Parking space lock control method and device, computer equipment and storage medium

Abstract

The invention provides a parking space lock control method and device, computer equipment and a storage medium. The method comprises the steps that operation parameters of a motor in a parking space lock in a current time window are acquired; based on the operation parameters, the operation state of the parking space lock is judged; and controlling the parking space lock based on the operation state. By obtaining the operation parameters of the motor in the current time window, the real operation condition of the motor in a period of time can be comprehensively judged, the situation that a traditional scheme based on an instantaneous current value is prone to being influenced by instantaneous disturbance such as wind power and slight collision and consequently misinformation is generated is avoided, and the time window can reflect the persistence characteristics of external force disturbance; according to the method, transient interference and continuous force application behaviors can be distinguished, the stability of operation state recognition is improved, meanwhile, the parking space lock is controlled based on the operation state, equipment can execute protection actions in time under the abnormal condition and keep the normal lifting process under the normal condition, and therefore the overall reliability and external force interference resistance of the parking space lock are improved.

Description

Technical Field

[0001] This application relates to the field of equipment control, specifically to a parking lock control method, device, computer equipment, and storage medium. Background Technology

[0002] With the increasing prevalence of smart parking scenarios, motor-driven smart parking locks have become common equipment in urban parking facilities. These locks typically use a DC motor to drive the locking arm up and down, and their structure includes components such as gear sets, reduction mechanisms, and limit mechanisms. To avoid damage to the motor and mechanical structure from external forces, existing technologies generally employ overload protection based on a fixed current threshold. This means the main control MCU collects the motor current in real time via an ADC and compares the current value with a preset fixed threshold. Once the current exceeds this threshold, protection is triggered, stopping the motor or disengaging the clutch mechanism.

[0003] However, this type of static current threshold scheme has significant shortcomings in real-world operating environments. Smart parking locks are mostly deployed outdoors, where the operating environment is complex and variable. Factors such as wind disturbances, unintentional collisions by pedestrians, and vibrations from minor ground unevenness can all cause short-term spikes in motor current, leading to false triggering of protection actions and a high false alarm rate. Furthermore, with increased usage time and seasonal temperature variations, wear between gears intensifies, and the lubricating oil's effectiveness changes, causing fluctuations in the motor's operating current. If significant current changes occur, continuing to use previously set current parameters to determine motor abnormalities will lead to problems, causing normally operating conditions to be misjudged as abnormal, resulting in parking lock failure.

[0004] In summary, how to provide an effective parking lock control method to improve the accuracy of parking lock control has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] This application provides a parking lock control method, device, computer equipment, and storage medium to solve the problem of low accuracy in traditional parking lock control methods.

[0006] According to a first aspect of this application, one embodiment provides a parking lock control method, comprising: Obtain the operating parameters of the motor in the parking lock within the current time window; Based on the operating parameters, determine the operating status of the parking lock; Based on the operating status, control the parking space lock.

[0007] Optionally, obtaining the operating parameters of the motor in the parking lock within the current time window includes: The operating parameters of the motor are collected according to a preset sampling frequency; When the operating parameters meet the preset data volume, the operating parameters are determined as the operating parameters within the current time window.

[0008] Optionally, determining the operating status of the parking lock based on the operating parameters includes: From the operating parameters, at least one feature dimension of the operating feature is extracted; Based on the aforementioned operational characteristics, the operational status of the parking space lock is determined.

[0009] Optionally, the operating parameters include current parameters, and the operating characteristics include at least one of fluctuation amplitude, average current, and fluctuation frequency. Extracting at least one characteristic dimension of the operating characteristics from the operating parameters includes: The maximum and minimum current values ​​are determined among the multiple current parameters within the current time window, and the fluctuation amplitude is calculated based on the maximum and minimum current values. The sum of current values ​​and the number of current parameters within the current window are statistically analyzed, and the average current is calculated based on the sum and the number. Based on the difference between each current parameter and the average current within the current time window, the number of zero-crossing points is determined, and the fluctuation frequency is calculated based on the number of zero-crossing points.

[0010] Optionally, the operating characteristics include at least one of fluctuation amplitude, average current, and fluctuation frequency; the operating state includes a suspected abnormal operating state and an abnormal operating state; and determining the operating state of the parking lock based on the operating characteristics includes: When at least one of the fluctuation amplitude, average current, and fluctuation frequency meets a preset abnormal operating condition, the operating state is determined to be a suspected abnormal operating state. If at least one of the fluctuation amplitude, average current, and fluctuation frequency meets a preset abnormal operating condition, and the preset abnormal operating condition is detected again within a preset time period, the operating state is determined to be the abnormal operating state.

[0011] Optionally, the operating status includes normal operating status, suspected abnormal operating status, abnormal operating status, and recovery status. Controlling the parking lock based on the operating status includes: Under normal operating conditions, the parking space lock is controlled to perform lifting and lowering actions according to a preset program; In the suspected abnormal operating state, the parking lock is controlled to perform lifting and lowering actions according to a preset program, and the fluctuation amplitude, average current and fluctuation frequency are continuously monitored within the preset time period; In abnormal operation, the parking lock is controlled to perform a preset protection action, and enters the recovery state after the protection action is completed; In the recovery state, the fluctuation amplitude, average current and fluctuation frequency are continuously monitored, and if the fluctuation amplitude, average current and fluctuation frequency do not meet the abnormal operating conditions within the preset recovery time, the operating state is switched back to the normal operating state.

[0012] Optionally, after controlling the parking space lock to perform the lifting and lowering action according to a preset program, the method further includes: Obtain the operating parameters during the lifting lock's operation; Based on the aforementioned operating parameters, update the abnormal operating conditions.

[0013] According to a second aspect of this application, one embodiment provides a parking space lock control device, comprising: The acquisition module is used to acquire the operating parameters of the motor in the parking lock within the current time window; The judgment module is used to determine the operating status of the parking lock based on the operating parameters; The control module is used to control the parking space lock based on the operating status.

[0014] According to a third aspect of this application, one embodiment provides a computer device including a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor, wherein the processor implements the above-described parking lock control method when executing the computer-readable instructions.

[0015] According to a fourth aspect of this application, one embodiment provides a readable storage medium having computer-readable instructions stored thereon, which, when executed by a processor, implement the parking lock control method.

[0016] According to the parking lock control method of the above embodiments, by acquiring the motor's operating parameters within the current time window, a comprehensive judgment can be made on the motor's actual operating status over a period of time. This avoids the false alarms caused by the traditional scheme based on instantaneous current values, which is easily affected by instantaneous disturbances such as wind and minor collisions. The time window mechanism can reflect the continuous characteristics of external force disturbances, which helps to distinguish between short-term interference and continuous force application behavior, and improves the stability of operating status identification. At the same time, by controlling the parking lock based on the operating status, the equipment can perform protective actions in a timely manner under abnormal conditions and maintain the normal lifting process under normal conditions, thereby improving the overall reliability and resistance to external force interference of the parking lock. Attached Figure Description

[0017] Figure 1 This is one of the flowcharts illustrating a parking lock control method in one embodiment of the present invention; Figure 2 This is a second schematic flowchart of a parking space lock control method in one embodiment of the present invention; Figure 3 This is the third flowchart of a parking space lock control method in one embodiment of the present invention; Figure 4 This is the fourth flowchart of a parking space lock control method in one embodiment of the present invention; Figure 5 This is the fifth flowchart of a parking space lock control method in one embodiment of the present invention; Figure 6 This is a sixth flowchart illustrating the parking lock control method in one embodiment of the present invention; Figure 7 This is the seventh flowchart of a parking space lock control method in one embodiment of the present invention; Figure 8 This is the eighth flowchart of a parking space lock control method in one embodiment of the present invention; Figure 9 This is the ninth flowchart of a parking space lock control method in one embodiment of the present invention; Figure 10 This is a schematic diagram of a parking space lock control device according to an embodiment of the present invention; Figure 11 This is a schematic diagram of a computer device according to an embodiment of the present invention. Detailed Implementation

[0018] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings. Similar elements in different embodiments are referred to by associated similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of this application. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, certain operations related to this application are not shown or described in the specification. This is to avoid obscuring the core parts of this application with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0019] Furthermore, the features, operations, or characteristics described in the specification can be combined in any suitable manner to form various embodiments. At the same time, the order of the steps or actions in the method description can be changed or adjusted in a manner obvious to those skilled in the art. Therefore, the various orders in the specification and drawings are only for the clear description of a particular embodiment and do not imply a necessary order, unless otherwise stated that a particular order must be followed.

[0020] The serial numbers assigned to components in this document, such as "first" and "second," are used only to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages).

[0021] In one embodiment, such as Figure 1 As shown, a parking space lock control method is provided, including the following steps: 101. Obtain the operating parameters of the motor in the parking lock within the current time window.

[0022] In this embodiment of the invention, the above-mentioned parking lock control method can be executed by a processing chip installed inside the parking lock, such as an MCU or embedded microprocessor, or by reporting the collected data to a parking lock management platform, which then performs unified control and status determination on multiple parking locks. Regardless of the deployment method, this invention achieves accurate identification of the parking lock's operating status by collecting operational data within a certain time window.

[0023] The aforementioned parking lock can be a common smart parking lock, including components such as a mechanical locking arm, transmission mechanism, and drive motor. It can also be an integrated parking space occupancy device with a lifting locking arm function, or even a smart parking lock system with wireless communication and cloud management capabilities. This invention does not limit the specific structure of the parking lock; as long as it includes a motor or actuator that can reflect the operating status, this method is applicable.

[0024] The aforementioned operating parameters characterize the motor's operating status during the current time period. In a typical implementation, the operating parameters can be the motor's current parameters, as changes in current directly reflect changes in mechanical load. However, operating parameters are not limited to current parameters; any quantity that can reflect the motor's load, motion trend, or the changing pattern under external force can be used as an operating parameter. For example, fluctuations in the motor's supply voltage can be used to infer load changes, or external force disturbance characteristics can be reflected by collecting motor back electromotive force, motor speed feedback signals, actuator position offset, vibration sensor output values, etc. When the parking lock is pushed or shaken by an external force, the aforementioned parameters will also exhibit a certain continuous changing trend. The technical effect of this invention can be achieved by analyzing the changing trend.

[0025] The aforementioned time window is used to define the time range for statistical analysis of operating parameters. The time window can be of a fixed length, such as 100 milliseconds, or it can be a period of time dynamically adjusted according to the parking lock control cycle. This invention does not limit the specific size of the time window, as long as it can reflect the continuous changing trend of motor operation within the window, abnormal states can be identified.

[0026] Specifically, operating parameters can be directly obtained through the sensing unit or drive circuit inside the parking lock. For example, when the operating parameter is the motor current, the processing chip can obtain the current signal through a sampling resistor, Hall current sensor, or current acquisition chip connected in the motor power supply circuit, and convert the analog signal into processable digital data through an ADC; when the operating parameter is the motor power supply voltage, the corresponding voltage feedback value can be obtained through a voltage divider circuit or power management chip; when the operating parameter is the motor back electromotive force, the processing chip can read the motor port voltage during PWM shutdown to estimate the actual motor speed or load change; if a vibration sensor is used as the source of operating parameters, the vibration amplitude and frequency of the parking lock under external force can be obtained through a three-axis accelerometer or gyroscope module. In addition, if the parking lock is equipped with a position encoder or Hall speed sensor, the output signals such as speed change and step position deviation can also be used as operating parameters to reflect mechanical abnormalities caused by external force disturbances.

[0027] The aforementioned operating parameters are typically obtained continuously through sampling, forming a data sequence for analysis within the current time window. The processing chip can periodically read and store these operating parameters in a buffer area according to a preset sampling frequency (e.g., hundreds of hertz to thousands of hertz), thereby performing statistical analysis and feature extraction on the data set at the end of the time window. As the time window slides, the operating parameter sequence can be updated in real time, thereby continuously monitoring the load change trend of the motor. This is applicable not only to scenarios where current is used as an operating parameter, but also to multiple data sources such as voltage, back electromotive force, speed, and vibration.

[0028] 102. Determine the operating status of the parking space lock based on the operating parameters.

[0029] In this embodiment of the invention, after obtaining the operating parameters within the current time window, the operating parameters can be analyzed to determine the actual operating status of the parking lock within that window.

[0030] Since external disturbances typically exhibit continuous or regular changes over a certain period, the system does not rely on instantaneous sampling points but rather makes a comprehensive judgment on the operation of the parking lock based on the data trend over the entire time window. It can perform feature extraction, statistical analysis, or pattern recognition on operating parameters. For example, it can identify whether the current exhibits abnormal fluctuations in a short period, whether the mean value is consistently high, or whether the vibration frequency falls within the frequency range of typical external disturbances. This allows the system to determine whether the parking lock is currently operating normally, suspected of being subjected to external disturbances, or exhibiting obvious abnormal operation.

[0031] This state determination process is flexible and not limited to a single type of sensor data or algorithm model. Under different hardware configurations, the determination of the operating state can be based on different operating parameters such as current, voltage, back electromotive force, vibration signal, or speed change, and can be achieved using various methods such as threshold judgment, time accumulation judgment, and frequency domain analysis.

[0032] By analyzing the operating parameters within a time window, misjudgments caused by instantaneous noise or environmental interference can be effectively avoided. This allows the parking lock to promptly identify and enter the corresponding operating state when faced with malicious external damage or continuous abnormal movement, providing a basis for subsequent protection actions.

[0033] 103. Control the parking space lock based on the operating status.

[0034] In this embodiment of the invention, the control logic of the parking lock can execute different control strategies based on the determination result of the operating status.

[0035] For example, if no abnormal operating characteristics are detected within the current time window, the parking lock will perform the locking or unlocking action according to the normal logic without introducing additional delay judgment; when the operating state is detected to meet the abnormal conditions, the protection action will be triggered immediately, such as stopping the motor, turning off the drive power, or maintaining the current mechanical position and not continuing to drive, so as to avoid the continuous action of external force causing damage to the mechanism.

[0036] For example, when the parking lock is detected to be in normal operation, the motor can be driven to run according to the predetermined lifting process to ensure the normal use of the parking lock. When the operating status is judged to be suspected of being abnormal, no forced protection will be taken immediately. Instead, the operating parameters will continue to be monitored in the subsequent time window to avoid unnecessary actions caused by brief interference. When the operating status is determined to be abnormal, corresponding protection measures can be implemented in a timely manner, such as stopping the motor, disengaging the clutch mechanism, cutting off the drive power, or entering the locking mode to prevent the continuous action of external forces from damaging the motor or gear structure.

[0037] In addition, after the protection measures are implemented, the operating status can be adjusted to the recovery status, and the changes in operating parameters can be continuously monitored in the recovery status to ensure that the external disturbances have disappeared before allowing the parking lock to return to the normal operating mode.

[0038] By using a control method based on operational status, parking locks can maintain reliable performance while ensuring safety, and effectively protect against malicious external disturbances.

[0039] In this embodiment of the invention, the operating parameters of the motor in the parking lock are obtained within the current time window; based on the operating parameters, the operating state of the parking lock is determined; and based on the operating state, the parking lock is controlled. By obtaining the motor's operating parameters within the current time window, a comprehensive judgment can be made on the motor's actual operating status over a period of time. This avoids the false alarms caused by the susceptibility of traditional solutions based on instantaneous current values ​​to instantaneous disturbances such as wind and minor collisions. The time window reflects the persistence characteristics of external force disturbances, helping to distinguish between brief interference and continuous force application, thus improving the stability of operating state identification. Simultaneously, controlling the parking lock based on the operating state enables the device to promptly execute protective actions in abnormal situations and maintain normal lifting and lowering processes under normal conditions, thereby improving the overall reliability and resistance to external interference of the parking lock.

[0040] It is understood that in the specific implementation of this application, data related to operating parameters are involved. When the embodiments in this application are applied to specific products or technologies, user permission or consent is required. Furthermore, the collection, use and processing of related data, as well as the deployment and control of parking locks, must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0041] Reference Figure 2 , Figure 2 This is a second flowchart illustrating a parking lock control method in one embodiment of the present invention; in one embodiment of the present invention, obtaining the operating parameters of the motor in the parking lock within the current time window includes: 201. Collect the motor's operating parameters according to the preset sampling frequency; 202. When the running parameters meet the preset data volume, the running parameters are determined as the running parameters within the current time window.

[0042] In this embodiment of the invention, when collecting operating parameters, the operating status of the motor can be periodically sampled according to a preset sampling frequency.

[0043] For example, the sampling frequency of the ADC can be set to 1kHz, meaning that the motor's operating parameters (such as motor current) are acquired every millisecond. After the acquisition begins, the processing chip continuously receives new sampled values ​​and stores them sequentially in the buffer area. As long as the amount of data in the buffer has not yet reached the preset window size, acquisition continues; and when the accumulated amount of data reaches the set requirement, such as acquiring 100 sampling points within a 100ms time window, this set of data can be identified as the operating parameters within the current time window for subsequent operating status analysis.

[0044] By continuously collecting data at a sampling frequency and determining the time window based on the amount of data, it is possible to ensure that the operating parameters within each window have a stable time span and continuity, thereby providing a reliable data foundation for subsequent judgment of the parking lock's operating status.

[0045] Reference Figure 3 , Figure 3 This is a third flowchart illustrating the parking lock control method in one embodiment of the present invention; in one embodiment of the present invention, determining the operating status of the parking lock based on operating parameters includes: 301. Extract at least one feature dimension of the running features from the running parameters; 302. Determine the operating status of the parking space lock based on its operating characteristics.

[0046] In this embodiment of the invention, after collecting the operating parameters within the current time window, the operating parameters within the window can be analyzed to extract operating features that reflect the force condition or load change of the parking lock.

[0047] The extraction of operational features is not limited to a specific type of sensor data. When the operational parameter is current data, the fluctuation amplitude, mean change, or periodic fluctuation characteristics of the current can be extracted. When the operational parameter is voltage data, the stability of the voltage within the window or the voltage drop trend can be analyzed to infer whether the motor load is abnormal. When the operational parameter is back electromotive force or speed signal, external interference can be judged based on speed fluctuation, acceleration anomaly, or speed deviation. If the parking lock is equipped with an inertial sensor, the vibration amplitude, vibration frequency, or vibration direction change within the window can also be used as operational features.

[0048] After acquiring at least one operational characteristic, the operational status of the parking lock can be determined based on the changing trend, magnitude, duration, or frequency of the operational characteristic.

[0049] For example, when the characteristics are within the normal range, it can be inferred that the parking lock is in normal operation; when the characteristics show a brief abnormality but are not continuous, it can be judged as a temporary disturbance; and when the operating characteristics show a continuous or typical external force-induced pattern, it can be judged as an abnormal operating state.

[0050] By extracting features based on operating parameters and judging the operating status accordingly, flexible status recognition can be achieved under various hardware configurations, improving the parking lock's adaptability to different types of external interference.

[0051] Reference Figure 4 , Figure 4 This is the fourth flowchart of a parking lock control method in one embodiment of the present invention; in one embodiment of the present invention, the operating parameters include current parameters, and the operating characteristics include at least one of fluctuation amplitude, average current, and fluctuation frequency. Among the operating parameters, at least one characteristic dimension of the operating characteristics is extracted, including: 401. Determine the maximum and minimum current values ​​among multiple current parameters within the current time window, and calculate the fluctuation amplitude based on the maximum and minimum current values; 402. Calculate the sum of current values ​​and the number of current parameters within the current window, and calculate the average current based on the sum and the number. 403. Based on the difference between each current parameter and the average current within the current time window, determine the number of zero-crossing points, and calculate the fluctuation frequency based on the number of zero-crossing points.

[0052] In this embodiment of the invention, the operating parameters can specifically be current parameters. Feature calculations can be performed on the current sampling data contained in the current time window to extract key operating features that can reflect the stress condition of the motor.

[0053] In a typical implementation, the processing chip can collect 100 current sampling points within a 100ms time window and calculate the fluctuation amplitude, average current, and fluctuation frequency based on this set of data.

[0054] For example, when calculating the fluctuation amplitude, the maximum and minimum values ​​of all current samples can be found within the window, and the difference between the two can be used as the fluctuation amplitude. When the parking lock is in normal operation, the motor current fluctuation is small, so the difference between the maximum and minimum values ​​is also relatively stable; however, when the lock arm is maliciously shaken, the current will fluctuate greatly with the rapid change of mechanical load, thus significantly increasing the fluctuation amplitude.

[0055] When calculating the average current, all current samples within the window can be summed and divided by the number of samples, for example, I_avg=(I[1]+I[2]+…+I

[100] ) / 100. This average current can reflect the overall load level borne by the motor during the window. In a "slow push" attack, although the current fluctuation may not be obvious, the average current will usually remain higher than the level during normal operation due to the continuous application of external force, thus serving as an effective feature for judging abnormalities.

[0056] When calculating the fluctuation frequency, the difference between each sampled value and the average current can be calculated first to obtain the fluctuation center line I_center[i] of the current within the window. Then, the number of zero-crossings is determined by judging the number of sign changes of adjacent differences; for example, a negative product of adjacent differences can be considered as a zero-crossing change. Based on the sampling duration of the window, the fluctuation frequency can be calculated using the formula F = (number of zero-crossings / 2) / 0.1s, i.e., F = (number of zero-crossings / 2) / 100ms, where the number of zero-crossings is the number of zero-crossings mentioned above. When this frequency is in the range of 3Hz to 15Hz, it often corresponds to typical high-frequency disturbances caused by manually shaking the locking arm.

[0057] By extracting the above three features, multi-dimensional information reflecting the external force state can be obtained from the current data within the time window, thereby providing a more comprehensive and reliable basis for determining the subsequent operating status and improving the parking lock's ability to identify different external force disturbances.

[0058] Reference Figure 5 , Figure 5 This is the fifth flowchart of a parking lock control method in one embodiment of the present invention; in one embodiment of the present invention, the operating characteristics include at least one of fluctuation amplitude, average current, and fluctuation frequency, and the operating state includes a suspected abnormal operating state and an abnormal operating state. Based on the operating characteristics, the operating state of the parking lock is determined, including: 501. When at least one of the fluctuation amplitude, average current and fluctuation frequency meets the preset abnormal operating conditions, the operating state is judged as a suspected abnormal operating state. 502. When at least one of the fluctuation amplitude, average current and fluctuation frequency meets the preset abnormal operating conditions, and the preset abnormal operating conditions are detected again within a preset time period, the operating state is determined to be an abnormal operating state.

[0059] In this embodiment of the invention, after extracting the operational features, the operating status of the parking lock can be further determined based on the changes in the operational features within the current time window. Since external disturbances usually have a certain degree of persistence or repetition, it is not only important to consider whether the operational features have reached an abnormal threshold, but also to make a comprehensive judgment based on their continuity over time.

[0060] In a common operating mode, when any one of the fluctuation amplitude, average current, or fluctuation frequency first meets the abnormal operating conditions, the operating state can be judged as a suspected abnormality so that it can be observed for a subsequent time window. If the same or different types of operating characteristics are detected again to meet the abnormal operating conditions within the preset duration, it indicates that the external disturbance is not an instantaneous phenomenon, and the operating state can be further judged as an abnormal operating state.

[0061] By using a judgment process based on "initial anomaly marking + continuous confirmation", misjudgments caused by short-term interference can be avoided, and destructive continuous external forces can be identified in a timely manner, thus providing a reliable basis for subsequent protection actions.

[0062] It should be noted that abnormal operating conditions can be understood as a dataset consisting of thresholds corresponding to multiple operating features. This dataset includes the judgment boundaries for operating features such as fluctuation amplitude, average current, and fluctuation frequency. Each operating feature has an independent threshold rule (e.g., fluctuation amplitude threshold for fluctuation amplitude, average current threshold for average current, and fluctuation frequency threshold for fluctuation frequency), used to characterize whether the feature is in an abnormal state within the current time window. For the same operating feature, the corresponding threshold can be a single boundary value, such as determining an abnormality if a feature exceeds a set upper limit; or it can be a numerical range composed of multiple thresholds, such as defining the normal and abnormal ranges as intervals by setting upper and lower thresholds.

[0063] When determining the operational status, multiple thresholds can be read from the dataset for judgment, and the operational characteristics within the current time window can be compared with the corresponding thresholds one by one. When any threshold in the dataset is triggered, it is considered that the abnormal operation conditions are met, thereby causing the operational status to enter a suspected abnormal or abnormal operation state.

[0064] By organizing the thresholds of multiple operational features into a dataset, it is possible to collaboratively identify different manifestations caused by external disturbances, making the state judgment more structured and systematic, and improving the detection accuracy of multiple types of abnormal behaviors.

[0065] Reference Figure 6 , Figure 6 This is a flowchart of the parking lock control method in one embodiment of the present invention (Figure 6). In one embodiment of the present invention, the operating state includes a normal operating state, a suspected abnormal operating state, an abnormal operating state, and a recovery state. Based on the operating state, controlling the parking lock includes: 601. Under normal operating conditions, the parking space lock is controlled to perform lifting and lowering actions according to a preset program; 602. In the event of suspected abnormal operation, control the parking lock to perform lifting and lowering actions according to the preset program, and continuously monitor the fluctuation amplitude, average current and fluctuation frequency within the preset time. 603. In abnormal operating conditions, control the parking lock to execute preset protection actions, and enter the recovery state after the protection actions are completed; 604. In the recovery state, continuously monitor the fluctuation amplitude, average current and fluctuation frequency, and if the fluctuation amplitude, average current and fluctuation frequency do not meet the abnormal operation conditions within the preset recovery time, switch the operation state back to the normal operation state.

[0066] In this embodiment of the invention, after determining the current operating state of the parking lock, a corresponding control strategy can be executed according to different states, so that the parking lock can smoothly switch between normal operation and abnormal protection.

[0067] Under normal operating conditions, the motor operates according to a preset lifting and lowering process, while continuously monitoring operating characteristics such as fluctuation amplitude, average current, and fluctuation frequency. When any of these characteristics exceeds the corresponding threshold for the first time, protective measures are not immediately taken. Instead, the operating status is switched to a suspected abnormal operating status to avoid misjudgment due to momentary interference.

[0068] Once a suspected abnormal operating state is entered, a confirmation timing process can be initiated, for example, 500ms, during which changes in the aforementioned operating characteristics are continuously monitored. If the operating characteristics are detected to meet the abnormal conditions again before the timing ends, it indicates that the external disturbance has continuity and intensity, and the operating state is further determined to be an abnormal operating state; if no abnormal characteristics reappear within this period, it can be considered that the previous abnormality was caused by a brief disturbance, and the operating state will automatically return to normal operation.

[0069] In abnormal operating conditions, preset protection actions can be triggered immediately to prevent damage to mechanical components caused by continuous external forces. Examples include cutting off motor power, disengaging the electromagnetic clutch, or stopping drive signal output. After the protection actions are completed, the operating status is adjusted to a recovery state to determine whether external interference has disappeared in the post-protection phase.

[0070] In recovery mode, operating parameters and changes in operating characteristics can be continuously collected within a preset recovery window (e.g., 10 seconds). If the fluctuation amplitude, average current, and fluctuation frequency do not meet the abnormal operating conditions again within the entire recovery window, it indicates that the external disturbance has been eliminated, and the parking lock can safely return to normal operation. If an abnormality occurs again within the recovery window, it can re-enter the suspected abnormal or abnormal operating state and execute the corresponding protection logic.

[0071] Through the aforementioned control mechanism based on multi-state transitions, the parking lock can maintain normal functions while providing timely, stable, and precise protection against external interference.

[0072] Reference Figure 7 , Figure 7 This is the seventh flowchart of a parking lock control method in one embodiment of the present invention; in one embodiment of the present invention, after controlling the parking lock to perform the lifting and lowering action according to a preset program, the method further includes: 701. Obtain the operating parameters during the lifting lock operation; 702. Update abnormal operating conditions based on operating parameters.

[0073] In this embodiment of the invention, after a normal lifting lock operation is completed, the operating parameters collected during the operation can be analyzed again to update abnormal operating conditions (such as the fluctuation amplitude threshold corresponding to the fluctuation amplitude, the average current threshold corresponding to the average current, and the fluctuation frequency threshold corresponding to the fluctuation frequency).

[0074] Because motors, gears, and transmission components experience wear, efficiency decline, or changes in lubrication during long-term use, and external environmental factors such as temperature and voltage fluctuations can also cause deviations in operating parameters, it is difficult to maintain the accuracy of fixed thresholds throughout the entire life cycle of the equipment.

[0075] To ensure that abnormal operating conditions continuously adapt to the actual state of the equipment, characteristic values ​​of the operating parameters during the lifting lock period can be recalculated after each normal operation, such as the typical fluctuation range of current, the average current baseline during stable operation, and the natural frequency under undisturbed conditions. The latest characteristic values ​​can be incorporated into the existing thresholds through statistical methods or smoothing algorithms, so that the thresholds or threshold ranges are continuously updated according to the equipment usage.

[0076] For example, the average current during normal operation can be updated using exponential averaging or moving average to gradually reflect the new baseline after the motor ages; alternatively, the corresponding threshold boundary can be dynamically adjusted based on the fluctuation amplitude during recent normal operation to ensure that it remains sensitive to abnormal fluctuations.

[0077] By updating the abnormal operating conditions after each normal lifting and lowering action, the threshold dataset can be continuously adapted, thereby maintaining high judgment accuracy during long-term operation of the device, avoiding false alarms or missed alarms due to outdated thresholds, and improving the reliability and robustness of parking locks in complex outdoor environments.

[0078] Furthermore, Figure 8 This is the eighth flowchart of a parking lock control method in one embodiment of the present invention, as shown below. Figure 8As shown, after the system starts, it first initializes and configures the parking lock, including the initialization processing chip, analog-to-digital converter module, and motor drive module, among other hardware peripherals. Before activating the external force protection function, the system can collect motor operating data under conditions of no external interference through multiple normal locking and unlocking operations. This data is used to establish an initial dynamic baseline of the motor's operating characteristics and initialize the state machine to normal operating state.

[0079] After the system enters the operational phase, the main control module collects motor current data at a preset sampling frequency. For example, if the ADC sampling frequency is set to 1kHz, the motor current value is collected every 1ms. The system constructs a time window with a fixed length, set to 100ms, corresponding to 100 collections of motor current data within each time window. While the number of collected data points is less than 100, the system continues to sample the current. When the number of collected data points reaches 100, the system uses these 100 current sample values ​​as the operating parameters for the current time window, which are then used for subsequent feature calculations.

[0080] After the time window condition is met, the system calculates multiple operating characteristics based on the motor current data within that time window. For example, the operating characteristics include fluctuation amplitude ΔI, average current I_avg, and fluctuation frequency F. Among them, the fluctuation amplitude ΔI is obtained by calculating the difference between the maximum and minimum current values ​​within the current time window, that is, ΔI=max(I[1],I[2],…,I

[100] ). min(I[1],I[2],…,I

[100] ). Under normal and stable motor operation, the value of ΔI is usually small; when there is external disturbance such as malicious shaking of the lock arm, the motor current will show continuous and high amplitude fluctuations, which will significantly increase ΔI.

[0081] The average current I_avg is used to reflect the overall load level of the motor within the current time window. It is obtained by averaging all current sampling values ​​within the time window, i.e., I_avg=(I[1]+I[2]+…+I

[100] ) / 100. In the scenario of maliciously "slowly pushing" the locking arm, although the instantaneous fluctuation amplitude ΔI of the current may not be obvious, due to the continuous action of external force, I_avg will be higher than the benchmark level during normal no-load or normal operation for a long time. The fluctuation frequency F is used to reflect the periodic change characteristics of the motor current within the time window. Specifically, the system first calculates the difference between each sampled current value and the average current I_avg to obtain the centered current sequence I_center[i]. Then, it performs sign judgment on adjacent I_center values ​​and determines the number of zero crossings by counting the number of sign changes. The fluctuation frequency F is calculated based on the number of zero crossings, and its calculation method is F=(number of zero crossings / 2) / 200. When the calculated fluctuation frequency F is in the range of 3Hz to 15Hz, it can be determined that the motor current exhibits periodic characteristics corresponding to the manual shaking of the lock arm, thus serving as an important basis for identifying malicious external disturbances.

[0082] After completing the calculation of operational characteristics, the system inputs the feature vector obtained within the current time window into the state decision module. The state machine then judges the current operating state of the parking lock and decides whether to execute a protection action based on the judgment result. When the state machine determines that an abnormal operating state exists, the system will execute corresponding protection operations, such as stopping the motor or disengaging the electromagnetic clutch mechanism, to prevent continuous external forces from damaging the motor or transmission structure.

[0083] Furthermore, if the system completes a normal locking or unlocking action and no abnormal operating state judgment is triggered during the process, the system will update the dynamic threshold and dynamic current baseline based on the operating parameters collected during the normal action, so that subsequent operating state judgments can continuously adapt to changes in motor performance and environmental conditions, thereby forming a closed-loop adaptive control process.

[0084] It should be noted that, Figure 8 The illustrated process describes the parking lock control method of the present invention from the perspective of overall system operation. The parking lock control method can be executed by a parking lock control system, which may include a main control module, an analog-to-digital converter module, a motor drive module, and a state machine module. The analog-to-digital converter module collects motor operating parameters and provides them to the main control module. The main control module processes the operating parameters and calculates operating characteristics within the current time window. The state machine module transitions between normal operating state, suspected abnormal operating state, abnormal operating state, and recovery state based on the operating characteristics, and generates corresponding control commands, which are then executed by the motor drive module to perform locking, unlocking, or protection actions. The above modules can be integrated in hardware or software. Figure 8 The flowchart shown is only used to illustrate the execution process of the method of the present invention in the system and does not limit the specific implementation form.

[0085] Furthermore, Figure 9 This is the ninth flowchart of a parking lock control method in one embodiment of the present invention, as shown below. Figure 9 As shown, the parking lock control method can be executed through a state machine to uniformly manage and switch the state of the parking lock at different operating stages.

[0086] Under normal operating conditions, the system continuously monitors the operating characteristics obtained within the current time window, including fluctuation amplitude ΔI, average current I_avg, and fluctuation frequency F. When any operating characteristic first meets the preset abnormal operating conditions, the state machine transitions the current state from the normal operating state to the suspected abnormal operating state for further confirmation of the abnormal situation.

[0087] In the event of a suspected abnormal operating state, an acknowledgment mechanism is initiated. In one embodiment, this can be implemented using an acknowledgment timer, for example, setting the acknowledgment duration to 500ms. During the acknowledgment duration, operating characteristics are continuously monitored. If operating characteristics that meet the abnormal operating conditions are detected again, it indicates that the external disturbance is continuous, and the state machine transitions to the abnormal operating state. If no abnormal operating conditions are detected again within the acknowledgment duration, the previous abnormality is considered to be a transient disturbance, and the state machine switches the state back to the normal operating state.

[0088] When the state machine enters an abnormal operating state, it immediately executes preset protection actions, such as cutting off the motor power supply or disengaging the electromagnetic clutch mechanism, to prevent continuous external force from damaging the parking lock. After the protection actions are completed, the state machine transitions to the recovery state.

[0089] In the recovery state, the operating characteristics are continuously monitored within a preset recovery time. In one embodiment, the recovery time can be set to 10 seconds. When the operating characteristics do not meet the abnormal operating conditions again within the recovery time, the state machine automatically switches the operating state back to the normal operating state, thereby completing a complete state transition process. Through the above-described state machine control method, the present invention can effectively distinguish between transient interference and continuous anomalies while ensuring rapid response to external disturbances, thus improving the reliability and stability of parking lock control.

[0090] It should be noted that, Figure 9 The flowchart illustrates the parking lock control method of the present invention from the perspective of state machine operation. The parking lock control method can be executed in a state machine manner. The state machine is used to transition between normal operation state, suspected abnormal operation state, abnormal operation state and recovery state according to the operating characteristics, and trigger corresponding control or protection actions in different states. Figure 9The flowchart shown is only used to illustrate the management logic of the state machine in controlling the parking lock. Its specific implementation can be achieved by the main control module through software or in conjunction with hardware logic. It does not constitute a limitation on the scope of protection of this invention.

[0091] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0092] In one embodiment, a parking lock control device is provided, which corresponds one-to-one with the parking lock control method described in the above embodiments. For example... Figure 10 As shown, the parking lock control device includes an acquisition module 1001, a judgment module 1002, and a control module 1003. Detailed descriptions of each functional module are as follows: The acquisition module 1001 is used to acquire the operating parameters of the motor in the parking lock within the current time window; The judgment module 1002 is used to determine the operating status of the parking lock based on the operating parameters; The control module 1003 is used to control the parking space lock based on the operating status.

[0093] Optionally, the acquisition module 1001 is further configured to: The operating parameters of the motor are collected according to a preset sampling frequency; When the operating parameters meet the preset data volume, the operating parameters are determined as the operating parameters within the current time window.

[0094] Optionally, the determination module 1002 is further configured to: From the operating parameters, at least one feature dimension of the operating feature is extracted; Based on the aforementioned operational characteristics, the operational status of the parking space lock is determined.

[0095] Optionally, the operating parameters include current parameters, and the operating characteristics include at least one of fluctuation amplitude, average current, and fluctuation frequency. The judgment module 1002 is further configured to: The maximum and minimum current values ​​are determined among the multiple current parameters within the current time window, and the fluctuation amplitude is calculated based on the maximum and minimum current values. The sum of current values ​​and the number of current parameters within the current window are statistically analyzed, and the average current is calculated based on the sum and the number. Based on the difference between each current parameter and the average current within the current time window, the number of zero-crossing points is determined, and the fluctuation frequency is calculated based on the number of zero-crossing points.

[0096] Optionally, the operating characteristics include at least one of fluctuation amplitude, average current, and fluctuation frequency; the operating state includes suspected abnormal operating state and abnormal operating state; and the judgment module 1002 is further used for: When at least one of the fluctuation amplitude, average current, and fluctuation frequency meets a preset abnormal operating condition, the operating state is determined to be a suspected abnormal operating state. If at least one of the fluctuation amplitude, average current, and fluctuation frequency meets a preset abnormal operating condition, and the preset abnormal operating condition is detected again within a preset time period, the operating state is determined to be the abnormal operating state.

[0097] Optionally, the operating status includes normal operating status, suspected abnormal operating status, abnormal operating status, and recovery status. The control module 1003 is further configured to: Under normal operating conditions, the parking space lock is controlled to perform lifting and lowering actions according to a preset program; In the suspected abnormal operating state, the parking lock is controlled to perform lifting and lowering actions according to a preset program, and the fluctuation amplitude, average current and fluctuation frequency are continuously monitored within the preset time period; In abnormal operation, the parking lock is controlled to perform a preset protection action, and enters the recovery state after the protection action is completed; In the recovery state, the fluctuation amplitude, average current and fluctuation frequency are continuously monitored, and if the fluctuation amplitude, average current and fluctuation frequency do not meet the abnormal operating conditions within the preset recovery time, the operating state is switched back to the normal operating state.

[0098] Optionally, the device further includes: An operation-period acquisition module is used to acquire the operating parameters during the operation of the lifting lock; The update module is used to update the abnormal operating conditions based on the operating parameters.

[0099] Each module in the aforementioned parking lock control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0100] In one embodiment, a computer device is provided, which may be a terminal device, and its internal structure diagram may be as follows: Figure 11 As shown, the computer device includes a processor, memory, and network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes a readable storage medium storing computer-readable instructions. The network interface communicates with external terminals via a network connection. When executed by the processor, the computer-readable instructions implement a parking lock control method. The readable storage medium provided in this embodiment includes both non-volatile and volatile readable storage media.

[0101] In this application embodiment, a computer device is provided, including a memory, a processor, and computer-readable instructions stored in the memory and executable on the processor. When the processor executes the computer-readable instructions, it implements the steps of the parking lock control method described above.

[0102] In one embodiment of the application, a readable storage medium is provided, which stores computer-readable instructions. When the computer-readable instructions are executed by a processor, they implement the steps of the parking lock control method described above.

[0103] Those skilled in the art will understand that all or part of the functions of the various methods in the above embodiments can be implemented by hardware or by computer programs. When all or part of the functions in the above embodiments are implemented by computer programs, the program can be stored in a computer-readable storage medium, which may include: read-only memory, random access memory, disk, optical disk, hard disk, etc., and the program is executed by a computer to achieve the above functions. For example, the program can be stored in the memory of a device, and when the program in the memory is executed by the processor, all or part of the above functions can be achieved. In addition, when all or part of the functions in the above embodiments are implemented by computer programs, the program can also be stored in a server, another computer, disk, optical disk, flash drive, or external hard drive, etc., and can be downloaded or copied to the memory of a local device, or the system of the local device can be updated. When the program in the memory is executed by the processor, all or part of the functions in the above embodiments can be achieved.

[0104] The above examples illustrate the present invention only to aid in understanding it and are not intended to limit the scope of the invention. Those skilled in the art can make various simple deductions, modifications, or substitutions based on the principles of this invention.

Claims

1. A parking space lock control method, characterized in that, The method includes: Obtain the operating parameters of the motor in the parking lock within the current time window; Based on the operating parameters, determine the operating status of the parking lock; Based on the operating status, control the parking space lock.

2. The parking space lock control method as described in claim 1, characterized in that, The step of obtaining the operating parameters of the motor in the parking lock within the current time window includes: The operating parameters of the motor are collected according to a preset sampling frequency; When the operating parameters meet the preset data volume, the operating parameters are determined as the operating parameters within the current time window.

3. The parking space lock control method as described in claim 1, characterized in that, Determining the operating status of the parking lock based on the operating parameters includes: From the operating parameters, at least one feature dimension of the operating feature is extracted; Based on the aforementioned operational characteristics, the operational status of the parking space lock is determined.

4. The parking space lock control method as described in claim 3, characterized in that, The operating parameters include current parameters, and the operating characteristics include at least one of fluctuation amplitude, average current, and fluctuation frequency. The operation features extracted from the operating parameters include at least one feature dimension, such as: The maximum and minimum current values ​​are determined among the multiple current parameters within the current time window, and the fluctuation amplitude is calculated based on the maximum and minimum current values. The sum of current values ​​and the number of current parameters within the current window are statistically analyzed, and the average current is calculated based on the sum and the number. Based on the difference between each current parameter and the average current within the current time window, the number of zero-crossing points is determined, and the fluctuation frequency is calculated based on the number of zero-crossing points.

5. The parking space lock control method as described in claim 3, characterized in that, The operating characteristics include at least one of fluctuation amplitude, average current, and fluctuation frequency; the operating states include suspected abnormal operating states and abnormal operating states; and determining the operating state of the parking lock based on the operating characteristics includes: When at least one of the fluctuation amplitude, average current, and fluctuation frequency meets a preset abnormal operating condition, the operating state is determined to be a suspected abnormal operating state. If at least one of the fluctuation amplitude, average current, and fluctuation frequency meets a preset abnormal operating condition, and the preset abnormal operating condition is detected again within a preset time period, the operating state is determined to be the abnormal operating state.

6. The parking space lock control method as described in claim 5, characterized in that, The operating status includes normal operating status, suspected abnormal operating status, abnormal operating status, and recovery status. Controlling the parking lock based on the operating status includes: Under normal operating conditions, the parking space lock is controlled to perform lifting and lowering actions according to a preset program; In the suspected abnormal operating state, the parking lock is controlled to perform lifting and lowering actions according to a preset program, and the fluctuation amplitude, average current and fluctuation frequency are continuously monitored within the preset time period; In abnormal operation, the parking lock is controlled to perform a preset protection action, and enters the recovery state after the protection action is completed; In the recovery state, the fluctuation amplitude, average current and fluctuation frequency are continuously monitored, and if the fluctuation amplitude, average current and fluctuation frequency do not meet the abnormal operating conditions within the preset recovery time, the operating state is switched back to the normal operating state.

7. The parking space lock control method as described in claim 6, characterized in that, After controlling the parking space lock to perform the lifting and lowering action according to a preset program, the method further includes: Obtain the operating parameters during the lifting lock's operation; Based on the aforementioned operating parameters, update the abnormal operating conditions.

8. A parking space lock control device, characterized in that, include: The acquisition module is used to acquire the operating parameters of the motor in the parking lock within the current time window; The judgment module is used to determine the operating status of the parking lock based on the operating parameters; The control module is used to control the parking space lock based on the operating status.

9. A computer device comprising a memory, a processor, and computer-readable instructions stored in the memory and running on the processor, characterized in that, When the processor executes the computer-readable instructions, it implements the parking lock control method as described in any one of claims 1 to 7.

10. A readable storage medium having computer-readable instructions stored thereon, characterized in that, When the computer-readable instructions are executed by a processor, they implement the parking lock control method as described in any one of claims 1 to 7.

Images