Wiper motor control method and device, related equipment and vehicle

Abstract

The invention relates to a wiper motor control method and device, related equipment and a vehicle. The method comprises the following steps: acquiring a first temperature value obtained by performing temperature detection on a target motor part of a wiper motor; determining a second temperature value of a transmission mechanism of the wiper motor according to the first temperature value; and controlling the wiper motor based on the second temperature value. Based on this, the temperature value of the transmission mechanism of the wiper motor is estimated from the temperature value obtained by temperature detection of the target motor component of the wiper motor. The wiper motor is controlled by combining the temperature value of the transmission mechanism, so that an additional temperature detector does not need to be installed on the wiper motor to detect the temperature of the wiper motor, the hardware cost is reduced, the accuracy of temperature estimation is improved, and the user experience is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a wiper motor control method, device, related equipment and vehicle. Background Art

[0002] The vehicle is equipped with a wiper, which includes a wiper motor and a wiper mechanism. The wiper motor drives the wiper mechanism to clean the vehicle's windshield. When the wiper motor is working continuously, due to the limit of energy conversion efficiency, part of the energy will be converted into heat. By installing a corresponding temperature detector at the position where the wiper motor needs to detect the temperature, and transmitting the monitoring data back to the motor controller to estimate the temperature, and perform corresponding thermal protection treatment measures according to the preset temperature threshold, this solution has the problem of high hardware cost. Summary of the invention

[0003] The embodiment of the present application provides a wiper motor control method, device, electronic device, storage medium, computer program product and vehicle, which infers the temperature value of the transmission mechanism of the wiper motor by the temperature value obtained by temperature detection of the target motor component of the wiper motor. The wiper motor is controlled in combination with the temperature value of the transmission mechanism, so that there is no need to install an additional temperature detector on the wiper motor to perform temperature detection on the wiper motor, thereby reducing hardware costs, improving the accuracy of temperature estimation, and improving user experience.

[0004] The present application provides a wiper motor control method, the method comprising:

[0005] Acquire a first temperature value obtained by performing temperature detection on a target motor component of the wiper motor;

[0006] determining a second temperature value of the transmission mechanism of the wiper motor according to the first temperature value;

[0007] The wiper motor is controlled based on the second temperature value.

[0008] Accordingly, an embodiment of the present application provides a wiper motor control device, the device comprising:

[0009] A first temperature value determination module, used for acquiring a first temperature value obtained by performing temperature detection on a target motor component of the wiper motor;

[0010] a second temperature value determining module, configured to determine a second temperature value of the transmission mechanism of the wiper motor according to the first temperature value;

[0011] A control module is used to control the wiper motor based on the second temperature value.

[0012] In addition, an embodiment of the present application also provides an electronic device, including one or more processors and a memory, wherein the memory stores a computer program, and the processor is used to run the computer program in the memory to implement the wiper motor control method provided in the embodiment of the present application.

[0013] In addition, an embodiment of the present application further provides a storage medium, which stores 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 any one of the wiper motor control methods provided in the embodiment of the present application.

[0014] In addition, an embodiment of the present application also provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements any one of the wiper motor control methods provided in the embodiments of the present application.

[0015] In addition, an embodiment of the present application also provides a vehicle, including the above-mentioned wiper motor control device, or the above-mentioned electronic device, or the above-mentioned storage medium, or the above-mentioned computer program product.

[0016] In the embodiment of the present application, a first temperature value is obtained by performing temperature detection on a target motor component of the wiper motor; a second temperature value of the transmission mechanism of the wiper motor is determined according to the first temperature value; and the wiper motor is controlled based on the second temperature value. Based on this, the temperature value obtained by performing temperature detection on the target motor component of the wiper motor is used to infer the temperature value of the transmission mechanism of the wiper motor. The wiper motor is controlled in combination with the temperature value of the transmission mechanism, so that there is no need to install an additional temperature detector on the wiper motor to perform temperature detection on the wiper motor, thereby reducing hardware costs while improving the accuracy of temperature estimation and improving user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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.

[0018] Figure 1 is a schematic diagram of an implementation environment scenario of the wiper motor control method provided in an embodiment of the present application;

[0019] Figure 2 is a flow chart of a wiper motor control method provided by an embodiment of the present application;

[0020] Figure 3It is a schematic diagram of a process of constructing and applying a heat conduction model provided by an embodiment of the present application;

[0021] Figure 4 is a schematic diagram of a flow chart for calculating a second calorific value provided by an embodiment of the present application;

[0022] Figure 5 It is a flowchart of a specific embodiment provided by an embodiment of the present application;

[0023] Figure 6 is a structural schematic diagram of a wiper motor control device provided by an embodiment of the present application;

[0024] Figure 7 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not 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 this application.

[0026] In addition, the term "plurality" in the embodiments of the present application refers to two or more than two. The terms "first" and "second" in the embodiments of the present application are used to distinguish descriptions and should not be understood as implying relative importance.

[0027] The embodiments of the present application provide a wiper motor control method, device, electronic device, storage medium, computer program product and vehicle. The wiper motor control device can be integrated in an electronic device, which can be a server or a terminal.

[0028] Among them, the server can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as 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), as well as big data and artificial intelligence platforms.

[0029] The terminal may be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, etc., but is not limited thereto. The terminal and the server may be directly or indirectly connected via wired or wireless communication, and this application does not limit this.

[0030] See also Figure 1 , taking the integration of the wiper motor control device in the electronic equipment as an example, Figure 1 A schematic diagram of an implementation scenario of the wiper motor control method provided in an embodiment of the present application, wherein the electronic device can be a terminal device, which obtains a first temperature value by performing temperature detection on a target motor component of the wiper motor; determines a second temperature value of a transmission mechanism of the wiper motor based on the first temperature value; and controls the wiper motor based on the second temperature value.

[0031] It should be noted that Figure 1 The schematic diagram of the implementation environment scenario of the wiper motor control method shown is only an example. The implementation environment scenario of the wiper motor 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 data processing and the emergence of new business scenarios, the technical solution provided by the present application is also applicable to similar technical problems.

[0032] 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.

[0033] The present embodiment will be described from the perspective of a wiper motor control device, which may be specifically integrated into an electronic device, which may be a terminal and / or a server, and the present application does not limit this.

[0034] The wiper motor control method provided in the embodiment of the present application can be applied to a wiper motor, which includes a transmission mechanism and a target motor component.

[0035] It should be noted that the wiper includes a wiper motor and a wiper mechanism. The transmission mechanism of the wiper motor includes a worm and a reduction gear. The reduction gear is driven by the turbine and the worm. Subsequently, the output arm connected to the wiper connecting rod is controlled by the wiper output shaft. When the wiper motor rotates, the output arm and the connecting rod will move in the front-to-back direction to drive the wiper to work.

[0036] The wiper motor refers to a synchronous motor, and the type of the synchronous motor can be adjusted according to actual conditions. For example, the wiper motor can be a brushless DC motor, and the wiper motor can also be a permanent magnet synchronous motor.

[0037] It should be noted that the brushless DC motor uses a permanent magnet rotor and a brushless motor controller, which can generate a magnetic field on the motor rotor and flip the polarity of the magnetic poles through the commutator, thereby forming a rotational torque on the motor rotor. The permanent magnet synchronous motor needs to be used in conjunction with an AC power supply, and its motor rotor is also composed of permanent magnets. The controller synchronizes the motor rotor with the magnetic field of the power supply by adjusting the frequency of the current, thereby achieving rotational motion.

[0038] When the wiper motor is working continuously, part of the energy will be converted into heat due to the limitation of energy conversion efficiency. The heat of the wiper motor is mainly generated by two components, namely the stator coil of the wiper motor and the transmission mechanism of the wiper motor. It should be noted that since the reduction gear of the transmission mechanism is generally made of plastic, the temperature tolerance value of the transmission mechanism is much smaller than that of the motor coil. After the wiper motor has been running for a long time, the reduction gear of the transmission mechanism will melt due to excessive temperature, which will cause the motor to shave teeth. This phenomenon hinders the normal operation of the wiper motor, but there is no significant damage to the motor body. Therefore, the temperature detection and thermal protection of the transmission mechanism of the wiper motor are of great significance.

[0039] However, the existing method of detecting the temperature of the transmission mechanism of the wiper motor is mainly to install a temperature sensor on the transmission mechanism. However, due to the high cost of the temperature sensor and the need to configure a dedicated port in the controller for data acquisition, it is difficult to simultaneously reduce the hardware cost and improve the accuracy of the motor temperature estimation.

[0040] In order to solve the above problems, the present application provides a wiper motor control method. Figure 2 , Figure 2 1 is a flow chart of a wiper motor control method provided by an embodiment of the present application. The wiper motor control method may include the following steps S101 to S103:

[0041] S101 , obtaining a first temperature value obtained by performing temperature detection on a target motor component of a wiper motor.

[0042] The target motor component refers to a component on the wiper motor, which has a spatial distance from the transmission mechanism within a preset distance range and has a temperature detection function.

[0043] The specific type of the target motor component can be selected according to the specific structure of the wiper motor in actual situations, and the embodiment of the present application does not limit it. For example, the target motor component is a microcontroller unit (MCU) of the wiper motor.

[0044] It should be noted that the preset distance range can be set as required. The target motor component does not include a transmission mechanism.

[0045] The first temperature value refers to a temperature value determined when a target motor component of the wiper motor is subjected to temperature detection.

[0046] S102: Determine a second temperature value of a transmission mechanism of the wiper motor according to the first temperature value.

[0047] The second temperature value refers to a temperature value of the transmission mechanism of the wiper motor obtained by estimating the temperature value determined when the target motor component of the wiper motor is subjected to temperature detection.

[0048] S103: Control the wiper motor based on the second temperature value.

[0049] Specifically, the wiper motor is controlled according to the second temperature value and the thermal protection treatment measures corresponding to the preset temperature threshold.

[0050] In the wiper motor control method provided in the embodiment of the present application, a first temperature value is obtained by temperature detection of a target motor component of the wiper motor; a second temperature value of the transmission mechanism of the wiper motor is determined according to the first temperature value; and the wiper motor is controlled based on the second temperature value. Based on this, the temperature value of the transmission mechanism of the wiper motor is inferred by the temperature value obtained by temperature detection of the target motor component of the wiper motor. The wiper motor is controlled in combination with the temperature value of the transmission mechanism, so that there is no need to install an additional temperature detector on the wiper motor to perform temperature detection on the wiper motor, thereby reducing hardware costs while improving the accuracy of temperature estimation and improving user experience.

[0051] In some embodiments, the process of determining the second temperature value of the transmission mechanism of the wiper motor based on the first temperature value may include: determining the first heat value diffused by the transmission mechanism based on the first temperature value obtained within a preset detection time; determining the second heat value generated by the transmission mechanism within the preset detection time; determining the second temperature value of the transmission mechanism based on the first heat value and the second heat value.

[0052] The preset detection time refers to the detection time for indicating temperature estimation. The preset detection time can be set according to actual needs. For example, the preset detection time is set to 2ms. For another example, the preset detection time is set to 5ms.

[0053] The first heat value is used to indicate the diffusion heat of the transmission mechanism within a preset detection time, that is, the heat lost by the transmission mechanism within the preset detection time.

[0054] The second heat value is used to indicate the heat generated by the transmission mechanism within the preset detection time. It should be noted that the heat generated by the transmission mechanism mainly comes from the friction between the worm and the reduction gear of the transmission mechanism, so the second heat value can also be called the friction heat value.

[0055] In some embodiments, the process of determining the first heat value diffused by the transmission mechanism based on the first temperature value obtained within a preset detection time includes: determining the temperature difference between the start and end of detection based on the first temperature value obtained within the preset detection time; performing heat conduction calculations based on the distance between the transmission mechanism and the target motor component, and the temperature difference, to obtain the first heat value diffused by the transmission mechanism.

[0056] There are many ways to calculate the temperature difference, and the specific calculation method can be set according to actual needs, and the embodiment of the present application does not limit it. For example, the starting temperature value detected at the beginning of the detection and the ending temperature value detected at the end of the detection are determined, and the difference between the ending temperature value and the starting temperature value is used as the temperature difference. For another example, the ending temperature value detected at the end of the detection is determined, and based on the average temperature value during the period from the beginning to the end of the detection, the difference between the ending temperature value and the average temperature value is used as the temperature difference.

[0057] Among them, there can be multiple processes for heat conduction calculation, which can be adjusted according to actual conditions, and the embodiments of the present application are not limited. For example, the distance between the transmission mechanism and the target motor component, and the temperature difference are input into the heat conduction model, so that the heat conduction model performs heat conduction calculation based on the temperature difference and the distance between the transmission mechanism and the target motor component, and obtains the first heat value diffused by the transmission mechanism. For another example, the target temperature value between the start and end of detection, and the distance between the transmission mechanism and the target motor component are input into the heat conduction model, so that the heat conduction model performs heat conduction calculation based on the target temperature value and the distance between the transmission mechanism and the target motor component, and obtains the first heat value diffused by the transmission mechanism.

[0058] In some embodiments, when the target motor component is a controller, a heat conduction calculation is performed based on the distance between the transmission mechanism and the target motor component, and the temperature difference to obtain a first heat value diffused by the transmission mechanism. The process includes: a heat conduction calculation is performed based on the distance between the transmission mechanism and the controller, and the temperature difference to obtain a first heat value diffused by the transmission mechanism.

[0059] It should be noted that the heat conduction model of the wiper motor is strongly correlated with the distance between the transmission mechanism and the target motor component, as well as the ambient temperature inside the wiper motor. Among them, the distance between the transmission mechanism and the target motor component mainly affects the heat conduction time. The longer the distance, the longer the heat conduction time, and the temperature of the target motor component rises slowly. The closer the distance, the faster the temperature of the target motor component rises. The internal ambient temperature of the wiper motor will have a strong impact on the temperature measurement accuracy of the target motor component. When the internal ambient temperature of the wiper motor is low, the heat conduction efficiency is low, and the temperature of the target motor component rises slowly. It may not be possible to accurately estimate the temperature of the transmission mechanism. When the ambient temperature is high, the measured temperature of the target motor component itself is high. Even if the wiper motor may not be in action, the estimated result will still be high. Therefore, the measured temperature of the target motor component needs to be corrected.

[0060] See also Figure 3 , Figure 3 1 is a flow chart of the construction and application of the heat conduction model provided in the embodiment of the present application. The target motor component is used as the controller for explanation. Figure 3 As shown, the construction and application process of the heat conduction model specifically includes the following steps S201 to S204:

[0061] S201, determining the middle position where the worm of the transmission mechanism is meshed with the reduction gear as the heating point of the transmission mechanism.

[0062] Specifically, the temperature of the middle position where the worm and the reduction gear of the transmission mechanism of the wiper motor are meshed is set as the temperature value of the transmission mechanism.

[0063] S202, measuring the distance between the controller and the heating point of the transmission mechanism.

[0064] Specifically, the distance between the controller of the wiper motor and the middle position where the worm and the reduction gear of the transmission mechanism are meshed is measured.

[0065] S203: Based on the above distance and ambient temperature, a heat conduction model for the transmission mechanism is established.

[0066] Specifically, according to the following formula (1), a heat conduction model for the transmission mechanism is established:

[0067]

[0068] Among them, Q T (T m , T E ,D T ) refers to the function of the heat conduction model, K QT Refers to the thermal diffusion coefficient, which is related to the heat conduction medium (such as air) between the controller and the transmission mechanism.m It refers to the temperature value detected at the current moment within the preset detection time. E Refers to the ambient temperature, that is, a specific temperature value (such as the average temperature value, or the temperature value detected at the last moment) determined based on the temperature values ​​from the start of the detection to the current moment within the preset detection time. T It refers to the distance between the controller and the heating point of the transmission mechanism, and π refers to the pi.

[0069] It should be noted that, since the ambient temperature of the wiper motor will also rise as the motor runs, the temperature measured by the controller within the preset detection time can be regarded as the average ambient temperature of the entire wiper motor.

[0070] S204: inferring the heat value diffused from the transmission mechanism through the above-mentioned heat conduction model according to the temperature value measured by the controller.

[0071] Specifically, the ambient temperature value detected by the controller and its change, as well as the distance between the controller and the heating point of the transmission mechanism, are substituted into the above-mentioned thermal guidance model to determine the heat diffusion value of the transmission mechanism.

[0072] There are many ways to determine the second heat value generated by the transmission mechanism within the preset detection time, which can be adjusted according to actual conditions, and the embodiments of the present application are not limited. For example, by obtaining the motor speed of the wiper motor, the second heat value generated by the transmission mechanism within the preset detection time is determined. For another example, by obtaining the current information and voltage information of the wiper motor, the second heat value generated by the transmission mechanism within the preset detection time is determined.

[0073] Taking the motor speed as an example, in some embodiments, the process of determining the second heat value generated by the transmission mechanism within a preset detection time can be: obtaining the motor speed of the wiper motor within the preset detection time; determining the sliding friction length that the transmission mechanism goes through at a unit motor speed; calculating the friction heat based on the motor speed, the sliding friction coefficient of the transmission mechanism, and the sliding friction length to obtain the second heat value generated by the transmission mechanism.

[0074] The motor speed refers to the number of revolutions of the wiper motor per unit time.

[0075] There are many ways to obtain the motor speed of the wiper motor, which can be adjusted according to actual conditions, and the embodiments of the present application do not limit it. For example, by measuring the current change of the wiper motor, the motor speed is determined by combining the mapping relationship between the current and the motor speed. For another example, by measuring the magnetic field change of the wiper motor, the motor speed is determined by combining the mapping relationship between the magnetic field change and the motor speed.

[0076] Among them, the sliding friction coefficient refers to the sliding friction coefficient of the transmission mechanism.

[0077] There are many options for the value of the sliding friction coefficient, which is not limited by the embodiments of the present application. For example, the sliding friction coefficient of the transmission mechanism is determined based on the material properties of the worm and the reduction gear of the transmission mechanism. For another example, the sliding friction coefficient of the transmission mechanism is determined in combination with the material properties of the worm and the reduction gear of the transmission mechanism, as well as the specific reduction ratio. Among them, since the speed of the motor body may be several thousand revolutions per minute, but the output torque may be small, a reduction gear is required to proportionally reduce the speed according to the specific reduction ratio of the design to increase the output torque of the motor. The specific reduction ratio is mainly related to demand.

[0078] The sliding friction length refers to the friction path experienced by the worm and the reduction gear of the transmission mechanism when the motor rotates one circle.

[0079] It should be noted that when the motor rotates, the movement of the transmission mechanism can be divided into two states, the static friction stage between the worm and the reduction gear, and the dynamic friction stage between the worm and the reduction gear. In an ideal state, there is no error gap between the worm and the reduction gear, and the rotation of the motor will directly drive the reduction gear to run the sliding friction length. Among them, the static friction stage mainly refers to the motor driving the worm to rotate, but does not drive the reduction gear to rotate, and the dynamic friction stage refers to the worm driving the reduction gear to rotate.

[0080] In some embodiments, the process of determining the sliding friction length traversed by the transmission mechanism at a unit motor speed may be: obtaining the theoretical friction length traversed by the worm and reduction gear of the transmission mechanism at a unit motor speed; determining the error friction length traversed by the worm and reduction gear of the transmission mechanism at a unit motor speed; and determining the sliding friction length traversed by the transmission mechanism at a unit motor speed based on the theoretical friction length, the error friction length, and the distance between the worm and reduction gear of the transmission mechanism.

[0081] The theoretical friction length refers to the vertical distance (with the coordinate system where the worm is located as the reference coordinate system) that the worm rotates one circle without the interference of error. The error friction length refers to the error friction length that the worm rotates one circle in the vertical direction due to the interference of error before the worm and the reduction gear come into contact.

[0082] In some embodiments, the process of determining the error friction length traversed by the worm and reduction gear of the transmission mechanism at a unit motor speed includes: assigning values ​​to independent variable parameters of a transmission mechanism correction model to obtain a plurality of assigned parameters, wherein the transmission mechanism correction model is used to indicate a model for correcting the transmission mechanism based on a machining error of the transmission mechanism, and the transmission mechanism correction model is also configured with a machining error coefficient; determining a plurality of error length values ​​based on the assigned parameters, the machining error coefficient, and the distance between the worm and the reduction gear of the transmission mechanism; and determining the error friction length traversed by the worm and the reduction gear of the transmission mechanism at a unit motor speed based on the plurality of error length values.

[0083] For example, an integer between (0, 10) is assigned to the independent variable parameter, 10 assigned parameters are obtained, and the average of the 10 assigned parameters is obtained after removing the maximum and minimum values. The error friction length of the worm and the reduction gear of the transmission mechanism at unit motor speed is obtained based on the obtained assigned parameters, the processing error coefficient, and the distance between the worm and the reduction gear of the transmission mechanism.

[0084] In some embodiments, before assigning values ​​to the independent variable parameters of the transmission mechanism correction model to obtain multiple assigned parameters, the wiper motor control method also includes: obtaining a theoretical processing error coefficient and multiple measured processing error coefficients for the transmission mechanism; training according to the theoretical processing error coefficient and the multiple measured processing error coefficients to obtain the transmission mechanism correction model, the transmission mechanism correction model including a processing error coefficient determined based on the theoretical processing error coefficient and the measured processing error coefficient.

[0085] The theoretical machining error coefficient refers to the coefficient determined based on the machining error of the transmission mechanism provided by the workpiece supplier when constructing the transmission mechanism correction model. The measured machining error coefficient refers to the coefficient determined by the machining error detection of the actual measured transmission mechanism when constructing the transmission mechanism correction model.

[0086] The transmission mechanism correction model refers to a model that corrects the error friction length of the worm and reduction gear of the transmission mechanism at a unit motor speed according to the processing error of the transmission mechanism.

[0087] There are many ways to implement the transmission mechanism correction model. For example, the transmission mechanism correction model is constructed based on the Gaussian algorithm. Another example is the transmission mechanism correction model is constructed based on the discrete distribution algorithm.

[0088] Specifically, see Figure 4 , Figure 4 is a schematic diagram of a flow chart for calculating the second calorific value provided by an embodiment of the present application. Figure 4As shown, the process of calculating the second calorific value includes the following steps S301 to S304:

[0089] S301. Determine the sliding friction coefficient of the transmission mechanism according to the material properties of the worm and the reduction gear of the transmission mechanism.

[0090] S302: Construct a transmission mechanism correction model based on the processing error provided by the workpiece supplier and the processing error of the actual measurement work.

[0091] Specifically, the construction process of the transmission mechanism correction model may include: establishing an operation model of the transmission mechanism based on theoretical design; constructing a preliminary transmission mechanism correction model based on the machining error provided by the workpiece supplier and the operation model of the transmission mechanism; actually measuring the machining error of the workpiece, correcting the machining error of the transmission mechanism, optimizing the preliminary transmission mechanism correction model, and obtaining the transmission mechanism correction model.

[0092] Specifically, a theoretical machining error coefficient is determined according to the machining error provided by the workpiece supplier, and a preliminary transmission mechanism correction model is constructed according to the theoretical machining error coefficient and the operation model of the transmission mechanism.

[0093] Exemplarily, the preliminary transmission mechanism correction model is a Gaussian model, and the preliminary transmission mechanism correction model is established according to the following formula (2):

[0094]

[0095] in, Refers to the preliminary transmission mechanism correction model, D d It means running the model. It refers to the theoretical processing error coefficient of the transmission mechanism correction model, x is the independent variable parameter, e is the natural constant, and p represents the processing error.

[0096] Specifically, the measured machining error coefficient of the transmission mechanism correction model is determined according to the actual machining error of the workpiece. The machining error coefficient of the transmission mechanism correction model is determined according to the theoretical machining error coefficient and the measured machining error coefficient, and the preliminary transmission mechanism correction model is optimized according to the machining error coefficient to obtain the transmission mechanism correction model.

[0097] Exemplarily, the transmission mechanism correction model is further optimized according to the following formula (3):

[0098]

[0099] in, Refers to the measurement and processing error coefficient of the transmission mechanism correction model. It refers to the machining error coefficient of the transmission mechanism correction model.

[0100] S303, using the transmission mechanism correction model, calculate the sliding friction length that the transmission mechanism passes under unit motor speed, and correct it according to the actual product measurement value.

[0101] Specifically, the sliding friction length is determined according to the following formula (4):

[0102]

[0103] in, It refers to the error distance, that is, the vertical direction of the coordinate system where the worm rod is located due to the interference of the error. After that, the worm and the reduction gear will come into contact. 5 is used to indicate that the friction path between the worm and the reduction gear of the transmission mechanism is the circumference of five worm teeth when the motor rotates one circle (it can be adjusted according to actual conditions). h1 refers to the vertical rise distance of the worm rotating one circle. L1 refers to the circumference of the worm teeth. P fd It refers to the sliding friction length.

[0104] S304, calculating the friction heat according to the motor speed, the sliding friction coefficient of the transmission mechanism, and the sliding friction length.

[0105] Specifically, the second heat value, i.e., the friction heat, is calculated according to the following formula (5):

[0106]

[0107] Among them, Q fd (K m , P fd ) refers to the friction heat calculation function, and the value obtained is the second heat value, K m Refers to the sliding friction coefficient of the transmission mechanism, P fd It refers to the sliding friction length.

[0108] In some embodiments, the process of determining the second temperature value of the transmission mechanism based on the first calorific value and the second calorific value can also be: determining the third calorific value of the transmission mechanism based on the difference between the second calorific value and the first calorific value; performing temperature conversion processing on the third calorific value to obtain the second temperature value of the transmission mechanism.

[0109] The third heat value refers to the residual heat of the transmission mechanism.

[0110] The specific conversion between calorific value and temperature value can be referred to in the prior art and will not be elaborated here.

[0111] In some embodiments, based on the second temperature value, the process of controlling the wiper motor may be: if the second temperature value is not greater than the preset temperature value, the wiper motor is controlled to maintain the current operating state; if the second temperature value is greater than the preset temperature value, the wiper motor is controlled to switch the operating state.

[0112] The operating state of the wiper motor can be set according to the actual situation. The preset temperature value is a pre-configured temperature value for controlling the operating state of the wiper motor. The number of preset temperature values ​​can be one or more, which can be adjusted according to the actual situation, and the embodiment of the present application does not limit it.

[0113] Exemplarily, if the second temperature value is greater than a preset temperature value, the process of controlling the wiper motor to switch the operating state may include: if the second temperature value is greater than the preset temperature value, controlling the wiper motor to directly stop.

[0114] Exemplarily, if the second temperature value is greater than the preset temperature value, the process of controlling the wiper motor to switch the operating state may include: if the second temperature value is greater than the preset temperature value, determining the level to which the second temperature value belongs; if the level to which the second temperature value belongs indicates the first level, controlling to reduce the load of the wiper motor; if the level to which the second temperature value belongs indicates the second level, controlling the wiper motor to stop, and the temperature value corresponding to the second level is greater than the temperature value corresponding to the first level.

[0115] Specifically, if the second temperature value is greater than the preset temperature value, the level to which the second temperature value belongs is determined from the preset levels, and the preset level refers to the level set based on the temperature range. For example, two levels are set, namely the over-temperature level and the over-temperature level, wherein the temperature range corresponding to the over-temperature level is 80°C and above, and the over-temperature level is (60°C, 80°C). If the second temperature value is 75°C, the level to which the second temperature value belongs is the over-temperature level.

[0116] See also Figure 5 , combined with Figure 5 The above steps are explained with a specific embodiment: First, start the wiper motor. After the wiper motor is started, the motor speed and the temperature value detected by the controller are timed every 2ms. Next, the heat value generated by the friction of the transmission mechanism is calculated according to the motor speed. According to the heat conduction model for the transmission mechanism, the heat value diffused by the transmission mechanism is calculated based on the temperature value detected by the controller. Based on the two heat values ​​obtained above, the transmission mechanism is heat corrected to obtain the actual heat value of the transmission mechanism, and then its actual temperature value is determined. Finally, the thermal protection threshold is judged according to the actual temperature value of the transmission mechanism. If the actual temperature value is not overtemperature, the motor is controlled to maintain the current motion state. If the actual temperature value belongs to level 1 overtemperature, the motor is controlled to slow down. If the actual temperature value belongs to level 2 overtemperature, the motor is controlled to stop.

[0117] Based on the above steps, there is no need to install an additional temperature sensor on the wiper motor to perform temperature detection on the wiper motor. Instead, the temperature detection capability of the controller, the friction heat calculation method of the transmission mechanism and the heat conduction model can be used to meet the temperature detection function of the wiper motor for the transmission mechanism, reducing the demand for temperature sensors and their supporting circuit components and the design of the printed circuit board (PCB) layout. While maintaining normal functions, the cost and design time of hardware development are reduced, and the competitiveness of the product in the market is enhanced, thereby reducing hardware costs while improving the accuracy of temperature estimation and improving user experience.

[0118] In order to better implement the wiper motor control method provided in the embodiment of the present application, the embodiment of the present application also provides a device based on the above wiper motor control method. The meanings of the terms are the same as those in the above wiper motor control method, and the specific implementation details can refer to the description in the method embodiment.

[0119] For example, Figure 6 As shown, the wiper motor control device is applied to a wiper motor, the wiper motor includes a target motor component and a transmission mechanism, and the wiper motor control device may include a first temperature value determination module 401, a second temperature value determination module 402 and a control module 403, as follows:

[0120] A first temperature value determination module 401 is used to obtain a first temperature value obtained by performing temperature detection on a target motor component of the wiper motor;

[0121] A second temperature value determining module 402, configured to determine a second temperature value of a transmission mechanism of the wiper motor according to the first temperature value;

[0122] The control module 403 is used to control the wiper motor based on the second temperature value.

[0123] In an embodiment of the present application, the second temperature value determination module 402 includes:

[0124] A first heat value determination unit, used to determine a first heat value diffused by the transmission mechanism according to a first temperature value obtained within a preset detection time;

[0125] A second calorific value determination unit, used to determine a second calorific value generated by the transmission mechanism within a preset detection time period;

[0126] The second temperature value determining unit is used to determine a second temperature value of the transmission mechanism according to the first calorific value and the second calorific value.

[0127] In one embodiment of the present application, the first calorific value determining unit includes:

[0128] A temperature difference determination subunit, used to determine a temperature difference between the start and end of detection according to a first temperature value obtained within a preset detection time;

[0129] The first heat value determination subunit is used to perform heat conduction calculation according to the distance between the transmission mechanism and the target motor component and the temperature difference to obtain the first heat value diffused by the transmission mechanism.

[0130] In an embodiment of the present application, the target motor component includes a controller.

[0131] In this embodiment, the first calorific value determining subunit specifically includes:

[0132] Heat conduction calculation is performed according to the distance between the transmission mechanism and the controller, and the temperature difference, to obtain a first heat value diffused by the transmission mechanism.

[0133] In one embodiment of the present application, the second calorific value determining unit includes:

[0134] The motor speed acquisition subunit is used to acquire the motor speed of the wiper motor within a preset detection time;

[0135] The sliding friction length determination subunit is used to determine the sliding friction length that the transmission mechanism passes through at a unit motor speed;

[0136] The second heat value determination subunit is used to calculate the friction heat according to the motor speed, the sliding friction coefficient of the transmission mechanism, and the sliding friction length to obtain the second heat value generated by the transmission mechanism.

[0137] In one embodiment of the present application, the sliding friction length determining subunit specifically includes:

[0138] Obtain the theoretical friction length of the worm and reduction gear of the transmission mechanism at unit motor speed;

[0139] Determine the error friction length of the worm and reduction gear of the transmission mechanism at unit motor speed;

[0140] The sliding friction length that the transmission mechanism passes through at unit motor speed is determined based on the theoretical friction length, the error friction length, and the distance between the worm and the reduction gear of the transmission mechanism.

[0141] In one embodiment of the present application, the error friction length of the worm and the reduction gear of the transmission mechanism at a unit motor speed is determined, specifically including:

[0142] Assigning values ​​to independent variable parameters of a transmission mechanism correction model to obtain a plurality of assigned parameters, wherein the transmission mechanism correction model is used to indicate a model for correcting the transmission mechanism based on a machining error of the transmission mechanism, and the transmission mechanism correction model is also configured with a machining error coefficient;

[0143] Determine multiple error length values ​​according to the assigned parameters, the machining error coefficient, and the distance between the worm and the reduction gear of the transmission mechanism;

[0144] According to a plurality of error length values, the error friction length passed by the worm and the reduction gear of the transmission mechanism at a unit motor speed is determined.

[0145] In an embodiment of the present application, before assigning values ​​to the independent variable parameters of the transmission mechanism correction model to obtain a plurality of assigned parameters, the wiper motor control device specifically further includes:

[0146] Obtaining a theoretical machining error coefficient and a plurality of measured machining error coefficients for a transmission mechanism;

[0147] Training is performed based on a theoretical processing error coefficient and a plurality of measured processing error coefficients to obtain a transmission mechanism correction model, wherein the transmission mechanism correction model includes a processing error coefficient determined based on the theoretical processing error coefficient and the measured processing error coefficient.

[0148] In one embodiment of the present application, the second temperature value determining unit includes:

[0149] A third calorific value determination subunit, used to determine a third calorific value of the transmission mechanism according to a difference between the second calorific value and the first calorific value;

[0150] The second temperature value determination subunit is used to perform temperature conversion processing on the third calorific value to obtain a second temperature value of the transmission mechanism.

[0151] In one embodiment of the present application, the control module 403 includes:

[0152] A first control unit, configured to control the wiper motor to maintain a current operating state if the second temperature value is not greater than a preset temperature value;

[0153] The second control unit is used to control the wiper motor to switch the operating state if the second temperature value is greater than the preset temperature value.

[0154] In one embodiment of the present application, the second control unit includes:

[0155] a level determination subunit, for determining the level to which the second temperature value belongs if the second temperature value is greater than a preset temperature value;

[0156] a load reduction subunit, configured to control and reduce the load of the wiper motor if the level to which the second temperature value belongs indicates the first level;

[0157] The shutdown subunit is used to control the wiper motor to shut down if the level to which the second temperature value belongs indicates the second level, and the temperature value corresponding to the second level is greater than the temperature value corresponding to the first level.

[0158] In the wiper motor control device provided in the embodiment of the present application, the first temperature value obtained by temperature detection of the target motor component of the wiper motor is obtained by the first temperature value determination module 401; the second temperature value determination module 402 determines the second temperature value of the transmission mechanism of the wiper motor according to the first temperature value; the control module 403 controls the wiper motor based on the second temperature value. Based on this, the temperature value obtained by temperature detection of the target motor component of the wiper motor is used to infer the temperature value of the transmission mechanism of the wiper motor. The wiper motor is controlled in combination with the temperature value of the transmission mechanism, so that there is no need to install an additional temperature detector on the wiper motor to perform temperature detection on the wiper motor, which improves the accuracy of temperature estimation and improves the user experience while reducing hardware costs.

[0159] In specific implementation, the above modules can be implemented as independent entities, or can be arbitrarily combined and implemented as the same or several entities. The specific implementation methods and corresponding beneficial effects of the above modules can be found in the previous method embodiments, which will not be repeated here.

[0160] The embodiment of the present application also provides an electronic device, wherein the operating system of the electronic device includes a first operating system and a second operating system. Figure 7 As shown, it shows a schematic diagram of the structure of the electronic device involved in the embodiment of the present application, specifically:

[0161] The electronic device may include components such as a processor 501 with one or more processing cores, a memory 502 with one or more storage media, a power supply 503, and an input unit 504. Those skilled in the art will appreciate that Figure 7 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 in the figure, or combine certain components, or arrange the components differently.

[0162] The processor 501 is the control center of the electronic device, which uses various interfaces and lines to connect various parts of the entire electronic device, and executes various functions of the electronic device and processes data by running or executing computer programs and / or modules stored in the memory 502, and calling data stored in the memory 502. Optionally, the processor 501 may include one or more processing cores; preferably, the processor 501 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 501.

[0163] The memory 502 can be used to store computer programs and modules. The processor 501 executes various functional applications and wiper motor control by running the computer programs and modules stored in the memory 502. The memory 502 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, a computer program required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 502 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory 502 may also include a memory controller to provide the processor 501 with access to the memory 502.

[0164] The electronic device also includes a power supply 503 for supplying power to each component. Preferably, the power supply 503 can be logically connected to the processor 501 through a power management system, so as to manage charging, discharging, power consumption and other functions through the power management system. The power supply 503 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.

[0165] The electronic device may further include an input unit 504, which may be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0166] Although not shown, the electronic device may further include a display unit, etc., which will not be described in detail herein. Specifically in this embodiment, the processor 501 in the electronic device will load the executable files corresponding to the processes of one or more computer programs into the memory 502 according to the following instructions, and the processor 501 will run the computer programs stored in the memory 502, thereby realizing various functions, such as:

[0167] Acquire a first temperature value obtained by performing temperature detection on a target motor component of the wiper motor;

[0168] Determining a second temperature value of a transmission mechanism of the wiper motor according to the first temperature value;

[0169] The wiper motor is controlled based on the second temperature value.

[0170] It can be seen that the electronic device provided in the embodiment of the present application obtains the first temperature value obtained by temperature detection of the target motor component of the wiper motor; determines the second temperature value of the transmission mechanism of the wiper motor according to the first temperature value; and controls the wiper motor based on the second temperature value. Based on this, the temperature value obtained by temperature detection of the target motor component of the wiper motor is used to infer the temperature value of the transmission mechanism of the wiper motor. The wiper motor is controlled in combination with the temperature value of the transmission mechanism, so that there is no need to install an additional temperature detector on the wiper motor to perform temperature detection on the wiper motor, which improves the accuracy of temperature estimation and improves the user experience while reducing hardware costs.

[0171] The specific implementation methods and corresponding beneficial effects of the above operations can be found in the detailed description of the wiper motor control method above, which will not be elaborated here.

[0172] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be accomplished by a computer program, or by controlling related hardware through a computer program. The computer program may be stored in a storage medium and loaded and executed by a processor.

[0173] To this end, an embodiment of the present application provides a storage medium in which a computer program is stored. The computer program can be loaded by a processor to execute the steps in any of the wiper motor control methods provided in the embodiments of the present application. For example, the computer program can execute the following steps:

[0174] Acquire a first temperature value obtained by performing temperature detection on a target motor component of the wiper motor;

[0175] Determining a second temperature value of a transmission mechanism of the wiper motor according to the first temperature value;

[0176] The wiper motor is controlled based on the second temperature value.

[0177] It can be seen that the storage medium provided in the embodiment of the present application obtains the first temperature value obtained by temperature detection of the target motor component of the wiper motor; determines the second temperature value of the transmission mechanism of the wiper motor according to the first temperature value; and controls the wiper motor based on the second temperature value. Based on this, the temperature value obtained by temperature detection of the target motor component of the wiper motor is used to infer the temperature value of the transmission mechanism of the wiper motor. The wiper motor is controlled in combination with the temperature value of the transmission mechanism, so that there is no need to install an additional temperature detector on the wiper motor to perform temperature detection on the wiper motor, which improves the accuracy of temperature estimation and improves the user experience while reducing hardware costs.

[0178] The specific implementation methods and corresponding beneficial effects of the above operations can be found in the previous embodiments, which will not be described in detail here.

[0179] The storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0180] Since the computer program stored in the storage medium can execute the steps in any one of the wiper motor control methods provided in the embodiments of the present application, the beneficial effects that can be achieved by any one of the wiper motor control methods provided in the embodiments of the present application can be achieved. Please see the previous embodiments for details and will not be repeated here.

[0181] According to one aspect of the present application, a computer program product or a computer program is provided, the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a storage medium. A processor of a computer device reads the computer instructions from the storage medium, and the processor executes the computer instructions, so that the computer device executes the above-mentioned wiper motor control method.

[0182] The embodiment of the present application also provides a vehicle, which includes the above-mentioned wiper motor control device, or the above-mentioned electronic device, or the above-mentioned computer program product. The specific structure of the vehicle is not limited in this application. The specific implementation methods and corresponding beneficial effects of the above-mentioned operations of the electronic device are also applicable to the vehicle. For details, please refer to the detailed description of the wiper motor control method above, which will not be repeated here.

[0183] The above is a detailed introduction to a wiper motor control method, device, electronic device, storage medium and vehicle provided in the embodiments of the present application. Specific examples are used herein 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 wiper motor control method, characterized in that: The method comprises: Acquire a first temperature value obtained by performing temperature detection on a target motor component of the wiper motor; determining a second temperature value of the transmission mechanism of the wiper motor according to the first temperature value; The wiper motor is controlled based on the second temperature value.

2. The wiper motor control method according to claim 1, characterized in that: Determining a second temperature value of the transmission mechanism of the wiper motor according to the first temperature value includes: Determining a first heat value diffused by the transmission mechanism according to the first temperature value obtained within a preset detection time; Determining a second heat value generated by the transmission mechanism within the preset detection time period; A second temperature value of the transmission mechanism is determined according to the first calorific value and the second calorific value.

3. The wiper motor control method according to claim 2, characterized in that: The determining, according to the first temperature value obtained within a preset detection time, a first heat value diffused by the transmission mechanism includes: Determine the temperature difference between the start and end of the detection according to the first temperature value obtained within a preset detection time; A heat conduction calculation is performed according to the distance between the transmission mechanism and the target motor component and the temperature difference to obtain a first heat value diffused by the transmission mechanism.

4. The wiper motor control method according to claim 3, characterized in that: The target motor component includes a controller; the heat conduction calculation is performed according to the distance between the transmission mechanism and the target motor component, and the temperature difference to obtain a first heat value diffused by the transmission mechanism, including: A heat conduction calculation is performed according to the distance between the transmission mechanism and the controller and the temperature difference to obtain a first heat value diffused by the transmission mechanism.

5. The wiper motor control method according to claim 2, characterized in that: The determining of the second heat value generated by the transmission mechanism within the preset detection time period includes: Obtaining the motor speed of the wiper motor within the preset detection time; Determining the sliding friction length traveled by the transmission mechanism at a unit motor speed; The friction heat is calculated according to the motor speed, the sliding friction coefficient of the transmission mechanism, and the sliding friction length to obtain a second heat value generated by the transmission mechanism.

6. The wiper motor control method according to claim 5, characterized in that: Determining the sliding friction length of the transmission mechanism at a unit motor speed includes: Obtaining the theoretical friction length of the worm and the reduction gear of the transmission mechanism at a unit motor speed; Determine the error friction length that the worm and the reduction gear of the transmission mechanism pass through at a unit motor speed; The sliding friction length that the transmission mechanism passes through at a unit motor speed is determined according to the theoretical friction length, the error friction length, and the distance between the worm and the reduction gear of the transmission mechanism.

7. The wiper motor control method according to claim 6, characterized in that: The step of determining the error friction length of the worm and the reduction gear of the transmission mechanism at a unit motor speed includes: Assigning values ​​to independent variable parameters of a transmission mechanism correction model to obtain a plurality of assigned parameters, wherein the transmission mechanism correction model is used to indicate a model for correcting the transmission mechanism based on a machining error of the transmission mechanism, and the transmission mechanism correction model is further configured with a machining error coefficient; Determining a plurality of error length values ​​according to the assigned parameters, the machining error coefficient, and the distance between the worm and the reduction gear of the transmission mechanism; According to the multiple error length values, the error friction length that the worm and the reduction gear of the transmission mechanism pass through at a unit motor speed is determined.

8. The wiper motor control method according to claim 7, characterized in that: Before assigning values ​​to the independent variable parameters of the transmission mechanism correction model to obtain a plurality of assigned parameters, the method further includes: Obtaining a theoretical machining error coefficient and a plurality of measured machining error coefficients for the transmission mechanism; Training is performed based on the theoretical processing error coefficient and a plurality of the measured processing error coefficients to obtain a transmission mechanism correction model, wherein the transmission mechanism correction model includes a processing error coefficient determined based on the theoretical processing error coefficient and the measured processing error coefficient.

9. The wiper motor control method according to claim 2, characterized in that: Determining the second temperature value of the transmission mechanism according to the first calorific value and the second calorific value includes: determining a third calorific value of the transmission mechanism according to a difference between the second calorific value and the first calorific value; The third calorific value is subjected to temperature conversion processing to obtain a second temperature value of the transmission mechanism.

10. The wiper motor control method according to any one of claims 1 to 9, characterized in that: The controlling the wiper motor based on the second temperature value includes: If the second temperature value is not greater than the preset temperature value, controlling the wiper motor to maintain the current operating state; If the second temperature value is greater than the preset temperature value, the wiper motor is controlled to switch the operating state.

11. The wiper motor control method according to claim 10, characterized in that: If the second temperature value is greater than the preset temperature value, controlling the wiper motor to switch the operating state includes: If the second temperature value is greater than the preset temperature value, determining the level to which the second temperature value belongs; If the level to which the second temperature value belongs indicates the first level, controlling to reduce the load of the wiper motor; If the level to which the second temperature value belongs indicates a second level, the wiper motor is controlled to stop, and the temperature value corresponding to the second level is greater than the temperature value corresponding to the first level.

12. A wiper motor control device, characterized in that: The device comprises: A first temperature value determination module, used for acquiring a first temperature value obtained by performing temperature detection on a target motor component of the wiper motor; a second temperature value determining module, configured to determine a second temperature value of the transmission mechanism of the wiper motor according to the first temperature value; A control module is used to control the wiper motor based on the second temperature value.

13. An electronic device, characterized in that: The invention comprises one or more processors and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the wiper motor control method according to any one of claims 1 to 11.

14. A storage medium, characterized in that: The invention comprises a computer program, and 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 the wiper motor control method according to any one of claims 1 to 11.

15. A computer program product, characterized in that The method comprises a computer program or an instruction, and when the computer program or the instruction is executed by a processor, the steps of the wiper motor control method according to any one of claims 1 to 11 are implemented.

16. A vehicle, characterized in that: The vehicle comprises the wiper motor control device according to claim 12, or the electronic device according to claim 13, or the storage medium according to claim 14, or the computer program product according to claim 15.

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