Crankshaft control method, device, equipment and storage medium

Abstract

The present invention discloses a crankshaft control method, device, equipment, and storage medium. The crankshaft control method includes: determining whether power failure log information exists; if the power failure log information exists, obtaining static disc image information, and determining the initial crankshaft rotation angle based on the static disc image information; after power is restored, generating a starting control instruction based on the initial crankshaft rotation angle; after starting the vehicle, obtaining crankshaft rotation angle sensor information, and determining whether the error of the crankshaft rotation angle corresponding to the crankshaft rotation angle sensor is greater than an error threshold based on the initial crankshaft rotation angle; when the error is greater than the error threshold, correcting the crankshaft rotation angle sensor information based on the initial crankshaft rotation angle, recording it as crankshaft rotation angle sensor correction information, and generating a crankshaft control instruction based on the crankshaft rotation angle sensor correction information; otherwise, generating a crankshaft control instruction based on the crankshaft rotation angle sensor information.

Description

Technical Field

[0001] Embodiments of the present invention relate to control technology, and more particularly to a crankshaft control method, device, equipment, and storage medium. Background Art

[0002] The crank angle of a diesel engine is a very important parameter, which is related to the ship's speed, fuel consumption, power, etc. In the prior art, a Hall sensor is usually used to measure the crank angle.

[0003] Currently, when the main engine control system loses power, the main engine crankshaft angle is lost, and manual cranking is required to calibrate the angle. At the same time, based on the signal measured by the speed sensor, the control system needs to calibrate the main engine crankshaft angle through a self-learning algorithm. Subsequently, the main engine crankshaft angle calculated by the control system needs to be compared with the flywheel crankshaft angle scale reference value. If there is a large deviation between the two, manual re-calibration of the angle is required through cranking, which requires more operations from the crew. Summary of the Invention

[0004] The present invention provides a crankshaft control method, device, equipment and storage medium, so as to achieve the purpose of automatically calibrating the crankshaft rotation angle and realizing crankshaft control after the engine control system is powered off.

[0005] In a first aspect, an embodiment of the present invention provides a crankshaft control method, comprising:

[0006] Determine whether there is power outage log information;

[0007] If the power-off log information exists, obtaining static disc image information, and determining the crankshaft rotation initial angle according to the static disc image information;

[0008] After power is turned on again, a starting control instruction is generated according to the initial crankshaft rotation angle;

[0009] After starting the vehicle, obtaining information from a crankshaft rotation angle sensor, and determining whether an error in a crankshaft rotation angle corresponding to the crankshaft rotation angle sensor is greater than an error threshold based on the crankshaft initial rotation angle;

[0010] When the error is greater than the error threshold, the crankshaft rotation angle sensor information is corrected according to the crankshaft initial rotation angle, recorded as crankshaft rotation angle sensor correction information, and a crankshaft control instruction is generated according to the crankshaft rotation angle sensor correction information;

[0011] Otherwise, the crankshaft control instruction is generated according to the crankshaft rotation angle sensor information.

[0012] Optionally, the method further includes generating crankshaft speed information according to the crankshaft rotation angle sensor correction information or the crankshaft rotation angle sensor information;

[0013] generating the crankshaft control instruction according to the crankshaft rotation angle sensor correction information and the crankshaft speed information;

[0014] Alternatively, the crankshaft control instruction is generated according to the crankshaft rotation angle sensor information and the crankshaft speed information.

[0015] Optionally, the crankshaft rotation angle sensor information is Hall sensor information.

[0016] Optionally, obtaining crankshaft rotation angle sensor information includes:

[0017] The Hall sensor information of a plurality of Hall sensors is acquired, and the crankshaft rotation angle sensor information is determined according to the plurality of Hall sensor information.

[0018] Optionally, obtaining static disc image information includes:

[0019] An image code is obtained, the image is decoded to obtain a decoded image, and the decoded image is binarized to obtain the static disc image information.

[0020] Optionally, after obtaining the image code, the following steps are also included:

[0021] The image code is verified, and after the verification is passed, the image is decoded to obtain the decoded image.

[0022] Optionally, the starting control instruction includes air start control information.

[0023] In a second aspect, an embodiment of the present invention further provides a crankshaft control device, including a crankshaft control unit, wherein the crankshaft control unit is configured to:

[0024] Determine whether there is power outage log information;

[0025] If the power-off log information exists, obtaining static disc image information, and determining the crankshaft rotation initial angle according to the static disc image information;

[0026] After power is turned on again, a starting control instruction is generated according to the initial crankshaft rotation angle;

[0027] After starting the vehicle, obtaining information from a crankshaft rotation angle sensor, and determining whether an error in a crankshaft rotation angle corresponding to the crankshaft rotation angle sensor is greater than an error threshold based on the crankshaft initial rotation angle;

[0028] When the error is greater than the error threshold, the crankshaft rotation angle sensor information is corrected according to the crankshaft initial rotation angle, recorded as crankshaft rotation angle sensor correction information, and a crankshaft control instruction is generated according to the crankshaft rotation angle sensor correction information;

[0029] Otherwise, the crankshaft control instruction is generated according to the crankshaft rotation angle sensor information.

[0030] In a third aspect, an embodiment of the present invention further provides an electronic device, comprising at least one processor, and a memory communicatively connected to the at least one processor;

[0031] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute any one of the crankshaft control methods described in the embodiments of the present invention.

[0032] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement any one of the crankshaft control methods described in the embodiments of the present invention when executed.

[0033] Compared with the prior art, the present invention has the following advantages: The present invention provides a crankshaft control method in which, after the engine control system is powered off, static disc image information is acquired. During the air start host control process, the static disc image information is used to determine the initial crankshaft rotation angle. The engine control system can obtain the crankshaft angle immediately before the power is turned off, thereby reducing the cranking process. The initial crankshaft rotation angle can be used as the initial angle for the engine control system to perform engine control. During engine control, the crankshaft angle acquired by the engine control system can be compared and corrected with the initial crankshaft rotation angle to obtain the most accurate crankshaft angle and speed, thereby improving control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a flow chart of a crankshaft control method in an embodiment;

[0035] Figure 2 is a flow chart of another crankshaft control method in an embodiment;

[0036] Figure 3 Schematic diagram of the electronic device structure in the embodiment. DETAILED DESCRIPTION

[0037] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0038] Example 1

[0039] Figure 1 This is a flow chart of the crankshaft control method in the embodiment, refer to Figure 1 , the crankshaft control method includes:

[0040] S101. Determine whether there is power outage log information.

[0041] In this embodiment, the crankshaft control method is applicable to controlling the crankshaft of an engine, wherein the application scenario of the engine is not limited. For example, the engine may be a vehicle engine, a ship engine, etc.

[0042] In this embodiment, the power-off situation is set to specifically refer to the power-off of the engine control system of the engine assembly. Accordingly, the content recorded in the power-off log information is the power-off event corresponding to the above-mentioned engine control system.

[0043] In this embodiment, it is assumed that after the engine control system is powered off, the corresponding engine assembly stops working.

[0044] In this embodiment, it is assumed that the engine control system includes a crankshaft angle sensor, which is used to obtain the rotation angle of the engine crankshaft when the engine assembly is working.

[0045] Illustratively, in this embodiment, it is assumed that after the engine control system is powered off, the crank angle sensor stops working accordingly.

[0046] S102. If there is power failure log information, obtain static disc image information, and determine the initial crankshaft rotation angle based on the static disc image information.

[0047] For example, in this embodiment, the engine crankshaft is provided with a mechanical disc, a unit scale of the mechanical disc is set to correspond to a unit rotation angle of the engine crankshaft within a range of 360°, and the indication scale of the mechanical disc is set to change as the engine crankshaft rotates;

[0048] The static disc image information is set to include the indication scale of the mechanical disc when the engine assembly is stopped.

[0049] For example, in this embodiment, the static disc image information may be in the form of an image (picture), and the method for determining the initial rotation angle of the crankshaft based on the static disc image information is not limited;

[0050] For example, the indicating scale included in the static disc image information may be obtained through an image processing method, and the crankshaft rotation angle corresponding to the indicating scale may be used as the initial crankshaft rotation angle.

[0051] S103. After power is turned on again, a starting control command is generated according to the initial crankshaft rotation angle.

[0052] In this embodiment, re-energizing is set to refer to re-energizing the engine control system corresponding to the engine assembly.

[0053] Illustratively, in this embodiment, a starting control instruction is set to start the engine assembly, wherein the control instruction may include engine control factors such as ignition timing.

[0054] In this embodiment, the method of generating the starting control instruction according to the initial rotation angle of the crankshaft is a prior art, and its specific content will not be described in detail.

[0055] S104. After starting the vehicle, obtain the crankshaft rotation angle sensor information and determine whether the error of the crankshaft rotation angle corresponding to the crankshaft rotation angle sensor is greater than an error threshold based on the initial crankshaft rotation angle.

[0056] In this embodiment, it is assumed that the crankshaft rotation angle sensor information is collected by the crankshaft rotation angle sensor, wherein the specific type of the crankshaft rotation angle sensor is not limited. For example, a Hall sensor can be used as the crankshaft rotation angle sensor.

[0057] Illustratively, in this embodiment, the crankshaft rotation angle sensor information is set to be sensor information obtained by the crankshaft rotation angle sensor at the time when the engine assembly is started.

[0058] For example, in this embodiment, the manner in which the crankshaft rotation angle sensor obtains the crankshaft rotation angle sensor information is not limited;

[0059] For example, if a Hall sensor is used as the crankshaft rotation angle sensor, the output voltage of the Hall sensor can be used as the crankshaft rotation angle sensor information to further determine the crankshaft rotation angle corresponding to the crankshaft rotation angle sensor information.

[0060] For example, in this embodiment, taking the output voltage as the crankshaft rotation angle sensor information as an example, the crankshaft rotation angle corresponding to the output voltage can be determined according to a preset output voltage-crankshaft rotation angle relationship table.

[0061] Illustratively, in this embodiment, the error threshold may be determined based on experience or through a calibration test.

[0062] S105. When the error is greater than the error threshold, the crankshaft rotation angle sensor information is corrected according to the crankshaft initial rotation angle, recorded as crankshaft rotation angle sensor correction information, and a crankshaft control instruction is generated according to the crankshaft rotation angle sensor correction information.

[0063] For example, in this embodiment, the method of correcting the crankshaft rotation angle sensor information (crankshaft rotation angle) according to the crankshaft initial rotation angle is not limited;

[0064] For example, the crankshaft rotation initial angle may be used to replace the crankshaft rotation angle corresponding to the crankshaft rotation angle sensor information;

[0065] Alternatively, a set of error correction coefficients can be set based on simulation experiments, and corresponding correction coefficients can be selected according to the error between the initial crankshaft rotation angle and the crankshaft rotation angle corresponding to the crankshaft rotation angle sensor, and then the crankshaft rotation angle sensor information can be corrected using the correction coefficients.

[0066] S106 . Otherwise, generate a crankshaft control instruction according to the crankshaft rotation angle sensor information.

[0067] In combination with step S105 and step S106, in this embodiment, the crankshaft control instruction is used to implement engine control, wherein the crankshaft control instruction may include control factors such as ignition timing, engine cylinder ignition mode (whether the engine cylinder is ignited and the ignition order), and crankshaft speed.

[0068] In this embodiment, the method of generating the crankshaft control instruction according to the crankshaft rotation angle sensor correction information or the crankshaft rotation angle sensor information is a prior art, and its specific content will not be described in detail.

[0069] This embodiment provides a crankshaft control method. After the engine control system is powered off, static disc image information is acquired. During the air start host control process, the static disc image information is used to determine the initial crankshaft rotation angle. The engine control system can obtain the crankshaft angle immediately before power failure, reducing the cranking process. The initial crankshaft rotation angle can serve as the initial angle for the engine control system to control the engine. During engine control, the crankshaft angle acquired by the engine control system can be compared and corrected with the initial crankshaft rotation angle to obtain the most accurate crankshaft angle and speed, thereby improving control accuracy.

[0070] exist Figure 1 Based on the illustrated solution, in one possible implementation manner, the crankshaft control method further includes generating crankshaft speed information according to crankshaft rotation angle sensor correction information or crankshaft rotation angle sensor information.

[0071] In this solution, if the error is greater than the error threshold, the crankshaft rotation angle sensor correction information is used to generate the crankshaft speed information; otherwise, the crankshaft rotation angle sensor information is used to generate the crankshaft speed information.

[0072] For example, in this embodiment, the method of generating the crankshaft speed information is not limited. For example, the crankshaft speed information (crankshaft speed) can be determined based on the crankshaft rotation angle corresponding to the crankshaft rotation angle sensor (correction) information and the sampling period of the above information.

[0073] In this solution, if the error is greater than the error threshold, a crankshaft control command is generated based on the crankshaft rotation angle sensor correction information and the crankshaft speed information;

[0074] Otherwise, a crankshaft control command is generated according to the crankshaft rotation angle sensor information and the crankshaft speed information.

[0075] In this solution, the method of generating the crankshaft control instruction based on the crankshaft rotation angle sensor (correction) information and the crankshaft speed information is an existing technology, and its specific content will not be described in detail.

[0076] exist Figure 1 On the basis of the scheme shown, in one possible implementation scheme, the crankshaft rotation angle sensor information is set to Hall sensor information, and accordingly, the Hall sensor is used as the crankshaft rotation angle sensor.

[0077] Furthermore, when a Hall sensor is used as the crankshaft rotation angle sensor, obtaining the crankshaft rotation angle sensor information includes:

[0078] Hall sensor information of a plurality of Hall sensors is acquired, and crankshaft rotation angle sensor information is determined according to the plurality of Hall sensor information.

[0079] For example, in this solution, a first Hall sensor, a second Hall sensor, a third Hall sensor, and a fourth Hall sensor that are redundant with each other may be provided to measure the rotation angle of the crankshaft;

[0080] When the standard deviation of the measured values ​​of the first Hall sensor, the second Hall sensor, the third Hall sensor, and the fourth Hall sensor is less than a set value, the average of the four measured values ​​can be used to determine the crankshaft rotation angle sensor information, or one of the measured values ​​can be selected as the crankshaft rotation angle sensor information;

[0081] When the standard deviation of the above measurement values ​​is greater than the set value, the error value in the measurement value (which is significantly larger or smaller than other measurement values) is eliminated, and then the average value of the remaining test values ​​is used to determine the crankshaft rotation angle sensor information.

[0082] exist Figure 1Based on the solution shown, in one possible implementation scheme, obtaining static disc image information includes:

[0083] The image code is obtained, the image is decoded to obtain a decoded image, and the decoded image is binarized to obtain static disc image information.

[0084] Exemplarily, in this solution, the image code can be generated in the following manner:

[0085] A camera is configured, and the position between the camera and the mechanical disc is set to be relatively static. When the engine control system is powered off and the crankshaft stops rotating, the camera is set to take a picture of the mechanical disc to generate an image of the mechanical disc;

[0086] Any feasible image coding method in the prior art is used to convert the mechanical disc image into image code.

[0087] Exemplarily, in this solution, it is assumed that the image code is transmitted via the UDP (User Datagram Protocol) protocol, and correspondingly, it is assumed that the image code is obtained via the UDP protocol.

[0088] Exemplarily, in this solution, the image decoding method used corresponds to the image encoding method used, and both belong to the same set of image processing methods.

[0089] In this solution, the binary decoded image can be used as static disc image information. Subsequently, the indication scale of the mechanical disc in the static disc image information can be determined by a preset image processing method, thereby determining the initial angle of crankshaft rotation.

[0090] Furthermore, based on obtaining the image code, decoding the image to obtain a decoded image, binarizing the decoded image to obtain static disc image information, in one possible implementation, obtaining the image code further includes:

[0091] The image code is verified, and after the verification passes, the image is decoded to obtain a decoded image.

[0092] Exemplarily, in this solution, while generating the image code, a check code corresponding to the image code is generated, and the image code and the check code are transmitted via the UDP protocol;

[0093] After receiving the image code and the check code through the UDP protocol, the image code is checked through the check code.

[0094] For example, in this solution, the method of generating the check code based on the image code and checking the above check code is the same as that in the prior art, and the specific content is not described in detail.

[0095] exist Figure 1 On the basis of the illustrated solution, in one possible implementation scheme, the starting control instruction includes air starting control information.

[0096] Exemplarily, in this solution, the air start control information is set to realize the air start of the engine assembly, that is, the air is controlled to blow to the (engine assembly) main unit, so that the main unit rotates for a certain time or angle (according to the control requirements).

[0097] In this embodiment, the schemes corresponding to any of the aforementioned crankshaft control methods can be freely arranged and combined. Figure 2 This is another crankshaft control method flow chart in the embodiment, refer to Figure 2 In one embodiment, the crankshaft control method includes:

[0098] S201. Determine whether there is power outage log information.

[0099] In this solution, the crankshaft control method is suitable for controlling the crankshaft of an engine, wherein the engine is a ship engine, etc.

[0100] S202. If there is power failure log information, obtain the image code and the verification code, and verify the image code using the verification code.

[0101] In this solution, it is set to obtain image encoding and checksum encoding through UDP protocol.

[0102] S203. After verification, the image is decoded to obtain a decoded image, and the decoded image is binarized to obtain static disc image information.

[0103] S204. Determine the initial crankshaft rotation angle based on the static disc image information.

[0104] In this solution, a preset image processing method is used to determine the indicating scale of the mechanical disc in the static disc image information, and then the initial rotation angle of the crankshaft is determined.

[0105] S205. After starting the vehicle, obtain information from multiple Hall sensors and determine crankshaft rotation angle sensor information based on the information from the multiple Hall sensors.

[0106] In this solution, the error value in the measurement value (significantly larger or smaller than other measurement values) is eliminated, and then one (Hall sensor) test value is selected as the crankshaft rotation angle sensor information.

[0107] S206. Determine whether an error in the crankshaft rotation angle corresponding to the crankshaft rotation angle sensor is greater than an error threshold based on the crankshaft initial rotation angle.

[0108] S207. When the error is greater than the error threshold, the crankshaft rotation angle sensor information is corrected according to the crankshaft initial rotation angle and recorded as crankshaft rotation angle sensor correction information.

[0109] In this solution, the crankshaft rotation angle sensor information is corrected by replacing the crankshaft rotation angle corresponding to the crankshaft rotation angle sensor information with the crankshaft initial rotation angle.

[0110] S208. Generate crankshaft speed information based on the crankshaft rotation angle sensor correction information, and generate a crankshaft control instruction based on the crankshaft rotation angle sensor correction information and the crankshaft speed information.

[0111] S209. When the error is not greater than the error threshold, generate crankshaft speed information according to the crankshaft rotation angle sensor information, and generate a crankshaft control instruction according to the crankshaft rotation angle sensor information and the crankshaft speed information.

[0112] In this solution, the crankshaft control instruction includes air start control information.

[0113] In this solution, a mechanical disc and camera are added to the main engine (engine assembly). After the engine control system loses power, the camera is configured to capture an image of the mechanical disc to generate static disc image information. During the air start main engine control process, the static disc image information is used to determine the initial crankshaft rotation angle. The engine control system can obtain the crankshaft angle immediately before power failure, reducing the cranking process. The initial crankshaft rotation angle can be used as the initial angle for the engine control system to control the engine. During engine control, the crankshaft angle obtained by the Hall sensor can be compared and corrected with the initial crankshaft rotation angle to obtain the most accurate crankshaft angle and speed, thereby improving control accuracy.

[0114] Example 2

[0115] This embodiment provides a crankshaft control device, including a crankshaft control unit, which is configured to:

[0116] Determine whether there is power outage log information;

[0117] If there is a power failure log, obtain the static disc image information, and determine the initial rotation angle of the crankshaft according to the static disc image information;

[0118] After power is turned on again, the starting control command is generated according to the initial rotation angle of the crankshaft;

[0119] After starting the vehicle, obtain the crankshaft rotation angle sensor information, and determine whether the crankshaft rotation angle error corresponding to the crankshaft rotation angle sensor is greater than the error threshold based on the crankshaft initial rotation angle;

[0120] When the error is greater than the error threshold, the crankshaft rotation angle sensor information is corrected according to the crankshaft initial rotation angle, recorded as crankshaft rotation angle sensor correction information, and a crankshaft control instruction is generated according to the crankshaft rotation angle sensor correction information;

[0121] Otherwise, a crankshaft control command is generated according to the crankshaft rotation angle sensor information.

[0122] Illustratively, in this embodiment, the crankshaft control unit can be specifically configured to implement any one of the crankshaft control methods in Example 1. Its implementation process and beneficial effects are the same as the corresponding contents recorded in Example 1 and will not be repeated here.

[0123] Example 3

[0124] Figure 3 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0125] like Figure 3 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0126] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0127] The processor 11 may be any general-purpose and / or specialized processing component with processing and computing capabilities. Examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the crankshaft control method.

[0128] In some embodiments, the crankshaft control method can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the crankshaft control method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the crankshaft control method in any other suitable manner (e.g., via firmware).

[0129] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0130] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0131] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0132] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0133] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0134] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0135] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A crankshaft control method, characterized in that: include: Determine whether there is power outage log information; If the power-off log information exists, obtaining static disc image information, and determining the crankshaft rotation initial angle according to the static disc image information; After power is turned on again, a starting control instruction is generated according to the initial crankshaft rotation angle; After starting the vehicle, obtaining information from a crankshaft rotation angle sensor, and determining whether an error in a crankshaft rotation angle corresponding to the crankshaft rotation angle sensor is greater than an error threshold based on the crankshaft initial rotation angle; When the error is greater than the error threshold, the crankshaft rotation angle sensor information is corrected according to the crankshaft initial rotation angle, recorded as crankshaft rotation angle sensor correction information, and a crankshaft control instruction is generated according to the crankshaft rotation angle sensor correction information; Otherwise, the crankshaft control instruction is generated according to the crankshaft rotation angle sensor information.

2. The crankshaft control method according to claim 1, wherein: The invention also includes generating crankshaft speed information based on the crankshaft rotation angle sensor correction information or the crankshaft rotation angle sensor information; generating the crankshaft control instruction according to the crankshaft rotation angle sensor correction information and the crankshaft speed information; Alternatively, the crankshaft control instruction is generated according to the crankshaft rotation angle sensor information and the crankshaft speed information.

3. The crankshaft control method according to claim 1, wherein: The crankshaft rotation angle sensor information is Hall sensor information.

4. The crankshaft control method according to claim 3, wherein: Obtaining crankshaft rotation angle sensor information includes: The Hall sensor information of a plurality of Hall sensors is acquired, and the crankshaft rotation angle sensor information is determined according to the plurality of Hall sensor information.

5. The crankshaft control method according to claim 1, wherein: Obtaining static disc image information includes: An image code is obtained, the image is decoded to obtain a decoded image, and the decoded image is binarized to obtain the static disc image information.

6. The crankshaft control method according to claim 5, wherein: After obtaining the image code, it also includes: The image code is verified, and after the verification is passed, the image is decoded to obtain the decoded image.

7. The crankshaft control method according to claim 1, wherein: The starting control instruction includes air starting control information.

8. A crankshaft control device, characterized in that: The crankshaft control unit is configured to: Determine whether there is power outage log information; If the power-off log information exists, obtaining static disc image information, and determining the crankshaft rotation initial angle according to the static disc image information; After power is turned on again, a starting control instruction is generated according to the initial crankshaft rotation angle; After starting the vehicle, obtaining information from a crankshaft rotation angle sensor, and determining whether an error in a crankshaft rotation angle corresponding to the crankshaft rotation angle sensor is greater than an error threshold based on the crankshaft initial rotation angle; When the error is greater than the error threshold, the crankshaft rotation angle sensor information is corrected according to the crankshaft initial rotation angle, recorded as crankshaft rotation angle sensor correction information, and a crankshaft control instruction is generated according to the crankshaft rotation angle sensor correction information; Otherwise, the crankshaft control instruction is generated according to the crankshaft rotation angle sensor information.

9. An electronic device, characterized in that: comprising at least one processor, and a memory communicatively connected to the at least one processor; The memory stores a computer program executable by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to perform the crankshaft control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the crankshaft control method according to any one of claims 1 to 7 when executed.

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