CN111226177A - Control method, motor driving device, control device and movable platform - Google Patents
Control method, motor driving device, control device and movable platform Download PDFInfo
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- CN111226177A CN111226177A CN201880065573.9A CN201880065573A CN111226177A CN 111226177 A CN111226177 A CN 111226177A CN 201880065573 A CN201880065573 A CN 201880065573A CN 111226177 A CN111226177 A CN 111226177A
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- 230000015654 memory Effects 0.000 claims description 27
- 238000004590 computer program Methods 0.000 claims description 7
- 230000006698 induction Effects 0.000 claims description 7
- 206010063385 Intellectualisation Diseases 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000006854 communication Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 5
- 230000003137 locomotive effect Effects 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/08—Aircraft not otherwise provided for having multiple wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F12/00—Accessing, addressing or allocating within memory systems or architectures
- G06F12/02—Addressing or allocation; Relocation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
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Abstract
The embodiment of the invention provides a control method, motor driving equipment, control equipment and a movable platform, wherein the method comprises the following steps: acquiring an addressing instruction sent by control equipment, wherein the addressing instruction comprises a target addressing number; acquiring the rotation state of the motor; and when the acquired rotation state of the motor meets the requirement of a preset state, sending a feedback signal of the addressing instruction to the control equipment, and recording the target addressing number according to the addressing instruction. Addressing of the motor driving device can be completed by acquiring the rotation state of the motor, the fact that the device needs to be disassembled and assembled every time of addressing is avoided, automation and intellectualization of addressing control of the motor driving device are achieved, and addressing efficiency is improved.
Description
Technical Field
The invention relates to the technical field of control, in particular to a control method, motor driving equipment, control equipment and a movable platform.
Background
The application of multi-motor terminal equipment such as unmanned vehicles, unmanned aerial vehicles, wheeled robots and the like is more and more extensive, a plurality of motor driving equipment included in the multi-motor terminal equipment are generally mounted on the same bus, and because the positions of the motor driving equipment on the bus are equivalent, when the control equipment sends a control instruction to the bus, all the motor driving equipment can receive the control instruction, and if address distinguishing is not carried out among the motor driving equipment, the control cannot be realized.
The current common approach is to address each motor drive device before installing it, and then install each motor drive device addressed to a fixed physical location on the integrated system. However, the addressing in this way requires the equipment to be disassembled and assembled every time, and the installation position is fixed, so that the operation is complicated, and the user experience is poor. Therefore, how to more effectively control the terminal of the multi-motor driving device has important significance.
Disclosure of Invention
The embodiment of the invention provides a control method, motor driving equipment, control equipment and a movable platform, which can realize automatic and intelligent addressing of the motor driving equipment and improve addressing efficiency.
In a first aspect, an embodiment of the present invention provides a method for controlling a motor driving device, where the motor driving device is configured to control a motor communicatively connected thereto, and the method includes:
acquiring an addressing instruction sent by control equipment, wherein the addressing instruction comprises a target addressing number;
acquiring the rotation state of the motor;
and when the acquired rotation state of the motor meets the requirement of a preset state, sending a feedback signal of the addressing instruction to the control equipment, and recording the target addressing number according to the addressing instruction.
In a second aspect, an embodiment of the present invention provides a control method for a control device, where the control device is communicatively connected to a plurality of motor drive devices, and the motor drive devices are used to control motors communicatively connected thereto, and the method includes:
broadcasting an addressing instruction to the plurality of motor driving devices, wherein the addressing instruction comprises a target addressing number;
determining whether a feedback signal for sending the addressing instruction by one of the plurality of motor driving devices is acquired, wherein the feedback signal is sent to the control device by the one of the plurality of motor driving devices when the rotation state of the motor is determined to meet the preset state requirement;
and if so, registering the addressing number of the motor driving device as the target addressing number.
In a third aspect, an embodiment of the present invention provides a motor driving device, where the motor driving device is configured to control a motor communicatively connected thereto, and includes: a memory and a processor, wherein the processor is capable of,
the memory to store program instructions;
the processor, configured to invoke the program instructions, and when the program instructions are executed, configured to:
acquiring an addressing instruction sent by control equipment, wherein the addressing instruction comprises a target addressing number;
acquiring the rotation state of the motor;
and when the acquired rotation state of the motor meets the requirement of a preset state, sending a feedback signal of the addressing instruction to the control equipment, and recording the target addressing number according to the addressing instruction.
In a fourth aspect, an embodiment of the present invention provides a control device, where the control device is communicatively connected to a plurality of motor drive devices, and the motor drive devices are configured to control motors communicatively connected thereto, including: a memory and a processor, wherein the processor is capable of,
the memory to store program instructions;
the processor, configured to invoke the program instructions, and when the program instructions are executed, configured to:
broadcasting an addressing instruction to the plurality of motor driving devices, wherein the addressing instruction comprises a target addressing number;
determining whether a feedback signal for sending the addressing instruction by one of the plurality of motor driving devices is acquired, wherein the feedback signal is sent to the control device by the one of the plurality of motor driving devices when the rotation state of the motor is determined to meet the preset state requirement;
if yes, the addressing number of the motor driving device is registered as the target addressing number
In a fifth aspect, an embodiment of the present invention provides a movable platform, where the movable platform includes: a plurality of motor drive devices and a control device, the plurality of motor drive devices and the control device being connected by a bus,
the control equipment is used for broadcasting an addressing instruction to the plurality of motor driving equipment, wherein the addressing instruction comprises a target addressing number;
the motor driving device is used for acquiring an addressing instruction sent by the control device, acquiring the rotation state of the motor, sending a feedback signal of the addressing instruction to the control device when the acquired rotation state of the motor meets the requirement of a preset state, and recording the target addressing number according to the addressing instruction;
and the control device is used for registering the addressing number of one motor driving device as the target addressing number if the feedback signal of the addressing instruction sent by one motor driving device in the plurality of motor driving devices is determined to be acquired.
In a sixth aspect, the present invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the method according to the first aspect or the second aspect.
In the embodiment of the invention, the motor driving equipment acquires an addressing instruction sent by the control equipment, wherein the addressing instruction comprises a target addressing number, acquires the rotation state of the motor, sends a feedback signal of the addressing instruction to the control equipment when the rotation state of the motor meets the requirement of a preset state, and records the target addressing number according to the addressing instruction, so that the addressing of the motor driving equipment can be completed by acquiring the rotation state of the motor, the equipment is prevented from being disassembled and assembled every addressing, the automation and the intellectualization of addressing control of the motor driving equipment are realized, and the addressing efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a movable platform according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a control method of a motor driving apparatus according to an embodiment of the present invention;
fig. 3 is a flowchart illustrating a control method for controlling a device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a motor driving apparatus according to an embodiment of the present invention;
fig. 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, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
An embodiment of the present invention provides a movable platform, including: the motor driving device comprises a plurality of motor driving devices and a control device, wherein the motor driving devices and the control device are connected through a bus, and bidirectional communication can be carried out between the motor driving devices and the control device. In certain embodiments, the motor drive apparatus may be mounted on a movable platform having a plurality of motor drive apparatuses, such as an aircraft, an unmanned locomotive, an unmanned ship, a wheeled robot, or the like. In some embodiments, the control device may be spatially independent of the motor drive device.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a movable platform according to an embodiment of the present invention. As shown in fig. 1, the movable platform includes a control device 11 and a motor driving system 12, and the motor driving system 12 includes a plurality of motor driving devices, such as a first motor driving device 121, a second motor driving device 122, and a third motor driving device 123. In certain embodiments, the control device 11 and the motor drive system 12 establish a communication connection via a bus 13.
In one embodiment, the control device 11 may broadcast addressing instructions to a plurality of motor drive devices, wherein the addressing instructions include a destination addressing number. When each motor driving device in the motor driving system 12 acquires the addressing instruction sent by the control device 11, each motor driving device in the motor driving system 12 may acquire the rotation state of the corresponding motor. If the first motor driving device 121 detects that the rotation state of the motor meets the preset state requirement, the first motor driving device 121 may register the addressing number as the destination addressing number carried in the addressing instruction, and send a feedback signal of the addressing instruction to the control device 11 to notify the control device 11 that the destination addressing number is registered by the first motor driving device 121. The control device 11 may determine that the addressing number of the first motor drive device 121 is registered as the destination addressing number if it acquires the feedback signal of the addressing instruction sent by the first motor drive device 121. Similarly, the control device 11 may continue to send addressing commands including other addressing numbers for addressing the second motor drive 122 or the third motor drive 123 in the motor drive system 12. By the implementation mode, automatic and intelligent addressing control of the motor driving equipment is realized, and addressing efficiency is improved.
A control method of a motor driving apparatus according to an embodiment of the present invention is schematically described below with reference to fig. 2.
Referring to fig. 2, fig. 2 is a schematic flowchart of a method for controlling a motor driving device according to an embodiment of the present invention, where the method may be executed by a motor driving device, and the motor driving device may be disposed on a movable platform, where the motor driving device may include an electric tilt, and the movable platform may be a movable intelligent terminal such as an aircraft, an unmanned locomotive, an unmanned ship, a wheeled robot, and the like, where the motor driving device is configured to control a motor communicatively connected thereto. Specifically, the method of the embodiment of the present invention includes the following steps.
S201: and acquiring an addressing instruction sent by the control equipment.
In the embodiment of the invention, the motor driving device can obtain an addressing instruction sent by the control device, wherein the addressing instruction comprises a target addressing number. For example, the motor driving device may acquire an addressing instruction including a destination addressing number 1 sent by the control device. In some embodiments, the motor drive device and the control device establish a communication connection via the same bus. In some embodiments, the addressing instructions may be sent by the control device over the bus in the form of addressing packets; in other embodiments, the addressing instruction may also be sent by the control device through the bus in other forms, and the embodiments of the present invention are not limited in particular.
In one embodiment, before acquiring the addressing command sent by the control device, the motor driving device may further acquire a start addressing command sent by the control device through the bus, and control the motor driving device to enter the addressing state. The motor driving device may perform the step of acquiring the addressing command transmitted by the control device after performing the addressing state.
S202: and acquiring the rotation state of the motor.
In the embodiment of the invention, after the motor driving device acquires the addressing instruction sent by the control device, the rotation state of the motor driving device can be acquired.
In one embodiment, the motor driving apparatus may determine the rotation state of the motor by acquiring an angle of rotation of the motor when acquiring the rotation state of the motor.
In some embodiments, the motor driving apparatus includes an angle sensor for measuring a rotation angle of the motor, and the motor driving apparatus may determine the rotation state of the motor by acquiring angle data output from the angle sensor.
In some embodiments, the motor driving apparatus includes an electric signal sensor for measuring an induced electric signal generated by the motor, and the motor driving apparatus may determine the rotation state of the motor by acquiring the induced electric signal output by the electric signal sensor. In some embodiments, the induced electrical signal may comprise an induced electromotive force or an induced current.
S203: and when the acquired rotation state of the motor meets the requirement of a preset state, sending a feedback signal of the addressing instruction to the control equipment, and recording the target 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 meets the preset state requirement, the motor driving device may send a feedback signal of the addressing instruction to the control device, and record a target addressing number carried in the addressing instruction according to the addressing instruction, that is, the motor driving device determines the target addressing number as its own addressing number.
In one embodiment, the requirement that the rotation state of the motor meets the preset state may be that the rotation state of the motor acquired by the motor driving device indicates that the motor rotates. When the motor driving device detects that the rotation state of the motor indicates that the motor rotates, the motor driving device can send a feedback signal of the addressing instruction to the control device, and record a target addressing number carried in the addressing instruction according to the addressing instruction.
For example, assuming that a destination addressing number included in an addressing instruction acquired by the motor driving device is 1, if the rotation state of the motor acquired by the motor driving device indicates that the motor rotates, the motor driving device may send a feedback signal of the addressing instruction to the control device, and record that the addressing number of the motor driving device is 1, that is, determine that 1 is the own addressing number.
In one embodiment, the requirement that the rotation state of the motor satisfies the preset state may be that the motor driving apparatus detects that the angle of rotation of the motor is greater than or equal to a preset angle threshold. When the motor driving device detects that the rotation angle of the motor is larger than or equal to a preset angle threshold value, the motor driving device can send a feedback signal of the addressing instruction to the control device, and record a target addressing number carried in the addressing instruction according to the addressing instruction.
For example, assuming that a target addressing number included in an addressing instruction acquired by the motor driving device is 1 and a preset angle threshold is 30 degrees, if the motor driving device detects that a motor rotates at an angle of 45 degrees, it may be determined that the angle of 45 degrees is greater than the preset angle threshold by 30 degrees, and therefore, the motor driving device may send a feedback signal of the addressing instruction to the control device and record that the target addressing number of the motor driving device is 1.
In some embodiments, the requirement that the rotation state of the motor meets the preset state may be that the rotation speed of the motor is greater than or equal to a preset rotation speed threshold. When the motor driving device detects that the rotating speed of the motor is greater than or equal to a preset rotating speed threshold value, the motor driving device can send a feedback signal of the addressing instruction to the control device, and record a target addressing number carried in the addressing instruction according to the addressing instruction.
For example, assuming that a target addressing number included in an addressing instruction acquired by the motor driving device is 1 and a preset rotation speed threshold is 50 rpm, if the motor driving device detects that the rotation speed of the motor is 100 rpm, it may be determined that 100 rpm is greater than the preset rotation speed threshold by 50 rpm, so that the motor driving device may send a feedback signal of the addressing instruction to the control device and record that the target addressing number of the motor driving device is 1.
In some embodiments, the condition that the rotation state of the motor meets the preset condition requirement may also be that the motor driving device acquires an induction signal output by the electric signal sensor and indicates that the motor rotates. When the sensing signal is detected to indicate that the motor rotates, the motor driving device can send a feedback signal of the addressing instruction to the control device, and record a target addressing number carried in the addressing instruction according to the addressing instruction.
In some embodiments, the induced signal includes an induced electromotive force, and the motor driving apparatus may determine whether the motor rotates based on the induced electromotive force output from the electric signal sensor. In some embodiments, the motor driving apparatus may detect whether an induced electromotive force output from the electric signal sensor is greater than a preset electromotive force threshold, and may determine that the induced electromotive force indicates that the motor rotates if the induced electromotive force is detected to be greater than the preset electromotive force threshold.
For example, assuming that a destination addressing number included in an addressing command acquired by the motor driving device is 1, an induced electromotive force is an induced electromotive force, and a preset electromotive force threshold is E1, if the motor driving device detects that the induced electromotive force is E2, and E2 is greater than a preset electromotive force threshold E1, it may be determined that the induced electromotive force indicates that the motor rotates.
In some embodiments, the sensing signal includes an induction current, and the motor driving apparatus may determine whether the motor rotates based on the induction current output from the electric signal sensor. In some embodiments, the motor driving apparatus may detect whether an induced current output from the electrical signal sensor is greater than a preset current threshold, and may determine that the induced current indicates that the motor rotates if the induced current is detected to be greater than the preset current threshold.
For example, if the destination addressing number included in the addressing instruction acquired by the motor driving device is 1, the sensing signal is an induced current, and the preset current threshold is 1A, if the motor driving device detects that the induced current is 2A, it may be determined that 2A is greater than the preset current threshold 1A, and thus it may be determined that the induced current indicates that the motor rotates.
In some embodiments, the rotation of the motor driving apparatus may be caused by a user applying an external force to the motor directly or indirectly. In some embodiments, the motor is used to drive the actuator, wherein the rotation of the motor is caused by a user applying an external force to the motor via the actuator, for example, the user pokes or rotates the actuator by hand to rotate the motor. In certain embodiments, the actuating components include one or more of a propeller, wheels, and tracks.
In some embodiments, a switch for controlling the activation of the motor may be provided on the motor driving device, and a user may activate the motor by toggling the switch to drive the actuator. In some embodiments, an icon or a button for turning on a motor may be further provided on the user interface of the motor driving apparatus, and a user may turn on the motor by pressing the icon or the button on the user interface to drive the execution part.
For example, assuming that the executing component is a wheel, a switch for controlling the motor to start is provided on the motor driving device, and if the user manually presses the switch for controlling the motor to start, the wheel corresponding to the switch can be turned on.
In one embodiment, after recording the target addressing number included in the addressing command, the motor driving device may further send a prompting command for controlling a prompting device to send a prompting message 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 driving device; or may be separately installed on a device that establishes a communication connection with the motor driving device, which is not specifically limited in the embodiments of the present invention.
In one embodiment, the addressing command may be deleted if the motor driving device detects that the rotation state of the motor does not satisfy a preset state requirement.
In one embodiment, after the motor driving device enters the addressing state, the rotation state of the motor driven by the motor driving device may be acquired, if the rotation state of the motor driven by the motor driving device meets a preset state requirement, whether an addressing number exists on the bus may be detected, and if the addressing number exists on the bus, it may be determined that the addressing number is addressed. The motor driving device may determine a destination addressing number according to the existing addressing number, register the addressing number of the motor driving device as the destination addressing number, and transmit a feedback signal of the destination addressing number through the bus to notify the control device that the addressing number of the motor driving device is registered as the destination addressing number.
For example, if it is acquired that the rotation state of the motor driven by the motor driving device satisfies a preset state requirement after the motor driving device enters the addressing state, it may be detected whether an addressing number exists on the bus, and if it is detected that an addressing number 1 exists on the bus, it may be determined that the addressing number 1 has been addressed. The motor drive apparatus may determine a destination address number 2 based on the existing address number 1, register the address number of the motor drive apparatus as the destination address number 2, and transmit a feedback signal of the destination address number 2 through the bus.
In the embodiment of the invention, the motor driving device can acquire the rotation state of the motor when acquiring the addressing instruction sent by the control device, send the feedback signal of the addressing instruction to the control device when the acquired rotation state of the motor meets the requirement of the preset state, and record the target addressing number carried by the addressing instruction according to the addressing instruction. Addressing of the motor driving device can be completed by obtaining the rotation state mode of the motor, the fact that the device needs to be disassembled and assembled when addressing is carried out every time is avoided, automation and intellectualization of addressing control of the motor driving device are achieved, and addressing efficiency is improved.
A control method of the control apparatus according to the embodiment of the present invention is schematically described below with reference to fig. 3.
Referring to fig. 3, fig. 3 is a flowchart illustrating a control method of a control device according to an embodiment of the present invention, where the method may be executed by the control device, and the control device may be disposed on a movable platform, where the movable platform may be a movable intelligent terminal such as an aircraft, an unmanned locomotive, an unmanned ship, a wheeled robot, and the like. The control device may be communicatively coupled to a plurality of motor drive devices for controlling motors communicatively coupled thereto. Specifically, the method of the embodiment of the present invention includes the following steps.
S301: an addressing command is broadcast to a plurality of motor drive devices.
In the embodiment of the invention, the control equipment can broadcast the addressing instruction to the plurality of motor driving equipment through the bus, wherein the addressing instruction comprises the target addressing number. For example, assuming that the addressing command includes a destination addressing number of 1, the control device may broadcast the addressing command of addressing number 1 to the plurality of 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 prior to broadcasting the addressing instruction to the plurality of motor drive devices, the start addressing instruction instructing the motor drive devices to enter an addressing state.
S302: and determining whether a feedback signal for sending the addressing instruction to one of the motor driving devices is acquired, wherein the feedback signal is sent to the control device by the one of the motor driving devices when the rotation state of the motor is determined to meet the preset state requirement.
In this embodiment of the present invention, after broadcasting an addressing instruction to a plurality of motor driving devices, a control device may determine whether a feedback signal indicating that one of the plurality of motor driving devices transmits the addressing instruction is obtained, where the feedback signal is transmitted to the control device by the one of the plurality of motor driving devices when it is determined that a rotation state of a motor meets a preset state requirement. In certain embodiments, one of the plurality of motor drive devices is any one of the plurality of motor drive devices.
In one embodiment, the rotation state of the motor satisfies 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 rotating angle of the motor is larger than or equal to a preset angle threshold value, or the rotating speed of the motor is larger than or equal to a preset rotating speed threshold value.
In one embodiment, the rotation of the motor is caused by a user applying an external force to the motor, either directly or indirectly. In some embodiments, the motor is configured to drive an actuator, wherein rotation of the motor is caused by a user applying an external force to the motor through the actuator. In certain embodiments, the actuating components include one or more of a propeller, wheels, and tracks.
In one embodiment, when the control device broadcasts an addressing instruction carrying a target addressing number to a plurality of motor driving devices, the control device may send prompt information to a user interface, and the user interface outputs prompt information corresponding to the target addressing number, where the prompt information is used to instruct a user to directly or indirectly apply an external force to a target motor among the plurality of motors communicatively connected to the motor driving devices. By this embodiment it is ensured that the user addresses each motor drive apparatus to the correct destination addressing number.
The movable platform is taken as a remote control trolley for schematic illustration, if the remote control trolley is provided with 4 motor driving devices and 4 motors in communication connection with the motor driving devices, the 4 motors respectively drive 2 wheels on the left and the right of a machine head of the trolley and 2 wheels on the left and the right of a machine tail of the trolley. In normal control logic, the destination addressing numbers of the motor drive devices corresponding to these 4 wheels should be 1, 2, 3 and 4, respectively. When the control device broadcasts an addressing instruction with the programming number 1 to the 4 motor driving devices, the user interface may display a prompt message corresponding to the addressing number 1, for example, the user interface displays "please rotate the wheel on the left side of the cart head", and when the user rotates the wheel on the left side of the cart head to drive the corresponding target motor to rotate, the addressing number of the motor driving device of the target motor driving the wheel on the left side of the cart head is determined to be 1. By the method, a user can be prompted to apply external force to the designated motor, the designated target addressing number is addressed to the designated motor driving equipment, and the addressing success rate is improved.
In one embodiment, the control device may determine whether a feedback signal for sending the addressing instruction by one of the plurality of motor drive devices is acquired after broadcasting a start addressing instruction to the plurality of motor drive devices to instruct the motor drive devices to enter the addressing state.
S303: and if so, registering the addressing number of the motor driving device as the target addressing number.
In the embodiment of the present invention, if the control device obtains the feedback signal that one of the plurality of motor drive devices sends the addressing instruction, the control device may register the addressing number of the one motor drive device as the target addressing number. In some embodiments, after registering the addressing number of the motor drive device as the destination addressing number, the control device may continue to send addressing instructions carrying other addressing numbers to address other motor drive devices not registered with the addressing number.
For example, assuming that a destination addressing number carried in an addressing instruction broadcast by the control device to the plurality of motor drive devices is 1, if the control device acquires that one of the plurality of motor drive devices sends a feedback signal of the addressing instruction, the control device may register the addressing number 1 of the one of the plurality of motor drive devices as the destination addressing number, that is, determine that the addressing number of the one of the plurality of motor drive devices is 1.
In one embodiment, if the control device determines that the feedback signal of the response of the one motor driving device is not received, the control device may send an alarm instruction for controlling the alarm device to send an alarm message to prompt a user that the feedback signal of the response of the motor driving device is not received by the control device.
In one embodiment, the control device may send a prompt instruction for controlling the prompting apparatus to issue a prompt message to prompt the user that the destination address number has been registered, after registering the address number of the one motor drive device as the destination address number.
In some embodiments, the prompting device is a buzzer, and the control device may send a prompting instruction for controlling the buzzer to send a prompting sound when sending a prompting instruction for controlling the prompting device to send a prompting message. In some embodiments, the buzzer is provided on the control device, or separately, i.e. on a device that establishes a communication connection with the control device.
In the embodiment of the present invention, the control device may broadcast an addressing instruction to the plurality of motor drive devices, and determine whether a feedback signal of the addressing instruction sent by one of the plurality of motor drive devices is obtained, where the feedback signal is sent to the control device by the one of the plurality of motor drive devices when it is determined that the rotation state of the motor meets a preset state requirement; if it is determined that a feedback signal that one of the plurality of motor drive devices sends the addressing instruction is acquired, the addressing number of the one motor drive device may be registered as the target addressing number. Addressing of the motor driving device can be completed by obtaining the rotation state mode of the motor, the fact that the device needs to be disassembled and assembled when addressing is carried out every time is avoided, automation and intellectualization of addressing control of the motor driving device are achieved, and addressing efficiency is improved.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a motor driving device according to an embodiment of the present invention, where the device includes a memory 401 and a processor 402, and the processor 402 is configured with an agent component and a functional component set, where the functional component set includes a plurality of functional components and is configured such that 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 comprise a combination of the above kinds of memories. The processor 402 may be a 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 (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
The processor 402 is configured to invoke the program instructions, and when the program instructions are executed, to:
acquiring an addressing instruction sent by control equipment, wherein the addressing instruction comprises a target addressing number;
acquiring the rotation state of the motor;
and when the acquired rotation state of the motor meets the requirement of a preset state, sending a feedback signal of the addressing instruction to the control equipment, and recording the target addressing number according to the addressing instruction.
Further, the rotation state of the motor meets the preset state requirement, and comprises: the rotation state of the motor indicates that the motor rotates.
Further, the rotation state of motor satisfies preset state requirement, still includes: the rotating angle of the motor is larger than or equal to a preset angle threshold value, or the rotating speed of the motor is larger than or equal to a preset rotating speed threshold value.
Further, the rotation of the motor is caused by a user applying an external force to the motor directly or indirectly.
Further, the motor is used for driving the executing component, wherein the rotation of the motor is caused by the external force applied to the motor by the executing component by a user.
Further, the executing component comprises one or more of a propeller, a wheel and a track.
Further, the processor 402 is further configured to:
acquiring an addressing starting instruction sent by control equipment, and controlling the motor driving equipment to enter an addressing state;
when acquiring the addressing instruction sent by the control device, the processor is specifically configured to:
and after entering the addressing state, acquiring an addressing instruction sent by the control equipment.
Further, when the processor 402 obtains the rotation state of the motor, it is specifically configured to:
acquiring angle data output by an angle sensor, wherein the angle sensor is used for measuring the rotation angle of the motor;
and determining the rotation state of the motor according to the angle data.
Further, when the processor 402 obtains the rotation state of the motor, it is specifically configured to:
acquiring an induced electric signal output by an electric signal sensor, wherein the electric signal sensor is used for measuring the induced electric signal generated by the motor;
and determining the rotation state of the motor according to the induction electric signal.
Further, after the processor 402 records the destination address number, it is further configured to:
and sending a prompt instruction for controlling the prompt device to send prompt information.
Further, the prompting device is a buzzer, and the motor driving device controls the buzzer to give out prompting sound.
Further, the buzzer is provided to the motor driving device, or is separately provided.
Further, the processor 402 is further configured to:
when the acquired rotation state of the motor does not meet the preset state requirement, deleting the addressing instruction
In the embodiment of the invention, the motor driving device can acquire the rotation state of the motor when acquiring the addressing instruction sent by the control device, send the feedback signal of the addressing instruction to the control device when the acquired rotation state of the motor meets the requirement of the preset state, and record the target addressing number carried by the addressing instruction according to the addressing instruction. Addressing of the motor driving device can be completed by obtaining the rotation state mode of the motor, the fact that the device needs to be disassembled and assembled when addressing is carried out every time is avoided, automation and intellectualization of addressing control of the motor driving device are achieved, and addressing efficiency is improved.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a control device according to an embodiment of the present invention, where the control device includes a memory 501 and a processor 502, and an agent component and a functional component set are configured on the processor 502, where the functional component set includes a plurality of functional components and is configured to configure an application interface for each functional component;
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 comprise a combination of memories of the kind described above. The processor 502 may be a 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 (CPLD), a field-programmable gate array (FPGA), or any combination thereof.
The processor 502 is configured to invoke the program instructions, and when the program instructions are executed, to perform the following operations:
broadcasting an addressing instruction to the plurality of motor driving devices, wherein the addressing instruction comprises a target addressing number;
determining whether a feedback signal for sending the addressing instruction by one of the plurality of motor driving devices is acquired, wherein the feedback signal is sent to the control device by the one of the plurality of motor driving devices when the rotation state of the motor is determined to meet the preset state requirement;
and if so, registering the addressing number of the motor driving device as the target addressing number.
Further, the rotation state of the motor meets the preset state requirement, and comprises: the rotation state of the motor indicates that the motor rotates.
Further, the rotation state of motor satisfies preset state requirement, still includes: the rotating angle of the motor is larger than or equal to a preset angle threshold value, or the rotating speed of the motor is larger than or equal to a preset rotating speed threshold value.
Further, the rotation of the motor is caused by a user applying an external force to the motor directly or indirectly.
Further, the motor is used for driving the executing component, wherein the rotation of the motor is caused by the external force applied to the motor by the executing component by a user.
Further, the executing component comprises one or more of a propeller, a wheel and a track.
Further, the processor 502 is further configured to:
broadcasting an addressing starting instruction to the motor driving devices, wherein the addressing starting instruction is used for indicating the motor driving devices to enter an addressing state;
the processor 502 is specifically configured to, when determining whether to acquire a feedback signal that one of the plurality of motor driving devices sends the addressing instruction, perform:
and after the addressing starting instruction is broadcasted, determining whether a feedback signal for sending the addressing instruction by one of the motor driving devices is acquired.
Further, the processor 502 is further configured to:
and if the feedback signal responded by the motor driving equipment is determined not to be received, sending an alarm instruction for controlling an alarm device to send alarm information.
Further, after the processor 502 registers the addressing number of the one motor driving device as the destination addressing number, it is further configured to:
and sending a prompt instruction for controlling the prompt device to send prompt information.
Further, the prompting device is a buzzer, and when the processor 502 sends a prompting instruction for controlling the prompting device to send out a prompting message, the processor is specifically configured to:
and sending a prompt instruction for controlling the buzzer to send out prompt sound.
Further, the buzzer is provided to the control device, or is provided separately.
In the embodiment of the present invention, the control device may broadcast an addressing instruction to the plurality of motor drive devices, and determine whether a feedback signal of the addressing instruction sent by one of the plurality of motor drive devices is obtained, where the feedback signal is sent to the control device by the one of the plurality of motor drive devices when it is determined that the rotation state of the motor meets a preset state requirement; if it is determined that a feedback signal that one of the plurality of motor drive devices sends the addressing instruction is acquired, the addressing number of the one motor drive device may be registered as the target addressing number. Addressing of the motor driving device can be completed by obtaining the rotation state mode of the motor, the fact that the device needs to be disassembled and assembled when addressing is carried out every time is avoided, automation and intellectualization of addressing control of the motor driving device are achieved, and addressing efficiency is improved.
An embodiment of the present invention further provides a movable platform, where the movable platform includes: a plurality of motor drive devices and a control device, the plurality of motor drive devices and the control device being connected by a bus,
the control equipment is used for broadcasting an addressing instruction to the plurality of motor driving equipment, wherein the addressing instruction comprises a target addressing number;
the motor driving device is used for acquiring an addressing instruction sent by the control device, acquiring the rotation state of the motor, sending a feedback signal of the addressing instruction to the control device when the acquired rotation state of the motor meets the requirement of a preset state, and recording the target addressing number according to the addressing instruction;
and the control device is used for registering the addressing number of one motor driving device as the target addressing number if the feedback signal of the addressing instruction sent by one motor driving device in the plurality of motor driving devices is determined to be acquired.
Further, the rotation state of the motor meets the preset state requirement, and comprises: the rotation state of the motor indicates that the motor rotates.
Further, the rotation state of motor satisfies preset state requirement, still includes: the rotating angle of the motor is larger than or equal to a preset angle threshold value, or the rotating speed of the motor is larger than or equal to a preset rotating speed threshold value.
Further, the rotation of the motor is caused by a user applying an external force to the motor directly or indirectly.
Further, the motor is used for driving the executing component, wherein the rotation of the motor is caused by the external force applied to the motor by the executing component by a user.
Further, the executing component comprises one or more of a propeller, a wheel and a track.
Further, the control apparatus is further configured to:
broadcasting an addressing starting instruction to the motor driving devices, wherein the addressing starting instruction is used for indicating the motor driving devices to enter an addressing state;
when determining whether to acquire a feedback signal that one of the plurality of motor drive devices sends the addressing instruction, the control device is specifically configured to:
and after the addressing starting instruction is broadcasted, determining whether a feedback signal for sending the addressing instruction by one of the motor driving devices is acquired.
Further, the motor drive apparatus is also configured to:
acquiring an addressing starting instruction sent by control equipment, and controlling the motor driving equipment to enter an addressing state;
when the motor driving device obtains the addressing instruction sent by the control device, the motor driving device is specifically configured to:
and after entering the addressing state, acquiring an addressing instruction sent by the control equipment.
Further, when the motor driving device acquires the rotation state of the motor, the motor driving device is specifically configured to:
acquiring angle data output by an angle sensor, wherein the angle sensor is used for measuring the rotation angle of the motor;
and determining the rotation state of the motor according to the angle data.
Further, when the motor driving device acquires the rotation state of the motor, the motor driving device is specifically configured to:
acquiring an induced electric signal output by an electric signal sensor, wherein the electric signal sensor is used for measuring the induced electric signal generated by the motor;
and determining the rotation state of the motor according to the induction electric signal.
Further, after the motor driving device records the destination address number, the motor driving device is further configured to:
and sending a prompt instruction for controlling the prompt device to send prompt information.
Further, the prompting device is a buzzer, and the motor driving device controls the buzzer to give out prompting sound.
Further, the buzzer is provided to the motor driving device, or is separately provided.
Further, the motor drive apparatus is also configured to:
and when the acquired rotation state of the motor does not meet the preset state requirement, deleting the addressing instruction.
Further, the control apparatus is further configured to:
and if the feedback signal responded by the motor driving equipment is determined not to be received, sending an alarm instruction for controlling an alarm device to send alarm information.
Further, after the control device registers the addressing number of the one motor drive device as the destination addressing number, the control device is further configured to:
and sending a prompt instruction for controlling the prompt device to send prompt information.
In the embodiment of the invention, the control equipment is used for broadcasting an addressing instruction to a plurality of motor driving equipment, wherein the addressing instruction comprises a target addressing number;
the motor driving device acquires an addressing instruction sent by a control device, acquires the rotation state of the motor, sends a feedback signal of the addressing instruction to the control device when the acquired rotation state of the motor meets the requirement of a preset state, and records the target addressing number according to the addressing instruction; and if the control equipment determines to acquire the feedback signal of the addressing instruction sent by one of the motor driving equipment, registering the addressing number of the motor driving equipment as the target addressing number. Addressing of the motor driving device can be completed by obtaining the rotation state mode of the motor, the fact that the device needs to be disassembled and assembled when addressing is carried out every time is avoided, automation and intellectualization of addressing control of the motor driving device are achieved, and addressing efficiency is improved.
The embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the method described in the embodiment of the present invention is implemented, and also the device corresponding to the embodiment of the present invention may be implemented, which is not described herein again.
The computer readable storage medium may be an internal storage unit of the device according to any of the foregoing embodiments, for example, a hard disk or a memory of the device. The computer readable storage medium may also be an external storage device of the device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the device. Further, the computer-readable storage medium may also include both an internal storage unit and an external storage device of the apparatus. The computer-readable storage medium is used for storing the computer program and other programs and data required by the terminal. The computer readable storage medium may also be used to temporarily store data that has been output or is to be output.
The above disclosure is intended to be illustrative of only some embodiments of the invention, and is not intended to limit the scope of the invention.
Claims (50)
1. A control method of a motor drive apparatus for controlling a motor communicatively connected thereto, comprising:
acquiring an addressing instruction sent by control equipment, wherein the addressing instruction comprises a target addressing number;
acquiring the rotation state of the motor;
and when the acquired rotation state of the motor meets the requirement of a preset state, sending a feedback signal of the addressing instruction to the control equipment, and recording the target addressing number according to the addressing instruction.
2. The method of claim 1, wherein the rotational state of the motor meets a preset state requirement, comprising: the rotation state of the motor indicates that the motor rotates.
3. The method of claim 2, wherein the rotational state of the motor meets a preset state requirement, further comprising: the rotating angle of the motor is larger than or equal to a preset angle threshold value, or the rotating speed of the motor is larger than or equal to a preset rotating speed threshold value.
4. A method according to claim 2 or 3, wherein the rotation of the motor is caused by a user applying an external force to the motor, directly or indirectly.
5. The method of 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.
6. The method of claim 5, wherein the implement components include one or more of propellers, wheels, tracks.
7. The method according to any one of claims 1-6, further comprising:
acquiring an addressing starting instruction sent by control equipment, and controlling the motor driving equipment to enter an addressing state;
the obtaining of the addressing instruction sent by the control device includes:
and after entering the addressing state, acquiring an addressing instruction sent by the control equipment.
8. The method of any of claims 1-7, wherein said obtaining a rotational state of said motor comprises:
acquiring angle data output by an angle sensor, wherein the angle sensor is used for measuring the rotation angle of the motor;
and determining the rotation state of the motor according to the angle data.
9. The method of any of claims 1-7, wherein said obtaining a rotational state of said motor comprises:
acquiring an induced electric signal output by an electric signal sensor, wherein the electric signal sensor is used for measuring the induced electric signal generated by the motor;
and determining the rotation state of the motor according to the induction electric signal.
10. The method according to any one of claims 1-9, wherein after recording said destination addressing number, further comprising:
and sending a prompt instruction for controlling the prompt device to send prompt information.
11. The method of claim 10,
the prompting device is a buzzer, and the motor driving device controls the buzzer to give out prompting sound.
12. The method of claim 11,
the buzzer is arranged on the motor driving device or is arranged independently.
13. The method of any one of claims 1 to 11, further comprising:
and when the acquired rotation state of the motor does not meet the preset state requirement, deleting the addressing instruction.
14. A control method of a control apparatus, wherein the control apparatus is communicatively connected to a plurality of motor drive apparatuses for controlling motors communicatively connected thereto, comprising:
broadcasting an addressing instruction to the plurality of motor driving devices, wherein the addressing instruction comprises a target addressing number;
determining whether a feedback signal for sending the addressing instruction by one of the plurality of motor driving devices is acquired, wherein the feedback signal is sent to the control device by the one of the plurality of motor driving devices when the rotation state of the motor is determined to meet the preset state requirement;
and if so, registering the addressing number of the motor driving device as the target addressing number.
15. The method of claim 14, wherein the rotational state of the motor meets a preset state requirement, comprising: the rotation state of the motor indicates that the motor rotates.
16. The method of claim 15, wherein the rotational state of the motor meets a preset state requirement, further comprising: the rotating angle of the motor is larger than or equal to a preset angle threshold value, or the rotating speed of the motor is larger than or equal to a preset rotating speed threshold value.
17. The method of claim 15 or 16, wherein the rotation of the motor is caused by a user applying an external force to the motor, directly or indirectly.
18. The method of 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.
19. The method of claim 18, wherein the implement components include one or more of propellers, wheels, tracks.
20. The method according to any one of claims 14-17, further comprising:
broadcasting an addressing starting instruction to the motor driving devices, wherein the addressing starting instruction is used for indicating the motor driving devices to enter an addressing state;
the determining whether to acquire a feedback signal that one of the plurality of motor driving devices sends the addressing instruction includes:
and after the addressing starting instruction is broadcasted, determining whether a feedback signal for sending the addressing instruction by one of the motor driving devices is acquired.
21. The method of any one of claims 14-20, further comprising:
and if the feedback signal responded by the motor driving equipment is determined not to be received, sending an alarm instruction for controlling an alarm device to send alarm information.
22. The method of any of claims 14-21, wherein after registering the addressing number of the one motor drive device as the destination addressing number, further comprising:
and sending a prompt instruction for controlling the prompt device to send prompt information.
23. The method of claim 22,
the prompting device is a buzzer, and the sending is used for controlling the prompting device to send a prompting instruction of prompting information, and comprises the following steps:
and sending a prompt instruction for controlling the buzzer to send out prompt sound.
24. The method of claim 23,
the buzzer is arranged on the control device or is arranged independently.
25. A motor drive apparatus for controlling a motor communicatively coupled thereto, comprising: a memory and a processor, wherein the processor is capable of,
the memory to store program instructions;
the processor, configured to invoke the program instructions, and when the program instructions are executed, configured to:
acquiring an addressing instruction sent by control equipment, wherein the addressing instruction comprises a target addressing number;
acquiring the rotation state of the motor;
and when the acquired rotation state of the motor meets the requirement of a preset state, sending a feedback signal of the addressing instruction to the control equipment, and recording the target addressing number according to the addressing instruction.
26. The apparatus of claim 25, wherein the rotational state of the motor satisfies a preset state requirement, comprising: the rotation state of the motor indicates that the motor rotates.
27. The apparatus of claim 26, wherein the rotational state of the motor meets a preset state requirement, further comprising: the rotating angle of the motor is larger than or equal to a preset angle threshold value, or the rotating speed of the motor is larger than or equal to a preset rotating speed threshold value.
28. The apparatus of claim 26 or 27, wherein the rotation of the motor is caused by a user applying an external force to the motor, directly or indirectly.
29. The apparatus of claim 28, wherein the motor is configured to drive an actuator, wherein rotation of the motor is caused by a user applying an external force to the motor via the actuator.
30. The apparatus of claim 29, wherein the implement components comprise one or more of propellers, wheels, tracks.
31. The apparatus according to any one of claims 25-30, wherein the processor is further configured to:
acquiring an addressing starting instruction sent by control equipment, and controlling the motor driving equipment to enter an addressing state;
when acquiring the addressing instruction sent by the control device, the processor is specifically configured to:
and after entering the addressing state, acquiring an addressing instruction sent by the control equipment.
32. The apparatus according to any of claims 25-31, wherein the processor, when obtaining the rotational state of the motor, is specifically configured to:
acquiring angle data output by an angle sensor, wherein the angle sensor is used for measuring the rotation angle of the motor;
and determining the rotation state of the motor according to the angle data.
33. The apparatus according to any of claims 25-31, wherein the processor, when obtaining the rotational state of the motor, is specifically configured to:
acquiring an induced electric signal output by an electric signal sensor, wherein the electric signal sensor is used for measuring the induced electric signal generated by the motor;
and determining the rotation state of the motor according to the induction electric signal.
34. The apparatus according to any of claims 25-33, wherein said processor, after recording said destination addressing number, is further configured to:
and sending a prompt instruction for controlling the prompt device to send prompt information.
35. The apparatus of claim 34,
the prompting device is a buzzer, and the motor driving device controls the buzzer to give out prompting sound.
36. The apparatus of claim 35,
the buzzer is arranged on the motor driving device or is arranged independently.
37. The device of any of claims 25 to 36, wherein the processor is further configured to:
and when the acquired rotation state of the motor does not meet the preset state requirement, deleting the addressing instruction.
38. A control apparatus, wherein the control apparatus is communicatively connected to a plurality of motor drive apparatuses for controlling motors communicatively connected thereto, comprising: a memory and a processor, wherein the processor is capable of,
the memory to store program instructions;
the processor, configured to invoke the program instructions, and when the program instructions are executed, configured to:
broadcasting an addressing instruction to the plurality of motor driving devices, wherein the addressing instruction comprises a target addressing number;
determining whether a feedback signal for sending the addressing instruction by one of the plurality of motor driving devices is acquired, wherein the feedback signal is sent to the control device by the one of the plurality of motor driving devices when the rotation state of the motor is determined to meet the preset state requirement;
and if so, registering the addressing number of the motor driving device as the target addressing number.
39. The apparatus of claim 38, wherein the rotational state of the motor satisfies a preset state requirement comprising: the rotation state of the motor indicates that the motor rotates.
40. The apparatus of claim 39, wherein the rotational state of the motor meets a preset state requirement, further comprising: the rotating angle of the motor is larger than or equal to a preset angle threshold value, or the rotating speed of the motor is larger than or equal to a preset rotating speed threshold value.
41. An apparatus according to claim 39 or 40, wherein the rotation of the motor is caused by a user applying an external force to the motor, directly or indirectly.
42. The apparatus of claim 41, wherein the motor is configured to drive an actuator, wherein rotation of the motor is caused by a user applying an external force to the motor via the actuator.
43. The apparatus of claim 42, wherein the implement components comprise one or more of propellers, wheels, tracks.
44. The apparatus of any one of claims 38-41, wherein the processor is further configured to:
broadcasting an addressing starting instruction to the motor driving devices, wherein the addressing starting instruction is used for indicating the motor driving devices to enter an addressing state;
the processor is specifically configured to, when determining whether a feedback signal that one of the plurality of motor drive devices sends the addressing instruction is acquired:
and after the addressing starting instruction is broadcasted, determining whether a feedback signal for sending the addressing instruction by one of the motor driving devices is acquired.
45. The device of any one of claims 38-44, wherein the processor is further configured to:
and if the feedback signal responded by the motor driving equipment is determined not to be received, sending an alarm instruction for controlling an alarm device to send alarm information.
46. The device of any of claims 38-45, wherein after registering the addressing number of the one motor drive device as the destination addressing number, the processor is further configured to:
and sending a prompt instruction for controlling the prompt device to send prompt information.
47. The apparatus of claim 46,
the prompting device is a buzzer, and when the processor sends a prompting instruction for controlling the prompting device to send out prompting information, the processor is specifically configured to:
and sending a prompt instruction for controlling the buzzer to send out prompt sound.
48. The apparatus of claim 47,
the buzzer is arranged on the control device or is arranged independently.
49. A movable platform, comprising: a plurality of motor drive devices and a control device, the plurality of motor drive devices and the control device being connected by a bus,
the control equipment is used for broadcasting an addressing instruction to the plurality of motor driving equipment, wherein the addressing instruction comprises a target addressing number;
the motor driving device is used for acquiring an addressing instruction sent by the control device, acquiring the rotation state of the motor, sending a feedback signal of the addressing instruction to the control device when the acquired rotation state of the motor meets the requirement of a preset state, and recording the target addressing number according to the addressing instruction;
and the control device is used for registering the addressing number of one motor driving device as the target addressing number if the feedback signal of the addressing instruction sent by one motor driving device in the plurality of motor driving devices is determined to be acquired.
50. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 24.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/124346 WO2020133060A1 (en) | 2018-12-27 | 2018-12-27 | Control method, motor driving apparatus, control apparatus, and movable platform |
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| CN111226177A true CN111226177A (en) | 2020-06-02 |
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| CN201880065573.9A Pending CN111226177A (en) | 2018-12-27 | 2018-12-27 | Control method, motor driving device, control device and movable platform |
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| Country | Link |
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| CN (1) | CN111226177A (en) |
| WO (1) | WO2020133060A1 (en) |
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| WO2020133060A1 (en) | 2020-07-02 |
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