CN114946118A

CN114946118A - Motor starting method and device, storage medium and electronic equipment

Info

Publication number: CN114946118A
Application number: CN202080005489.5A
Authority: CN
Inventors: 李一鹏
Original assignee: Suteng Innovation Technology Co Ltd
Current assignee: Suteng Innovation Technology Co Ltd
Priority date: 2020-12-11
Filing date: 2020-12-11
Publication date: 2022-08-26
Also published as: WO2022120779A1

Abstract

When the situation that the motor (11) cannot be normally started at a low temperature is monitored, a coil of the motor (11) is heated, heat generated by the coil of the motor (11) can be quickly transferred to each part of the motor (11), each part of the motor (11) is enabled to be recovered to a temperature capable of being normally started, and meanwhile, heat generated by the coil is transferred to a rotating shaft of the motor (11) to melt lubricating oil solidified at the rotating shaft due to the low temperature. The motor starting device heats the motor by utilizing the heat generated by the coil of the motor without utilizing an external heating part, so that the hardware design cost can be reduced, and the structure of the motor is more compact.

Description

Motor starting method and device, storage medium and electronic equipment

Technical Field

The present disclosure relates to the field of motor control, and in particular, to a motor starting method and apparatus, a storage medium, and an electronic device.

Background

The motor just can normally work in suitable temperature range, can start more easily under the higher temperature at normal atmospheric temperature usually, under the low temperature condition, because expend with heat and contract with cold's effect, lead to the increase of frictional resistance between each spare part in the motor, lubricating oil in the motor also can solidify simultaneously, leads to the motor unable normal.

Disclosure of Invention

The technical problem to be solved in the embodiments of the present application is to provide a motor starting method, device, storage medium, and electronic device, so as to implement normal starting of a motor in a low temperature environment.

In a first aspect, the present application provides a motor starting method, including:

sending a starting signal to the motor; the starting signal is used for indicating the motor to start in a normal rotation mode;

when the motor is monitored to be not rotated by the rotating speed sensor, the ambient temperature is measured by the temperature sensor;

when the ambient temperature is lower than a temperature threshold value, controlling the motor to be switched from a normal rotation mode to a heating mode; wherein, the coil of the motor is in a heating state in the heating mode;

when the motor runs for a first preset time length in a heating mode, controlling the motor to be switched from the heating mode to a normal rotation mode;

and when the motor is monitored to be restored to normal rotation through the rotation speed sensor, the motor is controlled to keep a normal rotation mode, and the starting process of the motor is completed.

In a second aspect, the present application provides a motor starting method, including:

when the motor is monitored to be not rotated within a preset starting time period through a rotating speed sensor, measuring the ambient temperature through a temperature sensor;

when the ambient temperature is lower than a temperature threshold value, controlling the motor to be switched from a normal rotation mode to a forward and reverse rotation mode;

after the motor runs for a first preset time length in a forward and reverse rotation mode, controlling the motor to be switched from the forward and reverse rotation mode to a normal rotation mode;

and when the rotation speed sensor monitors that the motor recovers to normal rotation, the motor is controlled to keep a normal rotation mode, and the starting process of the motor is completed.

In a third aspect, the present application provides a motor starting method, including:

when the rotating speed of the motor is monitored to be smaller than a rotating speed threshold value within a preset starting time through a rotating speed sensor, measuring the ambient temperature through a temperature sensor;

when the ambient temperature is lower than a temperature threshold value, controlling the motor to be switched from a normal rotation mode to a low-speed high-torque mode;

when the rotating speed of the motor is monitored to reach the rotating speed corresponding to the low-speed high-torque mode through the rotating speed sensor, the motor is switched from the low-speed high-torque mode to the normal rotating mode;

In a fourth aspect, the present application provides a starting apparatus of a motor, including:

the transmitting unit is used for transmitting a starting signal to the motor; the starting signal is used for indicating the motor to start in a normal rotation mode;

the measuring unit is used for measuring the ambient temperature through the temperature sensor when the rotation speed sensor monitors that the motor does not rotate within a preset starting time;

the switching unit is used for controlling the motor to be switched from a normal rotation mode to a heating mode when the ambient temperature is smaller than a temperature threshold value; wherein, the coil of the motor is in a heating state in the heating mode;

and the maintaining unit is used for controlling the motor to maintain a normal rotation mode when the rotation speed sensor monitors that the motor recovers to normal rotation, so as to complete the starting process of the motor.

In a fifth aspect, the present application provides a starting apparatus for a motor, comprising:

the measuring unit is used for measuring the ambient temperature through the temperature sensor when the rotation speed sensor monitors that the motor does not rotate within a preset time;

the switching unit is used for controlling the motor to be switched from a normal rotation mode to a forward and reverse rotation mode when the ambient temperature is smaller than a temperature threshold value;

and the maintaining unit is used for controlling the motor to maintain a normal rotation mode when the rotation speed sensor monitors that the motor recovers to normally rotate, so as to finish the starting process of the motor.

In a sixth aspect, the present application provides a starting apparatus for an electric motor, comprising:

the measuring unit is used for measuring the ambient temperature through the temperature sensor when the rotating speed of the motor within the preset starting time is monitored to be smaller than the rotating speed threshold value through the rotating speed sensor;

the switching unit is used for controlling the motor to be switched from a normal rotation mode to a low-speed high-torque mode when the ambient temperature is smaller than a temperature threshold value;

In a seventh aspect, the present application proposes a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method according to the first to third aspects.

In an eighth aspect, the present application proposes a motor starting apparatus comprising a processor and a memory for storing computer programs or instructions, the processor being configured to execute the computer programs or instructions in the memory to implement the method according to the first to third aspects.

In a ninth aspect, an electronic device is characterized by comprising any one of the above motor starting devices, a rotation speed sensor, a temperature sensor and a motor. The electronic device may be a lidar.

In the embodiment of the application, when the situation that the motor cannot be normally started at a low temperature is monitored, the motor is controlled to heat the coil or start the motor in an abnormal rotation mode, so that the motor can break through the static friction force of the rotating shaft more easily, and the motor can restore to normally rotate. In addition, this application utilizes the current hardware structure of motor to adjust the starting mode of motor, need not additionally increase other parts, can reduce hardware design cost, makes the structure of motor more compact.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments or the background art of the present application, the drawings required to be used in the embodiments or the background art of the present application will be described below.

Fig. 1A is a schematic architecture diagram of an electronic device according to an embodiment of the present application;

fig. 1B is a cross-sectional view of a motor provided in an embodiment of the present application;

fig. 1C is an exploded view of a motor provided by an embodiment of the present application;

fig. 2 is a schematic flow chart of a motor starting method according to an embodiment of the present application;

fig. 3 is another schematic flow chart of a motor starting method according to an embodiment of the present disclosure;

fig. 4 is another schematic flow chart of a motor starting method according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of a motor starting device according to an embodiment of the present application;

fig. 6 is another schematic structural diagram of a motor starting device according to an embodiment of the present application.

Detailed Description

In order to make the objects, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the 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 application.

When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the application, as detailed in the appended claims.

In the description of the present application, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The specific meaning of the above terms in this application will be understood to be a specific case for those of ordinary skill in the art.

Referring to fig. 1A, a schematic structural diagram of an electronic device provided in an embodiment of the present application is shown, where the electronic device includes: motor starting device 10, motor 11, rotational speed sensor 12 and temperature sensor 11. The rotation speed sensor 12 is used for measuring the angular speed of the motor 11, the temperature sensor 13 is used for measuring the ambient temperature of the motor operation, the motor 11 rotates under the control of the motor control device 10, and the type of the motor is not limited in the embodiments of the present application, for example: the motor 11 may be a brushless motor, and referring to a sectional view of the brushless motor of fig. 1B and an exploded view of fig. 1C, the motor 11 includes: the stator or the rotor is provided with a coil.

The motor starting device 10, the rotation speed sensor 12 and the temperature sensor 13 may be disposed inside the motor 11, or may be disposed outside the motor 11, and the embodiment of the present application is not limited.

Referring to fig. 2, fig. 2 is a schematic flow chart of a motor starting method according to an embodiment of the present application, where the method includes, but is not limited to, the following steps:

s201, sending a starting signal to the motor.

The motor starting device can be arranged in the motor and integrated with the motor, so that the compactness of the equipment is enhanced; or the motor starting device is independently arranged outside the motor so as to improve the heat radiation performance of the motor. The start signal is used to instruct the motor to start in a normal rotation mode in which the motor has nominal operating parameters, such as: the operating parameters include: output power, rotational speed, torque, etc. And the motor starts power-on operation after receiving the starting signal, and then starts according to the running parameters corresponding to the normal rotation mode.

S202, when the motor is monitored to be not rotated within a preset starting time period through a rotating speed sensor, measuring the ambient temperature through a temperature sensor.

The rotating speed sensor is used for measuring the angular speed of the motor, the rotating speed sensor can be arranged inside the motor and also arranged outside the motor, and the application is not limited. The motor starting device can measure the rotating speed of the motor within a certain length of time interval by taking the moment of sending the starting signal as the starting moment, and if the rotating speed of the motor within the time interval is zero, the motor is determined not to rotate. The utility model provides a revolution speed sensor can be photoelectric encoder, photoelectric encoder's type divide into transmission type and reflection-type again, to transmission type photoelectric encoder, be provided with the grating dish in the pivot of motor, be provided with a plurality of gaps on the grating dish, the both sides of grating dish are provided with light source and photoelectric receiver respectively, the pivot of motor is rotating the in-process synchronous dynamic grating dish and is rotated, the light signal transmission of light source transmission is detected by photoelectric receiver in the gap on the grating dish, photoelectric receiver converts the light signal who detects into the signal of telecommunication, then calculate the angular velocity of motor according to the attribute information of the signal of telecommunication. The reflective photoelectric encoder is different in that a plurality of reflective strips are disposed on a grating disk, a light source and a photoelectric receiver are disposed on the same side of the grating disk, a light signal emitted from the light source is detected by the photoelectric receiver through reflection of the reflective strips, the photoelectric receiver converts the detected light signal into an electrical signal, and an angular velocity of a motor is calculated based on attribute information of the electrical signal. The principle of measuring the rotation speed of the motor is described above by taking the photoelectric encoder as an example, and other manners may be adopted to measure the rotation speed of the motor in specific implementation.

The preset starting time may be the time for sending the starting signal as the starting time, and the size of the preset starting time may be determined according to the actual requirement, for example: the preset starting time is 1s, and the non-rotation indicates that the rotation speed of the motor is zero, for example: when it is determined that the motor is not rotating within 1s, the ambient temperature is measured by a temperature sensor, which may be provided inside the motor, for example: the temperature sensor is arranged near a coil or a rotating shaft of the motor, so that the environment temperature where the motor is located can be measured accurately.

And S203, when the ambient temperature is less than the temperature threshold value, controlling the motor to be switched from the normal rotation mode to the heating mode.

Wherein, motor starting drive prestore has the temperature threshold value, and the temperature threshold value can be decided according to actual demand, and the unable problem of starting of motor under this application for solving low temperature environment, therefore this temperature threshold value is relevant with the freezing temperature of the lubricating oil that the motor used. For example: assuming that the motor uses a lubricating oil with a freezing temperature of-10 degrees celsius, the temperature threshold may be set to-10 degrees celsius. When the environmental temperature is lower than the temperature threshold, the reason that the motor cannot be started is caused by low temperature, the motor is controlled to be switched from a normal rotation mode to a heating mode, the motor keeps a static state in the heating mode, a coil of the motor is in a heating state, and heat generated by the coil of the motor is conducted to a rotating shaft of the motor to melt lubricating oil solidified on the rotating shaft due to low temperature when the coil of the motor is in the heating state. This application utilizes the coil production heat of motor to heat the motor, need not utilize outside heater block to heat, can reduce design cost, makes the structure of motor more compact. The voltage/current carried by the coil in the heating mode is greater than the voltage/current carried by the coil in the normal rotation mode to more efficiently heat the coil.

Optionally, in the heating mode, the motor starting device may transmit a high-frequency voltage signal to the coil of the motor, where the high-frequency voltage signal is an alternating-current voltage signal, and the coil may be heated quickly, so as to further shorten the starting time of the motor.

In one or more embodiments, when the ambient temperature is not less than the temperature threshold, it indicates that the reason why the motor cannot be normally started may not be that the temperature is too low, and the motor starting device sends an alarm prompt, which may be an audible and visual alarm, to prompt a user to maintain the motor.

S204, when the motor runs for a first preset time in a heating mode, controlling the motor to be switched from the heating mode to a normal rotation mode.

The motor starting device is pre-stored or pre-configured with a first preset time length, the size of the first preset time length can be determined according to actual requirements, the application is not limited, and the setting of the first preset time length ensures that the motor can recover to normally rotate after being heated for the first time as far as possible. Optionally, the size of the first preset duration and the size of the ambient temperature are in negative correlation, that is, the lower the ambient temperature is, the larger the first preset duration is, and the higher the ambient temperature is, the shorter the first preset duration is. And after the motor operates for a first preset time in the heating mode, controlling the motor to be switched from the heating mode to the normal rotation mode.

Optionally, the first preset time period may be related to a preset target temperature according to a current temperature of a rotating shaft of the motor, the temperature sensor is controlled to monitor the temperature of the rotating shaft of the motor in real time when the motor enters the heating mode, when the temperature of the rotating shaft of the motor reaches the target temperature, the heating of the motor is stopped, and the heating mode of the motor is controlled to be switched to the normal rotation mode.

For example: monitoring the current temperature of a rotating shaft of the motor to be minus 20 ℃ and the target temperature to be 15 ℃ through a temperature sensor, then controlling the motor to enter a heating mode, monitoring the temperature of the rotating shaft of the motor in real time through the temperature sensor in the heating process of the motor, stopping heating when the temperature reaches 15 ℃, controlling the motor to be switched from the heating mode to a normal rotation mode, and setting the time length of the temperature of the rotating shaft of the motor from minus 20 ℃ to 15 ℃ as a first preset time length.

S205, when the rotation speed sensor monitors that the motor recovers to rotate normally, the motor is controlled to keep a normal rotation mode, and the starting process of the motor is completed.

The motor starting device measures the angular speed of the motor through the rotating speed sensor, determines that the motor returns to normal rotation when the angular speed of the motor reaches the angular speed in the normal rotation mode, and then controls the motor to keep the normal rotation mode, so that the starting process of the motor is completed.

In one or more embodiments, further comprising:

and when the rotation speed sensor monitors that the motor does not return to normal rotation, the motor is controlled to be switched from a normal rotation mode to a heating mode, and the motor is operated for the second preset time in the heating mode.

And if the motor does not return to the normal mode after the motor is heated for the first time, the motor continues to be heated, and the heating time for each time is increased relative to the last time. For example: the first preset time is 1s, and the second preset time is 2 s. When the motor starting device monitors that the angular speed of the motor does not reach the angular speed corresponding to the normal rotation mode through the rotating speed sensor, the motor is determined not to restore normal rotation, then the heating mode is switched again, the heating time is increased relative to the last heating so as to increase the probability of normal motor starting, the normal rotation mode is switched again after the heating is completed, whether the motor restores to normal or not is judged, and the like, and the process is repeatedly executed until the motor restores to normal rotation.

In one or more embodiments, further comprising:

when the rotating speed of the motor is monitored to be larger than zero but smaller than the rotating speed corresponding to the normal rotating mode through the rotating speed sensor, the motor is controlled to be switched from the normal rotating mode to a low-speed large-torque mode;

when the rotating speed sensor detects that the rotating speed of the motor reaches the rotating speed corresponding to the low-speed high-torque mode, controlling the motor to be switched from the low-speed high-torque mode to the normal rotating mode;

and when the rotation sensor monitors that the motor returns to normal rotation, the motor is controlled to keep a normal rotation mode, and the starting process of the motor is completed.

In this case, the rotation speed of the motor in the low-speed high-torque mode is lower than that in the normal rotation mode, but the torque is higher than that in the normal rotation mode, so that the motor can overcome the sliding friction force on the rotating shaft more easily. The method comprises the steps that a motor is switched to a normal rotation mode after the motor operates for a first preset time period in a heating mode, then the rotation speed of the motor in the normal rotation mode is monitored through a rotation speed sensor, if the rotation speed is larger than zero but smaller than the rotation speed corresponding to the normal rotation mode, it is indicated that the motor overcomes the static friction force of a rotating shaft, but larger sliding friction force still exists, and the motor cannot normally rotate, and at the moment, if the motor is continuously controlled to operate in the heating mode, the effect is possibly poor.

In one or more embodiments, further comprising:

when the rotating speed of the motor is monitored to be zero through the rotating speed sensor, the motor is controlled to be switched from a normal rotating mode to a positive and negative rotating mode;

after the motor runs for a second preset time length in the forward and reverse rotation mode, controlling the motor to be switched from the forward and reverse rotation mode to the normal rotation mode;

Wherein, the positive and negative rotation mode indicates that the motor carries out corotation and reversal in turn in a certain period of time, and the number of times in turn can be once or many times, and this application can break through the static frictional force of pivot through corotation and reversal, and in case static frictional force is broken through, the motor just normally rotates very easily. For example: the time length of the motor running in the positive and negative rotation mode is 2 seconds, and the rotation mode of the motor is as follows: forward → reverse → forward → reverse, each turn lasting 0.5 seconds, for a total of 2 seconds. It should be noted that, in the forward/reverse rotation mode, the number of times of forward rotation and the number of times of reverse rotation may be equal or unequal, and the duration of forward rotation and the duration of reverse rotation may be equal or unequal, and may be set according to actual requirements.

The motor is switched to a normal rotation mode after the motor operates for a first preset time in a heating mode, then the rotation speed of the motor in the normal rotation mode is monitored through a rotation speed sensor, if the rotation speed is not zero, the motor still does not overcome static friction force, so that the motor cannot normally rotate, and at the moment, if the motor is continuously controlled to operate in the heating mode, the effect is possibly poor.

In one or more embodiments, when the starting time length of the motor exceeds a time length threshold value, an alarm prompt is sent out.

The motor starting device prestores or preconfigures a time length threshold, the time length threshold can be determined according to actual requirements, and the time length threshold is obviously larger than the time length of the motor in a heating mode. The starting time of the motor can send a starting signal to the motor to start timing at the starting time, when the starting time is longer than a time threshold, the motor still does not normally rotate, the reason that the motor cannot be normally started is probably not too low in temperature, the motor starting device sends an alarm prompt, and the alarm prompt can be an audible and visual alarm to prompt a user to maintain the motor.

By implementing the embodiment, when the motor cannot be normally started at a low temperature, the coil of the motor is heated, heat generated by the coil of the motor can be quickly transferred to each part of the motor, so that each part of the motor can be restored to a temperature at which the motor can be normally started, and meanwhile, the heat generated by the coil is transferred to the rotating shaft of the motor, so that lubricating oil solidified at the low temperature on the rotating shaft can be melted. In addition, this application utilizes the coil of motor to produce the heat and heats the motor, need not utilize outside heater block to heat, can reduce hardware design cost, makes the structure of motor more compact.

Referring to fig. 3, another schematic flow chart of a motor starting method provided in an embodiment of the present application is shown, where in the embodiment of the present application, the method includes:

and S301, sending a starting signal to the motor.

The motor starting device can be arranged in the motor and combined with the motor, so that the compactness of the equipment is enhanced; or the motor starting device is independently arranged outside the motor so as to improve the heat radiation performance of the motor. The start signal is used to instruct the motor to start in a normal rotation mode in which the motor has nominal operating parameters, such as: the operating parameters include: output power, rotational speed, torque, etc. And the motor starts power-on operation after receiving the starting signal, and then starts according to the running parameters corresponding to the normal rotation mode.

S302, when the motor is monitored to be not rotated within a preset starting time period through a rotating speed sensor, the ambient temperature is measured through a temperature sensor.

And S303, when the ambient temperature is less than the temperature threshold value, controlling the motor to be switched from a normal rotation mode to a forward and reverse rotation mode.

Wherein, motor starting drive prestore has the temperature threshold value, and the temperature threshold value can be decided according to actual demand, and the unable problem of starting of motor under this application for solving low temperature environment, therefore this temperature threshold value is relevant with the freezing temperature of the lubricating oil that the motor used. For example: assuming that the motor uses a lubricating oil with a freezing temperature of-10 degrees celsius, the temperature threshold may be set to-10 degrees celsius. When the ambient temperature is less than the temperature threshold, it indicates that the reason that the motor can not be started is that the low temperature causes, and control motor switches into positive and negative rotation mode by normal rotation mode, and positive and negative rotation mode indicates that the motor is in the corotation and the reversal in turn in a certain duration, and the number of times of alternation can be once or many times, and this application can break through the static frictional force of pivot through corotation and reversal, and in case static frictional force is broken through, the motor just rotates normally very easily. For example: the time length of the motor running in the positive and negative rotation mode is 2 seconds, and the rotation mode of the motor is as follows: forward → reverse → forward → reverse, each turn lasting 0.5 seconds, for a total of 2 seconds. It should be noted that, in the forward/reverse rotation mode, the number of times of forward rotation and the number of times of reverse rotation may be equal or unequal, and the duration of forward rotation and the duration of reverse rotation may be equal or unequal, and may be set according to actual requirements. Preferably, the number of forward rotation and the number of reverse rotation are equal in the forward and reverse rotation mode, and the duration of the forward rotation is equal to the duration of the reverse rotation, so that the complexity of motor control can be reduced; the motor starting device can control the motor to rotate forwards by sending a forward pulse signal to the motor and control the motor to rotate backwards by sending a reverse pulse signal.

In one or more embodiments, the rotation speed in the forward and reverse rotation mode is less than the rotation speed in the normal rotation mode, and the output power in the forward and reverse rotation mode is greater than the output power in the normal rotation mode. Therefore, the motor can be ensured to have larger torque when rotating forwards and reversely, and the static friction force of the rotating shaft can be broken through more easily, so that the normal starting of the motor is realized.

S304, after the motor runs for a first preset time in the forward and reverse rotation mode, controlling the motor to be switched from the forward and reverse rotation mode to the normal rotation mode.

The motor starting device prestores or preconfigures a first preset time length, the size of the first preset time length can be determined according to actual requirements, the application is not limited, and the setting of the first preset time length ensures that the motor can be recovered to normally rotate after the motor operates in a forward and reverse rotation mode for the first time as far as possible. Optionally, the size of the first preset duration and the size of the ambient temperature are in negative correlation, that is, the lower the ambient temperature is, the larger the first preset duration is, and the higher the ambient temperature is, the shorter the first preset duration is. And after the motor runs for a first preset time in the forward and reverse rotation mode, controlling the motor to be switched from the forward and reverse rotation mode to the normal rotation mode.

S305, when the rotation speed sensor monitors that the motor recovers to rotate normally, the motor is controlled to keep a normal rotation mode, and the starting process of the motor is completed.

The motor starting device measures the angular speed of the motor through the rotating speed sensor, determines that the motor restores to normal rotation when the angular speed of the motor reaches the angular speed in the normal rotation mode, and then controls the motor to keep the normal rotation mode, so that the starting process of the motor is completed.

In one or more embodiments, further comprising:

and when the rotation speed sensor monitors that the motor does not return to normal rotation, the motor is controlled to be switched from a normal rotation mode to a forward and reverse rotation mode, and the motor runs for the second preset time length in the forward and reverse rotation mode.

And if the motor does not recover the normal mode after the motor is heated for the first time, the forward and reverse rotation module continues to operate, and the operation time length of each time is increased relative to the previous time. For example: the first preset time is 1s, and the second preset time is 2 s. When the motor starting device monitors that the angular speed of the motor does not reach the angular speed corresponding to the normal rotation mode through the rotating speed sensor, the motor is determined not to restore normal rotation, then the motor is switched to the forward and reverse rotation mode again, the operation time of the forward and reverse rotation mode is increased relative to the last heating so as to increase the normal starting probability of the normal motor, the motor is switched to the normal rotation mode after the operation is completed, whether the motor restores to the normal state is judged, and the like, and the process is repeatedly executed until the motor restores to the normal rotation.

In one or more embodiments, when the rotation speed of the motor is monitored to be zero by the rotation speed sensor, the motor is controlled to be switched from a normal rotation mode to a heating mode;

when the motor runs for a second preset time length in a heating mode, controlling the motor to be switched from the heating mode to a normal rotation mode;

The motor starting device prestores or preconfigures a second preset time length, the size of the second preset time length can be determined according to actual requirements, the application is not limited, and the setting of the second preset time length ensures that the motor can recover normal rotation after being heated for the first time as far as possible. Optionally, the magnitude of the second preset time period is in negative correlation with the magnitude of the ambient temperature, that is, the lower the ambient temperature is, the larger the second preset time period is, and the higher the ambient temperature is, the shorter the second preset time period is. And after the motor operates in the heating mode for a second preset time, controlling the motor to be switched from the heating mode to the normal rotation mode.

Optionally, the second preset duration may be related to a preset target temperature according to the current temperature of the rotating shaft of the motor, the temperature sensor is controlled to monitor the temperature of the rotating shaft of the motor in real time when the motor enters the heating mode, when the temperature of the rotating shaft of the motor reaches the target temperature, the heating of the motor is stopped, and the heating mode of the motor is controlled to be switched to the normal rotation mode.

For example: monitoring the current temperature of a rotating shaft of the motor to be-20 ℃ through a temperature sensor, controlling the motor to enter a heating mode when the target temperature is 15 ℃, monitoring the temperature of the rotating shaft of the motor in real time through the temperature sensor in the heating process of the motor, stopping heating when the temperature reaches 15 ℃, controlling the motor to be switched from the heating mode to a normal rotation mode, and enabling the time duration of the temperature of the rotating shaft of the motor from-20 ℃ to 15 ℃ to be second preset time duration.

In one or more embodiments, the method further comprises:

when the motor is monitored to not return to normal rotation through a rotation speed sensor, the motor is controlled to be switched from a normal rotation mode to a forward and reverse rotation mode, and the motor runs for a preset time length in the forward and reverse rotation mode;

after the motor runs for a preset time in a forward and reverse rotation mode, controlling the motor to be switched from the forward and reverse rotation mode to a normal rotation mode;

and when the rotation speed sensor detects that the motor is rotating again, controlling the motor to keep rotating, and finishing the starting process of the motor.

In this case, the rotation speed of the motor in the low-speed high-torque mode is lower than that in the normal rotation mode, but the torque is higher than that in the normal rotation mode, so that the motor can overcome the sliding friction force on the rotating shaft more easily. The motor is switched to a normal rotation mode after running for a first preset time in a forward and reverse rotation mode, then the rotating speed of the motor in the normal rotation mode is monitored through a rotating speed sensor, if the rotating speed is greater than zero but less than the rotating speed corresponding to the normal rotation mode, the fact that the static friction force of the rotating shaft is overcome by the motor is shown, but a larger sliding friction force still exists, and the motor cannot normally rotate is caused.

The motor starting device prestores or preconfigures a time length threshold, the time length threshold can be determined according to actual requirements, and the time length threshold is obviously larger than the time length of the motor in a forward and reverse rotation mode. The starting time of the motor can send a starting signal to the motor to start timing at the starting time, when the starting time is longer than a time threshold, the motor still does not normally rotate, the reason that the motor cannot be normally started is probably not too low in temperature, the motor starting device sends an alarm prompt, and the alarm prompt can be an audible and visual alarm to prompt a user to maintain the motor.

By implementing the embodiment, when the motor cannot be normally started at low temperature, the motor is controlled to rotate forwards and reversely, and the static friction force of the rotating shaft is easily broken through by alternately rotating forwards and reversely, so that the motor is enabled to return to normal rotation. In addition, this application utilizes the existing hardware structure of motor to adjust the starting mode of motor, need not additionally increase other parts, can reduce hardware design cost, makes the structure of motor more compact.

Referring to fig. 4, another schematic flow chart of a motor starting method provided in an embodiment of the present application is shown, where in the embodiment, the method includes:

s401, sending a starting signal to the motor.

S402, when the rotation speed of the motor in a preset starting time is monitored to be smaller than a rotation speed threshold value through a rotation sensor, measuring the ambient temperature through a temperature sensor.

The rotating speed sensor is used for measuring the angular speed of the motor, can be arranged inside the motor and also arranged outside the motor, and the rotating speed sensor is not limited in the application. The motor starting device can measure the rotating speed of the motor within a certain length of time interval by taking the moment of sending the starting signal as the starting moment, and if the rotating speed of the motor within the time interval is zero, the motor is determined not to rotate. The utility model provides a revolution speed sensor can be photoelectric encoder, photoelectric encoder's type divide into transmission type and reflection-type again, to transmission type photoelectric encoder, be provided with the grating dish in the pivot of motor, be provided with a plurality of gaps on the grating dish, the both sides of grating dish are provided with light source and photoelectric receiver respectively, the pivot of motor is rotating the in-process synchronous dynamic grating dish and is rotated, the light signal transmission of light source transmission is detected by photoelectric receiver in the gap on the grating dish, photoelectric receiver converts the light signal who detects into the signal of telecommunication, then calculate the angular velocity of motor according to the attribute information of the signal of telecommunication. The reflection-type photoelectric encoder is distinguished in that a plurality of reflective strips are disposed on a grating disk, a light source and a photoelectric receiver are disposed on the same side of the grating disk, a light signal emitted from the light source is detected by the photoelectric receiver through reflection of the reflective strips, the photoelectric receiver converts the detected light signal into an electrical signal, and an angular velocity of a motor is calculated according to attribute information of the electrical signal. The principle of measuring the rotation speed of the motor is described above by taking the photoelectric encoder as an example, and other manners may be adopted to measure the rotation speed of the motor in specific implementation.

The preset starting time can be determined according to actual requirements, and the rotating speed threshold is smaller than the rotating speed corresponding to the normal rotating mode, namely the rotating speed of the motor is not zero but still cannot rotate normally due to the existence of sliding friction force. The ambient temperature is measured by a temperature sensor, which may be arranged inside the motor, for example: the temperature sensor is arranged near a coil or a rotating shaft of the motor, so that the environment temperature where the motor is located can be measured accurately.

And S403, controlling the motor to be switched from a normal rotation mode to a low-speed high-torque mode when the ambient temperature is less than the temperature threshold value.

Wherein, motor starting drive prestore has the temperature threshold value, and the temperature threshold value can be decided according to actual demand, and the unable problem of starting of motor under this application for solving low temperature environment, therefore this temperature threshold value is relevant with the freezing temperature of the lubricating oil that the motor used. For example: assuming that the motor uses a lubricating oil with a freezing temperature of-10 degrees celsius, the temperature threshold may be set to-10 degrees celsius. When the ambient temperature is lower than the temperature threshold, the reason that the motor cannot be started is caused by low temperature, the motor is controlled to be switched from the normal rotation mode to the low-speed high-torque mode, and the rotating speed of the motor in the low-speed high-torque mode is lower than that in the normal rotation mode, so that the low-speed high-torque mode has higher torque under the same output power, the static friction force of a rotating shaft of the motor is more easily broken through, and once the static friction force is broken through, the motor can easily and normally rotate.

It can be understood that under the condition of normal operation, the motor operating current is limited to a certain value, so that the motor cannot be burnt out due to overheating caused by overlarge current. However, in the low-speed high-torque mode, the limit of the motor working current is released, or the motor working current is limited to a larger value, so that the motor generates a larger torque, and the sliding friction force on the rotating shaft is easier to overcome, so that the motor returns to normal operation.

S404, when the rotating speed of the motor is monitored to reach the rotating speed corresponding to the low-speed large-torque mode through the rotating speed sensor, controlling the motor to be switched from the low-speed large-torque mode to the normal rotating mode;

the rotation speed sensor can monitor the rotation speed of the motor at any time, and when the monitored rotation speed reaches a rotation speed value corresponding to a low-speed high-torque mode, the mode is switched.

In one or more embodiments, as an alternative, after the motor operates in the low-speed high-torque mode for the first preset time period, the motor may be switched from the low-speed high-torque mode to the normal rotation mode.

The motor starting device is pre-stored or pre-configured with a first preset time length, the size of the first preset time length can be determined according to actual requirements, the application is not limited, and the first preset time length is set to ensure that the motor can recover to normally rotate after the motor operates in the low-speed high-torque mode for the first time as far as possible. Optionally, the size of the first preset duration and the size of the ambient temperature are in negative correlation, that is, the lower the ambient temperature is, the larger the first preset duration is, and the higher the ambient temperature is, the shorter the first preset duration is. And after the motor runs for a first preset time period in the low-speed high-torque mode, controlling the motor to be switched from the low-speed high-torque mode to the normal rotation mode.

S405, when the motor is monitored to return to normal rotation through the rotation speed sensor, the motor is controlled to keep a normal rotation mode, and the starting process of the motor is completed.

In one or more embodiments, further comprising:

and when monitoring that the motor does not return to normal rotation through the rotation speed sensor, controlling the motor to be switched from a normal rotation mode to a low-speed high-torque mode, and operating the motor in the low-speed high-torque mode for the second preset time.

And if the motor does not return to the normal mode after the first heating, the low-speed high-torque mode continues to be operated, and the time length of each operation is increased relative to the last operation. For example: the first preset time is 1s, and the second preset time is 2 s. When the motor starting device monitors that the angular speed of the motor does not reach the angular speed corresponding to the normal rotation mode through the rotating speed sensor, the motor is determined not to restore normal rotation, then the motor is switched to the low-speed high-torque mode again, the operation time of the low-speed high-torque mode is increased relative to the operation time of the low-speed high-torque mode last time so as to increase the probability of normal starting of the motor, the motor is switched to the normal rotation mode after the operation is completed, whether the motor restores to be normal or not is judged, and the like, and the process is repeatedly executed until the motor restores to be normal rotation.

The motor starting device prestores or preconfigures a time length threshold value, the time length threshold value can be determined according to actual requirements, and the time length threshold value is obviously larger than the time length of the motor in a low-speed high-torque mode. The starting time of the motor can send a starting signal to the motor to start timing at the starting time, when the starting time is longer than a time threshold, the motor still does not normally rotate, the reason that the motor cannot be normally started is probably not too low in temperature, the motor starting device sends an alarm prompt, and the alarm prompt can be an audible and visual alarm to prompt a user to maintain the motor.

By implementing the embodiment, when the motor cannot be normally started at low temperature, the motor is controlled to operate in a low-speed large-torque mode, and the torque of the rotating shaft in the low-speed large-torque mode is greater than that in a normal rotating mode, so that the static friction force of the rotating shaft is more easily broken through, and the motor is enabled to recover normal rotation. In addition, this application utilizes the existing hardware structure of motor to adjust the starting mode of motor, need not additionally increase other parts, can reduce hardware design cost, makes the structure of motor more compact.

The motor starting method according to the embodiment of the present application is explained in detail above, and a motor starting apparatus (hereinafter referred to as apparatus 5) according to the embodiment of the present application is provided below.

The device 5 shown in fig. 5 can implement the motor starting method of the embodiment shown in fig. 2 to 4, and the device 5 includes: a transmitting unit 501, a measuring unit 502, a switching unit 503 and a holding unit 504.

The first embodiment is as follows:

a sending unit 501, configured to send a starting signal to a motor; the starting signal is used for indicating the motor to start in a normal rotation mode;

the measuring unit 502 is used for measuring the ambient temperature through the temperature sensor when the motor is monitored to be not rotated through the rotating speed sensor;

a switching unit 503, configured to control the motor to switch from a normal rotation mode to a heating mode when the ambient temperature is less than a temperature threshold; wherein, the coil of the motor is in a heating state in the heating mode;

and the holding unit 504 is configured to control the motor to maintain a normal rotation mode when the rotation speed sensor monitors that the motor recovers to normal rotation, so as to complete a starting process of the motor.

In one or more embodiments, in the heating mode, the coils of the motor are loaded with a high frequency voltage signal.

In one or more embodiments, the switching unit 503 is further configured to:

when the rotating speed of the motor is monitored to be larger than zero but smaller than the rotating speed corresponding to the normal rotating mode through the rotating speed sensor, the motor is controlled to be switched from the normal rotating mode to a low-speed high-torque mode;

when the rotating speed of the motor is monitored to reach the rotating speed corresponding to the normal rotating mode through the rotating speed sensor, the motor is controlled to be switched from the low-speed high-torque mode to the normal rotating mode;

In one or more embodiments, the switching unit 503 is further configured to:

and when the rotation speed sensor monitors that the motor returns to normal rotation, the motor is controlled to keep a normal rotation mode, and the starting process of the motor is completed.

In one or more embodiments, the apparatus 5 further comprises:

and the alarm unit is used for sending out an alarm prompt when the time length of the motor which is not normally started exceeds a time length threshold value.

Example two:

the measuring unit 502 is used for measuring the ambient temperature through a temperature sensor when the motor is monitored to be not rotated within a preset starting time through a rotating speed sensor;

the switching unit 503 is configured to control the motor to switch from a normal rotation mode to a forward/reverse rotation mode when the ambient temperature is less than the temperature threshold;

In one or more embodiments, in the forward and reverse rotation mode, the number of forward rotations and the number of reverse rotations are equal, and the duration of the forward rotations and the duration of the reverse rotations are equal.

In one or more embodiments, the switching unit 503 is further configured to:

when the rotation speed sensor monitors that the motor still does not return to normal rotation, the motor is controlled to be switched from a normal rotation mode to a forward and reverse rotation mode, and the motor runs for a second preset time length in the forward and reverse rotation mode; and the second preset time length is longer than the first preset time length.

In one or more embodiments, the switching unit 503 is further configured to:

when the rotating speed of the motor is monitored to be zero through the rotating speed sensor, the motor is controlled to be switched from a normal rotating mode to a heating mode;

after the motor runs for a second preset time in a heating mode, controlling the motor to be switched from the heating mode to a normal rotation mode;

In one or more embodiments, the switching unit 503 is further configured to:

when the rotating speed of the motor is monitored to be larger than zero and smaller than the rotating speed corresponding to the normal rotating mode through the rotating speed sensor, the motor is controlled to be switched from the positive and negative rotating mode to the low-speed large-torque mode;

when the rotating speed of the motor is monitored to reach the rotating speed corresponding to the low-speed high-torque mode through the rotating speed sensor, the motor is controlled to be switched from the low-speed high-torque mode to the normal rotating mode;

In one or more embodiments, the rotation speed in the forward and reverse rotation mode is less than the rotation speed in the normal rotation mode, and the output power in the forward and reverse rotation mode is greater than the output power in the normal rotation mode.

Example three:

the measuring unit 502 is configured to measure an ambient temperature through a temperature sensor when it is monitored by a rotation speed sensor that a rotation speed of the motor within a preset starting duration is less than a rotation speed threshold;

the switching unit 503 is configured to control the motor to switch from a normal rotation mode to a low-speed high-torque mode when the ambient temperature is less than a temperature threshold;

when the rotating speed of the motor is monitored to reach the rotating speed corresponding to the low-speed large-torque mode through the rotating speed sensor, the motor is switched from the low-speed large-torque mode to the normal rotating mode;

in one or more embodiments, the switching unit 503 is further configured to:

and after the motor runs for a first preset time period in a low-speed high-torque mode, switching the low-speed high-torque mode of the motor into a normal rotation mode.

In one or more embodiments, the switching unit 503 is further configured to:

when the rotation speed sensor monitors that the motor still does not return to normal rotation, the motor is controlled to be switched from a normal rotation mode to a low-speed high-torque mode, and the motor is operated in the low-speed high-torque mode for a second preset time; and the second preset time length is greater than the first preset time length.

In one or more possible embodiments, the determining unit is further configured to: and determining that the point cloud data frame is in an uncompressed state.

The embodiment of the present application and the method embodiments of fig. 2 to 4 are based on the same concept, and the technical effects brought by the embodiment are also the same, and the specific process may refer to the description of the method embodiments of fig. 2 to 4, and will not be described again here.

The device 5 may be a field-programmable gate array (FPGA), an application-specific integrated chip, a system on chip (SoC), a Central Processing Unit (CPU), a Network Processor (NP), a digital signal processing circuit, a Micro Controller Unit (MCU), or a Programmable Logic Device (PLD) or other integrated chips.

The motor starting method according to the embodiment of the present application is explained in detail above, and a motor starting apparatus according to the embodiment of the present application is provided below.

Fig. 6 is a schematic structural diagram of a motor starting device provided in an embodiment of the present application, which is hereinafter referred to as a device 6 for short, where the device 6 may be integrated in a motor according to the above embodiment, as shown in fig. 6, the device includes: memory 602, processor 601, transmitter 604, and receiver 603.

The memory 602 may be a separate physical unit, which may be connected to the processor 601, the transmitter 604 and the receiver 603 via a bus. The memory 602, processor 601, transmitter 604, and receiver 601 may also be integrated, implemented in hardware, etc.

The transmitter 604 is used for transmitting signals and the receiver 603 is used for receiving signals.

The memory 602 is used for storing a program for implementing the above method embodiment, or various modules of the apparatus embodiment, and the processor 601 calls the program to execute the above operations of the embodiments in fig. 2 to 4.

Alternatively, when part or all of the motor starting method of the above embodiment is implemented by software, the apparatus may also include only a processor. The memory for storing the program is located outside the device and the processor is connected to the memory by means of circuits/wires for reading and executing the program stored in the memory.

The processor may be a Central Processing Unit (CPU), a Network Processor (NP), or a combination of a CPU and an NP.

The processor 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), a General Array Logic (GAL), or any combination thereof.

The memory may include volatile memory (volatile memory), such as random-access memory (RAM); the memory may also include a non-volatile memory (non-volatile memory), such as a flash memory (flash memory), a Hard Disk Drive (HDD) or a solid-state drive (SSD); the memory may also comprise a combination of the above kinds of memories.

In the above embodiments, the transmitting unit or the transmitter performs the steps of transmitting in the above respective method embodiments, the receiving unit or the receiver performs the steps of receiving in the above respective method embodiments, and other steps are performed by other units or processors. The transmitting unit and the receiving unit may constitute a transceiving unit, and the receiver and the transmitter may constitute a transceiver.

The embodiment of the present application further provides a computer storage medium, which stores a computer program, where the computer program is used to execute the motor starting method provided in the foregoing embodiment.

The embodiment of the present application further provides a computer program product containing instructions, which when run on a computer, causes the computer to execute the motor starting method provided by the above embodiment.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and so forth) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

Claims

A motor starting method, comprising:

sending a starting signal to the motor; the starting signal is used for indicating the motor to start in a normal rotation mode;

when the rotation speed sensor monitors that the motor does not rotate within a preset starting time, the temperature sensor measures the ambient temperature;

when the ambient temperature is lower than a temperature threshold value, controlling the motor to be switched from a normal rotation mode to a heating mode; wherein, the coil of the motor is in a heating state in the heating mode;

when the motor runs for a first preset time length in a heating mode, controlling the motor to be switched from the heating mode to a normal rotation mode;

and when the rotation speed sensor monitors that the motor recovers to normal rotation, the motor is controlled to keep a normal rotation mode, and the starting process of the motor is completed.
Method according to claim 1, characterized in that in heating mode, the coil of the electric machine is loaded with a high frequency voltage signal.
The startup method according to claim 1, further comprising:

when the rotating speed of the motor is monitored to be larger than zero but smaller than the rotating speed corresponding to the normal rotating mode through the rotating speed sensor, the motor is controlled to be switched from the normal rotating mode to a low-speed high-torque mode;

when the rotating speed of the motor is monitored to reach the rotating speed corresponding to the normal rotating mode through the rotating speed sensor, the motor is controlled to be switched from the low-speed high-torque mode to the normal rotating mode;

and when the rotation speed sensor monitors that the motor recovers to normal rotation, the motor is controlled to keep a normal rotation mode, and the starting process of the motor is completed.
The startup method according to claim 1, further comprising:

when the rotating speed of the motor is monitored to be zero through the rotating speed sensor, the motor is controlled to be switched from a normal rotating mode to a positive and negative rotating mode;

after the motor runs for a second preset time length in the forward and reverse rotation mode, controlling the motor to be switched from the forward and reverse rotation mode to the normal rotation mode;

and when the rotation speed sensor monitors that the motor recovers to normal rotation, the motor is controlled to keep a normal rotation mode, and the starting process of the motor is completed.
The startup method according to any one of claims 1 to 4, further comprising:

and when the time length of the motor which is not normally started exceeds a time length threshold value, sending an alarm prompt.
A method of starting a motor, comprising:

sending a starting signal to the motor; the starting signal is used for indicating the motor to start in a normal rotation mode;

when the rotation speed sensor monitors that the motor does not rotate within a preset starting time, the temperature sensor measures the ambient temperature;

when the ambient temperature is lower than a temperature threshold value, controlling the motor to be switched from a normal rotation mode to a forward and reverse rotation mode;

after the motor runs for a first preset time length in a forward and reverse rotation mode, controlling the motor to be switched from the forward and reverse rotation mode to a normal rotation mode;

and when the rotation speed sensor monitors that the motor recovers to normal rotation, the motor is controlled to keep a normal rotation mode, and the starting process of the motor is completed.
The starting method according to claim 6, wherein in the normal rotation and reverse rotation mode, the number of times of normal rotation and the number of times of reverse rotation are equal, and a duration of the normal rotation and a duration of the reverse rotation are equal.
The method of starting up according to claim 6, further comprising:

when the rotating speed of the motor is monitored to be zero through the rotating speed sensor, the motor is controlled to be switched from a normal rotating mode to a heating mode;

after the motor runs for a second preset time in a heating mode, controlling the motor to be switched from the heating mode to a normal rotation mode;

and when the rotation speed sensor monitors that the motor recovers to normal rotation, the motor is controlled to keep a normal rotation mode, and the starting process of the motor is completed.
The method of starting up according to claim 6, further comprising:

when the rotating speed of the motor is monitored to be larger than zero and smaller than the rotating speed corresponding to a normal rotating mode through the rotating speed sensor, the motor is controlled to be switched from the normal rotating mode to a low-speed large-torque mode;

when the rotating speed of the motor is monitored to reach the rotating speed corresponding to the normal rotating mode through the rotating speed sensor, the motor is controlled to be switched from the low-speed high-torque mode to the normal rotating mode;

and when the rotation speed sensor monitors that the motor recovers to normal rotation, the motor is controlled to keep a normal rotation mode, and the starting process of the motor is completed.
A method of starting a motor, comprising:

sending a starting signal to the motor; the starting signal is used for indicating the motor to start in a normal rotation mode;

when monitoring that the rotating speed of the motor in a preset starting time is smaller than a rotating speed threshold value through a rotating speed sensor, measuring the ambient temperature through a temperature sensor;

when the ambient temperature is lower than a temperature threshold value, controlling the motor to be switched from a normal rotation mode to a low-speed large-torque mode;

when the rotating speed of the motor is monitored to reach the rotating speed corresponding to the low-speed large-torque mode through the rotating speed sensor, the motor is switched from the low-speed large-torque mode to the normal rotating mode;

and when the rotation speed sensor monitors that the motor recovers to normal rotation, the motor is controlled to keep a normal rotation mode, and the starting process of the motor is completed.
The method of starting up as claimed in claim 10, further comprising:

when the rotation speed sensor monitors that the motor still does not return to normal rotation, the motor is controlled to be switched from a normal rotation mode to a low-speed high-torque mode, and the motor is operated in the low-speed high-torque mode for a second preset time; and the second preset time length is longer than the first preset time length.
A starting apparatus for an electric motor, comprising:

the transmitting unit is used for transmitting a starting signal to the motor; the starting signal is used for indicating the motor to start in a normal rotation mode;

the measuring unit is used for measuring the ambient temperature through the temperature sensor when the rotation speed sensor monitors that the motor does not rotate within a preset starting time;

the switching unit is used for controlling the motor to be switched from a normal rotation mode to a heating mode when the ambient temperature is smaller than a temperature threshold value; wherein, the coil of the motor is in a heating state in the heating mode;

when the motor runs for a first preset time length in a heating mode, controlling the motor to be switched from the heating mode to a normal rotation mode;

and the maintaining unit is used for controlling the motor to maintain a normal rotation mode when the rotation speed sensor monitors that the motor recovers to normal rotation, so as to complete the starting process of the motor.
A motor starting device, comprising:

the transmitting unit is used for transmitting a starting signal to the motor; the starting signal is used for indicating the motor to start in a normal rotation mode;

the measuring unit is used for measuring the ambient temperature through the temperature sensor when the rotation speed sensor monitors that the motor does not rotate within a preset starting time;

the switching unit is used for controlling the motor to be switched from a normal rotation mode to a forward and reverse rotation mode when the ambient temperature is smaller than a temperature threshold value;

after the motor runs for a first preset time length in a forward and reverse rotation mode, controlling the motor to be switched from the forward and reverse rotation mode to a normal rotation mode;

and the maintaining unit is used for controlling the motor to maintain a normal rotation mode when the rotation speed sensor monitors that the motor recovers to normal rotation, so as to complete the starting process of the motor.
A motor starting device, comprising:

the transmitting unit is used for transmitting a starting signal to the motor; the starting signal is used for indicating the motor to start in a normal rotation mode;

the measuring unit is used for measuring the ambient temperature through the temperature sensor when the rotating speed of the motor is monitored to be smaller than a rotating speed threshold value through the rotating speed sensor;

the switching unit is used for controlling the motor to be switched from a normal rotation mode to a low-speed high-torque mode when the ambient temperature is smaller than a temperature threshold value;

when the rotating speed of the motor is monitored to reach the rotating speed corresponding to the low-speed large-torque mode through the rotating speed sensor, the motor is switched from the low-speed large-torque mode to the normal rotating mode;

and the maintaining unit is used for controlling the motor to maintain a normal rotation mode when the rotation speed sensor monitors that the motor recovers to normal rotation, so as to complete the starting process of the motor.
A computer storage medium comprising a computer program or instructions which, when run on a computer, causes the computer to perform the method of any one of claims 1 to 13.
A motor starting device comprising a processor and a memory for storing a computer program or instructions, the processor being configured to execute the computer program or instructions in the memory to implement the method of any one of claims 1 to 13.
An electronic device, comprising: a motor starting device, a rotational speed sensor, a temperature sensor and a motor as claimed in claim 12, 13, 14 or 16.