Control method of electric tow hook, electronic equipment and vehicle

Abstract

The invention provides a control method of an electric tow hook, electronic equipment and a vehicle, the electric tow hook is controlled to unfold or fold according to a preset safe output torque in case of a conventional control instruction, and protection control is carried out according to motion resistance in the unfolding or folding process and an unfolding or folding action record; and when an icebreaking control instruction is received, an icebreaking mode is entered, protection control is forbidden to be started, and the electric tow hook is controlled to be unfolded or folded according to the maximum output torque. During conventional control, protection control is carried out according to motion resistance so that damage to articles or human bodies in the motion process can be avoided, and protection control is carried out according to motion records so that high-frequency continuous telescopic control can be avoided, damage to a driving motor of the electric tow hook is avoided, and the driving motor is protected. In the icebreaking mode, in order to avoid conflicts with protection control, protection control is forbidden to be started, the electric tow hook is controlled to be unfolded or folded according to the maximum output torque, the icebreaking effect is achieved, and the labor amount of a user is reduced.

Description

Technical Field

[0001] The present application relates to the technical field, and in particular to a control method, electronic equipment and vehicle for an electric trailer hook. Background Art

[0002] Trailer hooks are generally found on models with relatively large torque, such as S trucks and pickup trucks. These models usually install trailer hooks at the rear of the vehicle to tow other vehicles. In addition, some ordinary household vehicles and self-propelled RVs will also install trailer hooks to tow small trailers, trailer RVs, etc. There are generally three types of trailer hooks. One is the exposed type, which is common in off-road vehicles and is mostly installed at the bottom edge of the front and rear bumpers. The other is the hidden type, which is common in sedans and other models. Most of them are split designs. The threaded holes for towing are hidden in the body, and the hooks are generally in the tool box. The last type is an electric trailer hook, which can be recovered and hidden when not in use, and unfolded when in use. Among them, electric trailer hooks are widely used because of their intelligent characteristics, but because there is no restriction on the unfolding or recovery control of electric trailer hooks, the electric trailer hooks may be damaged. Summary of the invention

[0003] In view of this, the purpose of the present application is to provide a control method, electronic device and vehicle for an electric trailer hook, which are used to provide protection for users and vehicles by limiting control of the electric trailer hook.

[0004] Based on the above purpose, the present application provides a control method of an electric trailer hook, comprising:

[0005] Determine the command type of the coupler control command;

[0006] In response to the instruction type being a conventional control instruction, the electric trailer hook is controlled to be deployed or recovered according to a preset safety output torque, and protection control is performed according to the movement resistance during the deployment or recovery process and the action record of the deployment or recovery;

[0007] In response to the instruction type being an ice-breaking control instruction, the ice-breaking mode is entered, protection control is prohibited from being enabled, and the electric trailer hook is controlled to be deployed or recovered according to the maximum output torque.

[0008] Based on the same inventive concept, the present disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the method as described above when executing the computer program.

[0009] Based on the same inventive concept, the present disclosure also provides a vehicle, comprising the electronic device as described above.

[0010] As can be seen from the above, the control method, electronic device and vehicle of the electric trailer hook provided by the present application can determine the instruction type of the hook control instruction. When it is determined that the instruction type is a conventional control instruction, the electric trailer hook is controlled to be deployed or recovered according to the preset safety output torque, and the protection control is performed according to the motion resistance and the action record of the deployment or recovery process; in response to the instruction type being an ice-breaking control instruction, the ice-breaking mode is entered, the protection control is prohibited, and the electric trailer hook is controlled to be deployed or recovered according to the maximum output torque. In conventional control, the electric trailer hook is controlled to be deployed or recovered according to a smaller safety output torque to ensure that the deployment or recovery process will not cause damage to the user and the hook itself. Protective control based on motion resistance can avoid causing harm to objects or human bodies during movement, and protective control based on action records can avoid high-frequency continuous telescopic control, avoid damage to the drive motor of the electric trailer hook, and protect the drive motor. In ice-breaking mode, in order to avoid conflict with protection control, it is prohibited to enable protection control, and the electric trailer hook is controlled to be deployed or recovered according to the maximum output torque to achieve an ice-breaking effect, reduce the user's labor, improve efficiency, and improve user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0012] Figure 1 This is a flow chart of a control method for an electric trailer hook according to an embodiment of the present application;

[0013] Figure 2 A flowchart for performing protection control for an embodiment of the present application;

[0014] Figure 3 A flow chart of ice breaking control for an embodiment of the present application;

[0015] Figure 4 This is a schematic structural diagram of a control device for an electric trailer hook according to an embodiment of the present application;

[0016] Figure 5 It is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0017] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0018] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be the usual meanings understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0019] It should be understood herein that any number of elements in the drawings is for illustration rather than limitation, and any naming is only for distinction rather than having any limiting meaning.

[0020] Based on the description of the above background technology, the related technology also has the following situations:

[0021] There are generally three types of trailer hooks. One is the exposed type, which is common in off-road vehicles and is mostly installed at the bottom edge of the front and rear bumpers. The other is the hidden type, which is common in sedans and other models. Most of them are split designs. The threaded hole for towing is hidden in the body, and the hook is generally in the tool box. The last type is the electric trailer hook, which can be recovered and hidden when not in use, and unfolded when in use. Among them, the electric trailer hook has the following advantages:

[0022] ① Aesthetics: The electric trailer hook matches the overall design of the vehicle and has a more beautiful appearance. At the same time, since the electric trailer hook can be automatically retracted and hidden when not in use, it will not damage the overall appearance of the vehicle.

[0023] ② Safety: The process of deploying and retrieving the electric trailer hook is smoother and faster, reducing the risk of human error and accidents. The electric trailer hook is generally equipped with a safety locking mechanism to ensure that the connection between the electric trailer hook and the towing vehicle is more secure and reliable during the towing process.

[0024] ③ Portability: The operation of the electric trailer hook is easier. The user only needs to press the corresponding control button or touch the corresponding display control in the car to realize the automatic deployment or retraction of the electric trailer hook. Compared with the traditional manual trailer hook, there is no need to twist or pull it laboriously, saving the user's time and energy.

[0025] ④ More intelligent: The electric trailer hook can be linked with other systems on the vehicle to achieve intelligent control. In the intelligent towing mode, the vehicle's parking and braking, suspension damping, steering force, acceleration and other parameters are adjusted exclusively to enable safe driving.

[0026] Electric trailer hooks are widely used due to the above advantages. However, if there are obstacles blocking the electric trailer hook during operation, the electric trailer hook will continue to move, which may cause damage to the motor and trailer hook; if there are people or fragile objects blocking the running track of the electric trailer hook during operation, it may cause personal injury or property damage; electric trailer hooks are mainly used in off-road vehicles or SUV models to meet users' off-road needs and travel needs of towing RVs, but in the northern winter when it rains and snows and the temperature is low, the trailer hook is under the vehicle body and is easily stuck with rain and snow and freezes, resulting in the trailer hook being unable to be deployed / retracted normally; if the user deploys / retracts the electric trailer hook continuously for multiple times, the motor may overheat and be damaged.

[0027] Since there is no restriction and protection on the deployment or retraction control of the electric trailer hook, the electric trailer hook may be abnormally damaged, resulting in safety risks. Therefore, it is necessary to restrict and safely monitor the control of the electric trailer hook to protect the vehicle and the user.

[0028] The control method, electronic device and vehicle of the electric trailer hook provided by the embodiment of the present application can determine the instruction type of the vehicle hook control instruction. When it is determined that the instruction type is a conventional control instruction, the electric trailer hook is controlled to be deployed or recovered according to the preset safety output torque, and the protection control is performed according to the motion resistance and the action record of the deployment or recovery process; in response to the instruction type being an ice-breaking control instruction, the ice-breaking mode is entered, the protection control is prohibited, and the electric trailer hook is controlled to be deployed or recovered according to the maximum output torque. In conventional control, the electric trailer hook is controlled to be deployed or recovered according to a smaller safety output torque to ensure that the deployment or recovery process will not cause damage to the user and the vehicle hook itself. Protective control based on motion resistance can avoid causing harm to objects or human bodies during movement, and protective control based on action records can avoid high-frequency continuous extension and retraction control, avoid damage to the drive motor of the electric trailer hook, and protect the drive motor. In the ice-breaking mode, in order to avoid conflict with the protection control, the protection control is prohibited, and the electric trailer hook is controlled to be deployed or recovered according to the maximum output torque to achieve an ice-breaking effect, reduce the user's workload, improve efficiency, and improve user experience.

[0029] The control method of the electric trailer hook provided in the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0030] In some embodiments, Figure 1As shown, a control method for an electric trailer hook comprises:

[0031] Step 101: Determine the instruction type of the coupler control instruction.

[0032] In some embodiments, in response to detecting a vehicle power-on signal, the ice breaking mode is initialized to an off state.

[0033] During specific implementation, the command types of the coupler control command include conventional control commands and ice-breaking control commands. The ice-breaking control command is a command used in special scenarios and is used less frequently, so the user is required to trigger the ice-breaking control command through a specific operation method. In addition, there is a certain conflict between the control process corresponding to the ice-breaking control command and the control process corresponding to the conventional control command, so it is necessary to first determine the type of control command in order to determine the subsequent control strategy for the electric trailer hook.

[0034] Among them, since the ice-breaking control instruction will cause the control of the electric trailer hook to enter the ice-breaking mode, and the ice-breaking mode has a higher priority than the default control mode corresponding to the conventional control instruction, and the ice-breaking mode is used less frequently, the ice-breaking mode is turned off by default after the vehicle is powered on to avoid affecting the conventional control process. When the user needs it, the ice-breaking control instruction is triggered through specific operations to enter the ice-breaking mode.

[0035] For example, the instruction type of the coupler control instruction can be determined according to the actual operation of the user. Four display controls can be set, namely, a "recycling" display control, an "expanding" display control, an "ice-breaking recycling" display control, and an "ice-breaking expanding" display control. If the user clicks the "recycling" display control or the "expanding" display control, it means that the user does not have an ice-breaking demand, and the instruction type of the corresponding coupler control instruction is determined to be a conventional control instruction. If the user clicks the "ice-breaking recycling" display control or the "ice-breaking expanding" display control, it means that the user has an ice-breaking demand, and the instruction type of the corresponding coupler control instruction is determined to be an ice-breaking control instruction.

[0036] You can also set the "Recycle" display control, "Expand" display control and "Ice-breaking Mode" display control. If the user clicks the "Ice-breaking Mode" display control first, the corresponding "Ice-breaking Mode" display control changes from gray to a specific color (such as blue, green, etc.), indicating that the ice-breaking mode has been entered. If the user clicks the "Recycle" display control or the "Expand" display control at this time, the command type of the generated coupler control command is an ice-breaking control command. Among them, after entering the ice-breaking mode, the display colors of the "Recycle" display control and the "Expand" display control can be changed to prompt the user that the ice-breaking control stage has been entered.

[0037] You can also change the display content of the "Recycle" display control and the "Expand" display control. For example, update the "Recycle" display control to the "Ice-breaking Recycle" display control, and update the "Expand" display control to the "Ice-breaking Expand" display control, which more clearly prompts the user to enter the ice-breaking control stage. At this time, when the user clicks the "Ice-breaking Recycle" display control or the "Ice-breaking Expand" display control, the electric trailer hook will be controlled to recycle or expand with the maximum output torque, so as to achieve the ice-breaking effect while reducing the number of display controls, making the operation simple and improving the customer experience.

[0038] Step 102: In response to the instruction type being a conventional control instruction, the electric trailer hook is controlled to be deployed or recovered according to a preset safety output torque, and protection control is performed according to the movement resistance during the deployment or recovery process and the deployment or recovery action record.

[0039] In specific implementation, if the instruction type is a regular control instruction, it means that the user does not have the need to break ice. At this time, it is only necessary to drive the electric trailer hook with the preset safety output torque to realize the regular use of the electric trailer hook. At this time, the risks that may be encountered in the control process of the electric trailer hook are: if there is an obstacle blocking the electric trailer hook during operation, the electric trailer hook continues to move, which may cause damage to the motor and trailer hook; if there are people or fragile objects blocking the running track during the operation of the electric trailer hook, it may cause personal injury or damage to objects; if the user repeatedly unfolds / retracts the electric trailer hook uninterruptedly, it may cause the motor to overheat and be damaged. Therefore, at this time, only the above risks need to be protected and controlled.

[0040] To address the problem of obstacles blocking and colliding with people, it is necessary to perform protective control based on the movement resistance during the deployment or recovery process. Because the movement resistance of the electric trailer hook will increase when it touches obstacles such as human bodies or objects, the movement resistance of the electric trailer hook can be determined based on the size of the movement resistance. If the movement resistance is greater than or equal to the preset resistance threshold, it means that in addition to overcoming friction and gravity during the movement of the electric trailer hook, there are other external forces that hinder the movement of the electric trailer hook. At this time, it can be determined that there is an obstacle blocking the electric trailer hook. For safety reasons, the anti-pinch control strategy is enabled to control the electric trailer hook to move in the opposite direction to the initial position (if it is an deployment process, it moves in the opposite direction to the deployment initial position; if it is a recovery action, it moves in the opposite direction to the recovery initial position) to prevent the electric trailer hook from causing injury to people.

[0041] In view of the problem that users repeatedly and uninterruptedly deploy / retract the electric trailer hook in a short period of time, since the drive motor of the electric trailer hook has a certain heat dissipation capacity, only continuous and high-frequency repetition of extension and retraction control will lead to untimely heat dissipation, which in turn leads to overheating of the drive motor and damage risk. Therefore, protection control can be performed according to the action record of deployment or recovery. The action record includes the execution time of each deployment action and recovery action. According to the action record, the interval between any two adjacent operations of the same type (including two adjacent deployment operations and two connected recovery operations) can be determined. If the interval is short, it means that it is a continuous control, and it is necessary to count to determine the number of continuous controls. When the number is greater than or equal to the preset number threshold, it is determined that there is a risk of overheating of the drive motor, triggering the protection strategy to prevent overheating, stopping the execution of the coupler control command, and issuing an overheating alarm prompt according to the preset alarm duration. After the overheating alarm prompt ends, the prohibition of the execution of the coupler control command is lifted to provide time for the drive motor to dissipate heat and interrupt continuous control to protect the motor.

[0042] If the interval is long, the heat dissipation capacity of the drive motor itself is sufficient to dissipate the heat, and there is no need to prohibit the function or issue an alarm. You can just continue to monitor the number of continuous controls.

[0043] Step 103: In response to the instruction type being an ice-breaking control instruction, entering the ice-breaking mode, prohibiting the enabling of the protection control, and controlling the electric trailer hook to be deployed or recovered according to the maximum output torque.

[0044] In specific implementation, if the command type is an ice-breaking control command, there is a need to break ice at this time, and the driving torque of the electric trailer hook needs to be increased to achieve the ice-breaking effect. However, ice is also a kind of obstacle, and it will produce a lot of movement resistance during the ice-breaking process. If the anti-pinch strategy is triggered, it will cause ice-breaking failure. Therefore, the anti-pinch strategy and ice-breaking control are mutually exclusive. Therefore, after entering the ice-breaking mode, it is necessary to prohibit the activation of protection control to ensure the normal implementation of ice-breaking. The resistance of ice is generally large, so at this time, it is necessary to control the motor to output with the maximum output torque to achieve the ice-breaking effect, ensure that the electric trailer hook can be smoothly deployed or recovered, avoid users breaking ice manually, reduce labor, and avoid manual ice-breaking damage to the vehicle.

[0045] In summary, the control method of the electric trailer hook provided in the embodiment of the present application, during conventional control, controls the electric trailer hook to be deployed or retracted according to a smaller safety output torque to ensure that the deployment or retraction process will not cause damage to the user and the hook itself. Protective control based on motion resistance can avoid damage to objects or human bodies during movement, and protective control based on action records can avoid high-frequency continuous extension and retraction control, avoid damage to the drive motor of the electric trailer hook, and protect the drive motor. In ice-breaking mode, in order to avoid conflicts with protective control, it is prohibited to enable protective control, and the electric trailer hook is controlled to be deployed or retracted according to the maximum output torque to achieve an ice-breaking effect, reduce the user's workload, improve efficiency, and improve user experience.

[0046] In some embodiments, Figure 2 As shown, protection control is performed according to the movement resistance and the number of deployment or recovery actions during the deployment or recovery process, including:

[0047] Step 201: Determine whether there is an obstruction risk based on the motion resistance and a preset resistance threshold.

[0048] In specific implementation, when there is no obstacle blocking the movement resistance, it is generally the combined force of the electric trailer hook's own gravity and friction resistance, which is generally relatively small. Therefore, when it is blocked, the movement resistance will increase significantly. Therefore, it is possible to judge whether the electric trailer hook is blocked when it is deployed or retracted based on the size of the movement resistance. The specific judgment process is as follows:

[0049] In some embodiments, determining whether there is an obstruction risk based on the motion resistance and a preset resistance threshold includes:

[0050] Step 2011: In response to the movement resistance being greater than or equal to the resistance threshold, determining that there is an obstruction risk.

[0051] In specific implementation, the resistance threshold is greater than the normal movement resistance when there is no obstacle blocking it, and the difference between the resistance threshold and the normal movement resistance is large, for example, 0.6 times the normal movement resistance, to avoid a slight increase in resistance being judged as an obstruction risk and improve the fault tolerance rate. Therefore, when the movement resistance is greater than or equal to the resistance threshold, it means that the resistance of the electric trailer hook during actual movement has exceeded the normal movement resistance by a lot. Generally, the resistance change is not caused by the change in friction, but is most likely blocked by an obstacle. Therefore, it is determined that there is an obstruction risk at this time, triggering the anti-pinch control strategy.

[0052] Step 2012: In response to the movement resistance being less than the resistance threshold, determining that there is no obstruction risk.

[0053] In specific implementation, if the motion resistance is less than the resistance threshold, it means that the increased resistance value may be due to weakened lubrication, resulting in a small increase in resistance. At this time, although the motion resistance will increase, the increase is relatively small, so it is determined that there is no obstruction risk.

[0054] Step 202: In response to the existence of an obstruction risk, determining an initial position of the electric trailer hook, and controlling the electric trailer hook to move in the reverse direction with the initial position as a target.

[0055] During specific implementation, if there is an obstruction risk, it means that continuing the current deployment or recovery action may cause harm to the user or the vehicle, so it is necessary to interrupt the current deployment or recovery action at this time, and control the electric trailer hook to move in the reverse direction with the initial position as the target to ensure that no harm is caused to the vehicle or the user. Exemplarily, if the movement resistance is detected to be greater than or equal to the resistance threshold during the deployment action, the recovery action is performed in reverse to restore the electric trailer hook to the initial position before the deployment action is performed. If the movement resistance is detected to be greater than or equal to the resistance threshold during the recovery action, the deployment action is performed in reverse to restore the electric trailer hook to the initial position before the recovery action is performed. The safety of users and vehicles is ensured by the control strategy of reverse movement.

[0056] Step 203: Determine the number of consecutive actions of the unfolding action or the retracting action according to the action record.

[0057] In some embodiments, step 203 includes:

[0058] Step 2031: Determine the interval between two adjacent expansion actions or retraction actions according to the action record.

[0059] In specific implementation, the action record includes the start execution time and the end execution time of any expansion action and recovery action, and the interval between two adjacent expansion actions or recovery actions can be determined based on the action record. For example, if the start execution time of the previous expansion action in two adjacent expansion actions is 10:00:00, and the start execution time of the next expansion action in two adjacent expansion actions is 10:00:05, the interval duration is 5 seconds. If the start execution time of the previous expansion action in two adjacent expansion actions is 10:00:00, and the start execution time of the next expansion action in two adjacent expansion actions is 10:00:15, the interval duration is 15 seconds.

[0060] Step 2032: In response to the interval duration being greater than the preset safety protection duration, the number of consecutive actions is initialized to zero.

[0061] In specific implementation, if the execution of the deployment action or the recovery action takes 1 second, then the recovery immediately after deployment also takes 2 seconds, so the safety protection duration needs to be greater than 2 seconds, and the value after 2 seconds can represent the actual interval duration of the same type of action. Taking the actual interval duration of 8 seconds as an example, the safety protection duration is 10 seconds. If the interval duration is longer than the preset safety protection duration, it means that the interval between two control actions of the same type is relatively long, and the motor has enough time to dissipate heat, and will not cause overheating damage. There is no need to count continuously, and the number of continuous actions is initialized to zero to ensure that the protection control will not be triggered.

[0062] Step 2033: In response to the interval duration being less than or equal to the preset safety protection duration, a continuous action count is performed.

[0063] In specific implementation, if the interval time is less than or equal to the preset safety protection time, it means that the user has performed at least three actions, namely, deployment, recovery and deployment, within 10 seconds, which will cause heat accumulation in the electric trailer hook and easily cause overheating and damage to the motor. It is necessary to start counting, because continuous control of the same type of action will not accumulate more heat, and as the number of continuous actions continues to accumulate, more and more heat will accumulate, so the count value of the number of continuous actions determines whether overheating and damage will occur. Among them, as long as there is a counting interruption, the number of continuous actions will be reset to zero, because the safety protection time is to ensure the safe time for the motor to complete heat dissipation.

[0064] For example, if the consecutive expansion times are 10:00:00, 10:00:05, 10:00:12, 10:00:20, and 10:00:35, the intervals are 5, 7, 8, and 15, respectively. Therefore, three consecutive counts will be performed when the intervals are 5, 7, and 8, and then the number of consecutive actions will be reset to zero when the interval is 15.

[0065] Step 204: When the number of consecutive actions is greater than or equal to the preset threshold number, the execution of the coupler control instruction is stopped, and an overheating alarm prompt is issued according to the preset alarm duration, and the prohibition of the execution of the coupler control instruction is released after the overheating alarm prompt ends.

[0066] In specific implementation, if the number of consecutive actions is greater than or equal to the preset threshold number, it means that the heat accumulated in the motor has reached the point where it can damage the motor. At this time, it is necessary to prohibit the execution of any coupler control instructions to ensure that heat will not continue to accumulate. At the same time, it is necessary to reserve sufficient time for the motor to dissipate heat, that is, an overheating alarm prompt is issued according to the preset alarm duration to remind the user that there is a risk of overheating, stop the electric trailer hook control, reserve sufficient time for the motor to dissipate heat, and release the prohibition on the execution of the coupler control instruction after the overheating alarm prompt ends. This is because after the alarm duration, the heat of the drive motor has been dissipated, and the corresponding deployment action or recovery action can continue to be executed, and the prohibition on the execution of the coupler control instruction can be lifted.

[0067] Therefore, protective control based on the action record can avoid the risk of overheating caused by high-frequency continuous telescopic control, avoid damage to the drive motor of the electric trailer hook, and protect the drive motor.

[0068] In some embodiments, Figure 3 As shown, the electric trailer hook is controlled to be deployed or recovered according to the maximum output torque, including:

[0069] Step 301: Perform a fault self-check on the electric trailer hook, and when the fault self-check result is that there is no fault, control the ice breaking control indicator light to flash according to a preset flashing frequency, and control the electric trailer hook to perform an expansion action or a recovery action according to the maximum output torque.

[0070] In specific implementation, before breaking the ice, it is necessary to ensure that there is no fault in the electric trailer hook to ensure that the ice-breaking can be carried out smoothly. The self-check includes checking whether there is enough power, whether there is a risk of overheating damage, and whether there is a connection fault. When the fault self-check result is that there is no fault, the electric trailer hook itself has the ability to perform ice-breaking and can perform the corresponding ice-breaking control. In order to ensure that the user does not manually intervene in the ice-breaking process, it is necessary to control the ice-breaking control indicator light to flash according to the preset flashing frequency to remind the user that ice-breaking is in progress and not to perform other controls on the electric trailer hook. The ice-breaking process requires the electric trailer hook to break through the obstruction of ice, so it is necessary to control the electric trailer hook to perform the deployment action or the recovery action according to the maximum output torque to ensure that the ice-breaking can be carried out smoothly.

[0071] Step 302: Determine the ice-breaking result according to the action execution time or action stroke of the unfolding action or the retracting action.

[0072] In specific implementation, since the ice-breaking process requires the maximum output torque to operate the drive motor, it cannot be maintained for a long time, so it is necessary to monitor in real time whether the ice-breaking process is completed:

[0073] In some embodiments, determining the ice-breaking result according to the action execution time or action stroke of the deployment action or the recovery action includes:

[0074] Step 3021: In response to the action execution time being greater than or equal to a preset time threshold, determining that the ice-breaking result is ice-breaking failure.

[0075] In specific implementation, the action execution time is the time that the drive motor runs at the maximum output torque. Therefore, when the action execution time is greater than or equal to the preset time threshold, it means that the drive motor has been outputting at the maximum output torque for a long time, which may damage the motor. Therefore, it is necessary to terminate ice breaking at this time to protect the motor, and the ice breaking is determined to have failed.

[0076] Step 3022: In response to the action stroke being less than a preset stroke threshold, and the duration during which the action stroke does not change being longer than a preset duration threshold, determining that the ice-breaking result is ice-breaking failure.

[0077] During specific implementation, if the action stroke is less than the preset stroke threshold, it means that only part of the icebreaking is completed. If the duration during which the action stroke does not change is longer than the preset duration threshold, it means that the electric trailer hook has been in one position for a long time without moving during the icebreaking process, indicating that the icebreaking cannot be completed by driving with the maximum output torque, and the icebreaking result is determined to be icebreaking failure.

[0078] Step 3023: In response to the action travel being greater than or equal to a preset travel threshold, and the action execution time being less than a preset time threshold, determining that the ice-breaking result is successful.

[0079] In specific implementation, if the action stroke is greater than or equal to the preset stroke threshold, it means that the ice breaking has been completed. If the action execution time is less than the preset time threshold, it means that the ice breaking has been completed before the motor is damaged. When the above two conditions are met at the same time, it means that the ice breaking has been completed within the specified time, and the ice breaking result is determined to be successful.

[0080] Step 303: In response to the ice-breaking result being ice-breaking failure, the deployment action or the recovery action is terminated, the ice-breaking control indicator light is turned off, and an ice-breaking failure prompt and a track cleaning prompt are given.

[0081] During specific implementation, if the ice-breaking result is a failure, it is necessary to terminate the deployment action or the recovery action and turn off the ice-breaking control indicator light to prompt the user that the ice-breaking is completed, and to give an ice-breaking failure prompt and a track cleaning prompt to inform the user that the automatic ice-breaking has failed. At the same time, the user is prompted to manually clean the ice to ensure the normal use of the electric trailer hook.

[0082] Step 304: In response to the ice-breaking result being successful, determining the action execution result according to the deployment position of the deployment action or the retraction position of the retraction action.

[0083] In specific implementation, if the ice breaking result is successful, it is necessary to further determine whether the electric trailer hook can be moved to a specific position after the ice breaking to achieve the corresponding trailer function. The judgment process is as follows:

[0084] In some embodiments, determining the action execution result according to the deployment end position of the deployment action or the retraction end position of the retraction action includes:

[0085] Step 3041: Determine the recovery position interval and the deployment position interval.

[0086] In specific implementation, if the final position after recovery is 0, the recovery position interval can be 0-3 cm (or 0-15°, which is the difference between the telescopic expansion method and the rotational expansion method), and the expansion position interval can be 20-23 cm (or 75°-90°).

[0087] Step 3042: In response to the expansion end position existing in the expansion position interval, or the retraction end position existing in the retraction position interval, determining that the action execution result is successful.

[0088] In specific implementation, if the deployment end position exists in the deployment position interval, it means that the electric trailer hook can move to the corresponding trailer working position after breaking the ice; if the recovery end position exists in the recovery position interval, it means that the electric trailer hook returns to the regular stop position after recovery and breaking the ice. Therefore, when the deployment end position exists in the deployment position interval, or the recovery end position exists in the recovery position interval, the action execution result is determined to be successful.

[0089] Step 3043: In response to the fact that the expansion end position does not exist in the expansion position interval, or the recovery end position does not exist in the recovery position interval, determining that the action execution result is an action execution failure.

[0090] In specific implementation, if the deployment end position does not exist in the deployment position interval, it means that the electric trailer hook cannot be fully deployed after breaking the ice, and there may be safety risks in towing at this time, so the action execution result is determined to be action execution failure. If the recovery end position does not exist in the recovery position interval, it means that the electric trailer hook cannot be fully recovered after breaking the ice. At this time, the electric trailer hook may be passively deployed due to factors such as vehicle bumps, affecting subsequent control, so the action execution result is determined to be action execution failure.

[0091] Step 305: In response to the action execution result being successful, the ice-breaking control indicator light is turned off, the ice-breaking mode is exited, and the protection control is restored.

[0092] During specific implementation, if the action execution result is successful, it means that the electric trailer hook can continue to be used normally after the ice breaking is successful. The ice breaking process is completed, and the ice breaking control indicator light is turned off to indicate that the ice breaking has been completed. The ice breaking mode is exited, and the protection control is restored to prevent the subsequent control process from causing damage to the vehicle or user.

[0093] Step 306: In response to the action execution result being a failure, a fault alarm prompt and a coupler repair prompt are issued.

[0094] During specific implementation, the action execution result is action execution failure, indicating that the ice-breaking process causes the electric trailer hook to be unable to be used normally, and a fault alarm prompt and a hook repair prompt are required to remind the user not to control the electric trailer hook at this time, and to repair the electric trailer hook to ensure the normal use of the electric trailer hook.

[0095] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the method.

[0096] It should be noted that the above describes some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0097] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a control device for an electric trailer hook.

[0098] refer to Figure 4 , a control device for an electric trailer hook, comprising:

[0099] The category identification module 10 is configured to: determine the instruction type of the coupler control instruction;

[0100] The protection control module 20 is configured to: in response to the instruction type being a conventional control instruction, control the electric trailer hook to be deployed or recovered according to a preset safety output torque, and perform protection control according to the movement resistance during the deployment or recovery process and the action record of the deployment or recovery;

[0101] The ice-breaking control module 30 is configured to: in response to an instruction type of ice-breaking control instruction, enter an ice-breaking mode, prohibit enabling protection control, and control the electric trailer hook to be deployed or recovered according to the maximum output torque.

[0102] For the convenience of description, the above device is described in terms of functions divided into various modules. Of course, when implementing the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0103] The device of the above embodiment is used to implement the control method of the corresponding electric trailer hook in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0104] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the control method of the electric trailer hook of any of the above-mentioned embodiments is implemented.

[0105] Figure 5 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0106] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0107] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0108] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0109] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0110] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0111] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0112] The electronic device of the above embodiment is used to implement the control method of the corresponding electric trailer hook in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0113] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a non-transitory computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable the computer to execute the control method of the electric trailer hook in any of the above embodiments.

[0114] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0115] The computer instructions stored in the storage medium of the above embodiments are used to enable a computer to execute the control method of the electric trailer hook of any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0116] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides a vehicle, including the electronic device or the control device of the electric trailer hook of the above-mentioned embodiment, and the control method of the electric trailer hook of any of the above-mentioned embodiments is executed through the electronic device or the control device of the electric trailer hook of the above-mentioned embodiment, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0117] It is understandable that before using the technical solutions of each embodiment of the present disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved will be informed to the user in an appropriate manner, and the user's authorization will be obtained.

[0118] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly remind the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can independently choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.

[0119] As an optional but non-limiting implementation, in response to receiving the user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0120] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0121] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of the above embodiments of the present application, which are not provided in detail for the sake of simplicity.

[0122] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present application difficult to understand, the known power supply / ground connection with the integrated circuit (IC) chip and other components may or may not be shown in the provided drawings. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform to be implemented in the embodiments of the present application (that is, these details should be fully within the scope of understanding of those skilled in the art). In the case of elaborating specific details (e.g., circuits) to describe exemplary embodiments of the present application, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0123] Although the present application has been described in conjunction with specific embodiments of the present application, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0124] The embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A control method for an electric trailer hook, characterized in that: include: Determine the command type of the coupler control command; In response to the instruction type being a conventional control instruction, the electric trailer hook is controlled to be deployed or recovered according to a preset safety output torque, and protection control is performed according to the movement resistance during the deployment or recovery process and the action record of the deployment or recovery; In response to the instruction type being an ice-breaking control instruction, the ice-breaking mode is entered, protection control is prohibited from being enabled, and the electric trailer hook is controlled to be deployed or recovered according to the maximum output torque.

2. The control method of the electric trailer hook according to claim 1, characterized in that: The protection control according to the movement resistance and the number of actions of deployment or recovery during the deployment or recovery process includes: Determine whether there is a risk of obstruction based on the associated motion resistance and a preset resistance threshold; In response to the existence of an obstruction risk, determining an initial position of the electric trailer hook, and controlling the electric trailer hook to move in the reverse direction with the initial position as a target; Determine the number of consecutive actions of the deployment action or the recovery action according to the action record; When the number of continuous actions is greater than or equal to a preset threshold number, the execution of the coupler control instruction is stopped, and an overheating alarm prompt is given according to a preset alarm duration, and the prohibition of the execution of the coupler control instruction is released after the overheating alarm prompt ends.

3. The control method of the electric trailer hook according to claim 1, characterized in that: The step of controlling the electric trailer hook to be deployed or recovered according to the maximum output torque includes: Performing a fault self-check on the electric trailer hook, and when the result of the fault self-check is that there is no fault, controlling the ice breaking control indicator light to flash according to a preset flashing frequency, and controlling the electric trailer hook to perform an unfolding action or a retracting action according to the maximum output torque; Determine the ice-breaking result according to the execution time or the action stroke of the deployment action or the recovery action; In response to the ice-breaking result being ice-breaking failure, terminating the deployment action or the recovery action, turning off the ice-breaking control indicator light, and providing an ice-breaking failure prompt and a track cleaning prompt; In response to the ice-breaking result being ice-breaking success, determining an action execution result according to a deployment position of the deployment action or a recovery position of the recovery action; In response to the action execution result being that the action execution is successful, turning off the ice breaking control indicator light, exiting the ice breaking mode, and resuming protection control; In response to the action execution result being a failure of the action execution, a fault alarm prompt and a coupler repair prompt are issued.

4. The control method of the electric trailer hook according to claim 3, characterized in that: The step of determining the ice-breaking result according to the action execution time or action stroke of the deployment action or the recovery action includes: In response to the action execution time being greater than or equal to a preset time threshold, determining the ice-breaking result as ice-breaking failure; In response to the action stroke being less than a preset stroke threshold, and the duration during which the action stroke does not change being longer than a preset duration threshold, determining that the ice-breaking result is an ice-breaking failure; In response to the action travel being greater than or equal to a preset travel threshold, and the action execution time being less than a preset time threshold, it is determined that the ice-breaking result is successful ice-breaking.

5. The control method of the electric trailer hook according to claim 3, characterized in that: The step of determining the action execution result according to the deployment end position of the deployment action or the recovery end position of the recovery action includes: Determine the recovery position interval and the deployment position interval; In response to the deployment end position existing in the deployment position interval, or the recovery end position existing in the recovery position interval, determining that the action execution result is that the action execution is successful; In response to the fact that the deployment end position does not exist in the deployment position interval, or the recovery end position does not exist in the recovery position interval, it is determined that the action execution result is an action execution failure.

6. The control method of the electric trailer hook according to claim 2, characterized in that: The determining whether there is an obstruction risk according to the motion resistance and a preset resistance threshold value includes: In response to the movement resistance being greater than or equal to the resistance threshold, determining that there is an obstruction risk; In response to the movement resistance being less than the resistance threshold, it is determined that there is no obstruction risk.

7. The control method of the electric trailer hook according to claim 2, characterized in that: The determining the number of consecutive actions of the deployment action or the recovery action according to the action record includes: Determine the interval between two adjacent deployment actions or recovery actions according to the action record; In response to the interval duration being greater than a preset safety protection duration, initializing the number of consecutive actions to a zero value; In response to the interval duration being less than or equal to the preset safety protection duration, the number of consecutive actions is counted once.

8. The control method of the electric trailer hook according to claim 1, characterized in that: Also includes: In response to detecting a vehicle power-on signal, the ice breaking mode is initialized to an off state.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 8 is implemented.

10. A vehicle, characterized in that: Comprising the electronic device as claimed in claim 9.

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