Granted Patent B2

US 12,733,783 · App. 18/241,794 · Granted Sep 15, 2026

Inventor: Dong Wang (Beijing, CN)

Assignee: BEIJING XIAOMI MOBILE SOFTWARE CO., LTD.

A47L9/2831A46B13/02A47L9/0411A47L9/2847A47L9/2889G01R27/16H02P23/0077H02P23/12H02P23/14H03H11/04A46B2200/3033A47L2201/06

Abstract

Claims (87)

1 . A method for identifying a brush type, performed by a cleaning device, comprising:

acquiring a detection voltage of a brush motor of the cleaning device, wherein the detection voltage is less than a starting voltage of the brush motor, and the brush motor is not started;

acquiring a first impedance of the brush motor, in response to inputting the detection voltage to the brush motor; and

determining a brush type corresponding to the brush motor based on the first impedance and a correspondence between impedances and brush types stored.

2 . The method according to claim 1 , wherein acquiring the detection voltage of the brush motor of the cleaning device comprises:

acquiring respective starting voltages of at least one brush motor of the cleaning device to obtain an initial detection voltage, wherein the initial detection voltage is less than a minimum starting voltage by at least one voltage adjustment step;

determining a duty ratio of a driving signal based on the initial detection voltage and a battery voltage; and

controlling an operation of the brush motor according to the duty ratio to obtain the detection voltage of the brush motor.

3 . The method according to claim 1 , wherein acquiring the first impedance of the brush motor comprises:

acquiring an operating current of the brush motor to obtain a detection current; and

determining the first impedance of the brush motor according to the detection voltage and the detection current.

4 . The method according to claim 1 , further comprising:

determining a motor control parameter corresponding to the brush type based on a correspondence between brush types and motor control parameters stored, wherein the motor control parameter comprises at least one of: a driving voltage, a protection current and a protection voltage of an electric brush; and

controlling an operation of the electric brush according to the motor control parameter.

5 . A cleaning device, comprising:

at least one electric brush;

a processor configured to acquire detection data output by a detection sensor; and

a memory having stored therein a computer program executable by the processor;

wherein the processor is configured to execute the computer program stored in the memory to:

acquire a detection voltage of a brush motor of the cleaning device, wherein the detection voltage is less than a starting voltage of the brush motor, and the brush motor is not started;

acquire a first impedance of the brush motor, in response to inputting the detection voltage to the brush motor; and

determine a brush type corresponding to the brush motor based on the first impedance and a correspondence between impedances and brush types stored.

6 . The cleaning device according to claim 5 , wherein the processor is further configured to:

acquire respective starting voltages of at least one brush motor of the cleaning device to obtain an initial detection voltage, wherein the initial detection voltage is less than a minimum starting voltage by at least one voltage adjustment step;

determine a duty ratio of a driving signal based on the initial detection voltage and a battery voltage; and

control an operation of the brush motor according to the duty ratio to obtain the detection voltage of the brush motor.

7 . The cleaning device according to claim 5 , wherein the processor is further configured to:

acquire an operating current of the brush motor to obtain a detection current; and

determine the first impedance of the brush motor according to the detection voltage and the detection current.

8 . The cleaning device according to claim 5 , wherein the processor is further configured to:

determine a motor control parameter corresponding to the brush type based on a correspondence between brush types and motor control parameters stored, wherein the motor control parameter comprises at least one of: a driving voltage, a protection current and a protection voltage of an electric brush; and

control an operation of the electric brush according to the motor control parameter.

9 . The cleaning device according to claim 5 , further comprising:

a current detection module electrically connected with the processor and configured to detect an operating current of a brush motor to obtain a detection current,

wherein the processor is configured to acquire the first impedance of the brush motor according to the detection current.

10 . The cleaning device according to claim 5 , wherein the electric brush comprises a brush motor and a motor driving module; and

the motor driving module is electrically connected with the processor and the brush motor, and configured to drive an operation of the brush motor according to a control signal from the processor.

11 . The cleaning device according to claim 10 , wherein the motor driving module comprises a first filter circuit, a second filter circuit, a motor interface and a grounding control circuit;

the first filter circuit is electrically connected with the motor interface, the second filter circuit and a battery;

the second filter circuit is electrically connected with the motor interface;

the grounding control circuit is electrically connected with the second filter circuit and a ground terminal of the motor interface, and configured to:

ground the ground terminal of the motor interface when the control signal is at a first level, so that the battery of the cleaning device, a power terminal of the motor interface, the brush motor, the ground terminal of the motor interface and the grounding control circuit form a power supply loop, or

not ground the ground terminal of the motor interface when the control signal is at a second level, so that the battery of the cleaning device does not supply power to the brush motor.

12 . The cleaning device according to claim 11 , wherein the first filter circuit comprises a first capacitor, a second capacitor and a third capacitor;

a first terminal of the first capacitor is electrically connected with the battery, and a second terminal of the first capacitor is grounded;

a first terminal of the second capacitor is electrically connected with the battery, and a second terminal of the second capacitor is grounded;

a first terminal of the third capacitor is electrically connected with the battery, and a second terminal of the third capacitor is grounded.

13 . The cleaning device according to claim 11 , wherein the second filter circuit comprises a fourth capacitor, a fifth capacitor, a sixth capacitor and a stabilivolt;

a first terminal of the stabilivolt is electrically connected with the battery, and a second terminal of the stabilivolt is electrically connected with a second terminal of the fourth capacitor, a first terminal of the fifth capacitor and the ground terminal of the motor interface;

a first terminal of the fourth capacitor is electrically connected with the battery;

a second terminal of the fifth capacitor is grounded; and

a first terminal of the sixth capacitor is electrically connected with the battery, and a second terminal of the sixth capacitor is grounded.

14 . The cleaning device according to claim 11 , wherein the grounding control circuit comprises a first resistor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, a sixth resistor, a first switching element, a second switching element and a seventh capacitor;

a first terminal of the first resistor is electrically connected with the processor, and a second terminal of the first resistor is electrically connected with a second terminal of the second resistor and a control terminal of the first switching element;

a first terminal of the second resistor is electrically connected with a second power supply;

a first terminal of the first switching element is electrically connected with a second terminal of the third resistor and a first terminal of the fourth resistor, and a second terminal of the first switching element is grounded;

a first terminal of the third resistor is electrically connected with the battery;

a second terminal of the fourth resistor is electrically connected with a first terminal of the fifth resistor and a first terminal of the seventh capacitor; a second terminal of the fifth resistor is grounded;

a second terminal of the seventh capacitor is grounded;

a control terminal of the second switching element is electrically connected with a first terminal of the seventh capacitor, a first terminal of the second switching element is electrically connected with a second terminal of a stabilivolt in the second filter circuit, and a second terminal of the second switching element is electrically connected with a first terminal of the sixth resistor; and

a second terminal of the sixth resistor is grounded.

15 . The cleaning device according to claim 13 , wherein the second filter circuit further comprises a seventh resistor, a first terminal of the seventh resistor is electrically connected with the ground terminal of the motor interface, and a second terminal of the seventh resistor is grounded.

16 . The cleaning device according to claim 11 , wherein the grounding control circuit comprises a first resistor, an eighth resistor, a ninth resistor, a tenth resistor, an eleventh resistor, a third switching element, a fourth switching element, a fifth switching element and a sixth switching element;

a first terminal of the first resistor is electrically connected with the processor, and a second terminal of the first resistor is electrically connected with a first terminal of the eighth resistor and a control terminal of the third switching element;

a second terminal of the eighth resistor is grounded;

a second terminal of the third switching element is grounded, and a first terminal of the third switching element is electrically connected with a second terminal of the ninth resistor;

a first terminal of the ninth resistor is electrically connected with a second terminal of the tenth resistor, a control terminal of the fourth switching element and a control terminal of the fifth switching element;

a first terminal of the tenth resistor is electrically connected with the battery;

a first terminal of the fourth switching element is electrically connected with the battery;

a second terminal of the fifth switching element is grounded;

a first terminal of the eleventh resistor is electrically connected with a second terminal of the fourth switching element and a first terminal of the fifth switching element, and a second terminal of the eleventh resistor is electrically connected with a control terminal of the sixth switching element; and

a first terminal of the sixth switching element is electrically connected with the battery, and a second terminal of the sixth switching element is electrically connected with the power terminal of the motor interface.

17 . A non-transitory computer-readable storage medium having stored therein an executable computer program that, when executed by a processor, causes a method for identifying a brush type to be implemented,

wherein the method comprises:

acquiring a detection voltage of a brush motor of a cleaning device, wherein the detection voltage is less than a starting voltage of the brush motor, and the brush motor is not started;

acquiring a first impedance of the brush motor, in response to inputting the detection voltage to the brush motor; and

determining a brush type corresponding to the brush motor based on the first impedance and a correspondence between impedances and brush types stored.

18 . The non-transitory computer-readable storage medium according to claim 17 , wherein acquiring the detection voltage of the brush motor of the cleaning device comprises:

acquiring respective starting voltages of at least one brush motor of the cleaning device to obtain an initial detection voltage, wherein the initial detection voltage is less than a minimum starting voltage by at least one voltage adjustment step;

determining a duty ratio of a driving signal based on the initial detection voltage and a battery voltage; and

controlling an operation of the brush motor according to the duty ratio to obtain the detection voltage of the brush motor.

19 . The non-transitory computer-readable storage medium according to claim 17 , wherein acquiring the first impedance of the brush motor comprises:

acquiring an operating current of the brush motor to obtain a detection current; and

determining the first impedance of the brush motor according to the detection voltage and the detection current.

20 . The non-transitory computer-readable storage medium according to claim 17 , wherein the method further comprises:

determining a motor control parameter corresponding to the brush type based on a correspondence between brush types and motor control parameters stored, wherein the motor control parameter comprises at least one of: a driving voltage, a protection current and a protection voltage of an electric brush; and

controlling an operation of the electric brush according to the motor control parameter.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (12)