# US 2021/0333368 A1 · Motor control method, laser radar, and mobile device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0333368 A1 - Document ID: US20210333368A1 - Status: Published application - Kind: A1 - Application number: 17/368,344 - Filed: 2021-07-06 - Published: 2021-10-28 - Earliest claimed: 2019-01-09 - Assignees: Sz Dji Technology Co., Ltd. - Applicants: Sz Dji Technology Co., Ltd. - Inventors: Tao LI - Web page: https://patentgrep.com/patent/US20210333368A1 ## CPC - G01S 7/4817: {relating to scanning} - H02P 1/54: for starting two or more dynamo-electric motors - G01S 7/497: Means for monitoring or calibrating - G01S 17/89: for mapping or imaging - G01S 17/933: of aircraft or spacecraft - H02P 1/58: sequentially - H02P 5/00: Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors (H02P6/04, H02P8/40 take precedence) - H02P 5/46: for speed regulation of two or more dynamo-electric motors in relation to one another - H02P 29/02: Providing protection against overload without automatic interruption of supply (protection against faults of stepper motors H02P8/36) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS ## 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. ## Claims ### Claim 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 controlling each motor of the multiple motors to start at a corresponding start time of the motor. ### Claim 2 (depends on 1) 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. ### Claim 3 (depends on 1) 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 graded rotation speed at the start time of the motor. ### Claim 4 (depends on 3) The method of claim 3, wherein determining the graded rotation speed according to the target rotation speed 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 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. ### Claim 5 (depends on 3) The method of claim 3, further comprising, if the rotation speed of the motor reaches the graded rotation speed and current in the motor is 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. ### Claim 6 (depends on 1) The method of claim 1, further comprising: determining rotation speed fluctuation of each motor in a preset time period; and controlling a rotation speed of a slave motor according to a rotation speed of a main motor, the main motor being the motor with a smallest rotation speed fluctuation, and the slave motors being other motors than the main motor. ### Claim 7 (depends on 6) The method of claim 6, 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. ### Claim 8 (depends on 7) The method of claim 7, wherein the rotation speed of the main motor and the rotation speed of the slave motor are in a linear relationship. ### Claim 9 (depends on 1) The method of claim 1, further comprising: obtaining status parameters of the motor itself and status parameters of environmental factors; and implementing corresponding protective measures according to the status parameters of the motor itself and the status parameters of the environmental factors. ### Claim 10 (depends on 9) The method of claim 9, wherein: the status parameters of the motor itself include at least one of following: current of the motor, a rotation speed of the motor, hardware status of the motor, communication status between electronic speed controller that controls the motor and a corresponding main control, input voltage status of the motor, and resistance and coil status; and the status parameters of the environmental factors include at least one of following: power status of the laser radar, communication status of the laser radar, ambient temperature, and laser operation status of the laser radar. ### Claim 11 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 controlling each motor of the multiple motors to start at a corresponding start time of the motor. ### Claim 12 (depends on 11) The laser radar of claim 11, 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. ### Claim 13 (depends on 11) The laser radar of claim 11, 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 graded rotation speed at the start time of the motor. ### Claim 14 (depends on 13) The laser radar of claim 13, 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 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. ### Claim 15 (depends on 13) The laser radar of claim 13, wherein the processor is further configured to, if the rotation speed of the motor reaches the graded rotation speed and current in the motor is 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. ### Claim 16 (depends on 11) The laser radar of claim 11, wherein the processor is further configured to: determine rotation speed fluctuation of each motor in a preset time period; and control a rotation speed of a slave motor according to a rotation speed of a main motor, the main motor being the motor with a smallest rotation speed fluctuation, and the slave motors being other motors than the main motor. ### Claim 17 (depends on 16) The laser radar of claim 16, 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. ### Claim 18 (depends on 17) The laser radar of claim 17, wherein the rotation speed of the main motor and the rotation speed of the slave motor are in a linear relationship. ### Claim 19 (depends on 11) The laser radar of claim 11, wherein the processor is further configured to: obtain status parameters of the motor itself and status parameters of environmental factors; and implement corresponding protective measures according to the status parameters of the motor itself and the status parameters of the environmental factors. ### Claim 20 (depends on 19) The laser radar of claim 19, wherein: the status parameters of the motor itself include at least one of following: current of the motor, a rotation speed of the motor, hardware status of the motor, communication status between electronic speed controller that controls the motor and a corresponding main control, input voltage status of the motor, and resistance and coil status; and the status parameters of the environmental factors include at least one of following: power status of the laser radar, communication status of the laser radar, ambient temperature, and laser operation status of the laser radar.