Automobile tailboard motor control method and system, intelligent terminal and storage medium

Abstract

The invention relates to an automobile tailboard motor control method and system, an intelligent terminal and a storage medium, and the method comprises the steps: detecting a trigger starting signal, and electrifying an execution system; if the motor starting signal is received within the preset waiting duration, the motor is controlled to work normally; monitoring temperature data of the motor and a value of current passing through the motor; a temperature detection step and a current detection step are executed, and the temperature detection step comprises the steps of controlling the motor to stop working under the condition that the temperature data is larger than a preset upper limit temperature or smaller than a preset lower limit temperature; the current detection step comprises the steps of controlling the motor to stop working under the condition that the current value is greater than a preset current value; in the state that the motor stops working, whether an action signal is received within preset waiting time or not is judged; if yes, controlling the motor according to a method corresponding to the action signal; and if not, executing system outage. The application has the effect of reducing the probability of motor damage.

Description

Technical Field

[0001] This application relates to the technical field of motor control, and particularly to a method and system for controlling a motor of a vehicle tailgate, an intelligent terminal, and a storage medium. Background Art

[0002] Vehicle tailgates are widely used in the loading and unloading of goods. Among them, the vehicle tailgate is installed at the rear end of the vehicle and the start / stop and working modes of the motor are controlled by a controller. The rotation of the motor controls the hydraulic components, thereby controlling the lifting of the vehicle tailgate to facilitate the loading and unloading of goods.

[0003] In the prior art, the vehicle tailgate is driven by a motor to lean horizontally against the ground, and the goods are placed on the vehicle tailgate. Then, the controller controls the motor to work to drive the vehicle tailgate to rise. When the vehicle tailgate rises to be flush with the rear end of the vehicle, the motor stops working, and then the goods are carried into the vehicle.

[0004] In view of the above related technologies, during the operation of the motor, when the motor is blocked, the rotation speed is too low, the temperature is too high or too low, etc., the motor is still working, which makes the motor prone to damage. Summary of the Invention

[0005] In order to reduce the probability of motor damage, this application provides a method and system for controlling a motor of a vehicle tailgate, an intelligent terminal, and a storage medium.

[0006] In a first aspect, this application provides a method for controlling a motor of a vehicle tailgate, adopting the following technical solution: A method for controlling a motor of a vehicle tailgate includes: Detecting a trigger opening signal and powering on the system; If a motor start signal is received within a preset waiting duration, controlling the motor to work normally; Continuously monitoring the temperature data of the motor and the current value passing through the motor; Performing a temperature detection step and a current detection step. The temperature detection step includes: when the temperature data is greater than a preset upper limit temperature or less than a preset lower limit temperature, controlling the motor to stop working; the current detection step includes: when the current value is greater than a preset current value, controlling the motor to stop working; In the state where the motor stops working, determining whether an action signal is received within a preset waiting time; If so, controlling the motor according to the method corresponding to the action signal; If not, powering off the system.

[0007] By adopting the above technical solution, after the motor works normally, by monitoring the temperature data and current value of the motor, when it is detected that the temperature data is greater than the preset upper limit temperature or less than the preset temperature or the current value is greater than the preset current value, the motor can be controlled to stop working, and after the motor stops working, the motor can be controlled according to the method corresponding to the action signal, thereby reducing the probability of motor damage.

[0008] Optionally, the step of controlling the motor according to the method corresponding to the action signal includes: Pull the historical current value within a preset historical time from the historical record; Calculate the average value of the historical current values to obtain the average current value; Judge whether the average current value is greater than the preset locked-rotor current value; If so, control the motor according to the preset rising control method; If not, judge whether the average current value is greater than the preset current value; If so, perform continuous heat dissipation operation on the motor; After the temperature of the motor drops to the preset working temperature, control the motor to continue working to control the rise of the vehicle tailgate.

[0009] By adopting the above technical solution, by pulling the historical current value and taking the average value of the historical current values, when the average current value is greater than the preset locked-rotor current value, it indicates that the motor is in a locked-rotor situation, and at this time, the motor is controlled according to the preset rising control method; when the average current is less than the preset locked-rotor current value and greater than the preset current value, it indicates that the motor may be in a low-speed state and has a high temperature. At this time, by performing continuous heat dissipation on the motor and then controlling the motor to work normally after the motor temperature reaches the preset working temperature, the probability of motor damage can be reduced.

[0010] Optionally, the step of controlling the motor according to the preset rising control method includes: Detect the rising height of the vehicle tailgate; When the rising height is less than the preset lower limit height, control the vehicle tailgate to perform tilt adjustment through the motor so that the end of the vehicle tailgate close to the vehicle is flush with the vehicle rear end, and the end of the vehicle tailgate far from the vehicle abuts against the ground; Switch the motor to the cable working mode, and the cable working mode is a working mode in which the motor controls the cable to drive the goods to move along the inclined plane of the vehicle tailgate into the vehicle; When the rising height is greater than the preset lower limit height and less than the height of the rear end of the vehicle, disconnect the direct connection between the motor and the power supply, switch the output end of the motor to be connected to the energy storage capacitor bank, and let the vehicle tailgate descend under the action of gravity. The energy storage capacitor bank is used for energy recovery during the descent of the vehicle tailgate. When the vehicle tailgate descends to the preset recovery height, connect the power supply to supply power to the motor, and supply power in parallel through the power supply and the energy storage capacitor bank to control the operation of the motor.

[0011] By adopting the above technical solution, when the rising height is less than the preset height, that is, when the motor cannot control the vehicle tailgate to rise to the height of the rear end of the vehicle, the vehicle tailgate is controlled to tilt, and the goods are pulled into the vehicle through the cable to complete the loading of the goods. When the rising height of the vehicle tailgate is greater than the preset lower limit height and less than the height of the rear end of the vehicle, that is, there may be a situation of excessive load and insufficient power supply, the vehicle tailgate descends to charge the energy storage capacitor bank, and then the power supply and the energy storage capacitor bank supply power in parallel to control the vehicle tailgate to rise to lift the goods to the height of the rear end of the vehicle, so as to realize the loading of the goods.

[0012] Optionally, when the rising height is greater than the preset lower limit height and less than the height of the rear end of the vehicle, identify the shape of the goods. When the shape of the goods is the preset shape, judge whether the center of gravity height of the goods is greater than the height from the vehicle tailgate to the rear end of the vehicle. If so, control the vehicle tailgate to rotate towards the rear end of the vehicle through the motor.

[0013] By adopting the above technical solution, when the rising height of the vehicle tailgate is greater than the preset lower limit height and less than the height of the rear end of the vehicle, when the shape of the goods is the preset shape and the center of gravity height of the goods is greater than the height from the rear end of the vehicle to the rear end of the vehicle, the vehicle tailgate can be controlled to rotate through the motor so that the goods can enter the vehicle to complete the loading of the goods.

[0014] Optionally, detect whether there is a part of the goods located on the vehicle tailgate that exceeds the vehicle tailgate on the side towards the rear end of the vehicle. If so, control the vehicle tailgate to descend by a preset descending height through the motor. Control the side of the vehicle tailgate away from the rear end of the vehicle to rotate downward to a preset rotation angle through the motor, so that the goods move towards the side away from the rear end of the vehicle. When it is detected that there is no part of the goods that exceeds the vehicle tailgate on the side towards the rear end of the vehicle, control the vehicle tailgate to rotate to a horizontal state through the motor. Control the tailgate of the vehicle to rise to a position flush with the rear end of the vehicle through the motor.

[0015] By adopting the above technical solution, when the rising height of the tailgate of the vehicle is greater than the preset lower limit height and less than the height of the rear end of the vehicle, there may be a part of the goods that exceeds the tailgate of the vehicle, so that during the rising process of the tailgate of the vehicle, the goods are stuck with the rear end of the vehicle. Based on this situation, by rotating the tailgate of the vehicle, the goods slide in a direction away from the rear end of the vehicle, so that the goods will not be stuck with the rear end of the vehicle during the rising process. Finally, control the tailgate of the vehicle to rise to load the goods.

[0016] Optionally, when the temperature data of the motor is less than the preset lower limit temperature, execute the stall step, and the stall step includes: controlling the motor to enter the stall state for a preset stall duration, and the stall state is to stop the rotation of the motor under the condition of power on; Execute the release step, and the release step includes: controlling the motor to stop and exit the stall state, and waiting for a preset release duration; Repeat and alternate the execution of the stall step and the release step; During the execution of the stall step and the release step, continuously monitor the temperature data of the motor; When the temperature data of the motor is greater than the preset lower limit temperature for normal operation, control the motor to operate normally.

[0017] By adopting the above technical solution, when the temperature of the motor is lower than the preset lower limit temperature, by repeating and alternating the execution of the stall step and the release step, the temperature of the motor rises until it reaches the preset lower limit temperature for normal operation, so as to solve the situation that the motor stops working at low temperature.

[0018] Optionally, in the case of an accidental power failure of the system and when the system is powered on again, pull the working state information of the motor and the state position information of the tailgate of the vehicle within a preset recovery time before the system power failure from the historical record; Obtain the time interval from the current time to the preset recovery time; Judge whether the time interval is within the preset time interval; If so, control the motor to work according to the working state information and the state position information.

[0019] By adopting the above technical solution, in the case of an accidental power failure of the system, when the system is powered on again within the preset time interval, it is possible to continue to execute the steps that have not been completed before the system power failure, so that there is no need to re-enter the action signal.

[0020] In a second aspect, the present application provides a motor control system for a motor vehicle tailgate, adopting the following technical solution: A motor control system for a motor vehicle tailgate, comprising: An acquisition module, configured to acquire: a trigger opening signal, a motor start signal, temperature data, current values, action signals, historical records, rising height, and shape; A memory, configured to store a program of the motor control method for the motor vehicle tailgate; A processor, and the program in the memory can be loaded and executed by the processor to implement the motor control method for the motor vehicle tailgate.

[0021] By adopting the above technical solution, after the motor works normally, by monitoring the temperature data and current values of the motor, when it is monitored that the temperature data is greater than the preset upper limit temperature or less than the preset temperature or when it is monitored that the current value is greater than the preset current value, the motor can be controlled to stop working, and after the motor stops working, the motor can be controlled according to the method corresponding to the action signal, thereby reducing the probability of motor damage.

[0022] In a third aspect, the present application provides an intelligent terminal, adopting the following technical solution: An intelligent terminal, comprising a memory and a processor, and a computer program capable of being loaded and executed by the processor is stored on the memory and implements any of the above methods.

[0023] In a fourth aspect, the present application provides a computer storage medium, which can store a corresponding program and has the characteristic of facilitating the reduction of the probability of motor damage, adopting the following technical solution: A computer-readable storage medium stores a computer program capable of being loaded and executed by the processor to implement any of the above motor control methods for the motor vehicle tailgate.

[0024] By adopting the above technical solution, after the motor works normally, by monitoring the temperature data and current values of the motor, when it is monitored that the temperature data is greater than the preset upper limit temperature or less than the preset temperature or when it is monitored that the current value is greater than the preset current value, the motor can be controlled to stop working, and after the motor stops working, the motor can be controlled according to the method corresponding to the action signal, thereby reducing the probability of motor damage.

[0025] In summary, the present application includes at least one of the following beneficial technical effects: After the motor works normally, by monitoring the temperature data and current values of the motor, when it is monitored that the temperature data is greater than the preset upper limit temperature or less than the preset temperature or when it is monitored that the current value is greater than the preset current value, the motor can be controlled to stop working, and after the motor stops working, the motor can be controlled according to the method corresponding to the action signal, thereby reducing the probability of motor damage; When the rising height of the vehicle tailgate is greater than the preset lower limit height and less than the height of the vehicle rear end, and when the shape of the cargo is the preset shape and the center of gravity height of the cargo is greater than the height from the vehicle rear end to the vehicle rear end, the vehicle tailgate can be controlled by a motor to rotate so that the cargo can enter the vehicle to complete the loading of the cargo. When the rising height of the vehicle tailgate is greater than the preset lower limit height and less than the height of the vehicle rear end, there may be a part of the cargo that extends beyond the vehicle tailgate, causing the cargo to get stuck with the vehicle rear end during the rising process of the vehicle tailgate. Based on this situation, by rotating the vehicle tailgate, the cargo is made to slide in a direction away from the vehicle rear end, so that the cargo will not get stuck with the vehicle rear end during the rising process. Finally, the vehicle tailgate is controlled to rise to load the cargo. Description of the Drawings

[0026] Figure 1 It is a schematic flowchart of a method for controlling a vehicle tailgate motor provided by an embodiment of the present application.

[0027] Figure 2 It is a schematic flowchart of the steps of controlling the motor according to the method corresponding to the action signal provided by an embodiment of the present application.

[0028] Figure 3 It is a schematic flowchart of the steps of controlling the motor according to the preset rising control method provided by an embodiment of the present application.

[0029] Figure 4 It is a schematic flowchart of a method for controlling the flipping of a vehicle tailgate provided by an embodiment of the present application Figure 5 It is a schematic flowchart of an anti-sticking control method provided by an embodiment of the present application Figure 6 It is a schematic flowchart of a method for heating a motor provided by an embodiment of the present application Figure 7 It is a schematic flowchart of a method for controlling the resumption after shutdown provided by an embodiment of the present application Detailed Embodiments

[0030] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the following further elaborates on the present application in conjunction with the attached Figure 1-7 drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0031] An embodiment of the present application discloses a method for controlling a vehicle tailgate motor. Referring to Figure 1 , the method for controlling a vehicle tailgate motor includes: Step S101: Detect the trigger opening signal and execute system power-on.

[0032] The system power-on in this step refers to powering the motor control system of the vehicle tailgate to control the motor.

[0033] The motor control system of the vehicle tailgate includes a power supply, a motor, a hydraulic component, a controller, an energy storage capacitor bank, and a cable.

[0034] The trigger start signal is a digital / analog electrical signal triggered by the controller and is used to start the motor control system of the vehicle tailgate.

[0035] Step S102: If a motor start signal is received within the preset waiting duration, control the motor to work normally.

[0036] In another aspect, if a motor start signal is not received within the preset waiting duration, perform system power-off.

[0037] The preset waiting duration is a preset constant and can be adjusted according to actual needs.

[0038] Exemplarily, within the preset waiting duration, the controller triggers a motor start signal, and the motor control system of the vehicle tailgate receives the motor start signal, thereby controlling the motor to start and work normally. In another aspect, if the operator does not perform any control on the controller within the preset duration, that is, the motor control system of the vehicle tailgate does not receive a motor start signal. Based on this situation, after waiting for the preset waiting duration to arrive, perform system power-off. Among them, the preset waiting duration can be set to 10 seconds.

[0039] Step S103: Monitor the temperature data of the motor and the current value passing through the motor.

[0040] The temperature data is the temperature of the motor and is obtained by a temperature sensor arranged on the motor heat sink.

[0041] The current value can be obtained by an ammeter connected in series with the motor.

[0042] Exemplarily, the temperature data and the current value can be recorded every 4 seconds.

[0043] Step S104: Perform a temperature detection step and a current detection step. The temperature detection step includes: when the temperature data is greater than the preset upper limit temperature or less than the preset lower limit temperature, control the motor to stop working; the current detection step includes: when the current value is greater than the preset current value, control the motor to stop working.

[0044] The preset upper limit temperature is a preset constant, related to the temperature of the motor during operation, and can be adjusted according to the actual situation. The preset lower limit temperature is a preset constant, related to the temperature of the motor during operation, and can be adjusted according to the actual situation.

[0045] The preset current value is a preset constant, which is related to the current passing through the motor during operation and can be adjusted according to the actual situation.

[0046] Exemplarily, when the motor is in a long-term high-load working state, the temperature of the motor rises and exceeds the preset upper limit temperature. For example, when the temperature of the heat sink of the motor is greater than 90 °C, the motor is controlled to stop working; when the motor is in a low-temperature environment, such as when the temperature is less than -40 °C, the motor is controlled to stop working. When the motor rotates slowly or is blocked, the current passing through the motor increases and exceeds the preset current value, and the motor is controlled to stop working.

[0047] Step S105: In the state where the motor stops working, determine whether an action signal is received within a preset waiting time.

[0048] The preset waiting time is a preset constant and can be adjusted according to actual requirements.

[0049] The action signal is a digital / analog electrical signal triggered by the controller.

[0050] Exemplarily, when the goods are placed on the tailgate of the vehicle and the motor cannot lift the tailgate of the vehicle during operation, at this time, the motor is in a blocked state, and it is monitored that the current passing through the motor is greater than the preset current value, and then the motor is controlled to stop working. Based on this situation, the operator can control the motor by executing the corresponding method through the controller. At this time, the signal generated by the controller is the action signal.

[0051] Step S106: If so, control the motor according to the method corresponding to the action signal.

[0052] If so, it means that an action signal is received, so the motor is controlled according to the method corresponding to the action signal. Exemplarily, if the motor is blocked, the corresponding action signal can be triggered through the controller, and the tailgate motor control system of the vehicle can control the motor according to this action signal, and reference can be made to Figure 2 the steps of the embodiment. Exemplarily, if the goods are stuck with the rear end of the vehicle during the rising process of the tailgate, the corresponding action signal can be triggered through the controller, and the tailgate motor control system of the vehicle can control the motor according to this action signal, and reference can be made to Figure 5 the steps of the embodiment.

[0053] Step S107: If not, perform system power-off.

[0054] If not, it means that no action signal is received, so the system is powered off to prevent the motor from being damaged.

[0055] By adopting the above technical solution, after the motor works normally, by monitoring the temperature data and current value of the motor, when it is detected that the temperature data is greater than the preset upper limit temperature or less than the preset temperature or the detected current value is greater than the preset current value, the motor can be controlled to stop working, and after the motor stops working, the motor can be controlled according to the method corresponding to the action signal, so as to reduce the probability of motor damage.

[0056] Refer to Figure 2 , the steps of controlling the motor according to the method corresponding to the action signal include: Step S201: Pull the historical current value within the preset historical time from the historical record.

[0057] The historical record refers to the historical data stored in the system in the past period of time. The historical data includes the historical current value and is usually saved in the form of a time series.

[0058] The preset historical time is a preset constant, representing a past period of time, which can be adjusted according to actual needs.

[0059] The historical current value is the current value recorded at fixed time intervals within the historical time.

[0060] Exemplarily, in the state where the motor stops working, pull all the current values within 0.5 seconds to 2.5 seconds before the motor stops working from the historical record, and record the current values at an interval of 0.2 seconds to obtain 10 historical current values. Among them, the preset historical time can be the time period from 0.5 seconds to 2.5 seconds before the motor stops working.

[0061] Step S202: Calculate the average value of the historical current values to obtain the average current value.

[0062] The average current value is the average value of the historical current values within the preset historical time.

[0063] Exemplarily, by taking the average value of 10 historical current values, the average current value is obtained.

[0064] Step S203: Judge whether the average current value is greater than the preset locked-rotor current value.

[0065] The preset locked-rotor current value is a preset constant, related to the current of the motor during locked-rotor, and can be adjusted according to the actual situation.

[0066] By comparing the average current value with the preset locked-rotor current value, if the average current value is greater than the preset locked-rotor current value, step S204 is executed; if the average current value is not greater than the preset locked-rotor current value, step S205 is executed.

[0067] Step S204: If so, control the motor according to the preset rising control method.

[0068] If so, it indicates that the motor is in a locked-rotor situation. Therefore, the motor is controlled according to the preset rising control method, and then the vehicle tailgate is controlled. The specific steps can refer to Figure 3 the steps in the embodiment.

[0069] Step S205: If not, determine whether the average current value is greater than the preset current value.

[0070] If not, it means that the current passing through the motor is not greater than the preset locked-rotor current, that is, the motor is not in a locked-rotor state. Therefore, by comparing the average current value with the preset current value, if the average current value is greater than the preset current value, then step S206 is executed.

[0071] Step S206: If so, perform continuous heat dissipation operation on the motor.

[0072] In another aspect, when the average current value is not greater than the preset current value, restart the motor.

[0073] Among them, when the average current value is greater than the preset current value, it means that the current passing through the motor is relatively large, and the motor may be in a low-speed state. Among them, when the motor works at a high load for a long time, the load torque increases, resulting in a decrease in the motor speed. According to the motor characteristic curve, the decrease in speed will cause the back electromotive force to decrease, thereby causing the winding current to increase. The continuous increase in current will cause the temperature of the motor to rise. Therefore, the motor can be continuously cooled by an external heat dissipation device. The heat dissipation device can be a cooling fan.

[0074] Step S207: After the temperature of the motor drops to the preset operating temperature, control the motor to continue working to control the vehicle tailgate to rise.

[0075] The preset operating temperature is a preset constant, which is related to the temperature when the motor works normally and can be adjusted according to the actual situation. When the motor is at the preset operating temperature, the motor can work normally.

[0076] When continuous heat dissipation is performed on the motor, the temperature of the motor drops to the preset operating temperature, and then the motor is controlled to continue working, so as to control the vehicle tailgate to rise to lift the goods.

[0077] By adopting the above technical solution, by pulling the historical current value and taking the average value of the historical current value, when the average current value is greater than the preset locked-rotor current value, it indicates that the motor is in a locked-rotor situation. At this time, the motor is controlled according to the preset rising control method; when the average current value is less than the preset locked-rotor current value and greater than the preset current value, it indicates that the motor may be in a low-speed state and the temperature is relatively high. At this time, the motor is continuously cooled, and after the motor temperature reaches the preset operating temperature, the motor is controlled to operate normally, which can reduce the probability of motor damage.

[0078] Refer to Figure 3 , the steps of controlling the motor according to the preset rising control method include: Step S301: Detect the rising height of the vehicle tailgate.

[0079] The rising height is the height of the vehicle tailgate from the ground. The rising height is obtained by a displacement sensor set on the vehicle tailgate.

[0080] Step S302: When the rising height is less than the preset lower limit height, the vehicle tailgate is tilted and adjusted by the motor so that the end of the vehicle tailgate close to the vehicle is flush with the vehicle rear end, and the end of the vehicle tailgate away from the vehicle abuts against the ground.

[0081] The preset lower limit height is a preset constant, related to the distance of the vehicle tailgate from the ground, and can be adjusted according to the actual situation.

[0082] Exemplarily, the preset lower limit height can be set to 0.1 meter. When the motor controls the vehicle tailgate to rise, if the rising height of the vehicle tailgate is less than 0.1 meter and the average current value of the motor is greater than the preset locked-rotor current value, it indicates that the motor is in a locked-rotor situation, that is, the cargo quality is too large, resulting in the motor being unable to control the vehicle tailgate to rise. If the motor continues to control the vehicle tailgate to rise, the motor may be damaged. Therefore, the hydraulic component is controlled by the motor, and then the vehicle tailgate is tilted and adjusted so that the side of the vehicle tailgate facing the vehicle rear end is flush with the vehicle rear end, and the side of the vehicle tailgate away from the vehicle rear end abuts against the ground.

[0083] Step S303: Switch the motor to the cable working mode. The cable working mode is a working mode in which the motor controls the cable to drive the cargo to move along the inclined plane of the vehicle tailgate into the vehicle.

[0084] The cable working mode is a working mode in which the motor controls the cable, and the cable drives the cargo to move along the inclined plane of the vehicle tailgate into the vehicle. Exemplarily, the output shaft end of the motor no longer controls the hydraulic component to control the vehicle tailgate, but controls the cable. The other end of the cable is fixed to the cargo, and the motor drives to control the cable to pull the cargo into the vehicle.

[0085] Step S304: When the rising height is greater than the preset lower limit height and less than the height of the rear end of the vehicle, disconnect the direct connection between the motor and the power supply, and switch the output end of the motor to be connected to the energy storage capacitor bank, so that the vehicle tailgate descends under the action of gravity. The energy storage capacitor bank is used to recover energy during the descent of the vehicle tailgate.

[0086] The energy storage capacitor bank is an energy storage module composed of high-capacity and fast-charging / discharging supercapacitors, and is used for instantaneously storing and releasing electric energy.

[0087] Among them, when the rising height of the vehicle tailgate is greater than the preset lower limit height and less than the height of the rear end of the vehicle, it indicates that the motor may not be able to lift the vehicle tailgate to be flush with the rear end of the vehicle due to excessive load or insufficient power supply when controlling the rise of the vehicle tailgate. Therefore, disconnect the direct connection between the motor and the power supply, and then switch the output shaft end of the motor to be connected to the energy storage capacitor bank. The vehicle tailgate descends under the action of gravity, and during the descent process, it can drive the rotor of the motor to rotate, thereby generating a back electromotive force to charge the energy storage capacitor bank, so as to realize energy recovery during the descent of the vehicle tailgate.

[0088] Step S305: When the vehicle tailgate descends to the preset recovery height, turn on the power supply to supply power to the motor, and control the motor to work by parallel power supply of the power supply and the energy storage capacitor bank.

[0089] The preset recovery height is a preset constant, which is related to the descending height of the vehicle tailgate and can be adjusted according to actual needs. When the goods are heavy and the height of the vehicle tailgate from the ground is high, the value of the preset recovery height can be increased, so that the energy storage capacitor bank can be charged with more electricity.

[0090] Exemplarily, when the vehicle tailgate descends to the preset recovery height, at this time, the energy storage capacitor bank has been charged, and then the power supply and the energy storage capacitor bank are used for parallel power supply to control the motor to work, so that the power of the motor is increased to control the vehicle tailgate to rise to a position flush with the rear end of the vehicle.

[0091] On the other hand, during the process of unloading goods from the vehicle, the preset recovery height can be set to 90% of the distance from the rear end of the vehicle to the ground. So that the goods can charge the energy storage capacitor bank during the descent process, and the vehicle tailgate can be powered by the energy storage capacitor bank alone during the ascent process.

[0092] By adopting the above technical solution, when the rising height is less than the preset height, that is, when the motor cannot control the vehicle tailgate to rise to the height of the vehicle rear end, the vehicle tailgate is controlled to tilt, and the goods are pulled into the vehicle through the cable to complete the loading of the goods. When the rising height of the vehicle tailgate is greater than the preset lower limit height and less than the height of the vehicle rear end, that is, there may be a situation of excessive load and insufficient power supply, the vehicle tailgate is lowered to charge the energy storage capacitor bank, and then the power supply and the energy storage capacitor bank are connected in parallel to supply power to control the vehicle tailgate to rise, so as to lift the goods to the height of the vehicle rear end, thereby realizing the loading of the goods.

[0093] In the following embodiments, when the rising height of the vehicle tailgate is greater than the preset lower limit height and less than the height of the vehicle rear end, the vehicle tailgate can also be flipped according to the shape of the goods, so that the goods enter the vehicle. The embodiment of the present application provides a method for controlling the flipping of a vehicle tailgate. Refer to Figure 4 , this method includes: Step S401: When the rising height is greater than the preset lower limit height and less than the height of the vehicle rear end, identify the shape of the goods.

[0094] When the rising height is greater than the preset lower limit height and less than the height of the vehicle rear end, it indicates that the motor may not be able to lift the vehicle tailgate to the same level as the vehicle rear end due to excessive load or insufficient power supply when controlling the vehicle tailgate to rise. Based on this situation, the shape of the goods can be identified and corresponding operations can be performed according to the shape of the goods.

[0095] Step S402: When the shape of the goods is the preset shape, judge whether the center of gravity height of the goods is greater than the height from the vehicle tailgate to the vehicle rear end.

[0096] The preset shape means that the shape of the goods is arc-shaped on the side facing the vehicle rear end. In this embodiment, the preset shape is preferably cylindrical or approximately cylindrical.

[0097] Exemplarily, when the shape of the goods is cylindrical, the center of gravity point of the goods is located on the central axis of the goods, and the center of gravity height of the goods is the distance from the central axis of the goods to the vehicle tailgate. By comparing the center of gravity height of the goods with the height from the vehicle tailgate to the vehicle rear end, when the center of gravity height of the goods is greater than the height from the vehicle tailgate to the vehicle rear end, step S403 is executed.

[0098] On the other hand, when the shape of the goods is not the preset shape, the vehicle tailgate is controlled according to step S304 and step S305 to lift the goods.

[0099] Step S403: If so, control the vehicle tailgate to rotate towards the vehicle rear end through the motor.

[0100] In another aspect, when the height of the center of gravity of the goods is not greater than the height from the vehicle tailgate to the vehicle rear end, the vehicle tailgate is controlled according to steps S304 and S305 to lift the goods.

[0101] If so, it means that the height of the center of gravity of the goods is greater than the height from the vehicle tailgate to the vehicle rear end. In this case, the hydraulic component is controlled by the motor to further control the vehicle tailgate to rotate towards the vehicle rear end direction, so that the goods can roll into the vehicle during the rotation of the vehicle tailgate.

[0102] By adopting the above technical solution, when the rising height of the vehicle tailgate is greater than the preset lower limit height and less than the vehicle rear end height, and when the shape of the goods is the preset shape and the height of the center of gravity of the goods is greater than the height from the vehicle tailgate to the vehicle rear end, the vehicle tailgate can be controlled by the motor to rotate, so that the goods can enter the vehicle to complete the loading of the goods.

[0103] In the following embodiments, when the rising height of the vehicle tailgate is greater than the preset lower limit height and less than the vehicle rear end height, the motor cannot control the vehicle tailgate to continue rising. There may be a situation where the goods are stuck between the vehicle tailgate and the vehicle rear end, making the vehicle tailgate unable to continue rising. To solve this problem, the embodiment of the present application provides an anti-sticking control method. Refer to Figure 5 , the method includes: Step S501: Detect whether there is a part of the goods located on the vehicle tailgate that exceeds the vehicle tailgate on the side facing the vehicle rear end.

[0104] Exemplarily, a camera is provided on the lower side of the vehicle rear end, and it can detect whether there is a part of the goods that exceeds the vehicle tailgate through the camera. If there is a part of the goods that exceeds the vehicle tailgate on the side facing the vehicle rear end, then step S502 is executed.

[0105] Step S502: If so, control the vehicle tailgate to descend by a preset descending height through the motor.

[0106] In another aspect, if there is no part of the goods that exceeds the vehicle tailgate on the side facing the vehicle, the vehicle tailgate is controlled according to steps S304 and S305 to lift the goods.

[0107] The preset descending height is a preset constant and can be adjusted according to the actual situation. The vehicle tailgate is controlled by the motor to descend by the preset descending height, so that in the subsequent steps, when the vehicle tailgate rotates, the part of the goods that exceeds the vehicle tailgate will not interfere with the vehicle rear end.

[0108] Step S503: Control the side of the vehicle tailgate away from the vehicle rear end to rotate downward to a preset rotation angle through the motor, so that the goods move towards the side away from the vehicle rear end.

[0109] The preset rotation angle is a preset constant and can be adjusted according to actual requirements. When the vehicle tailgate rotates to the preset rotation angle, the goods can slide along the vehicle tailgate under the action of gravity towards the side away from the vehicle rear end, so that the part of the goods facing the vehicle rear end and exceeding the vehicle tailgate retracts.

[0110] Step S504: When it is detected that there is no part of the goods exceeding the vehicle tailgate on the side facing the vehicle rear end, control the vehicle tailgate to rotate to the horizontal state through the motor.

[0111] Exemplarily, when the camera under the vehicle rear end cannot detect the goods, it means that there is no part of the goods exceeding the vehicle tailgate on the side facing the vehicle rear end. At this time, control the vehicle tailgate to rotate through the motor so that the vehicle tailgate remains in the horizontal state.

[0112] Step S505: Control the vehicle tailgate to rise to a position flush with the height of the vehicle rear end through the motor.

[0113] Exemplarily, when the vehicle tailgate is in the horizontal state, there is no longer a situation where the goods are located under the vehicle rear end. The vehicle tailgate will not get stuck with the vehicle rear end during the rising process. Therefore, control the vehicle tailgate to rise to a position flush with the height of the vehicle rear end to load the goods.

[0114] By adopting the above technical solution, when the rising height of the vehicle tailgate is greater than the preset lower limit height and less than the height of the vehicle rear end, there may be a part of the goods exceeding the vehicle tailgate, so that during the rising process of the vehicle tailgate, the goods get stuck with the vehicle rear end. Based on this situation, by rotating the vehicle tailgate, the goods slide in the direction away from the vehicle rear end, so that the goods will not get stuck with the vehicle rear end during the rising process. Finally, control the vehicle tailgate to rise to load the goods.

[0115] In the following embodiments, in the case of low ambient temperature, the motor may not work properly, thus unable to control the vehicle tailgate to rise. To solve this problem, the embodiment of the present application provides a motor heating method. Refer to Figure 6 , this method includes: Step S601: In the case where the temperature data of the motor is less than the preset lower limit temperature, execute the stall step. The stall step includes: controlling the motor to enter the stall state for a preset stall duration. The stall state is to stop the rotation of the motor under the condition of being powered on.

[0116] The preset stall duration is a preset constant, related to the stall duration of the motor, and can be adjusted according to actual requirements. For example, in the case of lower than -40°C, the preset stall duration can be set to 3 seconds, and in the case of lower than -20°C, the preset stall duration can be set to 1.5 seconds.

[0117] When the temperature data of the motor is less than the preset lower limit temperature, in this embodiment, the preset lower limit temperature can be -40°C. Based on this situation, the stall step is executed. Exemplarily, by supplying power to the motor and locking the rotation of the motor through a stall device, the motor is kept stationary under the energized condition for a preset stall duration, and the motor is heated by the heat generated when the current passes through the motor winding, thereby increasing the temperature of the motor. Among them, the stall device can be an electromagnetic brake or a mechanical caliper or other devices that can lock the motor shaft.

[0118] Step S602: Execute the release step, and the release step includes: controlling the motor to stop and exit the stall state, and waiting for a preset release duration.

[0119] Waiting for the preset release duration is a preset constant, which is related to the time when the motor stops working and can be adjusted according to actual needs.

[0120] Among them, in order to prevent the motor rotor from overheating and damaging the motor due to excessive current, after the motor enters the stall state and reaches the preset stall duration, the release step needs to be executed, that is, by controlling the motor to stop and exit the stall state, and waiting for the preset release duration, so that the motor can cool down.

[0121] Step S603: Repeatedly and alternately execute the stall step and the release step.

[0122] Repeatedly execute Step S601 and Step S602 so that the temperature of the motor can rise.

[0123] Step S604: Continuously monitor the temperature data of the motor during the execution of the stall step and the release step.

[0124] During the execution of Step S601 and Step S602, continuously monitoring the temperature data of the motor can determine when to end the execution of the stall step according to the temperature data of the motor.

[0125] Step S605: When the temperature data of the motor is greater than the preset lower limit temperature for normal operation, control the motor to operate normally.

[0126] The preset lower limit temperature for normal operation is a preset constant, which is related to the temperature of the motor during normal operation and can be adjusted according to actual needs. Among them, the preset lower limit temperature for normal operation is not less than the preset lower limit temperature.

[0127] After executing Step S601 to Step S604, and when the temperature of the motor is greater than the preset lower limit temperature for normal operation, control the motor to operate normally. Exemplarily, the preset lower limit temperature for normal operation can be set to -10°C.

[0128] By adopting the above technical solution, when the temperature of the motor is lower than the preset lower limit temperature, by repeatedly and alternately executing the stall step and the release step, the temperature of the motor is increased until it reaches the preset lower limit temperature of normal operation, so as to control the motor to operate normally and solve the problem that the motor stops working at low temperature.

[0129] In the following embodiments, during the normal operation of the motor, the motor control system of the vehicle tailgate may experience an unexpected power outage, and the steps in the foregoing embodiments have not been fully executed yet when the power outage occurs. To solve this problem, the embodiments of the present application provide a shutdown recovery control method. Referring to Figure 7 , the method includes: Step S701: When the system experiences an unexpected power outage and the system is powered on again, pull the working state information of the motor and the state position information of the vehicle tailgate within a preset recovery time before the system power outage from the historical record.

[0130] The historical record refers to the historical data stored in the system in the past period of time, and the historical data also includes the working state information of the motor and the state position information of the vehicle tailgate.

[0131] The preset recovery time is a preset constant, which is related to a period of time before the system unexpected power outage and can be adjusted according to actual needs.

[0132] The working state information includes data such as the temperature data of the motor, the current value passing through the motor, and the rotation speed of the motor. The state position information includes the lifting height data of the vehicle tailgate and the rotation angle data of the vehicle tailgate.

[0133] Exemplarily, during the execution of step S505, the system experiences an unexpected power outage, and after a period of time, the system is powered on again. After the power-on, the working state information of the motor and the state position information of the vehicle tailgate within a preset recovery time before the system power outage are pulled from the historical record.

[0134] Step S702: Obtain the time interval from the current time to the preset recovery time.

[0135] The time interval is the time period from the current time to the preset recovery time. Exemplarily, the time of the system unexpected power outage is A1, the preset recovery time is a1, and the time of the system power-on again is A2, that is, the current time is also A2. Therefore, the time interval is A2 - A1.

[0136] Step S703: Determine whether the time interval is within a preset time interval.

[0137] The preset time interval is a preset constant and can be adjusted according to the actual situation.

[0138] By comparing the time interval with a preset time interval, when the time interval is less than the preset time interval, step S704 is executed. Exemplarily, the preset time interval is a2. If A2 - A1 < a2, then step S704 is executed.

[0139] Step S704: If so, control the motor to work according to the working state information and the state position information.

[0140] In another aspect, if the time interval is not within the preset time interval, the default states of the motor and the vehicle tailgate are restored.

[0141] If so, it means that the time interval is within the preset time interval. Therefore, after the system is powered on again, the motor is controlled to work according to the working state information and the position information. Exemplarily, during the execution of step S505, the system suddenly loses power. Before the system suddenly loses power, the working state information of the motor is the normal working state, the state position information of the vehicle tailgate is the horizontal state, and the lifting height data is 70% of the distance from the vehicle tail end to the ground. After a time interval, when the system is powered on again, the step of controlling the vehicle tailgate to rise to a position flush with the vehicle tail end height by the motor is continued.

[0142] By adopting the above technical solution, when the system suddenly loses power and the system is powered on again within the preset time interval, the steps that have not been completed before the system power-off can be continued to be executed, so that there is no need to re-enter the action signal.

[0143] Based on the same inventive concept, an embodiment of the present application provides a vehicle tailgate motor control system, including: An acquisition module, configured to acquire: a trigger-on signal, a motor start signal, temperature data, a current value, an action signal, a historical record, a historical current value, a rising height, a shape, working state information, and state position information; A memory, configured to store a program of the vehicle tailgate motor control method; A processor, the program in the memory can be loaded and executed by the processor and implement the vehicle tailgate motor control method of any one of the above.

[0144] By adopting the above technical solution, by monitoring the temperature data and the current value of the motor, when it is monitored that the temperature data is greater than the preset upper limit temperature or less than the preset temperature or it is monitored that the current value is greater than the preset current value, the motor can be controlled to stop working, and after the motor stops working, the motor can be controlled according to the method corresponding to the action signal, thereby reducing the probability of motor damage.

[0145] Those skilled in the art can clearly understand that for the convenience and brevity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be allocated to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-described systems, devices, and units can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0146] An embodiment of the present application provides a computer-readable storage medium storing a computer program that can be loaded and executed by a processor to implement a motor control method for a vehicle tailgate.

[0147] Computer storage media include, for example, various media that can store program codes such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs.

[0148] Based on the same inventive concept, an embodiment of the present application provides an intelligent terminal including a memory and a processor, where the memory stores a computer program that can be loaded and executed by the processor to implement a motor control method for a vehicle tailgate.

[0149] Those skilled in the art can clearly understand that for the convenience and brevity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be allocated to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-described systems, devices, and units can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0150] The above are all preferred embodiments of the present application. Without limiting the protection scope of the present application accordingly, any feature disclosed in this specification (including the abstract and drawings), unless specifically described, can be replaced by other equivalent or features with similar purposes. That is, unless specifically described, each feature is only an example of a series of equivalent or similar features.

Claims

1. A method for controlling a motor of a vehicle tailgate, characterized in that Including: Upon detecting the trigger-on signal, power on the system. If a motor start signal is received within a preset waiting duration, control the motor to operate normally. Monitor the temperature data of the motor and the current value passing through the motor. Execute the temperature detection step and the current detection step. The temperature detection step includes: when the temperature data is greater than a preset upper limit temperature or less than a preset lower limit temperature, control the motor to stop working. The current detection step includes: when the current value is greater than a preset current value, control the motor to stop working. In the state where the motor has stopped working, determine whether an action signal is received within a preset waiting time. If so, control the motor according to the method corresponding to the action signal. If not, power off the system.

2. The motor control method of a vehicle tailgate according to claim 1, wherein The step of controlling the motor according to the method corresponding to the action signal includes: Retrieve historical current values within a preset historical time from the historical record. Calculate the average value of the historical current values to obtain an average current value. Determine whether the average current value is greater than a preset locked-rotor current value. If so, control the motor according to a preset rising control method. If not, determine whether the average current value is greater than the preset current value. If so, perform a continuous heat dissipation operation on the motor. After the temperature of the motor drops to a preset operating temperature, control the motor to continue working to control the rise of the vehicle tailgate.

3. The method for controlling a motor of a vehicle tailgate according to claim 2, wherein, The step of controlling the motor according to the preset rising control method includes: Detect the rising height of the vehicle tailgate. When the rising height is less than a preset lower limit height, control the vehicle tailgate to perform a tilt adjustment through the motor so that one end of the vehicle tailgate close to the vehicle is flush with the vehicle rear end, and the end of the vehicle tailgate away from the vehicle abuts against the ground. Switch the motor to the cable working mode. The cable working mode is a working mode in which the motor controls a cable to drive the goods to move along the inclined plane of the vehicle tailgate into the vehicle. When the rising height is greater than the preset lower limit height and less than the vehicle rear end height, disconnect the direct connection between the motor and the power supply, switch the motor output end to be connected to the energy storage capacitor bank, and let the vehicle tailgate descend under the action of gravity. The energy storage capacitor bank is used for energy recovery during the descent of the vehicle tailgate. When the vehicle tailgate descends to a preset recovery height, connect the power supply to supply power to the motor, and supply power in parallel through the power supply and the energy storage capacitor bank to control the motor to work.

4. The method for controlling a motor of an automobile tailgate according to claim 3, wherein The method further includes: When the rising height is greater than the preset lower limit height and less than the vehicle rear end height, identify the shape of the goods. When the shape of the goods is a preset shape, determine whether the center of gravity height of the goods is greater than the height from the vehicle tailgate to the vehicle rear end. If so, control the vehicle tailgate to rotate towards the vehicle rear end through the motor.

5. The motor control method of a vehicle tailgate according to claim 3, wherein, The method further includes: Detect whether there is a part of the goods on the vehicle tailgate that exceeds the vehicle tailgate on the side towards the vehicle rear end. If so, control the vehicle tailgate to descend a preset descending height through the motor. Control the side of the vehicle tailgate away from the vehicle rear end to rotate downward to a preset rotation angle through the motor, so that the goods move toward the side away from the vehicle rear end; When it is detected that there is no part of the goods exceeding the vehicle tailgate on the side facing the vehicle rear end, control the vehicle tailgate to rotate to a horizontal state through the motor; Control the vehicle tailgate to rise to a position flush with the height of the vehicle rear end through the motor.

6. The motor control method for a vehicle tailgate according to claim 1, wherein The method further includes: In the case where the temperature data of the motor is less than the preset lower limit temperature, perform a stall step, and the stall step includes: controlling the motor to enter a stall state for a preset stall duration, and the stall state is to stop the rotation of the motor under the condition of being powered on; Perform a release step, and the release step includes: controlling the motor to stop and exit the stall state, and waiting for a preset release duration; Repeat and alternately perform the stall step and the release step; During the execution of the stall step and the release step, continuously monitor the temperature data of the motor; When the temperature data of the motor is greater than the preset lower limit temperature for normal operation, control the motor to operate normally.

7. A method for controlling a motor of a vehicle tailgate, according to any one of claims 2 to 5, characterized in that The method further includes: In the case of an accidental power failure of the system and when the system is powered on again, pull the working state information of the motor and the state position information of the vehicle tailgate within a preset recovery time before the system power failure from the historical record; Obtain the time interval from the current time to the preset recovery time; Judge whether the time interval is within a preset time interval; If so, control the motor to operate according to the working state information and the state position information.

8. An electric control system for a vehicle tailgate, characterized in that, The system is used to execute the vehicle tailgate motor control method according to any one of claims 1 to 7, and includes: An acquisition module, configured to acquire: a trigger opening signal, a motor start signal, temperature data, a current value, an action signal, a historical record, a historical current value, a rising height, a shape, working state information, and state position information; A memory, configured to store the program of the vehicle tailgate motor control method; A processor, and the program in the memory can be loaded and executed by the processor to implement the vehicle tailgate motor control method.

9. An intelligent terminal, characterized in that, Including a memory and a processor, and a computer program capable of being loaded and executed by the processor is stored on the memory, and the method is any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, Stored with a computer program capable of being loaded and executed by the processor, and the method is any one of claims 1 to 7.

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