Calibration method and device for opening degree of motor, computing equipment and computer program product

Abstract

The embodiment of the invention provides a method for calibrating the opening degree of a motor, and the method comprises the steps: detecting a low-current motor corresponding to an opening and closing part disposed in a vehicle when the vehicle is started, and obtaining a current Hall number; then area information judgment is carried out according to the current Hall number; if the area information indicates that the opening and closing component is located in the anti-pinch area, the opening and closing component is controlled to rotate to a stop position in the opening direction so as to obtain a rotation Hall number; the stroke corresponding to the rotation Hall number is compared with the anti-pinch rotation stroke to determine the opening degree position information corresponding to the opening and closing component; therefore, the opening degree of the low-current motor is calibrated. Due to the fact that parameter comparison of the dimension of the Hall sensor is carried out through the anti-pinch reverse rotation function of a vehicle, the problem that the position is lost after the opening and closing component is pulled is avoided, and the effectiveness of controlling the opening and closing component is improved.

Description

Technical Field

[0001] The present specification relates to the field of computer application technology, specifically, to the motor opening calibration technology under the field of computer application technology, and more specifically, to the motor opening calibration method, device, computing equipment and computer program product. Background Art

[0002] With the development of technology in the automotive field, more and more intelligent components are installed in vehicles, such as charging port covers that can open and close automatically. However, if the charging port cover is manually opened after the vehicle goes into sleep mode, the charging port cover cannot obtain the current opening position information when the vehicle is woken up again, resulting in the inability to accurately control the charging port cover. Summary of the invention

[0003] The embodiments of this specification provide a method, apparatus, computing device and computer program product for calibrating the opening of a motor, so as to realize automatic calibration of the position of an opening and closing component.

[0004] To achieve the above technical objectives, the embodiments of this specification provide the following technical solutions:

[0005] In a first aspect, an embodiment of the present specification provides a method for calibrating a motor opening, comprising:

[0006] In response to the start of the vehicle, a low-current motor corresponding to an opening and closing component configured in the vehicle is detected to obtain a current Hall number of a Hall sensor in the low-current motor;

[0007] Determine the area information where the opening and closing component is located according to the current Hall number;

[0008] If the area information indicates that the opening and closing component is in the anti-pinch area, the opening and closing component is controlled to rotate in the opening direction to a stop position to obtain a rotation Hall number;

[0009] The rotation stroke corresponding to the rotation Hall number is compared with the anti-pinch rotation stroke to determine the opening position information corresponding to the opening and closing component. The anti-pinch rotation stroke is calculated based on the current Hall number, and the opening position information is used to calibrate the opening of the low-current motor.

[0010] In a second aspect, an embodiment of the present specification provides a motor opening calibration device, comprising:

[0011] An acquisition unit, configured to detect a low-current motor corresponding to an opening and closing component configured in the vehicle in response to starting of the vehicle, so as to obtain a current Hall number of a Hall sensor in the low-current motor;

[0012] A processing unit, used to determine the area information where the opening and closing component is located according to the current Hall number;

[0013] The processing unit is further configured to control the opening and closing component to rotate in the opening direction to a stop position if the area information indicates that the opening and closing component is in an anti-pinch area, so as to obtain a rotation Hall number;

[0014] The processing unit is also used to compare the rotation stroke corresponding to the rotation Hall number with the anti-pinch rotation stroke to determine the opening position information corresponding to the opening and closing component. The anti-pinch rotation stroke is calculated based on the current Hall number, and the opening position information is used to calibrate the opening of the low-current motor.

[0015] In a third aspect, an embodiment of the present specification further provides a computing device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the motor opening calibration method as described above when executing the computer program.

[0016] In a fourth aspect, an embodiment of the present specification further provides a vehicle, wherein the vehicle executes the motor opening calibration method as described in any of the above aspects.

[0017] In a fifth aspect, an embodiment of the present specification further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the motor opening calibration method as described above is implemented.

[0018] In a sixth aspect, an embodiment of the present specification provides a computer program product or a computer program, wherein the computer program product includes a computer program, and the computer program can be stored in a computer-readable storage medium or in the cloud; the processor of the computer device reads the computer program, and the processor implements the steps of the above-mentioned motor opening calibration method when executing the computer program.

[0019] It can be seen from the above technical scheme that the motor opening calibration method provided in the embodiment of this specification detects the small current motor corresponding to the opening and closing component configured in the vehicle in response to the start of the vehicle to obtain the current Hall number of the Hall sensor in the small current motor; then determines the area information where the opening and closing component is located according to the current Hall number; if the area information indicates that the opening and closing component is in the anti-pinch area, the opening and closing component is controlled to rotate to the stop position in the opening direction to obtain the rotation Hall number; then the rotation stroke corresponding to the rotation Hall number is compared with the anti-pinch rotation stroke to determine the opening position information corresponding to the opening and closing component, and the anti-pinch rotation stroke is calculated based on the current Hall number; and the current opening position of the small current motor is calibrated according to the opening position information. Thus, the process of automatically calibrating the opening position of the opening and closing component is realized. Based on the characteristics of the small current motor, the anti-pinch reversal function configured in the vehicle is used to compare the parameters of the Hall sensor dimension, and the opening position is calibrated by the difference in the Hall number, which avoids the problem of position loss after the opening and closing component is bent, and improves the effectiveness of the control of the opening and closing component. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0021] Figure 1 A schematic diagram of an application environment of a motor opening calibration method provided in one embodiment of this specification;

[0022] Figure 2 A schematic flow chart of a method for calibrating a motor opening provided in accordance with an embodiment of the present specification;

[0023] Figure 3 A schematic diagram of a scenario of a method for calibrating a motor opening provided in accordance with an embodiment of the present specification;

[0024] Figure 4 A schematic diagram of another motor opening calibration method provided for an embodiment of this specification;

[0025] Figure 5 A schematic diagram of another motor opening calibration method provided for an embodiment of this specification;

[0026] Figure 6 A schematic diagram of another motor opening calibration method provided for an embodiment of this specification;

[0027] Figure 7 A schematic diagram of functional modules of a motor opening calibration device provided in one embodiment of this specification;

[0028] Figure 8 A schematic diagram of the structure of a computing device provided for one embodiment of the present specification. DETAILED DESCRIPTION

[0029] Unless otherwise defined, the technical terms or scientific terms used in the embodiments of this specification shall have the common meanings understood by persons with ordinary skills in the field to which this specification belongs. The words "first", "second" and similar words used in the embodiments of this specification do not indicate any order, quantity or importance, but are only used to avoid confusion of constituent elements.

[0030] Unless the context requires otherwise, throughout the specification, "plurality" means "at least two", and "including" is interpreted as an open, inclusive meaning, that is, "including, but not limited to". In the description of the specification, the terms "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples" or "some examples" are intended to indicate that a particular feature, structure, material or characteristic associated with the embodiment or example is included in at least one embodiment or example of the specification. The schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0031] The following will be combined with the drawings in the embodiments of this specification to clearly and completely describe the technical solutions in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this specification.

[0032] With the development of technology in the automotive field, more and more intelligent components are installed in vehicles, such as charging port covers that can open and close automatically. However, if the charging port cover is manually opened after the vehicle goes into sleep mode, the charging port cover cannot obtain the current position information when the vehicle is woken up again, resulting in the inability to accurately control the charging port cover.

[0033] To solve the above problems, the embodiments of this specification provide a motor opening calibration system, and the motor opening calibration method provided in the embodiments of this specification is applied to the motor opening calibration system. In order to solve the problem that the opening and closing parts are manually opened after the vehicle is dormant and the opening and closing parts fail to function after the vehicle is awakened again, the processing system adopts a software position calibration strategy to achieve normal control of the opening and closing parts to be electrically opened and closed in this scenario.

[0034] Specifically, the motor opening calibration system may include: Figure 1 The operating environment formed by the client 110, server 120 and vehicle 130 in the embodiment. The client 110 communicates with the server 120 through the network. The client 110 is wirelessly connected to the vehicle 130. The vehicle 130 communicates with the server 120 through a network connection. Among them, the client 110 can be an electronic device with network access capability. Specifically, for example, the client 110 can be a desktop computer, a tablet computer, a laptop computer, a smart phone, a digital assistant, a smart wearable device, a shopping guide terminal, a television, a smart speaker, a microphone, etc. Among them, smart wearable devices include but are not limited to smart bracelets, smart watches, smart glasses, smart helmets, smart necklaces, etc. Alternatively, the client 110 can also be software that can be run in the electronic device. The server 120 can be an electronic device with certain computing and processing capabilities. It can have a network communication module, a processor and a memory, etc. Of course, the server 120 can also refer to software running in the electronic device. The server 120 can also be a distributed server, which can be a system with multiple processors, memories, network communication modules, etc. operating in collaboration. Alternatively, the server 120 can also be a cluster formed by several servers 120. Alternatively, with the development of science and technology, the server 120 may also be a new technical means capable of realizing the corresponding functions of the embodiments of the specification, for example, a new form of "server" based on quantum computing.

[0035] Specifically, when the opening and closing components are controlled in the vehicle based on the above-mentioned processing system, the small current motor corresponding to the opening and closing components configured in the vehicle is detected in response to the start of the vehicle to obtain the current Hall number of the Hall sensor in the small current motor; then the area information of the opening and closing components is determined according to the current Hall number; if the area information indicates that the opening and closing components are in the anti-pinch area, the opening and closing components are controlled to rotate to the stop position in the opening direction to obtain the rotation Hall number; then the rotation stroke corresponding to the rotation Hall number is compared with the anti-pinch rotation stroke to determine the opening position information corresponding to the opening and closing components, and the anti-pinch rotation stroke is calculated based on the current Hall number; and the current opening position of the small current motor is calibrated according to the opening position information. Thus, the process of automatically calibrating the opening position of the opening and closing components is realized. Based on the characteristics of the small current motor, the anti-pinch reversal function configured in the vehicle is used to compare the parameters of the Hall sensor dimension, and the opening position is calibrated by the difference in the Hall number, which avoids the problem of position loss after the opening and closing components are bent, and improves the effectiveness of the control of the opening and closing components.

[0036] Based on the above concept, an embodiment of the present specification provides a method for calibrating the motor opening. The method for calibrating the motor opening provided in the embodiment of the present specification will be described exemplarily in conjunction with the accompanying drawings.

[0037] To be applied to Figure 1 Taking the vehicle in the example, some embodiments of this specification exemplarily illustrate the calibration method of the motor opening, and the calibration method of the motor opening includes:

[0038] 201. In response to starting of a vehicle, a low-current motor corresponding to an opening and closing component configured in the vehicle is detected to obtain a current Hall number of a Hall sensor in the low-current motor.

[0039] In this embodiment, the opening and closing components configured in the vehicle are components that perform opening and closing operations based on a low-current motor, and specifically may be a charging port cover, an air-conditioning outlet cover, an electric rearview mirror, etc. The following embodiments are described using the charging port cover as an example.

[0040] Specifically, a low-current motor is a motor with a relatively small working current, and its working current is about 200ma. A low-current motor is a device that converts electrical energy into mechanical energy, and is usually composed of a stator and a rotor. There is a set of coils inside the stator, called stator windings, which are supplied with current by an external power supply to form an electromagnetic field, thereby driving the rotor to rotate. To drive conventional mechanical structures, low-current motors can be implemented through transmission mechanisms such as screws, gears, and couplings. These transmission mechanisms can drive the load to move according to specified position, speed, and torque instructions. For example, in Figure 3 In the scenario shown, Figure 3 A scenario diagram of a method for calibrating a motor opening provided for an embodiment of the present specification; the diagram shows the structure of a charging port cover, which is opened and closed by pushing the cover plate through a robotic arm, in which multiple motors drive the movement of each joint through a transmission mechanism.

[0041] Furthermore, in order to sense the stroke of the mechanical structure it drives, a Hall sensor can be used. The Hall sensor uses the Hall effect for measurement and is widely used to detect parameters such as the position, speed, and acceleration of the motor. In the motor control system, the Hall sensor can be used as an encoder, speed sensor, and end-of-travel sensor. By detecting the change in the magnetic field when the motor rotates through the Hall sensor, the stroke of the motor can be accurately measured. When the mechanical structure is moved manually, after the vehicle is started, the Hall sensor can determine the position by detecting the change in the magnetic field, that is, the current Hall number; it can be seen that the current Hall number is the Hall number corresponding to the magnetic field environment in which the Hall sensor is currently located.

[0042] It should be noted that since the working current of the small current motor is about 200ma, the current used for obstacle detection is similar to the current reaching the actual blocking point of the mechanism and cannot be distinguished. That is, the small current motor cannot distinguish by the size of the blocking current whether the current pause position of the cover is due to an obstacle or has reached the fully closed / fully open position of the mechanism, and thus cannot calibrate the position by current.

[0043] Therefore, combined with the above description of the low-current motor, through the processing method of this embodiment, after the vehicle is dormant, the charging port cover can be manually opened and the charging port cover can be calibrated to its current actual position and can realize the normal opening / closing function after the vehicle is woken up again.

[0044] In the scenario where the opening and closing component is a charging port cover, the charging port cover can be opened by operating the vehicle's large screen, by voice control, by a mobile phone APP, etc. It can also be opened automatically by drawing a gun, or by an emergency pull cord, such as Figure 4 As shown, Figure 4 A schematic diagram of another method for calibrating the motor opening provided for an embodiment of the present specification; the figure shows the position of the emergency pull cord. In some emergency scenarios, the user may forget to close the charging port cover after opening it with the emergency pull cord, resulting in the loss of the position of the charging port cover. In addition, even if the user finds that the charging port cover is not closed, after manually closing it, since the manual closing method can only be pushed to the closed position by hand, the lock pin cannot be locked and cannot be closed tightly, there is still a hidden danger of inaccurate charging port cover; therefore, this embodiment calibrates the position of the charging port cover through a software algorithm, without the need for additional circuit configuration, to achieve the process of automatic calibration of the position.

[0045] 202. Determine the area information where the opening and closing component is located according to the current Hall number.

[0046] In this embodiment, taking into account the possible step loss phenomenon in Hall number detection, that is, the position indicated by the current Hall number does not correspond to the actual position of the charging port cover, in order to avoid the scenario of false detection of anti-pinch, that is, the fully closed position is judged as an obstacle, so the position close to the close is set as the non-anti-pinch area, and other positions are set as anti-pinch areas, that is, the area information is used to indicate whether the opening and closing components are in the anti-pinch area.

[0047] Specifically, the setting of the anti-pinch area is to calibrate the position through the existing functional program of the charging port cover, which is a function reuse at the software algorithm level without the need for additional circuit configuration. Among them, the anti-pinch detection of the vehicle mechanical structure refers to the anti-pinch detection system using the Hall number of the Hall sensor to make anti-pinch judgments during the operation of the opening and closing parts of the vehicle.

[0048] Furthermore, there may be a phenomenon of lost steps in the Hall number detection, that is, the factor of the motor Hall angle deviation is taken into account; the motor Hall angle deviation refers to the angle error caused by factors such as sensor detection accuracy and asymmetric number of magnetic poles during the operation of the motor rotor.

[0049] Specifically, the factors that affect the motor Hall angle deviation include:

[0050] Non-ideal characteristics of Hall elements: Due to factors such as material inhomogeneity and temperature coefficient, a nonlinear relationship occurs between the output voltage and the magnetic induction intensity, thus introducing errors.

[0051] Installation error: If the installation position of the Hall element is inaccurate or the installation angle is deviated during installation, it will cause errors in the measurement results.

[0052] Influence of environmental factors: Environmental factors such as temperature, humidity, and electromagnetic interference will affect the measurement results of the Hall element, thereby introducing errors.

[0053] Circuit design issues: Hall effect sensors usually need to be used in conjunction with signal amplification, filtering and other circuits. Improper circuit design or unstable performance of circuit components will introduce errors.

[0054] Uneven magnetic field distribution: In practical applications, the magnetic field distribution may be uneven, which will cause the Hall element to measure different magnetic induction intensities at different positions, thereby introducing errors.

[0055] Magnetic field interference: External magnetic field interference will affect the measurement results of the Hall element, such as the earth's magnetic field, the magnetic field generated by surrounding electrical equipment, etc.

[0056] Therefore, based on the motor Hall angle deviation caused by the above-mentioned influencing factors, it is necessary to judge the regional information in order to match the corresponding calibration algorithm.

[0057] 203. If the area information indicates that the opening and closing component is in the anti-pinch area, the opening and closing component is controlled to rotate in the opening direction to a stop position to obtain a rotation Hall number.

[0058] In this embodiment, the calibration process of the anti-pinch area is to perform the reverse operation in the anti-pinch function (rotate in the opening direction to the stop position) to determine whether the actual stroke corresponding to the current Hall number detected by the Hall sensor is consistent with the stroke calibrated by the current Hall number.

[0059] Specifically, for the example of rotating Hall number, such as Figure 5 As shown, Figure 5 A scenario diagram of another method for calibrating the motor opening provided for an embodiment of the present specification; the figure shows that the current Hall number corresponds to the current position of the charging port cover, that is, the stop position after being bent, and the current Hall number detection is 1000. Within the Hall number range (200-2000) indicated by the anti-pinch area, a reversal action is performed; when the reversal action is performed, the charging port cover is rotated to the position of 100% opening, and the Hall number change value during the rotation stroke is the rotation Hall number.

[0060] 204. Compare the rotation stroke corresponding to the rotation Hall number with the anti-pinch rotation stroke to determine the opening position information corresponding to the opening and closing component, where the anti-pinch rotation stroke is calculated based on the current Hall number.

[0061] In this embodiment, the rotation stroke corresponding to the rotation Hall number is compared with the anti-pinch rotation stroke, that is, the actual Hall number change is compared with the calibrated Hall number change, wherein the anti-pinch rotation stroke is calculated based on the current Hall number, for example, Figure 5 In the scenario shown, the current Hall number is 1000, and the calibrated stop position is 2000, so the anti-pinch rotation stroke is 2000-1000=1000; compare this value with the actual rotation change value. If they are the same, calibrate the opening position information of the charging port cover at this time to 100% opening; if they are different, report a fault.

[0062] 205. Calibrate the current opening position of the low-current motor according to the opening position information.

[0063] In this embodiment, the process of motor opening calibration is the process of configuring parameters for the current opening position of the low-current motor; this process takes into account that the charging port cover may read wrong information after being bent, for example, the software currently uses the wrong position 20%, and the calibration needs to update this position point to 100%; further, after performing the opening calibration, that is, the position calibration, accurate opening and closing operations can be performed.

[0064] In the scenario where the opening and closing component is the charging port cover, the opening methods of the charging port cover include operation through the vehicle's large screen, voice control, mobile phone APP control, etc., and it can also be based on automatic opening of the cover when a gun is drawn; correspondingly, the closing methods of the charging port cover include operation through the vehicle's large screen, voice control, mobile phone APP control, etc., and it can also be based on related closing actions such as automatic closing of the cover when a gun is drawn, automatic closing of the cover when a gear is engaged, and automatic closing of the cover when a timeout occurs. The normal operation of the above-mentioned opening and closing operations can be guaranteed through the position calibration process of the charging port cover.

[0065] In a possible scenario, considering the motor Hall angle deviation pointed out in the above embodiment, inaccurate data may also occur due to deviation during the reversal process, so the Hall deviation parameter corresponding to the motor Hall angle deviation can be judged to ensure the accuracy of calibration. Specifically, the Hall deviation parameter configured for the Hall sensor can be obtained first; then the rotation stroke corresponding to the rotation Hall number is parameterized according to the Hall deviation parameter to obtain the rotation stroke range; and the anti-pinch rotation stroke is compared with the rotation stroke range. If the anti-pinch rotation stroke is within the rotation stroke range, the opening position information corresponding to the opening and closing component is determined to be fully open. For example, for a scenario where the Hall deviation parameter is ±10%, for the anti-pinch area: after the anti-pinch is activated, the charging port cover is controlled to reverse to the open position. If it satisfies: the actual stroke of the charging port cover (rotation Hall number) * 110% ≥ the anti-pinch reversal stroke (current Hall number) ≥ the actual stroke of the charging port cover (rotation Hall number) * 90%, then the current charging port cover stop position is calibrated to the fully open position of the charging port cover, that is, the opening is 100%.

[0066] Furthermore, considering that the influencing factors of the motor Hall angle deviation are related to the environment, namely temperature, humidity, electromagnetic interference, and circuit design, etc.; therefore, different Hall deviation parameters can be configured for the opening and closing components configured in different positions in the vehicle. That is, first obtain the environmental information of the opening and closing components corresponding to the Hall sensor; then determine the corresponding Hall deviation parameters based on the environmental information. For example, the charging port cover is outside the car, and the environmental changes are more complicated than those inside the car, so the configured Hall deviation parameter value is larger than that of the air conditioning cover (inside the car) to adapt to different scene changes.

[0067] Specifically, in the above example, 10% is a range of defined Hall deviation, which can be obtained through multiple tests; that is, first obtain the calibrated Hall number corresponding to the Hall sensor; then determine the detection Hall number of the Hall sensor under different environmental conditions; and then compare the calibrated Hall number with the detection Hall number to determine the Hall deviation parameter of the Hall sensor configuration, for example, the calibrated Hall number is 1000, and the detection Hall number is 950, then the Hall deviation parameter is (1000-950) / 1000=5%; thereby obtaining the Hall deviation parameter suitable for different opening and closing components and different environments.

[0068] In another possible scenario, the configuration of the regional information can also be associated with the Hall deviation parameter; since the division of the anti-pinch / non-anti-pinch area is to avoid the situation where the rotation cannot be caused by the deviation introduced by the characteristics of the Hall sensor itself; therefore, for the configuration of the regional information, the Hall deviation parameter corresponding to the Hall sensor can be obtained first (for example, ±10%); then, based on the Hall deviation parameter, the parameter configuration of the area close to the closing side of the Hall sensor is performed to obtain the regional Hall number range, that is, 0-10% is the possible deviation space. If it is within this range, it may be misjudged as a closed state, so it is divided into a non-anti-pinch area; and then the current Hall number is compared with the regional Hall number range to determine the regional information where the opening and closing components are located.

[0069] In addition, in the above deviation judgment process, if the anti-pinch rotation stroke is not within the rotation stroke range, the opening position information corresponding to the opening and closing component is configured to be lost, and the fault information of the opening and closing component is output.

[0070] Specifically, the fault information can be displayed on an interface, that is, in response to the fault information, the fault information is displayed on a display interface associated with the vehicle; wherein the display interface associated with the vehicle can be a display interface corresponding to the vehicle computer, or it can be a status display interface on a mobile phone application corresponding to the vehicle.

[0071] Furthermore, the vehicle model displayed in the display interface can be rendered based on the fault information, so as to mark the opening and closing components corresponding to the fault information in the vehicle model. Figure 6 As shown, Figure 6 A scenario diagram of another method for calibrating the motor opening provided for an embodiment of the present specification; the figure shows fault information A1 and a vehicle model A2 with a marked reminder. The specific reminder method can be a visual reminder such as a red mark, or an auditory reminder such as a voice reminder, so as to avoid the situation where the charging port cover is opened while the vehicle is driving.

[0072] The above embodiment introduces the situation that the opening and closing component stops in the anti-pinch area. When the area information indicates that the opening and closing component is in the non-anti-pinch area, the opening and closing component can be controlled to rotate in the closing direction to obtain the stall information, wherein the stall information is the number of times the opening and closing component stalls during the rotation in the closing direction, that is, the rotation process will be executed multiple times, and the stall judgment will be performed respectively; if the stall information reaches the preset number of times, the opening position information corresponding to the opening and closing component is configured as a fully closed state. That is, for the non-anti-pinch area, the stall calibration position logic is added, for example, after the same position triggers stall three times, this position is corrected to the fully closed position, that is, the opening degree is 0%, thereby guiding the subsequent opening and closing operations.

[0073] It can be understood that for the scenario where the opening and closing component is a charging port cover, the above-mentioned position calibration method can be triggered after charging, that is, the charging port cover is generally moved only during charging; first, a charging instruction associated with the charging port cover is obtained, wherein the charging instruction can be triggered by the user through a mobile phone client, or through a vehicle terminal, or by manually opening the charging port cover, and the specific instruction triggering method depends on the actual scenario; then a trigger instruction is generated based on the charging instruction, and the trigger instruction is used to trigger the detection of the low-current motor corresponding to the opening and closing component configured in the vehicle after the vehicle is started, thereby refining the trigger logic of the position calibration and avoiding waste of algorithm resources.

[0074] In summary, this embodiment detects the small current motor corresponding to the opening and closing component configured in the vehicle in response to the start of the vehicle to obtain the current Hall number of the Hall sensor in the small current motor; then determines the area information where the opening and closing component is located according to the current Hall number; if the area information indicates that the opening and closing component is in the anti-pinch area, the opening and closing component is controlled to rotate to the stop position in the opening direction to obtain the rotation Hall number; then the rotation stroke corresponding to the rotation Hall number is compared with the anti-pinch rotation stroke to determine the opening position information corresponding to the opening and closing component, and the anti-pinch rotation stroke is calculated based on the current Hall number; and the current opening position of the small current motor is calibrated according to the opening position information. Thus, the process of automatically calibrating the opening position of the opening and closing component is realized. Based on the characteristics of the small current motor, the anti-pinch reversal function configured in the vehicle is used to compare the parameters of the Hall sensor dimension, and the opening position is calibrated by the difference in the Hall number, which avoids the problem of position loss after the opening and closing component is bent, and improves the effectiveness of the control of the opening and closing component.

[0075] It should be noted that the multiple embodiments in this specification emphasize the parts that are different from other embodiments, and the various embodiments can be explained in comparison with each other. Any combination of the multiple embodiments in this specification by technicians in the relevant field based on general technical knowledge is included in the disclosure scope of this specification.

[0076] In an exemplary embodiment of the present specification, a motor opening calibration device 700 is also provided, comprising:

[0077] An acquisition unit 701 is used for detecting a low-current motor corresponding to an opening and closing component configured in the vehicle in response to starting of the vehicle, so as to obtain a current Hall number of a Hall sensor in the low-current motor;

[0078] A processing unit 702 is used to determine the area information where the opening and closing component is located according to the current Hall number;

[0079] The processing unit 702 is further configured to control the opening and closing component to rotate in the opening direction to a stop position if the area information indicates that the opening and closing component is in an anti-pinch area, so as to obtain a rotation Hall number;

[0080] The processing unit 702 is also used to compare the rotation stroke corresponding to the rotation Hall number with the anti-pinch rotation stroke to determine the opening position information corresponding to the opening and closing component. The anti-pinch rotation stroke is calculated based on the current Hall number, and the opening position information is used to calibrate the opening of the low-current motor.

[0081] Specifically, the processing unit 702 and the interaction unit in this embodiment may correspond to physical components. For example, the processing unit 702 may be a processing module such as a CPU, a GPU, or an FPGA, and the interaction unit may be an interaction module such as a screen, a speaker, or a projector. The specific physical components may be any components or combinations of components having the above functions. The specific method depends on the actual scenario and is not limited here.

[0082] Optionally, in some possible embodiments, the processing unit 702 is specifically configured to obtain a Hall deviation parameter configured for the Hall sensor;

[0083] The processing unit 702 is specifically used to configure the rotation stroke corresponding to the rotation Hall number according to the Hall deviation parameter to obtain the rotation stroke range;

[0084] The processing unit 702 is specifically configured to determine that the opening position information corresponding to the opening and closing component is in a fully open state if the anti-pinch rotation stroke is within the rotation stroke range.

[0085] Optionally, in some possible embodiments, the processing unit 702 is specifically used to obtain the environment information of the opening and closing component corresponding to the Hall sensor;

[0086] The processing unit 702 is specifically configured to determine a corresponding Hall deviation parameter according to the environmental information.

[0087] Optionally, in some possible embodiments, the processing unit 702 is specifically configured to obtain a calibrated Hall number corresponding to the Hall sensor;

[0088] The processing unit 702 is specifically used to determine the detection Hall number of the Hall sensor under different environmental conditions;

[0089] The processing unit 702 is specifically configured to compare the calibrated Hall number with the detected Hall number to determine the Hall deviation parameter configured for the Hall sensor.

[0090] Optionally, in some possible embodiments, the processing unit 702 is specifically configured to configure the opening position information corresponding to the opening and closing component to be lost if the anti-pinch rotation stroke is not within the rotation stroke range, and output fault information of the opening and closing component.

[0091] Optionally, in some possible embodiments, the processing unit 702 is specifically configured to display the fault information on a display interface associated with the vehicle in response to the fault information;

[0092] The processing unit 702 is specifically configured to render a model of the vehicle displayed in the display interface based on the fault information, so as to mark and remind the opening and closing components corresponding to the fault information in the vehicle model.

[0093] Optionally, in some possible embodiments, the processing unit 702 is specifically configured to obtain a Hall deviation parameter corresponding to the Hall sensor;

[0094] The processing unit 702 is specifically used to configure parameters of the area of ​​the Hall sensor close to the closed side based on the Hall deviation parameter to obtain a regional Hall number range

[0095] The processing unit 702 is specifically configured to compare the current Hall number with the regional Hall number range to determine the regional information where the opening and closing component is located.

[0096] Optionally, in some possible embodiments, the processing unit 702 is specifically configured to control the opening and closing component to rotate in a closing direction to obtain the stall information if the area information indicates that the opening and closing component is in a non-anti-pinch area;

[0097] The processing unit 702 is specifically configured to configure the opening position information corresponding to the opening and closing component to a fully closed state if the stall information reaches a preset number of times.

[0098] Optionally, in some possible embodiments, the processing unit 702 is specifically configured to obtain a charging instruction associated with the charging port cover;

[0099] The processing unit 702 is specifically configured to generate a trigger instruction based on the charging instruction, wherein the trigger instruction is configured to trigger detection of a low-current motor corresponding to an opening and closing component configured in the vehicle after the vehicle is started.

[0100] The above-mentioned processing device detects the small current motor corresponding to the opening and closing component configured in the vehicle in response to the start of the vehicle to obtain the current Hall number of the Hall sensor in the small current motor; then determines the area information where the opening and closing component is located according to the current Hall number; if the area information indicates that the opening and closing component is in the anti-pinch area, the opening and closing component is controlled to rotate to the stop position in the opening direction to obtain the rotation Hall number; then the rotation stroke corresponding to the rotation Hall number is compared with the anti-pinch rotation stroke to determine the opening position information corresponding to the opening and closing component, and the anti-pinch rotation stroke is calculated based on the current Hall number; and the current opening position of the small current motor is calibrated according to the opening position information. Thus, the process of automatically calibrating the opening position of the opening and closing component is realized. Based on the characteristics of the small current motor, the anti-pinch reversal function configured in the vehicle is used to compare the parameters of the Hall sensor dimension, and the opening position is calibrated by the difference in the Hall number, which avoids the problem of position loss after the opening and closing component is bent, and improves the effectiveness of the control of the opening and closing component.

[0101] The specific definition of the motor opening calibration device can refer to the definition of the motor opening calibration method mentioned above, which will not be repeated here. The various unit modules in the above-mentioned motor opening calibration device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0102] Another embodiment of the present application further provides a computing device, see Figure 8 As shown, an exemplary embodiment of the present specification also provides a computing device, including: a memory and a processor, the memory storing a computer program, and the processor executing the computer program when executing the computer program performs the steps of the motor opening calibration method according to various embodiments of the present specification described in the above embodiments of the present specification.

[0103] The internal structure of the computing device can be as follows Figure 8 As shown, the computing device includes a processor, a memory, a network interface and an input device connected through a system bus. Among them, the processor of the computing device is used to provide computing and control capabilities. The memory of the computing device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computing device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the steps in the method for calibrating the motor opening according to various embodiments of the present specification are described in the above embodiments of the present specification.

[0104] The processor may include a main processor and may also include a baseband chip, a modem, etc.

[0105] The memory stores a program for executing the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the program may include a program code, and the program code includes computer operation instructions. More specifically, the memory may include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (RAM), other types of dynamic storage devices that can store information and instructions, a disk storage, a flash, and the like.

[0106] The processor may be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the scheme of the present invention. It may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component.

[0107] The input device may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor.

[0108] Output devices may include means that allow information to be output to a user, such as display screens, printers, speakers, etc.

[0109] The communication interface may include using any transceiver or the like to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0110] The processor executes the program stored in the memory and calls other devices, which can be used to implement each step of any motor opening calibration method provided in the above embodiments of the present application.

[0111] The computing device may also include a display component and a voice component. The display component may be a liquid crystal display or an electronic ink display. The input device of the computing device may be a touch layer covered on the display component, or a button, trackball or touchpad provided on the housing of the computing device, or an external keyboard, touchpad or mouse.

[0112] Those skilled in the art will understand that Figure 8The structure shown in the figure is only a block diagram of a part of the structure related to the scheme of this specification, and does not constitute a limitation on the computing device to which the scheme of this specification is applied. The specific computing device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0113] In addition to the above-mentioned methods and devices, the motor opening calibration method provided in the embodiments of the present specification may also be a computer program product, which includes a computer program, which, when executed by a processor, enables the processor to execute the steps of the motor opening calibration method according to various embodiments of the present specification described in the above-mentioned "Exemplary Method" section of the present specification.

[0114] The computer program product may be written in any combination of one or more programming languages ​​to write program code for performing the operations of the embodiments of the present specification, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0115] In addition, an embodiment of the present specification also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to execute the steps of the motor opening calibration method according to various embodiments of the present specification described in the above "Exemplary Method" section of the present specification.

[0116] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this specification can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0117] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0118] The above-mentioned embodiments only express several implementation methods of this specification, and the descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the solutions provided by the embodiments of this specification. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of this specification, which all belong to the protection scope of this specification. Therefore, the protection scope of the patent of this specification shall be based on the attached claims.

Claims

1. A method for calibrating a motor opening, characterized in that: include: In response to the start of the vehicle, a low-current motor corresponding to an opening and closing component configured in the vehicle is detected to obtain a current Hall number of a Hall sensor in the low-current motor; Determine the area information where the opening and closing component is located according to the current Hall number; If the area information indicates that the opening and closing component is in the anti-pinch area, the opening and closing component is controlled to rotate in the opening direction to a stop position to obtain a rotation Hall number; Comparing the rotation stroke corresponding to the rotation Hall number with the anti-pinch rotation stroke to determine the opening position information corresponding to the opening and closing component, the anti-pinch rotation stroke being calculated based on the current Hall number; The current opening position of the low-current motor is calibrated according to the opening position information.

2. The method according to claim 1, characterized in that: The comparing the rotation stroke corresponding to the rotation Hall number with the anti-pinch rotation stroke to determine the opening position information corresponding to the opening and closing component includes: Acquire a Hall deviation parameter configured for the Hall sensor; The rotation stroke corresponding to the rotation Hall number is parameterized according to the Hall deviation parameter to obtain a rotation stroke range; The anti-pinch rotation stroke is compared with the rotation stroke range. If the anti-pinch rotation stroke is within the rotation stroke range, it is determined that the opening position information corresponding to the opening and closing component is in a fully open state.

3. The method according to claim 2, characterized in that The obtaining of the Hall deviation parameter configured for the Hall sensor includes: Acquire the environment information of the opening and closing component corresponding to the Hall sensor; A corresponding Hall deviation parameter is determined according to the environmental information.

4. The method according to claim 2, characterized in that: The obtaining of the Hall deviation parameter configured for the Hall sensor includes: Obtaining a calibrated Hall number corresponding to the Hall sensor; Determining the detection Hall number of the Hall sensor under different environmental conditions; The calibrated Hall number is compared with the detected Hall number to determine the Hall deviation parameter of the Hall sensor configuration.

5. The method according to claim 2, characterized in that: The method further comprises: If the anti-pinch rotation stroke is not within the rotation stroke range, the opening position information corresponding to the opening and closing component is configured to be lost, and the fault information of the opening and closing component is output.

6. The method according to claim 5, characterized in that The method further comprises: In response to the fault information, displaying the fault information on a display interface associated with the vehicle; The vehicle model displayed in the display interface is rendered based on the fault information, so as to mark and remind the opening and closing components corresponding to the fault information in the vehicle model.

7. The method according to claim 1, characterized in that The determining the area information where the opening and closing component is located according to the current Hall number includes: Obtaining a Hall deviation parameter corresponding to the Hall sensor; Based on the Hall deviation parameter, parameter configuration is performed on the area of ​​the Hall sensor close to the closed side to obtain a regional Hall number range; The current Hall number is compared with the regional Hall number range to determine the regional information where the opening and closing component is located.

8. The method according to claim 1, characterized in that The method further comprises: If the area information indicates that the opening and closing component is in a non-anti-pinch area, controlling the opening and closing component to rotate in a closing direction to obtain stall information; If the stall information reaches a preset number of times, the opening position information corresponding to the opening and closing component is configured to be in a fully closed state.

9. The method according to any one of claims 1 to 8, characterized in that: The opening and closing component is a charging port cover, and the method further includes: Obtaining a charging instruction associated with the charging port cover; A trigger instruction is generated based on the charging instruction, and the trigger instruction is used to trigger the detection of a small current motor corresponding to the opening and closing component configured in the vehicle after the vehicle is started.

10. A vehicle, characterized in that: The vehicle executes the motor opening calibration method according to any one of claims 1 to 9.

11. A computing device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the motor opening calibration method according to any one of claims 1 to 9 when executing the computer program.

12. A computer program product, characterized in that include: A computer program, wherein when the computer program is executed by a processor, the method for calibrating the motor opening according to any one of claims 1 to 9 is implemented.

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