Jaw type seat control method, device and equipment and storage medium

Abstract

The embodiment of the invention relates to the technical field of seat control, and discloses a clamping jaw type seat control method, device and equipment and a storage medium, and the method comprises the following steps: driving an unlocking motor to execute an unlocking action, and starting a driving motor to operate; if it is detected that the unlocking motor enters the locking interval, the unlocking motor executes locking action; when it is confirmed that the unlocking motor is in the locked state and it is judged that the unlocking motor reaches the pre-locked position, output of the unlocking motor is stopped; judging whether the driving motor is locked, and if yes, calibrating the current position of the driving motor; otherwise, the driving motor rotates reversely for a certain distance until stalling, and the current position of the driving motor is calibrated; and the unlocking motor is driven to be completely locked to the locked-rotor state, and the current position of the unlocking motor is updated. Through cooperative work of the unlocking motor and the driving motor, the current positions of the driving motor and the unlocking motor are calibrated in real time, so that the repeated positioning precision of the driving motor and the unlocking motor is improved, and collision noise generated when the unlocking motor is locked is eliminated.

Description

Technical Field

[0001] This invention relates to the field of seat control technology, specifically to a claw-type seat control method, device, equipment, and storage medium. Background Technology

[0002] The automotive industry is highly competitive, and the control of second-row seat rails in cars is being upgraded from manual mechanical control to electric automation.

[0003] The existing sliding rail control for second-row automotive seats mainly uses a claw-type horizontal sliding rail structure. This structure primarily consists of a sliding rail body, a claw locking mechanism, an unlocking motor that controls the opening and closing of the claws, and a drive motor that controls the movement of the seat. During the control process, it relies on preset stroke parameters or simple Hall sensors to detect the locking position, without considering the motor's stall characteristics and the impact of mechanical wear. This results in the claws colliding hard with the sliding rail groove when the unlocking motor locks the seat, producing a loud mechanical collision noise. Furthermore, the ECU cannot accurately calculate the current position of the seat, causing a deviation between the actual stopping position and the target position. Consequently, when the seat stops, the claws cannot accurately lock into the sliding rail groove, further aggravating the collision noise and failing to meet the requirements for user comfort. Summary of the Invention

[0004] In order to solve the problem that the unlocking motor of the existing claw-type horizontal slide rail structure cannot accurately lock into the slide rail groove when locking, resulting in large mechanical noise due to collision between the claw and the slide rail groove, this invention provides a claw-type seat control method, device, equipment and storage medium.

[0005] According to an embodiment of the present invention, a claw-type seat control method is provided, comprising the following steps:

[0006] After receiving the seat movement command, the unlocking motor drives the unlocking motor to perform the unlocking action and starts the drive motor to run;

[0007] If the unlocking motor is detected to have entered the locking zone, the unlocking motor will perform the locking action;

[0008] Once it is confirmed that the unlocking motor is in the locked state and it is determined that the unlocking motor has reached the pre-locked position, the output of the unlocking motor is stopped.

[0009] Determine whether the drive motor is stalled. If so, stop the output of the drive motor and mark the position of the slide rail groove corresponding to the pre-locking position as the current position of the drive motor. Otherwise, it is considered that the position deviation of the drive motor exceeds the error range, the drive motor reverses to stall, the output of the drive motor is stopped, and the position of the slide rail groove corresponding to the pre-locking position is marked as the current position of the drive motor.

[0010] Drive the unlocking motor to fully lock into a stall state and update the current position of the unlocking motor.

[0011] In some optional implementations, after starting the drive motor, the following steps are also included:

[0012] If the seat is detected to have entered the deceleration range, the drive motor is controlled to decelerate.

[0013] In some alternative implementations, before starting the drive motor, the following steps are also included:

[0014] Based on the Hall sensor signal of the unlocking motor collected, it is confirmed that the unlocking motor is in operation.

[0015] Determine whether the lock motor has reached the unlock position; if so, determine that the slide rail has been unlocked.

[0016] In some optional implementations, the position of the slide rail groove corresponding to the pre-locking position is marked as the current position of the drive motor, specifically including:

[0017] The extreme value position point of the seat is determined through position self-learning;

[0018] Obtain the first pulse count when the drive motor is stalled at the maximum position point of the seat, and calibrate the first pulse count as the first standard position parameter of the drive motor;

[0019] The position of the slide rail groove is calibrated using the extreme value point as the position reference.

[0020] Calculate the second pulse count when the drive motor stalls when the unlocking motor is in the pre-locking position at the location of the slide rail groove based on the first standard position parameter of the drive motor, and calibrate the second pulse count as the second standard position parameter of the drive motor.

[0021] The second standard position parameter of the drive motor is calibrated as the current position of the drive motor;

[0022] Wherein, the extreme point is either the maximum point or the minimum point. The maximum point is the maximum limit position that the seat can move on the horizontal slide rail, and the minimum point is the minimum limit position that the seat can move on the horizontal slide rail.

[0023] In some optional implementations, the extreme position point of the seat is determined through position self-learning, specifically including:

[0024] When the drive motor drives the seat to a mechanical stop point, the drive motor is locked.

[0025] After the unlocking motor is locked, the drive motor reverses to lock and stops rotating.

[0026] The position of the seat when the unlocking motor is fully locked and the drive motor is reversed to lock and stop is marked as the minimum position point of the seat;

[0027] The maximum position of the seat is determined based on the minimum position point and the slide rail design parameters.

[0028] In some optional implementations, driving the unlocking motor to fully lock into a stalled state and updating the current position of the unlocking motor specifically includes:

[0029] Obtain the third standard position parameter when the seat is at its maximum position and the unlocking motor completes locking, and calibrate the third standard position parameter as the current position of the unlocking motor.

[0030] In some optional implementations, the method further includes: performing position calibration on the drive motor and the unlocking motor, specifically including:

[0031] When the unlocking motor completes locking and the drive motor stalls, and the seat is positioned in the slide rail groove, the second standard position parameter of the drive motor is calibrated as the current position of the drive motor, and the third standard position parameter of the unlocking motor is calibrated as the current position of the unlocking motor.

[0032] Alternatively, when the seat is moving towards the mechanical stop point, the drive motor triggers a stall, and the seat is in the self-calibration area. The unlocking motor completes the locking, and the drive motor reverses to lock the stall. When the seat is at the maximum position point, the first standard position parameter of the drive motor is calibrated as the current position of the drive motor, and the third standard position parameter of the unlocking motor is calibrated as the current position of the unlocking motor.

[0033] Alternatively, after the seat reaches the maximum soft stop point and stops, the control button of the seat is pressed and held for a preset time to allow the seat to pass the maximum soft stop point to the mechanical stop point. The drive motor is then stalled, the unlocking motor completes the locking process, and the drive motor reverses to lock. When the seat is at its maximum position, the first standard position parameter of the drive motor is calibrated as the current position of the drive motor, and the third standard position parameter of the unlocking motor is calibrated as the current position of the unlocking motor.

[0034] According to another objective of the present invention, a claw-type seat control device is provided, including an unlocking motor, a drive motor, and a seat control module, wherein the unlocking motor and the drive motor are respectively communicatively connected to the seat control module;

[0035] The unlocking motor is used to perform the unlocking action after receiving the moving command of the seat, and to perform the locking action when entering the locking zone; and to stop outputting and fully lock to the stall state when it is in the locked state and reaches the pre-lock position.

[0036] The drive motor is used to drive the seat to move horizontally according to the working state of the unlocking motor, and to provide real-time feedback on the current position of the seat when the unlocking motor is fully locked to the stall state;

[0037] The seat control module is used to send seat movement commands to the unlocking motor. When the unlocking motor performs an unlocking action, the drive motor is started. When the unlocking motor is detected to have entered the locking zone, the module controls the unlocking motor to perform a locking action. When the unlocking motor is confirmed to be in a locked state and the unlocking motor is determined to have reached the pre-locking position, the unlocking motor output is stopped. The module determines whether the drive motor is stalled. If so, the drive motor output is stopped, and the position of the slide rail groove corresponding to the pre-locking position is marked as the current position of the drive motor. Otherwise, if the position deviation of the drive motor exceeds the error range, the module controls the drive motor to reverse to stall, stops the drive motor output, and marks the position of the slide rail groove corresponding to the pre-locking position as the current position of the drive motor.

[0038] According to another objective of the present invention, a computer device is provided, comprising: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other through the communication bus;

[0039] The memory is used to store at least one executable instruction that causes the processor to perform an operation of a claw-type seat control method as described in any of the preceding claims.

[0040] According to another objective of the present invention, a computer-readable storage medium is provided, wherein at least one executable instruction is stored therein, which, when executed on a computer device, causes the computer device to perform the steps of a claw-type seat control method as described in any of the preceding embodiments.

[0041] Compared with the prior art, the present invention has the following advantages:

[0042] This invention provides a claw-type seat control method that, through the coordinated operation of the unlocking motor and the drive motor, achieves real-time calibration of the current positions of the drive motor and the unlocking motor when the unlocking motor unlocks, the drive motor stalls, and the unlocking motor fully locks, thereby improving the repeatability of the drive motor and the unlocking motor and eliminating collision noise when the unlocking motor locks; at the same time, it optimizes the unlocking / locking response time of the unlocking motor and improves the smoothness of operation.

[0043] The above description is merely an overview of the technical solutions of the embodiments of the present invention. In order to better understand the technical means of the embodiments of the present invention and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0044] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0045] Figure 1 A schematic flowchart of a claw-type seat control method provided by an embodiment of the present invention is shown.

[0046] Figure 2 The diagram illustrates the start-up and operation process of the drive motor in a claw-type seat control method provided by an embodiment of the present invention.

[0047] Figure 3 The diagram illustrates the process of stopping the drive motor in a claw-type seat control method provided by an embodiment of the present invention.

[0048] Figure 4 A structural block diagram of a claw-type seat control device provided in an embodiment of the present invention is shown.

[0049] Figure 5 A structural block diagram of a computer device provided by an embodiment of the present invention is shown. Detailed Implementation

[0050] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0051] This embodiment addresses the problem in existing technologies where the unlocking motor of a claw-type horizontal slide rail structure cannot accurately lock into the slide rail groove, resulting in significant mechanical noise due to collision between the claw and the slide rail groove. A claw-type seat control method is provided.

[0052] This invention provides a claw-type seat control method, such as... Figure 1 As shown, it includes the following steps:

[0053] S10. After receiving the seat movement command, the unlocking motor drives the unlocking motor to perform the unlocking action and starts the drive motor to run.

[0054] In this step, when it is necessary to control the movement of the seat, the unlocking motor receives the movement command issued by the seat control module via the CAN bus or hard wire, such as a forward adjustment signal. After receiving the movement command, the unlocking motor outputs positive torque to drive the pawl to move in the unlocking direction so that the pawl disengages from the slide rail groove, and then starts the drive motor to run.

[0055] It's important to clarify that before the unlocking motor receives the seat movement command, it is in a locked state, with the pawl engaged in the slide rail groove. Meanwhile, the drive motor is in standby mode and not outputting power.

[0056] S20. If the unlocking motor is detected to have entered the locking zone, the unlocking motor shall perform the locking action.

[0057] In this step, the preset range before and after the target locking position is defined as the locking interval. When the encoder pulse count of the unlocking motor enters the locking interval, the seat control module sends a locking command to the unlocking motor. After receiving the locking command, the unlocking motor outputs reverse torque to drive the pawl to move in the locking direction.

[0058] S30. Confirm that the unlocking motor is in the locked state, and when it is determined that the unlocking motor has reached the pre-locked position, stop the unlocking motor output.

[0059] In this step, the locked state refers to the unlocking motor driving the pawl to move towards the slide rail groove, which is in the middle of the "about to lock" process and has not yet been fully engaged.

[0060] The pre-lock position is the buffer critical point before the chuck is about to engage with the slide rail groove, which can be used to trigger deceleration and inertia buffering.

[0061] Therefore, this step is specifically as follows: determine whether the unlocking motor receives a Hall sensor signal. If so, confirm that the unlocking motor is in the locked state. Then determine whether the unlocking motor has reached the pre-locked position. If so, stop the unlocking motor output.

[0062] When the seat is in the locked state and the unlocking motor is determined to have reached the pre-locked position, the seat control module sends a low-level signal to the unlocking motor to cut off the unlocking motor output. After the power is cut off, the unlocking motor rotor continues to rotate due to inertia, driving the pawl to complete the final insertion, avoiding hard impact with the slide rail groove.

[0063] S40. Determine if the drive motor is stalled. If so, stop the drive motor output and mark the position of the slide rail groove corresponding to the pre-locking position as the current position of the drive motor. Otherwise, assume that the position deviation of the drive motor exceeds the error range, reverse the drive motor to stall, stop the drive motor output, and mark the position of the slide rail groove corresponding to the pre-locking position as the current position of the drive motor.

[0064] In this step, a stalled drive motor refers to a state where the drive motor cannot rotate due to mechanical resistance, resulting in a sudden increase in current and a drop in speed to zero. In seat control, a stalled drive motor indicates that the seat has reached its mechanical limits or is locked by the locking mechanism.

[0065] Therefore, this step is specifically as follows: when the drive motor is determined to be stalled, it is assumed that the pawl is embedded in the slide rail groove. The seat control module sends a PWM disable command to the drive motor to stop the drive motor from outputting power. Then, the position of the slide rail groove is marked as the current position of the drive motor.

[0066] If the drive motor is determined not to be stalled, it is assumed that the drive motor's position deviation exceeds the error range. The seat control module then drives the drive motor to reverse a certain distance until it stalls, forcing the pawl to engage with the slide rail groove. Once the pawl is fully locked, the seat control module sends a PWM disable command to the drive motor to stop its output. The position of the slide rail groove is then calibrated as the current position of the drive motor.

[0067] When the drive motor stalls, the chuck engages in the slide rail groove, and the position of the slide rail groove where the chuck is locked is marked as the current position of the drive motor. This enables real-time updates to the drive motor's position reference, improves the repeatability of the drive motor's positioning, and eliminates collision noise when the unlocking motor locks down.

[0068] S50. Drive the unlocking motor to fully lock into a stalled state and update the current position of the unlocking motor.

[0069] In this step, the fully locked finger unlocks the motor-driven claw, which is fully embedded in the slide rail groove.

[0070] With the seat at its maximum position, update the third standard position parameter (when the unlock motor completes locking) to the current position of the unlock motor.

[0071] Therefore, the claw-type seat control method provided in this embodiment, through the coordinated work of the unlocking motor and the drive motor, achieves real-time calibration of the current positions of the drive motor and the unlocking motor when the unlocking motor unlocks, the drive motor stalls, and the unlocking motor fully locks, thereby improving the repeatability of the drive motor and the unlocking motor and eliminating the collision noise when the unlocking motor locks; at the same time, it optimizes the unlocking / locking response time of the unlocking motor and improves the smoothness of operation.

[0072] This embodiment is a preferred embodiment. After starting the drive motor, the following steps are also included:

[0073] If the seat is detected to have entered the deceleration range, the drive motor will be controlled to decelerate.

[0074] In this embodiment, the deceleration range refers to the buffer distance in front of the target position of the seat. Deceleration is triggered when the seat is a preset distance away from the target position.

[0075] The target position is the groove position of the slide rail corresponding to the pre-locking position.

[0076] The current position of the seat is calculated by the cumulative number of pulses of the drive motor. When the seat is detected to have entered the deceleration range, the seat control module controls the drive motor to decelerate.

[0077] This embodiment, as a preferred embodiment, further includes the following before starting the drive motor:

[0078] Based on the Hall sensor signal collected from the unlocking motor, it is confirmed that the unlocking motor is in operation.

[0079] Determine if the lock motor has reached the unlock position; if so, determine that the slide rail has been unlocked.

[0080] Therefore, the drive motor start-up and operation process of the claw-type seat control method provided in this embodiment is as follows: Figure 2 As shown, the specific steps include:

[0081] After receiving the seat movement command, the unlock motor drives the unlock motor to perform the unlocking action.

[0082] Determine whether the unlocking motor receives a Hall sensor signal. If it does, the unlocking motor is considered to be operating normally; otherwise, the unlocking motor is considered to be malfunctioning.

[0083] When it is confirmed that the unlocking motor is running normally, the system determines whether the unlocking motor drives the chuck to the unlocking position based on the Hall sensor signal or the encoder.

[0084] If it is determined that the unlocking motor drive claw has reached the unlocking position, the unlocking motor's unlocking output will stop.

[0085] Mark the current slider as unlocked.

[0086] Then start the drive motor to perform subsequent actions.

[0087] In some alternative embodiments, if the seat has dual slide rails, it is necessary to continue unlocking the other slide rails until all slide rails are marked as unlocked, and then start the drive motor.

[0088] The claw-type seat control method provided in this embodiment ensures that the unlocking motor action is effective and in place by using Hall sensor signals and unlocking position dual verification during the start-up process of the drive motor, thus avoiding abnormal unlocking.

[0089] The unlocking status of multiple slide rails is managed by using a slide rail unlocking flag, so that the drive motor is triggered only after all slide rails are unlocked, ensuring coordinated operation. When there is no Hall sensor signal, the operation is terminated directly to avoid the unlocking motor running idle or misjudging, thus improving reliability.

[0090] Furthermore, in this embodiment, based on steps S20-S40, the drive motor stopping process of the claw-type seat control method provided in this embodiment is as follows: Figure 3 As shown, the specific steps include:

[0091] Determine whether the encoder pulse count of the unlocking motor has entered the locking range. If so, determine that the unlocking motor has entered the locking range and the unlocking motor will perform the locking action.

[0092] Determine whether the unlocking motor has received a Hall sensor signal. If so, confirm that the unlocking motor is in the locked state.

[0093] The system determines whether the unlocking motor has reached the pre-locking position based on the pulse signal output by the Hall sensor. If so, the unlocking motor output is stopped.

[0094] Determine if the drive motor is stalled. If so, stop the drive motor output and mark the position of the slide rail groove corresponding to the pre-lock position as the current position of the drive motor.

[0095] Otherwise, if the position deviation of the drive motor is considered to exceed the error range, the drive motor will reverse to a stall state, the drive motor output will be stopped, and the position of the slide rail groove corresponding to the pre-lock position will be marked as the current position of the drive motor.

[0096] This embodiment is a preferred embodiment, and the calibration process of the current position of the drive motor in step S40 has been optimized.

[0097] In this embodiment, the position of the slide rail groove corresponding to the pre-locking position is marked as the current position of the drive motor, specifically including:

[0098] The maximum and minimum position points of the seat are determined through position self-learning.

[0099] In this embodiment, the extreme point is either the maximum point or the minimum point. The maximum point is the maximum limit position that the seat can move on the horizontal slide rail, and the minimum point is the minimum limit position that the seat can move on the horizontal slide rail.

[0100] The method used in this embodiment to determine the maximum and minimum position points of the seat through position self-learning specifically includes:

[0101] When the drive motor drives the seat to the mechanical stop point, the drive motor is triggered to stall.

[0102] After the unlocking motor is locked, the drive motor reverses to lock and stall.

[0103] The position of the seat when the unlocking motor is fully locked and the drive motor is reversed to lock and stall is marked as the minimum position point of the seat.

[0104] The maximum position of the seat is calibrated based on the minimum position point and the slide rail design parameters.

[0105] In this embodiment, the mechanical limit position of the seat movement, including the minimum position point or the maximum position point, is determined by the stall characteristics of the drive motor. A reference mapping between the electronic control system and the physical structure is established, and the mechanical limit position is transformed into the reference coordinates of the electronic control system, thereby realizing the correspondence between the mechanical limit position of the seat movement and the number of encoder pulses when the drive motor stalls.

[0106] Since the design parameters of the slide rail are fixed, the maximum position point of the seat can be calibrated first using the above method, and the minimum position point of the seat can be calibrated according to the design parameters of the slide rail.

[0107] In addition, in this embodiment, it should be noted that after determining the maximum and minimum position of the seat, the pulse parameters after the unlocking motor completes locking are used as the third standard position parameters when the unlocking motor completes locking. The locking position of the unlocking motor is updated using the third standard position parameters when the unlocking motor completes locking in subsequent cycles.

[0108] At the same time, based on the calibration process of the seat's extreme position point, the pulse parameters when the unlocking motor reaches the unlocking position can be used as the fourth standard position parameters for the unlocking motor to complete the unlocking. When the unlocking motor reaches the unlocking position in subsequent events, the unlocking position of the unlocking motor can be updated using the fourth standard position parameters.

[0109] Obtain the first pulse count when the seat is at its maximum position and the drive motor is stalled, and calibrate the first pulse count as the first standard position parameter of the drive motor.

[0110] Based on the determination of the above extreme position points, and combined with the mapping relationship between the mechanical limit position of the seat movement and the encoder pulse count when the drive motor is stalled, the first pulse count when the seat is at the extreme position point and the drive motor is stalled is calibrated as the first standard position parameter of the drive motor.

[0111] The position of the slide rail groove is calibrated by using the extreme value point as the position reference.

[0112] In this embodiment, it should be noted that the seat has multiple adjustment positions, each adjustment position corresponds to a slide rail groove, and the spacing between two adjacent slide rail grooves is fixed.

[0113] Therefore, based on the calibration of the extreme value position point, the extreme value position point is used as the position reference to calibrate the position of the slide rail groove.

[0114] The second pulse count when the drive motor stalls is calculated based on the first standard position parameters of the drive motor when the unlocking motor is in the pre-lock position at the location of the slide rail groove, and the second pulse count is calibrated as the second standard position parameters of the drive motor.

[0115] Based on the calibrated position of the slide rail groove and the first standard position parameter of the drive motor, the second pulse count when the drive motor stalls when the seat moves to each slide rail groove can be calculated, and the second pulse count is calibrated as the second standard position parameter of the drive motor.

[0116] The second standard position parameter of the drive motor is calibrated as the current position of the drive motor, so as to realize the real-time calibration of the drive motor and ensure the accuracy of the drive motor every time it runs.

[0117] In this preferred embodiment, after the seat has been adjusted multiple times, the position of the drive motor and the unlocking motor needs to be calibrated.

[0118] In this embodiment, the position of the drive motor and the unlock motor is calibrated based on the third standard position parameter when the seat is at its maximum position, the first standard position parameter when the drive motor stalls, and the third standard position parameter when the unlock motor is at its maximum position, and the second standard position parameter when the drive motor stalls.

[0119] Therefore, in this embodiment, the position of the drive motor and the unlocking motor is calibrated under the following conditions.

[0120] For example: when the unlocking motor completes the locking process and the drive motor stalls, when the seat is positioned in the slide rail groove, the calibrated second standard position parameter of the drive motor is calibrated as the current position of the drive motor and output, and the calibrated third standard position parameter of the unlocking motor is calibrated as the current position of the unlocking motor and output.

[0121] For example, when the seat moves towards the mechanical stop point, the drive motor triggers a stall, and the seat is in the self-calibration area. The unlocking motor completes the locking, and the drive motor reverses to the locked stall point. At this time, the seat is at the maximum position point, which is also the minimum position point. Then, when the seat is at the maximum position point, the first standard position parameter of the calibrated drive motor is calibrated as the current position of the drive motor and output, and the third standard position parameter of the calibrated unlocking motor is calibrated as the current position of the unlocking motor and output.

[0122] For example, after the seat stops at the maximum soft stop point, the control button of the seat is pressed and held for a preset time to allow the seat to pass the maximum soft stop point to the mechanical stop point. The drive motor is then triggered to stall, the unlocking motor completes the locking, and the drive motor reverses to lock. At this time, the seat is at the extreme position point, which is also the maximum position point of the seat. Then, when the seat is at the extreme position point, the first standard position parameter of the drive motor is calibrated as the current position of the drive motor and output, and the third standard position parameter of the unlocking motor is calibrated as the current position of the unlocking motor and output.

[0123] In this embodiment, the updated current position of the drive motor and the current position of the unlocking motor are used as the next position reference, thereby improving the repeatability of the drive motor and the unlocking motor and eliminating the collision noise when the unlocking motor locks; at the same time, the unlocking / locking response time of the unlocking motor is optimized, improving the smoothness of operation.

[0124] In some alternative embodiments, the present invention also discloses a claw-type seat control device.

[0125] This embodiment discloses a claw-type seat control device, such as Figure 4 As shown, the system includes an unlocking motor 100, a drive motor 200, and a seat control module 300. The unlocking motor 100 and the drive motor 200 are respectively connected to the seat control module 300.

[0126] In this embodiment, the unlocking motor 100 is used to perform an unlocking action after receiving a moving command from the seat, and to perform a locking action when the seat is detected to have entered the locking zone; and when it is in the locking state and reaches the pre-locking position, it stops outputting and fully locks to the stall state.

[0127] The drive motor 200 is used to drive the seat to move horizontally according to the working state of the unlocking motor 100, and to provide real-time feedback on the current position of the seat when the unlocking motor 100 is fully locked to the stall state.

[0128] The seat control module 300 is used to send seat movement commands to the unlocking motor 100. When the unlocking motor 100 performs the unlocking action, the drive motor 200 is started. When the seat is detected to have entered the locking zone, the unlocking motor 100 is controlled to perform the locking action. When the unlocking motor 100 is confirmed to be in the locking state and it is determined that the unlocking motor 100 has reached the pre-locking position, the output of the unlocking motor 100 is stopped. It is determined whether the drive motor 200 is stalled. If so, the output of the drive motor 200 is stopped, and the pre-locking position is marked as the current position of the drive motor 200. Otherwise, it is considered that the position deviation of the drive motor 200 exceeds the error range, the drive motor 200 is controlled to reverse to stall, the output of the drive motor 200 is stopped, and the pre-locking position is marked as the current position of the drive motor 200.

[0129] In this embodiment, the control process of the seat control module 300 over the unlocking motor 100, the control process of the seat control module 300 over the drive motor 200, and the joint control process of the unlocking motor 100, the drive motor 200, and the seat control module 300 are specifically described in the relevant steps of the above-mentioned claw-type seat control method embodiment, and are not repeated in this embodiment.

[0130] In some alternative embodiments, the present invention also discloses a computer device.

[0131] Figure 5 A schematic diagram of the structure of a computer device provided in an embodiment of the present invention is shown.

[0132] like Figure 5 As shown, the computer device includes: a processor 410, a memory 420, a communication interface 430, and a communication bus 440. The processor 410, the memory 420, and the communication interface 430 communicate with each other through the communication bus 440.

[0133] In this embodiment, the memory 420 is used to store at least one executable instruction, which causes the processor 420 to perform the operation of a claw-type seat control method as described in any of the above embodiments; the communication interface 430 is used to communicate with other devices, such as clients or other server network elements. The processor 410 is used to execute the program 450, which can specifically execute the relevant steps in the above embodiments of the claw-type seat control method.

[0134] Specifically, program 450 may include program code, which includes computer-executable instructions.

[0135] Processor 410 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention. The computer device includes one or more processors, which may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0136] Memory 420 is used to store program 450. Memory 420 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0137] Specifically, program 450 can be called by processor 410 to cause the computer device to perform the operation of a claw-type seat control method described in any of the above embodiments.

[0138] In some optional embodiments, the present invention also discloses a computer-readable storage medium storing at least one executable instruction that, when executed on a computer device, causes the computer device to perform the steps of a claw-type seat control method in any of the above method embodiments.

[0139] The specific implementation process of the claw-type seat control method described in this embodiment can be found in any of the above method embodiments, and will not be repeated in this embodiment.

[0140] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. Similarly, for the sake of brevity and to aid in understanding one or more aspects of the invention, in the description of exemplary embodiments of the invention above, various features of the embodiments are sometimes grouped together in a single embodiment, figure, or description thereof. The claims, which follow the detailed description, are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of the invention.

[0141] Those skilled in the art will understand that the modules in the device of the embodiment can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiment can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components, except that at least some of such features and / or processes or units are mutually exclusive.

[0142] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. A method for controlling a claw-type seat, characterized in that, Includes the following steps: After receiving the seat movement command, the unlocking motor drives the unlocking motor to perform the unlocking action and starts the drive motor to run; If the unlocking motor is detected to have entered the locking zone, the unlocking motor will perform the locking action; Once it is confirmed that the unlocking motor is in the locked state and it is determined that the unlocking motor has reached the pre-locked position, the output of the unlocking motor is stopped. Determine whether the drive motor is stalled. If so, stop the output of the drive motor and mark the position of the slide rail groove corresponding to the pre-locking position as the current position of the drive motor. Otherwise, it is considered that the position deviation of the drive motor exceeds the error range, the drive motor reverses to stall, the output of the drive motor is stopped, and the position of the slide rail groove corresponding to the pre-locking position is marked as the current position of the drive motor. Drive the unlocking motor to fully lock into a stall state and update the current position of the unlocking motor.

2. The claw-type seat control method according to claim 1, characterized in that, After starting the drive motor, the following steps are also included: If the seat is detected to have entered the deceleration range, the drive motor is controlled to decelerate.

3. The claw-type seat control method according to claim 1, characterized in that, Before starting the drive motor, the following steps are also included: Based on the Hall sensor signal of the unlocking motor collected, it is confirmed that the unlocking motor is in operation. Determine whether the lock motor has reached the unlock position; if so, determine that the slide rail has been unlocked.

4. The claw-type seat control method according to claim 1, characterized in that, The position of the slide rail groove corresponding to the pre-locking position is marked as the current position of the drive motor, specifically including: The extreme value position point of the seat is determined through position self-learning; Obtain the first pulse count when the drive motor is stalled at the maximum position point of the seat, and calibrate the first pulse count as the first standard position parameter of the drive motor; The position of the slide rail groove is calibrated using the extreme value point as the position reference. Calculate the second pulse count when the drive motor stalls when the unlocking motor is in the pre-locking position at the location of the slide rail groove based on the first standard position parameter of the drive motor, and calibrate the second pulse count as the second standard position parameter of the drive motor. The second standard position parameter of the drive motor is calibrated as the current position of the drive motor; Wherein, the extreme point is either the maximum point or the minimum point. The maximum point is the maximum limit position that the seat can move on the horizontal slide rail, and the minimum point is the minimum limit position that the seat can move on the horizontal slide rail.

5. The claw-type seat control method according to claim 4, characterized in that, Determining the extreme position point of the seat through position self-learning specifically includes: When the drive motor drives the seat to a mechanical stop point, the drive motor is locked. After the unlocking motor is locked, the drive motor reverses to lock and stops rotating. The position of the seat when the unlocking motor is fully locked and the drive motor is reversed to lock and stop is marked as the minimum position point of the seat; The maximum position of the seat is determined based on the minimum position point and the slide rail design parameters.

6. The claw-type seat control method according to claim 1, characterized in that, Drive the unlocking motor to fully lock into a stalled state, and update the current position of the unlocking motor, specifically including: Obtain the third standard position parameter when the seat is at its maximum position and the unlocking motor completes locking, and calibrate the third standard position parameter as the current position of the unlocking motor.

7. The claw-type seat control method according to claim 4, characterized in that, Also includes: Position calibration of the drive motor and the unlocking motor specifically includes: When the unlocking motor completes locking and the drive motor stalls, and the seat is positioned in the slide rail groove, the second standard position parameter of the drive motor is calibrated as the current position of the drive motor, and the third standard position parameter of the unlocking motor is calibrated as the current position of the unlocking motor. Alternatively, when the seat is moving towards the mechanical stop point, the drive motor triggers a stall, and the seat is in the self-calibration area. The unlocking motor completes the locking, and the drive motor reverses to lock the stall. When the seat is at the maximum position point, the first standard position parameter of the drive motor is calibrated as the current position of the drive motor, and the third standard position parameter of the unlocking motor is calibrated as the current position of the unlocking motor. Alternatively, after the seat reaches the maximum soft stop point and stops, the control button of the seat is pressed and held for a preset time to allow the seat to pass the maximum soft stop point to the mechanical stop point. The drive motor is then stalled, the unlocking motor completes the locking process, and the drive motor reverses to lock. When the seat is at its maximum position, the first standard position parameter of the drive motor is calibrated as the current position of the drive motor, and the third standard position parameter of the unlocking motor is calibrated as the current position of the unlocking motor.

8. A claw-type seat control device, characterized in that, It includes an unlocking motor, a drive motor, and a seat control module, wherein the unlocking motor and the drive motor are respectively communicatively connected to the seat control module; The unlocking motor is used to perform an unlocking action after receiving a movement command from the seat, and to perform a locking action when entering the locking zone; And when it is in the locked state and reaches the pre-locked position, it stops outputting and is fully locked to the stall state; The drive motor is used to drive the seat to move horizontally according to the working state of the unlocking motor, and to provide real-time feedback on the current position of the seat when the unlocking motor is fully locked to the stall state; The seat control module is used to send seat movement commands to the unlocking motor, and when the unlocking motor performs the unlocking action, the drive motor is started to run; Upon detecting that the unlocking motor has entered the locking zone, the unlocking motor is controlled to perform a locking action. Once the unlocking motor is confirmed to be in a locked state and it is determined that the unlocking motor has reached the pre-locking position, the unlocking motor output is stopped. It is then determined whether the drive motor is stalled. If so, the drive motor output is stopped, and the position of the slide rail groove corresponding to the pre-locking position is marked as the current position of the drive motor. Otherwise, it is considered that the position deviation of the drive motor exceeds the error range, the drive motor is controlled to reverse to stall, the drive motor output is stopped, and the position of the slide rail groove corresponding to the pre-locking position is marked as the current position of the drive motor.

9. A computer device, characterized in that, include: The processor, memory, communication interface, and communication bus are provided, wherein the processor, memory, and communication interface communicate with each other via the communication bus. The memory is used to store at least one executable instruction that causes the processor to perform the operation of a claw-type seat control method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The storage medium stores at least one executable instruction, which, when executed on a computer device, causes the computer device to perform the steps of a claw-type seat control method as described in any one of claims 1-7.

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