Cover plate control method and device, equipment and storage medium

Abstract

The invention discloses a cover plate control method and device, equipment and a storage medium. The scheme comprises the following steps: after receiving a target command for indicating a target cover plate to execute a target action, controlling the target cover plate to execute the target action; acquiring first position information output by the angle measuring device under the condition that the driving motor is in a locked-rotor state; according to the first position information, whether the target cover plate is located in the anti-pinch interval or not is judged; the anti-pinch section is a position section for preventing the target cover plate from pinching an object; and if the target cover plate is located outside the anti-pinch interval, the calibration position information of the anti-pinch interval is updated according to the first position information. Therefore, after the target cover plate is normally opened and closed every time, the first position information in the locked-rotor state is used for updating the calibration position information of the anti-pinch section, so that the anti-pinch section dynamically changes along with the actual working condition in the vehicle using process, and the matching degree of the anti-pinch section and the actual position is effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and particularly to a cover control method, device, equipment and storage medium. Background Art

[0002] With the popularization of new energy vehicles, as a protective component of the vehicle energy replenishment interface, the intelligent control requirement of the charging port cover is increasing day by day. The existing charging port covers are usually equipped with an anti-pinch function, and a collision back-off strategy is executed within a preset anti-pinch range to avoid pinching users or damaging objects during the opening and closing process of the cover. Specifically, when the charging port cover is within the anti-pinch range and the driving motor of the charging port cover is blocked, the anti-pinch mechanism will be triggered to make the cover move in the reverse direction, thus ensuring safety.

[0003] The anti-pinch range is a fixed value determined according to the opening position and closing position of the cover. Due to factors such as voltage fluctuation, deformation of the cover, and error of the angle measuring device, the actual opening position and closing position of the charging port cover may change, resulting in deviation in the calibration of the anti-pinch range, and further leading to unexpected actions of the charging port cover, affecting its normal function and safety. Summary of the Invention

[0004] In view of this, the present application is committed to providing a cover control method, device, equipment and storage medium, which can effectively improve the matching degree between the anti-pinch range and the actual position of the target cover, thereby accurately determining whether the target cover is within the anti-pinch range, reducing the occurrence of false alarms and missed alarms, and enhancing the user experience and system safety.

[0005] According to a first aspect of the present application, a cover control method is provided, including:

[0006] In response to a target command for instructing a target cover to perform a target action, controlling the target cover to perform the target action; the target action includes opening or closing the target cover; the target cover includes a cover body, a driving motor for driving the cover body, and an angle measuring device for obtaining the position information of the cover body;

[0007] When the driving motor is in a stalled state, obtaining first position information output by the angle measuring device;

[0008] According to the first position information, determining whether the target cover is within an anti-pinch range; the anti-pinch range is a position range for preventing the target cover from pinching an object;

[0009] If the target cover is outside the anti-pinch range, updating the calibration position information of the anti-pinch range according to the first position information.

[0010] Optionally, updating the calibration position information of the anti-pinch interval according to the first position information includes:

[0011] Updating the boundary information of the rotation range of the target cover plate according to the first position information;

[0012] Updating the calibration position information of the anti-pinch interval according to a preset relationship and the boundary information of the rotation range; the preset relationship is the mapping relationship between the rotation range of the target cover plate and the calibration position information of the anti-pinch interval.

[0013] Optionally, the method further includes:

[0014] Before the target cover plate executes the target action, obtaining second position information output by the angle measuring device;

[0015] Updating the calibration position information of the anti-pinch interval according to the second position information.

[0016] Optionally, the method further includes:

[0017] Continuously collecting the working current of the driving motor and the real-time position information of the cover plate body;

[0018] When the duration for which the working current exceeds a preset current threshold exceeds a first time threshold, and the change value of the real-time position information within a first time period does not exceed a first change amount threshold, it is determined that the driving motor is in a stalled state; the first time period is a time period of a first preset duration after the start time when the working current exceeds the preset current threshold.

[0019] Optionally, after determining whether the target cover plate is located within the anti-pinch interval according to the first position information, it further includes:

[0020] If the target cover plate is located within the anti-pinch interval, controlling the target cover plate to move in the opposite direction of the target action.

[0021] Optionally, the method further includes:

[0022] When the driving motor stops running, continuously collecting the real-time position information of the cover plate body;

[0023] Calculating the change value of the real-time position information within a second time period;

[0024] If the target cover plate rotates towards the closed position within the second time period and the change value of the real-time position information exceeds a second change amount threshold, generating a close command for instructing the target cover plate to close.

[0025] Optionally, controlling the target cover plate to perform the target action includes:

[0026] Continuously collect the real-time position information of the cover plate body;

[0027] Based on a preset correspondence, determine the target duty cycle corresponding to the real-time position information;

[0028] Control the driving motor to operate according to the target duty cycle.

[0029] Optionally, determining the target duty cycle corresponding to the real-time position information includes:

[0030] If the real-time position information belongs to the first position interval, set the target duty cycle to the first duty cycle; one end point of the first position interval is the closed position of the target cover plate;

[0031] If the real-time position information belongs to the second position interval, set the target duty cycle to the second duty cycle; one end point of the second position interval is the open position of the target cover plate;

[0032] If the real-time position information belongs to the third position interval, set the target duty cycle to the third duty cycle; the third position interval is between the first position interval and the second position interval; both the first duty cycle and the second duty cycle are less than the third duty cycle.

[0033] Optionally, controlling the target cover plate to perform the target action includes:

[0034] Continuously collect the real-time position information of the cover plate body;

[0035] If the target command is used to indicate opening the target cover plate and the real-time position information of the cover plate body cannot be measured by the angle measuring device, control the target cover plate to move in the opening direction until the driving motor is in a stalled state.

[0036] Optionally, after controlling the target cover plate to perform the target action, it further includes:

[0037] Obtain the action duration of the driving motor;

[0038] When the action duration exceeds the second time threshold, cut off the power supply of the driving motor.

[0039] According to the second aspect of the present application, there is provided a cover plate control device, including:

[0040] A control module, configured to control a target cover plate to perform a target action in response to a target command for instructing the target cover plate to perform the target action; the target action includes opening or closing the target cover plate; the target cover plate includes a cover plate body, a driving motor for driving the cover plate body, and an angle measuring device for acquiring position information of the cover plate body.

[0041] An acquisition module, configured to acquire first position information output by the angle measuring device when the driving motor is in a stalled state.

[0042] A judgment module, configured to judge whether the target cover plate is within an anti-pinch interval according to the first position information; the anti-pinch interval is a position interval for preventing the target cover plate from pinching an object.

[0043] A calibration module, configured to update calibration position information of the anti-pinch interval according to the first position information if the target cover plate is outside the anti-pinch interval.

[0044] According to a third aspect of the present application, there is provided an electronic device, including: a processor; a memory for storing executable instructions of the processor; the processor is configured to execute the method described in any of the above embodiments.

[0045] According to a fourth aspect of the present application, there is provided a computer-readable storage medium, where the storage medium stores a computer program, and the computer program is configured to execute the method described in any of the above embodiments.

[0046] The present application provides a cover plate control method, device, equipment and storage medium. The solution includes: after receiving a target command for instructing a target cover plate to perform a target action, controlling the target cover plate to perform the target action; acquiring first position information output by an angle measuring device when a driving motor is in a stalled state; judging whether the target cover plate is within an anti-pinch interval according to the first position information; the anti-pinch interval is a position interval for preventing the target cover plate from pinching an object; if the target cover plate is outside the anti-pinch interval, updating calibration position information of the anti-pinch interval according to the first position information. Thus, after each normal opening and closing of the target cover plate, the calibration position information of the anti-pinch interval is updated by using the first position information in the stalled state; the calibration logic of the anti-pinch interval is changed from static preset to dynamic self-learning mode, so that the anti-pinch interval dynamically changes with the actual working conditions during vehicle use, effectively improving the matching degree between the anti-pinch interval and the actual position, reducing the occurrence of false alarms and missed alarms, and enhancing the user experience and system security. Description of the Drawings

[0047] Figure 1 The figure shows a schematic flowchart of a cover plate control method provided by an embodiment of the present application.

[0048] Figure 2 The figure shows a schematic flowchart of a cover follow-up control method provided by an embodiment of the present application.

[0049] Figure 3 The figure shows a mapping relationship diagram between the opening angle and the duty ratio of a target cover provided by an embodiment of the present application.

[0050] Figure 4 The figure shows a block diagram of a cover control device provided by an embodiment of the present application.

[0051] Figure 5 The figure shows a block diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0052] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0053] Application overview

[0054] The charging port cover is a protective component of the vehicle charging interface, and its core function is to protect the charging interface from the external environment. The electric charging port cover has become the mainstream solution for new energy vehicles with its intelligence, safety, and high integration, especially in line with the technological positioning of high-end models; while the mechanical structure is still used in some low-end models due to its low cost, but it will be gradually phased out in the long run. In the future, with the development of wire control technology, the charging port cover will be further integrated into the vehicle electronic architecture to achieve a deeper level of human-vehicle interaction.

[0055] The electric charging port cover may include a cover body, a driving motor for driving the cover body, and an angle measuring device for obtaining the position information of the cover body. The user can control the opening or closing of the charging port cover through a human-machine interface (HMI, such as a central control screen or in-vehicle button), or can also control the opening or closing of the charging port cover through a physical button at the charging port cover or an external trigger signal. When the charging port cover is within the anti-pinch range and the driving motor of the charging port cover is blocked, the anti-pinch mechanism will be triggered to make the cover move in the reverse direction, thus ensuring safety.

[0056] As the core component for position detection, the angle measuring device generally uses a contact potentiometer sensor. Its working principle is as follows: when the cover rotates, it drives the displacement of the potentiometer sliding contact, and by measuring the voltage value output by the voltage dividing circuit, the current position angle of the cover is linearly mapped. During the factory calibration stage, technicians force the cover to move to the fully open position and the fully closed position to obtain the voltage signals corresponding to the open position and the closed position.

[0057] Accordingly, two voltage thresholds for the pinch protection range are set. During the actual use of the vehicle, the system continuously monitors the real-time voltage value output by the potentiometer, and determines whether to trigger the pinch protection function by judging whether the real-time voltage value is within the pinch protection range.

[0058] However, the above method for determining the pinch protection range based on fixed voltage thresholds may be interfered by various factors such as the voltage fluctuation of the vehicle-mounted power supply, the mechanical deformation of the cover hinge mechanism, and the error of the angle measurement device. The vehicle-mounted power supply voltage is the reference voltage of the angle measurement device (rotary potentiometer), and the voltage fluctuation will directly affect the real-time voltage value it outputs, rendering the originally accurate voltage threshold ineffective. After the charging port cover is opened and closed a certain number of times, the plastic gear and the metal rotating shaft in the cover hinge mechanism will have an enlarged clearance due to material creep and wear under long-term cyclic loads, and the actual stroke of the charging port cover from fully closed to fully open will increase, making the setting of the pinch protection range inconsistent with the actual working conditions. Temperature changes cause changes in the resistivity of the resistance at the rotary potentiometer, or the contact resistance causes a deviation in the voltage division ratio due to oxidation and pollution, distorting the mapping relationship between the output voltage and the real position.

[0059] The combined effect of the above factors will cause two types of functional failures: False alarm: When the cover moves to the fully open / closed position, the stall represents that the action is in place. If the real-time voltage value falls within the pinch protection range, the system misjudges that an obstacle is clamped and triggers an unnecessary pinch protection retraction action, resulting in the cover not being able to reach the position normally. Missed alarm: When the cover actually encounters an obstacle within the pinch protection range, if the real-time voltage value exceeds the threshold of the pinch protection range, the system cannot recognize the dangerous state and loses the pinch protection function, which may cause damage to the user or vehicle components, and may even lead to safety accidents in severe cases.

[0060] To solve the above problems, after receiving an action command in the embodiment of the present application, the target cover is controlled to perform the corresponding action; when the drive motor is in a stalled state, the first position information output by the angle measurement device is obtained; according to the first position information, it is judged whether the target cover is within the pinch protection range; if the target cover is outside the pinch protection range, the opening position or closing position of the target cover, and the calibration position information of the pinch protection range are updated according to the first position information. Thus, after each normal opening and closing of the target cover, the opening position / closing position and the calibration position information of the pinch protection range are updated using the first position information in the stalled state; the calibration logic of the pinch protection range is changed from static preset to dynamic self-learning mode, so that the pinch protection range changes dynamically with the actual working conditions during the vehicle use, effectively improving the matching degree between the pinch protection range and the actual position, reducing the occurrence of false alarms and missed alarms, and enhancing the user experience and system safety.

[0061] After introducing the basic principles of this application, various non-limiting embodiments of this application will be specifically introduced below with reference to the accompanying drawings.

[0062] Exemplary method

[0063] Figure 1 It is a schematic flowchart of a cover control method provided by an embodiment of this application. Figure 1 The described method is executed by a computing device (such as a vehicle-mounted controller) that controls the movement of the cover, but the embodiments of this application are not limited thereto. As Figure 1 shown, the method includes the following:

[0064] Step S210: In response to a target command for instructing a target cover to perform a target action, control the target cover to perform the target action; the target action includes opening or closing the target cover; the target cover includes a cover body, a driving motor for driving the cover body, and an angle measuring device for obtaining the position information of the cover body.

[0065] In the embodiments of this application, the target cover can be used to protect a charging interface, a fuel tank interface, or other opening components that need to be protected, such as a charging cover, a fuel tank cover, but the embodiments of this application are not limited thereto. The target cover includes a cover body, a driving motor, and an angle measuring device. The cover body is used to close or expose the target opening, and can have functions such as waterproofing, dustproofing, and mechanical protection. Its movement trajectory is defined by a hinge mechanism or a guide rail, and it can achieve rotational movement through a driving motor.

[0066] In the embodiments of this application, the driving motor is a DC brushed or brushless motor, and its stall current threshold is associated with the anti-pinch function of the target action. When it is detected that the stall current exceeds a preset threshold, a reverse movement is triggered to perform anti-pinch protection.

[0067] In the embodiments of this application, the angle measuring device can adopt a rotary potentiometer or an absolute optical encoder, etc., and there is no specific limitation here; for example, when a rotary potentiometer is adopted, the real-time position of the cover body is mapped into a voltage signal through a voltage dividing circuit; when an absolute optical encoder is adopted, a Gray code signal is generated by parsing the mechanical angle through a coding disk.

[0068] In the embodiments of this application, the target action is an operation of opening or closing the target cover to meet the requirements of the vehicle in different usage states.

[0069] In the embodiments of this application, the target command can be generated through a touch command on a vehicle-mounted human-machine interface (HMI), a physical button signal, a wireless communication protocol (such as Bluetooth or NFC), or an external device (such as the insertion induction of a charging gun) to trigger the corresponding action of the target cover.

[0070] Step S220: When the drive motor is in a stalled state, obtain the first position information output by the angle measuring device.

[0071] In the embodiment of the present application, the first position information is a signal output by the angle measuring device when the drive motor is stalled and can reflect the exact position of the cover body. The first position information may be presented in the form of an analog quantity, a digital quantity or other quantifiable forms, such as a voltage value.

[0072] In the embodiment of the present application, it means that when the drive motor attempts to drive the cover body to move, due to the cover reaching the physical limit position (such as fully opened or closed) or other obstructive factors, the motor cannot continue to rotate normally; it can be determined according to the working current, rotation speed of the drive motor, and the change trend of the position information output by the angle measuring device, etc.

[0073] Step S230: According to the first position information, determine whether the target cover is within the anti-pinch interval; the anti-pinch interval is a position interval for preventing the target cover from pinching an object.

[0074] In the embodiment of the present application, the anti-pinch interval is a safe position range set to avoid pinching during the opening and closing strokes of the cover. Its specific position and span are determined according to the physical size, movement trajectory and safety requirements of the cover. The anti-pinch interval can be directly set as an angle range, that is, the endpoints of the anti-pinch interval are angle thresholds; the anti-pinch interval can also be set as a range of position information such as analog quantity, digital quantity output by the angle measuring device, that is, the endpoints of the anti-pinch interval are position information thresholds. For example, when a rotary potentiometer is used, the two endpoints of the anti-pinch interval can be voltage values, and the anti-pinch interval can be set as a voltage range.

[0075] In the embodiment of the present application, when the anti-pinch interval is an angle range, the determining whether the target cover is within the anti-pinch interval according to the first position information includes: converting the first position information into the opening angle of the target cover; and determining whether the target cover is within the anti-pinch interval according to the opening angle.

[0076] In the embodiment of the present application, when the anti-pinch interval is a range of position information output by the angle measuring device; the determining whether the target cover is within the anti-pinch interval according to the first position information includes: determining whether the target cover is within the anti-pinch interval by comparing the first position information with the position information threshold.

[0077] Step S240: If the target cover is outside the anti-pinch interval, update the calibration position information of the anti-pinch interval according to the first position information.

[0078] In an embodiment of the present application, the calibration position information of the anti-pinch interval may include the calibration values of the endpoints of the anti-pinch interval.

[0079] In an embodiment of the present application, the stall of the drive motor mainly occurs in two cases: being pinched by an obstacle, or rotating to two physical limit positions, namely the fully open position and the fully closed position. The anti-pinch interval is used to determine the cause of the drive motor stall: if the drive motor stalls and the target cover plate is outside the anti-pinch interval, the first position information is the action end position of the target command (one of the fully open position and the fully closed position). If the drive motor stalls and the target cover plate is within the anti-pinch interval, it is determined that the target cover plate is pinched by an obstacle.

[0080] Since the anti-pinch interval is used to determine the cause of the drive motor stall, the anti-pinch interval generally includes the remaining part of the rotation range of the target cover plate except for the vicinity of the fully open position and the fully closed position; for example, the anti-pinch interval may include the center of the rotation range of the target cover plate, a preset proportion of the part, or the anti-pinch interval may include the remaining part of the two ends of the rotation range of the target cover plate minus a preset angular value. In short, the calibration position information of the anti-pinch interval can be determined according to the first position information.

[0081] In an embodiment of the present application, after receiving a target command for instructing a target cover plate to perform a target action, control the target cover plate to perform the target action; in the case where the drive motor is in a stalled state, obtain the first position information output by the angle measuring device; according to the first position information, determine whether the target cover plate is within the anti-pinch interval; the anti-pinch interval is a position interval for preventing the target cover plate from pinching an object; if the target cover plate is outside the anti-pinch interval, update the calibration position information of the anti-pinch interval according to the first position information. Thus, after each normal opening and closing of the target cover plate, the calibration position information of the anti-pinch interval is updated by using the first position information in the stalled state; the calibration logic of the anti-pinch interval is changed from static preset to dynamic self-learning mode, so that the anti-pinch interval changes dynamically with the actual working conditions during the vehicle use process, effectively improving the matching degree between the anti-pinch interval and the actual position, thereby accurately determining whether the target cover plate is within the anti-pinch interval, reducing the occurrence of false alarms and missed alarms, and enhancing the user experience and system security.

[0082] Based on Figure 1 the method in, the embodiments of this specification also provide some specific implementation schemes of this method, which will be described below.

[0083] Optionally, the updating the calibration position information of the anti-pinch interval according to the first position information includes:

[0084] Updating the boundary information of the rotation range of the target cover plate according to the first position information;

[0085] Update the calibration position information of the anti-pinch area according to the preset relationship and the boundary information of the rotation range; the preset relationship is the mapping relationship between the rotation range of the target cover plate and the calibration position information of the anti-pinch area.

[0086] In the embodiment of the present application, the updating the boundary information of the rotation range of the target cover plate according to the first position information includes: determining the first position information as the boundary information corresponding to the action end position of the target action; the action end position is the fully closed position or the fully open position of the target cover plate. Specifically, if the target action is to open the target cover plate, the first position information is determined as the boundary information corresponding to the fully open position; if the target action is to close the target cover plate, the first position information is determined as the boundary information corresponding to the fully closed position. In some cases, the boundary information of the rotation range can collect the nearest N historical measurement values and perform fusion processing on multiple groups of data based on a preset statistical model. The boundary information of the rotation range can be a statistical value of multiple historical measurement values, such as an average value, a median value, a mode value, etc.

[0087] In the embodiment of the present application, the preset relationship can be the proportional relationship between the rotation range and the anti-pinch area. That is, the anti-pinch area includes a preset proportion of the part at the center of the rotation range.

[0088] Assume that the angle value corresponding to the fully closed position is θ a , and the angle value corresponding to the fully open position is θ b ; in the case where the angle measuring device uses a rotary potentiometer, the anti-pinch area can also be [θ a +Δθ, θ b ―Δθ], Δθ is a preset value and can be set according to the actual situation. Further, Δθ can be set according to the rotation range of the target cover plate. For example, Δθ = k(θ b ―θ a ), that is, the anti-pinch area can be [θ a +k(θ a ―θ b ), θ a +(1―k)(θ a ―θ b )]; θ a +k(θ a ―θ b ) and θ a +(1―k)(θ a ―θ b ) are the angle thresholds of the anti-pinch area. In the formula, k is a preset safety factor and can be set according to the actual situation, such as 5%.

[0089] Similarly, assume that the voltage value corresponding to the fully closed position is V a , and the voltage value corresponding to the fully open position is V b ; when the angle measuring device uses a rotary potentiometer, the anti-pinch interval can also be [V a + ΔV, V b - ΔV], where ΔV is a preset value that can be set according to the actual situation. Further, ΔV can be set according to the rotation range of the target cover plate. For example, ΔV = k(V b - V a ), that is, the voltage range of the anti-pinch interval can be [V a + k(V b - V a ), V a + (1 - k)(V b - V a )], and V a + k(V b - V a ), V a + (1 - k)(V b - V a ) are the endpoints of the anti-pinch interval. In the formula, k is a preset safety factor that can be set according to the actual situation, such as 5%.

[0090] In the embodiment of the present application, according to the first position information, the boundary information of the rotation range of the target cover plate is updated; according to the preset relationship between the target cover plate and the anti-pinch interval, and the boundary information of the rotation range, the calibration position information of the anti-pinch interval is updated. In this way, the system can accurately use the actual position information of the end point of each action as a reference to dynamically adjust the calibration information of the anti-pinch interval, so that the anti-pinch interval always matches the actual movement state of the cover plate, reducing the occurrence of false alarms and missed alarms, and improving the user experience and system safety.

[0091] Optionally, the method further includes:

[0092] Before the target cover plate performs the target action, obtain the second position information output by the angle measuring device;

[0093] Update the calibration position information of the anti-pinch interval according to the second position information.

[0094] In an embodiment of the present application, the second position information is a signal output by the angle measuring device before the target cover plate performs the target action and can reflect the exact position of the cover plate body. The second position information is the starting position of the target action. The first position information and the second position information respectively represent the fully open position and the fully closed position; specifically, when the target action is to open the target cover plate, the second position information is used to represent the fully closed position. When the target action is to close the target cover plate, the second position information is used to represent the fully open position.

[0095] In an embodiment of the present application, updating the calibration position information of the anti-pinch interval according to the second position information may include: updating the calibration position information of the anti-pinch interval according to the first position information and the second position information.

[0096] In an embodiment of the present application, updating the calibration position information of the anti-pinch interval according to the second position information may further include: before the target cover plate performs the target action, updating the calibration position information of the anti-pinch interval according to the second position information.

[0097] In an embodiment of the present application, updating the calibration position information of the anti-pinch interval according to the second position information may include: determining the second position information as the boundary information corresponding to the starting position of the target action; the starting position is the fully closed position or the fully open position of the target cover plate; updating the calibration position information of the anti-pinch interval based on the boundary information according to a preset relationship; the preset relationship is the mapping relationship between the rotation range of the target cover plate and the anti-pinch interval.

[0098] In an embodiment of the present application, before the target cover plate performs the target action, obtain the second position information output by the angle measuring device; and then update the calibration position information of the anti-pinch interval according to the second position information. In this way, the system can accurately use the actual position information of each action starting point as a reference to dynamically adjust the calibration information of the anti-pinch interval, so that the anti-pinch interval always matches the actual movement state of the cover plate, reducing the occurrence of false alarms and missed alarms, and improving the user experience and system security.

[0099] Optionally, the method further includes:

[0100] Continuously collect the working current of the drive motor and the real-time position information of the cover plate body;

[0101] When the duration for which the working current exceeds the preset current threshold exceeds the first time threshold, and the change value of the real-time position information within the first time period does not exceed the first change amount threshold, it is determined that the drive motor is in a stalled state; the first time period is a time period of a first preset duration after the start time when the working current exceeds the preset current threshold.

[0102] In the embodiments of the present application, the working current is the current generated when the drive motor operates, which can reflect the operating state of the drive motor and is a key indicator for judging whether the motor is working properly.

[0103] In the embodiments of the present application, the preset current threshold is a critical current value for distinguishing between normal operation and stalled state of the motor; the preset current threshold is set as the weighted sum of the minimum stalled current and the normal operating current of the drive motor (for example, minimum stalled current × 75% + normal operating current × 25%) to balance the risks of false triggering and missed detection.

[0104] In the embodiments of the present application, the first time threshold is a key parameter for distinguishing between instantaneous overcurrent and continuous stalled state, and can be set according to actual situations, such as 100 ms.

[0105] In the embodiments of the present application, the real-time position information is the output signal of the angle measuring device, which is used to represent the rotation angle of the target cover plate and is used to accurately track the movement of the target cover plate.

[0106] In the embodiments of the present application, the first preset duration is a period of time after the drive motor is stalled, and is used to observe the change in the position of the target cover plate after the current anomaly starts. The first preset duration can be set to be greater than the first time threshold; the first preset duration can be set according to actual situations, such as 500 ms.

[0107] In the embodiments of the present application, the change value of the real-time position information within the first time period can represent the rotational speed of the target cover plate, and thus reflect the operating state of the motor.

[0108] In the embodiments of the present application, the first change amount threshold is used to determine whether the change in the position of the cover plate body within the first time period is consistent with the stall of the drive motor.

[0109] In the embodiments of the present application, when the duration for which the working current exceeds the preset current threshold exceeds the first time threshold, and the change value of the real-time position information within the first time period does not exceed the first change amount threshold, it is determined that the drive motor is in a stalled state. This determination method combines the dual judgment bases of current and position information, can more accurately identify the stall situation of the drive motor, avoids misjudgment that may be caused by relying solely on current or position information, and improves the accuracy and reliability of the system's judgment of the motor operating state.

[0110] In practical applications, the above-mentioned locked-rotor determination method combining current and position information can only be used when the target cover plate is outside the anti-pinch area. This is because if the driving motor stalls within the anti-pinch area, it generally means that an obstacle has been pinched, and the anti-pinch retraction action needs to be executed as soon as possible.

[0111] Optionally, after determining whether the target cover plate is within the anti-pinch area according to the first position information, it further includes:

[0112] If the target cover plate is within the anti-pinch area, control the target cover plate to move in the opposite direction of the target action.

[0113] In the embodiment of the present application, if the driving motor is in a locked-rotor state and the target cover plate is within the anti-pinch area, it is determined that the target cover plate has pinched an obstacle, thereby triggering the anti-pinch retraction action. Since after each normal opening and closing of the target cover plate, the calibration position information of the anti-pinch area is updated using the first position information in the locked-rotor state, the anti-pinch area dynamically changes with the actual working conditions during vehicle use, so as to accurately determine the pinching event and reduce the false triggering rate of anti-pinch.

[0114] Optionally, the method further includes:

[0115] Continuously collect the real-time position information of the cover plate body when the driving motor stops running;

[0116] Calculate the change value of the real-time position information within the second time period;

[0117] If the target cover plate rotates towards the closed position within the second time period and the change value of the real-time position information exceeds the second change amount threshold, generate a close command for indicating the closing of the target cover plate.

[0118] In the embodiment of the present application, the second time period may be any continuous time period with a length of a second preset duration in the state where the driving motor stops running, for example, the time period of the second preset duration before the current moment.

[0119] In the embodiment of the present application, the second preset duration is used to define the time window for monitoring the position change of the target cover plate, and can be set according to the actual situation, for example, 200 ms.

[0120] In the embodiment of the present application, the second change amount threshold is used to determine whether the target cover plate triggers the follow-up function due to an external force, and can be set according to the rotation range of the target cover plate, for example, set to 3% of the rotation range, that is, 3% (V b ―V a ) or 3% (θ b ―θ a)。

[0121] Figure 2 The following is a schematic flow chart of the cover plate follow-up control method provided by an embodiment of the present application. As Figure 2 shown, when the target charging port cover is in the open state, if the change value of the real-time position information exceeds the second change amount threshold within the second time period, and the target cover plate rotates towards the closed position within the second time period, a close command for instructing the target cover plate to close is generated. Thereby, it can accurately identify whether the motion state of the target cover plate meets the conditions for automatic closing, realize accurate triggering of the follow-up function, and enable the cover plate to quickly respond when impacted by an external force or manually forced to close. It can not only better protect the cover plate from external damage, but also prevent the follow-up function from being accidentally triggered by slight disturbances, effectively improving the reliability and stability of the system and optimizing the user's interaction experience.

[0122] Optionally, controlling the target cover plate to execute the target action includes:

[0123] Continuously collect the real-time position information of the cover plate body;

[0124] Based on a preset corresponding relationship, determine the target duty cycle corresponding to the real-time position information;

[0125] Control the driving motor to operate according to the target duty cycle.

[0126] In the embodiment of the present application, the preset corresponding relationship is the mapping relationship between the opening angle of the cover plate body and the duty cycle of the driving motor; the specific form of the preset corresponding relationship can be a preset piecewise function or a calibration table.

[0127] In the embodiment of the present application, the duty cycle refers to the ratio of the high-level time of the pulse signal to the entire cycle time, expressed as a percentage. In motor control, the duty cycle determines the input power of the motor, thereby affecting the speed and torque of the motor. The target duty cycle is the duty cycle value determined according to the preset corresponding relationship and matching the current real-time position information, and is used to accurately control the running speed and torque of the driving motor.

[0128] Optionally, determining the target duty cycle corresponding to the real-time position information includes:

[0129] If the real-time position information belongs to the first position interval, set the target duty cycle to the first duty cycle; one end point of the first position interval is the closed position of the target cover plate;

[0130] If the real-time position information belongs to the second position interval, set the target duty cycle to the second duty cycle; one end point of the second position interval is the open position of the target cover plate;

[0131] If the real-time position information belongs to the third position interval, set the target duty ratio to the third duty ratio; the third position interval is located between the first position interval and the second position interval; both the first duty ratio and the second duty ratio are less than the third duty ratio.

[0132] In an embodiment of the present application, the first position interval is an area close to the closed position of the target cover plate, and the second position interval is an area close to the open position of the target cover plate; the third position interval is located between the first position interval and the second position interval and is the intermediate stage of the cover plate movement.

[0133] In an embodiment of the present application, when the real-time position information belongs to the first position interval or the second position interval, the duty ratio is set to the lower first duty ratio or second duty ratio to ensure a smooth start when the cover plate starts to rotate and prevent vibrations or noises caused by too sudden a start; and to move smoothly and slowly when approaching the stop of rotation to avoid impacts. When in the third position interval, the higher third duty ratio provides sufficient power for the fast and stable movement of the cover plate to ensure that the cover plate can move smoothly and efficiently during the intermediate movement process. This way of segmentally controlling the duty ratio realizes the refined management of the entire process of the cover plate movement.

[0134] In an embodiment of the present application, between the first position interval and the third position interval, and between the second position interval and the third position interval, transition regions of the duty ratio can be set to enable smooth adjustment of the duty ratio.

[0135] Figure 3 The figure shows a mapping relationship diagram of the opening angle and the duty ratio of the target cover plate provided by an embodiment of the present application. Figure 3 The horizontal axis is the opening angle of the target cover plate, and the vertical axis is the duty ratio. Taking the opening process of the target cover plate as an example, in the first position interval (0 - 7.5°), the duty ratio remains constant at 66% to ensure a gentle start of the motor; in the first transition period (7.5° - 17.5°), the duty ratio linearly increases from 66% to 80% to achieve a gradual increase in power; in the third position interval (17.5° - 56.25°), the duty ratio remains constant at 80% to ensure a stable output of torque; in the second transition period (56.25° - 66.7°), the duty ratio linearly decreases from 80% to 66% to achieve a gradual decrease in power; in the second position interval (66.7° - 90°), the duty ratio remains unchanged at 66% to ensure no impact when locked in place. Thus, during the opening process of the target cover plate, the motor operating speed is changed by adjusting the input voltage of the motor. The motor runs slowly at the moment of opening and shows a gradually accelerating trend. After reaching the maximum speed, it continues to run for a certain angle, and then the speed shows a slow downward trend until the maximum opening position is reached. The closing process of the target cover plate is similar and will not be elaborated here.

[0136] Optionally, controlling the target cover plate to perform the target action includes:

[0137] Continuously collect the real-time position information of the cover plate body;

[0138] If the target command is used to indicate opening the target cover plate and the real-time position information of the cover plate body cannot be measured by the angle measuring device, control the target cover plate to move in the opening direction until the driving motor is in a stalled state.

[0139] In an embodiment of the present application, during the opening process of the target cover plate, if the real-time position information of the cover plate body cannot be measured by the angle measuring device, control the target cover plate to move in the opening direction until the driving motor is in a stalled state. This emergency opening mechanism can still ensure that the cover plate can be opened in special cases such as the failure of the angle measuring device, effectively improving the reliability and fault tolerance of the target cover plate.

[0140] Optionally, after controlling the target cover plate to perform the target action, it further includes:

[0141] Obtain the action duration of the driving motor;

[0142] When the action duration exceeds the second time threshold, cut off the power supply of the driving motor.

[0143] In an embodiment of the present application, the second time threshold is used to set the maximum allowable duration when the driving motor performs the target action, so as to prevent the motor from overheating or being damaged due to long-term operation.

[0144] In practical applications, in special cases such as cold and low temperature, the rotation speed of the driving motor is slow, resulting in long-term operation of the driving motor, and the rotation speed of the driving motor is slow, resulting in the driving motor overheating due to long-term operation.

[0145] In an embodiment of the present application, when the action duration exceeds the second time threshold, cut off the power supply of the driving motor, thereby protecting the driving motor from overload and overheating risks.

[0146] Exemplary device

[0147] The device embodiment of the present application can be used to execute the method embodiment of the present application. For details not disclosed in the device embodiment of the present application, please refer to the method embodiment of the present application.

[0148] Figure 4 The block diagram of the cover plate control device provided by an embodiment of the present application is shown. As Figure 4 shown, the device 400 includes:

[0149] A control module 410, configured to control the target cover plate to perform a target action in response to a target command for instructing the target cover plate to perform the target action; the target action includes opening or closing the target cover plate; the target cover plate includes a cover plate body, a driving motor for driving the cover plate body, and an angle measuring device for obtaining position information of the cover plate body.

[0150] An acquisition module 420, configured to obtain first position information output by the angle measuring device when the driving motor is in a stalled state.

[0151] A judgment module 430, configured to judge whether the target cover plate is within an anti-pinch interval according to the first position information; the anti-pinch interval is a position interval for preventing the target cover plate from pinching an object.

[0152] A calibration module 440, configured to update the calibrated position information of the anti-pinch interval according to the first position information if the target cover plate is outside the anti-pinch interval.

[0153] Optionally, the calibration module 440 is configured to:

[0154] Update the boundary information of the rotation range of the target cover plate according to the first position information;

[0155] Update the calibrated position information of the anti-pinch interval according to a preset relationship and the boundary information of the rotation range; the preset relationship is a mapping relationship between the rotation range of the target cover plate and the calibrated position information of the anti-pinch interval.

[0156] Optionally, the acquisition module 420 is further configured to obtain second position information output by the angle measuring device before the target cover plate performs the target action.

[0157] The calibration module 440 is further configured to update the calibrated position information of the anti-pinch interval according to the second position information.

[0158] Optionally, the acquisition module 420 is further configured to continuously acquire the working current of the driving motor and the real-time position information of the cover plate body.

[0159] The judgment module 430 is further configured to: determine that the driving motor is in a stalled state when the duration for which the working current exceeds a preset current threshold exceeds a first time threshold and the change value of the real-time position information within a first time period does not exceed a first change amount threshold; the first time period is a time period of a first preset duration after the start time when the working current exceeds the preset current threshold.

[0160] Optionally, the control module 410 is further configured to control the target cover plate to move in the opposite direction of the target action if the target cover plate is within the pinch protection zone.

[0161] Optionally, the acquisition module 420 is further configured to continuously acquire the real-time position information of the cover plate body when the driving motor stops running;

[0162] The control module 410 is further configured to:

[0163] Calculate the change value of the real-time position information within a second time period;

[0164] If the target cover plate rotates towards the closed position within the second time period and the change value of the real-time position information exceeds a second change amount threshold, generate a close command for indicating that the target cover plate is closed.

[0165] Optionally, the acquisition module 420 is configured to continuously acquire the real-time position information of the cover plate body;

[0166] The control module 410 further includes:

[0167] A duty cycle control unit for determining a target duty cycle corresponding to the real-time position information based on a preset correspondence;

[0168] A control unit for controlling the operation of the driving motor according to the target duty cycle.

[0169] Optionally, the duty cycle control unit is configured to:

[0170] If the real-time position information belongs to a first position interval, set the target duty cycle to a first duty cycle; one end point of the first position interval is the closed position of the target cover plate;

[0171] If the real-time position information belongs to a second position interval, set the target duty cycle to a second duty cycle; one end point of the second position interval is the open position of the target cover plate;

[0172] If the real-time position information belongs to a third position interval, set the target duty cycle to a third duty cycle; the third position interval is located between the first position interval and the second position interval; the first duty cycle and the second duty cycle are both smaller than the third duty cycle.

[0173] Optionally, the acquisition module 420 is further configured to continuously acquire the real-time position information of the cover plate body;

[0174] The control module 410 is further configured to, when the target command is used to indicate to open the target cover plate and the real-time position information of the cover plate body cannot be measured by the angle measuring device, control the target cover plate to move in the opening direction until the driving motor is in a stalled state.

[0175] Optionally, the acquisition module 420 is further configured to obtain the action duration of the driving motor;

[0176] The control module 410 is further configured to cut off the power supply of the driving motor when the action duration exceeds a second time threshold.

[0177] Exemplary electronic device

[0178] Next, refer to Figure 5 to describe the electronic device according to an embodiment of the present application. Figure 5 The block diagram of the electronic device according to an embodiment of the present application is illustrated.

[0179] As Figure 5 shown, the electronic device 500 includes one or more processors 510 and a memory 520.

[0180] The processor 510 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 500 to perform desired functions.

[0181] The memory 520 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory, etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 510 may run the program instructions to implement the cover plate control method of various embodiments of the present application described above and / or other desired functions. Various contents such as category correspondence relationships may also be stored in the computer-readable storage medium.

[0182] In one example, the electronic device 500 may further include: an input device 530 and an output device 540, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown).

[0183] In addition, the input device 530 may further include, for example, a keyboard, a mouse, and so on. The output device 540 may output various information to the outside. The output device 540 may include, for example, a display, a speaker, a printer, a communication network, and remote output devices connected thereto, and so on.

[0184] Of course, for simplicity, Figure 5 only some of the components related to the present application in the electronic device 500 are shown, and components such as a bus, an input / output interface, and so on are omitted. In addition, according to specific application scenarios, the electronic device 500 may further include any other appropriate components.

[0185] Exemplary computer program product and computer-readable storage medium

[0186] In addition to the above methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions. When the computer program instructions are run by a processor, the processor is caused to execute the steps in the cover control method according to various embodiments of the present application described in the above "Exemplary Method" section of this specification.

[0187] The computer program product may be written in any combination of one or more programming languages to write program code for performing the operations of the embodiments of the present application. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, executed as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0188] In addition, an embodiment of the present application may also be a computer-readable storage medium, on which computer program instructions are stored. When the computer program instructions are run by a processor, the processor is caused to execute the steps in the cover control method according to various embodiments of the present application described in the above "Exemplary Method" section of this specification.

[0189] The computer-readable storage medium may adopt any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0190] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present application. Additionally, the above-disclosed specific details are only for illustrative and facilitating understanding purposes and are not limitations. The above details do not limit the present application to necessarily adopt the above specific details for implementation.

[0191] The block diagrams of the devices, apparatuses, equipment, and systems involved in the present application are only illustrative examples and do not intend to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open-ended terms, meaning "including but not limited to", and can be used interchangeably with each other. The word "or" and "and" used herein refer to the word "and / or" and can be used interchangeably with each other, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to" and can be used interchangeably with each other.

[0192] It should also be noted that in the devices, equipment, and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present application.

[0193] The above description of the disclosed aspects enables any person skilled in the art to make or use the present application. Various modifications to these aspects are very obvious to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

[0194] It should be understood that the qualifiers "first", "second", "third", "fourth", "fifth" and "sixth" used in the description of the embodiments of the present application are only for more clearly elaborating the technical solutions and cannot be used to limit the protection scope of the present application.

[0195] The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the form disclosed herein. Although several example aspects and embodiments have been discussed above, those skilled in the art will recognize some of their variations, modifications, alterations, additions, and sub-combinations.

Claims

1. A cover plate control method, characterized in that, Including: In response to a target command for instructing a target cover plate to perform a target action, controlling the target cover plate to perform the target action; the target action includes opening or closing the target cover plate; the target cover plate includes a cover plate body, a drive motor for driving the cover plate body, and an angle measuring device for obtaining position information of the cover plate body; When the drive motor is in a stalled state, obtaining first position information output by the angle measuring device; Judging whether the target cover plate is within an anti-pinch interval according to the first position information; The anti-pinch interval is a position interval for preventing the target cover plate from pinching an object; If the target cover plate is outside the anti-pinch interval, updating calibration position information of the anti-pinch interval according to the first position information.

2. The method according to claim 1, wherein The updating the calibration position information of the anti-pinch interval according to the first position information includes: Updating boundary information of a rotation range of the target cover plate according to the first position information; Updating the calibration position information of the anti-pinch interval according to a preset relationship and the boundary information of the rotation range; the preset relationship is a mapping relationship between the rotation range of the target cover plate and the calibration position information of the anti-pinch interval.

3. The method according to claim 1, wherein The method further includes: Before the target cover plate performs the target action, obtaining second position information output by the angle measuring device; Updating the calibration position information of the anti-pinch interval according to the second position information.

4. The method according to claim 1, characterized in that, The method further includes: Continuously collecting the working current of the drive motor and real-time position information of the cover plate body; When the duration for which the working current exceeds a preset current threshold exceeds a first time threshold and the change value of the real-time position information within a first time period does not exceed a first change amount threshold, determining that the drive motor is in a stalled state; the first time period is a time period of a first preset duration after the start time when the working current exceeds the preset current threshold.

5. The method according to claim 1, wherein After judging whether the target cover plate is within the anti-pinch interval according to the first position information, further including: If the target cover plate is within the anti-pinch interval, controlling the target cover plate to move in the opposite direction of the target action.

6. The method according to claim 1, wherein The method further includes: When the drive motor stops running, continuously collecting the real-time position information of the cover plate body; Calculating the change value of the real-time position information within a second time period; If the target cover plate rotates towards a closed position within the second time period and the change value of the real-time position information exceeds a second change amount threshold, generating a close command for instructing the target cover plate to close.

7. The method according to claim 1, characterized in that, After controlling the target cover plate to perform the target action, further including: Obtaining the action duration of the drive motor; When the action duration exceeds a second time threshold, cutting off the power supply of the drive motor.

8. A cover plate control device, characterized in that, Including: A control module, configured to control the target cover plate to perform a target action in response to a target command for instructing the target cover plate to perform the target action; the target action includes opening or closing the target cover plate; the target cover plate includes a cover plate body, a drive motor for driving the cover plate body, and an angle measuring device for obtaining position information of the cover plate body; An acquisition module, configured to obtain first position information output by the angle measuring device when the drive motor is in a stalled state; A judgment module, configured to judge whether the target cover plate is located within an anti-pinch interval according to the first position information; The anti-pinch interval is a position interval for preventing the target cover plate from pinching an object; A calibration module, configured to update the calibration position information of the anti-pinch interval according to the first position information if the target cover plate is located outside the anti-pinch interval.

9. An electronic device, characterized in that, Comprising: A processor; A memory for storing instructions executable by the processor; The processor is configured to execute the method according to any one of claims 1 to 7 above.

10. A computer-readable storage medium, characterized in that, Computer program instructions are stored on the computer-readable storage medium, and when the computer program instructions are run by the processor, the processor is caused to execute the method according to any one of claims 1 to 7.

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