Method and device for controlling opening and closing device of intelligent equipment, equipment and storage medium

Abstract

The invention provides a method and device for controlling an opening and closing device of intelligent equipment, equipment and a storage medium. The method comprises the following steps: acquiring a current angle value and current attitude information of the opening and closing device of the intelligent equipment in an open state and an expected angle value of the opening and closing device; based on the current attitude information and the current angle value, a first driving parameter corresponding to a driving device is determined, the driving device is used for outputting a first target torque to the opening and closing device under the action of the first driving parameter, and the first target torque is used for offsetting a gravity component force of the opening and closing device under the current attitude; determining a second driving parameter corresponding to the opening and closing device based on the current angle value and the expected angle value; the driving device is controlled to control the opening and closing device based on the first driving parameter and the second driving parameter, the driving parameter influenced by gravity and the driving parameters influenced by motion resistance and anti-pinch force can be separately determined, and the motion resistance is generally fixed, so that the anti-pinch force can be accurately determined in the control process.

Description

Technical Field

[0001] The present application belongs to the field of control technology, and in particular, relates to a method, device, equipment and storage medium for controlling an opening and closing device of a smart device. Background Art

[0002] With the widespread application of electric doors in vehicles, buildings and other fields, the requirements for their safety and intelligence are increasing. The anti-pinch function is an important safety feature of electric side-opening doors, which is designed to avoid pinching people or damaging objects during the closing process. In related technologies, the anti-pinch function uses the speed change rate for judgment, but because the electric door is closed-loop controlled, if the clamped object is soft, the speed will be quickly corrected back to the target value by the closed-loop control. At this time, the speed change rate cannot reflect the actual clamping force, and even if the clamping force is very large, the anti-pinch function cannot be triggered from the speed change rate, that is, the determined anti-pinch force is inaccurate. In the closed-loop control based on the absolute value of the current, the electric door is greatly affected by gravity at different slopes and roll angles, resulting in the determined anti-pinch force is still inaccurate. Summary of the invention

[0003] In response to the above-mentioned problems, the embodiments of the present application provide a method, apparatus, device and storage medium for controlling the opening and closing device of an intelligent device, which can separately determine the driving parameters affected by gravity and the driving parameters affected by motion resistance and anti-pinch force. Since the motion resistance is generally fixed, the anti-pinch force can be accurately determined during control.

[0004] In a first aspect, an embodiment of the present application provides a method for controlling an opening and closing device of a smart device, comprising:

[0005] Acquire a current angle value of an opening and closing device of the smart device in an open state, current posture information, and an expected angle value of the opening and closing device;

[0006] Based on the current posture information and the current angle value, determining a first driving parameter corresponding to a driving device, wherein the driving device is used to output a first target torque to the opening and closing device under the action of the first driving parameter, and the first target torque is used to offset the gravity component of the opening and closing device in the current posture;

[0007] determining a second driving parameter corresponding to the opening and closing device based on the current angle value and the expected angle value, wherein the driving device is used to output a second target torque to the opening and closing device under the action of the second driving parameter, and the difference between the force corresponding to the second target torque and the sum of the motion resistance and the anti-pinch force of the opening and closing device during the opening and closing process is less than an error threshold;

[0008] The driving device is controlled based on the first driving parameter and the second driving parameter to control the opening and closing device.

[0009] In some embodiments, the opening and closing device is connected to the body of the smart device through a hinge, and the driving device includes: an electric limiter, which is arranged on the opening and closing device, and the electric limiter includes: an extension rod and a slider, which is arranged inside the electric limiter, one end of the extension rod is fixed to the slider, and the other end of the extension rod is connected to the actuator hinge on the smart device. When the opening and closing device is located at the current angle value, the distance between the electric limiter and the actuator hinge is a first distance, and the distance between the actuator hinge and the hinge is a second distance. Acquiring the current angle value of the opening and closing device relative to the smart device includes:

[0010] When the opening and closing device is located at the current angle value, obtaining a first distance between the electric limiter and the actuator hinge and a second distance between the actuator hinge and the hinge;

[0011] determining a third distance between the slider and the hinge based on the position information of the slider;

[0012] The angle value of the opening of the opening and closing device relative to the smart device is determined based on the first distance, the second distance and the third distance.

[0013] In some embodiments, determining the third distance between the slider and the hinge based on the position information of the slider includes:

[0014] Acquire Hall parameters of a Hall sensor, where the Hall sensor is used to detect magnetic field information of an environment where the slider is located and generate Hall parameters based on the magnetic field information;

[0015] Determine the position information of the slider based on the Hall parameter;

[0016] A third distance between the slider and the hinge is determined based on the position information.

[0017] In some embodiments, the current posture information includes: a pitch angle and a roll angle.

[0018] In some embodiments, determining the second driving parameter corresponding to the opening and closing device based on the current angle value and the expected angle value includes:

[0019] A feedback control strategy is adopted based on the current angle value and the expected angle value to calculate a second driving parameter corresponding to the opening and closing device.

[0020] In some embodiments, the method further comprises:

[0021] When the anti-pinch force is greater than the anti-pinch force threshold, the opening and closing device is controlled to retract or stop.

[0022] In a second aspect, an embodiment of the present application provides a device for controlling an opening and closing device of a smart device, comprising:

[0023] An acquisition module, used to acquire a current angle value of the opening and closing device of the smart device in an open state, current posture information, and an expected angle value of the opening and closing device;

[0024] A first determination module, configured to determine a first driving parameter corresponding to a driving device based on the current posture information and the current angle value, wherein the driving device is configured to output a target torque to the opening and closing device under the action of the first driving parameter, and the target torque is configured to offset a gravity component force of the opening and closing device in the current posture;

[0025] a second determination module, configured to determine a second driving parameter corresponding to the opening and closing device based on the current angle value and the expected angle value, wherein the driving device is configured to output a second target torque to the opening and closing device under the action of the second driving parameter, and a difference between a force corresponding to the second target torque and a sum of a motion resistance and an anti-pinch force of the opening and closing device during an opening and closing process is less than an error threshold;

[0026] The first control module is used to control the driving device to control the opening and closing device based on the first driving parameter and the second driving parameter.

[0027] In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method provided in the first aspect when executing the computer program.

[0028] In a fourth aspect, an embodiment of the present application provides a smart device, including the electronic device provided in the third aspect, wherein the smart device has an opening and closing device.

[0029] In some embodiments, the smart device includes: an electric car, and the opening and closing device includes: at least one of a door, a tailgate, and an engine hood.

[0030] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the method provided in the first aspect is implemented.

[0031] In a sixth aspect, an embodiment of the present application provides a computer program product, the computer program product comprising a computer program, which, when executed by a processor, is at least used to implement any method as in the first aspect.

[0032] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0033] The method for controlling the opening and closing device of an intelligent device provided in an embodiment of the present application obtains the current angle value, current posture information and expected angle value of the opening and closing device of the intelligent device in an open state; determines a first driving parameter corresponding to a driving device based on the current posture information and the current angle value, and the driving device is used to output a target torque to the opening and closing device under the action of the first driving parameter, and the target torque is used to offset the gravity component of the opening and closing device in the current posture; determines a second driving parameter corresponding to the opening and closing device based on the current angle value and the expected angle value; controls the driving device to control the opening and closing device based on the first driving parameter and the second driving parameter, and can separately determine the driving parameters affected by gravity and the driving parameters affected by motion resistance and anti-pinch force. Since the motion resistance is generally fixed, the anti-pinch force can be accurately determined during control. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0035] Figure 1 A flowchart of a method for controlling an opening and closing device of a smart device provided by the present application;

[0036] Figure 2 A closed-loop control schematic diagram of a method for controlling an opening and closing device of a smart device provided in an embodiment of the present application;

[0037] Figure 3 An enlarged schematic diagram of the structure of a door hinge provided in an embodiment of the present application;

[0038] Figure 4 A schematic diagram of the structure of a device for controlling the opening and closing of a smart device provided in an embodiment of the present application;

[0039] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0041] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0042] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0043] As used in the specification of this application and the appended claims, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting" depending on the context. Similarly, the phrases "if it is determined" or "if it is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce detected" or "in response to detecting" depending on the context.

[0044] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0045] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the phrases "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. appearing in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways.

[0046] Based on the technical problems of the related art, the embodiment of the present application provides a method for controlling the opening and closing device of a smart device, which can be applied to electronic devices. The electronic devices may include: mobile phones, tablet computers, wearable devices, augmented reality (AR) / virtual reality (VR) devices, laptop computers, ultra-mobile personal computers (UMPC), netbooks, personal digital assistants (PDA), smart devices, controllers / processors of smart devices. The embodiment of the present application does not impose any restrictions on the specific types of electronic devices, and the smart devices may include: smart cars, smart home devices, etc.

[0047] In the embodiments of the present application, the opening and closing device refers to a component that can open or close relative to the body of the smart device, such as the door, tailgate, hood door of a smart car, the cabinet door in a smart home, etc. The opening and closing device is connected to the body of the smart device through hinges and other connectors to achieve flexible opening and closing actions. The drive device can drive the opening and closing device to open or close. A hinge is a movable component that connects two objects, allows the two objects to rotate relative to each other within a certain range, and can provide stable rotational support for the opening and closing device. The drive device refers to a component that can generate power and drive the opening and closing device to open or close.

[0048] Figure 1 The present application provides a flow chart of a method for controlling an opening and closing device of a smart device, such as Figure 1 As shown, the method includes:

[0049] Step S101, obtaining a current angle value of an opening and closing device of the smart device in an open state, current posture information, and an expected angle value of the opening and closing device.

[0050] In the embodiment of the present application, the current angle value refers to the current angle position of the opening and closing device relative to the smart device body. The current posture information refers to the spatial posture of the opening and closing device relative to the earth coordinate system or the smart device body coordinate system, including the pitch angle, roll angle, etc. The expected angle value refers to the target angle position that the user or smart device wants the opening and closing device to reach.

[0051] In an embodiment of the present application, the current angle value of the opening and closing device in the open state can be obtained through an angle sensor, an encoder or an image processing algorithm. The current posture information of the opening and closing device can be obtained through sensors such as an inertial measurement unit (IMU), a gyroscope, and an accelerometer. The expected angle value is usually input by the user or automatically generated by the smart device according to preset conditions. For a car door, the expected angle value is usually a specific angle value. Taking the smart device as an electric car as an example, the opening and closing device is the door of the electric car. At this time, the current angle value of the door relative to the electric car can be obtained through an angle sensor, the current posture information of the vehicle is measured by the inertial measurement unit, and the expected angle value of the door can be re-obtained from the system of the electric car.

[0052] Step S102, based on the current posture information and the current angle value, determine the first driving parameter corresponding to the driving device, and the driving device is used to output a first target torque to the opening and closing device under the action of the first driving parameter, and the first target torque is used to offset the gravity component of the opening and closing device in the current posture.

[0053] In the embodiment of the present application, when the opening and closing device is connected to the body of the smart device through a hinge, the force component generated by the opening and closing device under the action of gravity along the direction of the hinge rotation axis will generate torque on the hinge. The first target torque is used to offset the gravity component of the opening and closing device in the current posture. The first target torque corresponding to the gravity component can be calculated, and then the first drive parameter is calculated based on the target first distortion. For example, the first target torque can be calculated by formula 1, where formula 1 is as follows:

[0054] M = g(θ,X,Z);

[0055] Wherein, g(θ,X,Z) is a function of θ,X,Z, where θ is the current angle value, X is the pitch angle, Z is the roll angle, and M is the calculated first target torque.

[0056] In the embodiment of the present application, the first driving parameter refers to a parameter required for the driving device to offset the gravity component force on the hinge torque. The first driving parameter can be a driving current or a driving voltage.

[0057] In the embodiment of the present application, the required first driving parameter can be calculated based on the torque of the hinge and the torque characteristics of the driving device due to the gravity component. Usually, the torque and the driving parameters at both ends of the driving device are in a fixed relationship. Taking the driving parameter as voltage as an example, and the driving device as a motor as an example, the target torque and the voltage at both ends of the motor are in a fixed relationship, and the driving voltage can be expressed as U1=h(M).

[0058] We can substitute into formula 1, then U1 = h(θ, X, Z).

[0059] Step S103, determining a second driving parameter corresponding to the opening and closing device based on the current angle value and the expected angle value, wherein the driving device is used to output a second target torque to the opening and closing device under the action of the second driving parameter, and the difference between the force corresponding to the second target torque and the sum of the motion resistance and anti-pinch force of the opening and closing device during the opening and closing process is less than an error threshold.

[0060] In the embodiment of the present application, a feedback control strategy may be adopted to calculate the second driving parameter corresponding to the opening and closing device based on the current angle value and the expected angle value.

[0061] In the embodiment of the present application, the angle error can be determined by the current angle value and the expected angle value, and according to the angle error, a feedback control algorithm (such as proportional control, proportional-integral control, proportional-integral-differential control, etc.) is selected to calculate the required adjustment amount. The output of the feedback control algorithm will be an adjustment signal, which is used to indicate how the drive device adjusts its output to reduce the angle error. On the basis of the feedback control algorithm, the required anti-pinch force is calculated in combination with the dynamic characteristics of the opening and closing device and the anti-pinch strategy. According to the anti-pinch force, the motion resistance value and the torque characteristics of the drive device, the required second drive parameter is calculated.

[0062] In an embodiment of the present application, the error threshold can be a smaller data, for example, it can be 0. The difference between the force corresponding to the second target torque and the sum of the motion resistance and the anti-pinch force of the opening and closing device during the opening and closing process is less than the error threshold. It can be considered that the force corresponding to the second target torque is equal to the sum of the motion resistance and the anti-pinch force.

[0063] In the embodiment of the present application, the second driving parameter may be a voltage signal, which may be exemplarily represented as U2.

[0064] Step S104: controlling the driving device to control the opening and closing device based on the first driving parameter and the second driving parameter.

[0065] In the embodiment of the present application, the driving device can be controlled according to the first driving parameter and the second driving parameter, so that the driving device performs actual action to achieve precise control of the opening and closing device.

[0066] Figure 2 A closed-loop control schematic diagram of a method for controlling an opening and closing device of a smart device provided in an embodiment of the present application, such as Figure 2As shown, when controlling the drive device, proportional-integral-differential control can be used, the first drive parameter can be used as the feedforward part, and the second drive parameter can be used as the feedback part of the control. U1 and U2 can be added to obtain the actual voltage acting on the drive device. After obtaining the actual voltage, the actual voltage can be output to act on the drive device, thereby controlling the drive device to drive the opening and closing device.

[0067] In the embodiment of the present application, when the opening and closing device is controlled, the voltage of the feedback part corresponds to the voltage of the driving device controlling the opening and closing of the door in the absence of gravity component. There is a corresponding relationship between the voltage and the motion resistance and anti-pinch force of the opening and closing device during the opening and closing process, and the motion resistance usually does not change. Therefore, it can be determined that there is a corresponding relationship between the voltage and the anti-pinch force, so that the opening and closing device can determine a relatively accurate anti-pinch force in different postures, thereby achieving accurate control and avoiding the situation where the anti-pinch force is inaccurately controlled when the clamped object is soft and the speed change rate is not large.

[0068] The method for controlling the opening and closing device of an intelligent device provided in an embodiment of the present application obtains the current angle value, current posture information and expected angle value of the opening and closing device of the intelligent device in an open state; determines a first driving parameter corresponding to a driving device based on the current posture information and the current angle value, and the driving device is used to output a target torque to the opening and closing device under the action of the first driving parameter, and the target torque is used to offset the gravity component of the opening and closing device in the current posture; determines a second driving parameter corresponding to the opening and closing device based on the current angle value and the expected angle value; controls the driving device to control the opening and closing device based on the first driving parameter and the second driving parameter, so that the driving parameters of the influence of gravity and the driving parameters of the anti-pinch force can be separately determined during the control of the opening and closing device, so that the anti-pinch force can be accurately determined during the control.

[0069] In some embodiments, the opening and closing device is connected to the body of the smart device via a hinge, and the driving device includes: an electric limiter, which is arranged on the opening and closing device, and the electric limiter includes: an extension rod and a slider, which is arranged inside the electric limiter, one end of the extension rod is fixed to the slider, and the other end of the extension rod is connected to the actuator hinge on the smart device, and the distance between the actuator hinge and the hinge is the second distance.

[0070] In the embodiment of the present application, the electric limiter is a device that integrates electric drive and limit functions, which can accurately control the position and angle of the opening and closing device, and automatically stop or reverse when reaching the preset position. The electric limiter usually includes a protruding rod, a slider, a motor, a sensor and other components. The motor provides power, and the slider moves inside the electric limiter. One end of the protruding rod is fixed on the slider, and the other end is connected to the actuator hinge, so as to realize the control of the opening and closing device. The slider is a moving component inside the electric limiter, which is used to slide on the internal track of the electric limiter to change the length of the protruding rod. The slider is usually arranged inside the electric limiter and slides on the track driven by the motor. The position information of the slider can be obtained by a sensor (such as a Hall sensor) to calculate the angle of the opening and closing device. The actuator hinge is usually a fixed connection point, one end of which is connected to the protruding rod and the other end is connected to the opening and closing device. Through the actuator hinge, the electric limiter can accurately control the position and angle of the opening and closing device.

[0071] For example, the smart device is an electric car and the opening and closing device is a car door. Figure 3 This is an enlarged schematic diagram of the structure of a door hinge provided in an embodiment of the present application, such as Figure 3 As shown, there is a rotatable hinge between the door and the body of the electric car, the extension rod of the electric limiter is connected to the body by an actuator hinge, and the extension rod of the electric limiter is connected to the slider inside the electric limiter by a hinge. When the electric function is working, the motor in the electric limiter rotates to drive the internal moving block to move forward and backward, changing the length of the third distance a, while the first distance b and the second distance c are fixed, thereby driving the opening and closing of the door.

[0072] In the embodiment of the present application, step S101, obtaining the current angle value of the opening and closing device relative to the smart device, includes:

[0073] Step S1011, when the opening and closing device is located at the current angle value, obtaining a first distance between the electric limiter and the actuator hinge and a second distance between the actuator hinge and the hinge.

[0074] In the embodiment of the present application, the first distance is a fixed geometric dimension, which can be obtained by measuring or designing parameters. The second distance is also a fixed geometric dimension, which can be obtained by measuring or designing parameters.

[0075] Step S1012: determining a third distance between the slider and the hinge based on the position information of the slider.

[0076] In an embodiment of the present application, a Hall electrical signal of a Hall sensor can be obtained, wherein the Hall sensor is used to detect magnetic field information of the environment in which the slider is located and generate a Hall electrical signal based on the magnetic field information; the position information of the slider is determined based on the Hall electrical signal; and the third distance between the slider and the hinge is determined based on the position information.

[0077] In the embodiment of the present application, the Hall sensor is a magnetic sensor based on the Hall effect, which can detect the magnetic field information in the environment. When the magnetic field acts on the Hall sensor, a potential difference (i.e., Hall voltage) is generated on both sides thereof, and this potential difference is related to the strength and direction of the magnetic field. The Hall signal refers to the electrical signal generated by the Hall sensor after detecting the magnetic field, which is usually expressed as a voltage signal. This signal is proportional to the strength of the magnetic field, so it can be used to represent the change of the magnetic field. In the electric limiter, the Hall sensor is usually installed near or on the slider to detect the change of the magnetic field in the environment when the slider moves. This magnetic field can be generated by a permanent magnet fixed inside the electric limiter, or by other means. When the slider moves, it changes its relative position with the permanent magnet or other magnetic field source, thereby changing the magnetic field strength of the environment. The Hall sensor detects the change in the magnetic field strength and generates a corresponding Hall signal. There is a certain correspondence between the Hall signal and the position of the slider. This correspondence can be determined by a calibration process, that is, recording the corresponding Hall signal value at different positions of the slider. In practical applications, when the Hall sensor detects the Hall electrical signal generated when the slider moves, the position information of the slider can be calculated by looking up a pre-calibrated correspondence table or using a mathematical model. In the embodiment of the present application, since the position of the hinge is determined, the position of the slider is determined, and the third distance between the slider and the hinge can be obtained.

[0078] Step S1013: determining an opening angle value of the opening and closing device relative to the smart device based on the first distance, the second distance, and the third distance.

[0079] In the embodiment of the present application, the current angle value of the opening and closing device relative to the smart device can be determined based on the first distance, the second distance and the third distance through a trigonometric relationship.

[0080] For example, the current angle value is θ, and the calculation formula of the current angle value can be expressed as:

[0081] θ=f(a,b,c);

[0082] Wherein, f is a function representing the first distance b, the second distance c, and the third distance a.

[0083] Substitute the calculation of θ into the calculation formula of U1, then U1 can be expressed as: U1=h(a,b,c,X,Z).

[0084] In the embodiment of the present application, the feedforward part of the control can be forward calculated through the five known parameters a, b, c, X, and Y. This part of the feedforward can just offset the first target torque of the gravity component of the door.

[0085] In some embodiments, after step S104, the method further includes:

[0086] Step S105, when the anti-pinch force is greater than the anti-pinch force threshold, controlling the opening and closing device to retreat or stop.

[0087] In the embodiment of the present application, the magnitude of the anti-pinch force can be calculated based on the second driving parameter. Based on the above example, the anti-pinch force can be calculated using the following formula:

[0088] Fpinch = kU2;

[0089] Fpinch is the anti-pinch force and k is the empirical coefficient.

[0090] In some embodiments, the anti-pinch force can be obtained by subtracting the motion resistance from the force corresponding to the second target torque.

[0091] In the embodiment of the present application, the anti-pinch force threshold is a preset safety limit value, which is used to determine whether the clamping force generated by the opening and closing device during the closing process exceeds the safety range. Taking the door of an electric vehicle as an example, the anti-pinch force threshold can be set at about 100N. If the anti-pinch force exceeds the anti-pinch force threshold, the opening and closing device will retract or stop.

[0092] In the embodiment of the present application, in order to eliminate the risk of pinching, the opening and closing device will perform a retraction operation, that is, move in the opposite direction for a distance to ensure that the obstacle is completely released. If the opening and closing device is close to a fully closed state, it may choose to stop the operation, that is, keep the current position and do not move further.

[0093] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0094] According to the aforementioned embodiments, the embodiments of the present application provide a device for controlling the opening and closing device of an intelligent device. The modules included in the device and the units included in each module can be implemented by a processor in an electronic device; of course, they can also be implemented by a specific logic circuit; in the implementation process, the processor can be a central processing unit (CPU, Central Processing Unit), a microprocessor (MPU, Microprocessor Unit), a digital signal processor (DSP, Digital Signal Processing) or a field programmable gate array (FPGA, Field Programmable Gate Array), etc.

[0095] The present application embodiment provides a device for controlling the opening and closing device of a smart device. Figure 4 A schematic diagram of the structure of a device for controlling the opening and closing device of a smart device provided in an embodiment of the present application, such as Figure 4 As shown, the device 300 for controlling the opening and closing device of the smart device includes:

[0096] An acquisition module 301 is used to acquire a current angle value of an opening and closing device of the smart device in an open state, current posture information, and an expected angle value of the opening and closing device;

[0097] A first determination module 302, configured to determine a first driving parameter corresponding to a driving device based on the current posture information and the current angle value, wherein the driving device is configured to output a first target torque to the opening and closing device under the action of the first driving parameter, and the first target torque is configured to offset a gravity component force of the opening and closing device in the current posture;

[0098] a second determination module 303, configured to determine a second driving parameter corresponding to the opening and closing device based on the current angle value and the expected angle value, wherein the driving device is configured to output a second target torque to the opening and closing device under the action of the second driving parameter, and a difference between a force corresponding to the second target torque and a sum of a motion resistance and an anti-pinch force of the opening and closing device during the opening and closing process is less than an error threshold;

[0099] The first control module 304 is configured to control the driving device to control the opening and closing device based on the first driving parameter and the second driving parameter.

[0100] In some embodiments, the opening and closing device is connected to the body of the smart device through a hinge, the driving device includes: an electric limiter, the electric limiter is arranged on the opening and closing device, the electric limiter includes: an extension rod and a slider, the slider is arranged inside the electric limiter, one end of the extension rod is fixed to the slider, and the other end of the extension rod is connected to the actuator hinge on the smart device, and the acquisition module includes:

[0101] a first acquisition unit, configured to acquire, when the opening and closing device is located at the current angle value, a first distance between the electric limiter and the actuator hinge and a second distance between the actuator hinge and the hinge;

[0102] a first determining unit, configured to determine a third distance between the slider and the hinge based on the position information of the slider;

[0103] The second determining unit is used to determine a current angle value of the opening and closing device relative to the smart device based on the first distance, the second distance and the third distance.

[0104] In some embodiments, the first determining unit includes:

[0105] An acquisition subunit, used for acquiring a Hall electric signal of a Hall sensor, wherein the Hall sensor is used for detecting magnetic field information of an environment where the slider is located, and generating a Hall electric signal based on the magnetic field information;

[0106] A first determining subunit, configured to determine position information of the slider based on the Hall electrical signal;

[0107] The second determining subunit is used to determine a third distance between the slider and the hinge based on the position information.

[0108] In some embodiments, the current posture information includes: a pitch angle and a roll angle.

[0109] In some embodiments, the second determining module includes:

[0110] A calculation unit is used to calculate a second driving parameter corresponding to the opening and closing device by adopting a feedback control strategy based on the current angle value and the expected angle value.

[0111] In some embodiments, the device for controlling the opening and closing device of the smart device further comprises:

[0112] The second control module is used to control the opening and closing device to retreat or stop when the anti-pinch force is greater than the anti-pinch force threshold.

[0113] In addition, the device for controlling the opening and closing of the smart device can be a software unit, a hardware unit, or a combination of software and hardware units built into an existing electronic device, or it can be integrated into the electronic device as an independent pendant, or it can exist as an independent terminal device.

[0114] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0115] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0116] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 5 As shown, the electronic device 3 of this embodiment may include: at least one processor 30 ( Figure 5 Only one processor 30 is shown in the figure), a memory 31, and a computer program 32 stored in the memory 31 and executable on at least one processor 30. When the processor 30 executes the computer program 32, the steps in any of the above-mentioned method embodiments are implemented; or, when the processor 30 executes the computer program 32, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0117] Exemplarily, the computer program 32 may be divided into one or more modules / units, one or more modules / units are stored in the memory 31, and are executed by the processor 30 to complete the present application. One or more modules / units may be a series of computer program 32 instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 32 in the electronic device 3.

[0118] The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program 32. When the computer program 32 is executed by the processor 30, the steps in the above-mentioned method embodiments can be implemented.

[0119] An embodiment of the present application provides a computer program product. When the computer program product runs on an electronic device, the electronic device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0120] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. According to this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program 32, and the computer program 32 can be stored in a computer-readable storage medium. When the computer program 32 is executed by the processor 30, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program 32 includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying the computer program code to the terminal, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electric carrier signal, a telecommunication signal and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0121] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0122] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0123] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0124] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0125] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

[0126] The relevant user personal information that may be involved in the various embodiments of this application is strictly in accordance with the requirements of laws and regulations, following the principles of legality, legitimacy and necessity, based on the reasonable purposes of business scenarios, to process the personal information that users actively provide during the use of products / services or generated due to the use of products / services, as well as the personal information obtained with the user's authorization.

[0127] The user personal information processed by the applicant will vary depending on the specific product / service scenario, and shall be based on the specific scenario in which the user uses the product / service, which may involve the user's account information, device information, driving information, vehicle information or other related information. The applicant will treat the user's personal information and its processing with a high degree of diligence.

[0128] The Applicant attaches great importance to the security of user personal information and has adopted reasonable and feasible security protection measures that comply with industry standards to protect user information and prevent personal information from being accessed, disclosed, used, modified, damaged or lost without authorization.

Claims

1. A method for controlling an opening and closing device of an intelligent device, characterized in that: The method comprises: Acquire a current angle value of an opening and closing device of the smart device in an open state, current posture information, and an expected angle value of the opening and closing device; Based on the current posture information and the current angle value, determining a first driving parameter corresponding to a driving device, wherein the driving device is used to output a first target torque to the opening and closing device under the action of the first driving parameter, and the first target torque is used to offset the gravity component of the opening and closing device in the current posture; determining a second driving parameter corresponding to the opening and closing device based on the current angle value and the expected angle value, wherein the driving device is used to output a second target torque to the opening and closing device under the action of the second driving parameter, and the difference between the force corresponding to the second target torque and the sum of the motion resistance and the anti-pinch force of the opening and closing device during the opening and closing process is less than an error threshold; The driving device is controlled based on the first driving parameter and the second driving parameter to control the opening and closing device.

2. The method according to claim 1, characterized in that The opening and closing device is connected to the body of the smart device through a hinge, the driving device includes: an electric limiter, the electric limiter is arranged on the opening and closing device, the electric limiter includes: an extension rod and a slider, the slider is arranged inside the electric limiter, one end of the extension rod is fixed to the slider, and the other end of the extension rod is connected to the actuator hinge on the smart device, and obtaining the current angle value of the opening of the opening and closing device relative to the smart device includes: When the opening and closing device is located at the current angle value, obtaining a first distance between the electric limiter and the actuator hinge and a second distance between the actuator hinge and the hinge; determining a third distance between the slider and the hinge based on the position information of the slider; A current angle value of the opening and closing device relative to the smart device is determined based on the first distance, the second distance, and the third distance.

3. The method according to claim 2, characterized in that The determining a third distance between the slider and the hinge based on the position information of the slider comprises: Acquiring a Hall electrical signal of a Hall sensor, wherein the Hall sensor is used to detect magnetic field information of an environment where the slider is located and to generate a Hall electrical signal based on the magnetic field information; Determine the position information of the slider based on the Hall electrical signal; A third distance between the slider and the hinge is determined based on the position information.

4. The method according to claim 1, characterized in that The current posture information includes: a pitch angle and a roll angle.

5. The method according to any one of claims 1 to 4, characterized in that: The determining the second driving parameter corresponding to the opening and closing device based on the current angle value and the expected angle value includes: A feedback control strategy is adopted based on the current angle value and the expected angle value to calculate a second driving parameter corresponding to the opening and closing device.

6. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: When the anti-pinch force is greater than the anti-pinch force threshold, the opening and closing device is controlled to retreat or stop.

7. A device for controlling the opening and closing device of a smart device, characterized in that: include: An acquisition module, used to acquire a current angle value of the opening and closing device of the smart device in an open state, current posture information, and an expected angle value of the opening and closing device; A first determination module, configured to determine a first driving parameter corresponding to a driving device based on the current posture information and the current angle value, wherein the driving device is configured to output a first target torque to the opening and closing device under the action of the first driving parameter, and the first target torque is configured to offset a gravity component force of the opening and closing device in the current posture; a second determination module, configured to determine a second driving parameter corresponding to the opening and closing device based on the current angle value and the expected angle value, wherein the driving device is configured to output a second target torque to the opening and closing device under the action of the second driving parameter, and a difference between a force corresponding to the second target torque and a sum of a motion resistance and an anti-pinch force of the opening and closing device during an opening and closing process is less than an error threshold; The first control module is used to control the driving device to control the opening and closing device based on the first driving parameter and the second driving parameter.

8. An electronic device, characterized in that: include: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 6 when executing the computer program.

9. A smart device, characterized in that: include: The electronic device described in claim 8, wherein the smart device has an opening and closing device.

10. The smart device according to claim 9, characterized in that: The smart device includes: an electric car, and the opening and closing device includes: at least one of a door, a tailgate, and an engine cover.

11. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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