Hidden handle control method, storage medium and electronic equipment
By setting a limit structure at both ends of the rotation stroke of the hidden handle and using the motor signal for in-place detection, the problem of easy damage to the micro switch is solved, and effective in-place detection and user experience improvement of the handle is achieved.
Patent Information
- Application Number
- CN202510234018.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-28
- Publication Date
- 2025-06-24
AI Technical Summary
In the existing hidden handle technology, the use of micro switches for limiting positions is prone to damage, resulting in user maintenance problems.
By setting a limit structure at both ends of the handle rotation stroke, and using the motor Hall signal or drive current to determine whether the handle is in place, cancel the micro switch, and realize the in-place detection of the handle.
It effectively avoids damage to the micro switch, realizes in-place detection of handles, and improves the reliability and user experience of the equipment.
Smart Images
Figure CN120193715A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of vehicle door handles, and particularly to a concealed door handle control method, a storage medium, and an electronic device. Background Art
[0002] As the requirements of users for the appearance of vehicles are gradually increasing, more and more vehicles are adopting a concealed structure for the exterior door handles. The concealed door handle is driven to rotate by a handle motor controlled by a ZCU when the vehicle door is unlocked. Currently, the concealed door handle is provided with microswitches at the extreme positions, and the triggering of the microswitches is used to determine whether the handle is fully opened or fully closed. However, the microswitch structure is relatively precise, and the handle actuates frequently. After long-term use, the microswitch is easily damaged, and the handle structure needs to be repaired, causing trouble to users. Summary of the Invention
[0003] The purpose of this application is to overcome the deficiency that the use of microswitches for position limiting in the prior art is easily damaged, and to provide a concealed door handle control method, a storage medium, and an electronic device that cancel the microswitches and do not affect the actuation of the handle.
[0004] The technical solution of this application provides a concealed door handle control method. The concealed door handle includes a handle and limiting structures arranged at both ends of the rotation stroke of the handle;
[0005] The method includes:
[0006] In response to a handle actuation request including an actuation direction, control the access polarities of two motor control terminals according to the actuation direction;
[0007] Input a driving voltage to the motor drive terminal;
[0008] If the motor Hall signal or the driving current satisfies the stall condition, or the driving duration is greater than or equal to a preset duration threshold, then control the motor drive terminal to cut off the power.
[0009] Further, the controlling the access polarities of the two motor control terminals according to the actuation direction specifically includes:
[0010] If the actuation direction is to pop up, control the first motor control terminal to be connected to the positive pole of the power supply, and the second motor control terminal to be connected to the negative pole of the power supply;
[0011] If the actuation direction is to retract, control the first motor control terminal to be connected to the negative pole of the power supply, and the second motor control terminal to be connected to the positive pole of the power supply.
[0012] Further, the method further includes:
[0013] If neither the motor Hall signal nor the drive current satisfies the stall condition, and the drive duration is less than the preset duration threshold, and a pull handle actuation request in the opposite direction to the current actuation direction is received, then control the power-off of the motor drive end and switch the access polarities of the two motor control ends;
[0014] After a preset buffer duration, input a drive voltage to the motor drive end;
[0015] If the motor Hall signal or the drive current satisfies the stall condition, or the drive duration is greater than or equal to the preset duration threshold, then control the power-off of the motor drive end.
[0016] Further, the inputting of the drive voltage to the motor drive end specifically is:
[0017] Input a drive voltage of a set voltage to the motor drive end;
[0018] The stall condition specifically is:
[0019] The pulse width of the motor Hall signal is greater than or equal to a preset stall pulse width, or
[0020] The drive current is greater than or equal to a preset stall current.
[0021] Further, the inputting of the drive voltage to the motor drive end specifically is:
[0022] Input a drive voltage of a set voltage to the motor drive end until the number of Hall elements of the motor Hall signal is greater than or equal to a preset number of Hall elements;
[0023] Input a drive voltage that linearly decreases at a set slope to the motor drive end, and the maximum voltage of the drive voltage is less than or equal to the set voltage.
[0024] Further, the stall condition specifically is:
[0025] The drive current is greater than or equal to a preset stall current.
[0026] Further, the inputting of the drive voltage to the motor drive end specifically is:
[0027] Input a drive voltage of a set voltage to the motor drive end until the number of Hall elements of the motor Hall signal is greater than or equal to a preset number of Hall elements;
[0028] Input a PWM voltage to the motor drive end, and the equivalent voltage of the PWM voltage is less than or equal to the set voltage.
[0029] Further, the stall condition specifically is:
[0030] The drive current is greater than or equal to a preset stall current.
[0031] The technical solution of this application also provides a storage medium that stores computer instructions. When a computer executes the computer instructions, it is used to execute the hidden handle control method described above.
[0032] The technical solution of this application also provides an electronic device, including at least one processor; and,
[0033] a memory communicatively connected to the at least one processor; wherein,
[0034] the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the hidden handle control method described above.
[0035] After adopting the above technical solution, the following beneficial effects are achieved:
[0036] In this application, limit structures are provided at both ends of the handle rotation stroke. When a handle actuation request is received, after controlling the access polarity of the motor control terminal according to the actuation direction, a drive voltage is applied to the motor drive to drive the motor to rotate in the actuation direction until the motor Hall signal or drive current meets the stall condition, and then it is determined that the handle has rotated in place, and then the power supply to the motor drive terminal is cut off to stop the actuation. This can cancel the microswitch and realize the in-place detection of the handle. At the same time, a protection mechanism is also set. When the motor drive duration is greater than or equal to the preset duration threshold, the motor is also controlled to stop acting, which can timely control the motor to stop rotating when the signal deviates or the handle freezes. Description of the Drawings
[0037] Referring to the drawings, the disclosure of this application will become easier to understand. It should be understood that these drawings are only for illustrative purposes and are not intended to limit the scope of protection of this application. In the figures:
[0038] Figure 1 is a flowchart of the hidden handle control method in an embodiment of this application;
[0039] Figure 2 is a waveform diagram of each signal during the motor actuation process in an embodiment of this application;
[0040] Figure 3 is a waveform diagram of each signal during the motor actuation process in another embodiment of this application;
[0041] Figure 4 is a waveform diagram of each signal during the motor actuation process in another embodiment of this application;
[0042] Figure 5 is a waveform diagram of each signal during the motor actuation process in another embodiment of this application;
[0043] Figure 6 It is a flowchart of a hidden handle control method in a preferred embodiment of the present application;
[0044] Figure 7 It is a flowchart of a hidden handle control method in another preferred embodiment of the present application;
[0045] Figure 8 It is a flowchart of a hidden handle control method in another preferred embodiment of the present application;
[0046] Figure 9 It is a schematic diagram of the hardware structure of an electronic device in an embodiment of the present application. Detailed implementation manners
[0047] The following further describes the detailed implementation manners of the present application with reference to the accompanying drawings.
[0048] It is easy to understand that according to the technical solution of the present application, under the condition of not changing the essential spirit of the present application, various structural forms and implementation manners that can be mutually replaced by those of ordinary skill in the art. Therefore, the following detailed implementation manners and the accompanying drawings are only illustrative descriptions of the technical solution of the present application, and should not be regarded as all of the present application or as a limitation or restriction on the technical solution of the application.
[0049] The orientation terms such as up, down, left, right, front, back, front side, back side, top, bottom, etc. mentioned or possibly mentioned in this specification are defined relative to the structures shown in the respective drawings. They are relative concepts, and thus may change accordingly depending on their different positions and different usage states. Therefore, these or other orientation terms should not be construed as restrictive terms. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.
[0050] In the description of the present application, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.
[0051] The hidden handle control method of the embodiment of the present application, wherein the hidden handle includes a handle and limit structures provided at both ends of the rotation stroke of the handle.
[0052] As an example, one end of the handle is rotatably installed in the mounting seat, and a first limiting structure and a second limiting structure are arranged in the mounting seat. When the handle rotates to the pop-up position, at least part of the handle abuts against the first limiting structure to limit the further outward rotation of the handle. When the handle rotates to the retracted position, at least part of the handle abuts against the second limiting structure to limit the further inward rotation of the handle. In this way, the handle is limited at both extreme positions by the mechanical hard stop structure.
[0053] The above is an example of the limiting structure of the present application. According to needs, the limiting structure can be set with other structures, or the rotational limiting structure in the prior art can be referred to. The present application does not make any limitations in this regard.
[0054] As Figure 1 shown, the hidden handle control method includes:
[0055] Step S101: In response to a handle actuation request including an actuation direction, control the access polarities of the two motor control terminals according to the actuation direction.
[0056] Step S102: Input a driving voltage to the motor drive terminal.
[0057] Step S103: If the motor Hall signal or the drive current meets the stall condition, or the drive duration is greater than or equal to a preset duration threshold, then control the motor drive terminal to cut off the power.
[0058] Specifically, the handle actuation request includes a handle pop-up request and a handle retraction request. The motor rotation directions of the handle pop-up request and the handle retraction request are forward rotation and reverse rotation respectively. The vehicle area controller receives the handle actuation request and controls the access polarities of the two motor control terminals according to the actuation direction corresponding to the handle actuation request. The access polarities of forward rotation and reverse rotation are opposite.
[0059] After controlling the access polarities of the motor control terminals, input a driving voltage to the motor drive terminal to drive the motor to rotate. The handle rotates along the actuation direction, and at the same time, monitor whether the motor Hall signal or the drive current meets the stall condition. If the stall condition is met, it is determined that the handle has rotated to the extreme position and the motor is stalled. At this time, control the motor drive terminal to cut off the power, cancel the setting of the microswitch and be able to realize the in-place detection of the handle.
[0060] In addition, the present application also sets up a protection mechanism. When the motor Hall signal or the drive current does not meet the stall condition, but the motor drive duration is greater than or equal to the preset duration threshold, the motor is also controlled to stop operating, which can control the motor to stop rotating in time when the signal deviates or the handle freezes. Among them, the preset duration threshold is set according to the stroke and rotation speed of the motor. As an example, the preset duration threshold can be set to 1500 ms.
[0061] In one embodiment, the access polarities of two motor control terminals are controlled according to the actuation direction, specifically including:
[0062] If the actuation direction is to pop up, control the first motor control terminal to access the positive pole of the power supply, and the second motor control terminal to access the negative pole of the power supply;
[0063] If the actuation direction is to retract, control the first motor control terminal to access the negative pole of the power supply, and the second motor control terminal to access the positive pole of the power supply.
[0064] In the embodiment of the present application, by controlling the power supply polarities accessed by the two motor control terminals to be opposite, the control of the actuation direction of the handle is realized. After each actuation of the motor, the motor control terminal records the power supply polarity of the previous actuation. Therefore, each time a handle actuation request is received, the current power supply polarity needs to be switched. As Figure 2 shown, the recorded previous state of the motor is that the first motor control terminal accesses the negative pole of the power supply, and the second motor control terminal accesses the positive pole of the power supply. After receiving a handle pop-up request, control the first motor control terminal to access the positive pole of the power supply, and the second motor control terminal to access the negative pole of the power supply.
[0065] In one embodiment, the hidden handle control method further includes:
[0066] If neither the motor Hall signal nor the drive current satisfies the stall condition, and the drive duration is less than the preset duration threshold, and a handle actuation request in the opposite direction to the current actuation direction is received, then
[0067] Control the motor drive terminal to cut off the power supply, and switch the access polarities of the two motor control terminals;
[0068] After a preset buffer duration, input a drive voltage to the motor drive terminal;
[0069] If the motor Hall signal or the drive current satisfies the stall condition, or the drive duration is greater than or equal to the preset duration threshold, then control the motor drive terminal to cut off the power supply.
[0070] The embodiment of the present application provides a control method during the process of controlling the motor to rotate in response to a handle actuation request, that is, when neither the motor Hall signal nor the drive current satisfies the stall condition and the drive duration is less than the preset duration threshold, and a handle actuation request in the opposite direction to the current actuation direction is received, that is, receiving a handle retraction request when controlling the handle to pop up, or receiving a handle pop-up request when controlling the handle to retract.
[0071] As an example, such as Figure 3As shown, during the process of the handle popping out, when a handle retraction request is received, first control the power-off of the motor drive end. After power-off, switch the access polarities of the two motor control ends, and then wait for a preset buffer duration before inputting a drive voltage to the motor drive end, thereby controlling the motor to drive the handle to rotate in the reverse direction until the motor Hall signal or drive current meets the stall condition, or the drive duration is greater than or equal to the preset duration threshold, then control the power-off of the motor drive end. Since the motor will continue to rotate under the action of inertia after power-off, a preset buffer duration is set to reduce the motor speed to a small value or make it stationary, and then control the motor to rotate in the reverse direction, thereby avoiding damage to the motor caused by rapid switching of the rotation direction. The preset buffer duration can be set according to the motor speed. For example, the preset buffer duration can be set to 20 ms.
[0072] In one embodiment, inputting a drive voltage to the motor drive end specifically includes:
[0073] Inputting a drive voltage with a set voltage to the motor drive end;
[0074] The stall condition specifically is:
[0075] The pulse width of the motor Hall signal is greater than or equal to the preset stall pulse width, or
[0076] The drive current is greater than or equal to the preset stall current.
[0077] As Figure 2 , 3 shown, in the embodiment of the present application, the drive voltage is a set voltage value and remains unchanged. Since the drive voltage is stable and unchanged, the motor rotates at a constant speed. Therefore, during the process of the handle opening, the pulse width of the motor Hall signal should remain unchanged. When the handle rotates to the limit position, the motor stalls, and the counting of the Hall sensor appears abnormal, such as stopping counting or reverse counting, resulting in an increase in the pulse width of the motor Hall signal. Therefore, it is possible to determine whether the handle has rotated in place by judging whether the pulse width of the motor Hall signal is greater than or equal to the preset stall pulse width. As Figure 2 shown, when the motor rotates at a constant speed under the drive of the set voltage, the pulse width of the motor Hall signal is a, and the preset stall pulse width should be set to a value greater than a.
[0078] In addition, when the motor rotates normally, the motor current changes synchronously with the voltage. When the handle rotates in place and the motor stalls, the motor current will rise suddenly. Therefore, it is also possible to detect the motor drive current. If the motor drive current is greater than or equal to the preset stall current, it is determined that the handle has rotated in place.
[0079] The embodiment of the present application can detect whether the motor stalls through the pulse width of the motor Hall signal and the drive current, thereby determining whether the handle has rotated in place.
[0080] In one embodiment, a driving voltage is input to the motor driving end, specifically:
[0081] Input a driving voltage of a set voltage to the motor driving end until the number of Hall elements of the motor Hall signal is greater than or equal to a preset number of Hall elements;
[0082] Input a driving voltage that linearly decreases at a set slope to the motor driving end, and the maximum voltage of the driving voltage is less than or equal to the set voltage.
[0083] As Figure 4 shown, in the embodiment of the present application, when driving the motor, first input a set voltage to the motor driving end, and at the same time obtain the number of Hall elements of the motor Hall signal. When the number of Hall elements is greater than or equal to the preset number of Hall elements, that is, after the motor rotates a set stroke, control the driving voltage to linearly decrease at a set slope, so as to linearly reduce the rotational speed of the motor, so that when the handle rotates to the limit position, it can collide with the limit structure at a smaller speed, thereby reducing the collision abnormal sound and improving the actuation quality of the handle.
[0084] Specifically, after the driving voltage linearly decreases, the pulse width of the motor Hall signal will gradually increase, and at this time, it is impossible to detect whether the handle rotates in place through the pulse width of the Hall signal. Therefore, the corresponding stall condition is specifically:
[0085] The driving current is greater than or equal to a preset stall current.
[0086] In the embodiment of the present application, it is only judged whether the handle rotates in place by whether the motor driving current is greater than or equal to the preset stall current. At the same time, if the driving duration is greater than or equal to a preset duration threshold, the power supply of the motor driving end is also controlled to cut off, which can control the motor to stop rotating in time when the signal deviates or the handle freezes. It should be noted that since the average rotational speed of the motor in the embodiment of the present application is smaller than the average rotational speed at a stable voltage, the preset duration threshold can be correspondingly increased. For example, the preset duration threshold in the embodiment of the present application can be set to 1500 ms.
[0087] In one embodiment, a driving voltage is input to the motor driving end, specifically:
[0088] Input a driving voltage of a set voltage to the motor driving end until the number of Hall elements of the motor Hall signal is greater than or equal to a preset number of Hall elements;
[0089] Input a PWM voltage to the motor driving end, and the equivalent voltage of the PWM voltage is less than or equal to the set voltage.
[0090] As Figure 5As shown, in the embodiment of the present application, when driving the motor, a set voltage is first input to the motor drive end, and at the same time, the number of Hall signals of the motor is obtained. When the number of Hall signals is greater than or equal to the preset number of Hall signals, that is, after the motor rotates a set stroke, the control drive voltage is converted into a PWM voltage, and the equivalent voltage of the PWM voltage is less than or equal to the set voltage, thereby reducing the speed of the motor, so that when the handle rotates to the limit position, it can collide with the limit structure at a relatively small speed, thereby reducing the collision abnormal noise and improving the actuation quality of the handle.
[0091] Specifically, after the drive voltage is converted into a PWM voltage, the pulse width of the motor Hall signal will gradually increase, and at this time, it is impossible to detect whether the handle rotates in place through the pulse width of the Hall signal. Therefore, the corresponding stall condition is specifically:
[0092] The drive current is greater than or equal to the preset stall current.
[0093] In the embodiment of the present application, it is only judged whether the handle rotates in place by whether the motor drive current is greater than or equal to the preset stall current. At the same time, if the drive duration is greater than or equal to the preset duration threshold, the power supply of the motor drive end is also controlled to be cut off, which can timely control the motor to stop rotating when the signal deviates or the handle freezes. It should be noted that since the average speed of the motor in the embodiment of the present application is smaller than the average speed at the stable voltage, the preset duration threshold can be correspondingly increased. For example, the preset duration threshold in the embodiment of the present application can be set to 1500 ms.
[0094] Figure 6 The flowchart of the hidden handle control method in the first preferred embodiment of the present application is shown, which specifically includes:
[0095] Step S601: In response to a handle actuation request including an actuation direction, control the access polarities of the two motor control ends according to the actuation direction:
[0096] If the actuation direction is to pop up, control the first motor control end to access the positive pole of the power supply, and the second motor control end to access the negative pole of the power supply;
[0097] If the actuation direction is to retract, control the first motor control end to access the negative pole of the power supply, and the second motor control end to access the positive pole of the power supply.
[0098] Step S602: Input a drive voltage of a set voltage to the motor drive end.
[0099] Step S603: If the pulse width of the motor Hall signal is greater than or equal to the preset stall pulse width, or the drive current is greater than or equal to the preset stall current, or the drive duration is greater than or equal to the preset duration threshold, then execute step S604, otherwise execute step S605;
[0100] Step S604: Control the power supply of the motor drive end to be cut off.
[0101] Step S605: If a pull handle actuation request in the opposite direction to the current actuation direction is received, execute Step S606; otherwise, return to Step S603.
[0102] Step S606: Cut off the power supply of the motor drive end, switch the connection polarities of the two motor control ends, and after a preset buffer duration, return to Step S602.
[0103] Figure 7 The flowchart of the hidden pull handle control method in the second preferred embodiment of the present application is shown, specifically including:
[0104] Step S701: In response to a pull handle actuation request including an actuation direction, control the connection polarities of the two motor control ends according to the actuation direction:
[0105] If the actuation direction is to pop up, control the first motor control end to be connected to the positive pole of the power supply and the second motor control end to be connected to the negative pole of the power supply;
[0106] If the actuation direction is to retract, control the first motor control end to be connected to the negative pole of the power supply and the second motor control end to be connected to the positive pole of the power supply.
[0107] Step S702: Input a driving voltage with a set voltage to the motor drive end until the number of Hall elements of the motor Hall signal is greater than or equal to a preset number of Hall elements, and then input a driving voltage that linearly decreases with a set slope to the motor drive end, and the maximum voltage of the driving voltage is less than or equal to the set voltage.
[0108] Step S703: If the driving current is greater than or equal to a preset stall current, or the driving duration is greater than or equal to a preset duration threshold, execute Step S704; otherwise, execute Step S705;
[0109] Step S704: Cut off the power supply of the motor drive end.
[0110] Step S705: If a pull handle actuation request in the opposite direction to the current actuation direction is received, execute Step S706; otherwise, return to Step S703;
[0111] Step S706: Cut off the power supply of the motor drive end, switch the connection polarities of the two motor control ends, and after a preset buffer duration, return to Step S702.
[0112] Figure 8 The flowchart of the hidden pull handle control method in the third preferred embodiment of the present application is shown, specifically including:
[0113] Step S801: In response to a pull handle actuation request including an actuation direction, control the connection polarities of the two motor control ends according to the actuation direction:
[0114] If the actuating direction is to pop up, control the control terminal of the first motor to be connected to the positive pole of the power supply, and the control terminal of the second motor to be connected to the negative pole of the power supply;
[0115] If the actuating direction is to retract, control the control terminal of the first motor to be connected to the negative pole of the power supply, and the control terminal of the second motor to be connected to the positive pole of the power supply.
[0116] Step S802: Input a driving voltage with a set voltage to the motor driving terminal until the number of Hall elements of the motor Hall signal is greater than or equal to a preset number of Hall elements, and then input a PWM voltage to the motor driving terminal, where the equivalent voltage of the PWM voltage is less than or equal to the set voltage.
[0117] Step S803: If the driving current is greater than or equal to a preset stall current, or the driving duration is greater than or equal to a preset duration threshold, then execute Step S804, otherwise execute Step S805;
[0118] Step S804: Control the motor driving terminal to cut off the power.
[0119] Step S805: If a pulling handle actuation request in the direction opposite to the current actuating direction is received, then execute Step S806, otherwise return to Step S803;
[0120] Step S806: Control the motor driving terminal to cut off the power, and switch the connection polarities of the two motor control terminals. After a preset buffer duration, return to Step S802.
[0121] The technical solution of this application also provides a storage medium that stores computer instructions. When a computer executes the computer instructions, it is used to execute the hidden handle control method in any of the foregoing embodiments.
[0122] Figure 9 An electronic device of this application is shown, including:
[0123] At least one processor 901; and,
[0124] A memory 902 communicatively connected to the at least one processor 901; wherein,
[0125] The memory 902 stores instructions executable by the at least one processor 901. The instructions are executed by the at least one processor 901 so that the at least one processor 901 can execute all steps of the hidden handle control method in any of the foregoing method embodiments.
[0126] The electronic device is preferably an in-vehicle electronic control unit (Electronic Control Unit, ECU), and further preferably a microcontroller unit (Microcontroller Unit, MCU) in the in-vehicle electronic control unit.
[0127] Figure 9 Taking a processor 901 as an example:
[0128] The electronic device may further include: an input device 903 and an output device 904.
[0129] The processor 901, the memory 902, the input device 903, and the output device 904 may be connected through a bus or other means. In the figure, the connection through the bus is taken as an example.
[0130] As a non-volatile computer-readable storage medium, the memory 902 can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the hidden handle control method in the embodiments of the present application. For example, Figure 1 or Figures 6 - 8 The method flow shown. The processor 901 executes various functional applications and data processing by running the non-volatile software programs, instructions, and modules stored in the memory 902, that is, implementing the hidden handle control method in the above embodiments.
[0131] The memory 902 may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the hidden handle control method, etc. In addition, the memory 902 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the memory 902 may optionally include a memory remotely set relative to the processor 901, and these remote memories can be connected to the device executing the hidden handle control method through a network. Examples of the above network include but are not limited to the Internet, an enterprise internal network, a local area network, a mobile communication network, and combinations thereof.
[0132] The input device 903 can receive input user clicks and generate signal inputs related to user settings and function controls of the hidden handle control method. The output device 904 may include a display device such as a display screen.
[0133] When the one or more modules are stored in the memory 902 and are run by the one or more processors 901, the hidden handle control method in any of the above method embodiments is executed.
[0134] The above are only the principles and preferred embodiments of the present application. It should be noted that for those of ordinary skill in the art, the embodiments obtained by appropriately combining the technical solutions disclosed in different embodiments are also included within the technical scope of the present invention. Based on the principles of the present application, several other modifications can also be made, which should also be regarded as the protection scope of the present application.
Claims
1. A hidden handle control method, characterized in that: The hidden handle comprises a handle and a limiting structure arranged at both ends of the handle's rotation stroke; The method comprises: In response to a handle actuation request including an actuation direction, the connection polarities of the two motor control terminals are controlled according to the actuation direction; Inputting driving voltage to the motor driving end; If the motor Hall signal or driving current meets the stall condition, or the driving time is greater than or equal to the preset time threshold, the motor driving end is controlled to cut off power.
2. The hidden handle control method according to claim 1, characterized in that: The step of controlling the connection polarities of the two motor control terminals according to the actuation direction specifically includes: If the actuation direction is to spring up, the control end of the first motor is connected to the positive pole of the power supply, and the control end of the second motor is connected to the negative pole of the power supply; If the actuating direction is retraction, the control end of the first motor is controlled to be connected to the negative pole of the power supply, and the control end of the second motor is controlled to be connected to the positive pole of the power supply.
3. The hidden handle control method according to claim 1, characterized in that: Also includes: If the motor Hall signal or drive current does not meet the stall condition, and the drive duration is less than the preset duration threshold, and a handle actuation request in the opposite direction of the current actuation is received, then Controlling the motor drive end to cut off power, and switching the access polarity of the two motor control ends; After the preset buffering time, the driving voltage is input to the motor driving end; If the motor Hall signal or driving current meets the stall condition, or the driving time is greater than or equal to the preset time threshold, the motor driving end is controlled to cut off power.
4. The hidden handle control method according to any one of claims 1 to 3, characterized in that: The inputting of the driving voltage to the motor driving end is specifically: Inputting a set driving voltage to the motor driving end; The stall conditions are specifically: The pulse width of the motor Hall signal is greater than or equal to the preset stall pulse width, or The driving current is greater than or equal to the preset stall current.
5. The hidden handle control method according to any one of claims 1 to 3, characterized in that: The inputting of the driving voltage to the motor driving end is specifically: Input a set voltage to the motor drive end until the number of Hall signals of the motor is greater than or equal to the preset number of Hall signals; A driving voltage that decreases linearly with a set slope is input to the motor driving end, and the maximum voltage of the driving voltage is less than or equal to the set voltage.
6. The hidden handle control method according to claim 5, characterized in that: The stall conditions are specifically: The driving current is greater than or equal to the preset stall current.
7. The hidden handle control method according to any one of claims 1 to 3, characterized in that: The inputting of the driving voltage to the motor driving end is specifically: Input a set voltage to the motor drive end until the number of Hall signals of the motor is greater than or equal to the preset number of Hall signals; A PWM voltage is input to the motor driving end, and the equivalent voltage of the PWM voltage is less than or equal to the set voltage.
8. The hidden handle control method according to claim 7, characterized in that: The stall conditions are specifically: The driving current is greater than or equal to the preset stall current.
9. A storage medium, characterized in that: The storage medium stores computer instructions, and when a computer executes the computer instructions, it is used to execute the hidden handle control method according to any one of claims 1 to 8.
10. An electronic device, characterized in that: comprising at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the hidden handle control method according to any one of claims 1 to 8.