Method for determining the position of a movable assembly and control method

Abstract

The present disclosure relates to a position determination method and a control method of a movable assembly. The position determination method comprises: controlling the movable assembly to move in a first direction, and determining a first position reference point in response to a working parameter of a motor driving the movable assembly satisfying a first preset condition; controlling the movable assembly to move in a second direction, and determining a second position reference point in response to the working parameter satisfying a second preset condition, wherein the second direction is opposite to the first direction; and determining a moving stroke of the movable assembly based on the first position reference point and the second position reference point. The method can improve the position accuracy of the movable assembly.

Description

Technical Field

[0001] This disclosure relates to the field of automation technology, and more specifically, to a method for determining the position of a movable component and a control method thereon. Background Technology

[0002] Movable components are typically installed on windows and roofs to separate the interior and exterior environments. These components include motorized windows, motorized doors, sunshades, and sun curtains. The opening state of these components can be determined based on specific circumstances. The states of these components include open, closed, partially open, and anti-pinch. The precise determination of the component's position is crucial for controlling its opening. Therefore, accurately determining the position of these components and controlling their opening state is a pressing technical problem that needs to be solved. Summary of the Invention

[0003] To address at least some of the aforementioned problems, this disclosure proposes a method for determining the position of a movable component and a control method that can improve the positional accuracy of the movable component.

[0004] Specifically, the first aspect of this disclosure proposes a method for determining the position of a movable component, comprising: controlling the movable component to move along a first direction, and determining a first position reference point in response to the operating parameters of a motor driving the movable component satisfying a first preset condition; controlling the movable component to move along a second direction, and determining a second position reference point in response to the operating parameters satisfying a second preset condition, wherein the second direction is opposite to the first direction; and determining the travel distance of the movable component based on the first position reference point and the second position reference point. Setting separate position reference points in both directions improves positioning accuracy. Furthermore, setting separate preset conditions in both directions expands the application range of this method.

[0005] Furthermore, a second aspect of this disclosure relates to a control method for a movable component, comprising: determining the start and end positions of the movable component, the start and end positions being determined based on the method of the first aspect of this disclosure; receiving a movement command indicating a target position of the movable component; and controlling the movable component to move to the target position.

[0006] Furthermore, a third aspect of this disclosure relates to an electronic device including a memory and a processor, the memory storing computer-readable instructions that, when executed by the processor, cause the processor to implement the position determination method for a movable component and the control method for a movable component according to the first aspect of this disclosure.

[0007] Furthermore, a fourth aspect of this disclosure relates to a movable component system, including a driving device, a sensing device, a control device, and a movable component, wherein the driving device is configured to drive the movable component, the sensing device is configured to detect operating parameters of the driving device, and the control device is configured to control the movable component based on the operating parameters, wherein the control device includes an electronic device according to a third aspect of this disclosure.

[0008] Furthermore, a fifth aspect of this disclosure relates to a computer-readable storage medium having computer-executable instructions stored thereon for performing the position determination method for a movable component according to the first aspect of this disclosure and the control method for a movable component according to the first aspect of this disclosure.

[0009] Finally, a sixth aspect of this disclosure relates to a computer program product tangibly stored on a computer-readable storage medium and comprising computer-executable instructions that, when executed by at least one processor, cause at least one processor to perform the position determination method for a movable component and the control method for a movable component according to the first aspect of this disclosure.

[0010] In summary, the technical solution based on this disclosure, using the method for determining the position of a movable component, controls the movable component to move in two different directions. During movement, in response to the operating parameters of the drive motor meeting their respective preset conditions, a position reference point is determined in each direction, and the travel range of the movable component is determined based on these two position reference points. Compared to setting only one position reference, setting separate position reference points in two directions improves positioning accuracy. Attached Figure Description

[0011] Features, advantages, and other aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description, in which several embodiments of the disclosure are illustrated by way of example and not limitation, in the drawings:

[0012] Figure 1 A flowchart illustrating a method 100 for determining the position of a movable component according to an embodiment of the present disclosure is shown.

[0013] Figure 2 A schematic diagram of the movement of a movable component according to an embodiment of the present disclosure is shown.

[0014] Figure 3 A flowchart illustrating a method 300 for determining a location reference point according to an embodiment of the present disclosure is shown.

[0015] Figure 4 An application scenario of a method for determining the position of a movable component according to an embodiment of the present disclosure is illustrated.

[0016] Figure 5 A flowchart illustrating a method 500 for determining preset conditions of a movable component according to an embodiment of the present disclosure is shown.

[0017] Figure 6 A flowchart illustrating a control method 600 for a movable component according to an embodiment of the present disclosure is shown.

[0018] Figure 7 A schematic diagram of an electronic device 700 according to another embodiment of the present disclosure is shown.

[0019] Figure 8 A schematic diagram of a movable component system 800 according to yet another embodiment of the present disclosure is shown. Detailed Implementation

[0020] Various exemplary embodiments of this disclosure are described in detail below with reference to the accompanying drawings. While the exemplary methods and apparatuses described below include software and / or firmware executed on hardware in other components, it should be noted that these examples are merely illustrative and should not be considered limiting. Although exemplary methods and apparatuses have been described below, those skilled in the art will readily understand that the examples provided are not intended to limit the ways in which these methods and apparatuses are implemented.

[0021] Furthermore, the flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of the methods and systems according to various embodiments of this disclosure. It should be noted that the functions marked in the boxes may occur in a different order than that shown in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, or they may sometimes be executed in reverse order, depending on the functions involved.

[0022] The terms “comprising,” “including,” and similar terms as used in this disclosure are open-ended, meaning “including / including but not limited to,” implying that other content may also be included. The term “based on” means “at least partially based on.” The term “one embodiment” means “at least one embodiment”; the term “another embodiment” means “at least one additional embodiment,” and so on.

[0023] In this disclosure, the terms "first," "second," etc., are not used to specify the order of events or the number of components, unless otherwise stated. In this disclosure, "a plurality of" means two or more, unless otherwise explicitly specified. Those skilled in the art will understand the specific meaning of the above terms according to the specific circumstances.

[0024] Movable components can be installed on the sides or roofs of vehicles or buildings to provide shade or blocking. Examples of movable components include car windows, sunroofs, power doors, and sun visors or curtains installed on windows or doors. Determining the position of the movable component requires initialization to establish a reference position. The position of the movable component is then adjusted based on this reference position.

[0025] In some examples, the position of the movable component when it is in the fully closed position is used as a baseline for adjusting its position. For instance, for a car's power window, it is first raised to the fully closed position, and the operating parameters of the motor that drives the window in this state are recorded, such as current ripple signals or Hall effect signals. Then, based on the relationship between the motor operating parameters and the stroke, the corresponding operating parameters for different strokes are determined. When the movable component needs to move to a certain stroke, the motor is simply adjusted to the corresponding operating parameters.

[0026] The inventors discovered that the current method involves setting a position reference along the travel of the movable component and determining other positions along the travel based on this reference. To improve the accuracy of position determination, this disclosure provides a method for determining the position of a movable component to solve the aforementioned problems. The invention will now be described with reference to several embodiments.

[0027] Figure 1 This is a flowchart illustrating a method 100 for determining the position of a movable component according to an embodiment of this disclosure. Any one or more steps in method 100 can be performed by, for example... Figure 7 Electronic devices 700, Figure 8 This can be achieved through any of the devices in the movable component system 800. For example... Figure 1 As shown, the method 100 for determining the position of a movable component can be specifically described as follows.

[0028] In S101, the movable component is controlled to move along a first direction, and a first position reference point is determined in response to the operating parameters of the motor driving the movable component satisfying a first preset condition.

[0029] In some examples, the movement of the movable component can be translation, such as raising or lowering a car window, moving a sunroof forward or backward, or translating a sun visor. The movement of the movable component can also be rotation, such as the rotation of a Venetian blind. When the sunshade is a roller blind, the movement of the movable component can be the rotation of the roller blind's roller shaft or the translation of the edge of the roller blind.

[0030] The movable component can move in two directions, which can be the opening and closing directions of the movable component, respectively. The first direction is the opening or closing direction of the movable component. For example, when the movable component is a lift window, the first direction can be the upward or downward direction. As another example, when the movable component is a panoramic sunroof, the first direction is the forward or backward movement of the sunroof. As yet another example, when the movable component is a roller blind, the first direction is the direction from when the roller is rolled up to when the blind is closed, or from when the roller is retracted to when the blind is open. When the movable component is the movable edge of a roller blind, the first direction can also be the direction in which the edge of the roller blind moves forward to when the blind is closed, or retracts to when the blind is open.

[0031] The movable component is driven by a motor. The motor's operating parameters include motor direction, motor speed, motor current, voltage, motor torque, and the number of current ripples. When the motor is equipped with a sensor, its operating parameters can include those acquired by the sensor. For example, when the motor has a Hall sensor, its operating parameters include the number of pulse signals generated by the Hall sensor, i.e., the Hall pulse count. The motor's operation can also include the width of the Hall pulses.

[0032] The first position reference point is a reference position of the movable component in a first direction. In some examples, the first position reference point is the endpoint of the movable component's position in the first direction, meaning the movable component stops moving when it reaches that position in the first direction. In some examples, considering inertia, method 100 may also include determining a first stop point based on the first position reference point, where the first stop point is a preset distance backward from the first position reference point in the first direction. The first stop point can serve as a soft stop position for the movable component in the first direction. Since the distance between the soft stop position and the endpoint is typically a few millimeters, with the specific value depending on the movable component, the soft stop position can be determined accordingly once the endpoint is determined. Furthermore, from another perspective, the first position reference point can also be the zero point of the movable component's reverse movement. In some examples, the first position reference point can be the soft stop position of the movable component in the first direction.

[0033] The first preset condition is a certain state reached by the motor, such as the motor reaching a state of obstruction or even stopping. For example, if the movable component is a lift window, and the first direction is upward, the first preset condition is that the lift window is obstructed during its ascent. In this state, the resistance experienced by the motor increases, the motor speed decreases (e.g., drops to 0), and the motor current increases. The first preset condition can also be that the motor stops rotating due to a large load when the lift window reaches the top of the window frame. In this state, the resistance experienced by the motor increases, the motor speed drops to 0, and the motor current increases to 5-10 times the rated current. If the motor is equipped with a Hall sensor, the first preset condition may include an increase in the width of the Hall pulse.

[0034] Under a first preset condition, the motor's operating parameters can reach a certain value or range, which can be used as a threshold for the motor's operating parameters to meet the first preset condition. For example, when the movable component is obstructed, if the resistance experienced by the motor reaches 100N, 100N can be used as the threshold for the resistance experienced by the motor to meet the first preset condition. Another example is when the movable component moves to the top of the window frame, and the increase in motor current exceeds a certain rate of change threshold, which can be used as the threshold for the motor to meet the first preset condition. In some examples, this threshold can be an empirical value, obtained by collecting the motor current difference curves from several instances of the window rising and falling to the top of the window frame, and then statistically analyzing the data.

[0035] During the movement of the movable component along the first direction, the operating parameters of the motor are monitored. When the current operating parameters of the motor meet the first preset condition, the current position of the movable component can be determined as the first position reference point. The monitoring of the motor's operating parameters can be real-time monitoring or monitoring at predetermined time intervals.

[0036] In S102, the movable component is controlled to move along a second direction, and a second position reference point is determined in response to the operating parameters satisfying a second preset condition, wherein the second direction is opposite to the first direction.

[0037] As mentioned earlier, the movable component can move in two directions. When the first direction is the opening direction of the movable component, the second direction is the closing direction. Conversely, when the first direction is the closing direction, the second direction is the opening direction. For example, when the movable component is a lift window, the first direction is the upward direction, and the second direction is the downward direction. As another example, when the movable component is a panoramic sunroof, the first direction is the forward movement of the sunroof, and the second direction is the backward movement of the sunroof. As yet another example, when the movable component is a roller blind, the first direction is from the roller opening to the blind closing, and the second direction is from the roller retracting to the blind fully opening. When the movable component is the movable edge of a roller blind, the first direction can also be from the edge of the blind moving forward to the blind closing direction, and the second direction retracting to the blind opening direction.

[0038] The second position reference point is a reference position of the movable component in the second direction. In some examples, the second position reference point is the endpoint of the movable component's position in the second direction, meaning the movable component stops moving when it reaches that position in the second direction. In some examples, considering inertia, method 100 may also include determining a second stopping point based on the second position reference point, where the second stopping point is a preset distance backward from the second position reference point in the second direction. The second stopping point can serve as a soft stop position for the movable component in the second direction. Furthermore, from another perspective, the second position reference point can also be the zero point of the movable component's position when moving in the opposite direction (i.e., the first direction).

[0039] The second preset condition is a certain state reached by the motor, such as the motor reaching a certain obstructed state or even the motor stopping. The second preset condition is similar to the first preset condition. The determination and satisfaction of the second preset condition can refer to the discussion of the first preset condition, and will not be repeated here.

[0040] It is worth noting that the first and second preset conditions can be the same or different. For example, when the movable component is a lift window, the first preset condition is that the motor stops rotating when the lift window rises to the top of the window frame, and the second preset condition is that the motor stops rotating when the lift window descends to the bottom of the window frame. That is, both the first and second preset conditions indicate that the motor has stalled. Another example is that the first preset condition is that the motor stops rotating when the lift window rises to the top of the window frame, and the second preset condition is that the lift window is obstructed during its descent.

[0041] As the movable component moves along the second direction, it monitors the motor's operating parameters. When the current operating parameters of the motor meet the second preset condition, the current position of the movable component can be determined as the second position reference point.

[0042] It is understood that the execution order of steps S101 and S102 is not limited to the order of their numbers. For example, when the first direction is the opening direction of the movable component and the second direction is the closing direction of the movable component, the movable component can be opened first to determine the position reference point of the open state, and then the movable component can be closed to determine the position reference point of the closed state. Alternatively, the movable component can be closed first to determine the position reference point of the closed state, and then the movable component can be opened to determine the position reference point of the open state.

[0043] In S103, the travel distance of the movable component is determined based on the first position reference point and the second position reference point.

[0044] Once the position reference points in two directions are determined, the travel distance of the movable component can be determined. For example, if the first position reference point and the second position reference point are the position endpoints of the movable component in the first and second directions, respectively, then the travel distance between these two position endpoints can be considered the range of the movable component's travel distance. Alternatively, the travel distance between two soft stop points on the reverse side of these two position endpoints can be defined as the travel distance of the movable component.

[0045] In method 100, the movable component is controlled to move in two different directions. During movement, in response to the operating parameters of the drive motor satisfying preset conditions, position reference points are determined in each direction, and the travel range of the movable component is determined based on these two position reference points. Compared to setting only one position reference, setting separate position reference points in two directions improves positioning accuracy. Furthermore, setting separate preset conditions in two directions expands the application range of this method.

[0046] Figure 2 A schematic diagram of the travel of a movable component according to an embodiment of this disclosure is shown. Assuming the movable component is a sunshade, Figure 2 The direction to the right in the diagram is the first direction, in which the sun visor is open; the direction to the left in the diagram is the second direction, in which the sun visor is closed. It's important to understand that "left" and "right" here are just examples; in actual applications, the sun visor can move upwards and downwards, or forwards and backwards. Figure 2 As the sun visor moves to the right, a first position reference point P1 can be determined when the motor's operating parameters meet a first preset condition. For example, when the sun visor reaches P1, the motor stalls. A position point P3, a few millimeters back from P1, can be used as a soft stop point in that direction. As the sun visor moves to the left, a second position reference point P2 can be determined when the motor's operating parameters meet a second preset condition. For example, when the sun visor reaches P2, the motor stalls. A position point P4, a few millimeters back from P2, can be used as a soft stop point in that direction. When determining the sun visor's movable stroke, soft stop points P3 and P4 can be set as the position endpoints in both directions. Figure 2 Soft stop points are represented by solid circles, while hard stop points are represented by dashed circles.

[0047] In some implementations, determining whether the motor's operating parameters meet preset conditions during the movement of the movable component can be done in sections. Figure 3 A flowchart illustrating a method 300 for determining a location reference point according to an embodiment of this disclosure is shown. Method 300 can simultaneously refer to... Figure 2 The travel of the movable component in the second direction is discussed. Method 300 includes the following steps S301 to S306.

[0048] In S301, the movable component is controlled to move along the second direction.

[0049] The movement of movable attachments can be controlled from the starting point or vicinity in the second direction. Figure 2 If a position reference point P1 has been determined, the sun visor can be moved to the left using P1 or P3 as the zero point. In some examples, the sun visor can be controlled to move to the left midway through its travel.

[0050] In S302, it is determined whether the movable component has entered the critical region.

[0051] During the movement of the sun visor to the left, before determining whether the operating parameters meet the second preset condition, it can be first determined whether the sun visor has entered a certain area. The critical area indicates that the position reference point is determined only when the visor enters this area. This area can be preset; for example, the area within a preset distance (e.g., 200mm) from the left edge can be preset as the critical area. Figure 2 In the diagram, the area to the left of P5 is the critical region. In some examples, the position of the movable component can be determined using a distance sensor. In other examples, the position can be determined based on motor operating parameters, such as Hall pulse counts and ripple counts.

[0052] If the movable component enters the critical region, proceed to S303; otherwise, return to S301 and control the movable component to continue moving forward.

[0053] In S303, it is determined whether the operating parameters of the motor meet the second preset condition.

[0054] In response to the movable component entering the critical region, it is determined whether the operating parameters meet the second preset condition. This reduces the number of position initializations and improves the factory efficiency of the movable component. If the current operating parameters of the motor meet the second preset condition, proceed to S304; otherwise, proceed to S305 and control the movable component to continue moving forward.

[0055] Figure 2 When the sun visor moves from right to left to P5, it indicates that the sun visor has entered the critical region. At this time, it can be determined whether the motor's operating parameters meet the second preset condition.

[0056] In S304, the second position reference point is determined.

[0057] When the position of the movable component exceeds P5, and the operating parameters of the monitored motor meet the second preset condition, a position reference point can be determined based on the position of the movable component at this time. Figure 2If a stall occurs when the sun visor reaches position P2, the motor's operating parameters meet the second preset condition, and the sun visor stops at position P2. Based on P2, a soft stop position P4 can be determined, and the sun visor can retract to position P4. P2 or P4 can be used as a second position reference point.

[0058] In S305, the movable component is controlled to continue moving and it is determined whether the movable component has reached its limit position.

[0059] In the critical region, if the motor's operating parameters are not detected to meet the second preset condition, the movable component is controlled to continue moving forward. During this continued movement, it is determined whether the movable component has reached a safe limit position. The limit position is determined by the characteristics of the movable component and represents the farthest feasible position in the second direction while ensuring its safety performance.

[0060] This location can be used as a reference. Figure 2 Position P6. Figure 2 If, after passing position P5, the motor parameters are not found to meet the preset conditions, the sun visor is controlled to continue moving to the left and it is determined whether position P6 has been reached. If so, proceed to S306; otherwise, return to S303.

[0061] In S306, stop moving movable components.

[0062] The movable component stops moving when it reaches its limit position. Figure 2 In the example, if the sun visor has reached position P6, it indicates that the limit position has been reached and the motor has not yet met the second preset condition. This means that the search for the position reference point has failed. The sun visor can be stopped from moving forward by stopping the motor, and then it can be moved back to a safe position, such as position P4.

[0063] In method 300, determining the position reference point by dividing the travel area can improve the efficiency of position initialization. Furthermore, setting extreme positions helps prevent safety accidents.

[0064] As mentioned earlier, the first or second preset condition is a certain state reached by the motor, such as the motor reaching a certain obstructed state or even stopping. When the motor is obstructed, an anti-pinch algorithm can be used to determine the preset condition; when the motor stops rotating, a stall detection algorithm can be used to determine the preset condition. In some examples, the first preset condition includes the motor's operating parameters meeting a threshold value when the motor stalls. In this example, the second preset condition could be that the motor's operating parameters in the second direction reach a threshold value when the motor stalls. Alternatively, the second preset condition could be that the motor reaches a certain obstructed state, in which case an anti-pinch algorithm can be used to determine the second preset condition. For example, the second preset condition could include that the motor's operating parameters meet an anti-pinch threshold value when the movable component enters the anti-pinch state.

[0065] Car windows typically use sun visors or roller blinds for sun protection. For example, sun visors are slidably attached to the sunroof and are usually made with a plastic base to which fabric is glued. Roller blinds have a roller and are usually located on the front or rear of the sunroof; sun protection is achieved by pulling out the fabric rolled up on the roller.

[0066] Taking a sunshade installed on a sunroof as an example, preset conditions can be set to determine the position reference point in the opening and closing directions of the sunshade. Specifically, during the closing process of the sunshade, when the front edge of the sunshade contacts the sunroof frame motor and stalls, the position reference point in the closing direction can be determined. During the opening process of the sunshade, when the rear edge of the sunshade contacts the sunroof frame motor and stalls, the position reference point in the opening direction can be determined.

[0067] Taking a sunshade roller blind installed on a skylight as an example, different preset conditions can be set to determine the position reference point. Specifically, during the unfolding process of the sunshade roller blind, when the edge of the sunshade roller blind contacts the skylight frame motor and is obstructed, the position reference point in the closing direction can be determined. During the rolling process of the sunshade roller blind, when the rolling motor of the sunshade roller blind stalls, the position reference point in the opening direction can be determined.

[0068] In some examples, the drive motor for the sunshade roller blind is mounted on the front or rear frame of the skylight, and the blind is unfolded and retracted via a coupling of motor gears and chains. The number of revolutions per unit of motor rotation is linearly related to the unfolding distance of the blind, and the travel distance of the blind can be determined based on the number of motor rotations. In this example, the motor indirectly drives the sunshade roller blind through a device such as gears and chains. In other examples, the roller blind's roller shaft is directly driven by the motor, and the relationship between the number of revolutions per unit of motor rotation and the unfolding distance of the blind is non-linear. Using different preset conditions in both directions to determine the reference point is particularly advantageous in this case.

[0069] Figure 4This illustration demonstrates an application scenario of a method for determining the position of a movable component according to an embodiment of this disclosure. Specifically, Figure 4 A roller blind assembly 400 for use with a sunroof on a vehicle roof is shown. The roller blind assembly 400 includes a roller assembly 401, a pull rod assembly 402, a curtain 403, and two guide rails 404. The two guide rails 404 are parallel to each other and spaced apart. A pulley 406 is provided at one end of each guide rail. One end of the curtain 403 is fixed to the roller assembly 401. The pull rod assembly 402 is mounted on the other end of the curtain 403 to open the curtain. Both ends of the pull rod assembly 402 are slidably engaged with the guide rails 404 via the pulleys 406. A spring is provided in the pull rod assembly 402 along the extending direction of the pull rod assembly. The roller assembly 401 includes a roller body 4011, a cord winder 4012, and a pull cord 4013. The roller assembly 401 is disposed between the two guide rails 404. The rope winder 4012 is located at both ends of the roller body 4011. One end of the pull rope 4013 passes over the pulley 406 and is connected to the pull rod assembly 402, while the other end of the pull rope 4013 is wound around the rope winder 4012. When the roller assembly 401 rotates, the pull rod assembly 402 moves along the guide rail 404 toward or away from the roller assembly, thereby driving the curtain 403 to be wound onto or released from the roller assembly to unfold.

[0070] The roller blind assembly 400 is equipped with a motor 405, which is connected to the roller body 4011 and drives the roller body to rotate. In other words, the motor 405 directly drives the rotation of the roller assembly 401. The roller assembly 401 can be installed on the front / rear frame of the skylight. When the roller assembly 401 is installed on the rear frame of the skylight, the pull rod assembly 402 can be moved to the front frame 30 of the skylight to completely cover the skylight with the curtain 403.

[0071] exist Figure 4 In the diagram, the direction indicated by the arrow is the first direction, along which the pull rod assembly 402 moves to retract the curtain. The opposite direction is the second direction, along which the pull rod assembly moves to unfold the curtain. As the pull rod assembly moves along the first direction, the curtain tightens. When it moves close to the roller assembly 401, the pull rod assembly reaches its lowest point, the curtain is rolled up, and the motor stalls. In this situation, a first preset condition can be determined based on the motor stall, thereby determining the position reference point.

[0072] As the pull rod assembly moves along the second direction, the curtain unfolds. In other examples, such as a roller blind controlled by a chain, the motor stalls when the pull rod assembly reaches the skylight frame 30. In this case, the second preset condition can be determined based on the motor stall, thus establishing a position reference point. However, in the roller blind 400, when the pull rod assembly reaches the skylight frame 30, the motor continues to rotate due to the presence of springs, even though the pull rod assembly is at its top. In this case, determining the second preset condition based on the motor stall would damage the roller blind 400. Therefore, in the roller blind 400, the second preset condition can be determined by a certain obstructed state of the motor; for example, the second preset condition could be that the roller blind 400 enters an anti-pinch state, including an anti-pinch threshold that the motor must meet when entering this anti-pinch state. In some examples, the anti-pinch state can be determined by Hall effect anti-pinch technology, ripple anti-pinch technology, or capacitive anti-pinch technology. When the pull rod assembly encounters an obstacle, the increased resistance causes the motor speed to slow down. If the Hall effect anti-pinch method is used, the pulse width of the Hall pulse signal will increase, and a certain increased pulse width can be used as the anti-pinch threshold. This method can prevent damage to the roller shutter device.

[0073] In some implementations, preset conditions for movable components can be determined in segments. Figure 5 A method 500 for determining preset conditions of a movable component in one direction, according to an embodiment of the present disclosure, is shown, including steps S501 to S503. See also... Figure 2 Example of method 500.

[0074] In S501, the movable component is controlled to move along the second direction.

[0075] by Figure 4 The roller shutter device in the example is a movable component. Figure 2 Method 500 is explained in detail. Here, the first direction is the direction in which the roller blind rolls up, and the second direction is the direction in which the roller blind unfolds. Movement along the second direction in the roller blind assembly can refer to the movement of the pull rod assembly along the second direction.

[0076] In S502, in response to the movable component not entering the critical region, it is determined whether the operating parameters of the motor meet the third preset condition.

[0077] When the pull rod assembly has not reached position P5, it indicates that it has not entered the critical region. When the pull rod assembly has not entered the critical region, an anti-pinch algorithm can be used to determine its anti-pinch state. When it has not entered the critical region, the motor's state can be judged based on preset conditions, specifically whether the motor's operating parameters meet a third preset condition. The third preset condition includes that the operating parameters of the pull rod assembly meet an anti-pinch threshold (second anti-pinch threshold) when it enters this anti-pinch state (second anti-pinch state). If the third preset condition is met, it indicates that the movable component has encountered an obstacle.

[0078] In S503, in response to the movable component entering the critical region, it is determined whether the operating parameters of the motor meet the second preset condition.

[0079] When the pull rod assembly passes position P5, it indicates that it has entered the critical region. When the pull rod assembly enters the critical region, it is determined whether the motor's operating parameters meet the second preset condition. The second and third preset conditions can be different. Correspondingly, the anti-pinch thresholds in the two can be different. For example, the second anti-pinch threshold can be higher than the first anti-pinch threshold.

[0080] In some examples, the distance between the critical region and the window frame 30 is relatively close (e.g., tens of centimeters), and the travel distance in the non-critical region is greater than that in the critical region. Setting the second anti-pinch threshold to be greater than the first anti-pinch threshold helps reduce misjudgment of the position reference point. For example, in the non-critical region, if the second anti-pinch threshold is set too low, uneven oil distribution on the guide rail may trigger a third preset condition, leading to an incorrect determination of the position reference point. If the second anti-pinch threshold is higher than the first anti-pinch threshold, misjudgment of the position reference point can be avoided.

[0081] Some functions of movable components rely on the precise calculation of their position, such as one-touch window opening / closing and anti-pinch functions. With repeated use, external interference, aging of the mechanical structure of the movable component and surrounding devices, and temperature changes, the absolute position of the movable component may undergo slight changes. The position determination method disclosed herein can be used for position calibration of movable components.

[0082] In some embodiments, the method for determining the position of a movable component disclosed herein includes determining whether the movable component meets initialization conditions; and in response to the movable component meeting the initialization conditions, determining a first position reference point in a first direction and / or a second position reference point in a second direction.

[0083] In some examples, the initialization condition can be the pre-shipment debugging process of the movable component. For instance, in a sunroof system with a sunshade, when the sunroof glass controller and sunshade controller are installed on the sunroof glass and sunshade, an initialization process is required for the sunroof glass and sunshade to have complete position control functionality based on the zero point. After obtaining the correct zero point, the sunroof glass and sunshade can open or close according to the predefined program in the controller. In some examples, the initialization condition can also be the maintenance process of the movable component.

[0084] In some examples, the initialization condition is meeting a preset initialization cycle. The initialization cycle can be set according to actual needs. In some examples, initialization can occur when a movable component is powered on or off; the movable component automatically enters the initialization process, avoiding accumulated positional errors. In some examples, the initialization condition can be a malfunction of a movable component. For example, in a sunroof system, when the sunroof controller detects a malfunction, the sunroof can enter a safety mode, requiring initialization before its normal functions can be restarted. During initialization, the user can press and hold the power button for a preset duration, and the sunroof will go through a complete opening and closing process to complete the initialization.

[0085] In some examples, the initialization condition can be a threshold number of times the movable component reaches a first position reference point and / or a second position reference point. For example, when the movable component is a sunshade roller blind, the initialization condition can be triggered when the sunshade roller blind closes 20 times. Here, "closing" can refer to complete closure or partial closure.

[0086] In some examples, the position determination method of this disclosure further includes determining the correspondence between operating parameters and travel distance based on a first position reference point and a second position reference point. For example, the operating parameters of the motor include Hall pulse counting. The first or second reference position can be used as a reference position, and the Hall pulse count value is recorded during the movement of the movable component. The entire travel length of the movable component corresponds to the total Hall pulse count value. Therefore, the specific position of the movable component can be determined based on a certain count value during the travel process.

[0087] Figure 6 A control method 600 for a movable component according to an embodiment of the present disclosure is shown, including steps S601 to S603.

[0088] In S601, the start and end positions of the moving component are determined, and the start and end positions are determined based on the position determination method of any embodiment of this disclosure.

[0089] The start and end positions of the movable component during its movement can be the zero point of the movement. This zero point can be determined according to the position determination method of any embodiment of this disclosure when the initialization condition is triggered.

[0090] In S602, a movement command is received, which indicates the target position of the movable component.

[0091] The system receives an instruction to move a movable component to a target location, which may be, for example, a soft stop position in a certain direction. In some examples, this instruction may be initiated by a user; for example, a vehicle user may input an instruction including the target location to the window controller via a window control component. In some examples, the window control component is a hardware component, such as a window button. In some examples, the window control component is a software component, such as a virtual window button displayed in a human-vehicle interaction interface or a virtual button in an application within an electronic device communicating with the vehicle. In some examples, the instruction may be input to the window controller from other controllers within the vehicle.

[0092] In S603, the moving component is controlled to move to the target position.

[0093] When the target position is the end position of the movable component's on or off state, the target position can be determined directly based on the reference position. A relay can be driven to control the forward and reverse rotation of the motor, moving the movable component to the target position.

[0094] In some examples, the movement command can be a one-button open or close. This command instructs the movable component to move to a target location, which can be a soft stop near a reference point. For example, when a user presses the one-button open button, the sunshade retracts, and the lever assembly moves towards the soft stop point where the sunshade opens. Here, the target location is the soft stop point in the opening direction of the sunshade, and the first reference point is the hard stop point in the opening direction of the sunshade. In other examples, the target location can be a position at a predetermined distance from the first reference point, such as 5cm.

[0095] In some examples, method 600 may further include controlling a movable component to move along a first direction, determining a third position reference point in response to operating parameters satisfying a first preset condition, and updating the target position based on the third position reference point. For example, the movement command indicates that the target position is a soft stop point in the first direction. Based on the command in S602, the movable component is controlled to move along the first direction, and the position reference point in that direction is re-determined using the preset condition. For example, the lever assembly moves along the opening direction, and the motor does not stop when it passes the soft stop point, but instead causes the lever assembly to continue moving forward. When the preset condition is triggered to determine a new hard stop point, a new position reference point is determined. Once the new position reference point is determined, a new target position is determined based on the relationship between the target position and the position reference point. For example, once the new position reference point is confirmed, a position a few millimeters away in the opposite direction is determined as the new soft stop point. The lever assembly can move to this new position, and this new position is updated as the new target position.

[0096] In the example above, the lever assembly completes the calibration of the position reference point during normal operation. From the user's perspective, it is merely a routine activation operation, achieving seamless control of the position calibration. The update of the first reference position is discussed here using the movement of the movable component in the first direction as an example. It can be understood that this method also applies to the update of the second reference position.

[0097] Now for reference Figure 7 , Figure 7 A schematic diagram of an electronic device 700 according to an embodiment of the present disclosure is shown. The electronic device 700 includes a processor 701 and a memory 702 coupled to the processor 701. The memory 702 stores computer-executable instructions that, when executed, cause the processor 701 to perform the methods described in the above embodiments.

[0098] In some examples, the electronic device may be a vehicle computer, also known as an ECU (Electronic Control Unit), located within the vehicle. In other examples, the electronic device may also be a control ECU for a device within the vehicle or a dedicated controller for a movable component. There are no limitations; the electronic device simply needs to control the movable component to turn on or off according to corresponding instructions. The electronic device may include any suitable controller, such as a programmable logic device, processor, application-specific integrated circuit, etc.

[0099] Figure 8 A schematic block diagram of a movable component system 800 according to an embodiment of the present disclosure is shown. System 800 includes a drive device 810, a control device 820, a sensing device 830, and a movable component 840. The drive device 810 may be a motor. The control device 820 may be, for example, a... Figure 7The electronic device 700 shown is illustrated. The control device 820 can be a standalone hardware structure or a module integrated into other hardware. Alternatively, the control device 820 can be a software module, for example, containing a set of control instructions. In some examples, the control device 820 or other storage devices of the control system 800 may store information related to the travel of the movable component. The control device 820 may have I / O ports that can be connected to a motor drive circuit that controls the operation of a motor, whose drive shaft drives the movable component. In some examples, the control device 820 may include circuitry directly integrated into the motor or sensing device, or integrated into a combination thereof. The motor 810 and the control device 820 can obtain power via AC-to-DC conversion or from a battery built into or outside the control system.

[0100] The sensing device 830 is connected to the control device 820 and provides the control device with information related to the rotation of the motor 810. The control device 820 can record the number of revolutions or the angle of rotation of the motor 810 based on the information provided by the sensing device 830. The sensing device 830 can be any suitable rotational position sensing device, such as an optical, resistive, or electromagnetic sensing device. For example, the sensing device 830 includes a Hall pulse sensor, which is disposed on the drive shaft of the motor and sends a feedback stroke pulse to the control device 820 based on the rotation of the drive shaft.

[0101] In some examples, the control device may also include a stroke pulse counter, which counts stroke pulses based on feedback from the sensing device. The control device 820 can obtain a pulse count reference value based on the reference position of the movable component and can compare the stroke pulse count with the pulse count reference value. For example, in a scenario where the movable component is a lift window, when the count value of the stroke pulse counter equals the count reference value, the control device can output a motor braking signal to the motor drive circuit; when the count value of the stroke pulse counter is greater than the count reference value, the microprocessor can output a motor rising signal to the motor drive circuit; when the count value of the stroke pulse counter is less than the count reference value, the control device can output a motor falling signal to the motor drive circuit.

[0102] In some examples, the movable component can be a sunroof, window, sun visor, or sunshade of a car. For example, the movable component can be... Figure 4 The roller shutter device 400 is included. The motor 810 can directly drive the roller shutter device's roller shaft assembly.

[0103] Alternatively, the above methods can be implemented using a computer-readable storage medium. The computer-readable storage medium carries computer-readable program instructions for executing various embodiments of the present invention. The computer-readable storage medium can be a tangible device capable of holding and storing instructions used by an instruction execution device. The computer-readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples (not exhaustive) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing instructions thereon, and any suitable combinations thereof. The computer-readable storage medium used herein is not to be interpreted as a transient signal itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0104] Therefore, in another embodiment, the present invention provides a computer-readable storage medium having computer-executable instructions stored thereon for performing the methods of various embodiments of the present invention.

[0105] The present invention also proposes a computer program product tangibly stored on a computer-readable storage medium and comprising computer-executable instructions that, when executed, cause at least one processor to perform the methods of various embodiments of the present invention.

[0106] Generally, the various example embodiments of this disclosure can be implemented in hardware or dedicated circuitry, software, firmware, logic, or any combination thereof. Some aspects may be implemented in hardware, while others may be implemented in firmware or software that can be executed by a controller, microprocessor, or other computing device. When aspects of embodiments of this disclosure are illustrated or described as block diagrams, flowcharts, or using some other graphical representation, it will be understood that the blocks, apparatuses, systems, techniques, or methods described herein can be implemented as non-limiting examples in hardware, software, firmware, dedicated circuitry or logic, general-purpose hardware or controllers or other computing devices, or some combination thereof.

[0107] Computer-readable program instructions or computer program products for executing various embodiments of the present invention can also be stored in the cloud. When needed, users can access the computer-readable program instructions stored in the cloud for executing an embodiment of the present invention via mobile internet, fixed network or other networks, thereby implementing the technical solutions disclosed in the various embodiments of the present invention.

[0108] While embodiments of the invention have been described with reference to several specific examples, it should be understood that the embodiments of the invention are not limited to the specific embodiments disclosed. The embodiments of the invention are intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. The scope of the claims is to be interpreted in the broadest sense, thereby encompassing all such modifications and equivalent structures and functions.

Claims

1. A method for determining the position of a movable component, characterized in that, include: The movable component is controlled to move along a first direction, and a first position reference point is determined in response to the operating parameters of the motor driving the movable component satisfying a first preset condition. Controlling the movable component to move along a second direction, and determining a second position reference point in response to the operating parameters satisfying a second preset condition, wherein the second direction is opposite to the first direction; and The travel distance of the movable component is determined based on the first position reference point and the second position reference point.

2. The method for determining the position of a movable component according to claim 1, characterized in that, Controlling the movable component to move along a second direction and determining a second position reference point in response to the operating parameters satisfying a second preset condition includes: In response to the movable component entering the critical region, it is determined whether the operating parameters meet the second preset condition.

3. The method for determining the position of a movable component according to claim 2, characterized in that, In response to the movable component entering the critical region, determining whether the operating parameters meet the second preset condition includes: Determine whether the movable component has reached its limit position; as well as In response to the movable component reaching the limit position, the movement of the movable component is stopped.

4. The method for determining the position of a movable component according to claim 1, characterized in that, The first preset condition includes the operating parameters meeting the threshold value when the motor stalls.

5. The method for determining the position of a movable component according to claim 1, characterized in that, The second preset condition includes the operating parameters satisfying the first anti-pinch threshold when the movable component enters the first anti-pinch state.

6. The method for determining the position of a movable component according to claim 1 or 2, characterized in that, Controlling the movable component to move along a second direction and determining a second position reference point in response to the operating parameters satisfying a second preset condition includes: In response to the movable component not entering the critical region, it is determined whether the operating parameters meet the third preset condition. The third preset condition includes the operating parameters meeting the second anti-pinch threshold when the movable component enters the second anti-pinch state.

7. The method for determining the position of a movable component according to claim 6, characterized in that, The second anti-pinch threshold is higher than the first anti-pinch threshold.

8. The method for determining the position of a movable component according to claim 1, characterized in that, It also includes determining the correspondence between the working parameters and the travel distance based on the first position reference point and the second position reference point.

9. The method for determining the position of a movable component according to claim 1, characterized in that, It also includes, Determine whether the movable component meets the initialization conditions; as well as In response to the movable component satisfying the initialization condition, the first position reference point and / or the second position reference point are determined.

10. The method for determining the position of a movable component according to claim 9, characterized in that, The initialization conditions include the number of times the movable component reaches the first position reference point and / or the second position reference point reaches a threshold.

11. The method for determining the position of a movable component according to claim 1, characterized in that, It also includes determining a first stop point based on the first position reference point, wherein the first stop point is a preset distance back from the first position reference point in the first direction.

12. The method for determining the position of a movable component according to claim 1, characterized in that, It also includes determining a second stop point based on the second position reference point, wherein the second stop point is a preset distance back from the second position reference point in the second direction.

13. The method for determining the position of a movable component according to claim 1, characterized in that, The first direction is the opening direction of the movable component, and the second direction is the closing direction of the movable component.

14. The method for determining the position of a movable component according to claim 1, characterized in that, The operating parameters include the number of pulse signals generated by the Hall sensor and / or the pulse width.

15. A method for controlling a movable component, characterized in that, include: The start and end positions of the moving component are determined based on the method of any one of claims 1 to 14; Receive a movement command, which indicates the target location of the moving component; as well as Control the moving component to move to the target position.

16. The control method for a movable component according to claim 15, characterized in that, The target location is located near the first location reference point, and the method further includes: Control the movable component to move along the first direction, and determine the third position reference point in response to the operating parameters satisfying the first preset condition; and The target position is updated based on the third location reference point.

17. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory storing computer-readable instructions that, when executed by the processor, cause the processor to perform the movable component location determination method according to any one of claims 1-14 and the movable component control method according to claims 15-16.

18. A movable component system, characterized in that, The device includes a driving device, a sensing device, a control device, and a movable component, wherein the driving device is configured to drive the movable component, the sensing device is configured to detect operating parameters of the driving device, and the control device is configured to control the movable component based on the operating parameters, wherein the control device includes the electronic device according to claim 17.

19. The movable component system according to claim 18, wherein the movable component is a roller blind device, the roller blind device comprising two guide rails, a roller assembly, a curtain fabric, and a pull rod assembly, wherein, The two guide rails are parallel to each other and spaced apart, and a pulley is provided at one end of the two guide rails; The reel assembly includes a reel body, a rope winder, and a pull rope. The reel assembly is disposed between the two guide rails. The rope winder is located at both ends of the reel body. One end of the pull rope passes around the pulley and is connected to the pull rod assembly. The other end of the pull rope is wound around the rope winder. One end of the curtain is fixed to the roller assembly, and the other end of the curtain is fixed to the pull rod assembly; The drive device is connected to the spool body and is configured to drive the spool body to rotate.

20. A computer-readable storage medium having computer-executable instructions stored thereon for performing the method for determining the position of a movable component according to any one of claims 1-14 and the method for controlling a movable component according to claims 15-16.

21. A computer program product tangibly stored on a computer-readable storage medium and comprising computer-executable instructions that, when executed by at least one processor, cause at least one processor to perform the movable component location determination method according to any one of claims 1-14 and the movable component control method according to claims 15-16.

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