Method and device for detecting motor fault

Abstract

The invention provides a method and device for detecting a motor fault, and relates to the technical field of vehicles, the method comprises the steps that a first time period, a first position of first equipment at a starting moment of the first time period and a second position of the first equipment at an ending moment of the first time period are acquired, and the first equipment is driven based on a motor; determining a first position variable quantity according to the first position and the second position; according to the first time period, the first position variable quantity and a first corresponding relation, whether the motor breaks down or not is determined, and the first corresponding relation is used for indicating a preset corresponding relation between the first position variable quantity and the first time period. Based on the method, the accuracy of motor fault detection can be effectively improved, the method is not limited to detection of motor stalling faults, and other faults such as gear breakage in the motor can also be detected.

Description

Technical Field

[0001] This application relates to the technical field of vehicles, and specifically to a method and device for detecting motor faults. Background Art

[0002] With the continuous progress of automotive technology, the function of automatically folding or unfolding the rearview mirror of a vehicle has gradually become popular. To implement this function, the rearview mirror needs to be driven by a motor so that the rearview mirror can move within a preset range of motion. However, during the process of automatically folding or unfolding the rearview mirror, the motor used to drive the rearview mirror may malfunction due to internal or external factors. For example, the rotation mechanism of the rearview mirror may be stuck by an external object, resulting in problems such as motor stalling. Taking motor stalling as an example, if it is not possible to determine in a timely and accurate manner whether the motor is stalled, the motor will continue to operate in a stalled state. This will not only cause the rearview mirror to stay in a certain position and be difficult to move, reducing the driving experience and safety of the driver, but also may cause damage to the motor if corresponding countermeasures are not taken in a timely manner.

[0003] In view of this, how to detect in a timely, accurate and comprehensive manner whether the motor used to drive the rearview mirror has malfunctioned is an urgent problem to be solved. Summary of the Invention

[0004] The embodiments of this application provide a method and device for detecting motor faults, which can effectively improve the accuracy of motor fault detection, and are not limited to the detection of motor stalling faults, but can also detect other faults such as gear breakage in the motor.

[0005] In a first aspect, a method for detecting motor faults is provided. The method includes: obtaining a first time period, a first position of a first device at the start time of the first time period, and a second position of the first device at the end time of the first time period, where the first device is driven by a motor; determining a first position change amount according to the first position and the second position; and determining whether the motor has malfunctioned according to the first time period, the first position change amount, and a first correspondence relationship, where the first correspondence relationship is used to indicate a preset correspondence relationship between the first position change amount and the first time period.

[0006] Exemplarily, the above first device may be the rearview mirror of a vehicle. Usually, the movement mode of the rearview mirror is rotation, so the first position change amount may be the angle by which the rearview mirror rotates within the first time period.

[0007] Exemplarily, the above first correspondence relationship may also be used to indicate a preset correspondence relationship between other position change amounts and time periods. For example, the first correspondence relationship may be used to indicate the correspondence relationship between the M positions passed by the first device from the starting point to the ending point and the movement time of the first device under the condition of normal continuous operation of the motor. The first position and the second position respectively correspond to one of the M positions, and M is greater than 1.

[0008] It should be understood that the above first correspondence relationship is, under the ideal state, that is, when the motor does not fail, the corresponding relationship between the respective motion positions of the first device and the time experienced by the motion of the first device. The first time period, the first position, and the second position are parameters obtained by the controller from the first device after the first device is put into use under the non-ideal state, that is, when the motor may fail. Therefore, according to whether at least part of the correlation relationship between these three parameters matches the relationship represented by the above first correspondence relationship, it can be determined whether the motor has failed.

[0009] Exemplarily, the above first correspondence relationship can be obtained through a pre-experiment on the first device, and this first correspondence relationship can be stored inside the controller. In addition, considering that there are various manufacturing processes for the first device, the first correspondence relationship of the first device based on different processes is also different.

[0010] Based on the above technical solution, by obtaining two positions of the first device during actual operation and the first time period experienced by the first device when passing through these two positions, comparing or matching the correspondence relationship between the first time period and the change in the first position during the actual motion of the first device with the correspondence relationship between the first time period and the change in the first position during the operation of the first device under the ideal state, and determining whether the motor of the first device has failed based on the comparison and matching result, the process of detecting motor failure no longer depends on the setting of the current threshold, thereby avoiding the problem of inaccurate detection of motor failure caused by setting the current threshold too large or too small, and helping to improve the accuracy of motor failure detection. Especially when the first device is a vehicle rearview mirror, it can effectively improve the driving experience and safety of the driver and passengers, and reduce the requirement for the high-precision current detection ability of the controller, which helps to reduce the manufacturing cost.

[0011] Combined with the first aspect, in some implementation manners of the first aspect, the change in the first position is matched with the preset change in the first position corresponding to the first time period in the first correspondence relationship. When the change in the first position does not match the preset change in the first position, it is determined that the motor has failed; or, when the change in the first position matches the preset change in the first position, it is determined that the motor is operating normally.

[0012] Exemplarily, the above-mentioned preset first position change amount can be obtained in the following manner: Obtain a third position, where the third position is the position corresponding to the first position among the M positions in the first correspondence; then, based on the third position, the first time period, and the first correspondence, determine a fourth position, where the fourth position is the position corresponding to the first device after moving for the first time period starting from the third position in the first correspondence; then, the position change amount from the third position to the fourth position is the above-mentioned preset first position change amount.

[0013] Exemplarily, when the movement of the first device based on motor drive is a uniform motion, the controller can match the position change amount of the first device within each fault detection period (such as the above-mentioned first time period) with the calibrated position change amount to determine whether the motor of the first device has a fault. Among them, when the motor of the first device can have multiple operating speeds, the calibrated position change amount can be determined by the position change amount of the first device driven by the motor of the first device based on the slowest operating speed within the fault detection period.

[0014] Based on the above technical solution, by obtaining two positions of the first device during actual operation and the first time period experienced by the first device when passing through these two positions, matching the first position change amount of the first device within the first time period with the preset first position change amount corresponding to the first time period during the ideal operation of the first device, and determining whether the motor of the first device has a fault based on the matching result, the process of detecting motor faults no longer depends on the setting of the current threshold, thus avoiding the problem of inaccurate detection of motor faults caused by setting the current threshold too large or too small, and helping to improve the accuracy of motor fault detection.

[0015] Combined with the first aspect, in some implementation manners of the first aspect, when the first position change amount is less than the preset first position change amount and the difference between the preset first position change amount and the first position change amount is greater than the preset first threshold, it is determined that the fault occurring in the motor is motor blockage or motor clutch dislocation. Or, when the first position change amount is greater than the preset first position change amount and the difference between the first position change amount and the preset first position change amount is greater than the preset first threshold, it is determined that the fault occurring in the motor is motor gear fracture.

[0016] Based on the above technical solution, various faults of the motor can be detected, not limited to detecting whether the motor has blockage or clutch dislocation, but also able to detect faults such as whether the motor gear is fractured, increasing the comprehensiveness of motor fault detection.

[0017] In combination with the first aspect, in certain implementations of the first aspect, the first time period is matched with a preset first time period corresponding to the first position change amount in the first corresponding relationship. When the first time period does not match the preset first time period, it is determined that the motor has a fault; or, when the first time period matches the preset first time period, it is determined that the motor is operating normally.

[0018] Based on the above technical solution, by obtaining two positions of the first device during actual operation and the first time period experienced by the first device when passing through these two positions, the first time period experienced by the first device moving from the first position to the second position is matched with the preset first time period experienced by the first device moving from the first position to the second position in an ideal state. Based on the matching result, it is determined whether the motor of the first device has a fault, so that the process of detecting motor faults no longer depends on the setting of the current threshold, thereby avoiding the problem of inaccurate detection of motor faults caused by setting the current threshold too large or too small, which helps to improve the accuracy of motor fault detection.

[0019] In combination with the first aspect, in certain implementations of the first aspect, when the first time period is longer than the preset first time period and the difference between the first time period and the preset first time period is greater than the preset second threshold, it is determined that the fault occurring in the motor is motor jamming or motor clutch dislocation; or, when the first time period is shorter than the preset first time period and the difference between the preset first time period and the first time period is greater than the preset second threshold, it is determined that the fault occurring in the motor is motor gear fracture.

[0020] Based on the above technical solution, various faults of the motor can be detected, not limited to detecting whether the motor is jammed or the clutch is dislocated, but also able to detect faults such as whether the motor gear is fractured, increasing the comprehensiveness of motor fault detection.

[0021] In combination with the first aspect, in certain implementations of the first aspect, the first voltage value at the start time of the first time period and the second voltage value at the end time of the first time period of the first device are obtained; according to the first voltage value and the second voltage value, a first voltage change amount is determined, and the first voltage change amount is used to indicate the first position change amount.

[0022] Exemplarily, a sliding rheostat is provided in the first device. When the first device is in different positions, the sliding rheostat can slide to the corresponding position so that the resistance value of the sliding rheostat is a specified value, and the above first voltage value and second voltage value can be understood as the real-time voltage values corresponding to the sliding rheostat.

[0023] Exemplarily, when the first device is at the first position, the sliding rheostat correspondingly locates at position 1, and at this time, the real-time voltage value corresponding to the sliding rheostat is the first voltage value; when the first device moves to the second position, the sliding rheostat correspondingly locates at position 2, and at this time, the real-time voltage value corresponding to the sliding rheostat is the second voltage value.

[0024] Exemplarily, the controller can determine the corresponding relationship between the first position change amount and the first voltage change amount according to the second corresponding relationship, and this second corresponding relationship is used to indicate the corresponding relationship between the M positions passed by the first device from the starting point to the ending point and the voltage values of the first device under the condition that the motor operates normally. It should be understood that the above-mentioned first position and second position respectively correspond to one of the M positions, so this second corresponding relationship can be used to indicate the corresponding relationship between the first voltage value and the first position, and the corresponding relationship between the second voltage value and the second position, so that the first voltage change amount can be used to indicate the first position change amount.

[0025] Based on the above technical solution, through the pre-obtained corresponding relationship between the voltage value of the first device and the position of the first device, when the controller obtains the voltage value of the first device during the actual operation of the first device, it can determine the position of the first device, providing a prerequisite for the method of judging whether the motor of the first device fails by the position change of the first device during a certain period. And the principle of the scheme for obtaining the position of the first device is simple. The frequency at which the controller obtains the voltage value is much lower than the frequency of obtaining the current in the fault detection method based on the dynamic current threshold, which is easy to implement and has a low cost for scheme implementation.

[0026] Combined with the first aspect, in some implementation manners of the first aspect, the above-mentioned first voltage value is not equal to the above-mentioned second voltage value.

[0027] Combined with the first aspect, in some implementation manners of the first aspect, in the case that the above-mentioned first voltage value and the above-mentioned second voltage value are equal to the first fixed voltage value, determine the second time period during which the voltage value of the first device remains at the first fixed voltage value when the motor operates normally. In the case that the first time period is longer than the second time period, determine that the motor is blocked; or, in the case that the first time period is shorter than or equal to the second time period, determine that the motor operates normally.

[0028] Based on the above technical solution, it is possible to determine whether the motor fails through various channels according to the first time period, the first position, the second position, and the first corresponding relationship, increasing the flexibility of the method for detecting motor faults.

[0029] In combination with the first aspect, in some implementations of the first aspect, when it is determined that the number of times the motor has a fault reaches N within a preset duration, the motor is controlled to stop running, where N is a preset value and N is a positive integer, and the preset duration is greater than or equal to the duration of the first period.

[0030] Based on the above technical solution, the controller will trigger the operation of stopping the motor only when it is determined that the number of times the motor has a fault reaches N within the preset duration, which can effectively avoid the situation where the controller directly controls the motor to stop running when misjudging a normally running motor as having a fault. Especially when the first device is a rearview mirror, it can effectively improve the driving and riding experience of the driver and passengers.

[0031] In a second aspect, a device for detecting motor faults is provided. The device includes: an acquisition unit configured to acquire a first period, a first position of a first device at the start time of the first period, and a second position of the first device at the end time of the first period, where the first device is driven by a motor; a determination unit configured to determine a first position change amount according to the first position and the second position; and determine whether the motor has a fault according to the first period, the first position change amount, and a first corresponding relationship, where the first corresponding relationship is used to indicate a preset corresponding relationship between the first position change amount and the first period.

[0032] In combination with the second aspect, in some implementations of the second aspect, the determination unit is specifically configured to: match the first position change amount with a preset first position change amount corresponding to the first period in the first corresponding relationship, and determine that the motor has a fault when the first position change amount does not match the preset first position change amount; or determine that the motor is operating normally when the first position change amount matches the preset first position change amount.

[0033] In combination with the second aspect, in some implementations of the second aspect, the determination unit is specifically configured to: determine that the fault of the motor is motor jamming or motor clutch dislocation when the first position change amount is less than the preset first position change amount and the difference between the preset first position change amount and the first position change amount is greater than a preset first threshold; or determine that the fault of the motor is motor gear fracture when the first position change amount is greater than the preset first position change amount and the difference between the first position change amount and the preset first position change amount is greater than the preset first threshold.

[0034] In combination with the second aspect, in some implementations of the second aspect, the determination unit is specifically configured to: match the first period with a preset first period corresponding to the first position change amount in the first corresponding relationship, and determine that the motor has a fault when the first period does not match the preset first period; or determine that the motor is operating normally when the first period matches the preset first period.

[0035] In combination with the second aspect, in some implementation manners of the second aspect, the determining unit is specifically configured to: when the first time period is longer than a preset first time period and the difference between the first time period and the preset first time period is greater than a preset second threshold, determine that the fault occurring in the motor is motor jamming or motor clutch dislocation; or, when the first time period is shorter than the preset first time period and the difference between the preset first time period and the first time period is greater than the preset second threshold, determine that the fault occurring in the motor is motor gear fracture.

[0036] In combination with the second aspect, in some implementation manners of the second aspect, the obtaining unit is specifically configured to: obtain a first voltage value at the start time of the first time period and a second voltage value at the end time of the first time period of the first device; determine a first voltage change amount according to the first voltage value and the second voltage value, where the first voltage change amount is used to indicate a first position change amount.

[0037] In combination with the second aspect, in some implementation manners of the second aspect, when the determining unit matches the first position change amount with a preset first position change amount corresponding to the first time period in the first correspondence relationship, or matches the first time period with a preset first time period corresponding to the first position change amount in the first correspondence relationship, and the obtaining unit determines the position of the first device through the obtained voltage values, the first voltage value is not equal to the second voltage value.

[0038] In combination with the second aspect, in some implementation manners of the second aspect, when the obtaining unit determines the position of the first device through the obtained voltage values and the first voltage value and the second voltage value are equal to a first fixed voltage value, the determining unit is further specifically configured to: determine a second time period during which the voltage value of the first device remains at the first fixed voltage value when the motor is running normally; when the first time period is longer than the second time period, determine that the motor is jammed; or, when the first time period is shorter than or equal to the second time period, determine that the motor is running normally.

[0039] In combination with the second aspect, in some implementation manners of the second aspect, the device further includes: a control unit, configured to control the motor to stop running when the number of times of motor failure determined within a preset time period reaches N, where N is a preset value, N is a positive integer, and the preset time period is greater than or equal to the duration of the first time period.

[0040] In a third aspect, a device for detecting motor faults is provided, including a processor and a memory, where the processor and the memory are connected, and the memory is used to store program codes, and the processor is used to call the program codes to execute the method in any possible implementation manner in the method design of the first aspect as described above.

[0041] Fourth aspect, a controller is provided, including a device in any possible implementation manner of the device design in the second aspect or the third aspect as described above.

[0042] In combination with the fourth aspect, in some implementation manners of the fourth aspect, the above-mentioned controller is applied to a vehicle, and the above-mentioned first device is the rearview mirror of the vehicle.

[0043] In combination with the fourth aspect, in some implementation manners of the fourth aspect, the above-mentioned rearview mirror includes a sliding rheostat, and the resistance value of the sliding rheostat is associated with the position where the rearview mirror moves to.

[0044] Fifth aspect, a vehicle is provided, including a device in any possible implementation manner of the device design in the second aspect or the third aspect, or including a controller in any possible implementation manner of the controller design in the fourth aspect.

[0045] Sixth aspect, a chip system is provided. The chip system is applied to an electronic device; the chip system includes one or more interface circuits and one or more processors; the interface circuits and the processors are interconnected by lines; the interface circuits are used to receive signals from the memory of the electronic device and send the signals to the processors, and the signals include computer instructions stored in the memory; when the processors execute the computer instructions, the electronic device executes the method in any possible implementation manner of the method design in the first aspect as described above.

[0046] Seventh aspect, a computer-readable storage medium is provided, storing a computer program or instructions, and the computer program or instructions are used to implement the method in any possible implementation manner of the method design in the first aspect.

[0047] Eighth aspect, a computer program product is provided. When the computer program code or instructions are executed on a computer, the computer is caused to execute the method in any possible implementation manner of the method design in the first aspect as described above. Description of the Drawings

[0048] Figure 1 is a schematic diagram of the system architecture of a system 100 for implementing the automatic folding or unfolding function of a rearview mirror;

[0049] Figure 2 is a schematic flowchart of a method 200 for detecting a motor fault proposed in an embodiment of the present application;

[0050] Figure 3 is a schematic diagram of a first correspondence relationship proposed in an embodiment of the present application;

[0051] Figure 4 is a schematic flowchart of a method 400 for obtaining the position of a first device proposed in an embodiment of the present application;

[0052] Figure 5 It is a schematic diagram of a second corresponding relationship proposed in an embodiment of the present application;

[0053] Figure 6 It is a schematic flowchart of a method 600 for determining whether a motor fails proposed in an embodiment of the present application;

[0054] Figure 7 It is a comparison diagram of the normal state and the fault state of the motor of a first device proposed in an embodiment of the present application;

[0055] Figure 8 It is a schematic flowchart of another method 800 for determining whether a motor fails proposed in an embodiment of the present application;

[0056] Figure 9 It is another comparison diagram of the normal state and the fault state of the motor of a first device proposed in an embodiment of the present application;

[0057] Figure 10 It is a schematic flowchart of another method 1000 for determining whether a motor fails proposed in an embodiment of the present application;

[0058] Figure 11 It is a schematic block diagram of a device 1100 for detecting motor faults provided in an embodiment of the present application. Detailed implementation manners

[0059] Next, the technical solutions in the embodiments of the present application will be described with reference to the accompanying drawings.

[0060] The embodiments of the present application will present various aspects, embodiments or features around a system including multiple devices, components, modules, etc. It should be understood and clear that each system may include additional devices, components, modules, etc., and / or may not include all the devices, components, modules, etc. discussed in conjunction with the accompanying drawings. In addition, combinations of these solutions can also be used.

[0061] In addition, in the embodiments of the present application, words such as "exemplary" and "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" in the embodiments of the present application should not be construed as being more preferred or more advantageous than other embodiments or design solutions. Rather, the use of the word "exemplary" is intended to present concepts in a specific manner.

[0062] The business scenarios described in the embodiments of the present application are for more clearly explaining the technical solutions in the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those of ordinary skill in the art can know that with the evolution of technology and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are equally applicable to similar technical problems.

[0063] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear 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. The terms "comprising", "including", "having" and their variants mean "including but not limited to", unless otherwise specifically emphasized.

[0064] In the embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more. "And / or" describes the association relationship of associated objects and indicates that three relationships can exist. For example, A and / or B can mean: including the case where A exists alone, where A and B exist simultaneously, and where B exists alone, where A and B can be singular or plural. The character " / " generally means that the associated objects before and after are in an "or" relationship. "At least one (item)" or similar expressions thereof refer to any combination of these items, including any combination of single (item) or plural items (items). For example, at least one (item) of a, b, or c can mean: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, c can be single or multiple.

[0065] With the continuous progress of automotive technology, the function of automatically folding or unfolding the rearview mirror of a vehicle has gradually become popular.

[0066] Figure 1 It is a schematic diagram of the system architecture of a system 100 for implementing the function of automatically folding or unfolding the rearview mirror.

[0067] This system 100 can be applied to a vehicle. Referring to Figure 1 as shown, the rearview mirror 110 of the vehicle is electrically connected to the motor 120 so that the motor 120 can drive the rearview mirror 110 to automatically fold or unfold. However, the motor 120 cannot drive the rearview mirror 110 to move indefinitely, so the motor 120 also needs to be connected to the controller 130 so that the motor 120 can receive the control signal from the controller 130, so that the motor 120 can drive the rearview mirror 110 to move within a preset reasonable range. Usually, the motor 120 is integrated in the rearview mirror 110.

[0068] It should be noted that the above system 100 is only an illustration, and the above system 100 can also be replaced by other system architectures with equivalent functions. The vehicle involved in the embodiments of the present application is a vehicle with the above automatic folding or unfolding function of the rearview mirror, or a vehicle with the moving function of the mirror surface of the rearview mirror. For the convenience of description, the embodiments of the present application will uniformly refer to it as a "vehicle".

[0069] The vehicle involved in the present application may include land vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc. For example, the vehicle may include a driverless vehicle, which is a vehicle in a broad sense and may be a transportation vehicle (such as a commercial vehicle, a passenger vehicle, a motorcycle, a flying vehicle, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), agricultural equipment (such as a lawn mower, a harvester, etc.), a recreational equipment, a toy vehicle, etc. The embodiments of the present application do not specifically limit the type of the vehicle.

[0070] Although the automatic folding or unfolding function of the vehicle rearview mirror can provide convenience for the driver and passenger and improve the driving and riding experience of the driver and passenger, during the process of automatic folding or unfolding of the rearview mirror, the motor used to drive the rearview mirror may malfunction due to internal or external factors. For example, the rotation mechanism of the rearview mirror is stuck by an external object, resulting in motor stall, the clutch in the motor is displaced, or the motor gear is broken, etc. If the vehicle cannot determine in time and accurately whether the motor has malfunctioned, it will cause abnormal movement of the rearview mirror, which not only reduces the driving and riding experience of the driver and passenger, but also reduces the driving and riding safety of the driver and passenger.

[0071] To solve the above problems, two solutions have been proposed at the present stage: a fault detection method based on a fixed current threshold and a fault detection method based on a dynamic current threshold. Both of these methods utilize the characteristic that when the motor stalls, the current in the motor circuit will increase rapidly.

[0072] Among them, the principle of the fault detection method based on a fixed current threshold is as follows:

[0073] According to the current change law of the circuit connected to the motor at different temperatures and different voltages, a fixed current threshold is set, which is expected to be greater than all possible current values of the motor during normal operation, but less than the current value when the motor stalls.

[0074] However, whether the setting of the current threshold is reasonable depends on whether the current detection experiment for the motor circuit under different environmental factors is perfect before the motor is put into use. However, usually, there are a very large number of combinations of different values between the two variables of temperature and voltage, and it is difficult to cover all possible scenarios through experiments, so it is difficult to ensure the reasonableness of the set current threshold. If the set current threshold is too small, it may misjudge that the motor is blocked during normal operation of the motor; if the set current threshold is too large, it may misjudge that the motor is operating normally when the motor is blocked.

[0075] The fault detection method based on the dynamic current threshold can monitor the current of the motor in real time during the operation of the motor and dynamically adjust the current threshold according to parameters such as the load and speed of the motor. The implementation principle of this method is as follows:

[0076] First, measure and record the starting peak current of the motor. This process is usually carried out during the starting process of the motor and can be completed by a dedicated test device or the motor control system. The starting peak current is the maximum current value that the motor can reach at the moment of starting, and this starting peak current is used for the subsequent setting of the current threshold. Then, according to the rated current and the starting peak current of the motor, set an initial current threshold. This current threshold should not be too low to ensure that the protection mechanism will not be triggered during the normal start of the motor, and this current threshold should not be too high to enable timely response when the motor is blocked. And during the operation of the motor, dynamically adjust the current threshold according to the actual current and load conditions of the motor. Then, periodically monitor the real-time current of the motor and combine parameters such as the load and speed of the motor to determine whether the motor is in a blocked state that cannot be judged based on the current threshold. If it is judged to be blocked, appropriately reduce the current threshold; if it is judged to be operating normally, appropriately increase the current threshold to improve the accuracy of motor block detection. When the actual current of the motor exceeds the dynamically adjusted current threshold, it is judged that the motor is blocked.

[0077] However, the implementation of the fault detection method based on the dynamic current threshold needs to rely on the high-precision current detection ability and real-time monitoring ability of the motor controller. At the same time, it is also necessary to conduct a detailed analysis of the operating characteristics and load conditions of the motor to ensure that the set current threshold is reasonable and effective. It can be seen that this method has high requirements for the hardware capabilities of the controller. The sampling rate of the controller for the relevant parameters of the motor should continuously maintain a high level. Usually, it is necessary to meet the condition of collecting the real-time current of the motor once every 1ms, which makes the manufacturing cost of the controller relatively high; if the condition of high sampling rate cannot be met, it may lead to problems such as too large or too small setting of the current threshold, thereby increasing the probability of misjudging blockage.

[0078] In addition, the above two methods can only detect the motor locked-rotor fault and cannot detect other faults such as gear fracture in the motor, and there is no anti-misjudgment mechanism either.

[0079] In view of this, an embodiment of the present application provides a method for detecting motor faults. This method does not rely on the motor current to determine whether the motor is locked-rotor, but determines whether the motor is locked-rotor according to the position change rate of the rearview mirror driven by the motor, which can effectively improve the accuracy of motor fault detection. Moreover, it is not limited to the detection of the motor locked-rotor fault, but can also detect other faults such as gear fracture in the motor.

[0080] Figure 2 It is a schematic flow chart of a method 200 for detecting motor faults proposed by an embodiment of the present application.

[0081] This method 200 can be executed by a controller connected to the motor. This method 200 includes the following steps:

[0082] S210: Obtain a first time period, a first position of a first device at the start time of the first time period, and a second position at the end time of the first time period, where the first device is driven by a motor.

[0083] In some possible embodiments, the above first device may be the rearview mirror of a vehicle. Usually, the movement mode of the rearview mirror is rotation, so the first position change amount may be the angle by which the rearview mirror rotates within the first time period.

[0084] In some possible embodiments, the movement mode of the rearview mirror not only includes rotation, but may also include movement modes such as translation. It can be seen that when the first device is the rearview mirror, the above first position change amount may be an angle change amount or a relative displacement change amount relative to a certain reference point. The embodiment of the present application does not limit this.

[0085] S220: Determine a first position change amount according to the first position and the second position.

[0086] S230: Determine whether the motor has a fault according to the first time period, the first position change amount, and a first correspondence relationship, where the first correspondence relationship is used to indicate a preset correspondence relationship between the first position change amount and the first time period.

[0087] In some possible embodiments, the above first correspondence relationship is used to indicate a preset correspondence relationship between the first position change amount and the first time period, which can be understood as the following two correspondence relationships:

[0088] 1. The correspondence between the first position change amount and the preset first time period; wherein, the preset first time period is a pre-calibrated time period corresponding to the first position change amount, that is, the time period experienced by the first device from the first position to the second position under the ideal state (normal motor operation state).

[0089] 2. The correspondence between the first time period and the preset first position change amount; wherein, the preset first position change amount is a pre-calibrated position change amount corresponding to the first time period, that is, the position change amount experienced by the first device from the first position based on the first time period under the ideal state (normal motor operation state).

[0090] In some possible embodiments, the above first correspondence can also be used to indicate the correspondence between other preset position change amounts and time periods. For example, this first correspondence can be used to indicate the correspondence between the M positions passed by the first device from the starting point to the ending point and the movement time of the first device when the motor is running continuously and normally. The first position and the second position respectively correspond to one of the M positions, and M is greater than 1.

[0091] Figure 3 It is a schematic diagram of a first correspondence proposed in an embodiment of the present application.

[0092] In some possible embodiments, referring to Figure 3 As shown, the above first correspondence can be represented by an image in a coordinate system. The x-axis of this coordinate system is the movement time of the first device, and the y-axis is the position of the first device. It should be understood that since the movement time of the first device is the time experienced from the starting point to the ending point on the premise of the normal continuous operation of the motor, the movement time of the first device refers to the time passed during the movement of the first device, and there is no time when the first device stops moving during this time. The position of the first device can be the movement distance or rotation angle of the first device. Taking the first device as a rearview mirror as an example, the position of the first device can be represented by the angle of rotation of the first device.

[0093] It should be noted that Figure 3 The first correspondence shown in

[0094] is only an example. For the first devices prepared by different processes or standards, the corresponding first correspondence may be different. For example, for other models of the first device, the first correspondence can also be in the form of a proportional function, etc. The embodiments of the present application do not limit this. Figure 3Two images are given. Among them, the situation where the first device moves forward along a certain path is represented by a solid line, and the situation where the first device moves backward along a certain path is represented by a dashed line. It should be understood that the starting point and the ending point between the above forward movement and backward movement are swapped with each other. The method 200 proposed in the embodiments of the present application is applicable to both the scenario where the first device performs forward movement and the scenario where the first device performs backward movement. In addition, the above first correspondence relationship can also be represented in other ways, and the embodiments of the present application do not limit this.

[0095] For the convenience of description, in the subsequent embodiments of the present application, the forward movement of the first device is taken as an example to describe in detail the method for detecting motor faults.

[0096] It should be understood that the above first correspondence relationship is the correspondence relationship between each movement position of the first device and the time experienced by the first device's movement under ideal conditions, that is, when the motor does not fail. The first time period, the first position, and the second position are parameters obtained by the controller from the first device after the first device is put into use under non-ideal conditions, that is, when the motor may fail. Therefore, according to whether the correlation relationship between these three parameters at least partially matches the relationship represented by the above first correspondence relationship, it can be determined whether the motor has failed.

[0097] In some possible embodiments, the above first correspondence relationship can be obtained through a pre-experiment on the first device, and this first correspondence relationship can be stored inside the controller.

[0098] In some possible embodiments, considering that there are various manufacturing processes for the first device, then for the first devices manufactured based on different processes, the first correspondence relationship regarding the first device is also different. Taking the first device as a rearview mirror as an example, for different models of rearview mirrors, the corresponding first correspondence relationship can be different.

[0099] Based on the above technical solution, by obtaining two positions of the first device during actual operation and the first time period experienced by the first device when passing through these two positions, comparing or matching the correspondence relationship between the first time period and the change in the first position during the actual movement of the first device with the correspondence relationship between the first time period and the change in the first position during the operation of the first device under ideal conditions, and determining whether the motor of the first device has failed based on the comparison and matching result, the process of detecting motor faults no longer depends on the setting of the current threshold, thereby avoiding the problem of inaccurate detection of motor faults caused by setting the current threshold too large or too small, which helps to improve the accuracy of motor fault detection. Especially when the first device is a vehicle rearview mirror, it can effectively improve the driving experience and safety of the driver and passengers, and reduce the requirement for the high-precision current detection ability of the controller, which helps to reduce the manufacturing cost.

[0100] Figure 4 It is a schematic flowchart of a method 400 for obtaining the position of a first device proposed in an embodiment of the present application. The method 400 is described by taking the first moment and the second moment corresponding to the start and end times of the first time period of the first device as examples. The method 400 includes the following steps:

[0101] S410: Obtain a first voltage value at the start time of the first time period of the first device and a second voltage value at the end time of the first time period.

[0102] In some possible embodiments, a sliding rheostat is provided in the first device. When the first device is in different positions, the sliding rheostat can slide to the corresponding position so that the resistance value of the sliding rheostat is a specified value. The above first voltage value and second voltage value can be understood as the real-time voltage values corresponding to the sliding rheostat.

[0103] Exemplarily, when the first device is at the first position, the sliding rheostat is correspondingly located at position 1, and the real-time voltage value corresponding to the sliding rheostat at this time is the first voltage value; when the first device moves to the second position, the sliding rheostat is correspondingly located at position 2, and the real-time voltage value corresponding to the sliding rheostat at this time is the second voltage value.

[0104] S420: Determine a first voltage change amount according to the first voltage value and the second voltage value, and the first voltage change amount is used to indicate a first position change amount.

[0105] In some possible embodiments, the time interval for the controller to obtain the voltage value of the first device can be 10 ms, but it does not mean that the above first time period is equal to this 10 ms. The above first time period can be the sum of multiple time intervals for obtaining voltage values, such as 400 ms. In other words, the controller can execute the method for detecting motor faults proposed in the embodiment of the present application every 400 ms. Of course, for controllers with different processing capabilities, the time interval for obtaining the voltage value of the first device can be adaptively adjusted, and the same applies to the above first time period.

[0106] In some possible embodiments, the controller can determine the corresponding relationship between the above first position change amount and the above first voltage change amount according to a second corresponding relationship. The second corresponding relationship is used to indicate the corresponding relationship between the M positions passed by the first device from the starting point to the ending point and the voltage values of the first device when the motor is running normally. It should be understood that the above first position and second position respectively correspond to one of the M positions, so the second corresponding relationship can be used to indicate the corresponding relationship between the first voltage value and the first position, and the corresponding relationship between the second voltage value and the second position, so that the first voltage change amount can be used to indicate the first position change amount.

[0107] Figure 5 This is a schematic diagram of a second correspondence proposed in an embodiment of the present application. In Figure 5 the second correspondence shown, the first device is a rearview mirror.

[0108] In some possible embodiments, as shown in reference to Figure 5 the above first correspondence can be represented by an image within a coordinate system, where the x-axis of the coordinate system is the position (rotation angle) of the first device and the y-axis is the voltage value of the first device.

[0109] In some possible embodiments, for first devices manufactured based on different manufacturing processes, the corresponding second correspondences are also different. As can be seen from Example 1 in reference to Figure 5 , the functional image between the position of the first device and the voltage value of the first device represents a standard linear function relationship; as can be seen from Example 2 in reference to Figure 5 , the functional image between the position of the first device and the voltage value of the first device represents a piecewise function relationship, and the piecewise function includes three successively connected line segments, and the slope of the middle line segment is different from the slopes of the two end line segments; as can be seen from Example 3 in reference to Figure 5 , the functional image between the position of the first device and the voltage value of the first device represents a piecewise function relationship, and the piecewise function includes five successively connected line segments, where the slopes of line segment 2 and line segment 4 are 0, and the slope of line segment 3 is also different from the slopes of line segment 1 and line segment 5. And so on.

[0110] Taking Figure 5 Example 3 as an example, assuming that the first voltage value is 3V and the second voltage value is 3.5V, then correspondingly, the first position is 85° and the second position is 95°; assuming that the first voltage value is 0.6V and the second voltage value is 1V, then correspondingly, the first position is one of [20°, 35°] and the second position is 42°. From this, it can be seen that in this case, the first voltage value corresponds to the horizontal segment (the slope of the line segment is 0) in the second correspondence image, so at this time, the accurate position corresponding to the first position cannot be obtained, and only the possible position range of the first position can be obtained. Regarding how to determine whether the motor is faulty in this case, it will be described in detail in the subsequent content.

[0111] In some possible embodiments, similar to the above first correspondence, the above second correspondence can be obtained through a pre-experiment on the first device, and the second correspondence can be stored inside the controller.

[0112] Based on the above technical solution, through the correspondence relationship between the voltage value of the first device obtained in advance and the position of the first device, when the controller obtains the voltage value of the first device during the actual operation of the first device, it can determine the position of the first device, providing a prerequisite for the method of judging whether the motor of the first device fails by the position change of the first device during a certain period. And the principle of the solution for obtaining the position of the first device is simple. The frequency at which the controller obtains the voltage value is much lower than the frequency of obtaining the current in the fault detection method based on the dynamic current threshold, which is easy to implement and the cost of implementing the solution is low.

[0113] In some possible embodiments, the position of the above-mentioned first device can also be obtained through a position sensor, and the position sensor can be a potentiometer displacement sensor, a resistance strain gauge displacement sensor, an inductive displacement sensor, a grating displacement sensor, a resolver, an angle sensor, etc.

[0114] For the convenience of understanding, the following details how to judge whether the motor fails.

[0115] Figure 6 It is a schematic flowchart of a method 600 for determining whether a motor fails proposed by an embodiment of the present application.

[0116] Exemplarily, when obtaining the position of the first device through method 400, this method 600 is applicable to the case where the above-mentioned first voltage value and the second voltage value are not equal, that is, the first position change amount of the first device can be determined by the first voltage change amount, and the first voltage change amount is not equal to 0.

[0117] S610: Match the first position change amount with the preset first position change amount corresponding to the first time period in the first correspondence relationship. If the first position change amount does not match the preset first position change amount, go to S620; otherwise, go to S630.

[0118] In some possible embodiments, the above-mentioned preset first position change amount can be obtained in the following manner: Obtain a third position, which is the position corresponding to the first position among the M positions in the first correspondence relationship; taking the rearview mirror as an example, if the first position is 50°, then the third position is 50° in the first correspondence relationship; then, according to the third position, the first time period, and the first correspondence relationship, determine a fourth position, which is the position corresponding to the first device after moving for the first time period starting from the third position in the first correspondence relationship; then, the position change amount from the third position to the fourth position is the above-mentioned preset first position change amount.

[0119] S620: Determine that the motor has failed.

[0120] S630: Determine that the motor is operating normally.

[0121] In some possible embodiments, whether the above first position change amount matches the preset first position change amount can be determined by the following formula (1):

[0122] |△L2 - △L1| > Q (1)

[0123] Wherein, △L1 is used to represent the first position change amount, △L2 is used to represent the preset first position change amount, and Q is used to represent the preset first threshold, and the first threshold is greater than or equal to 0.

[0124] It should be understood that setting the first threshold to a value greater than 0 is to tolerate the detection errors of the first position and the second position. When it is ensured that there is no error in the position obtained by the controller, the first threshold can be set to 0.

[0125] When the condition represented by the above formula (1) is not satisfied, it means that the motor is operating normally:

[0126] Assuming that there is no error in the position obtained by the controller, for the normal operation of the motor, the position change amount of the first device in the first time period should be equal to the position change amount of the first device in the ideal state in the first time period. Therefore, |△L2 - △L1| = 0, and the condition represented by the above formula (1) is not satisfied.

[0127] When the condition represented by the above formula (1) is satisfied, it means that the motor has a fault:

[0128] Figure 7 It is a comparison diagram of the normal state and the fault state of the motor of the first device proposed in the embodiments of the present application.

[0129] Reference Figure 7 As shown, assuming that there is no error in the position obtained by the controller, for the motor to be blocked or the motor clutch to be dislocated, compared with the normal operation of the motor, the first position change amount of the first device in the first time period should be less than the preset first position change amount. Therefore, |△L2 - △L1| > 0, and the condition represented by the above formula (1) is satisfied. In other words, when |△L2 - △L1| > 0 and △L2 > △L1, it can be determined that the motor is blocked or the motor clutch is dislocated.

[0130] For the motor with a broken gear, taking the first device as a rearview mirror as an example, the fault is manifested as the rearview mirror quickly unfolding or bouncing open, and the position changes violently in a short time. Compared with the normal operation of the motor, the first position change amount of the first device in the first time period should be greater than the preset first position change amount. Therefore, |△L2 - △L1| > 0, and the condition represented by the above formula (1) is satisfied. In other words, when |△L2 - △L1| > 0 and △L2 < △L1, it can be determined that the motor has a broken gear fault.

[0131] In some possible embodiments, when the movement of the first device driven by the motor is a uniform motion, the controller may match the position change amount of the first device within each fault detection period with the calibrated position change amount to determine whether the motor of the first device has a fault. Among them, when the motor of the first device can have multiple operating speeds, the calibrated position change amount may be determined by the position change amount of the first device driven by the motor of the first device at the slowest operating speed within the fault detection period.

[0132] Taking the first device as a rearview mirror as an example, the fault detection period is the first time period in the above method 600. Assume that the first time period is 400 ms. Then the controller determines the rotation angle of the rearview mirror every 400 ms. Assume that the calibrated position change amount is 1.5°. If it is determined that the rotation angle of the rearview mirror within 400 ms is less than 1.5°, and the angle difference from 1.5° is greater than a preset angle threshold, it can be considered that the motor of the rearview mirror has a stall or clutch dislocation fault; if it is determined that the rotation angle of the rearview mirror within 400 ms is greater than 1.5°, and the angle difference from 1.5° is greater than a preset angle threshold, it can be considered that the motor of the rearview mirror has a gear breakage fault; if it is determined that the angle difference between the rotation angle of the rearview mirror within 400 ms and 1.5° is within a preset error range, it can be considered that the motor of the rearview mirror is operating normally.

[0133] In some possible embodiments, taking the first device as a rearview mirror as an example, considering that the rearview mirror represents the position of the rearview mirror based on the voltage value corresponding to the potentiometer, then when it is determined that there is a mismatch between the above first position change amount and the preset first position change amount, it is also possible that the potentiometer has a fault. For example, foreign matter enters the sliding track of the potentiometer and the resistance value cannot be further adjusted, resulting in incorrect reporting of the first position and the second position, and further resulting in an incorrect first position change amount determined. Based on this, it can be seen that whether in the case of |△L2 - △L1| > 0 and △L2 < △L1, or in the case of |△L2 - △L1| > 0 and △L2 > △L1, it is possible that the potentiometer of the rearview mirror has a fault.

[0134] Figure 8 A schematic flowchart of another method 800 for determining whether a motor has a fault proposed in the embodiments of the present application.

[0135] Exemplarily, when obtaining the position of the first device through method 400, this method 800 is applicable to the case where the above first voltage value and the second voltage value are not equal, that is, the first position change amount of the first device can be determined by the first voltage change amount, and the first voltage change amount is not equal to 0.

[0136] S810: Match the first time period with a preset first time period corresponding to the first position change amount in the first correspondence relationship. If the first time period does not match the preset first time period, go to S820; otherwise, go to S830.

[0137] In some possible embodiments, the above-mentioned preset first time period can be obtained in the following manner: Obtain a third position and a fifth position. The third position is the position corresponding to the first position among the M positions in the first correspondence relationship, and the fifth position is the position corresponding to the second position among the M positions in the first correspondence relationship. Taking the rearview mirror as an example, if the first position is 50° and the second position is 90°, then the third position is 50° in the first correspondence relationship, and the fifth position is 90° in the first correspondence relationship. Then, according to the third position, the fifth position, and the first correspondence relationship, determine the time period experienced from the third position to the fifth position in the first correspondence relationship, and this time period is the above-mentioned preset first time period.

[0138] S820: Determine that the motor has a fault.

[0139] S830: Determine that the motor is operating normally.

[0140] In some possible embodiments, whether the above-mentioned first time period matches the preset first time period can be determined by the following formula (2):

[0141] |△T2 - △T1|>J (2)

[0142] Wherein, △T1 is used to represent the length of the first time period, △T2 is used to represent the length of the preset first time period, and J is used to represent a preset second threshold value, and this second threshold value is greater than or equal to 0.

[0143] It should be understood that similar to the first threshold value, setting the second threshold value to a value greater than 0 is to tolerate the detection errors of the first position and the second position. When ensuring that there is no error in the positions obtained by the controller, the second threshold value can be set to 0.

[0144] When the condition represented by the above formula (2) is not satisfied, it means that the motor is operating normally:

[0145] Assume that there is no error in the positions obtained by the controller. For the normal operation of the motor, the length of the first time period experienced by the first device moving from the first position to the second position should be equal to the preset first time period experienced by the first device moving from the first position to the second position in the ideal state. Therefore, |△T2 - △T1| = 0, and the condition represented by the above formula (2) is not satisfied.

[0146] When the condition represented by the above formula (2) is satisfied, it means that the motor has a fault:

[0147] Figure 9It is another comparison diagram of the normal state and the fault state of the motor of the first device proposed in the embodiment of the present application.

[0148] Referring to Figure 9 As shown, assuming that there is no error in the position obtained by the controller, for the motor to experience a stuck-rotor or clutch disengagement fault, compared with the normal operation of the motor, the length of the first time period experienced by the first device moving from the first position to the second position should be greater than the length of the preset first time period. Therefore, |ΔT2 - ΔT1| > 0, which satisfies the condition represented by the above formula (2). In other words, when |ΔT2 - ΔT1| > 0 and ΔT2 < ΔT1, it can be determined that the motor has a stuck-rotor or clutch disengagement fault.

[0149] For the motor to have a gear breakage, the first device will be quickly bounced off in a short time. Therefore, compared with the normal operation of the motor, the length of the first time period experienced by the first device moving from the first position to the second position should be less than the length of the preset first time period. So, |ΔL2 - ΔL1| > 0, which satisfies the condition represented by the above formula (1). In other words, when |ΔT2 - ΔT1| > 0 and ΔT2 > ΔT1, it can be determined that the motor has a gear breakage fault.

[0150] In some possible embodiments, taking the first device as a rearview mirror as an example, considering that the rearview mirror represents the position of the rearview mirror based on the voltage value corresponding to the sliding rheostat. Then, when it is determined that there is a mismatch between the first time period and the preset first time period, it is also possible that the sliding rheostat fails, resulting in incorrect reporting of the first position and the second position, and further resulting in an incorrect determination of the change amount of the first position of the rearview mirror within the first time period. Based on this, it can be seen that whether it is in the case of |ΔT2 - ΔT1| > 0 and ΔT2 < ΔT1, or in the case of |ΔT2 - ΔT1| > 0 and ΔT2 > ΔT1, it is possible that the sliding rheostat of the rearview mirror fails.

[0151] Figure 10 It is a schematic flowchart of another method 1000 for determining whether a motor fails proposed in the embodiment of the present application. This method 1000 is applicable to the case where the above first voltage value and the second voltage value are equal, that is, the first voltage value and the second voltage value are equal to the first fixed voltage value. Taking Figure 5 Example 3 in [reference] as an example, this situation appears in the horizontal section of the image. Therefore, the first position and the second position corresponding to these two voltage values cannot be accurately determined according to the first voltage value and the second voltage value.

[0152] It should be noted that the above first fixed voltage value can be a fixed numerical value or a numerical range. Especially considering that there may be systematic errors in the obtained first voltage value or second voltage value, the first fixed voltage value can be a voltage value range. For example, the first fixed voltage value is 4.5V, or it can be [4.4V, 4.6V]. As long as the obtained voltage value is within this interval, it can be considered that the voltage value is equal to the first fixed voltage value, or the voltage value is regarded as equal to 4.5V.

[0153] S1010: Determine the second time period during which the voltage value of the first device remains at the first fixed voltage value when the motor is running normally. If the first time period is longer than the second time period, go to S1020; otherwise, go to S1030.

[0154] It should be noted that the first time period in method 1000 can be different from the first time period in method 600 or method 800. The first time period in method 600 or method 800 refers to the period during which the controller detects whether the motor has a fault, such as 400 ms. However, the first time period in method 1000 refers to the time duration during which the controller obtains that the voltage value of the first device is the first fixed voltage value during the actual movement of the motor. For example, 1 s, which means that the voltage values obtained by the controller within 1 s are all the first fixed voltage value.

[0155] In some possible embodiments, the above first time period can be obtained in the following manner: When the voltage values obtained by the controller at two consecutive moments are both equal to the first fixed voltage value, the controller can obtain historical voltage data, which refers to all the voltage values of the first device obtained by the controller from the start of the current movement of the first device to the current moment. Then, multiple first fixed voltage values and the moments at which these multiple first fixed voltage values are obtained are screened out from the historical voltage data. Finally, based on the maximum and minimum values among these multiple moments, the above first time period is determined.

[0156] S1020: Determine that the motor is blocked.

[0157] S1030: Determine that the motor is running normally.

[0158] Taking the line segment 2 in Example 3 above Figure 5 as an example, if line segment 2 is a horizontal segment, then when the motor is running normally, the time consumed by the first device to pass through the position corresponding to this horizontal segment is the second time period. If, during the actual operation of the first device, the time consumed by the first device to pass through the position corresponding to this horizontal segment (i.e., the first time period) is greater than the second time period, it means that the motor must have been blocked during the first time period.

[0159] In some possible embodiments, taking the first device as a rearview mirror as an example, considering that the rearview mirror characterizes its position based on the voltage value corresponding to a sliding rheostat, then when it is determined that the above-mentioned first time period is longer than the second time period, it is also possible that the sliding rheostat fails, resulting in the controller obtaining a voltage value equal to the first fixed voltage value for a long time. However, in fact, the rearview mirror still rotates based on the normal drive of the motor.

[0160] Based on the above technical solution, it is possible to determine whether the motor fails through multiple channels according to the first time period, the first position, the second position, and the first corresponding relationship, increasing the flexibility of the method for detecting motor failures. In addition, based on this method, various motor failures can be detected, not limited to detecting whether the motor is blocked or the clutch is dislocated, but also detecting whether the motor has a gear breakage and other failures, increasing the comprehensiveness of motor failure detection.

[0161] In some possible embodiments, usually, the period for the controller to judge motor failure is very short, usually set to 400 ms. If the motor of the first device fails, the controller may determine that the motor fails multiple times within a short preset time period (for example, 2 s); if the controller determines that the motor fails only once within the preset time period, it means that within this preset time period, the controller may have misjudged the failure, or the voltage inside the first device is unstable, and the motor may be operating normally. Based on this, the method for detecting motor failure proposed in the embodiments of the present application may further include the following steps:

[0162] When the number of times of determining that the motor fails reaches N within a preset duration, control the motor to stop operating, where N is a preset value, N is a positive integer, and the preset duration is greater than or equal to the duration of the first time period.

[0163] Exemplarily, when the controller determines that the motor of the first device fails within the first time period, the controller determines a preset time period according to the end moment of the first time period and the preset duration. The start moment of this preset time period is before the first time period, and the end moment of this preset time period coincides with the end moment of the first time period. If the controller determines that the number of times the motor fails within the preset time period reaches N, then control the motor to stop operating.

[0164] Based on the above technical solution, when the number of times the controller determines that the motor fails reaches N within the preset duration, the operation of controlling the motor to stop operating will be triggered, which can effectively avoid the situation where the controller directly controls the motor to stop operating when misjudging a normally operating motor as a failure. Especially when the first device is a rearview mirror, it can effectively improve the driving and riding experience of the driver and passengers.

[0165] In some possible embodiments, when the controller controls the motor to stop running, a warning message may also be sent, and the warning message is used to indicate that a fault has occurred in the motor of the first device.

[0166] In addition, the embodiments of the present application also provide a device for implementing any one of the above methods. For example, a device for detecting motor faults is provided, and the device includes units (or means) for implementing any one of the above methods for detecting motor faults.

[0167] Figure 11 FIG. 7 is a schematic block diagram of a device 1100 for detecting motor faults provided by an embodiment of the present application. The device 1100 may be applied to the above-mentioned controller. The device 1100 includes:

[0168] An acquisition unit 1110, configured to acquire a first time period, a first position of the first device at the start time of the first time period, and a second position of the first device at the end time of the first time period, where the first device is driven by a motor;

[0169] A determination unit 1120, configured to determine a first position change amount according to the first position and the second position; and determine whether a fault has occurred in the motor according to the first time period, the first position change amount, and a first correspondence relationship, where the first correspondence relationship is used to indicate a preset correspondence relationship between the first position change amount and the first time period.

[0170] In some possible embodiments, the determination unit 1120 is specifically configured to: match the first position change amount with a preset first position change amount corresponding to the first time period in the first correspondence relationship, and determine that a fault has occurred in the motor when the first position change amount does not match the preset first position change amount; or, determine that the motor is operating normally when the first position change amount matches the preset first position change amount.

[0171] In some possible embodiments, the determination unit 1120 is specifically configured to: determine that the fault that has occurred in the motor is motor jamming or motor clutch dislocation when the first position change amount is less than the preset first position change amount and the difference between the preset first position change amount and the first position change amount is greater than a preset first threshold; or, determine that the fault that has occurred in the motor is motor gear fracture when the first position change amount is greater than the preset first position change amount and the difference between the first position change amount and the preset first position change amount is greater than a preset first threshold.

[0172] In some possible embodiments, the determination unit 1120 is specifically configured to: match the first time period with a preset first time period corresponding to the first position change amount in the first correspondence relationship, and determine that a fault has occurred in the motor when the first time period does not match the preset first time period; or, determine that the motor is operating normally when the first time period matches the preset first time period.

[0173] In some possible embodiments, the determining unit 1120 is specifically configured to: when the first time period is longer than a preset first time period and the difference between the first time period and the preset first time period is greater than a preset second threshold, determine that the fault occurring in the motor is motor jamming or motor clutch dislocation; or, when the first time period is shorter than the preset first time period and the difference between the preset first time period and the first time period is greater than the preset second threshold, determine that the fault occurring in the motor is motor gear fracture.

[0174] In some possible embodiments, the obtaining unit 1110 is specifically configured to: obtain a first voltage value at the start time of the first time period and a second voltage value at the end time of the first time period of the first device; determine a first voltage change amount according to the first voltage value and the second voltage value, where the first voltage change amount is used to indicate a first position change amount.

[0175] In some possible embodiments, when the determining unit 1120 matches the first position change amount with a preset first position change amount corresponding to the first time period in the first correspondence relationship, or matches the first time period with a preset first time period corresponding to the first position change amount in the first correspondence relationship, and the obtaining unit 1110 determines the position of the first device through the obtained voltage values, the above-mentioned first voltage value is not equal to the above-mentioned second voltage value.

[0176] In some possible embodiments, when the obtaining unit 1110 determines the position of the first device through the obtained voltage values and the first voltage value and the second voltage value are equal to a first fixed voltage value, the determining unit 1120 is further specifically configured to: determine a second time period during which the voltage value of the first device remains at the first fixed voltage value when the motor is running normally; when the first time period is longer than the second time period, determine that the motor is jammed; or, when the first time period is shorter than or equal to the second time period, determine that the motor is running normally.

[0177] In some possible embodiments, the above-mentioned apparatus 1100 further includes:

[0178] A control unit 1130, configured to control the motor to stop running when the number of times of motor failure determined within a preset time period reaches N, where N is a preset value, N is a positive integer, and the preset time period is greater than or equal to the duration of the first time period.

[0179] In some possible embodiments, an embodiment of the present application further provides a device for detecting motor faults, and the device includes a processor and a memory. The processor and the memory are connected, and the memory is used to store program codes, and the processor is used to call the program codes to execute any method for detecting motor faults proposed in the embodiments of the present application.

[0180] In addition, an embodiment of the present application also provides a controller, which includes any device for detecting motor faults proposed in the embodiment of the present application.

[0181] In some possible embodiments, the above-mentioned controller is applied to a vehicle, and the first device proposed in the embodiment of the present application is the rearview mirror of the vehicle. Additionally, the rearview mirror includes a sliding rheostat, and the resistance value of the sliding rheostat is associated with the position where the rearview mirror moves to.

[0182] In some possible embodiments, the above-mentioned motor, controller, and sliding rheostat can all be integrated in the housing of the rearview mirror.

[0183] In addition, an embodiment of the present application also provides a vehicle, which includes any device for detecting motor faults or a controller proposed in the embodiment of the present application.

[0184] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0185] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0186] In several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, 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 displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces, and the indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0187] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place, or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0188] In addition, in each embodiment of the present application, each functional unit may be integrated into one processing unit, may exist physically alone for each unit, or two or more units may be integrated into one unit.

[0189] If the above-mentioned function is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of the technical solution, may be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present application.

[0190] As described above, the foregoing are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present application can easily think of changes or substitutions, which should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for detecting motor failure, characterized in that: The method comprises: Acquire a first time period, a first position of a first device at a start time of the first time period, and a second position of a first device at an end time of the first time period, wherein the first device is driven based on the motor; Determine a first position change amount according to the first position and the second position; Whether the motor fails is determined based on the first time period, the first position change and a first corresponding relationship, where the first corresponding relationship is used to indicate a preset corresponding relationship between the first position change and the first time period.

2. The method according to claim 1, characterized in that The determining whether the motor fails according to the first time period, the first position change and the first corresponding relationship includes: The first position change amount is matched with the preset first position change amount corresponding to the first time period in the first corresponding relationship. When the first position change amount does not match the preset first position change amount, it is determined that the motor has failed; or, when the first position change amount matches the preset first position change amount, it is determined that the motor is operating normally.

3. The method according to claim 2, characterized in that When the first position change amount does not match the preset first position change amount, determining that the motor fails includes: When the first position change is less than the preset first position change, and the difference between the preset first position change and the first position change is greater than a preset first threshold, it is determined that the fault of the motor is a motor stall or a motor clutch dislocation; or, when the first position change is greater than the preset first position change, and the difference between the first position change and the preset first position change is greater than a preset first threshold, it is determined that the fault of the motor is a motor gear breakage.

4. The method according to claim 1, characterized in that: The determining whether the motor fails according to the first time period, the first position change and the first corresponding relationship includes: The first time period is matched with a preset first time period corresponding to the first position change in the first corresponding relationship. If the first time period does not match the preset first time period, it is determined that the motor has failed; or if the first time period matches the preset first time period, it is determined that the motor is operating normally.

5. The method according to claim 4, characterized in that When the first time period does not match the preset first time period, determining that the motor fails includes: When the first time period is longer than the preset first time period and the difference between the first time period and the preset first time period is greater than a preset second threshold, it is determined that the fault of the motor is a motor jam or a motor clutch dislocation; or, when the first time period is shorter than the preset first time period and the difference between the preset first time period and the first time period is greater than a preset second threshold, it is determined that the fault of the motor is a motor gear breakage.

6. The method according to any one of claims 2 to 5, characterized in that The acquiring of a first time period, a first position of the first device at a start time of the first time period, and a second position of the first device at an end time of the first time period comprises: Acquire a first voltage value of the first device at a start time of the first time period and a second voltage value of the first device at an end time of the first time period; A first voltage change is determined according to the first voltage value and the second voltage value, where the first voltage change is used to indicate the first position change.

7. The method according to claim 6, characterized in that The first voltage value is not equal to the second voltage value.

8. The method according to claim 6, characterized in that The first voltage value and the second voltage value are equal to a first fixed voltage value, and determining whether the motor fails according to the first time period, the first position change and the first corresponding relationship further includes: Determine that when the motor is operating normally, the voltage value of the first device is maintained at the first fixed voltage value for a second time period, and when the first time period is longer than the second time period, determine that the motor is stalled; or, when the first time period is shorter than or equal to the second time period, determine that the motor is operating normally.

9. The method according to any one of claims 1 to 8, characterized in that The method further comprises: When it is determined that the number of times the motor fails reaches N within a preset time period, the motor is controlled to stop running, where N is a preset value, N is a positive integer, and the preset time period is greater than or equal to the time period of the first time period.

10. A device for detecting motor failure, characterized in that: include: an acquisition unit, configured to acquire a first time period, a first position of a first device at a start time of the first time period, and a second position of a first device at a termination time of the first time period, wherein the first device is driven based on the motor; a determining unit, configured to determine a first position change amount according to the first position and the second position; Whether the motor fails is determined based on the first time period, the first position change and a first corresponding relationship, where the first corresponding relationship is used to indicate a preset corresponding relationship between the first position change and the first time period.

11. The device according to claim 10, characterized in that The determining unit is specifically used for: The first position change amount is matched with the preset first position change amount corresponding to the first time period in the first corresponding relationship. When the first position change amount does not match the preset first position change amount, it is determined that the motor has failed; or, when the first position change amount matches the preset first position change amount, it is determined that the motor is operating normally.

12. The device according to claim 11, characterized in that The determining unit is specifically used for: When the first position change is less than the preset first position change, and the difference between the preset first position change and the first position change is greater than a preset first threshold, it is determined that the fault of the motor is a motor stall or a motor clutch dislocation; or, when the first position change is greater than the preset first position change, and the difference between the first position change and the preset first position change is greater than a preset first threshold, it is determined that the fault of the motor is a motor gear breakage.

13. The device according to claim 10, characterized in that The determining unit is specifically used for: The first time period is matched with a preset first time period corresponding to the first position change in the first corresponding relationship. If the first time period does not match the preset first time period, it is determined that the motor has failed; or if the first time period matches the preset first time period, it is determined that the motor is operating normally.

14. The device according to claim 13, characterized in that The determining unit is specifically used for: When the first time period is longer than the preset first time period and the difference between the first time period and the preset first time period is greater than a preset second threshold, it is determined that the fault of the motor is a motor jam or a motor clutch dislocation; or, when the first time period is shorter than the preset first time period and the difference between the preset first time period and the first time period is greater than a preset second threshold, it is determined that the fault of the motor is a motor gear breakage.

15. The device according to any one of claims 11 to 14, characterized in that The acquisition unit is specifically used for: Acquire a first voltage value of the first device at a start time of the first time period and a second voltage value of the first device at an end time of the first time period; A first voltage change is determined according to the first voltage value and the second voltage value, where the first voltage change is used to indicate the first position change.

16. The device according to claim 15, characterized in that The first voltage value is not equal to the second voltage value.

17. The device according to claim 15, characterized in that The first voltage value and the second voltage value are equal to a first fixed voltage value, and the determining unit is further specifically configured to: Determine that when the motor is operating normally, the voltage value of the first device is maintained at the first fixed voltage value for a second time period, and when the first time period is longer than the second time period, determine that the motor is stalled; or, when the first time period is shorter than or equal to the second time period, determine that the motor is operating normally.

18. The device according to any one of claims 10 to 17, characterized in that The device also includes: A control unit is used to control the motor to stop running when it is determined that the number of times the motor fails reaches N within a preset time period, where N is a preset value, N is a positive integer, and the preset time period is greater than or equal to the time period of the first time period.

19. A device for detecting motor failure, characterized in that: The system comprises a processor and a memory, wherein the processor and the memory are connected, wherein the memory is used to store program codes, and the processor is used to call the program codes to execute the method according to any one of claims 1 to 9.

20. A controller, characterized in that: Comprising a device as claimed in any one of claims 10 to 19.

21. The controller according to claim 20, characterized in that The controller is applied to a vehicle, and the first device is a rearview mirror of the vehicle.

22. The controller according to claim 21, characterized in that The rearview mirror includes a sliding rheostat, the resistance value of which is associated with the position to which the rearview mirror is moved.

23. A vehicle, characterized in that: Comprising the apparatus as claimed in any one of claims 10 to 19, or comprising the controller as claimed in any one of claims 20 to 22.

24. A chip system, characterized in that: The chip system is applied to an electronic device; the chip system includes one or more interface circuits and one or more processors; the interface circuit and the processor are interconnected through lines; the interface circuit is used to receive a signal from a memory of the electronic device and send the signal to the processor, the signal including a computer instruction stored in the memory; when the processor executes the computer instruction, the electronic device executes the method as described in any one of claims 1 to 9.

25. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the method according to any one of claims 1 to 9.

26. A computer program product, characterized in that The method comprises instructions, which, when executed by a processor, cause the method according to any one of claims 1 to 9 to be executed.

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