Equipment control method and device, motor, equipment, controller, system and vehicle

Abstract

The embodiment of the invention discloses an equipment control method and device, a motor, equipment, a controller, a system and a vehicle. Receiving an equipment control instruction for the target motor through a target control module integrated in the target motor of the target equipment; and driving a target motor to execute an operation corresponding to the equipment control instruction based on the equipment control instruction through the target control module. Therefore, by integrating the control module in the motor of the target equipment, the equipment control instruction for the target motor can be received through the target control module integrated in the target motor, and the target motor is driven to execute the operation corresponding to the equipment control instruction through the target control module. The driving control and network transceiving of the motor are integrated in the motor through the control module, so that the dependence of the motor in the target equipment on hardware interfaces of other control ends can be reduced, the flexibility of equipment control is improved, and the equipment control efficiency is further improved.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a device control method, apparatus, motor, device, controller, system and vehicle. Background Art

[0002] With the popularization of automobile electrification, electric adjustment configurations for equipment such as car seats are becoming more and more popular, and the adjustment functions are also increasing, from 4-way electric adjustment to 6-way, 8-way and more. The existing device control methods mainly drive the motor in the device directly through the domain controller, or drive the motor in the control device through the vehicle controller (ECU).

[0003] In the existing device control method, the domain controller and the vehicle controller drive the motor in the device through the IO port, and the IO ports of the domain controller and the vehicle controller are usually fixedly configured. With the increase of seat motors and vehicle electrical appliances, as well as the differentiation of high-end and low-end models, the fixed IO port configuration for motor control is prone to waste or insufficient IO ports, resulting in poor flexibility in device control and low device control efficiency. Summary of the invention

[0004] The embodiments of the present application provide a device control method, apparatus, motor, equipment, controller, system and vehicle, which can integrate the drive control of the motor and network transmission and reception in the motor through the control module, so that the motor in the target device does not need to be driven through the IO port provided by the domain controller or the vehicle controller, thereby reducing the use of the interface of the motor in the target device to the domain controller and other control terminals. When the type or number of motors in the target device changes, it is not necessary to be restricted by the hardware configuration of other control devices, thereby improving the flexibility of device control and further improving the efficiency of device control.

[0005] In order to achieve the above object, according to a first aspect of the present application, a device control method is provided, the method comprising:

[0006] Receiving a device control instruction for the target motor through a target control module integrated in the target motor of the target device;

[0007] The target control module drives the target motor to execute an operation corresponding to the device control instruction based on the device control instruction.

[0008] In some embodiments, the receiving device control instructions for the target motor through the target control module integrated in the target motor of the target device includes: receiving the device control instructions for the target motor sent by the domain controller corresponding to the target device through the target control module integrated in the target motor of the target device.

[0009] In some embodiments, the device control method further includes: in response to a learning instruction for a motor of a target device, driving the motor to rotate through a control module integrated with the motor, and determining a stroke value corresponding to the rotation process of the motor; determining an identity of the motor based on the stroke value; and sending the identity of the motor to a domain controller corresponding to the target device through the control module.

[0010] In some embodiments, the motor is driven to rotate by the control module integrated with the motor, and the stroke value corresponding to the rotation process of the motor is determined, including: driving the motor to rotate in a first direction by the control module integrated with the motor; driving the motor to rotate in a second direction by the control module, the first direction is opposite to the second direction; based on the rotation of the motor in the first direction and the second direction, determining the stroke value corresponding to the rotation process of the motor.

[0011] In some embodiments, the stroke value corresponding to the rotation process of the motor is determined based on the rotation of the motor in the first direction and the second direction, including: determining the stroke value corresponding to the rotation process of the motor from when the motor rotates in the first direction to a stalled state to when the motor rotates in the second direction to a stalled state.

[0012] In some embodiments, the determination of the stroke value corresponding to the rotation process of the motor from the rotation of the motor in the first direction to the stalled state to the rotation of the motor in the second direction to the stalled state includes: determining the number of position indication signals generated by the motor during rotation from the rotation of the motor in the first direction to the stalled state to the rotation of the motor in the second direction to the stalled state as the stroke value corresponding to the rotation process of the motor.

[0013] In some embodiments, determining the identity of the motor based on the stroke value includes: obtaining preset stroke values ​​corresponding to multiple candidate motor identity types; determining a target motor identity type corresponding to the motor based on a target stroke value in the preset stroke values ​​that matches the stroke value of the motor; and determining the identity corresponding to the target motor identity type as the identity of the motor.

[0014] In some embodiments, the target motor identity type corresponding to the motor is determined based on the target stroke value in the preset stroke value that matches the stroke value of the motor, including: if the number of motors matching the target stroke value is one, the motor identity type corresponding to the target stroke value is determined as the target motor identity type corresponding to the motor; if the number of motors matching the target stroke value is greater than one, current information of the motor during rotation is obtained, and the target motor identity type corresponding to the motor is determined based on the current information.

[0015] In some embodiments, determining the target motor identity type corresponding to the motor based on the current information includes: obtaining preset current information corresponding to the motor identity type; and determining the target motor identity type of the motor based on the degree of matching between the current information and the preset current information.

[0016] In some embodiments, the current information includes at least one of average current and current change information.

[0017] According to a second aspect of the present application, a device control method is provided, the method comprising:

[0018] receiving a device control request for a target device, the device control request carrying a device control instruction and a target motor identity type of a motor that executes the device control instruction;

[0019] Determining a target identity based on the target motor identity type;

[0020] The device control instruction is sent to a target motor in the target device corresponding to the target identity.

[0021] In some embodiments, before receiving the device control request for the target device, the method further includes: receiving an identity identifier sent by a control module corresponding to each motor in the target device; and determining a motor identity type of the motor in the target device based on the identity identifier.

[0022] According to a third aspect of the present application, there is provided a device control apparatus, the apparatus comprising:

[0023] An instruction receiving module, used for receiving a device control instruction for a target motor through a target control module integrated in a target motor of a target device;

[0024] The instruction execution module is used to drive the target motor to execute the operation corresponding to the device control instruction based on the device control instruction through the target control module.

[0025] According to a fourth aspect of the present application, there is provided a device control apparatus, the apparatus comprising:

[0026] A request receiving module, configured to receive a device control request for a target device, wherein the device control request carries a device control instruction and a target motor identity type of a motor that executes the device control instruction;

[0027] An identification determination module, used to determine a target identification based on the target motor identity type;

[0028] The instruction sending module is used to send the device control instruction to the target motor corresponding to the target identity in the target device.

[0029] According to a fifth aspect of the present application, a motor is provided, in which a control module is integrated, and the motor executes the device control method provided in the first aspect of the present application.

[0030] According to the sixth aspect of the present application, a target device is provided, comprising the motor described in the fifth aspect of the present application, the motor being integrated with a control module, wherein the control module stores a computer program, and when the computer program is executed by the control module, the motor executes the device control method provided in the first aspect of the present application.

[0031] According to a seventh aspect of the present application, a domain controller is provided, which executes the device control method provided in the second aspect of the present application.

[0032] According to the eighth aspect of the present application, a system is provided, which includes a target device equipped with the motor described in the fifth aspect of the present application, and the domain controller described in the seventh aspect of the present application, and the motor is communicatively connected to the domain controller based on an integrated control module.

[0033] According to a ninth aspect of the present application, a vehicle is provided, comprising the target device provided in the sixth aspect of the present application and the domain controller provided in the seventh aspect of the present application.

[0034] According to the tenth aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and the computer program is suitable for loading by a processor to execute the steps in any device control method provided in the embodiments of the present application.

[0035] According to the eleventh aspect of the present application, a computer program product is provided, which includes a computer program, and the computer program is stored in a computer-readable storage medium; when the processor of an electronic device reads the computer program from the computer-readable storage medium, the processor executes the computer program, so that the electronic device performs the steps in the device control method provided in the embodiment of the present application.

[0036] In the device control method, apparatus, motor, equipment, controller, system and vehicle of the embodiment of the present application, the device control instruction for the target motor is received through the target control module integrated in the target motor of the target device; the target motor is driven to perform the operation corresponding to the device control instruction based on the device control instruction through the target control module. In this way, by integrating the control module in the motor of the target device, the device control instruction for the target motor can be received through the target control module integrated in the target motor, and the target motor can be driven to perform the operation corresponding to the device control instruction through the target control module. The drive control of the motor and the network transceiver are integrated in the motor through the control module, so that the motor in the target device does not need to be driven through the IO port provided by the domain controller or the vehicle controller, reducing the use of the interface of the motor in the target device to the control end such as the domain controller. When the type or number of motors in the target device changes, it is not necessary to be restricted by the hardware configuration of other control devices, which improves the flexibility of device control and thus improves the efficiency of device control. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 It is a schematic diagram of an implementation scenario of a device control method provided in an embodiment of the present application;

[0039] Figure 2 It is a flow chart of a device control method provided in an embodiment of the present application;

[0040] Figure 3 is a schematic diagram of a target device of a device control method provided in an embodiment of the present application;

[0041] Figure 4 It is a specific architecture diagram of a device control method provided in an embodiment of the present application;

[0042] Figure 5 is another flow chart of a device control method provided by an embodiment of the present application;

[0043] Figure 6 is a schematic diagram of the structure of the device control device provided in an embodiment of the present application;

[0044] Figure 7 is another structural schematic diagram of the device control device provided in an embodiment of the present application;

[0045] Figure 8 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0047] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0048] The embodiments of the present application provide a device control method, a device control apparatus, a motor, a target device, a domain controller, a system and a vehicle. The device control apparatus can be integrated in an electronic device, and the electronic device can be a server or a terminal. The target device can be an electronic device or can be integrated in an electronic device.

[0049] Among them, the server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, network acceleration services (Content Delivery Network, CDN), and basic cloud computing services such as big data and artificial intelligence platforms. Terminals may include but are not limited to mobile phones, computers, intelligent voice interaction devices, smart home appliances, vehicle-mounted terminals, aircraft, etc. Terminals and servers can be directly or indirectly connected via wired or wireless communications, and this application does not limit this.

[0050] The electronic device may be integrated into a vehicle or establish a communication connection with the vehicle. The vehicle may be a fuel vehicle, a plug-in hybrid vehicle, a new energy vehicle, etc. This application does not make any specific limitation on this.

[0051] See also Figure 1 , taking the device control device integrated into the electronic device as an example, Figure 1A schematic diagram of an implementation scenario of the device control method provided in an embodiment of the present application, wherein the electronic device can be integrated in a vehicle, and the electronic device can receive device control instructions for a target motor through a target control module integrated in a target motor of the target device; through the target control module, the target motor is driven to execute operations corresponding to the device control instructions based on the device control instructions.

[0052] It should be noted that Figure 1 The schematic diagram of the implementation environment scenario of the device control method shown is only an example. The implementation environment scenario of the device control method described in the embodiment of the present application is to more clearly illustrate the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided by the embodiment of the present application. It is known to those skilled in the art that with the evolution of device control and the emergence of new business scenarios, the technical solution provided by the present application is also applicable to similar technical problems.

[0053] The solutions provided by the embodiments of the present application are specifically described by the following embodiments. It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments.

[0054] This embodiment will be described from the perspective of a device control apparatus, which may be specifically integrated into a target device.

[0055] See also Figure 2 , Figure 2 : is a flow chart of a device control method provided in an embodiment of the present application. The device control method includes:

[0056] Step S101 : receiving a device control instruction for a target motor through a target control module integrated in a target motor of a target device.

[0057] The target device may be a device equipped with at least one motor, for example, a seat, a sunroof, an electric column, etc. The motors installed in the target device may have the same software and hardware, and each motor may be integrated with a control module, which may have functions such as receiving and sending network signals, driving the motor, and collecting the position information of the motor. The target motor may be a motor to be controlled in the motor of the target device, or may be an execution motor of the device control instruction. The target control module may be a control module integrated in the target motor. The device control instruction may be an instruction for controlling the target motor in the target device.

[0058] Among them, the motor is integrated with a control module, which may mean that the control module is connected to the motor as a whole in some way. For example, the control module may be built into the motor, or the motor may be connected to an external control module as a whole through a wiring harness connection or the like.

[0059] Optionally, the motor and the control module therein can be connected through the IO port of the driver. There are a driving harness and a collection harness between the motor and the control module therein. The motor can be driven to rotate through the driving harness, and the position information of the motor can be collected through the collection harness.

[0060] In one embodiment, the present application embodiment can be applied to a target device, and the target device can be a device in a vehicle, for example, please refer to Figure 3 , Figure 3 It is a schematic diagram of a target device of a device control method provided in an embodiment of the present application. The target device may be a seat, and the seat may be equipped with multiple motors for controlling the movement of the seat in multiple directions. For example, the seat may include a seat bowl motor, a horizontal motor, a height motor, a backrest motor, etc.

[0061] Among them, there can be multiple ways to receive device control instructions for the target motor through the target control module integrated in the target motor of the target device. For example, the target control module integrated in the target motor of the target device can receive device control instructions for the target motor sent by the domain controller corresponding to the target device.

[0062] The domain controller may refer to a computer that controls and coordinates all related systems in a specific functional area. It integrates the functions of multiple electronic controllers (ECUs). Through a highly integrated design, it realizes the integrated management and control of all sensors, actuators and subsystems in a certain functional domain. In the automotive field, a domain controller (Domain Control Unit, referred to as DCU) may refer to a computer that controls a group of automotive functions related to a specific area (or domain). The domain controller corresponding to the target device may be the domain controller in the domain where the target device is located. For the division of functional domains, it can be divided into several different domains according to different design requirements. For example, it can be divided into 5 domains: power domain (Power Train), chassis domain (Chassis), body domain (Body / Comfort), cockpit domain (Cockpit / Infotainment) and autonomous driving domain (ADAS).

[0063] Optionally, the domain controller can be connected to the motor of the target device through a network, and the connection methods may include controller area network (CAN), variable rate CAN (CANFD), serial communication network (LIN), Ethernet, optical fiber, etc. and any combination of these methods. Among them, the domain controller can achieve network connection between the domain controller and the motor by connecting to the control module in the motor. In this way, by using the control module to integrate the drive control of the motor and the network transceiver in the motor, the motor in the target device can be used as an intelligent actuator. Only a communication interface is needed between the motor and the domain controller, and the domain controller is not required to be a drive IO port. The drive IO ports can all be placed on the motor. Therefore, there is only a communication harness between the motor and the domain controller, and the communication harness can be a nearby branch in the vehicle network harness, which can save the drive harness and acquisition harness between the domain controller and the motor, achieving the effect of reducing weight and cost. At the same time, the motor in the target device does not need to be driven through the IO port provided by the domain controller or the vehicle controller, reducing the use of the interface of the motor in the target device to the domain controller and other control terminals. When the type or number of motors in the target device changes, it is not necessary to be restricted by the hardware configuration of other control devices, which improves the flexibility of device control and thus improves the efficiency of device control. In addition, based on the control module, the position of the motor can be accurately and efficiently obtained, so that the position of the motor can be memorized, and the device and motor can be controlled more efficiently, improving the flexibility of device control.

[0064] In one embodiment, the target device is a seat in a vehicle, for example, and may include any electrically adjustable seat in a vehicle, such as a driver's seat, a passenger seat, a middle row seat, a rear row seat, etc. Figure 4 , Figure 4 It is a specific architecture diagram of a device control method provided in an embodiment of the present application, wherein the vehicle may include a domain controller 9 and multiple motors in the target device, and the motors may include seat motor 5, seat motor 6, seat motor 7, seat motor 8 and other motors, wherein each motor has a built-in control module, and each control module can be connected to the domain controller based on CAN, thereby realizing the network connection between the motor and the domain controller.

[0065] Optionally, when the motor is installed in the target device, the software and hardware of each motor can be the same. In order to determine the function and identity of the motor after it is installed in the target device, such as determining whether it is a horizontal motor, a height motor, a backrest motor, or a seat basin motor, the motor installed on the target device can be self-learned to determine the identity type of each motor. For example, in response to a learning instruction for the motor of the target device, the motor can be driven to rotate through a control module integrated with the motor to determine the stroke value corresponding to the rotation process of the motor; based on the stroke value, the motor's identity is determined; and through the control module, the motor's identity is sent to the domain controller corresponding to the target device.

[0066] Among them, the learning instruction can be an instruction to instruct the motor to perform self-learning to determine the identity type of the motor in the target device. The stroke value can be information describing the stroke of the motor based on the learning instruction, for example, the stroke of the motor for a self-learning rotation, and the stroke value can be measured based on the number of turns of the motor during the stroke or the number of Hall signals generated. For example, assuming that the learning instruction instructs the motor to rotate in the positive direction, when encountering a stall during the rotation process, the position of the motor at this time is determined to be the zero point, and the learning of the zero point is completed. Then, the motor is controlled to rotate in the opposite direction. When the reversal encounters a stall, the process between the two stalls is a stroke, and the number of Hall signals generated between the two stalls or the number of turns of the motor is the stroke value of the motor, thereby completing a stroke learning. The identity identifier can be identification information (ID) indicating the identity type of the motor. For example, assuming that the identity identifier of the bidet motor is 1, the identity identifier of the horizontal motor is 2, the identity identifier of the backrest motor is 3, and the identity identifier of the height motor is 4, etc.

[0067] The learning instruction may be sent by a target device, a vehicle controller or a domain controller.

[0068] Among them, there are many ways to determine the stroke value corresponding to the rotation process of the motor by driving the motor to rotate through the control module integrated with the motor. For example, the motor can be driven to rotate in a first direction through the control module integrated with the motor; the motor can be driven to rotate in a second direction through the control module, and the first direction is opposite to the second direction; based on the rotation of the motor in the first direction and the second direction, the stroke value corresponding to the rotation process of the motor is determined.

[0069] The first direction may be the direction in which the motor rotates first, which may be counterclockwise or clockwise, etc. The specific direction may be set according to actual conditions, and the embodiment of the present application does not limit it here. The second direction is opposite to the first direction, for example, when the first direction is clockwise, the second direction may be counterclockwise, and when the first direction is counterclockwise, the second direction may be clockwise.

[0070] Among them, based on the rotation of the motor in the first direction and the second direction, there can be multiple ways to determine the stroke value corresponding to the rotation process of the motor. For example, the stroke value corresponding to the rotation process of the motor from when the motor rotates in the first direction to a stalled state to when the motor rotates in the second direction to a stalled state can be determined.

[0071] The stalled state may refer to a state where the motor is in a stalled state, and the stalled state may refer to a phenomenon where the rotor of the motor does not rotate due to various reasons after the motor is powered on. For example, the motor may be blocked by other components in the target device and cannot continue to rotate.

[0072] There are many ways to determine the stroke value corresponding to the rotation process of the motor from the time the motor rotates in the first direction to the stalled state to the time the motor rotates in the second direction to the stalled state. For example, the number of position indication signals generated by the motor during the rotation from the time the motor rotates in the first direction to the stalled state to the time the motor rotates in the second direction to the stalled state can be determined as the stroke value corresponding to the rotation process of the motor.

[0073] The position indication signal may be a rotor position signal of the motor, which may be used to detect the position of the motor. For example, the position indication signal may be a Hall signal. The process from when the motor rotates in a first direction to a stalled state to when the motor rotates in a second direction to a stalled state is called a stroke, and the number of position indication signals generated in this process is the stroke value of the motor.

[0074] After determining the stroke value corresponding to the rotation process of the motor, the motor's identity can be determined based on the stroke value. There are multiple ways to determine the motor's identity based on the stroke value. For example, a preset stroke value corresponding to multiple candidate motor identity types can be obtained; based on a target stroke value in the preset stroke value that matches the motor's stroke value, the target motor identity type corresponding to the motor is determined; and the identity corresponding to the target motor identity type is determined as the motor's identity.

[0075] Among them, the motor identity type can be a preset motor identity type, for example, it can include identity types such as horizontal motor, height motor, backrest motor, and basin motor, and the preset stroke value can be a preset stroke value for each motor identity type. Under the motor identity type, the stroke value corresponding to a stroke learning of the motor is, for example, assuming that for a horizontal motor, the stroke value corresponding to a stroke learning is 10 Hall signals, and for a height motor, the stroke value corresponding to a stroke learning is 20 Hall signals, etc. Optionally, the preset stroke value can be a range of stroke values, for example, assuming that for a horizontal motor, the stroke value corresponding to a stroke learning is 10 to 12 Hall signals, and for a height motor, the stroke value corresponding to a stroke learning is 20 to 25 Hall signals, etc. The target stroke value can be a stroke value in the preset stroke value that matches the stroke value of the motor, for example, it can be a preset stroke value in the preset stroke value that is the same as the stroke value of the motor in the target device, or the preset stroke value includes the preset stroke value of the stroke value of the motor in the target device, etc. The target motor identity type can be the motor identity type corresponding to the motor in the target device. Each motor identity type may be preset with a corresponding identity identifier, so that the identity identifier corresponding to the target motor identity type may be determined as the motor identity identifier, which is used to indicate the motor identity type of the motor in the target device.

[0076] For example, please refer to Figure 3 , preset stroke values ​​corresponding to multiple candidate motor identity types can be pre-set. For example, a motor whose total stroke meets stroke 1 can be determined as a seat pan motor, a motor whose total stroke meets stroke 2 can be determined as a horizontal motor, a motor whose total stroke meets stroke 3 can be determined as a backrest motor, and a motor whose total stroke meets stroke 4 can be determined as a height motor. The number of motors can be expanded by analogy. Stroke 1, stroke 2, stroke 3, and stroke 4 can be preset stroke values ​​corresponding to a seat pan motor, a horizontal motor, a backrest motor, and a height motor, respectively.

[0077] Optionally, the preset stroke value corresponding to the candidate motor identity type can be pre-stored in the program of the motor control module, or can be stored in the domain controller, so that the preset stroke values ​​corresponding to multiple candidate motor identity types can be obtained through the motor control module or the domain controller.

[0078] Among them, there can be multiple ways to determine the target motor identity type corresponding to the motor based on the target stroke value that matches the stroke value of the motor in the preset stroke value. For example, if the number of motors that match the target stroke value is one, the motor identity type corresponding to the target stroke value is determined as the target motor identity type corresponding to the motor; if the number of motors that match the target stroke value is greater than one, the current information of the motor during the rotation process is obtained, and the target motor identity type corresponding to the motor is determined based on the current information.

[0079] The current information may be information describing the current of the motor during rotation. Thus, if there are more than two matching target stroke values, the target stroke values ​​may be further screened according to the corresponding current information, so that the motor identity type of the motor may be accurately determined.

[0080] Optionally, the current information may include at least one of average current and current change information.

[0081] The current change information may be a change curve of the current of the motor during the rotation of the motor.

[0082] There are many ways to determine the target motor identity type corresponding to the motor based on the current information. For example, preset current information corresponding to the motor identity type can be obtained; based on the degree of matching between the current information and the preset current information, the target motor identity type of the motor is determined.

[0083] The preset current information may be current information pre-set for each motor identity type. For example, an average current or a current variation curve corresponding to each motor identity type may be set.

[0084] In one embodiment, taking the target device as a seat in a vehicle as an example, after the seat is equipped with a motor, power can be supplied to all seat motors through a power supply device provided by the vehicle or a wiring harness of the vehicle, and learning instructions can be sent to all seat motors through a device or a vehicle controller. After all seat motors receive the learning instructions through a control module, they can perform self-learning of the stroke. Taking the horizontal motor type as an example, the stroke learning process may include: the motor rotates forward, and when it encounters a stall during the forward rotation, zero point learning is completed, and then the motor is controlled to reverse, and when it encounters a stall during the reverse rotation, the stroke learning ends, and the number of Hall signals between two stalls is the stroke value, and the stroke learning of the motor is completed, so that according to the result of the stroke learning, the stroke value can be compared with the preset stroke value corresponding to the motor identity type calibrated in each direction. If the stroke value of the motor is within the stroke range of a preset stroke value, it indicates that the motor self-learns as a motor of the corresponding direction, and the motor identity type of the motor can be determined as the motor identity type corresponding to the preset stroke value, so as to achieve the identity self-learning of the motor in the target device.

[0085] Optionally, when there are two motors with the same or similar stroke values, the stroke values ​​of the two motors may match the same preset stroke value, that is, when the number of motors matching the target stroke value is greater than one, the motor identity type corresponding to the motor cannot be accurately calibrated by the stroke value alone. For this reason, due to the different resistances of seat adjustment in each direction, the average motor and current change curves of the motors in each adjustment direction will be different during the self-learning process. Therefore, the motor identity type corresponding to the motor can be further determined based on the difference in the average current and current change curves of each motor during self-learning.

[0086] For example, since the average currents of motors with different adjustment directions are different during operation, it can be assumed that the strokes of the motors in direction 1 and direction 2 are similar, but the average current of the motor in direction 1 is A, and the average current of the motor in direction 2 is B. The motor's average current can be used to further distinguish the motor identity types corresponding to motors with the same or similar stroke values. For another example, since the current change curves of motors with different adjustment directions are different during operation, it can be assumed that the maximum current value of the motor in direction 1 between 20% and 30% of the stroke is close to the average current C, and the maximum current value of the motor in direction 2 between 20% and 30% of the stroke is close to the average current D. The motor's current change curve can be used to further distinguish the motor identity types corresponding to motors with the same or similar stroke values.

[0087] After the motor determines its corresponding motor identity type through self-learning, the identity identifier corresponding to the motor identity type of the motor can be sent to the domain controller corresponding to the target device through the control module, so that the domain controller can obtain the motor identity type of each motor in the target device. When the target device needs to be controlled, the motors in the target device can be accurately controlled and adjusted according to the motor identity type of each motor in the target device to achieve control of the target device.

[0088] For example, please refer to Figure 4If the stroke value corresponding to the seat motor 5 meets the range of stroke 1, the seat motor 5 self-learns to be a seat basin motor, and can send the identity ID corresponding to the seat basin motor through the CAN network, and can respond to the control instructions of the seat basin motor to the domain controller through the CAN network; if the stroke value corresponding to the seat motor 6 meets the range of stroke 2, the seat motor 6 self-learns to be a horizontal motor, and can send the identity ID corresponding to the horizontal motor through the CAN network, and can respond to the control instructions of the horizontal motor to the domain controller through the CAN network; if the stroke value corresponding to the seat motor 7 meets the range of stroke 3, the seat motor 7 self-learns to be a backrest motor, and can send the identity ID corresponding to the backrest motor through the CAN network, and can respond to the control instructions of the backrest motor to the domain controller through the CAN network; if the stroke value corresponding to the seat motor 8 meets the range of stroke 4, the seat motor 8 self-learns to be a height motor, and can send the identity ID corresponding to the height motor through the CAN network, and can respond to the control instructions of the height motor to the domain controller through the CAN network.

[0089] Optionally, the motor installed in the target device may be a position-identifiable motor such as a Hall motor, a ripple motor, or a stepper motor.

[0090] Optionally, the self-learning process of the motor may occur during the assembly and after-sales maintenance of the target device before it leaves the factory. For example, during the assembly of the vehicle before it leaves the factory, the motor may be assembled in the target device, thereby triggering a learning instruction to control the motor to perform self-learning, so as to determine the motor identity type corresponding to each motor assembled in the target device. For another example, during the after-sales maintenance of the vehicle, if the motor in the target device is replaced or adjusted, a learning instruction for the motor in the target device may be triggered to control the motor to perform self-learning, so as to determine the motor identity type corresponding to each motor assembled in the target device.

[0091] Step S102: driving the target motor to execute the operation corresponding to the device control instruction based on the device control instruction through the target control module.

[0092] Among them, there can be multiple ways to drive the target motor to execute the operation corresponding to the device control instruction based on the device control instruction through the target control module. For example, through the target control module, based on the drive IO port between the target control module and the motor, the target motor is driven to execute the operation corresponding to the device control instruction.

[0093] The existing electric adjustment method of seat motors with memory function mainly drives the motor in the device directly through the domain controller, or drives the motor in the control device through the vehicle controller (ECU). Among them, the domain controller and the vehicle controller drive the motor in the device through various IO ports, and the IO ports of the domain controller and the vehicle controller are usually fixed. With the increase or decrease of seat motors, the increase of vehicle electrical appliances, and the distinction between high and low configurations of vehicle models, the fixed IO port configuration for motor control is prone to waste or insufficient IO ports, which cannot meet the needs of further expansion, making the flexibility of device control poor. In addition, in these two solutions, each motor needs to be connected to the drive line and the acquisition line from the controller, which increases the weight and cost of the vehicle.

[0094] To this end, the embodiment of the present application provides a device control method, wherein each motor in the target device has an integrated control module, which has the functions of sending and receiving network signals, driving the motor and collecting the position information of the motor, and the software and hardware of each motor in the target device are the same, and there is no need to distinguish the part number and the assembly position. After the motor is assembled to the target device, the corresponding function and identity of the motor can be identified by self-learning, saving the error-proofing control cost and the cost of rework when the wrong installation is installed. At the same time, based on the motor provided by the embodiment of the present application, the IO port of the domain controller with different configurations can be fixed, and the number of motors can be arbitrarily expanded without being limited by the hardware configuration of other control devices. The domain controller can automatically identify whether the target device belongs to 2 motors, 3 motors, 4 motors or other configurations according to the actual number of motors in the target device and the corresponding motor identity type. Even if the user replaces the seat with more electric adjustment functions as needed during the after-sales process, it does not affect the function of the domain controller. In addition, there is only a communication harness between the domain controller and the motor of the target device, and the communication harness can be a nearby branch of the vehicle network harness, saving the drive harness and acquisition harness between the domain controller and the motor of the target device, achieving the purpose of reducing weight and reducing costs, and effectively improving the efficiency of device control.

[0095] As can be seen from the above, the embodiment of the present application receives the device control instruction for the target motor through the target control module integrated in the target motor of the target device; through the target control module, the target motor is driven to perform the operation corresponding to the device control instruction based on the device control instruction. In this way, by integrating the control module in the motor of the target device, the device control instruction for the target motor can be received through the target control module integrated in the target motor, and the target motor can be driven to perform the operation corresponding to the device control instruction through the target control module. The drive control of the motor and the network transceiver are integrated in the motor through the control module, so that the motor in the target device does not need to be driven through the IO port provided by the domain controller or the vehicle controller, reducing the use of the interface of the motor in the target device to the control end such as the domain controller. When the type or number of motors in the target device changes, it is not necessary to be limited by the hardware configuration of other control devices, which improves the flexibility of device control and thus improves the efficiency of device control.

[0096] In order to better implement the device control method provided in the embodiment of the present application, the present application also provides a device control method, which can be applied to the domain controller of the vehicle. The meanings of the terms are the same as those in the above device control method, and the specific implementation details can refer to the description in the above method embodiment. For example, refer to Figure 5 , Figure 5 : is another flow chart of a device control method provided by an embodiment of the present application, and the device control method may include the following steps:

[0097] Step S201 : receiving a device control request for a target device, wherein the device control request carries a device control instruction and a target motor identity type of a motor that executes the device control instruction.

[0098] The device control request may be a request for controlling the target device. For example, when a user triggers adjustment of the target device, a device control request for the target device may be triggered, so that the device control request for the target device may be sent to a domain controller corresponding to the target device, so as to control the target device based on the domain controller. The device control instruction may be an instruction for controlling a target motor in the target device. The target motor may be a motor that executes the device control instruction. The target motor identity type may be a motor identity type of the target motor.

[0099] Step S202, determining a target identity based on the target motor identity type.

[0100] The target identity may be an identity corresponding to the target motor identity type.

[0101] Optionally, before receiving the device control request for the target device, an identity identifier sent by a control module corresponding to each motor in the target device may be received; and the motor identity type of the motor in the target device may be determined based on the identity identifier.

[0102] Among them, the motor in the target device can perform self-learning based on the learning instruction to determine its corresponding motor identity type. After the self-learning is completed, each motor can send the ID information (i.e., identity identification) corresponding to the corresponding motor identity type to the domain controller through its integrated control module, so that the domain controller can determine the motor installed in the target device and the corresponding motor identity type according to the received ID, so that the configuration learning of the target device can be performed for subsequent control of the target device. For example, if the domain controller only receives the ID signal sent by the four motors in the target device, the domain controller can determine that the target device in the vehicle is configured with four motors, so that the target device can be controlled based on the configuration for the four motors. If the domain controller receives the ID signal sent by 6 motors in the target device, the domain controller can determine that the target device in the vehicle is configured with six motors, so that the target device can be controlled based on the configuration for the 6 motors.

[0103] Step S203, sending the device control instruction to the target motor corresponding to the target identity in the target device.

[0104] Among them, there can be multiple ways to send device control instructions to the target motor corresponding to the target identity in the target device. For example, the device control instructions can be sent to the control module of the target motor corresponding to the target identity in the target device through a network such as CAN, thereby sending the device control instructions to the target motor corresponding to the target identity in the target device to achieve electric adjustment of the target motor in the target device.

[0105] In this way, when the motor installed in the target device changes, the domain controller only needs to determine the motor identity type of each motor in the target device based on the ID information sent by each motor in the target device, and then control the target device based on the motor identity type of each motor. There is no need to make major configuration changes to the domain controller, thereby achieving flexible control of the target device.

[0106] In order to better implement the device control method provided in the embodiment of the present application, the embodiment of the present application also provides a device based on the above device control method. The meanings of the terms are the same as those in the above device control method, and the specific implementation details can refer to the description in the method embodiment.

[0107] For example, Figure 6As shown, it is a schematic diagram of the structure of the device control device provided in the embodiment of the present application. The device control device may include an instruction receiving module 301 and an instruction execution module 302, as follows:

[0108] The instruction receiving module 301 is used to receive a device control instruction for a target motor through a target control module integrated in a target motor of a target device;

[0109] The instruction execution module 302 is used to drive the target motor to execute the operation corresponding to the device control instruction based on the device control instruction through the target control module.

[0110] In one embodiment, the instruction receiving module 301 is used to:

[0111] The target control module integrated in the target motor of the target device receives the device control instruction for the target motor sent by the domain controller corresponding to the target device.

[0112] In one embodiment, the device control apparatus further includes:

[0113] A first determination module is used to respond to a learning instruction for a motor of a target device, drive the motor to rotate through a control module integrated with the motor, and determine a stroke value corresponding to a rotation process of the motor;

[0114] A second determination module, used to determine the identity of the motor based on the stroke value;

[0115] The identification sending module is used to send the motor's identity to the domain controller corresponding to the target device through the control module.

[0116] In one embodiment, the first determining module includes:

[0117] A first rotation submodule, used for driving the motor to rotate in a first direction through a motor-integrated control module;

[0118] A second rotation submodule, used for driving the motor to rotate in a second direction through the control module, the first direction being opposite to the second direction;

[0119] The stroke value determination submodule is used to determine the stroke value corresponding to the rotation process of the motor based on the rotation of the motor in the first direction and the second direction.

[0120] In one embodiment, the travel value determination submodule includes:

[0121] The stroke value determination unit is used to determine the stroke value corresponding to the rotation process of the motor from when the motor rotates in the first direction to the stalled state to when the motor rotates in the second direction to the stalled state.

[0122] In one embodiment, the travel value determination unit is used to:

[0123] The number of position indication signals generated by the motor during rotation from when the motor rotates in a first direction to a stalled state to when the motor rotates in a second direction to a stalled state is determined as the stroke value corresponding to the rotation process of the motor.

[0124] In one embodiment, the second determining module includes:

[0125] An acquisition submodule, used to acquire preset stroke values ​​corresponding to a plurality of candidate motor identity types;

[0126] A first determination submodule, configured to determine a target motor identity type corresponding to the motor based on a target stroke value in the preset stroke values ​​that matches the stroke value of the motor;

[0127] The second determination submodule is used to determine the identity identifier corresponding to the target motor identity type as the identity identifier of the motor.

[0128] In one embodiment, the first determining submodule includes:

[0129] a first identity determination unit, configured to determine the motor identity type corresponding to the target stroke value as the target motor identity type corresponding to the motor if the number of motors matching the target stroke value is one;

[0130] The second identity determination unit is used to obtain current information of the motor during rotation if the number of motors matching the target stroke value is greater than one, and determine the target motor identity type corresponding to the motor based on the current information.

[0131] In one embodiment, the second identity determination unit is configured to:

[0132] Obtain preset current information corresponding to the motor identity type;

[0133] Based on the matching degree between the current information and the preset current information, a target motor identity type of the motor is determined.

[0134] In one embodiment, the current information includes at least one of average current and current change information.

[0135] As can be seen from the above, the embodiment of the present application receives the device control instruction for the target motor through the target control module integrated in the target motor of the target device through the instruction receiving module 301; the instruction execution module 302 drives the target motor to execute the operation corresponding to the device control instruction based on the device control instruction through the target control module. In this way, by integrating the control module in the motor of the target device, the device control instruction for the target motor can be received through the target control module integrated in the target motor, and the target motor can be driven to execute the operation corresponding to the device control instruction through the target control module. The drive control of the motor and the network transceiver are integrated in the motor through the control module, so that the motor in the target device does not need to be driven through the IO port provided by the domain controller or the vehicle controller, reducing the use of the interface of the motor in the target device to the control end such as the domain controller. When the type or number of motors in the target device changes, it is not necessary to be limited by the hardware configuration of other control devices, which improves the flexibility of device control and thus improves the efficiency of device control.

[0136] Correspondingly, the embodiment of the present application also provides a device based on the above device control method. The meanings of the terms are the same as those in the above device control method, and the specific implementation details can refer to the description in the method embodiment.

[0137] For example, Figure 7 As shown, it is another structural schematic diagram of the device control device provided in an embodiment of the present application. The device control device may include a request receiving module 401, an identification determination module 402 and an instruction sending module 403, as follows:

[0138] A request receiving module 401 is used to receive a device control request for a target device, where the device control request carries a device control instruction and a target motor identity type of a motor that executes the device control instruction;

[0139] An identification determination module 402, configured to determine a target identification based on the target motor identification type;

[0140] The instruction sending module 403 is used to send the device control instruction to the target motor corresponding to the target identity in the target device.

[0141] In one embodiment, the device control apparatus further includes an identity type determination submodule, which is used to:

[0142] Receive an identity sent by a control module corresponding to each motor in the target device;

[0143] A motor identity type of a motor in a target device is determined based on the identity identifier.

[0144] Correspondingly, an embodiment of the present application further provides a motor, which is integrated with a control module and can execute the device control method provided in the above embodiment.

[0145] Among them, the control module can drive the motor through the drive harness.

[0146] Accordingly, the embodiment of the present application further provides a target device, which may include the motor provided in the embodiment of the present application, wherein the motor is integrated with a control module, wherein the control module stores a computer program, and when the computer program is executed by the control module, the motor executes the device control method provided in the above embodiment. The target device may be an electronic device.

[0147] Correspondingly, an embodiment of the present application also provides a domain controller that can execute the device control method provided in the above embodiment.

[0148] Correspondingly, an embodiment of the present application also provides a system, which may include a target device equipped with a motor provided by an embodiment of the present application, and a domain controller, and the motor is communicatively connected to the domain controller based on an integrated control module.

[0149] Correspondingly, an embodiment of the present application also provides a vehicle, which includes the target device provided in the embodiment of the present application and a domain controller.

[0150] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0151] Accordingly, the present application also provides an electronic device, such as Figure 8 As shown, Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device 500 includes a processor 501 having one or more processing cores, a memory 502 having one or more computer-readable storage media, and a computer program stored in the memory 502 and executable on the processor. The processor 501 is electrically connected to the memory 502. Those skilled in the art will appreciate that the electronic device structure shown in the figure does not constitute a limitation on the electronic device, and may include more or fewer components than shown, or combine certain components, or arrange components differently.

[0152] The processor 501 is the control center of the electronic device 500, and uses various interfaces and lines to connect various parts of the entire electronic device 500, and executes various functions and processes data of the electronic device 500 by running or loading software programs and / or units stored in the memory 502, and calling data stored in the memory 502. The processor 501 can be a processor CPU, a graphics processor GPU, a network processor (Network Processor, NP), etc., and can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application.

[0153] In the embodiment of the present application, the processor 501 in the electronic device 500 will load instructions corresponding to the processes of one or more application programs into the memory 502 according to the following steps, and the processor 501 will run the application programs stored in the memory 502 to implement various functions, such as:

[0154] Receiving a device control instruction for the target motor through a target control module integrated in the target motor of the target device;

[0155] Through the target control module, the target motor is driven based on the device control instruction to execute the operation corresponding to the device control instruction.

[0156] Furthermore, various functions implemented by running the application stored in the memory 502 can also be found in the description of the aforementioned embodiments, which will not be repeated here.

[0157] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0158] Optional, such as Figure 8 As shown, the electronic device 500 further includes: a touch screen 503, a radio frequency circuit 504, an audio circuit 505, an input unit 506, and a power supply 507. The processor 501 is electrically connected to the touch screen 503, the radio frequency circuit 504, the audio circuit 505, the input unit 506, and the power supply 507, respectively. Those skilled in the art can understand that Figure 8 The electronic device structure shown in the figure does not constitute a limitation of the electronic device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0159] The touch display screen 503 can be used to display a graphical user interface and receive operation instructions generated by the user acting on the graphical user interface. The touch display screen 503 may include a display panel and a touch panel. Among them, the display panel may be used to display information input by the user or information provided to the user and various graphical user interfaces of the electronic device, and these graphical user interfaces may be composed of graphics, text, icons, videos and any combination thereof. Optionally, the display panel may be configured in the form of a liquid crystal display (LCD, Liquid Crystal Display), an organic light-emitting diode (OLED, Organic Light-Emitting Diode) and the like. The touch panel may be used to collect the user's touch operation on or near it (such as the user using any suitable object or attachment such as a finger, a stylus, etc. on the touch panel or near the touch panel), and generate corresponding operation instructions, and the operation instructions execute corresponding programs. Optionally, the touch panel may include two parts, a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch orientation, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into the touch point coordinates, and then sends it to the processor 501, and can receive the command sent by the processor 501 and execute it. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it is transmitted to the processor 501 to determine the type of touch event, and then the processor 501 provides a corresponding visual output on the display panel according to the type of touch event. In an embodiment of the present application, the touch panel and the display panel can be integrated into the touch display screen 503 to realize the input and output functions. However, in some embodiments, the touch panel and the touch panel can be used as two independent components to realize the input and output functions. That is, the touch display screen 503 can also be used as a part of the input unit 506 to realize the input function.

[0160] The radio frequency circuit 504 may be used to send and receive radio frequency signals, so as to establish wireless communication with a network device or other electronic devices through wireless communication, and to send and receive signals between the network device or other electronic devices.

[0161] The audio circuit 505 can be used to provide an audio interface between the user and the electronic device through a speaker and a microphone. The audio circuit 505 can transmit the electrical signal converted from the received audio data to the speaker, which is converted into a sound signal for output; on the other hand, the microphone converts the collected sound signal into an electrical signal, which is received by the audio circuit 505 and converted into audio data, and then the audio data is output to the processor 501 for processing, and then sent to another electronic device through the radio frequency circuit 504, or the audio data is output to the memory 502 for further processing. The audio circuit 505 may also include an earplug jack to provide communication between an external headset and an electronic device.

[0162] The input unit 506 may be used to receive input target video and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0163] The power supply 507 is used to supply power to various components of the electronic device 500. Optionally, the power supply 507 can be logically connected to the processor 501 through a power management system, so that the power management system can manage charging, discharging, and power consumption. The power supply 507 can also include one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0164] although Figure 8 Not shown, the electronic device 500 may also include a camera, a sensor, a wireless fidelity module, a Bluetooth module, etc., which will not be described in detail here.

[0165] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. It should be noted that the electronic device provided in the embodiment of the present application and the device control method in the above embodiment belong to the same concept. The specific implementation process is detailed in the above method embodiment and will not be repeated here.

[0166] As can be seen from the above, the electronic device provided by the embodiment of the present application can receive the device control instruction for the target motor through the target control module integrated in the target motor of the target device; through the target control module, the target motor is driven to perform the operation corresponding to the device control instruction based on the device control instruction. In this way, by integrating the control module in the motor of the target device, the device control instruction for the target motor can be received through the target control module integrated in the target motor, and the target motor can be driven to perform the operation corresponding to the device control instruction through the target control module. The drive control of the motor and the network transceiver are integrated in the motor through the control module, so that the motor in the target device does not need to be driven through the IO port provided by the domain controller or the vehicle controller, reducing the use of the interface of the motor in the target device to the control end such as the domain controller. When the type or number of motors in the target device changes, it is not necessary to be limited by the hardware configuration of other control devices, which improves the flexibility of device control and thus improves the efficiency of device control.

[0167] A person of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0168] To this end, an embodiment of the present application provides a computer-readable storage medium, which includes a computer program. When the computer program is run on an electronic device, the computer program is used to enable the electronic device to perform any device control method provided in the embodiment of the present application. For example, the computer program can perform the following steps of the device control method:

[0169] The target control module integrated in the target motor of the target device receives the device control instruction for the target motor; the target control module drives the target motor to execute the operation corresponding to the device control instruction based on the device control instruction.

[0170] Furthermore, for the detailed steps of the above method steps, reference can be made to the description in the above embodiments, which will not be repeated here.

[0171] The specific implementation of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0172] The computer-readable storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0173] Since the computer program stored in the computer-readable storage medium can execute any device control method provided in the embodiments of the present application, the beneficial effects that can be achieved by any device control method provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0174] According to one aspect of the present application, a computer program product is also provided, including a computer program, which is stored in a computer-readable storage medium; when a processor of an electronic device reads the computer program from the computer-readable storage medium, the processor executes the computer program, so that the electronic device executes the methods provided in various optional implementations of the above embodiments.

[0175] In the above-mentioned device control apparatus, system, computer-readable storage medium, device, domain controller, and computer program product embodiments, the description of each embodiment has its own emphasis. For parts not described in detail in a certain embodiment, reference can be made to the relevant description of other embodiments. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process and beneficial effects of the above-mentioned device control apparatus, system, computer-readable storage medium, computer program product, device and its corresponding units can refer to the description of the device control method in the above embodiment, and will not be repeated here.

[0176] The above is a detailed introduction to a device control method, apparatus, motor, equipment, domain controller, system, vehicle, computer-readable storage medium and computer program product provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the ideas of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A device control method, characterized in that: include: Receiving a device control instruction for the target motor through a target control module integrated in the target motor of the target device; The target control module drives the target motor to execute an operation corresponding to the device control instruction based on the device control instruction.

2. The device control method according to claim 1, characterized in that: The receiving, through a target control module integrated in a target motor of a target device, a device control instruction for the target motor, comprises: The target control module integrated in the target motor of the target device receives the device control instruction for the target motor sent by the domain controller corresponding to the target device.

3. The device control method according to claim 2, characterized in that: The method further comprises: In response to a learning instruction for a motor of a target device, the motor is driven to rotate by a control module integrated with the motor, and a stroke value corresponding to the rotation process of the motor is determined; Based on the stroke value, determining the identity of the motor; The identity of the motor is sent to a domain controller corresponding to the target device through the control module.

4. The device control method according to claim 3, characterized in that: The step of driving the motor to rotate by means of the control module integrated with the motor and determining a stroke value corresponding to the rotation process of the motor includes: Driving the motor to rotate in a first direction through a control module integrated with the motor; The control module drives the motor to rotate in a second direction, wherein the first direction is opposite to the second direction; Based on the rotation of the motor in the first direction and the second direction, a stroke value corresponding to the rotation process of the motor is determined.

5. The device control method according to claim 4, characterized in that: The determining, based on the rotation of the motor in the first direction and the second direction, a stroke value corresponding to the rotation process of the motor includes: Determine a stroke value corresponding to a rotation process of the motor from when the motor rotates in a first direction to a stalled state to when the motor rotates in a second direction to a stalled state.

6. The device control method according to claim 5, characterized in that: The determining of the stroke value corresponding to the rotation process of the motor from when the motor rotates in the first direction to the stalled state to when the motor rotates in the second direction to the stalled state includes: Determine the number of position indication signals generated by the motor from when the motor rotates in a first direction to a stalled state to when the motor rotates in a second direction to a stalled state as the stroke value corresponding to the rotation process of the motor.

7. The device control method according to claim 3, characterized in that: The step of determining the identity of the motor based on the stroke value includes: Obtaining preset stroke values ​​corresponding to multiple candidate motor identity types; Determining a target motor identity type corresponding to the motor based on a target stroke value in the preset stroke values ​​that matches the stroke value of the motor; The identity identifier corresponding to the target motor identity type is determined as the identity identifier of the motor.

8. The device control method according to claim 7, characterized in that: The determining a target motor identity type corresponding to the motor based on a target stroke value in the preset stroke values ​​that matches the stroke value of the motor includes: If the number of motors matching the target stroke value is one, determining the motor identity type corresponding to the target stroke value as the target motor identity type corresponding to the motor; If the number of motors matching the target stroke value is greater than one, current information of the motor during rotation is obtained, and a target motor identity type corresponding to the motor is determined based on the current information.

9. The device control method according to claim 8, characterized in that: The determining the target motor identity type corresponding to the motor based on the current information includes: Obtaining preset current information corresponding to the motor identity type; Based on the matching degree between the current information and the preset current information, a target motor identity type of the motor is determined.

10. The device control method according to claim 8, characterized in that: The current information includes at least one of average current and current change information.

11. A device control method, characterized in that: include: receiving a device control request for a target device, the device control request carrying a device control instruction and a target motor identity type of a motor that executes the device control instruction; Determining a target identity based on the target motor identity type; The device control instruction is sent to a target motor in the target device corresponding to the target identity.

12. The device control method according to claim 11, characterized in that: Before receiving the device control request for the target device, the method further includes: Receiving an identity identifier sent by a control module corresponding to each motor in the target device; The motor identity type of the motor in the target device is determined based on the identity identifier.

13. A device control device, characterized in that: include: An instruction receiving module, used for receiving a device control instruction for a target motor through a target control module integrated in a target motor of a target device; The instruction execution module is used to drive the target motor to execute the operation corresponding to the device control instruction based on the device control instruction through the target control module.

14. A device control device, characterized in that: include: A request receiving module, configured to receive a device control request for a target device, wherein the device control request carries a device control instruction and a target motor identity type of a motor that executes the device control instruction; An identification determination module, used to determine a target identification based on the target motor identity type; The instruction sending module is used to send the device control instruction to the target motor corresponding to the target identity in the target device.

15. A motor, characterized in that: The motor is integrated with a control module, and the motor executes the device control method according to any one of claims 1 to 10.

16. A target device, characterized in that: It includes the motor as claimed in claim 15, wherein the motor is integrated with a control module, wherein the control module stores a computer program, and when the computer program is executed by the control module, the motor executes the steps of any method described in claims 1 to 10.

17. A domain controller, characterized in that: The domain controller executes the device control method according to any one of claims 11 to 12.

18. A system, characterized in that: It comprises a target device equipped with the motor according to claim 15 and the domain controller according to claim 17, wherein the motor is communicatively connected to the domain controller based on an integrated control module.

19. A vehicle, characterized in that: The vehicle comprises the target device as claimed in claim 16 , and the domain controller as claimed in claim 17 .

20. A computer-readable storage medium, characterized in that: The method comprises a computer program. When the computer program is run on an electronic device, the computer program is used to enable the electronic device to execute the steps of any one of the methods of claims 1 to 12.

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