CN114765431B - Self-walking equipment and control method thereof - Google Patents
Self-walking equipment and control method thereof Download PDFInfo
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- CN114765431B CN114765431B CN202011630174.8A CN202011630174A CN114765431B CN 114765431 B CN114765431 B CN 114765431B CN 202011630174 A CN202011630174 A CN 202011630174A CN 114765431 B CN114765431 B CN 114765431B
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000005855 radiation Effects 0.000 abstract description 5
- 230000008054 signal transmission Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000001514 detection method Methods 0.000 description 6
- 239000003990 capacitor Substances 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000002093 peripheral effect Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010891 electric arc Methods 0.000 description 1
- 230000005670 electromagnetic radiation Effects 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/02—Details
- H02P1/04—Means for controlling progress of starting sequence in dependence upon time or upon current, speed, or other motor parameter
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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
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/08—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor
- H02P3/14—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor by regenerative braking
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/24—Arrangements for stopping
Abstract
The invention discloses self-walking equipment and a control method thereof, wherein the equipment comprises a motor; the battery pack provides a power supply; a switching circuit outputting a power-on signal or a power-off signal; the first switch device is used for controlling the power-on state of the motor; the second switch device is used for driving the motor to rotate; a controller electrically connected to at least the first switching device, the switching circuit, and the second switching device; the controller is configured to: when a starting signal is detected, the first switching device and the second switching device are controlled to control the motor to rotate in a first working mode; when the shutdown signal is detected, the first switching device and the second switching device are controlled to control the motor to rotate in a second working mode. The invention can provide the self-walking equipment which meets the radiation requirement at the handle and has stable startup and shutdown performance.
Description
Technical Field
The invention relates to the technical field of electric tools, in particular to self-walking equipment and a control method thereof.
Background
For convenience of operation, a high-current switch, i.e., a mechanical switch, of the self-walking device is generally provided on a handle of the self-walking device. However, the high current switch has larger electron radiation, which can cause the electron radiation amount at the handle to exceed the standard.
Disclosure of Invention
In order to solve the defects in the prior art, the invention aims to provide self-walking equipment which meets the radiation requirement at a handle and has stable startup and shutdown performance.
In order to achieve the above object, the present invention adopts the following technical scheme:
a self-walking device comprising: a motor; a switching circuit outputting a power-on signal or a power-off signal; the battery pack provides a power supply; the first switching device is used for controlling the power-on state of the motor; the second switch device is used for driving the motor to rotate; a controller electrically connected to at least the first switching device, the switching circuit, and the second switching device; the controller is configured to: when the starting signal is detected, the first switching device and the second switching device are controlled to control the motor to rotate in a first working mode; and when the shutdown signal is detected, controlling the first switching device and the second switching device to control the motor to rotate in a second working mode.
Further, the controller is configured to: when the starting signal is detected, the first switching device is controlled to be closed, the second switching device is controlled to be conducted after a first preset time, and the battery pack at least forms a first conducting loop with the first switching device, the motor and the second switching device; when the shutdown signal is detected, the second switching device is controlled to be disconnected, the first switching device is controlled to be disconnected, the second switching device is controlled to be conducted after a second preset time, and the motor at least forms a second conduction loop with the first switching device, the battery pack and the second switching device.
Further, the first switching device includes a relay.
Further, under the first conduction loop, the battery pack outputs power supply electric energy to supply power for the motor; and under the second conduction loop, the motor outputs generated electric energy to charge the battery pack.
Further, the second preset time period is greater than or equal to zero and less than or equal to the first preset time period.
Further, the power-on signal or the power-off signal output by the switching circuit is transmitted to the controller in a bus communication mode.
Further, the self-walking device further includes: and the driving circuit is connected between the controller and the second switching device to control the conduction state and the conduction frequency of the second switching device.
A control method of a self-walking device, the self-walking device comprising a motor; a switching circuit for outputting a power-on signal or a power-off signal; a battery pack for providing a power supply; the first switching device is used for controlling the power-on state of the motor; a second switching device driving the motor to rotate; a controller electrically connected to at least the first switching device, the switching circuit, and the second switching device; the control method comprises the following steps: when the starting signal is detected, the first switching device and the second switching device are controlled to control the motor to rotate in a first working mode; and when the shutdown signal is detected, controlling the first switching device and the second switching device to control the motor to rotate in a second working mode.
Further, the method further comprises: when the starting signal is detected, the first switching device is controlled to be closed, the second switching device is controlled to be conducted after a first preset time, and the battery pack at least forms a first conducting loop with the first switching device, the motor and the second switching device; when the shutdown signal is detected, the second switching device is controlled to be disconnected, the first switching device is controlled to be disconnected, the second switching device is controlled to be conducted after a second preset time, and the motor at least forms a second conduction loop with the first switching device, the battery pack and the second switching device.
Further, the first switching device includes a relay.
The invention has the advantages that: a self-walking device capable of satisfying radiation requirements at a handle and having stable on-off performance is provided.
Drawings
FIG. 1 is a schematic view of a mower as an embodiment;
FIG. 2 is a circuit block diagram of a mower as one embodiment;
FIG. 3 is a circuit diagram of a switching circuit in a lawnmower as one embodiment;
FIG. 4 is a circuit diagram of bus communication in a lawnmower as one embodiment;
FIG. 5 is a control circuit diagram of a mower relay as one embodiment;
FIG. 6 is a circuit diagram of a drive circuit in a mower as one embodiment;
FIG. 7 is a flow chart of a method for mower control, as one embodiment;
fig. 8 is a flowchart of a method for mower control as an embodiment.
Detailed Description
The invention is described in detail below with reference to the drawings and the specific embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
It should be noted that the self-walking device in the present invention may include a device capable of walking through manipulation, such as an automatic cleaning device, an automatic irrigation device, and an automatic snowplow. A mower is described as an example in this application.
Referring to the block diagram of the mower shown in fig. 1, the mower 100 includes a main body 101, a battery pack 102, a handle 103, a self-propelled operation switch 104, a driving wheel 105, and a cutting attachment 106. The battery pack 102 may be configured with a set of battery cells as a power supply, for example, the battery cells may be connected in series to form a single power branch, so as to form a 1P battery pack. The handle 103 allows a user to operate the mower. The self-propelled operation switch 104 may be a handle switch as shown in fig. 1, a push-button switch, or other type of electronic switch. When the user presses the self-walking operation switch 104, the self-walking device enters a driving state, and releases the self-walking operation switch 104 to enter a braking state. The driving wheel 105 is driven by the motor to walk and drive the travelling wheel to walk. Wherein the drive wheel 105 and the cutting accessory 106, such as a cutting blade, may be driven by the same motor or by different motors.
Referring to the circuit block diagram of the mower shown in fig. 2, it may include a motor 201, a switching circuit 202, a battery pack 203, a first switching device 204, a controller 205, a booster circuit 206, a driving circuit 207, a power conversion module 208, an inductance element L, a second switching device Q1, a protection capacitor C1, and a diode D1.
In this embodiment, the motor 201 is a dc brushless motor having a positive electrode port m+ and a negative electrode port M-.
In one embodiment, the switch circuit 202, as shown in fig. 3, at least includes a pull-up resistor R1, a voltage dividing resistor R2, a signal output terminal SW, a protection capacitor C, a diode D0, and the self-propelled operation switch 104. Specifically, when the self-propelled operation switch 104 is pressed to be closed, the voltage at the node n is low, the signal output terminal SW outputs the low-level digital signal 0, and when the self-propelled operation switch 104 is opened, the voltage at the node n is high, and the signal output terminal SW outputs the high-level digital signal 1. In general, the switch circuit 202 outputs a low level signal 0 representing a power-on signal, i.e., the device enters a driving state, and outputs a high level signal 1 representing a power-off signal, i.e., the device enters a braking state. Optionally, the switch circuit 202 shown in fig. 3 further includes a signal transmission control chip U3, where one pin of the signal transmission control chip U3 is connected to the signal output terminal SW to receive the switch signal, and one pin BUSY is used as a status detection pin to determine whether the signal transmission bus is idle. It will be appreciated that the signal transmission control chip U3 transmits the switch signal to the controller 205 only when detecting that the bus is in the idle state, otherwise does not transmit the switch signal.
In one embodiment, the switching signal output by the switching circuit 202 may be communicated to the controller via a bus. The bus communication circuit shown in fig. 4 mainly includes 1 to 6 interfaces of six communication lines L1 to L6 corresponding to the signal output port J2, a switch chip U2, and a bus state detection circuit 209. The switching signal is transmitted to the switching chip U2 based on the input terminal TXD, and is output through pins a and B thereof after being processed by the chip U2. In the communication line, an L6 access power supply, an L3 grounding, an L1 as a wake-up line, an L2 as a bus state detection line and L4 and L5 as switch signal receiving lines are connected with output pins A and B of a switch chip U2. The bus state detection circuit 209 at least includes switching elements Q11 and Q12, a first pull-up resistor R25 and a second pull-up resistor R16, R25 and Q11 are connected in series, R16 and Q12 are connected in series, and a bus state output interface BUSY that transmits the state of the current bus to a signal transmission control chip U3 in the switching circuit. Other voltage dividing resistors and the like are not described one by one on the basis of not influencing understanding of the bus state detection circuit. Specifically, when the enable terminal t_en is at a high level, Q11 is turned on, Q12 is turned off, and the node 12 is at a high voltage, so that the output interface BUSY outputs the data signal 1 representing the high level; when the enable terminal t_en is low, Q11 is not turned on, Q12 is turned on, and the node 12 is low, so that the output interface BUSY outputs the data signal 0 representing the low level. When BUSY outputs high level, the bus is in BUSY state, and when BUSY outputs low level, the bus is in idle state. It is understood that the on-off signal from the signal transmission control chip U3 is transmitted to the controller 205 via the switching chip U2 and the bus and the signal output port J2 when the bus is not in the idle state. Accordingly, there is also a receiving port (not shown) in the controller 205 corresponding to the signal output port J2.
It should be noted that, the present application only exemplifies the chip pins and the peripheral circuits thereof, and should not be limited to the given example circuits. Any other circuit connection capable of achieving the above functions is within the scope of the present application.
In the embodiment of the present application, the first switching device 204 may be a relay or other types of controllable electronic components, such as a transistor, a triode, a MOSFET, an analog switch, a solid state relay, and the like. The second switching device Q1 may be a drive switch such as a controllable semiconductor power device (e.g., FET, BJT, IGBT, etc.) or any other type of solid state switch such as Insulated Gate Bipolar Transistor (IGBT), bipolar Junction Transistor (BJT), etc.
The relay control circuit shown in fig. 5 includes a relay 204, a controller 205, and a relay control module 210, wherein the relay 204 includes five pins, specifically contacts 1,4,5, and outputs 2 and 3 of the core. The contacts 1,4 and 5 of the relay correspond to the external contact COM, NO, NC respectively, a voltage dividing diode D20 is connected in parallel between the output ends 2 and 3 of the iron core, the anode of the diode D20 is connected with the switching element Q18, and the base electrode of the Q18 is connected with the voltage dividing resistors R15 and R16. The input end of the voltage dividing resistor R15 is connected with the controller 205 to receive a control signal which is output by the controller and controls the actuation state of the relay. Specifically, when the iron core of the relay is not electrified, the contacts 1 and 5 are in a connection state; only when the iron core is electrified, the pins are attracted by 1 and 4, and the relay is conducted. Thus, when the switching element Q18 is turned on, the 2,3 pins are energized, i.e., the iron core is energized, the contacts 1 and 4 are engaged, i.e., the contacts COM and NO are turned on, and the relay 204 is in the on state; when the switching element Q18 is turned off, the 2 and 3 pins are not energized, and when the contact COM is connected to NC, the relay 204 is turned off. The controller 205 can thus control the on state of the switching element Q18 according to the on-off signal output from the switching circuit 202, thereby controlling the connection state of the relay contacts. Specifically, when the controller 205 detects a start-up signal, the controller controls the conduction of the Q18 to enable the contacts COM and NO of the relay to be attracted; the controller 205 controls Q18 to open to connect the relay contact COM to NC upon detection of the shutdown signal.
The boost circuit 206 includes a switching element Q2, a capacitor C2, and a diode D2 to boost the electric energy output from the battery pack and supply power to the motor.
The driving circuit 207, as shown in fig. 6, includes a driving chip U4 and a peripheral circuit of the driving chip, which can boost a driving signal outputted from the controller 205 to control the on state and the on frequency of the second switching device Q1, thereby controlling the rotation speed of the motor 201. For example, the PWM control signal output by the controller 205 is enhanced by the driving chip U4 and then outputs pwm_gate to drive the on frequency and the on state of the second switching device Q1. The peripheral circuits of the driving chip U4 are not described in detail on the basis of not influencing understanding of the driving circuit 207.
The power conversion module 208 may convert the battery pack power into power for the switching circuit 202.
In a specific implementation, in the circuit shown in fig. 2, the positive pole m+ of the motor is connected to the COM contact of the relay 204, and the negative pole M "of the motor is connected to the drain of the second switching device Q1. The controller 205 is electrically connected to at least the switching circuit 202, the relay 204, and the second switching device Q1, and the controller 205 may acquire the switching signal output from the switching circuit 202 and determine the operating state, such as the driving state or the braking state, of the apparatus according to the switching signal. Further, under different working conditions, the controller 205 may control the relay 204 and the second switching device Q1 to control the motor to rotate in different working modes. Specifically, in the driving state, the controller 205 may control the relay 204 and the second switching device Q1 to control the motor to rotate in the first operation mode; in the braking state, the control relay 204 and the second switching device Q1 control the motor to rotate in the second operation mode. The operation modes of the relay 204 and the second switching device Q1 mainly refer to the operation modes formed by the combination of different conduction sequences and conduction states of the relay 204 and the second switching device Q1. The first operation mode refers to an operation mode in which the relay 204 is turned on in advance and the second switching device Q1 is turned on after a first preset time. The second operation mode refers to an operation mode in which the second switching device Q1 is turned off first, the relay 204 is turned off immediately, and the second switching device Q1 is turned on after a second preset period of time. In particular, the second preset time period is greater than or equal to zero and less than or equal to the first preset time period.
In this application, the process of controlling the motor to rotate by the controller 205 according to the detected switching signal is as follows:
and controlling the motor to rotate in a driving state: when the self-propelled operation switch 104 is pressed, the switch circuit 202 outputs a low-level data signal 0 to represent a start-up signal, and when the signal transmission control chip U3 in the switch circuit 202 detects that the bus is idle, the start-up signal is output to the controller 205 in a bus communication mode; the controller 205 turns on the switching element Q18 in the relay control circuit so that the contacts COM and NO of the relay 204 are connected, and controls the second switching device Q1 to be turned on after a first preset period of time. The battery pack 203, the relay 204, the motor 201 and the second switching device Q1 form a first conduction loop LD, the battery pack 203 outputs power supply energy to supply power to the motor, the direction of power supply current is shown by an arrow in fig. 2, and the motor starts to rotate so as to drive the equipment to walk. It is understood that the battery pack 203 and the protection capacitor C1 constitute a charging circuit LC1 (not shown) to charge the protection capacitor C1.
And controlling the motor to rotate in a braking state: when the self-propelled operation switch 104 is released and the switch circuit 202 outputs a high-level data signal 1 to represent a shutdown signal, the signal transmission control chip U3 in the switch circuit 202 outputs the shutdown signal to the controller 205 in a bus communication mode when detecting that the bus is idle; the controller 205 controls the second switching device Q1 to be turned off, and controls the switching element Q18 in the relay control circuit to be turned off, so that the contacts COM and NC of the relay 204 are connected. Next, the controller 205 controls the second switching device Q1 to be turned on again, so that the motor 201 forms a second conductive loop LC2 with at least the second switching device Q1, the inductance element L, the diode D1, and the battery pack 203, and the motor 201 outputs generated power to charge the battery pack 203. That is, in the second conduction loop LC2, the motor corresponds to a generator before the motor speed drops to zero, and energy generated by the rotation can be recovered to the battery pack, that is, a charging current is output from the motor to charge the battery pack. Therefore, in the motor braking process, partial energy recovery is realized, and the output electric energy of the battery pack is saved.
In one embodiment, the controller 205 may control the relay 204 to be turned off immediately after controlling the second switching device Q1 to be turned off or to be turned off after a third preset period of time. Wherein the third preset time period is greater than or equal to 0 and less than or equal to the first preset time period.
In the embodiment, the relay and the driving switch are controlled to rotate at different conduction sequences and conduction time intervals, so that the relay is switched in a conduction state under the condition that no current exists in a circuit, arc discharge damage of the relay caused by high current is avoided, the relay is disabled, and the mower has stable startup and shutdown performance; meanwhile, the problem that electromagnetic radiation exceeds standard caused by adopting a high-current mechanical switch to control the motor is avoided.
In this application, any operation mode that is different from the first operation mode and the second operation mode and that enables the relay 204 to switch in the no-current state is within the scope of protection of the present application.
A method of controlling a motor in a lawnmower will be described with reference to fig. 7, the method comprising the steps of:
s101, acquiring a starting signal or a shutdown signal.
S102, when a starting signal is detected, the first switching device and the second switching device are controlled to control the motor to rotate in a first working mode.
And S103, when a shutdown signal is detected, controlling the first switching device and the second switching device to control the motor to rotate in a second working mode.
In one embodiment, another control method for the motor in the mower is shown in fig. 8, and the specific steps are as follows:
s201, acquiring a startup signal or a shutdown signal.
S202, when a starting signal is detected, the first switching device is controlled to be closed, and after a first preset time, the second switching device is controlled to be turned on.
And S203, when the shutdown signal is detected, the second switching device is controlled to be turned off, the first switching device is controlled to be turned off, and the second switching device is controlled to be turned on after a second preset time.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (8)
1. A self-walking device comprising:
a motor;
the battery pack provides a power supply;
the switching circuit is used for outputting a starting signal or a shutdown signal;
the first switching device is used for controlling the power-on state of the motor;
the second switch device is used for driving the motor to rotate;
a controller electrically connected to at least the first switching device, the switching circuit, and the second switching device;
the controller is configured to:
when the starting signal is detected, the first switching device and the second switching device are controlled to control the motor to rotate in a first working mode;
when the shutdown signal is detected, the first switching device and the second switching device are controlled to control the motor to rotate in a second working mode;
the first switching device includes a relay;
the second operation mode refers to an operation mode that the second switching device is turned off first, the relay is turned off immediately, and the second switching device is turned on after a second preset period of time.
2. The self-walking device of claim 1, wherein the device comprises a plurality of sensors,
the controller is configured to:
when the starting signal is detected, the first switching device is controlled to be closed, the second switching device is controlled to be conducted after a first preset time, and the battery pack at least forms a first conducting loop with the first switching device, the motor and the second switching device;
when the shutdown signal is detected, the second switching device is controlled to be disconnected, the first switching device is controlled to be disconnected, the second switching device is controlled to be conducted after a second preset time, and the motor at least forms a second conduction loop with the first switching device, the battery pack and the second switching device.
3. A self-walking device according to claim 2, wherein the device comprises a base,
under the first conduction loop, the battery pack outputs power supply electric energy to supply power for the motor;
and under the second conduction loop, the motor outputs generated electric energy to charge the battery pack.
4. A self-walking device according to claim 2, wherein the device comprises a base,
the second preset time period is greater than or equal to zero and less than or equal to the first preset time period.
5. The self-walking device of claim 1, wherein the device comprises a plurality of sensors,
and a starting signal or a shutdown signal output by the switching circuit is transmitted to the controller in a bus communication mode.
6. The self-walking device of claim 1, wherein the device comprises a plurality of sensors,
further comprises:
and the driving circuit is connected between the controller and the second switching device to control the conduction state and the conduction frequency of the second switching device.
7. A control method of a self-walking device, the self-walking device comprising a motor; a switching circuit for outputting a power-on signal or a power-off signal; a battery pack for providing a power supply; the first switching device is used for controlling the power-on state of the motor; a second switching device driving the motor to rotate; a controller electrically connected to at least the first switching device, the switching circuit, and the second switching device; the control method comprises the following steps:
when the starting signal is detected, the first switching device and the second switching device are controlled to control the motor to rotate in a first working mode;
when the shutdown signal is detected, the first switching device and the second switching device are controlled to control the motor to rotate in a second working mode;
the first switching device includes a relay;
the second operation mode refers to an operation mode that the second switching device is turned off first, the relay is turned off immediately, and the second switching device is turned on after a second preset period of time.
8. The method of claim 7, wherein the method further comprises:
when the starting signal is detected, the first switching device is controlled to be closed, the second switching device is controlled to be conducted after a first preset time, and the battery pack at least forms a first conducting loop with the first switching device, the motor and the second switching device;
when the shutdown signal is detected, the second switching device is controlled to be disconnected, the first switching device is controlled to be disconnected, the second switching device is controlled to be conducted after a second preset time, and the motor at least forms a second conduction loop with the first switching device, the battery pack and the second switching device.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011630174.8A CN114765431B (en) | 2020-12-30 | 2020-12-30 | Self-walking equipment and control method thereof |
| EP21913582.9A EP4236060A1 (en) | 2020-12-30 | 2021-11-19 | Electric tool and control method therefor |
| PCT/CN2021/131632 WO2022142840A1 (en) | 2020-12-30 | 2021-11-19 | Electric tool and control method therefor |
| US18/318,241 US20230283220A1 (en) | 2020-12-30 | 2023-05-16 | Power tool and control method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011630174.8A CN114765431B (en) | 2020-12-30 | 2020-12-30 | Self-walking equipment and control method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN114765431A CN114765431A (en) | 2022-07-19 |
| CN114765431B true CN114765431B (en) | 2024-03-15 |
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| CN117616972A (en) * | 2022-08-31 | 2024-03-01 | 苏州宝时得电动工具有限公司 | Electric tool |
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