computer-readable storage medium can also be used to temporarily store data that has been or will be output.

The above disclosure is only part of the embodiments of the present invention, and of course it cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope of the present invention.

Claims

A control method of a motor drive device, wherein the motor drive device is used to control a motor connected to it in communication, and is characterized in that it includes:

Obtain the addressing instruction sent by the control device, where the addressing instruction includes the destination addressing number;

Obtaining the rotation state of the motor;

When the obtained rotation state of the motor meets the preset state requirements, a feedback signal of the addressing instruction is sent to the control device, and the destination addressing number is recorded according to the addressing instruction.
The method according to claim 1, wherein the rotation state of the motor satisfies a preset state requirement, including: the rotation state of the motor indicates that the motor rotates.
The method according to claim 2, wherein the rotation state of the motor meets a preset state requirement, further comprising: the rotation angle of the motor is greater than or equal to a preset angle threshold, or the rotation speed of the motor is greater than Or equal to the preset speed threshold.
The method according to claim 2 or 3, wherein the rotation of the motor is caused by a user directly or indirectly applying an external force to the motor.
The method according to claim 4, wherein the motor is used to drive an actuator, wherein the rotation of the motor is caused by a user applying an external force to the motor through the actuator.
The method according to claim 5, wherein the execution component includes one or more of a propeller, a wheel, and a track.
The method according to any one of claims 1-6, wherein the method further comprises:

Obtain the start addressing instruction sent by the control device, and control the motor drive device to enter the addressing state;

The addressing instruction sent by the acquisition control device includes:

After entering the addressing state, the addressing instruction sent by the control device is obtained.
The method according to any one of claims 1-7, wherein the obtaining the rotation state of the motor includes:

Acquiring angle data output by an angle sensor, wherein the angle sensor is used to measure the rotation angle of the motor;

The rotation state of the motor is determined according to the angle data.
The method according to any one of claims 1-7, wherein the obtaining the rotation state of the motor includes:

Acquiring an induced electrical signal output by an electrical signal sensor, wherein the electrical signal sensor is used to measure the induced electrical signal generated by the motor;

The rotation state of the motor is determined according to the induced electrical signal.
The method according to any one of claims 1-9, wherein after recording the destination address number, the method further comprises:

Send a prompting command for controlling the prompting device to send out prompting information.
The method according to claim 10, characterized in that

The prompting device is a buzzer, and the motor driving device controls the buzzer to emit a prompting sound.
The method of claim 11, wherein:

The buzzer is provided in the motor drive device, or separately.
The method according to any one of claims 1 to 11, further comprising:

When the acquired rotation state of the motor does not meet the requirements of the preset state, the addressing instruction is deleted.
A control method of a control device, wherein the control device is communicatively connected to a plurality of motor driving devices, and the motor driving device is used to control a motor communicatively connected thereto, which is characterized by including:

Broadcast an addressing instruction to the plurality of motor drive devices, wherein the addressing instruction includes a destination addressing number;

Determining whether a feedback signal of the addressing instruction sent by one of the plurality of motor drive devices is obtained, wherein the feedback signal is that one of the plurality of motor drive devices is determining the motor Is sent to the control device when the rotation state of the device meets the preset state requirements;

If so, the address number of the one motor-driven device is registered as the destination address number.
The method according to claim 14, wherein the rotation state of the motor satisfies a preset state requirement, including: the rotation state of the motor indicates that the motor rotates.
The method according to claim 15, wherein the rotation state of the motor meets a preset state requirement, further comprising: the rotation angle of the motor is greater than or equal to a preset angle threshold, or the rotation speed of the motor is greater than Or equal to the preset speed threshold.
The method according to claim 15 or 16, wherein the rotation of the motor is caused by a user directly or indirectly applying an external force to the motor.
The method according to claim 17, wherein the motor is used to drive an actuator, wherein the rotation of the motor is caused by a user applying an external force to the motor through the actuator.
The method according to claim 18, wherein the execution component includes one or more of a propeller, a wheel, and a track.
The method according to any one of claims 14-17, wherein the method further comprises:

Broadcasting a start addressing instruction to the plurality of motor drive devices, the start addressing command used to instruct the motor drive device to enter an addressing state;

The determining whether to obtain a feedback signal from one of the plurality of motor drive devices to send the addressing instruction includes:

After broadcasting the start addressing instruction, it is determined whether a feedback signal of the addressing instruction sent by one of the plurality of motor driving devices is obtained.
The method according to any one of claims 14-20, further comprising:

If it is determined that the feedback signal responded by the one of the motor driving devices is not received, an alarm instruction for controlling the alarm device to issue alarm information is sent.
The method according to any one of claims 14 to 21, wherein after registering the address number of the one motor-driven device as the destination address number, the method further includes:

Send a prompting command for controlling the prompting device to send out prompting information.
The method according to claim 22, wherein

The prompting device is a buzzer, and the sending of a prompting instruction for controlling the prompting device to send out prompting information includes:

A prompt instruction for controlling the buzzer to emit a prompt sound is sent.
The method according to claim 23, characterized in that

The buzzer is provided in the control device or separately.
A motor-driven device, wherein the motor-driven device is used to control a motor communicatively connected thereto, and is characterized by comprising: a memory and a processor,

The memory is used to store program instructions;

The processor is used to call the program instructions, and when the program instructions are executed, it is used to perform the following operations:

Obtain the addressing instruction sent by the control device, where the addressing instruction includes the destination addressing number;

Obtaining the rotation state of the motor;

When the acquired rotation state of the motor satisfies the preset state requirement, a feedback signal of the addressing instruction is sent to the control device, and the destination addressing number is recorded according to the addressing instruction.
The apparatus according to claim 25, wherein the rotation state of the motor satisfies a preset state requirement, including: the rotation state of the motor indicates that the motor rotates.
The device according to claim 26, wherein the rotation state of the motor meets a preset state requirement, further comprising: the rotation angle of the motor is greater than or equal to a preset angle threshold, or the rotation speed of the motor is greater than Or equal to the preset speed threshold.
The device according to claim 26 or 27, wherein the rotation of the motor is caused by a user directly or indirectly applying an external force to the motor.
The apparatus according to claim 28, wherein the motor is used to drive an actuator, wherein the rotation of the motor is caused by a user applying an external force to the motor through the actuator.
The apparatus according to claim 29, wherein the execution component includes one or more of a propeller, a wheel, and a track.
The device according to any one of claims 25-30, wherein the processor is further configured to:

Obtain the start addressing instruction sent by the control device, and control the motor drive device to enter the addressing state;

When the processor obtains the addressing instruction sent by the control device, it is specifically used to:

After entering the addressing state, the addressing instruction sent by the control device is obtained.
The device according to any one of claims 25 to 31, wherein the processor is specifically used to:

Acquiring angle data output by an angle sensor, wherein the angle sensor is used to measure the rotation angle of the motor;

The rotation state of the motor is determined according to the angle data.
The device according to any one of claims 25 to 31, wherein the processor is specifically used to:

Acquiring an induced electrical signal output by an electrical signal sensor, wherein the electrical signal sensor is used to measure the induced electrical signal generated by the motor;

The rotation state of the motor is determined according to the induced electrical signal.
The device according to any one of claims 25 to 33, wherein after the processor records the destination address number, it is also used to:

Send a prompting command for controlling the prompting device to send out prompting information.
The device according to claim 34, characterized in that

The prompting device is a buzzer, and the motor driving device controls the buzzer to emit a prompting sound.
The device according to claim 35, characterized in that

The buzzer is provided in the motor drive device, or separately.
The device according to any one of claims 25 to 36, wherein the processor is further configured to:

When the acquired rotation state of the motor does not meet the requirements of the preset state, the addressing instruction is deleted.
A control device, wherein the control device is communicatively connected to a plurality of motor driving devices, the motor driving device is used to control a motor communicatively connected thereto, and is characterized by comprising: a memory and a processor,

The memory is used to store program instructions;

The processor is used to call the program instructions, and when the program instructions are executed, it is used to perform the following operations:

Broadcast an addressing instruction to the plurality of motor drive devices, wherein the addressing instruction includes a destination addressing number;

Determining whether a feedback signal of the addressing instruction sent by one of the plurality of motor drive devices is obtained, wherein the feedback signal is that one of the plurality of motor drive devices is determining the motor Is sent to the control device when the rotation state of the device meets the preset state requirements;

If so, the address number of the one motor-driven device is registered as the destination address number.
The apparatus according to claim 38, wherein the rotation state of the motor satisfies a preset state requirement, including: the rotation state of the motor indicates that the motor rotates.
The device according to claim 39, wherein the rotation state of the motor meets a preset state requirement, further comprising: the rotation angle of the motor is greater than or equal to a preset angle threshold, or the rotation speed of the motor is greater than Or equal to the preset speed threshold.
The apparatus according to claim 39 or 40, wherein the rotation of the motor is caused by a user directly or indirectly applying an external force to the motor.
The apparatus according to claim 41, wherein the motor is used to drive an actuator, wherein the rotation of the motor is caused by a user applying an external force to the motor through the actuator.
The apparatus according to claim 42, wherein the execution component includes one or more of a propeller, a wheel, and a track.
The device according to any one of claims 38 to 41, wherein the processor is further configured to:

Broadcasting a start addressing instruction to the plurality of motor drive devices, the start addressing command used to instruct the motor drive device to enter an addressing state;

When the processor determines whether a feedback signal of the addressing instruction sent by one of the plurality of motor drive devices is obtained, it is specifically used to:

After broadcasting the start addressing instruction, it is determined whether a feedback signal of the addressing instruction sent by one of the plurality of motor driving devices is obtained.
The device according to any one of claims 38-44, wherein the processor is further configured to:

If it is determined that the feedback signal responded by the one of the motor driving devices is not received, an alarm instruction for controlling the alarm device to issue alarm information is sent.
The device according to any one of claims 38 to 45, wherein after the processor registers the address number of the one motor-driven device as the destination address number, it is also used to:

Send a prompting command for controlling the prompting device to send out prompting information.
The device according to claim 46, characterized in that

The prompting device is a buzzer, and when the processor sends a prompting command for controlling the prompting device to send prompting information, it is specifically used to:

A prompt instruction for controlling the buzzer to emit a prompt sound is sent.
The device according to claim 47, characterized in that

The buzzer is provided in the control device or separately.
A movable platform, characterized in that, the movable platform includes: a plurality of motor driving devices and a control device, the plurality of motor driving devices and the control device are connected by a bus,

The control device is used to broadcast an addressing instruction to a plurality of motor drive devices, wherein the addressing instruction includes a destination addressing number;

The motor driving device is used to obtain the addressing instruction sent by the control device and obtain the rotation state of the motor, and when the obtained rotation state of the motor meets the preset state requirements, send the control device the control device The feedback signal of the addressing instruction, and recording the destination addressing number according to the addressing instruction;

The control device is configured to register the address number of the one motor drive device as all if the feedback signal of the addressing instruction sent by one motor drive device of the plurality of motor drive devices is determined to be acquired Addressing number of the description.
A computer-readable storage medium storing a computer program, wherein the computer program is executed by a processor to implement the method according to any one of claims 1 to 24.