Wiper motor control method and device, related equipment and vehicle

Abstract

The application relates to a wiper motor control method and device, related equipment and a vehicle. A first temperature value obtained by temperature detection of a target motor component of a wiper motor is acquired; a second temperature value of a 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 from 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 an additional temperature detector does not need to be installed on the wiper motor to perform temperature detection on the wiper motor, the hardware cost is reduced, the accuracy of temperature estimation is improved, and the experience of users is improved.

Description

TECHNICAL FIELD

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

[0002] A vehicle is configured with a wiper, which includes a wiper motor and a wiper blade mechanism. The wiper blade mechanism is driven by the wiper motor to clean the windshield of the vehicle. When the wiper motor is continuously working, a part of energy will be converted into heat due to the limit of energy conversion efficiency. A corresponding temperature detector is installed at a position where temperature detection of the wiper motor is required, and the monitoring data is transmitted back to the motor controller to estimate the temperature and execute corresponding thermal protection measures according to the preset temperature threshold. However, this scheme has the problem of high hardware cost. SUMMARY

[0003] The embodiments of the present application provide a wiper motor control method and device, electronic equipment, storage medium, computer program product and vehicle. The temperature value of the target motor component of the wiper motor is obtained by temperature detection, and the temperature value of the transmission mechanism of the wiper motor is estimated. The wiper motor is controlled in combination with the temperature value of the transmission mechanism, so that an additional temperature detector does not need to be installed on the wiper motor to perform temperature detection on the wiper motor. The accuracy of temperature estimation is improved, and the user experience is improved while reducing the hardware cost.

[0004] The embodiments of the present application provide a wiper motor control method, which comprises:

[0005] obtaining a first temperature value obtained by temperature detection of a target motor component of a wiper motor;

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

[0007] controlling the wiper motor based on the second temperature value.

[0008] Correspondingly, the embodiments of the present application provide a wiper motor control device, which comprises:

[0009] a first temperature value determination module configured to obtain a first temperature value obtained by temperature detection of a target motor component of a wiper motor;

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

[0011] a control module configured to control the wiper motor based on the second temperature value.

[0012] In addition, the embodiment of the present application further provides an electronic device, comprising one or more processors and a memory, wherein the memory stores a computer program, and the processor is configured to execute the computer program stored in the memory to implement the wiper motor control method provided by the embodiment of the present application.

[0013] In addition, the embodiment of the present application further provides a storage medium, wherein the storage medium stores a computer program, and when the computer program is executed on an electronic device, the computer program is configured to enable the electronic device to execute any one of the wiper motor control methods provided by the embodiment of the present application.

[0014] In addition, the embodiment of the present application further provides a computer program product, comprising a computer program or instructions, and the computer program or instructions are executed by a processor to implement any one of the wiper motor control methods provided by the embodiment of the present application.

[0015] In addition, the embodiment of the present application further provides a vehicle, comprising the wiper motor control device, or the electronic device, or the storage medium, or the computer program product.

[0016] In the embodiment of the present application, the first temperature value obtained by temperature detection on the target motor component of the wiper motor is acquired; the 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 based on the temperature value obtained by temperature detection on 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 it is not necessary to install an additional temperature detector on the wiper motor to perform temperature detection on the wiper motor, thereby reducing the hardware cost, improving the accuracy of temperature estimation, and improving the user experience. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

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

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

[0020] Figure 3is a flowchart of a process of construction and application of a heat conduction model provided by an embodiment of the present application.

[0021] Figure 4 is a flowchart of a process of calculating a second heat value provided by an embodiment of the present application.

[0022] Figure 5 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 is a structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person skilled in the art without creative work fall within the scope of protection of the present application.

[0026] In addition, "multiple" in the embodiments of the present application means two or more. "First" and "second" and the like in the embodiments of the present application are used for distinguishing description, and cannot 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, a terminal or the like.

[0028] The server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery network (CDN), and basic cloud computing services such as big data and artificial intelligence platforms.

[0029] The terminal can be a smart phone, a tablet computer, a notebook computer, a desktop computer, a smart speaker, a smart watch, and the like, but is not limited thereto. The terminal and the server can be directly or indirectly connected through wired or wireless communication, which is not limited in the present application.

[0030] Please refer toFigure 1 Taking the example of integrating the wiper motor control device in the electronic device, Figure 1 The implementation scenario of the wiper motor control method provided in the embodiments of the present application is shown in the figure, wherein the electronic device can be a terminal device, a first temperature value obtained by performing temperature detection on a target motor component of the wiper motor is acquired; a second temperature value of a 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.

[0031] It should be noted that Figure 1 The implementation environment scenario of the wiper motor control method shown in the figure is only an example, and the implementation environment scenario of the wiper motor control method described in the embodiments of the present application is for more clearly illustrating the technical solutions of the embodiments of the present application, and does not constitute a limitation on the technical solutions provided in the embodiments 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 solutions provided in the present application are also applicable to similar technical problems.

[0032] The scheme provided in the embodiments of the present application is described in detail through the following embodiments. It should be noted that the order of the following embodiments is not limited as the preferred order of the embodiments.

[0033] This embodiment will be described from the perspective of the wiper motor control device, which can be integrated in an electronic device. The electronic device can be a terminal and / or a server, which is not limited in the present application.

[0034] The wiper motor control method provided in the embodiments 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 brush mechanism, and the transmission mechanism of the wiper motor includes a worm gear and a reduction gear, which drives the reduction gear through a turbine and a worm. Subsequently, the output arm connected to the wiper linkage is controlled by the wiper output shaft. When the wiper motor rotates, the output arm and the linkage will move in the front and rear directions, driving 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 direct current brushless motor, and the wiper motor can also be a permanent magnet synchronous motor.

[0037] It should be noted that brushless DC motors use permanent magnet rotors and brushless motor controllers to generate a magnetic field on the rotor. By reversing the polarity of the magnetic poles through a commutator, rotational torque is generated on the rotor. Permanent magnet synchronous motors, on the other hand, require an AC power supply. Their rotors are also composed of permanent magnets. The controller adjusts the frequency of the current to synchronize the rotor with the magnetic field of the power supply, thus achieving rotational motion.

[0038] When a wiper motor operates continuously, some energy is converted into heat due to limitations in energy conversion efficiency. This heat is primarily generated by two components: the stator coil and the drive mechanism. It's important to note that because the reduction gears in the drive mechanism are typically made of plastic, their temperature tolerance is much lower than that of the motor coils. After prolonged operation, the reduction gears in the drive mechanism may melt due to excessive heat, leading to tooth shaving. This phenomenon hinders the normal operation of the wiper motor, but does not cause significant damage to the motor itself. Therefore, temperature monitoring and thermal protection of the wiper motor's drive mechanism are of great importance.

[0039] However, existing methods for temperature detection in the drive mechanism of wiper motors mainly involve installing temperature sensors on the drive mechanism. But because temperature sensors are expensive and require a dedicated port on the controller for data acquisition, it's difficult to simultaneously reduce hardware costs and improve the accuracy of motor temperature estimation.

[0040] To address the aforementioned problems, this application provides a wiper motor control method. Please refer to [link / reference]. Figure 2 , Figure 2 This is a flowchart illustrating a wiper motor control method according to an embodiment of this application. The wiper motor control method may include the following steps S101 to S103:

[0041] S101. Obtain the first temperature value obtained by temperature detection of the target motor component of the wiper motor.

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

[0043] The specific type of the target motor component can be selected based on the actual situation and the specific structure of the wiper motor, and this application embodiment does not impose any restrictions. 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 needed. The target motor component does not include the transmission mechanism.

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

[0046] S102. Determine the second temperature value of the wiper motor's transmission mechanism based on the first temperature value.

[0047] The second temperature value refers to the temperature value of the wiper motor's transmission mechanism, which is estimated based on 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 corresponding thermal protection measures based on the preset temperature threshold.

[0050] The wiper motor control method provided in this application embodiment obtains a first temperature value by performing temperature detection on the target motor component of the wiper motor; determines a second temperature value of the wiper motor's transmission mechanism based on the first temperature value; and controls the wiper motor based on the second temperature value. Therefore, the temperature value of the wiper motor's transmission mechanism is inferred from the temperature value obtained by temperature detection on the target motor component. By controlling the wiper motor in conjunction with the temperature value of the transmission mechanism, it is possible to eliminate the need for an additional temperature detector to perform temperature detection on the wiper motor, thereby reducing hardware costs, improving the accuracy of temperature estimation, and enhancing the user experience.

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

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

[0053] The first heat value indicates the amount of heat dissipated by the transmission mechanism within a preset detection period. That is, the amount of heat lost by the transmission mechanism within the preset detection period.

[0054] The second heat value indicates the heat generated by the transmission mechanism within a preset detection period. It should be noted that the heat generated by the transmission mechanism mainly comes from the friction between the worm gear and the reduction gear; therefore, the second heat value can also be called the frictional 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 period includes: determining the temperature difference between the start and end of the detection based on the first temperature value obtained within the preset detection period; and performing heat conduction calculation based on the distance between the transmission mechanism and the target motor component, as well as the temperature difference, to obtain the first heat value diffused by the transmission mechanism.

[0056] There are various ways to calculate the temperature difference, and the specific calculation method can be set according to actual needs. This application does not impose any restrictions on the implementation. 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. Another example is to determine the ending temperature value detected at the end of the detection and the average temperature value based on the time from the start to the end of the detection, and use the difference between the ending temperature value and the average temperature value as the temperature difference.

[0057] The heat conduction calculation process can take many forms and can be adjusted according to actual conditions; this application does not impose any limitations. For example, the distance between the transmission mechanism and the target motor component, as well as the temperature difference, can be input into the heat conduction model so that the model can perform heat conduction calculations based on the temperature difference and the distance between the transmission mechanism and the target motor component to obtain the first heat value diffused by the transmission mechanism. As another example, the target temperature value between the start and end of the detection, as well as the distance between the transmission mechanism and the target motor component, can be input into the heat conduction model so that the model can perform heat conduction calculations based on the target temperature value and the distance between the transmission mechanism and the target motor component to obtain the first heat value diffused by the transmission mechanism.

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

[0059] It's important to note that the heat conduction model for 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. The distance between the transmission mechanism and the target motor component primarily affects the heat conduction time. A longer distance results in a longer heat conduction time and a slower temperature rise in the target motor component, while a shorter distance leads to a faster temperature rise. The ambient temperature inside the wiper motor significantly impacts the accuracy of the temperature measurement of the target motor component. When the ambient temperature inside the wiper motor is low, the heat conduction efficiency is low, and the temperature rise of the target motor component is slow, potentially leading to an inaccurate estimation of the transmission mechanism temperature. Conversely, when the ambient temperature is high, the measured temperature of the target motor component itself will be too high, even if the wiper motor is not actively operating. Therefore, the measured temperature of the target motor component needs to be corrected.

[0060] Please see Figure 3 , Figure 3 This is a flowchart illustrating the construction and application of the heat conduction model provided in this application embodiment. The description uses the target motor component as a controller, as shown below. Figure 3 As shown, the construction and application process of the heat conduction model specifically includes the following steps S201 to S204:

[0061] S201. Determine the midpoint of the meshing between the worm gear and the reduction gear in the transmission mechanism as the heating point of the transmission mechanism.

[0062] Specifically, the temperature at the midpoint where the worm gear and reduction gear of the wiper motor's transmission mechanism mesh is set as the temperature value of the transmission mechanism.

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

[0064] Specifically, the distance between the wiper motor controller and the midpoint of the engagement between the worm gear and the reduction gear of the transmission mechanism is measured.

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

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

[0067]

[0068] Among them, Q T (T m T E D T ) refers to the function of the heat conduction model, K QT This refers to the thermal diffusivity, which is related to the heat transfer medium (such as air) between the controller and the transmission mechanism. Tm This refers to the temperature value detected at the current moment within a preset detection period, T. E This refers to the ambient temperature, specifically a particular temperature value (such as the average temperature or the temperature detected at the previous moment) determined based on various temperature values ​​within the preset detection period from the start of detection to the current moment. D T This refers to the distance between the controller and the heating point of the transmission mechanism, and π refers to the mathematical constant pi.

[0069] It should be noted that the ambient temperature of the wiper motor also rises as the motor operates. Therefore, the temperature measured by the controller within the preset detection period can be considered as the average ambient temperature of the entire wiper motor.

[0070] S204. Based on the temperature value measured by the controller, the heat value diffused to the transmission mechanism is inferred through the above heat conduction model.

[0071] Specifically, by substituting the ambient temperature value detected by the controller and its changes, as well as the distance between the controller and the heat source of the transmission mechanism, into the above-mentioned heat guidance model, the heat diffusion value of the transmission mechanism can be determined.

[0072] There are various ways to determine the second heat value generated by the transmission mechanism within a preset detection period, and the specific method can be adjusted according to the actual situation. This application embodiment does not impose any limitations. For example, the second heat value generated by the transmission mechanism within the preset detection period can be determined by obtaining the motor speed of the wiper motor. Another example is to determine the second heat value generated by the transmission mechanism within the preset detection period by obtaining the current and voltage information of the wiper motor.

[0073] Taking 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 period can be as follows: obtaining the motor speed of the wiper motor within the preset detection time period; determining the sliding friction length traversed by the transmission mechanism at a unit motor speed; and calculating the frictional 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] Among them, motor speed refers to the number of revolutions the wiper motor makes per unit time.

[0075] There are various ways to obtain the motor speed of a wiper motor, and the specific method can be adjusted according to the actual situation. This application does not impose any limitations. For example, the motor speed can be determined by measuring the change in the current of the wiper motor and combining the mapping relationship between the current and the motor speed. Another example is to determine the motor speed by measuring the change in the magnetic field of the wiper motor and 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] The coefficient of sliding friction can have various values, and this application does not impose any limitations on its embodiments. For example, the coefficient of sliding friction of the transmission mechanism can be determined based on the material properties of the worm and reduction gear. Another example is the coefficient of sliding friction of the transmission mechanism determined by combining the material properties of the worm and reduction gear, as well as the specific reduction ratio. Since the motor body may rotate at several thousand revolutions per minute, but the output torque may be relatively small, a reduction gear is needed to proportionally reduce the rotational speed according to the designed specific reduction ratio, thereby increasing the motor's output torque. The specific reduction ratio is mainly related to the requirements.

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

[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. Ideally, there is no error gap between the worm and the reduction gear, so the motor rotation directly drives the reduction gear to move along the sliding friction length. The static friction stage mainly refers to the motor driving the worm to rotate, but not the reduction gear, while 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 include: 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 upward distance (with the coordinate system of the worm gear as the reference coordinate system) of one revolution of the worm gear under the condition of no error interference. The error friction length refers to the vertical upward distance of one revolution of the worm gear due to error interference before the worm gear and the reduction gear will make 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 the independent variable parameters of the transmission mechanism correction model to obtain multiple assigned parameters, wherein the transmission mechanism correction model is used to indicate a model for correcting the transmission mechanism based on the processing error of the transmission mechanism, and the transmission mechanism correction model is also configured with a processing error coefficient; determining multiple error length values ​​based on the assigned parameters, the processing error coefficient, and the distance between the worm and reduction gear of the transmission mechanism; and determining the error friction length traversed by the worm and reduction gear of the transmission mechanism at a unit motor speed based on the multiple error length values.

[0083] For example, assign integer values ​​between (0, 10) to the independent variable parameter to obtain 10 assigned parameters. Then, calculate the average of the 10 assigned parameters after removing the maximum and minimum values. Based on the obtained assigned parameters, the machining error coefficient, and the distance between the worm and the reduction gear of the transmission mechanism, the error friction length traversed by the worm and the reduction gear of the transmission mechanism at a unit motor speed is obtained.

[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 further includes: obtaining theoretical machining error coefficients and multiple measured machining error coefficients for the transmission mechanism; training based on the theoretical machining error coefficients and multiple measured machining error coefficients to obtain a transmission mechanism correction model, wherein the transmission mechanism correction model includes machining error coefficients determined based on the theoretical machining error coefficients and measured machining error coefficients.

[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 detecting the machining error of the actual measured transmission mechanism when constructing the transmission mechanism correction model.

[0086] Among them, the transmission mechanism correction model refers to a model that corrects the error friction length traversed by the worm and reduction gear of the transmission mechanism at a unit motor speed based on the machining error of the transmission mechanism.

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

[0088] Specifically, please refer to Figure 4 , Figure 4 This is a schematic diagram of a process for calculating a second calorific value provided in an embodiment of this application. For example... 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 based on the material properties of the worm and reduction gear.

[0090] S302. Based on the machining error provided by the workpiece supplier and the actual machining error measured during the work, construct a correction model for the transmission mechanism.

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

[0092] Specifically, the theoretical machining error coefficient is determined based on the machining error provided by the workpiece supplier. Based on the theoretical machining error coefficient and the operating model of the transmission mechanism, a preliminary modified model of the transmission mechanism is constructed.

[0093] For example, 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, This refers to the preliminary transmission mechanism modification model, D d This refers to the operating model. This refers to the theoretical machining error coefficient of the transmission mechanism correction model, where x is the independent variable parameter, e is the natural constant, and p represents the machining error.

[0096] Specifically, based on the actual measured machining error of the workpiece, the measurement machining error coefficient of the transmission mechanism correction model is determined. Based on the theoretical machining error coefficient and the measured machining error coefficient, the machining error coefficient of the transmission mechanism correction model is determined. The preliminary transmission mechanism correction model is then optimized based on these machining error coefficients to obtain the corrected transmission mechanism model.

[0097] For example, the transmission mechanism correction model can be further optimized according to the following formula (3):

[0098]

[0099] in, This refers to the measurement and machining error coefficient of the transmission mechanism correction model. This 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 traversed by the transmission mechanism at a unit motor speed, and correct it using the measured value of the actual product.

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

[0102]

[0103] in, This refers to the error distance, that is, the distance caused by the interference of errors, rising vertically in the coordinate system where the worm gear is located. After that, the worm gear will make contact with the reduction gear. 5 indicates the friction path between the worm and the reduction gear in the transmission mechanism, which is the circumference of five worm teeth when the motor rotates one revolution (the specific value can be adjusted according to actual conditions). h1 refers to the vertical upward distance of the worm rotating one revolution, L1 refers to the circumference of the worm teeth, and P fd This refers to the length of sliding friction.

[0104] S304. Calculate the frictional heat based on 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 frictional heat, is calculated according to the following formula (5):

[0106]

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

[0108] In some embodiments, the process of determining the second temperature value of the transmission mechanism based on the first heat value and the second heat value may also be: determining the third heat value of the transmission mechanism based on the difference between the second heat value and the first heat value; performing temperature conversion processing on the third heat 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 is explained in existing technology and will not be repeated here.

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

[0112] The operating state of the wiper motor can be set according to actual conditions. The preset temperature value is a pre-configured temperature value used to control the operating state of the wiper motor. The number of preset temperature values ​​can be one or more, and can be adjusted according to actual conditions; this application embodiment does not impose any limitations.

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

[0114] For example, if the second temperature value is greater than the preset temperature value, the process of controlling the wiper motor to switch operating states 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 the reduction of the load on the wiper motor; if the level to which the second temperature value belongs indicates the second level, controlling the wiper motor to stop, wherein 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 preset level to which the second temperature value belongs is determined from the preset levels. This preset level refers to the level set based on the temperature range. For example, two levels are set: an over-temperature level and an over-temperature level. The over-temperature level corresponds to a temperature range of 80℃ and above, while the over-temperature level corresponds to (60℃, 80℃). If the second temperature value is 75℃, then the level to which the second temperature value belongs is the over-temperature level.

[0116] Please see Figure 5 , combined Figure 5 The specific implementation details the above steps as follows: First, the wiper motor is started. After the wiper motor starts, the motor speed and the temperature value detected by the controller are timed every 2ms. Next, the heat generated by friction in the transmission mechanism is calculated based on the motor speed. Based on the heat conduction model for the transmission mechanism, the heat dissipated 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 thermally corrected to obtain the actual heat value of the transmission mechanism, and thus its actual temperature value is determined. Finally, a thermal protection threshold is determined based on the actual temperature value of the transmission mechanism. If the actual temperature value is not overheated, the motor is controlled to maintain its current operating state. If the actual temperature value is level 1 overheating, the motor speed is controlled to decrease. If the actual temperature value is level 2 overheating, 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. Instead, by utilizing the controller's temperature detection capability, the frictional heat calculation method of the transmission mechanism, and the heat conduction model, the wiper motor's temperature detection function for the transmission mechanism can be met. This reduces the need for temperature sensors and their associated circuit components, as well as the design of the printed circuit board (PCB) layout. While maintaining normal functionality, it reduces hardware development costs and design time, enhances the product's competitiveness in the market, and thus improves the accuracy of temperature estimation and enhances the user experience while reducing hardware costs.

[0118] To facilitate better implementation of the wiper motor control method provided in this application, this application also provides an apparatus based on the above-described wiper motor control method. The meanings of the terms used are the same as in the wiper motor control method described above, and specific implementation details can be found in the descriptions within the method embodiments.

[0119] For example, such as Figure 6 As shown, the wiper motor control device is applied to a wiper motor, which includes a target motor component and a transmission mechanism. 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 detailed below:

[0120] The first temperature value determination module 401 is used to obtain the first temperature value obtained by temperature detection of the target motor component of the wiper motor.

[0121] The second temperature value determination module 402 is used to determine the second temperature value of the transmission mechanism of the wiper motor based on the first temperature value.

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

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

[0124] The first heat value determination unit is used to determine the first heat value diffused by the transmission mechanism based on the first temperature value obtained within a preset detection time.

[0125] The second heat value determination unit is used to determine the second heat value generated by the transmission mechanism within a preset detection time.

[0126] The second temperature value determination unit is used to determine the second temperature value of the transmission mechanism based on the first heat value and the second heat value.

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

[0128] The temperature difference determination subunit is used to determine the temperature difference between the start and end of the detection based on the first temperature value obtained within the preset detection time.

[0129] The first heat value determination subunit is used to perform heat conduction calculations based on the distance between the transmission mechanism and the target motor component, as well as the temperature difference, to obtain the first heat value diffused by the transmission mechanism.

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

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

[0132] Based on the distance between the transmission mechanism and the controller, and the temperature difference, heat conduction calculations are performed to obtain the first heat value diffused by the transmission mechanism.

[0133] In one embodiment of this application, the second calorific value determination 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 traversed by the transmission mechanism at a unit motor speed;

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

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

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

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

[0140] Based on the theoretical friction length, the error friction length, and the distance between the worm and the reduction gear of the transmission mechanism, the sliding friction length traversed by the transmission mechanism at a unit motor speed is determined.

[0141] In one embodiment of this application, the determination of the error friction length traversed by the worm gear and reduction gear of the transmission mechanism at a unit motor speed specifically includes:

[0142] The independent variable parameters of the transmission mechanism correction model are assigned values ​​to obtain multiple assigned parameters. The transmission mechanism correction model is used to indicate the model that corrects the transmission mechanism based on the processing error of the transmission mechanism. The transmission mechanism correction model is also configured with processing error coefficients.

[0143] Based on the assigned parameters, machining error coefficients, and the distance between the worm and reduction gear in the transmission mechanism, multiple error length values ​​are determined.

[0144] Based on multiple error length values, the error friction length traversed by the worm gear and reduction gear of the transmission mechanism at a unit motor speed is determined.

[0145] In one embodiment of this application, before assigning values ​​to the independent variable parameters of the transmission mechanism correction model to obtain multiple assigned parameters, the wiper motor control device specifically includes:

[0146] Obtain the theoretical machining error coefficient and multiple measured machining error coefficients for the transmission mechanism;

[0147] The transmission mechanism correction model is obtained by training based on theoretical machining error coefficients and multiple measured machining error coefficients. The transmission mechanism correction model includes machining error coefficients determined based on theoretical machining error coefficients and measured machining error coefficients.

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

[0149] The third heat value determination subunit is used to determine the third heat value of the transmission mechanism based on the difference between the second heat value and the first heat value.

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

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

[0152] The first control unit is used to control the wiper motor to maintain its current operating state if the second temperature value is not greater than the preset temperature value.

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

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

[0155] The level determination subunit is used to determine the level to which the second temperature value belongs if the second temperature value is greater than the preset temperature value.

[0156] The load reduction subunit is used to control the reduction of the wiper motor load 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 stop 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 this application embodiment, a first temperature value determination module 401 obtains a first temperature value from temperature detection of the target motor component of the wiper motor; a second temperature value determination module 402 determines a second temperature value of the transmission mechanism of the wiper motor based on the first temperature value; and a control module 403 controls the wiper motor based on the second temperature value. Based on this, the temperature value of the transmission mechanism of the wiper motor is inferred from the temperature value obtained from temperature detection of the target motor component. By combining the temperature value of the transmission mechanism with the control of the wiper motor, it is possible to eliminate the need for an additional temperature detector to perform temperature detection on the wiper motor, thereby reducing hardware costs, improving the accuracy of temperature estimation, and enhancing the user experience.

[0159] In practice, each of the above modules can be implemented as an independent entity or can be combined arbitrarily to be implemented as the same or several entities. For the specific implementation methods and corresponding beneficial effects of each of the above modules, please refer to the previous method embodiments, which will not be repeated here.

[0160] This application also provides an electronic device, the operating system of which includes a first operating system and a second operating system, such as... Figure 7 As shown, it illustrates a structural schematic diagram of the electronic device involved in the embodiments of this 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 understand that... Figure 7 The electronic device structure shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein:

[0162] The processor 501 is the control center of the electronic device, connecting various parts of the device via various interfaces and lines. It executes computer programs and / or modules stored in the memory 502, and calls data stored in the memory 502, to perform various functions and process data. 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 handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the 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. The program storage area may store the operating system, computer programs required for at least one function (such as sound playback function, 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 high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. 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 that supplies power to various components. Preferably, the power supply 503 can be logically connected to the processor 501 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 503 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

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

[0166] Although not shown, the electronic device may also include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 501 in the electronic device loads 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 runs the computer programs stored in the memory 502 to realize various functions, such as:

[0167] The first temperature value obtained by temperature detection of the target motor component of the wiper motor is acquired.

[0168] Based on the first temperature value, determine the second temperature value of the wiper motor's transmission mechanism;

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

[0170] Therefore, the electronic device provided in this application obtains a first temperature value by performing temperature detection on the target motor component of the wiper motor; determines a second temperature value of the wiper motor's transmission mechanism based on the first temperature value; and controls the wiper motor based on the second temperature value. Based on this, the temperature value of the wiper motor's transmission mechanism is inferred from the temperature value obtained by performing temperature detection on the target motor component. By controlling the wiper motor in conjunction with the temperature value of the transmission mechanism, it is possible to eliminate the need for an additional temperature detector on the wiper motor to perform temperature detection, thereby reducing hardware costs, improving the accuracy of temperature estimation, and enhancing the user experience.

[0171] For details on the specific implementation methods and corresponding beneficial effects of each of the above operations, please refer to the detailed description of the wiper motor control method above, which will not be repeated here.

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

[0173] Therefore, embodiments of this application provide a storage medium storing a computer program that can be loaded by a processor to execute the steps of any of the wiper motor control methods provided in embodiments of this application. For example, the computer program can execute the following steps:

[0174] The first temperature value obtained by temperature detection of the target motor component of the wiper motor is acquired.

[0175] Based on the first temperature value, determine the second temperature value of the wiper motor's transmission mechanism;

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

[0177] Therefore, the storage medium provided in this application obtains a first temperature value from the temperature detection of the target motor component of the wiper motor; determines a second temperature value of the transmission mechanism of the wiper motor based on the first temperature value; and controls the wiper motor based on the second temperature value. Based on this, the temperature value of the transmission mechanism of the wiper motor is inferred from the temperature value obtained from the temperature detection of the target motor component. By controlling the wiper motor in conjunction with the temperature value of the transmission mechanism, it is possible to eliminate the need for an additional temperature detector to perform temperature detection on the wiper motor, thereby reducing hardware costs, improving the accuracy of temperature estimation, and enhancing the user experience.

[0178] For details on the specific implementation methods and corresponding beneficial effects of the above operations, please refer to the previous embodiments, which will not be repeated here.

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

[0180] Since the computer program stored in the storage medium can execute the steps in any of the wiper motor control methods provided in the embodiments of this application, the beneficial effects that any of the wiper motor control methods provided in the embodiments of this application can achieve can be realized. For details, please refer to the previous embodiments, which will not be repeated here.

[0181] According to one aspect of this application, a computer program product or computer program is provided, comprising computer instructions stored in a storage medium. A processor of a computer device reads the computer instructions from the storage medium and executes the computer instructions, causing the computer device to perform the aforementioned wiper motor control method.

[0182] This application also provides a vehicle that includes the aforementioned wiper motor control device, or the aforementioned electronic device, or the aforementioned 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 various operations of the electronic device described above are also applicable to this vehicle; please refer to the detailed description of the wiper motor control method above, which will not be repeated here.

[0183] The foregoing has provided a detailed description of a wiper motor control method, device, electronic device, storage medium, and vehicle provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for controlling a windshield wiper motor, characterized in that, The method includes: The first temperature value obtained by temperature detection of the target motor component of the wiper motor is acquired. Based on the first temperature value obtained within the preset detection time, the first heat value diffused by the transmission mechanism of the wiper motor is determined. The second heat value generated by the transmission mechanism within the preset detection time is determined, wherein the second heat value is determined based on the sliding friction length traversed by the transmission mechanism at a unit motor speed; the sliding friction length is determined based on the theoretical friction length and the error friction length traversed by the worm and the reduction gear of the transmission mechanism at a unit motor speed, as well as the distance between the worm and the reduction gear of the transmission mechanism; the theoretical friction length refers to the vertical upward distance of the worm rotating one revolution without error interference, and the error friction length refers to the vertical upward distance of the worm rotating one revolution when the worm and the reduction gear come into contact with each other under error interference; The second temperature value of the transmission mechanism is determined based on the first heat value and the second heat 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, The step of determining the first heat value diffused by the transmission mechanism of the wiper motor based on the first temperature value obtained within a preset detection period includes: Based on the first temperature value obtained within the preset detection time, determine the temperature difference between the start and end of the detection; Based on the distance between the transmission mechanism and the target motor component, and the temperature difference, heat conduction calculations are performed to obtain the first heat value diffused by the transmission mechanism.

3. The wiper motor control method according to claim 2, characterized in that, The target motor component includes a controller; the step of calculating the heat conduction 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 includes: Based on the distance between the transmission mechanism and the controller, and the temperature difference, heat conduction calculations are performed to obtain the first heat value diffused by the transmission mechanism.

4. The wiper motor control method according to claim 1, characterized in that, The determination of the second heat value generated by the transmission mechanism within the preset detection time includes: The motor speed of the wiper motor is obtained within the preset detection time. Determine the sliding friction length traversed by the transmission mechanism at a unit motor speed; The frictional heat is calculated 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.

5. The wiper motor control method according to claim 1, characterized in that, The method for determining the error friction length traversed by the worm gear and reduction gear of the transmission mechanism at a unit motor speed includes: The independent variable parameters of the transmission mechanism correction model are assigned values ​​to obtain multiple assigned parameters. The transmission mechanism correction model is used to indicate the model that corrects the transmission mechanism based on the processing error of the transmission mechanism. The transmission mechanism correction model is also configured with a processing error coefficient. Based on the assigned parameters, the machining error coefficient, and the distance between the worm and the reduction gear of the transmission mechanism, multiple error length values ​​are determined. Based on the multiple error length values, the error friction length traversed by the worm gear and reduction gear of the transmission mechanism at a unit motor speed is determined.

6. The wiper motor control method according to claim 5, characterized in that, Before assigning values ​​to the independent variable parameters of the modified transmission mechanism model to obtain multiple assigned parameters, the process further includes: Obtain the theoretical machining error coefficient and multiple measured machining error coefficients for the transmission mechanism; A transmission mechanism correction model is obtained by training based on the theoretical machining error coefficient and multiple measured machining error coefficients. The transmission mechanism correction model includes machining error coefficients determined based on the theoretical machining error coefficient and the measured machining error coefficient.

7. The wiper motor control method according to claim 1, characterized in that, Determining the second temperature value of the transmission mechanism based on the first heat value and the second heat value includes: The third heat value of the transmission mechanism is determined based on the difference between the second heat value and the first heat value. The third heat value is processed by temperature conversion to obtain the second temperature value of the transmission mechanism.

8. The wiper motor control method according to any one of claims 1 to 7, characterized in that, The step of controlling the wiper motor based on the second temperature value includes: If the second temperature value is not greater than the preset temperature value, the wiper motor is controlled to maintain its current operating state. If the second temperature value is greater than the preset temperature value, the wiper motor is controlled to switch operating states.

9. The wiper motor control method according to claim 8, characterized in that, If the second temperature value is greater than the preset temperature value, controlling the wiper motor to switch operating states includes: If the second temperature value is greater than the preset temperature value, determine the level to which the second temperature value belongs; If the level to which the second temperature value belongs indicates the first level, control to reduce the load on the wiper motor; If the level to which the second temperature value belongs indicates the 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.

10. A wiper motor control device, characterized in that, The device includes: The first temperature value determination module is used to obtain the first temperature value obtained by temperature detection of the target motor component of the wiper motor. The second temperature value determination module is used to determine the first heat value diffused by the transmission mechanism of the wiper motor based on the first temperature value obtained within a preset detection period; and to determine the second heat value generated by the transmission mechanism within the preset detection period, wherein the second heat value is determined based on the sliding friction length traversed by the transmission mechanism at a unit motor speed; the sliding friction length is determined based on the theoretical friction length and the error friction length traversed by the worm and reduction gear of the transmission mechanism at a unit motor speed, as well as the distance between the worm and reduction gear of the transmission mechanism; the theoretical friction length refers to the vertical upward distance of one rotation of the worm in the absence of error interference, and the error friction length refers to the vertical upward distance of one rotation of the worm in the presence of error interference when the worm and reduction gear come into contact; and to determine the second temperature value of the transmission mechanism based on the first heat value and the second heat value. The control module is used to control the wiper motor based on the second temperature value.

11. An electronic device, characterized in that, It includes one or more processors and a memory, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of the wiper motor control method of any one of claims 1 to 9.

12. A storage medium, characterized in that, Includes a computer program, which, when run on an electronic device, causes the electronic device to perform the steps of the wiper motor control method according to any one of claims 1 to 9.

13. A computer program product, characterized in that, Includes a computer program or instructions that, when executed by a processor, implement the steps of the wiper motor control method according to any one of claims 1 to 9.

14. A vehicle, characterized in that, The vehicle includes a wiper motor control device as claimed in claim 10, an electronic device as claimed in claim 11, a storage medium as claimed in claim 12, or a computer program product as claimed in claim 13.

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