Motor control method, laser radar, and mobile device

Patent metadata

Field	Value
Publication number	US-12429563-B2
Application number	US-202117368344-A
Country	US
Kind code	B2
Filing date	Jul 6, 2021
Priority date	Jan 9, 2019
Publication date	Sep 30, 2025
Grant date	Sep 30, 2025

Abstract

Embodiments of the present disclosure provide a motor control method, a laser radar, and a movable device. The method includes: determining start times of multiple motors, the start times of the multiple motors being partially or completely different; and controlling each motor of the multiple motors to start at a corresponding start time of the motor.

First claim

What is claimed is:

1. A motor control method, applied to a laser radar including multiple motors, comprising:
determining start times of the multiple motors, the start times of the multiple motors being partially or completely different, and the start time of one motor of the multiple motors being a time when a rotation speed of the one motor starts to increase from 0 RPM to an operating speed of the one motor; and
controlling each motor of the multiple motors to start at a corresponding start time of the motor.

2. The method of claim 1 , wherein determining the start times of the multiple motors includes determining the start times of the multiple motors according to identification information of the multiple motors.

3. The method of claim 1 , wherein controlling each motor of the multiple motors to start at the corresponding start time of the motor includes:
obtaining a target rotation speed of the motor;
determining a graded rotation speed according to the target rotation speed, the graded rotation speed being less than the target rotation speed; and
controlling the motor to start at the start time of the motor to reach the graded rotation speed.

4. The method of claim 3 , further comprising,
in response to the rotation speed of the motor reaching the graded rotation speed and current in the motor being less than a preset current threshold, increasing the rotation speed of the motor until the rotation speed of the motor reaches the target rotation speed.

5. The method of claim 1 , further comprising:
determining rotation speed fluctuation of each motor in a preset time period;
after the rotation speed fluctuation of each motor is determined, determining one motor of the multiple motors with a smallest rotation speed fluctuation as a main motor, and determining another motor of the multiple motors as a slave motor; and
controlling the rotation speed of the slave motor according to the rotation speed of the main motor.

6. The method of claim 5 , wherein controlling the rotation speed of the slave motor according to the rotation speed of the main motor includes controlling the rotation speed of the slave motor according to the rotation speed of the main motor and a preset relation, the preset relation being a relationship between the rotation speed of the main motor and the rotation speed of the slave motor.

7. The method of claim 6 , wherein the rotation speed of the main motor and the rotation speed of the slave motor are in a linear relationship.

8. The method of claim 1 , further comprising:
obtaining status parameters of the motor and status parameters of environmental factors; and
implementing corresponding protective measures according to the status parameters of the motor and the status parameters of the environmental factors.

9. The method of claim 8 , wherein:
the status parameters of the motor include at least one of current of the motor, a hardware status of the motor, a communication status between an electronic speed controller that controls the motor and a corresponding main control, an input voltage status of the motor, or a resistance and coil status; and
the status parameters of the environmental factors include at least one of a power status of the laser radar, or an ambient temperature.

10. A laser radar comprising:
multiple motors; and
a processor configured to:
determine start times of the multiple motors, the start times of the multiple motors being partially or completely different, and the start time of one of the multiple motors being a time when a rotation speed of the one motor starts to increase from 0 RPM to an operating speed of the one motor; and
control each motor of the multiple motors to start at a corresponding start time of the motor.

11. The laser radar of claim 10 , wherein the processor being configured to determine the start times of the multiple motors specifically includes determining the start times of the multiple motors according to identification information of the multiple motors.

12. The laser radar of claim 10 , wherein the processor being configured to control each motor of the multiple motors to start at the corresponding start time of the motor specifically includes:
obtaining a target rotation speed of the motor;
determining a graded rotation speed according to the target rotation speed, the graded rotation speed being less than the target rotation speed; and
controlling the motor to start at the start time of the motor to reach the graded rotation speed.

13. The laser radar of claim 12 , wherein the processor being configured to determine the graded rotation speed according to the target rotation speed specifically includes:
determining the graded rotation speed according to the target rotation speed and a corresponding relationship between the rotation speed and current; or
determining the graded rotation speed according to the target rotation speed and an ambient temperature; or
determining the graded rotation speed according to the target rotation speed, the ambient temperature, and the corresponding relationship between the rotation speed and the current.

14. The laser radar of claim 12 , wherein the processor is further configured to, in response to the rotation speed of the motor reaching the graded rotation speed and current in the motor being less than a preset current threshold, increase the rotation speed of the motor until the rotation speed of the motor reaches the target rotation speed.

15. The laser radar of claim 10 , wherein the processor is further configured to:
determine rotation speed fluctuation of each motor in a preset time period;
after the rotation speed fluctuation of each motor is determined, determine one motor of the multiple motors with a smallest rotation speed fluctuation as a main motor, and determine another motor of the multiple motors as a slave motor; and
control the rotation speed of the slave motor according to the rotation speed of the main motor.

16. The laser radar of claim 15 , wherein the processor being configured to control the rotation speed of the slave motor according to the rotation speed of the main motor specifically includes controlling the rotation speed of the slave motor according to the rotation speed of the main motor and a preset relation, the preset relation being a relationship between the rotation speed of the main motor and the rotation speed of the slave motor.

17. The laser radar of claim 16 , wherein the rotation speed of the main motor and the rotation speed of the slave motor are in a linear relationship.

18. The laser radar of claim 10 , wherein the processor is further configured to:
obtain status parameters of the motor and status parameters of environmental factors; and
implement corresponding protective measures according to the status parameters of the motor and the status parameters of the environmental factors.

19. The laser radar of claim 18 , wherein:
the status parameters of the motor include at least one of current of the motor, a hardware status of the motor, a communication status between an electronic speed controller that controls the motor and a corresponding main control, an input voltage status of the motor, or a resistance and coil status; and
the status parameters of the environmental factors include at least one of a power status of the laser radar, or an ambient temperature, and laser operation status of the laser radar.

20. A motor control method comprising:
determining start times of multiple motors of a laser radar, the start

Assignees

• Sz Dji Technology Co Ltd

Inventors

• Li Tao

Classifications

• H02P5/00

  Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors (H02P6/04, H02P8/40 take precedence) · CPC title

• G01S17/89

  for mapping or imaging · CPC title

• G01S7/497

  Means for monitoring or calibrating · CPC title

• G01S17/933

  of aircraft or spacecraft · CPC title

• H02P29/02

  Providing protection against overload without automatic interruption of supply (protection against faults of stepper motors H02P8/36) · CPC title