Control method and device of dual-motor wiper, electronic equipment and storage medium

Abstract

The application discloses a control method and device of a double-motor wiper, electronic equipment and storage medium, and comprises the following steps: acquiring a main detection angle and a secondary detection angle in a preset detection period; determining an interference angle according to the main detection angle; if it is determined that the main detection angle and the secondary detection angle are inconsistent, and the secondary detection angle is not in the interference angle, adjusting the rotating speed of the secondary motor to make the main wiper arm and the secondary wiper arm rotate synchronously; if it is determined that the main detection angle and the secondary detection angle are inconsistent, and the secondary detection angle is in the interference angle, moving the secondary wiper arm to a safe angle. The application can prevent the main wiper arm and the secondary wiper arm from colliding due to asynchronization, and can ensure the synchronous rotation of the main wiper arm and the secondary wiper arm in the future, so that the normal work of the main wiper arm and the secondary wiper arm is ensured, and the reliability of the system and the driving safety of the vehicle are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric motor, in particular to a device for starting an electric motor or an electromechanical converter, and more particularly to a control method and device for a dual-motor wiper, an electronic device and a storage medium. BACKGROUND

[0002] With the continuous improvement of the intelligent level of automobiles, a multi-motor driven wiper system is gradually applied to modern automobiles. The traditional wiper system is mostly a single-motor structure, but in order to improve the wiping efficiency and coverage range, some vehicles begin to use a dual-motor control system, that is, the main and auxiliary wiper arms are driven by independent motors to realize more complex wiper trajectory control.

[0003] However, after long-term use of the dual-motor wiper system, or when it comes into contact with oil-stained areas, sandy soil, bird droppings, and sticky glue areas, the main wiper arm and the auxiliary wiper arm will collide due to asynchronization, resulting in poor reliability of the dual-motor wiper and poor vehicle driving safety. SUMMARY

[0004] The purpose of the present application is to provide a control method and device for a dual-motor wiper, an electronic device and a storage medium, to solve the problem that the main wiper arm and the auxiliary wiper arm will collide due to asynchronization, resulting in poor reliability of the dual-motor wiper and poor vehicle driving safety.

[0005] To achieve the above-mentioned purpose, the present application provides a control method for a dual-motor wiper, the dual-motor wiper comprising: a main motor and an auxiliary motor, the main motor being connected with a main wiper arm, and the auxiliary motor being connected with an auxiliary wiper arm;

[0006] The control method comprises:

[0007] acquiring a main detection angle and an auxiliary detection angle in a preset detection period; wherein the main detection angle refers to the included angle between the main wiper arm and the horizontal plane at a first time sequence; the auxiliary detection angle refers to the included angle between the auxiliary wiper arm and the horizontal plane at the first time sequence; and the first time sequence is a time sequence in the detection period;

[0008] determining an interference angle according to the main detection angle; wherein the interference angle is an angle range between the auxiliary wiper arm and the main wiper arm that has a risk of collision;

[0009] if it is determined that the main detection angle and the auxiliary detection angle are inconsistent, and the auxiliary detection angle is not in the interference angle, adjusting the rotation speed of the auxiliary motor to make the main wiper arm and the auxiliary wiper arm rotate synchronously;

[0010] If it is determined that the main detection angle and the secondary detection angle are inconsistent, and the secondary detection angle is at the interference angle, the secondary wiper arm is moved to a safe angle; wherein the safe angle refers to one of the maximum wiper angle of the secondary wiper arm and the initial wiper angle of the secondary wiper arm outside the interference angle corresponding to the main wiper arm.

[0011] In the above scheme, one main detection angle and one secondary detection angle are obtained in a preset detection period, comprising:

[0012] According to the preset detection period, a main initial signal of the main motor and a secondary initial signal of the secondary motor are collected; wherein the main initial signal is an analog signal reflecting the angle between the main wiper arm and the horizontal plane under the first time sequence; the secondary initial signal is an analog signal reflecting the angle between the secondary wiper arm and the horizontal plane under the first time sequence;

[0013] The main initial signal and the secondary initial signal are respectively filtered, amplified and compensated to obtain the main detection angle and the secondary detection angle.

[0014] In the above scheme, the interference angle is determined according to the main detection angle, comprising:

[0015] According to the preset mapping function, the interference angle corresponding to the main detection angle is calculated; or

[0016] From the preset mapping table, a first main test angle range corresponding to the main detection angle is obtained, and an interference angle corresponding to the first main test angle range is obtained; wherein the mapping table has at least one main test angle range, and an interference angle corresponding to each main test angle range; the first main test angle range is one of the at least one main test angle range.

[0017] In the above scheme, the mapping function includes a circular function and a tangent function;

[0018] According to the preset mapping function, the interference angle corresponding to the main detection angle is obtained, comprising:

[0019] According to the main detection angle, the end coordinate of the end point of the end of the main wiper arm away from the main motor is determined;

[0020] The circular function is called with the end coordinate as the center and the preset safe distance as the radius to generate an end point circle;

[0021] The tangent function is called with the secondary output shaft of the secondary motor as the starting point to generate two tangent lines of the end point circle, and the included angle between the two tangent lines is taken as the interference angle of the main detection angle.

[0022] The scheme further includes: adjusting the rotation speed of the auxiliary motor to synchronize the rotation of the main wiper arm and the auxiliary wiper arm, including:

[0023] If it is determined that the rotation direction of the main wiper arm and the auxiliary wiper arm is from the initial detection angle to the maximum detection angle, the rotation speed of the auxiliary motor is increased until the first main real-time angle and the first auxiliary real-time angle are consistent; wherein the first main real-time angle is the included angle between the main wiper arm and the horizontal plane at the second time sequence; the first auxiliary real-time angle is the included angle between the auxiliary wiper arm and the horizontal plane at the second time sequence; the second time sequence is one time sequence in the process of increasing the rotation speed of the auxiliary motor;

[0024] If it is determined that the rotation direction of the main wiper arm and the auxiliary wiper arm is from the maximum detection angle to the initial detection angle, the rotation speed of the auxiliary motor is decreased until the second main real-time angle and the second auxiliary real-time angle are consistent; wherein the second main real-time angle is the included angle between the main wiper arm and the horizontal plane at the third time sequence; the second auxiliary real-time angle is the included angle between the auxiliary wiper arm and the horizontal plane at the third time sequence; the third time sequence is one time sequence in the process of decreasing the rotation speed of the auxiliary motor.

[0025] The scheme further includes: moving the auxiliary wiper arm to a safe angle, including:

[0026] If it is determined that the rotation direction of the main wiper arm and the auxiliary wiper arm is from the initial detection angle to the maximum detection angle, the rotation speed of the auxiliary motor is increased until the first auxiliary real-time angle is not in the range of the interference angle corresponding to the first main real-time angle; wherein the first main real-time angle is the included angle between the main wiper arm and the horizontal plane at the second time sequence; the first auxiliary real-time angle is the included angle between the auxiliary wiper arm and the horizontal plane at the second time sequence; the second time sequence is one time sequence in the process of increasing the rotation speed of the auxiliary motor;

[0027] If it is determined that the rotation direction of the main wiper arm and the auxiliary wiper arm is from the maximum detection angle to the initial detection angle, the rotation speed of the auxiliary motor is decreased until the second auxiliary real-time angle is not in the range of the interference angle corresponding to the second main real-time angle; wherein the second main real-time angle is the included angle between the main wiper arm and the horizontal plane at the third time sequence; the second auxiliary real-time angle is the included angle between the auxiliary wiper arm and the horizontal plane at the third time sequence; the third time sequence is one time sequence in the process of decreasing the rotation speed of the auxiliary motor.

[0028] The scheme further includes: moving the auxiliary wiper arm to a safe angle, including:

[0029] controlling the sub-wiper arm to rotate to the maximum wiper angle of the sub-wiper arm and stop; if it is determined that the main wiper arm and the sub-wiper arm both reach the maximum wiper angle, then controlling the main wiper arm and the sub-wiper arm to start; or

[0030] controlling the sub-wiper arm to rotate to the initial wiper angle of the sub-wiper arm and stop; if it is determined that the main wiper arm and the sub-wiper arm both reach the initial wiper angle, then controlling the main wiper arm and the sub-wiper arm to start.

[0031] To achieve the above object, the present application further provides a control device of a dual-motor wiper, which is installed in a microcontroller of a new energy vehicle and operates the control method of the dual-motor wiper.

[0032] The control device of the dual-motor wiper is connected with the main motor and the sub-motor respectively.

[0033] The control device of the dual-motor wiper comprises:

[0034] an angle detection module, configured to acquire a main detection angle and a sub-detection angle in a preset detection period; wherein the main detection angle refers to an included angle between the main wiper arm and a horizontal plane at a first time sequence; the sub-detection angle refers to an included angle between the sub-wiper arm and the horizontal plane at the first time sequence; and the first time sequence is one time sequence in the detection period;

[0035] an interference determination module, configured to determine an interference angle according to the main detection angle; wherein the interference angle is an angle range in which the sub-wiper arm has a collision risk with the main wiper arm;

[0036] a wiper synchronization module, configured to, if it is determined that the main detection angle and the sub-detection angle are inconsistent and the sub-detection angle is not in the interference angle, adjust the rotating speed of the sub-motor so that the main wiper arm and the sub-wiper arm rotate synchronously;

[0037] a wiper safety module, configured to, if it is determined that the main detection angle and the sub-detection angle are inconsistent and the sub-detection angle is in the interference angle, move the sub-wiper arm to a safety angle; wherein the safety angle refers to one of an angle range outside the interference angle corresponding to the main wiper arm, a maximum wiper angle of the sub-wiper arm and an initial wiper angle of the sub-wiper arm.

[0038] To achieve the above object, the present application further provides an electronic device, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor of the electronic device implements the steps of the control method of the dual-motor wiper when executing the computer program.

[0039] To achieve the above object, the application further provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program stored in the computer readable storage medium implements the steps of the control method of the dual-motor wiper when executed by a processor.

[0040] The application provides a control method and device of a dual-motor wiper, electronic equipment and a storage medium, wherein the rotation of a main wiper arm and a secondary wiper arm is monitored in real time by acquiring a main detection angle and a secondary detection angle in a detection period.

[0041] The angle range in which the secondary wiper arm has a collision risk with the main wiper arm is determined according to the main detection angle.

[0042] The main wiper arm and the secondary wiper arm of the dual-motor wiper are out of synchronization after long-time use, so the rotation of the main wiper arm and the secondary wiper arm is adjusted by adjusting the rotation speed of the secondary motor when the main detection angle and the secondary detection angle are inconsistent and the secondary detection angle is not at the interference angle, so that the dual-motor wiper can still keep the main wiper arm and the secondary wiper arm in synchronization after long-time use.

[0043] The main wiper arm and / or the secondary wiper arm of the dual-motor wiper brush an oil stain area with low friction or a sand, bird droppings or adhesive area with high friction, which causes a large change in the rotation speed between the main wiper arm and the secondary wiper arm, and thus the main wiper arm and the secondary wiper arm are prone to collision, so the secondary wiper arm is moved to a safe angle when the main detection angle and the secondary detection angle are inconsistent and the secondary detection angle is at the interference angle, so that the dual-motor wiper will not collide between the main wiper arm and the secondary wiper arm when contacting the oil stain area, the sand, bird droppings or adhesive area, and the subsequent synchronization of the main wiper arm and the secondary wiper arm is ensured, so that the main wiper arm and the secondary wiper arm work normally, thereby improving the reliability of the system and the driving safety of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 The flowchart of the control method of the dual-motor wiper according to Embodiment 1 of the application;

[0045] Figure 2 The application environment of the control method of the dual-motor wiper according to Embodiment 2 of the application;

[0046] Figure 3 The program module diagram of the control device of the dual-motor wiper according to Embodiment 3 of the application;

[0047] Figure 4 Figure 4 is a schematic diagram of the hardware structure of the electronic device in the fourth embodiment of the electronic device of the present application.

[0048] Reference signs:

[0049] 21: microcontroller;

[0050] 22: main motor;

[0051] 23: auxiliary motor;

[0052] 24: main wiper arm;

[0053] 25: auxiliary wiper arm;

[0054] 26: windshield. DETAILED DESCRIPTION

[0055] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0056] The following embodiments are provided:

[0057] Please refer to Figure 1 and Figure 2 The present application provides a control method of a dual-motor wiper, the dual-motor wiper comprising: a main motor 22 and an auxiliary motor 23, the main motor being connected with a main wiper arm 24, and the auxiliary motor being connected with an auxiliary wiper arm 25; wherein the control method of the dual-motor wiper is run in a microcontroller 21 of a new energy vehicle.

[0058] The control method comprises:

[0059] S101: obtaining a main detection angle and an auxiliary detection angle in a preset detection period; wherein the main detection angle refers to the included angle between the main wiper arm 24 and the horizontal plane at a first time sequence; the auxiliary detection angle refers to the included angle between the auxiliary wiper arm 25 and the horizontal plane at the first time sequence; and the first time sequence is a time sequence in the detection period;

[0060] S102: determining an interference angle according to the main detection angle; wherein the interference angle is the angle range in which the auxiliary wiper arm 25 has a collision risk with the main wiper arm 24;

[0061] S103: If it is determined that the main detection angle and the secondary detection angle are inconsistent, and the secondary detection angle is not at the interference angle, the speed of the secondary motor 23 is adjusted to make the main wiper arm 24 and the secondary wiper arm 25 rotate synchronously.

[0062] S104: If it is determined that the main detection angle and the secondary detection angle are inconsistent, and the secondary detection angle is at the interference angle, the secondary wiper arm 25 is moved to a safe angle.

[0063] In this example, by obtaining the main detection angle and the secondary detection angle in the detection period, the rotation of the main wiper arm 24 and the secondary wiper arm 25 is monitored in real time.

[0064] By determining the interference angle according to the main detection angle, the angle range in which the secondary wiper arm 25 has a collision risk with the main wiper arm 24 is determined.

[0065] After long-term use of the dual-motor wiper, the main wiper arm 24 and the secondary wiper arm 25 may become out of sync, therefore, by adjusting the speed of the secondary motor 23 when it is determined that the main detection angle and the secondary detection angle are inconsistent, and the secondary detection angle is not at the interference angle, the main wiper arm 24 and the secondary wiper arm 25 are made to rotate synchronously, ensuring that the dual-motor wiper can still maintain the synchronous rotation of the main wiper arm 24 and the secondary wiper arm 25 after long-term use.

[0066] When the main wiper arm 24 and / or the secondary wiper arm 25 of the dual-motor wiper brushes areas with low friction such as oil stains, or areas with high friction such as sand, bird droppings, and sticky glue, the rotation speed between the main wiper arm 24 and the secondary wiper arm 25 may change greatly, causing the main wiper arm 24 and the secondary wiper arm 25 to collide easily, therefore, by moving the secondary wiper arm 25 to a safe angle when it is determined that the main detection angle and the secondary detection angle are inconsistent, and the secondary detection angle is at the interference angle, the dual-motor wiper is ensured not to collide between the main wiper arm 24 and the secondary wiper arm 25 when it contacts oil stain areas, as well as sand, bird droppings, and sticky glue areas, and the synchronous rotation of the main wiper arm 24 and the secondary wiper arm 25 is ensured in the subsequent process, ensuring the normal operation of the main wiper arm and the secondary wiper arm, thereby improving the reliability of the system and the safety of vehicle driving.

[0067] The microcontroller 21 (MCU) is the core of the automotive electronic control unit ECU, which is a microcomputer integrated on a chip with CPU as the core. The ECU is a general term for a circuit board including a microcontroller 21 and related peripheral devices, and is an application system of the microcontroller 21 in a car. The microcontroller 21 is used to control the dual-motor wiper in a new energy vehicle.

[0068] In this embodiment, the safe angle is a range other than the interference angle of the main wiper arm, can also be the maximum wiper angle of the auxiliary wiper arm, or can also be the wiper angle set by the user on the auxiliary motor as needed.

[0069] In a preferred embodiment, a main detection angle and an auxiliary detection angle are acquired in a preset detection period, comprising:

[0070] A main initial signal of the main motor 22 and an auxiliary initial signal of the auxiliary motor 23 are collected according to a preset detection period; wherein the main initial signal is an analog signal reflecting the included angle between the main wiper arm 24 and the horizontal plane under the first time sequence; the auxiliary initial signal is an analog signal reflecting the included angle between the auxiliary wiper arm 25 and the horizontal plane under the first time sequence;

[0071] The main initial signal and the auxiliary initial signal are respectively subjected to filtering processing, amplification processing and compensation processing to obtain a main detection angle and an auxiliary detection angle.

[0072] In this embodiment, the main initial signal and the auxiliary initial signal are respectively subjected to filtering processing to remove noise and interference and extract useful signals; the main initial signal and the auxiliary initial signal are respectively subjected to amplification processing to enhance signal amplitude and improve signal-to-noise ratio to adapt to subsequent processing requirements; and the main initial signal and the auxiliary initial signal are respectively subjected to compensation processing to correct signal distortion caused by system error or environmental factors.

[0073] Specifically, the main initial signal of the main motor 22 and the auxiliary initial signal of the auxiliary motor 23 are collected according to a preset detection period, comprising:

[0074] The main initial signal of the main motor 22 is collected by an angle sensor; the main initial signal is an analog signal reflecting the included angle between the main wiper arm 24 and the horizontal plane;

[0075] The auxiliary initial signal of the auxiliary motor 23 is collected by a double-Hall sensor; the auxiliary initial signal is an analog signal reflecting the included angle between the auxiliary wiper arm 25 and the horizontal plane.

[0076] In this embodiment, a non-contact magnetic encoder is used as the angle sensor, which realizes angle measurement by detecting the magnetic field change of a rotating magnet. A double-channel Hall sensor array is used as the double-Hall sensor, which has two channels, each of which includes a Hall effect sensor, a chopper stabilized amplifier and a Schmidt trigger. The two Hall effect sensors of the double-Hall sensor have a 90° phase difference, detect the radial / tangential magnetic field components of the rotating magnet, and the magnet adopts a 4-pole pair design.

[0077] Further, the main initial signal of the main motor 22 is collected by the angle sensor, including:

[0078] The X-direction magnetic field component and the Y-direction magnetic field component are detected by the built-in Hall array in the angle sensor;

[0079] The polar coordinates are calculated according to the X-direction magnetic field component and the Y-direction magnetic field component by the CORDIC algorithm in the angle sensor;

[0080] The main initial signal is generated according to the polar coordinates by the angle sensor; wherein the main initial signal is any one of the PWM analog signal, the UVW analog signal and the ABI analog signal.

[0081] In this example, the Hall array adopts a two-dimensional Hall array, a plurality of Hall elements are arranged in orthogonal directions (X / Y), and each element independently detects the magnetic field component in the vertical direction. Adjacent Hall elements are connected in a differential form, and the common mode noise (such as temperature drift, power supply fluctuation) is eliminated by comparing the output signals of adjacent elements, and the signal-to-noise ratio is improved. For example, the A1333 angle sensor has a built-in differential amplifier that directly processes the differential signals of the Hall array.

[0082] The angle sensor also has an angle differential amplifier and an angle low-pass filter. The angle differential amplifier (such as THS4520) amplifies the differential signals of the Hall elements and suppresses common mode interference. For example, in the signal processing front-end module, the gain of the differential amplifier is set by adjustable resistors to adapt to different application scenarios.

[0083] The angle low-pass filter (RC filter) filters out high-frequency noise and retains useful signals. For example, the ADC front stage of the A1333 uses a low-pass filter with a bandwidth of 70kHz to ensure signal integrity.

[0084] In this embodiment, the Hall elements are made of low-noise semiconductor materials (such as GaAs, AlGaN / GaN) to reduce inherent noise. By high-frequency modulation and demodulation, the Hall voltage is separated from the noise. For example, the rotating current control circuit dynamically eliminates the offset voltage to improve the weak signal detection capability. The sensor array is wrapped in a metal shell to suppress external electromagnetic interference (EMI). For example, the A1333 uses a shielding layer design and is suitable for high-interference industrial environments.

[0085] The CORDIC algorithm (Coordinate Rotation Digital Computer) converts Cartesian coordinates (X, Y) to polar coordinates (angle θ, radius r) by iteratively rotating vectors. The algorithm gradually approaches the target angle by rotating at a fixed angle (such as ).

[0086] The CORDIC algorithm is divided into multiple pipeline stages, each processing one bit of rotation to increase throughput. For example, the A1333 built-in DSP core achieves nanosecond-level response through parallel calculation. The number of iterations determines the accuracy. For example, a 16-bit CORDIC implementation achieves a resolution of about 0.001°, meeting the high-precision industrial demand. Combine temperature sensor data to dynamically adjust CORDIC parameters to offset the impact of temperature on magnetic field detection.

[0087] For PWM analog signal generation, the application generates through the PWM module of the MCU of the angle sensor. For example, the A1333 supports programmable PWM output with a frequency range of 1kHz-10kHz. Among them, the duty cycle of the PWM module is proportional to the angle. For example, the angle θ corresponds to the duty cycle D=50%+θ / 360°×50%, realizing 0-100% linear modulation.

[0088] For UVW analog signal generation, the application maps the sine value calculated by CORDIC to the DAC output. For example, the HAL36xy series provides UVW analog output with an amplitude of 2.5V±1.2V, which is suitable for motor control requirements. Among them, the UVW signal is a three-phase symmetrical sine wave with a phase difference of 120°, which is used for motor commutation. For example, in brushless motor control, the UVW signal directly drives the inverter power tube.

[0089] For ABI analog signal generation, the application generates a pulse sequence through the derivative of the angle. For example, the ABI output of the A1333 supports 4x frequency mode, with resolution increased to 4096 PPR. Among them, A / B phases are two orthogonal square waves, and Z phase is a zero pulse. For example, A phase outputs 1024 pulses per revolution, and B phase leads / lags 90° to indicate direction.

[0090] Further, the secondary initial signal of the secondary motor 23 is collected by the double Hall sensor, including:

[0091] The first secondary signal and the second secondary signal are collected by the double Hall sensor; wherein the first secondary signal reflects the rotation angle of the secondary wiper arm 25 collected by one channel of the double Hall sensor; the second secondary signal reflects the rotation angle of the secondary wiper arm 25 collected by the other channel of the double Hall sensor;

[0092] If it is determined that the signal difference between the first secondary signal and the second secondary signal is less than the preset signal threshold, it is determined that the first secondary signal is the secondary initial signal; wherein the signal difference reflects the angle difference of the rotation angles of the secondary wiper arm 25 collected by the two channels of the double Hall sensor;

[0093] If it is determined that the signal difference between the first sub-signal and the second sub-signal is not less than the signal threshold value, the dual Hall sensor is triggered to collect a first resampling sub-signal and a second resampling sub-signal; the first resampling sub-signal reflects the rotation angle of the sub-wiper arm 25 resampled by one channel of the dual Hall sensor; and the second resampling sub-signal reflects the rotation angle of the sub-wiper arm 25 resampled by another channel of the dual Hall sensor.

[0094] If it is determined that the resampling signal difference between the first resampling sub-signal and the second resampling sub-signal is less than a preset resampling signal threshold value, the first resampling signal is determined to be the sub-sampling signal; wherein the resampling signal difference reflects the angle difference of the rotation angles of the sub-wiper arm 25 resampled by the two channels of the dual Hall sensor.

[0095] If it is determined that the resampling signal difference between the first resampling sub-signal and the second resampling sub-signal is not less than the resampling signal threshold value, the mean signal of the first resampling sub-signal and the second resampling sub-signal is calculated, the mean signal is taken as the sub-initial signal, and a fault signal of the dual Hall sensor is generated; wherein the mean signal reflects the angle mean of the rotation angles of the sub-wiper arm 25 resampled by the two channels of the dual Hall sensor.

[0096] In this example, the dual Hall sensor uses two independent Hall sensors (channels A / B) which are vertically installed near the rotation shaft of the sub-wiper arm 25 to detect the magnetic field change of the magnetic ring. For example, an Allegro A1335 dual-channel angle sensor is used, which supports 14-bit resolution and has an angle accuracy of ±0.5°. The sub-wiper arm 25 shaft end is integrated with a radial magnetization magnetic ring, and the magnetic field strength is 0.5T~1.5T, which ensures the output of a linear voltage signal of the Hall sensor. The gap between the magnetic ring and the sensor is controlled to be 0.5mm~2mm, which balances the signal strength and mechanical tolerance.

[0097] Channel A outputs a first sub-signal, and channel B outputs a second sub-signal, which is in the form of PWM duty cycle (such as 50%±θ / 360°×40%) or analog voltage (such as 0.5V~4.5V linearly corresponding to 0°~360°).

[0098] The sampling frequency is ≥1kHz, which ensures the capture of the angle change when the wiper moves quickly. For example, the highest rotation speed of the wiper is 60rpm, which corresponds to an angle rate of 6° / ms, and the sampling interval needs to be ≤0.5ms.

[0099] The cutoff frequency of the Hall low-pass filter in the dual Hall sensor is set to 50Hz to suppress high-frequency noise (such as electromagnetic interference of the motor). The Hall low-pass differential amplifier processes the signals of channels A / B (such as INA128) to eliminate common-mode noise and improve the signal-to-noise ratio to ≥60dB.

[0100] Initial signal difference threshold setting: The preset signal threshold T init is set to ±2°, corresponding to the channel A / B signal difference. The threshold is determined based on sensor calibration data and wiper mechanical tolerance (such as shaft gap ±1.5°).

[0101] If the condition is met, the channel A signal is selected as the secondary initial signal S init and directly output to the main control unit. If not, the resampling mechanism is triggered.

[0102] Resampling trigger condition: The difference value of continuous 3 times sampling exceeds the threshold, or the single difference value exceeds T init ×2 (such as ±4°), ensuring that the false trigger rate is less than 0.1%.

[0103] Channel A / B resampling, output the first resampling secondary signal and the second resampling secondary signal, sampling interval ≤10ms, to avoid large angle changes caused by wiper movement.

[0104] Resampling signals go through the same preprocessing process (filtering / differential amplification) to ensure consistency with the initial signal.

[0105] Resampling threshold setting: The preset resampling signal threshold T re is set to ±1°, which is more stringent than the initial threshold, to ensure the reliability of the resampled data.

[0106] If Tre is met, the channel A resampling signal S A2 is selected as the secondary acquisition signal S col and output to the main control unit. If not, the average is calculated and a fault signal is generated.

[0107] Send fault frame through CAN bus (such as ISO 11898-2), ID=0x2A5, data field contains fault type (sensor deviation / signal loss) and timestamp.

[0108] After receiving the fault signal, the main control unit executes the degradation strategy: switches to the backup sensor (if available), limits the maximum speed of the wiper, or prompts the driver to repair.

[0109] Electromagnetic shielding: The sensor shell is plated with nickel alloy to suppress external electromagnetic interference (EMI). For example, it meets the CISPR25 standard, with radiation immunity ≥20V / m.

[0110] The sensor mounting base uses rubber shock pads to reduce vibration transmission (such as vibration acceleration ≤2g in the range of 10Hz~500Hz).

[0111] Zero-point calibration is performed when powered on, the wiper arm is parked at the initial position, and the sensor offset is adjusted to ±0.2°.

[0112] Based on temperature sensor (such as NTC) data, temperature drift compensation is performed on the Hall output, with compensation coefficient .

[0113] Angle accuracy: initial signal ±0.5°, re-sampling mean signal ±0.3°.

[0114] Response time: initial sampling ≤1ms, re-sampling process ≤15ms, meeting the real-time control requirements of wipers.

[0115] Fault detection rate: ≥99.5%, false alarm rate ≤0.1%.

[0116] This scheme realizes redundant angle detection through double Hall sensors, combines difference comparison, re-sampling mechanism and mean calculation, and ensures that reliable signals can still be output under sensor abnormalities or external interference. The core innovations include:

[0117] Dynamic threshold adjustment: initial threshold and re-sampling threshold are set hierarchically to balance sensitivity and anti-interference ability.

[0118] Fault safety design: mean signal and fault signal linkage, realizing degraded operation and real-time alarm.

[0119] Multi-scene adaptation: by adjusting sampling frequency, filtering parameters and threshold, it adapts to different field requirements such as automobiles, industries, aerospace, etc.

[0120] Specifically, the main initial signal and the secondary initial signal are respectively subjected to filtering processing, amplification processing and compensation processing to obtain the main detection angle and the secondary detection angle, including:

[0121] The main initial signal and the secondary initial signal are respectively subjected to filtering processing through low-pass filtering algorithm and Kalman filtering algorithm to obtain the main filtering angle and the secondary filtering angle;

[0122] The main filtering angle and the secondary filtering angle are respectively subjected to amplification processing through automatic gain control algorithm or fixed gain amplification algorithm to obtain the main amplification angle and the secondary amplification angle;

[0123] The main amplification angle and the secondary amplification angle are respectively subjected to compensation processing through temperature compensation algorithm and mechanical error compensation algorithm to obtain the main detection angle and the secondary detection angle.

[0124] In this example, the main initial signal and the secondary initial signal are preprocessed through low-pass filtering algorithm to remove high-frequency noise; then the low-pass filtered signal is taken as the measurement input through Kalman filtering algorithm to dynamically estimate the angle state, further suppress dynamic noise (such as mechanical vibration), and estimate the accurate state of the wiper angle.

[0125] The gain coefficient is adjusted according to the frequency of the pulse signal output by the rain sensor through an automatic gain control algorithm; wherein the rain sensor is used to detect the current rainfall, and the greater the rainfall of the rain sensor, the higher the frequency of the generated pulse signal, and the higher the gain coefficient; the automatic gain control algorithm determines the main gain coefficient corresponding to the main filter angle and the auxiliary gain angle corresponding to the auxiliary filter angle through a preset gain control rule. Exemplarily, the input module is a sine wave analog rain pulse, the gain control rule adjusts the gain, and the maximum membership average method (MOM) is used for demodulation. The main detection angle is obtained by amplifying the main filter angle through the main gain coefficient; the auxiliary detection angle is obtained by amplifying the auxiliary filter angle through the auxiliary gain coefficient. Therefore, the signal is kept within the input range of the analog-to-digital converter, and signal overload or distortion is avoided.

[0126] The gain mapping table is set according to the resolution of the analog-to-digital converter (such as 12 bits) and the output range of the angle sensor (0-5V) through a fixed gain amplification algorithm, and the gain mapping table has a mapping relationship between signal strength and gain coefficient; the main gain coefficient corresponding to the signal strength of the main filter angle and the auxiliary gain coefficient corresponding to the auxiliary filter angle are determined according to the gain mapping table; the main detection angle is obtained by amplifying the main filter angle through the main gain coefficient; the auxiliary detection angle is obtained by amplifying the auxiliary filter angle through the auxiliary gain coefficient. Ensure that the signal covers the input range of the analog-to-digital converter (0-10V). Linearly amplify the weak sensor signal to improve the signal strength and provide reliable input for subsequent processing. At the same time, the state estimation can also be continuously adjusted through a prediction-update mechanism to adapt to the dynamic changes of the wiper.

[0127] The temperature compensation algorithm adopts a piecewise function model, wherein an exponential model is used in a low temperature zone (-50℃ to -15℃), a linear model is used in an intermediate zone (-15℃ to 75℃), and an exponential model is used in a high temperature zone (75℃ to 100℃), and the piecewise function model reflects the mapping relationship between the motor temperature and the compensation angle. The main compensation angle is determined according to the main motor 22 temperature of the main motor 22 through the temperature compensation algorithm, and the main amplified angle and the main compensation angle are added to obtain the main temperature angle; the auxiliary compensation angle is determined according to the auxiliary motor 23 temperature of the auxiliary motor 23 through the temperature compensation algorithm, and the auxiliary amplified angle and the auxiliary compensation angle are added to obtain the auxiliary temperature angle. Therefore, the deviation of the signals generated by the main motor 22 and the auxiliary motor 23 at different temperatures is eliminated.

[0128] The mechanical error compensation algorithm includes a static error model and a dynamic error model.

[0129] The static error model has an angle-bias mapping table that collects the bias values of sensor output and actual angle at key positions (0°, 90°, 180°, 270°) of the wiper arm through bench testing.

[0130] The dynamic error model is a differential equation based on the dynamics of the mechanical system, established according to shaft stiffness and friction coefficient, for describing the change of angle error of the wiper arm over time. Shaft stiffness refers to the ability of the wiper arm to resist elastic deformation when subjected to external force or torque; friction coefficient is a dimensionless parameter describing the ratio of friction force to normal pressure between two contact surfaces.

[0131] The main static compensation angle is determined by the static error model according to the main temperature angle; the secondary static compensation angle is determined by the static error model according to the secondary temperature angle;

[0132] The main dynamic compensation angle is determined by the dynamic error model according to the shaft stiffness of the main wiper arm 24 and the friction coefficient between the main wiper arm 24 and the windshield 26;

[0133] The secondary dynamic compensation angle is determined by the dynamic error model according to the shaft stiffness of the secondary wiper arm 25 and the friction coefficient between the secondary wiper arm 25 and the windshield 26.

[0134] The main detection angle is obtained by adding the main temperature angle to the main static compensation angle and the main dynamic compensation angle;

[0135] The secondary detection angle is obtained by adding the secondary temperature angle to the secondary static compensation angle and the secondary dynamic compensation angle.

[0136] Correct the angle deviation caused by installation error or mechanical deformation of the wiper arm, improve the uniformity of the wiper, and solve the problem of deviation of the front wiper stroke.

[0137] Precision improvement: The angle error is greatly reduced, and the main detection angle and the secondary detection angle are close to the true value, meeting the high-precision demand.

[0138] Stability enhancement: The anti-interference ability is significantly improved, and it is suitable for complex environments (such as electromagnetic interference and temperature change).

[0139] Adaptability and robustness: The dynamic compensation mechanism responds to changes in materials and temperature, maintaining long-term stable operation.

[0140] Efficiency optimization: Real-time processing reduces manual correction, reduces waste rate, and improves production efficiency.

[0141] In a preferred embodiment, determining the interference angle according to the main detection angle comprises:

[0142] According to the preset mapping function, an interference angle corresponding to the main detection angle is calculated; or

[0143] From a preset mapping table, a first main test angle range corresponding to the main detection angle is obtained, and an interference angle corresponding to the first main test angle range is obtained; the mapping table has at least one main test angle range and an interference angle corresponding to each main test angle range; the first main test angle range is one of the at least one main test angle range.

[0144] In this example, if the number of computing resources is higher than the preset resource threshold, an interference angle corresponding to the main wiper angle is calculated according to the preset mapping function;

[0145] If the number of computing resources is not higher than the resource threshold, an interference angle corresponding to the main wiper angle is obtained according to the preset mapping table.

[0146] Optionally, the mapping function is a polynomial function, the independent variable of the polynomial function is the main wiper angle, and the dependent variable is the interference angle. Therefore, by bringing the main wiper angle into the polynomial function, the risk angle corresponding to the main wiper angle is obtained. The sum of the main wiper angle and the risk angle is taken as the upper limit of the interference angle, and the difference between the main wiper angle and the risk angle is taken as the lower limit of the interference angle, so as to obtain the angle range in which the secondary wiper arm 25 and the main wiper arm 24 have a collision risk.

[0147] For example: ; wherein a, b and c are parameters, θmain is the main wiper angle, and θinterfere is the risk angle. Therefore, the interference angle obtained is

θmain-θinterfere, θmain+θinterfere

[0148] In a preferred embodiment, the mapping function includes a circular function and a tangent function.

[0149] According to the preset mapping function, an interference angle corresponding to the main detection angle is calculated, comprising:

[0150] According to the main detection angle, the end coordinate of the end point of the main wiper arm 24 away from the main motor 22 is determined;

[0151] The circular function is called with the end coordinate as the center and a preset safety distance as the radius to generate an end point circle;

[0152] The tangent function is called with the secondary output shaft of the secondary motor 23 as the starting point to generate two tangent lines of the end point circle, and the included angle between the two tangent lines is taken as the interference angle of the main detection angle.

[0153] In this example, the interference angle of the main detection angle can be determined in real time and accurately through the circular function and tangent function, thereby ensuring the real-time and accuracy of the interference angle.

[0154] Exemplarily, for the main wiper arm 24, the end coordinate is:

[0155] P1_main = P_main + L_main × [cos(θ_main), sin(θ_main)];

[0156] wherein P1_main is the end coordinate of the main wiper arm 24;

[0157] P_main is the coordinate of the main output shaft of the main wiper motor;

[0158] L_main is the length of the main wiper arm 24;

[0159] θ_main is the main wiper angle.

[0160] For the sub-wiper arm 25, the end coordinate is:

[0161] P1_sub = P_sub + L_sub × [cos(θ_sub), sin(θ_sub)];

[0162] wherein P1_sub is the end coordinate of the sub-wiper arm 25;

[0163] P_sub is the coordinate of the sub-output shaft of the sub-wiper motor;

[0164] L_sub is the length of the sub-wiper arm 25;

[0165] θ_sub is the sub-wiper angle.

[0166] Taking the main wiper end P1_main as the center and the safety distance as the radius r (r can be the wiper blade width or the safety distance), the end point circle is calculated, and the angles α1 and α2 corresponding to the two tangent lines from the sub-wiper rotation center P_sub to the end point circle are calculated.

[0167] Through the formula: wherein T is the distance between the end point of the main wiper arm 24 and the sub-output shaft of the sub-wiper motor; d is the distance from P_sub to the tangent point on the end point circle;

[0168] Through the formula: , the first included angle α1 and the second included angle α2 are obtained;

[0169] Subtracting the angle between the end point of the main wiper arm 24 and the secondary output shaft of the secondary wiper motor from the first angle, a first angle value is obtained.

[0170] Adding the angle between the end point of the main wiper arm 24 and the secondary output shaft of the secondary wiper motor to the second angle, a second angle value is obtained.

[0171] The angle range constructed with the first angle value as the lower limit and the second angle value as the upper limit is the interference angle of the main wiper angle.

[0172] In a preferred embodiment, the mapping table is obtained by the following method:

[0173] Determining a second main test angle; the second main test angle is the angle between the angle bisector of one of the main test angle ranges and the horizontal plane; the main test angle ranges are N angle ranges formed by equiangularly dividing the wiping range of the main wiper arm 24; wherein N is a natural number greater than or equal to 2;

[0174] According to the second main test angle, the end coordinates of the end point of the main wiper arm 24 away from the main motor 22 are determined;

[0175] Calling the circle function with the end coordinates as the center of the circle to generate an end point circle;

[0176] Calling the tangent function with the secondary output shaft of the secondary motor 23 as the starting point to generate two tangent lines of the end point circle, and taking the angle between the two tangent lines as the interference angle of the first main test angle;

[0177] Recording the main test angle range corresponding to the second main test angle and the interference angle corresponding to the second main test angle in the preset mapping table.

[0178] In this example, for electronic devices with insufficient computing power, the mapping table is used to identify the interference angle, reducing the computing power consumption required for interference angle confirmation and improving the interference angle feedback efficiency.

[0179] In a preferred embodiment, adjusting the speed of the secondary motor 23 to make the main wiper arm 24 and the secondary wiper arm 25 rotate synchronously includes:

[0180] If it is determined that the rotation direction of the main wiper arm 24 and the auxiliary wiper arm 25 is from the initial wiper angle to the maximum wiper angle, the rotation speed of the auxiliary motor 23 is increased until the first main real-time angle and the first auxiliary real-time angle are consistent; wherein the first main real-time angle is the included angle between the main wiper arm 24 and the horizontal plane at the second time sequence; the first auxiliary real-time angle is the included angle between the auxiliary wiper arm 25 and the horizontal plane at the second time sequence; the second time sequence is one time sequence in the process of increasing the rotation speed of the auxiliary motor 23;

[0181] If it is determined that the rotation direction of the main wiper arm 24 and the auxiliary wiper arm 25 is from the maximum wiper angle to the initial wiper angle, the rotation speed of the auxiliary motor 23 is reduced until the second main real-time angle and the second auxiliary real-time angle are consistent; wherein the second main real-time angle is the included angle between the main wiper arm 24 and the horizontal plane at the third time sequence; the second auxiliary real-time angle is the included angle between the auxiliary wiper arm 25 and the horizontal plane at the third time sequence; the third time sequence is one time sequence in the process of reducing the rotation speed of the auxiliary motor 23.

[0182] In this example, the rotation synchronization of the main wiper arm 24 and the auxiliary wiper arm 25 is detected in real time by determining that the rotation direction of the main wiper arm 24 and the auxiliary wiper arm 25 is from the initial wiper angle to the maximum wiper angle, and increasing the rotation speed of the auxiliary motor 23 until the first main real-time angle and the first auxiliary real-time angle are consistent, which ensures the reliability of the synchronous rotation of the main wiper arm 24 and the auxiliary wiper arm 25 during the process of increasing the rotation speed of the auxiliary motor 23.

[0183] The rotation synchronization of the main wiper arm 24 and the auxiliary wiper arm 25 is detected in real time by determining that the rotation direction of the main wiper arm 24 and the auxiliary wiper arm 25 is from the maximum wiper angle to the initial wiper angle, and reducing the rotation speed of the auxiliary motor 23 until the second main real-time angle and the second auxiliary real-time angle are consistent, which ensures the reliability of the synchronous rotation of the main wiper arm 24 and the auxiliary wiper arm 25 during the process of reducing the rotation speed of the auxiliary motor 23.

[0184] Specifically, increasing the rotation speed of the auxiliary motor 23 until the first main real-time angle and the first auxiliary real-time angle are consistent includes:

[0185] Setting the difference between the main wiper angle and the auxiliary wiper angle as a first angle difference;

[0186] Determining the number of gears according to the first angle difference;

[0187] According to the first angle difference and the number of gears, a lifting gear section corresponding to the number of gears is generated, and each lifting gear section has a PWM duty ratio;

[0188] controlling the motor 23 through the PWM duty ratio of each of the lifting gear stages in sequence, so that the first main real-time angle and the first auxiliary real-time angle are consistent;

[0189] The PWM duty ratio of the lifting gear stage is greater than the PWM duty ratio of the motor 23 when it is detected that the main wiper angle and the auxiliary wiper angle are inconsistent and the auxiliary wiper arm 25 does not enter the interference angle. The lifting gear stage has a gear trigger angle. When the lifting real-time difference reaches the gear trigger angle of the first lifting gear stage, the PWM duty ratio of the motor 23 is set to the PWM duty ratio of the first lifting gear stage. The lifting real-time difference is the difference between the first main real-time angle and the first auxiliary real-time angle. The first lifting gear stage is one of the at least one lifting gear stage.

[0190] Specifically, the speed of the motor 23 is reduced until the second main real-time angle and the second auxiliary real-time angle are consistent, including:

[0191] The difference between the main wiper angle and the auxiliary wiper angle is set as a second angle difference;

[0192] The number of gears is determined according to the second angle difference;

[0193] According to the second angle difference and the number of gears, a reducing gear stage corresponding to the number of gears is generated, and each of the reducing gear stages has a PWM duty ratio.

[0194] controlling the motor 23 through the PWM duty ratio of each of the reducing gear stages in sequence, so that the second main real-time angle and the second auxiliary real-time angle are consistent;

[0195] The PWM duty ratio of the reducing gear stage is less than the PWM duty ratio of the motor 23 when it is detected that the main wiper angle and the auxiliary wiper angle are inconsistent and the auxiliary wiper arm 25 does not enter the interference angle. The reducing gear stage has a gear trigger angle. When the reducing real-time difference reaches the gear trigger angle of the second reducing gear stage, the PWM duty ratio of the motor 23 is set to the PWM duty ratio of the second reducing gear stage. The reducing real-time difference is the difference between the second main real-time angle and the second auxiliary real-time angle. The second reducing gear stage is one of the at least one reducing gear stage.

[0196] Optionally, adjusting the speed of the motor 23 so that the main wiper angle and the auxiliary wiper angle are consistent, further includes:

[0197] if it is determined that the rotation direction of the main wiper arm 24 is from the initial wiper angle to the maximum wiper angle and the rotation direction of the auxiliary wiper arm 25 is from the maximum wiper angle to the initial wiper angle, then the auxiliary wiper arm 25 is controlled to rotate to the maximum wiper angle of the auxiliary wiper arm 25 and stop;

[0198] if it is determined that the rotation direction of the main wiper arm 24 is from the maximum wiper angle to the initial wiper angle and the rotation direction of the auxiliary wiper arm 25 is from the initial wiper angle to the maximum wiper angle, then the auxiliary wiper arm 25 is controlled to rotate to the maximum wiper angle of the auxiliary wiper arm 25 and stop;

[0199] if it is determined that the main wiper arm 24 and the auxiliary wiper arm 25 both reach the maximum wiper angle, then the main wiper arm 24 and the auxiliary wiper arm 25 are controlled to start.

[0200] Further, if it is determined that the main wiper arm 24 and the auxiliary wiper arm 25 both reach the maximum wiper angle, then the main wiper arm 24 and the auxiliary wiper arm 25 are controlled to start, including:

[0201] if the difference between the third main real-time angle and the maximum wiper angle is less than the preset maximum synchronization threshold, then the main wiper angle is detected according to the preset maximum detection frequency; wherein the third real-time angle is the included angle between the main wiper arm 24 and the horizontal plane at the fourth time sequence; the fourth time sequence is a time sequence after the auxiliary wiper arm 25 is controlled to rotate to the maximum wiper angle of the auxiliary wiper arm 25 and stop;

[0202] if the difference between the fourth main real-time angle and the fourth auxiliary real-time angle is less than the preset maximum error allowed value, then the main wiper arm 24 and the auxiliary wiper arm 25 are controlled to start; wherein the fourth main real-time angle is the included angle between the main wiper arm 24 and the horizontal plane at the fifth time sequence; the fourth auxiliary real-time angle is the included angle between the auxiliary wiper arm 25 and the horizontal plane at the fifth time sequence; the fifth time sequence is a time sequence after the auxiliary wiper arm 25 is controlled to rotate to the maximum wiper angle of the auxiliary wiper arm 25 and stop.

[0203] In a preferred embodiment, moving the auxiliary wiper arm to the safe angle includes:

[0204] if it is determined that the rotation direction of the main wiper arm and the auxiliary wiper arm is from the initial detection angle to the maximum detection angle, then the rotation speed of the auxiliary motor is increased until the first auxiliary real-time angle is not in the interference angle range corresponding to the first main real-time angle; wherein the first main real-time angle is the included angle between the main wiper arm and the horizontal plane at the second time sequence; the first auxiliary real-time angle is the included angle between the auxiliary wiper arm and the horizontal plane at the second time sequence; the second time sequence is a time sequence in the process of increasing the rotation speed of the auxiliary motor.

[0205] If it is determined that the rotation direction of the main wiper arm and the auxiliary wiper arm is from the maximum detection angle to the initial detection angle, the rotation speed of the auxiliary motor is reduced until the second auxiliary real-time angle is not in the interference angle range corresponding to the second main real-time angle; wherein the second main real-time angle is the angle between the main wiper arm and the horizontal plane at the third time sequence; the second auxiliary real-time angle is the angle between the auxiliary wiper arm and the horizontal plane at the third time sequence; the third time sequence is one time sequence in the process of reducing the rotation speed of the auxiliary motor.

[0206] In this example, by determining that the rotation direction of the main wiper arm 24 and the auxiliary wiper arm 25 is from the initial wiper angle to the maximum wiper angle, the rotation speed of the auxiliary motor 23 is increased until the first auxiliary real-time angle is not in the interference angle range corresponding to the first main real-time angle. The rotation of the main wiper arm 24 and the auxiliary wiper arm 25 is detected in real time, and the auxiliary wiper arm 25 is separated from the interference angle of the main wiper arm 24, so as to ensure that the main wiper arm 24 and the auxiliary wiper arm 25 will not collide.

[0207] If it is determined that the rotation direction of the main wiper arm 24 and the auxiliary wiper arm 25 is from the maximum wiper angle to the initial wiper angle, the rotation speed of the auxiliary motor 23 is reduced until the second auxiliary real-time angle is not in the interference angle range corresponding to the second main real-time angle. The rotation of the main wiper arm 24 and the auxiliary wiper arm 25 is detected in real time, and the auxiliary wiper arm 25 is separated from the interference angle of the main wiper arm 24, so as to ensure that the main wiper arm 24 and the auxiliary wiper arm 25 will not collide.

[0208] Specifically, increasing the rotation speed of the auxiliary motor until the first auxiliary real-time angle is not in the interference angle range corresponding to the first main real-time angle includes:

[0209] The difference between the main wiper angle and the auxiliary wiper angle is set as a first angle difference;

[0210] The number of gears is determined according to the first angle difference;

[0211] According to the first angle difference and the number of gears, a lifting gear section corresponding to the number of gears is generated, and each lifting gear section has a PWM duty ratio;

[0212] The PWM duty ratio of each lifting gear section is sequentially controlled to control the auxiliary motor 23, so that the first auxiliary real-time angle is not in the interference angle corresponding to the first main real-time angle;

[0213] The PWM duty ratio of the lifting gear section is greater than the PWM duty ratio of the secondary motor 23 when the primary wiper angle and the secondary wiper angle are detected to be inconsistent, and the secondary wiper arm 25 does not enter the interference angle. The lifting gear section has a gear trigger angle. When the lifting real-time difference reaches the gear trigger angle of the first lifting gear section, the PWM duty ratio of the secondary motor 23 is set to the PWM duty ratio of the first lifting gear section. The lifting real-time difference is the difference between the first primary real-time angle and the first secondary real-time angle. The first lifting gear section is one of the at least one lifting gear section.

[0214] Specifically, the speed of the secondary motor is reduced until the second secondary real-time angle is not in the range of the interference angle corresponding to the second primary real-time angle, including:

[0215] The difference between the primary wiper angle and the secondary wiper angle is set as a second angle difference;

[0216] The number of gears is determined according to the second angle difference;

[0217] According to the second angle difference and the number of gears, a reducing gear section corresponding to the number of gears is generated, and each reducing gear section has a PWM duty ratio;

[0218] The PWM duty ratio of each reducing gear section is used to control the secondary motor 23, so that the second secondary real-time angle is not in the interference angle corresponding to the second primary real-time angle.

[0219] The PWM duty ratio of the reducing gear section is less than the PWM duty ratio of the secondary motor 23 when the primary wiper angle and the secondary wiper angle are detected to be inconsistent, and the secondary wiper arm 25 does not enter the interference angle. The reducing gear section has a gear trigger angle. When the reducing real-time difference reaches the gear trigger angle of the second reducing gear section, the PWM duty ratio of the secondary motor 23 is set to the PWM duty ratio of the second reducing gear section. The reducing real-time difference is the difference between the second primary real-time angle and the second secondary real-time angle. The second reducing gear section is one of the at least one reducing gear section.

[0220] In an optional embodiment, moving the secondary wiper arm 25 to a safe angle includes:

[0221] Controlling the secondary wiper arm 25 to rotate to the maximum wiper angle of the secondary wiper arm 25 and stop; if it is determined that the primary wiper arm 24 and the secondary wiper arm 25 both reach the maximum wiper angle, the primary wiper arm 24 and the secondary wiper arm 25 are controlled to start; or

[0222] controlling the sub-wiper arm 25 to rotate to the initial wiper angle of the sub-wiper arm 25 and stop; and if it is determined that the main wiper arm 24 and the sub-wiper arm 25 have reached the initial wiper speed, then controlling the main wiper arm 24 and the sub-wiper arm 25 to start.

[0223] In this embodiment, by controlling the sub-wiper arm 25 to rotate to the maximum wiper angle or the initial wiper angle of the sub-wiper arm 25 and stop, the collision between the main wiper arm 24 and the sub-wiper arm 25 is avoided. When it is determined that the main wiper arm 24 and the sub-wiper arm 25 have reached the maximum wiper angle, then the main wiper arm 24 and the sub-wiper arm 25 are controlled to start, so as to realize the synchronous rotation of the main wiper arm 24 and the sub-wiper arm 25.

[0224] Specifically, if it is determined that the main wiper arm 24 and the sub-wiper arm 25 have reached the maximum wiper angle, then the main wiper arm 24 and the sub-wiper arm 25 are controlled to start, including:

[0225] If the difference between the fifth main real-time angle and the maximum wiper angle is less than the preset maximum synchronization threshold value, then the main wiper angle is detected according to the preset maximum detection frequency; wherein the fifth real-time angle is the included angle between the main wiper arm 24 and the horizontal plane at the sixth time sequence; and the sixth time sequence is a time sequence after the sub-wiper arm 25 is controlled to rotate to the maximum wiper angle of the sub-wiper arm 25 and stop.

[0226] If the difference between the seventh main real-time angle and the seventh sub-real-time angle is less than the preset maximum error allowable value, then the main wiper arm 24 and the sub-wiper arm 25 are controlled to start; wherein the seventh main real-time angle is the included angle between the main wiper arm 24 and the horizontal plane at the eighth time sequence; the seventh sub-real-time angle is the included angle between the sub-wiper arm 25 and the horizontal plane at the eighth time sequence; and the eighth time sequence is a time sequence after the sub-wiper arm 25 is controlled to rotate to the maximum wiper angle of the sub-wiper arm 25 and stop.

[0227] Specifically, if it is determined that the main wiper arm 24 and the sub-wiper arm 25 have reached the initial wiper speed, then the main wiper arm 24 and the sub-wiper arm 25 are controlled to start, including:

[0228] If the difference between the eighth main real-time angle and the initial wiper angle is less than the preset initial synchronization threshold value, then the main wiper angle is detected according to the preset initial detection frequency; wherein the eighth real-time angle is the included angle between the main wiper arm 24 and the horizontal plane at the ninth time sequence; and the ninth time sequence is a time sequence after the sub-wiper arm 25 is controlled to rotate to the initial wiper angle of the sub-wiper arm 25 and stop.

[0229] If it is determined that the difference between the ninth main real-time angle and the ninth auxiliary real-time angle is less than the preset initial error allowable value, the main wiper arm 24 and the auxiliary wiper arm 25 are controlled to start; wherein the ninth main real-time angle is the included angle between the main wiper arm 24 and the horizontal plane at the tenth time sequence; the ninth auxiliary real-time angle is the included angle between the auxiliary wiper arm 25 and the horizontal plane at the tenth time sequence; and the tenth time sequence is a time sequence after the auxiliary wiper arm 25 is controlled to rotate to the initial wiper angle of the auxiliary wiper arm 25 and stop.

[0230] Embodiment 2:

[0231] Please refer to Figure 3 The application provides a double-motor wiper control device and a double-motor wiper control method.

[0232] The double-motor wiper control device 3 is connected with the main motor 22 and the auxiliary motor 23 respectively.

[0233] The double-motor wiper control device 3 comprises:

[0234] An angle detection module 31 is configured to obtain a main detection angle and an auxiliary detection angle in a preset detection period; wherein the main detection angle refers to the included angle between the main wiper arm 24 and the horizontal plane at a first time sequence; the auxiliary detection angle refers to the included angle between the auxiliary wiper arm 25 and the horizontal plane at the first time sequence; and the first time sequence is a time sequence in the detection period.

[0235] An interference determination module 32 is configured to determine an interference angle according to the main detection angle; wherein the interference angle is the angle range in which the auxiliary wiper arm 25 has a collision risk with the main wiper arm 24.

[0236] A wiper synchronization module 33 is configured to, if it is determined that the main detection angle and the auxiliary detection angle are inconsistent and the auxiliary detection angle is not in the interference angle, adjust the rotating speed of the auxiliary motor 23 so that the main wiper arm 24 and the auxiliary wiper arm 25 rotate synchronously.

[0237] A wiper safety module 34 is configured to, if it is determined that the main detection angle and the auxiliary detection angle are inconsistent and the auxiliary detection angle is in the interference angle, move the auxiliary wiper arm 25 to a safety angle.

[0238] Embodiment 3:

[0239] To achieve the above object, the application further provides an electronic device 4, components of the control device of the dual-motor wiper of embodiment three can be dispersed in different electronic devices, the electronic device 4 can be a smart phone, a tablet computer, a notebook computer, a desktop computer, a rack server, a blade server, a tower server or a cabinet server (including a stand-alone server or a server cluster composed of multiple application servers) and the like which execute programs. The electronic device of the embodiment at least includes but is not limited to a memory 41 and a processor 42 which can be connected to each other in communication through a system bus, as shown in the figure. Figure 4 It should be noted that, Figure 4 Only the electronic device with components is shown, but it should be understood that all the shown components are not required to be implemented, and more or less components can be alternatively implemented.

[0240] In the embodiment, the memory 41 (i.e. a readable storage medium) includes a flash memory, a hard disk, a multimedia card, a card-type memory (for example, an SD or DX memory and the like), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk and the like. In some embodiments, the memory 41 can be an internal storage unit of the electronic device, for example, a hard disk or a memory of the electronic device. In other embodiments, the memory 41 can also be an external storage device of the electronic device, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card and the like equipped on the electronic device. Of course, the memory 41 can also include both the internal storage unit and the external storage device of the electronic device. In the embodiment, the memory 41 is usually used to store an operating system and various application software installed on the electronic device, for example, program codes of the control device of the dual-motor wiper of embodiment 2 and the like. In addition, the memory 41 can also be used to temporarily store various data which have been output or will be output.

[0241] The processor 42 in some embodiments can be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chips. The processor 42 is usually used to control the overall operation of the electronic device. In the embodiment, the processor 42 is used to run program codes or process data stored in the memory 41, for example, to run the control device of the dual-motor wiper to implement the control method of the dual-motor wiper of embodiment one.

[0242] Embodiment 4:

[0243] To achieve the above object, the application further provides a computer readable storage medium, such as a flash memory, a hard disk, a multimedia card, a card memory (for example, an SD or DX memory, etc.), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, a server, an App application store, etc., which stores a computer program, and the program is executed by the processor 42 to realize the corresponding function. The computer readable storage medium of the embodiment is used to store the computer program for realizing the control method of the double-motor wiper, and the program is executed by the processor 42 to realize the control method of the double-motor wiper of the embodiment 1.

[0244] The above embodiment numbers of the application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0245] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be realized by means of software and the necessary general hardware platform, of course, they can also be realized by hardware, but in many cases, the former is a better embodiment.

[0246] The above is only the preferred embodiment of the application, and does not limit the patent scope of the application, and any equivalent structure or equivalent process transformation, or direct or indirect application in other related technical fields by using the content of the specification and drawings of the application, are also included in the patent protection scope of the application.

Claims

1. A control method for a dual-motor wiper, characterized in that: The dual-motor wiper comprises: a main motor and an auxiliary motor, the main motor is connected to a main wiper arm, and the auxiliary motor is connected to an auxiliary wiper arm; The control method includes: A primary detection angle and a secondary detection angle are obtained in a preset detection cycle; wherein the primary detection angle refers to the angle between the primary wiper arm and the horizontal plane at a first time sequence; the secondary detection angle refers to the angle between the secondary wiper arm and the horizontal plane at the first time sequence; the first time sequence is a time sequence in the detection cycle; Determining an interference angle according to the main detection angle; wherein the interference angle is an angle range within which there is a risk of collision between the auxiliary wiper arm and the main wiper arm; If it is determined that the main detection angle is inconsistent with the auxiliary detection angle, and the auxiliary detection angle is not at the interference angle, adjusting the rotation speed of the auxiliary motor so that the main wiper arm and the auxiliary wiper arm rotate synchronously; If it is determined that the main detection angle is inconsistent with the auxiliary detection angle, and the auxiliary detection angle is at the interference angle, the auxiliary wiper arm is moved to a safe angle; wherein, the safety angle refers to one of the angle range outside the interference angle corresponding to the main wiper arm, the maximum wiping angle of the auxiliary wiper arm and the initial wiping angle of the auxiliary wiper arm.

2. The control method of the dual-motor wiper according to claim 1, characterized in that: Obtain a primary detection angle and a secondary detection angle in a preset detection cycle, including: A main initial signal of the main motor and a secondary initial signal of the secondary motor are collected according to a preset detection period; wherein the main initial signal is an analog signal reflecting the angle between the main wiper arm and the horizontal plane at the first time sequence; and the secondary initial signal is an analog signal reflecting the angle between the secondary wiper arm and the horizontal plane at the first time sequence; The main initial signal and the auxiliary initial signal are respectively subjected to filtering processing, amplification processing and compensation processing to obtain a main detection angle and an auxiliary detection angle.

3. The control method of a dual-motor wiper according to claim 1, characterized in that: Determining an interference angle according to the main detection angle includes: Calculating the interference angle corresponding to the main detection angle according to a preset mapping function; or A first main test angle range corresponding to the main detection angle is obtained from a preset mapping table, and an interference angle corresponding to the first main test angle range is obtained; wherein the mapping table has at least one main test angle range and an interference angle corresponding to each of the main test angle ranges; and the first main test angle range is one of at least one of the main test angle ranges.

4. The control method of the dual-motor wiper according to claim 3, characterized in that: The mapping function includes a circle function and a tangent function; Obtaining an interference angle corresponding to the main detection angle according to a preset mapping function, including: Determining the end coordinate of the end point of the main wiper arm away from the main motor according to the main detection angle; Calling the circle function to generate an endpoint circle with the end coordinate as the center and the preset safety distance as the radius; The tangent function is called to generate two tangents of the endpoint circle with the auxiliary output shaft of the auxiliary motor as the starting point, and the angle between the two tangents is used as the interference angle of the main detection angle.

5. The control method of the dual-motor wiper according to claim 1, characterized in that: Adjusting the rotation speed of the auxiliary motor so that the main wiper arm and the auxiliary wiper arm rotate synchronously includes: If it is determined that the rotation direction of the main wiper arm and the auxiliary wiper arm is from the initial detection angle to the maximum detection angle, the rotation speed of the auxiliary motor is increased until the first main real-time angle and the first auxiliary real-time angle are consistent; wherein the first main real-time angle is the angle between the main wiper arm and the horizontal plane at the second time sequence; the first auxiliary real-time angle is the angle between the auxiliary wiper arm and the horizontal plane at the second time sequence; the second time sequence is a time sequence in the process of increasing the rotation speed of the auxiliary motor; If it is determined that the rotation direction of the main wiper arm and the auxiliary wiper arm is from the maximum detection angle to the initial detection angle, the rotation speed of the auxiliary motor is reduced until the second main real-time angle and the second auxiliary real-time angle are consistent; wherein, the second main real-time angle is the angle between the main wiper arm and the horizontal plane in the third timing; the second auxiliary real-time angle is the angle between the auxiliary wiper arm and the horizontal plane in the third timing; the third timing is a timing in the process of reducing the rotation speed of the auxiliary motor.

6. The control method of the dual-motor wiper according to claim 1, characterized in that: Move the auxiliary wiper arm to a safe angle, including: If it is determined that the rotation direction of the main wiper arm and the auxiliary wiper arm is from the initial detection angle to the maximum detection angle, the rotation speed of the auxiliary motor is increased until the first auxiliary real-time angle is no longer within the range of the interference angle corresponding to the first main real-time angle; wherein the first main real-time angle is the angle between the main wiper arm and the horizontal plane at the second time sequence; the first auxiliary real-time angle is the angle between the auxiliary wiper arm and the horizontal plane at the second time sequence; and the second time sequence is a time sequence in the process of increasing the rotation speed of the auxiliary motor; If it is determined that the rotation direction of the main wiper arm and the auxiliary wiper arm is from the maximum detection angle to the initial detection angle, the rotation speed of the auxiliary motor is reduced until the second auxiliary real-time angle is not within the range of the interference angle corresponding to the second main real-time angle; wherein the second main real-time angle is the angle between the main wiper arm and the horizontal plane under the third timing; the second auxiliary real-time angle is the angle between the auxiliary wiper arm and the horizontal plane under the third timing; the third timing is a timing in the process of reducing the rotation speed of the auxiliary motor.

7. The control method of a dual-motor wiper according to claim 1, wherein: Move the auxiliary wiper arm to a safe angle, including: controlling the auxiliary wiper arm to rotate to the maximum wiping angle of the auxiliary wiper arm and stop; if it is determined that both the main wiper arm and the auxiliary wiper arm have reached the maximum wiping angle, controlling the main wiper arm and the auxiliary wiper arm to start; or The auxiliary wiper arm is controlled to rotate to the initial wiping angle of the auxiliary wiper arm and stop; if it is determined that the main wiper arm and the auxiliary wiper arm have reached the initial wiping speed, the main wiper arm and the auxiliary wiper arm are controlled to start.

8. A control device for a dual-motor wiper, characterized in that: A control method for a dual-motor wiper according to any one of claims 1 to 7 is executed, wherein the control device for the dual-motor wiper is installed in a microcontroller of a new energy vehicle; The control device of the dual-motor wiper is connected to the main motor and the auxiliary motor respectively; The control device of the dual-motor wiper comprises: An angle detection module, configured to obtain a primary detection angle and a secondary detection angle in a preset detection cycle; wherein the primary detection angle refers to the angle between the primary wiper arm and the horizontal plane at a first time sequence; the secondary detection angle refers to the angle between the secondary wiper arm and the horizontal plane at the first time sequence; the first time sequence is a time sequence in the detection cycle; an interference determination module, configured to determine an interference angle according to the main detection angle; wherein the interference angle is an angle range within which there is a risk of collision between the auxiliary wiper arm and the main wiper arm; a wiper synchronization module, configured to adjust the rotation speed of the auxiliary motor so that the main wiper arm and the auxiliary wiper arm rotate synchronously if it is determined that the main detection angle is inconsistent with the auxiliary detection angle and the auxiliary detection angle is not at the interference angle; The wiper safety module is used to move the auxiliary wiper arm to a safety angle if it is determined that the main detection angle is inconsistent with the auxiliary detection angle and the auxiliary detection angle is at the interference angle; wherein the safety angle refers to one of the angle range outside the interference angle corresponding to the main wiper arm, the maximum wiper angle of the auxiliary wiper arm and the initial wiper angle of the auxiliary wiper arm.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor of the electronic device executes the computer program, the steps of the control method of the dual-motor wiper according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program stored in the readable storage medium is executed by a processor, the steps of the control method of the dual-motor wiper according to any one of claims 1 to 7 are implemented.

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