Methods, devices, equipment and storage media for controlling opening and closing components

Abstract

This invention discloses a method, device, equipment, and storage medium for controlling an opening and closing component, belonging to the field of vehicle control technology. The invention acquires the operating voltage of the drive mechanism corresponding to the opening and closing component during its movement; when a drop in the operating voltage is detected, it records the voltage change rate of the operating voltage within a preset time period; when the voltage change rate meets a preset condition, the drive mechanism controls the opening and closing component to stop moving. By focusing on the voltage change rate during the drop phase, a sudden voltage drop can be determined when the voltage change rate meets the preset condition, thereby stopping the tailgate movement to avoid accidental pinching. This reliably solves the problem of electric opening and closing components operating normally during sudden drops in power supply voltage, ensuring that the movement of the electric opening and closing component meets expectations.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a method, device, equipment and storage medium for controlling opening and closing components. Background Art

[0002] During the opening or closing of a vehicle's electrically operated opening and closing mechanism, the sudden start-up of the engine or a high-power electrical appliance causes a rapid drop in battery voltage. Simultaneously, the voltage of the opening / closing mechanism also drops rapidly, resulting in a decrease in its opening / closing speed. The anti-pinch function of electrically operated opening and closing mechanisms prevents external objects or people from obstructing the normal movement of the opening / closing components, thus reducing its opening / closing speed. Both of these different scenarios can easily lead to accidental reverse rotation or incorrect movement of the electrically operated opening and closing components.

[0003] In response to this situation, taking electric vehicles as an example, the current approach is that when the power supply voltage changes rapidly, the opening and closing speed will decrease when the voltage drops to a certain amplitude V1. If this continues for more than a certain time △t1, the electric vehicle door will stop moving to avoid the door accidentally reversing and causing inconvenience, displeasure, or fright to customers. After the voltage returns to V1', the electric movement will continue as before.

[0004] However, the problem with this approach is that when the vehicle is accidentally pinched, the duration of the voltage drop to V1 may be less than Δt1, or the voltage may not drop to V1. In this case, the existing strategy cannot work because the judgment condition is not met, which leads to control logic disorder and causes the movement of the electric opening and closing parts to be inconsistent with expectations.

[0005] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0006] The main objective of this invention is to provide a method, apparatus, device, and storage medium for controlling opening and closing components, aiming to solve the technical problem that the control strategy for preventing accidental pinching in the prior art is logically disordered and cannot make the movement of the electric opening and closing components conform to expectations.

[0007] To achieve the above objectives, the present invention provides a method for controlling an opening and closing component, the method comprising the following steps:

[0008] During the movement of the opening and closing component, the operating voltage of the driving mechanism corresponding to the opening and closing component is obtained;

[0009] When a drop in the operating voltage is detected, the rate of change of the operating voltage within a preset time period is recorded;

[0010] When the voltage change rate meets the preset condition, the opening and closing component is controlled to stop moving by the driving mechanism.

[0011] Optionally, the rate of change of voltage includes the slope of the voltage sampling points on the voltage change process curve;

[0012] The recording of the voltage change rate of the operating voltage within a preset time period includes:

[0013] Based on the moment when the working voltage drops, N voltage sampling points within a preset time period are obtained from the voltage change process curve;

[0014] Calculate the slope of the N-1 voltage sampling points corresponding to the N voltage sampling points.

[0015] Optionally, a preset voltage sampling period is used to separate each voltage sampling point;

[0016] The calculation of the slope of the N voltage sampling points corresponding to the N voltage sampling points includes:

[0017] Obtain the voltage corresponding to each voltage sampling point;

[0018] The slope of N-1 voltage sampling points is calculated based on the voltage corresponding to each voltage sampling point and the preset voltage sampling period.

[0019] Optionally, before calculating the slope of the N-1 voltage sampling points corresponding to the N voltage sampling points, the method further includes:

[0020] The minimum number of voltage sampling points is calculated based on the preset time period and preset voltage sampling period.

[0021] If N is greater than the minimum number of samples, then the step of calculating the slope of the N-1 voltage sampling points corresponding to the N voltage sampling points is performed.

[0022] Optionally, before controlling the opening / closing component to stop moving via the drive mechanism when the voltage change rate meets a preset condition, the method further includes:

[0023] The slopes of the N-1 voltage sampling points are compared with preset slope thresholds respectively;

[0024] If the slope of all N-1 voltage sampling points is greater than the preset slope threshold, then the voltage change rate is determined to meet the preset condition.

[0025] Optionally, before controlling the opening / closing component to stop moving via the drive mechanism when the voltage change rate meets a preset condition, the method further includes:

[0026] Calculate the average slope of the slopes at the N-1 voltage sampling points;

[0027] If the average slope is greater than the target slope threshold, then the voltage change rate is determined to meet the preset condition.

[0028] Optionally, before determining that the voltage change rate meets the preset condition if the average slope is greater than the target slope threshold, the method further includes:

[0029] The target slope threshold is calculated based on the preset scaling factor and the preset slope threshold.

[0030] Furthermore, to achieve the above objectives, the present invention also proposes an opening and closing component control device, the opening and closing component control device comprising:

[0031] The acquisition module is used to acquire the operating voltage of the drive mechanism corresponding to the opening and closing component during the movement of the opening and closing component.

[0032] The calculation module is used to record the rate of change of the operating voltage within a preset time period when a drop in the operating voltage is detected.

[0033] The control module is used to control the opening and closing component to stop moving through the drive mechanism when the voltage change rate meets the preset condition.

[0034] Furthermore, to achieve the above objectives, the present invention also proposes an opening and closing component control device, the opening and closing component control device comprising: a memory, a processor, and an opening and closing component control program stored in the memory and running on the processor, the opening and closing component control program being configured to implement the opening and closing component control method as described above.

[0035] In addition, to achieve the above objectives, the present invention also proposes a storage medium storing an opening and closing component control program, which, when executed by a processor, implements the opening and closing component control method as described above.

[0036] This invention obtains the operating voltage of the drive mechanism corresponding to the opening and closing component during its movement; when a drop in the operating voltage is detected, the voltage change rate of the operating voltage is recorded within a preset time period; when the voltage change rate meets a preset condition, the opening and closing component is controlled to stop moving by the drive mechanism. By focusing on the voltage change rate during the drop, a sudden voltage drop can be determined when the voltage change rate meets the preset condition, thereby stopping the tailgate movement to avoid accidental pinching. This invention reliably solves the problem of electric opening and closing devices operating normally during sudden drops in power supply voltage, ensuring that the movement of the electric opening and closing device meets expectations. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the opening and closing component control device of the hardware operating environment involved in the embodiments of the present invention;

[0038] Figure 2 This is a flowchart illustrating the first embodiment of the opening and closing component control method of the present invention;

[0039] Figure 3 This is a schematic diagram of a voltage drop scenario in one embodiment of the opening and closing component control method of the present invention;

[0040] Figure 4 This is a schematic diagram of a voltage drop scenario in one embodiment of the opening and closing component control method of the present invention;

[0041] Figure 5 This is a schematic diagram of a preset time period in one embodiment of the opening and closing component control method of the present invention;

[0042] Figure 6 This is a flowchart illustrating the second embodiment of the opening and closing component control method of the present invention;

[0043] Figure 7 This is a schematic diagram of the voltage change process curve in one embodiment of the opening and closing component control method of the present invention;

[0044] Figure 8 This is a schematic diagram of an occasional voltage drop in one embodiment of the control method for the opening and closing components of the present invention;

[0045] Figure 9 This is a flowchart illustrating the third embodiment of the opening and closing component control method of the present invention;

[0046] Figure 10 This is a structural block diagram of the first embodiment of the opening and closing component control device of the present invention.

[0047] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0048] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0049] Reference Figure 1 , Figure 1 This is a schematic diagram of the opening and closing component control device structure of the hardware operating environment involved in the embodiments of the present invention.

[0050] like Figure 1As shown, the opening and closing component control device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0051] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the control device for opening and closing components, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0052] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and an opening / closing component control program.

[0053] exist Figure 1 In the opening and closing component control device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the opening and closing component control device of the present invention can be set in the opening and closing component control device. The opening and closing component control device calls the opening and closing component control program stored in the memory 1005 through the processor 1001 and executes the opening and closing component control method provided in the embodiment of the present invention.

[0054] This invention provides a method for controlling opening and closing components, referring to... Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the opening and closing component control method of the present invention.

[0055] In this embodiment, the opening and closing component control method includes the following steps:

[0056] Step S10: During the movement of the opening and closing component, obtain the operating voltage of the driving mechanism corresponding to the opening and closing component.

[0057] In this embodiment, the executing entity can be the opening and closing component control device, which has functions such as data processing, data communication, and program execution. The opening and closing component control device can be a controller inside an air conditioner. Of course, other devices with similar functions can also be used, and this embodiment does not limit this. For ease of explanation, this embodiment uses an opening and closing component control device as an example.

[0058] It should be noted that during the opening or closing of a vehicle's electrically operated door, the sudden start-up of the engine or high-power electrical appliances causes a rapid drop in battery voltage. Simultaneously, the voltage of the door's drive mechanism also drops rapidly, resulting in a decrease in its opening and closing speed. The anti-pinch function of electrically operated doors prevents external objects or people from obstructing the normal movement of the opening and closing mechanism, causing a decrease in opening and closing speed. These two different scenarios can easily lead to accidental reverse rotation or incorrect movement of the electrically operated door. To address this, taking electric vehicles as an example, the current approach is that when the power supply voltage changes rapidly, if the voltage drops to a certain amplitude V1, the opening and closing speed will decrease; if this continues for more than a certain time Δt1, the electric door will pause its movement to prevent accidental reverse rotation that could inconvenience, displeasure, or frighten the customer. Once the voltage returns to V1', the electric door will resume its previous movement.

[0059] It is important to emphasize that the current method requires the voltage to drop below a certain level before detecting and controlling the trip clip. Figure 3 As shown, the current judgment method requires the voltage to drop below 9V before making a judgment; if the starting voltage does not reach below 9V, no judgment is made. Furthermore, the current method also checks whether the duration of the voltage drop after reaching a certain value meets a certain condition, such as... Figure 4 As shown, if the voltage rises to above 9V at time T2, it will be determined that no false pinch has occurred. However, judging from the waveform, the voltage value is also relatively low. Low drive speed will also lead to false pinch. According to the current solution, it is impossible to control the movement of the door that has false pinched.

[0060] To solve the above technical problems, such as Figure 3 and Figure 4 As shown, this embodiment only focuses on the slope of the descending segment. If the slope is satisfied, it can be determined that there is a sudden drop in voltage, thereby stopping the tailgate movement to avoid accidental pinching and effectively dealing with this situation.

[0061] In this embodiment, the opening and closing component is an electrically operated opening and closing component. Taking a vehicle as an example, the opening and closing component can be an electric side door or an electric tailgate, etc.

[0062] In practical implementation, a sudden drop in voltage can cause the anti-pinch system to reverse. During the opening and closing of the electric door, changes in the vehicle's power supply voltage can cause it to move in the wrong direction. For example, if the door suddenly opens in the opposite direction while closing, it is extremely dangerous for side obstacles or passengers / oncoming vehicles in front or behind. Similarly, if the driver starts the vehicle or a high-power electrical appliance inside the car during the opening and closing of the electric tailgate or trunk, the control logic may become disordered, causing the tailgate to reverse and resulting in injury. In this embodiment, in order to prevent such reversal, it is necessary to monitor the operating voltage of the drive mechanism corresponding to the opening and closing components in real time.

[0063] Step S20: When the working voltage drops, record the rate of change of the working voltage within a preset time period.

[0064] In this specific implementation, the method adopted is to calculate the voltage change rate of the operating voltage. That is, when the operating voltage of the drive mechanism decreases, this embodiment records the operating voltage of the drive mechanism from the moment the operating voltage decreases, and records the voltage change rate of the operating voltage over a period of time, i.e., a preset time period. The preset time period can be the minimum value measured during development under various operating conditions affecting gate reversal errors. Of course, it can also be set to other time periods according to actual needs; this embodiment does not impose any restrictions on this. For example, the preset time period could be... Figure 5 The ΔT shown represents the operating voltage of the drive mechanism during normal operation, which is V0. The time period corresponding to the voltage drop phase is ΔT. In this embodiment, the recorded value is the voltage change rate within this time period. Specifically, in this embodiment, the voltage change rate can be calculated based on the voltage drop and the preset time period. The specific calculation method is not limited in this embodiment and can be selected according to the actual situation.

[0065] Step S30: When the voltage change rate meets the preset condition, the opening and closing component is controlled to stop moving by the driving mechanism.

[0066] In specific implementation, after obtaining the voltage change rate, this embodiment will determine whether the voltage change rate meets the preset conditions. If the voltage change rate meets the preset conditions, it means that the opening and closing component will reduce its speed due to insufficient driving force caused by the voltage drop, resulting in false clamping. In this case, this embodiment will control the opening and closing component to stop moving.

[0067] This embodiment obtains the operating voltage of the drive mechanism corresponding to the opening and closing component during its movement; when a drop in the operating voltage is detected, the voltage change rate of the operating voltage is recorded within a preset time period; when the voltage change rate meets a preset condition, the opening and closing component is controlled to stop moving by the drive mechanism. By focusing on the voltage change rate during the drop, a sudden voltage drop can be determined when the voltage change rate meets the preset condition, thereby stopping the tailgate movement to avoid accidental pinching. This reliably solves the problem of electric opening and closing components operating normally during sudden drops in power supply voltage, ensuring that the movement of the electric opening and closing components meets expectations.

[0068] refer to Figure 6 , Figure 6 This is a flowchart illustrating a second embodiment of the opening and closing component control method of the present invention.

[0069] Based on the first embodiment described above, in the opening and closing component control method of this embodiment, step S20 specifically includes:

[0070] Step S201: Based on the time when the working voltage drops, obtain N voltage sampling points within a preset time period from the voltage change process curve.

[0071] In specific implementation, the voltage change rate in this embodiment is also the slope of the voltage sampling point on the voltage change process curve, as shown in the voltage change process curve. Figure 7 As shown, Figure 7 The number of voltage sampling points shown is 4, meaning that in this embodiment, 4 voltage sampling points within a preset time period are obtained. Figure 7 V1, V2, V3 and V4 shown are all voltage sampling points.

[0072] Step S202: Calculate the slope of the N-1 voltage sampling points corresponding to the N voltage sampling points.

[0073] In practical implementation, the slope of the voltage sampling points corresponding to the N voltage sampling points is N-1, for example... Figure 7 The slopes of the voltage sampling points corresponding to the four voltage sampling points V1, V2, V3 and V4 are K1, K2 and K3 respectively.

[0074] Furthermore, when calculating the slope of the voltage sampling points, it is necessary to first obtain the voltage corresponding to each voltage sampling point. Figure 7The voltages corresponding to the four voltage sampling points are V1, V2, V3, and V4. In this embodiment, the voltage sampling points are obtained according to a preset voltage sampling period, for example, the preset voltage sampling period is Cd, and the preset time period is ΔT. Then the number of voltage sampling points is Nc = round(ΔT / Cd-1), rounded down. The interval between each sampling point is the preset voltage sampling period. The slope of the voltage sampling point can be calculated based on the voltage corresponding to each voltage sampling point and the preset voltage sampling period. For example, the slope between V1 and V2 is K1 = (V1-V2) / Cd, the slope between V2 and V3 is K2 = (V2-V3) / Cd, and the slope between V3 and V4 is K3 = (V3-V4) / Cd. The slope of N-1 voltage sampling points corresponding to N voltage sampling points can be calculated in the above way. The preset voltage sampling period can be set according to actual needs. In this embodiment, there is no restriction on this. The voltage corresponding to each voltage sampling point can be directly read from the voltage change process curve.

[0075] Furthermore, in actual operation, the driving mechanism corresponding to the opening and closing component may experience occasional voltage drops, but these drops are very short. Current methods would consider this a false alarm trigger, thus stopping the mechanism. However, this is unreasonable. To avoid this, this embodiment calculates the minimum number of voltage sampling points based on a preset time period and a preset voltage sampling cycle. If the number of voltage sampling points within a certain period is less than the minimum number, for example... Figure 8 As shown, if the voltage drops intermittently, the slope determination of multiple consecutive points will not be satisfied. The number of voltage sampling points actually obtained according to the preset voltage sampling period is less than the minimum number of sampling points calculated based on theory. This method can avoid the above situation from occurring.

[0076] This embodiment obtains the voltage corresponding to each voltage sampling point by acquiring N voltage sampling points within a preset time period from the voltage change process curve, based on the time when the working voltage drops. The slope of N-1 voltage sampling points is calculated according to the voltage corresponding to each voltage sampling point and the preset voltage sampling period, thus accurately calculating the slope of each voltage sampling point. Simultaneously, the minimum number of voltage sampling points is calculated based on the preset time period and the preset voltage sampling period. If N is greater than the minimum number of sampling points, the step of calculating the slope of N-1 voltage sampling points corresponding to the N voltage sampling points is performed. This eliminates the interference of occasional voltage drops, preventing the condition of consecutive slope determination at multiple points from being met, thereby improving the accuracy of the judgment logic.

[0077] refer to Figure 9 , Figure 9 This is a flowchart illustrating a third embodiment of an opening / closing component control method according to the present invention.

[0078] Based on the second embodiment described above, before step S30 in this embodiment, the method further includes:

[0079] Step S301: Compare the slopes of the N-1 voltage sampling points with a preset slope threshold.

[0080] In a specific implementation, this embodiment determines whether the voltage change rate meets the preset conditions by comparing the slopes of the N-1 voltage sampling points with a preset slope threshold.

[0081] Specifically, after comparing the slopes of N-1 voltage sampling points with a preset slope threshold, if the slopes of all N-1 voltage sampling points are greater than the preset slope threshold, this embodiment determines that the voltage change rate meets the preset condition. For example, assuming the preset slope threshold is Kmin, and the calculated slopes of the voltage sampling points are K1, K2, and K3, if (K1>Kmin)&(K2>Kmin)&(K3>Kmin), that is, K1, K2, and K3 are all greater than the preset slope threshold Kmin, this embodiment determines that the voltage change rate meets the preset condition. During engine startup, the voltage drop segment has a minimum slope value Kmin, which can be obtained by collecting the startup voltage waveform during development. Furthermore, the preset slope threshold can be set according to actual needs; this embodiment does not impose any restrictions on this.

[0082] Furthermore, considering the impact of system fluctuations and the number of sampled samples, a scaling factor is added in the actual calculation to absorb fluctuations and improve the robustness of the algorithm.

[0083] In this specific implementation, the average slope of the N-1 voltage sampling points is further calculated, and then the calculated average slope is compared with a target slope threshold. If the calculated average slope is greater than the target slope threshold, then in this embodiment, the voltage change rate is determined to meet a preset condition. For example, assuming the calculated slopes of the voltage sampling points are K1, K2, and K3, and the calculated average slope is (K1+K2+K3) / 3, and assuming the target slope is Kt, if (K1+K2+K3) / 3 > Kt, then in this embodiment, the voltage change rate is determined to meet a preset condition.

[0084] Furthermore, the target slope threshold in this embodiment can be calculated using a preset scaling factor and a preset slope threshold. For example, if the preset scaling factor is Py and the preset slope threshold is Kmin, then the target slope threshold can be calculated as Py*Kmin. The preset scaling factor can be set according to actual needs, and this embodiment does not impose any restrictions on it.

[0085] This embodiment compares the slopes of the N-1 voltage sampling points with a preset slope threshold. If the slopes of all N-1 voltage sampling points are greater than the preset slope threshold, the voltage change rate is determined to meet a preset condition. The slopes of each voltage sampling point are used to more accurately determine whether the voltage change rate meets the preset condition. At the same time, the average slope of the N-1 voltage sampling points is calculated. If the average slope is greater than the target slope threshold, the voltage change rate is determined to meet the preset condition. The target slope threshold is calculated using a scaling factor to absorb fluctuations, thereby improving the robustness of the algorithm and further enhancing the accuracy of the judgment.

[0086] Furthermore, this embodiment of the invention also proposes a storage medium storing an opening and closing component control program, which, when executed by a processor, implements the steps of the opening and closing component control method described above.

[0087] Since this storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0088] Reference Figure 10 , Figure 10 This is a structural block diagram of the first embodiment of the opening and closing component control device of the present invention.

[0089] like Figure 10 As shown, the opening and closing component control device proposed in this embodiment of the invention includes:

[0090] The acquisition module 10 is used to acquire the operating voltage of the drive mechanism corresponding to the opening and closing component during the movement of the opening and closing component.

[0091] The calculation module 20 is used to record the voltage change rate of the operating voltage within a preset time period when a drop in the operating voltage is detected.

[0092] The control module 30 is used to control the opening and closing component to stop moving through the drive mechanism when the voltage change rate meets the preset condition.

[0093] This embodiment obtains the operating voltage of the drive mechanism corresponding to the opening and closing component during its movement; when a drop in the operating voltage is detected, the voltage change rate of the operating voltage is recorded within a preset time period; when the voltage change rate meets a preset condition, the opening and closing component is controlled to stop moving by the drive mechanism. By focusing on the voltage change rate during the drop, a sudden voltage drop can be determined when the voltage change rate meets the preset condition, thereby stopping the tailgate movement to avoid accidental pinching. This reliably solves the problem of electric opening and closing components operating normally during sudden drops in power supply voltage, ensuring that the movement of the electric opening and closing components meets expectations.

[0094] In one embodiment, the rate of change of voltage includes the slope of the voltage sampling points on the voltage change process curve;

[0095] The calculation module 20 is further configured to obtain N voltage sampling points within a preset time period from the voltage change process curve, based on the time when the working voltage drops; and calculate the slope of N-1 voltage sampling points corresponding to the N voltage sampling points.

[0096] In one embodiment, a preset voltage sampling period is spaced between each voltage sampling point;

[0097] The calculation module 20 is also used to obtain the voltage corresponding to each voltage sampling point; and to calculate the slope of N-1 voltage sampling points based on the voltage corresponding to each voltage sampling point and the preset voltage sampling period.

[0098] In one embodiment, the opening / closing component control device includes a judgment module;

[0099] The judgment module is used to calculate the minimum number of voltage sampling points based on the preset time period and the preset voltage sampling period.

[0100] The calculation module 20 is further configured to perform the step of calculating the slope of the N-1 voltage sampling points corresponding to the N voltage sampling points if N is greater than the minimum number of samples.

[0101] The judgment module is further configured to compare the slopes of the N-1 voltage sampling points with a preset slope threshold; if the slopes of the N-1 voltage sampling points are all greater than the preset slope threshold, then the voltage change rate is determined to meet the preset condition.

[0102] The judgment module is also used to calculate the average slope of the slopes of the N-1 voltage sampling points; if the average slope is greater than the target slope threshold, then the voltage change rate is determined to meet the preset condition.

[0103] The calculation module 20 is also used to calculate the target slope threshold based on the preset scaling factor and the preset slope threshold.

[0104] It should be understood that the above are merely illustrative examples and do not constitute any limitation on the technical solutions of the present invention. In specific applications, those skilled in the art can make settings as needed, and the present invention does not impose any restrictions on this.

[0105] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this invention. In practical applications, those skilled in the art can select some or all of the workflow to achieve the purpose of this embodiment according to actual needs, and no restrictions are imposed here.

[0106] In addition, for technical details not described in detail in this embodiment, please refer to the opening and closing component control method provided in any embodiment of the present invention, which will not be repeated here.

[0107] Furthermore, it should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0108] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0109] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory (ROM) / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0110] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method for controlling an opening and closing component, characterized in that, The method for controlling the opening and closing components includes: During the movement of the opening and closing component, the operating voltage of the driving mechanism corresponding to the opening and closing component is obtained; When a drop in the operating voltage is detected, the rate of change of the operating voltage within a preset time period is recorded; When the voltage change rate meets the preset condition, the opening and closing component is controlled to stop moving by the driving mechanism; The voltage change rate includes the slope of the voltage sampling points on the voltage change process curve; The recording of the voltage change rate of the operating voltage within a preset time period includes: Based on the moment when the working voltage drops, N voltage sampling points within a preset time period are obtained from the voltage change process curve; Calculate the slope of the N-1 voltage sampling points corresponding to the N voltage sampling points; Before the opening and closing component is stopped by the drive mechanism when the voltage change rate meets the preset condition, the method further includes: Calculate the average slope of the slopes at the N-1 voltage sampling points; If the average slope is greater than the target slope threshold, then the voltage change rate is determined to meet the preset condition.

2. The method for controlling the opening and closing components as described in claim 1, characterized in that, Each voltage sampling point is spaced apart by a preset voltage sampling period; The calculation of the slope of the N voltage sampling points corresponding to the N voltage sampling points includes: Obtain the voltage corresponding to each voltage sampling point; The slope of N-1 voltage sampling points is calculated based on the voltage corresponding to each voltage sampling point and the preset voltage sampling period.

3. The method for controlling the opening and closing components as described in claim 1, characterized in that, Before calculating the slope of the N voltage sampling points corresponding to the N voltage sampling points, the following steps are also included: The minimum number of voltage sampling points is calculated based on the preset time period and preset voltage sampling period. If N is greater than the minimum number of samples, then the step of calculating the slope of the N-1 voltage sampling points corresponding to the N voltage sampling points is performed.

4. The method for controlling the opening and closing components as described in claim 1, characterized in that, Before determining that the voltage change rate meets the preset condition if the average slope is greater than the target slope threshold, the method further includes: The target slope threshold is calculated based on the preset scaling factor and the preset slope threshold.

5. A control device for opening and closing components, characterized in that, The opening / closing component control device executes the opening / closing component control method as described in any one of claims 1 to 4, wherein the opening / closing component control device comprises: The acquisition module is used to acquire the operating voltage of the drive mechanism corresponding to the opening and closing component during the movement of the opening and closing component. The calculation module is used to record the rate of change of the operating voltage within a preset time period when a drop in the operating voltage is detected. The control module is used to control the opening and closing component to stop moving through the drive mechanism when the voltage change rate meets the preset condition.

6. A control device for opening and closing components, characterized in that, The opening and closing component control device includes: a memory, a processor, and an opening and closing component control program stored in the memory and running on the processor, the opening and closing component control program being configured to implement the opening and closing component control method as described in any one of claims 1 to 4.

7. A storage medium, characterized in that, The storage medium stores an opening and closing component control program, which, when executed by a processor, implements the opening and closing component control method as described in any one of claims 1 to 4.

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