CN117211630A - Control method and device of equipment, storage medium and electronic equipment - Google Patents
Control method and device of equipment, storage medium and electronic equipment Download PDFInfo
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Abstract
The disclosure relates to a control method and device of equipment, a storage medium and terminal equipment. The control method of the equipment comprises the steps of calculating the reference current of the equipment based on historical current data, wherein the reference current represents the driving current output by a driving motor under the normal motion state of the equipment; calculating the real-time position of the device based on the number of turns of the motor; judging whether the equipment is positioned at a target position to be reached by controlling the equipment to move by a driving motor based on the real-time position; if the equipment is not at the target position, calculating a target reference value based on the current driving current and the reference current; and controlling the equipment based on a target strategy in response to the condition that the target reference value is larger than a preset threshold value, wherein the target strategy is the control strategy of the equipment with the obstacle condition. The device and the method can detect the clamping stagnation or locked rotation state of the device in real time in the motion process of the device, timely control the motion mechanism of the device, and avoid the condition of human body injury or device damage.
Description
Technical Field
The present disclosure relates to the field of device control, and in particular, to a device control method, a device, a storage medium, and an electronic device.
Background
Development of advanced intelligent driving assistance functions is a trend in the automotive field, and the advanced intelligent driving assistance functions need to improve the perception capability of the system to the surrounding environment by using various laser radars. However, the lidar has the characteristics of large volume, high cost and easy damage to the mirror surface, so that some manufacturers can use a hiding mechanism of the lidar, as shown in fig. 1, the lidar hiding mechanism 100 comprises a cover plate 1, a lidar 2, a radar driving motor 3 and a cover plate driving motor 4, and when the lidar 2 is closed, the lidar 2 is hidden inside an automobile body and covers the cover plate 1. When the laser radar 2 is opened, the cover plate 1 is opened, and the laser radar 2 can be unfolded through the mechanical group of the hiding mechanism to reach the appointed working position. However, in the process of moving the laser radar hiding mechanism, obstacles or artificial blocking can be encountered, so that the laser radar hiding mechanism is blocked and damaged, and the situation of clamping a person is caused.
Disclosure of Invention
In order to solve at least one technical problem set forth above, the present disclosure provides a control method, a device, a storage medium, and an electronic apparatus for an apparatus.
According to an aspect of the present disclosure, there is provided a control method of an apparatus, including:
Calculating reference current of equipment based on historical current data, wherein the historical current data is historical driving current data when a driving motor of the equipment controls the equipment to normally move, and the reference current represents driving current output by the driving motor in a normal movement state of the equipment;
calculating the real-time position of the equipment based on the rotation number of the motor, wherein the rotation number of the motor is the total rotation number when the driving motor controls the equipment to move to the real-time position;
judging whether the equipment is positioned at a target position to be reached by controlling the equipment to move by the driving motor based on the real-time position;
if the equipment is not at the target position, calculating a target reference value based on the current driving current and the reference current, wherein the target reference value comprises an anti-blocking force reference value or an anti-clamping force reference value;
and controlling the equipment based on a target strategy in response to the condition that the target reference value is larger than a preset threshold value, wherein the target strategy is the control strategy of the equipment under the condition that an obstacle exists.
In some possible embodiments, the method further comprises:
and in response to the condition that the target reference value is smaller than or equal to the preset threshold value, executing the step of calculating the real-time position of the equipment based on the rotation number of the motor.
In some possible embodiments, when the device is a hidden object in a hidden mechanism, the historical current data is historical driving current data of the driving motor when the hidden object is normally unfolded;
the reference current characterizes the driving current output by the driving motor when the driving motor controls the hidden object to be unfolded normally;
the target position is a first position, and the first position is a position where the hidden object is completely unfolded;
the target reference value is the anti-blocking force reference value.
In some possible embodiments, when the device is a cover plate of a hiding mechanism, the historical current data is historical driving current data of the driving motor when the cover plate is normally closed;
the reference current characterizes the driving current output by the driving motor when the driving motor controls the cover plate to be normally closed;
the target position is a second position, and the second position is a position where the cover plate is completely closed;
the target reference value is the anti-pinch force reference value.
In some possible embodiments, the controlling the device based on the target policy includes:
And controlling the equipment to move reversely, and prompting a user that the equipment encounters an obstacle.
In some possible embodiments, the method further comprises:
and if the equipment is at the target position, storing the current driving current, and prompting a user that the equipment is moved.
According to a second aspect of the present disclosure, there is provided control apparatus of a device, the apparatus comprising:
the reference current calculation module is used for calculating the reference current of the equipment based on historical current data, wherein the historical current data is historical driving current data when a driving motor of the equipment controls the equipment to normally move, and the reference current represents the driving current output by the driving motor in the normal movement state of the equipment;
the real-time position calculation module is used for calculating the real-time position of the equipment based on the rotation number of the motor, wherein the rotation number of the motor is the total rotation number when the driving motor controls the equipment to move to the real-time position;
the target position judging module is used for judging whether the equipment is at a target position or not based on the real-time position, wherein the target position is a target position to be reached when the driving motor controls the equipment to move;
A target reference value calculation module, configured to calculate a target reference value based on a current driving current and the reference current if the device is not at the target position, where the target reference value includes an anti-blocking force reference value and an anti-pinching force reference value;
and the obstacle determining module is used for controlling the equipment based on a target strategy in response to the condition that the target reference value is larger than a preset threshold value, wherein the target strategy is the control strategy of the equipment under the condition that the obstacle exists.
In some possible embodiments, the apparatus further comprises:
and the normal execution module is used for responding to the condition that the target reference value is smaller than or equal to the preset threshold value, and executing the step of calculating the real-time position of the equipment based on the rotation number of the motor.
According to a third aspect of the present disclosure, there is provided an electronic device comprising at least one processor, and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the at least one processor implementing the method of controlling the apparatus according to any one of the first aspects by executing the instructions stored by the memory.
According to a fourth aspect of the present disclosure, there is provided a computer-readable storage medium having stored therein at least one instruction or at least one program loaded and executed by a processor to implement the method of controlling an apparatus according to any one of the first aspects.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
The implementation of the present disclosure has the following beneficial effects:
in the motion process of the equipment, the clamping stagnation or the locked rotation state in the motion process of the equipment can be diagnosed, the anti-clamping or anti-locked rotation logic is executed, and the motion mechanism of the equipment is timely controlled, so that the conditions of human body injury and equipment damage are avoided, and the normal and safe operation of the equipment is ensured.
Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present description or the technical solutions and advantages of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present description, and other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1 is a schematic diagram of a prior art concealment mechanism;
FIG. 2 shows a schematic diagram of a method of controlling an apparatus according to an embodiment of the disclosure;
FIG. 3 shows a flow diagram of a method of controlling a lidar in a concealment mechanism according to an embodiment of the present disclosure;
FIG. 4 illustrates a flow diagram of a method of controlling a cover plate in a concealment mechanism, according to an embodiment of the present disclosure;
fig. 5 shows a flow diagram of a flow of a control device of an apparatus according to an embodiment of the disclosure;
FIG. 6 illustrates a block diagram of an electronic device, according to an embodiment of the present disclosure;
fig. 7 illustrates a block diagram of another electronic device, according to an embodiment of the present disclosure.
Detailed Description
The technical solutions of the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is apparent that the described embodiments are only some embodiments of the present specification, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are intended to be within the scope of the present invention based on the embodiments herein.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Various exemplary embodiments, features and aspects of the disclosure will be described in detail below with reference to the drawings. In the drawings, like reference numbers indicate identical or functionally similar elements. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
The term "and/or" is herein merely an association relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.
Furthermore, numerous specific details are set forth in the following detailed description in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements, and circuits well known to those skilled in the art have not been described in detail in order not to obscure the present disclosure.
The execution subject of the present disclosure is a motor control unit (Motor Control Unit, MCU) of a device comprising a lidar concealment mechanism and a cover plate of the lidar concealment mechanism. The laser radar is applied to the sensor of the auxiliary driving system, has more advantages in detection precision, range and stability, and can reach the centimeter level. Taking the laser radar hiding mechanism and the cover plate of the laser radar hiding mechanism as an example, when the high-level auxiliary driving function is activated, the laser radar needs to be unfolded, the laser radar hiding mechanism moves to the outside of the vehicle until reaching the completely unfolded working position, but the laser radar hiding mechanism may have barrier blocking in the moving track of the outside of the vehicle, at the moment, if the laser radar hiding mechanism continues to move, hidden danger of damaging the hiding mechanism exists, and excessive motor current can be caused to burn out the motor even the laser radar is damaged when serious. When the high-level auxiliary driving function is closed, the laser radar needs to be hidden, the cover plate of the hiding mechanism can be closed after the hiding mechanism is retracted by the laser radar, and obstacles such as fingers can be blocked in the movement track of the cover plate, and then if the vehicle continues to move, the hidden danger that the cover plate can pinch hands or damage the cover plate exists. Therefore, the abnormal condition of the equipment is detected in time through the control method of the equipment, the jamming or blocking condition of the hidden mechanism of the laser radar in the unfolding or closing process is found in time, and the damage of the laser radar or the hidden mechanism thereof and the injury of personnel are avoided.
The device also includes other movable mechanisms of the automotive trim, including variable tail wings, active intake grilles, electric folding rear view mirrors, etc. The equipment has the risks of jamming and locked rotor, can be used for diagnosing whether the equipment is in a jamming or locked rotor state or not, then executes a control strategy of corresponding reverse logic, and can also play a role in warning a driver in advance to avoid the driver from finding out functional failure in the running process of the vehicle, and is not described in detail herein.
Fig. 2 shows a flow chart of a method for controlling an apparatus according to an embodiment of the disclosure, as shown in fig. 2, where the method includes:
s101, calculating reference current of equipment based on historical current data, wherein the historical current data is historical driving current data when a driving motor of the equipment controls the equipment to normally move, and the reference current represents driving current output by the driving motor in a normal movement state of the equipment;
the power is provided by a driving motor of the equipment in the normal movement process of the equipment, the calculation method of the reference current of the equipment is the average value of current data of the driving motor stored in the normal movement process before the equipment, namely the average value of historical driving current data of the driving motor, and the reference current is set as I r The historical driving current data stored during normal motion of the device includes { I } 1 ，I 2 ，I 3 ，...I n Reference current is I r The calculation formula is as follows:
the reference current is calculated through the average value of the historical driving current when the equipment normally moves and is used as the current expected value of the normal movement process of the equipment, so that the abnormal current when the equipment abnormally moves can be accurately monitored according to the reference current.
S102, calculating the real-time position of the equipment based on the rotation number of a motor, wherein the rotation number of the motor is the total rotation number when the driving motor controls the equipment to move to the real-time position;
the motor control unit obtains the total number of turns of the motor rotation through the current ripple number of the driving motor of the equipment, and calculates the movement position of the equipment in real time through the total number of turns of the motor rotation.
S103, judging whether the equipment is at a target position to be reached by controlling the equipment to move by the driving motor based on the real-time position;
after the motor control unit obtains the real-time position of the equipment, judging whether the real-time position is at a target position to be reached by the equipment, for example, when the equipment is a hiding mechanism, the target is the target position when the hiding mechanism is fully unfolded when the hiding mechanism is unfolded, and the target is the target position when the hiding mechanism is fully retracted when the hiding mechanism is closed.
S104, if the equipment is not at the target position, calculating a target reference value based on the current driving current and the reference current, wherein the target reference value comprises an anti-blocking force reference value or an anti-clamping force reference value;
and if the motor control unit judges that the real-time position of the equipment is not at the target position, acquiring the current driving current of the driving motor of the equipment, and calculating a target reference value according to the current driving current and the driving current output by the driving motor in the normal motion state of the equipment, namely, the reference current. Setting the current driving current as I and the target reference value as T, and calculating the target reference value as follows:
T＝(I-I r )K
wherein I is r For reference current, K is a ratioExample coefficients, K, are calibration values obtained by one skilled in the art through multiple tests on the reference current and the target reference value.
If the motor control unit judges that the equipment is at the target position, the normal end of the movement process of the equipment is indicated.
And S105, controlling the equipment based on a target strategy in response to the condition that the target reference value is larger than a preset threshold value, wherein the target strategy is the control strategy of the equipment under the condition that an obstacle exists.
The motor control unit calculates a target reference value, compares the target reference value with a preset threshold value, if the target reference value is larger than the preset threshold value, the current driving current is larger than the reference current, and the current is generated by abnormal movement of the equipment, so that the equipment is judged to meet an obstacle at present and cannot normally move according to the target reference value, the equipment is controlled based on a target strategy, and the target strategy comprises that the control equipment reversely moves when the equipment meets the obstacle and sends prompt information of the equipment meeting the obstacle.
The obstacle detection device detects obstacles in the movement process of the equipment, improves the stability and the robustness of the whole equipment system in the use process, and avoids the risks of human injury and equipment damage.
In some embodiments, the method further comprises:
and in response to the condition that the target reference value is smaller than or equal to the preset threshold value, executing the step of calculating the real-time position of the equipment based on the rotation number of the motor.
If the target reference value is smaller than or equal to the preset threshold value, indicating that the equipment moves normally, continuously reading the real-time position of the equipment, judging whether the equipment moves to the target position according to the real-time position, if not, continuously calculating the target reference value, and judging whether the equipment encounters an obstacle according to the target reference value. The real-time position and the current driving current of the equipment are judged in real time, whether the equipment has an obstacle in the middle of movement is monitored in real time, and adjustment is made in time, so that the risks of damage to the equipment due to human body injury and overlarge current are avoided.
In some embodiments, when the device is a hidden object in a hidden mechanism, the historical current data is historical drive current data of the drive motor when the hidden object is normally deployed;
The reference current characterizes the driving current output by the driving motor when the driving motor controls the hidden object to be unfolded normally;
the target position is a first position, and the first position is a position where the hidden object is completely unfolded;
the target reference value is the anti-blocking force reference value.
Referring to fig. 3, when the device is a hidden object of the hidden mechanism, taking the hidden object as a laser radar in the hidden mechanism in the high-level driving assistance function as an example, after the vehicle system is powered on, a motor control unit of the hidden mechanism where the laser radar is located is awakened, and internal logic of the motor control unit calculates a reference current when the drive motor drives the hidden mechanism or normal expansion of the laser radar according to the laser radar of the preset times or an average value of drive currents of the drive motor when the hidden mechanism is normally expanded. When a driver activates the advanced level auxiliary driving function, the laser radar in the hiding mechanism executes the unfolding process, and the motor control unit obtains the number of rotation turns of the motor by reading the current ripple number of the motor driving module, so that the real-time position of the laser radar is calculated. The system judges whether the laser radar is at a first position, namely a completely unfolded target position, and is exposed to a working position outside the vehicle body according to the real-time position of the laser radar, and if the laser radar is completely unfolded to reach a final target position, the system stores the current driving current of the driving motor; if the laser radar is not completely unfolded and still in the unfolded process, calculating a target reference value, namely an anti-blocking force reference value, according to the motor driving current and the reference current, setting the current driving current as I and the target reference value as T, and calculating the target reference value according to the following calculation formula:
T＝(I-I r )K
Wherein I is r For the reference current, K is a proportionality coefficient, K is calculated by one skilled in the art by reference to the reference currentAnd a calibration value obtained by multiple tests of the anti-blocking force.
And determining whether the laser radar in the hiding mechanism is in a foreign body blocking state by comparing the anti-blocking force reference value with a preset threshold value, if the anti-blocking force parameter is smaller than or equal to the preset threshold value, judging that the laser radar does not encounter an abnormal condition and moves normally, and continuously calculating the real-time position of the laser radar at the moment. If the anti-blocking force parameter value is larger than the preset threshold value, the situation that the laser radar encounters obstacle blocking in the moving process is judged, the laser radar is controlled to move reversely and return to the original position, and then a driver is reminded that foreign matters exist at the laser radar. The motion process of the laser radar is monitored in real time, and the situation that the laser radar continues to move towards an obstacle to cause damage to the laser radar or clamp the obstacle is avoided in time, for example, when the obstacle is a human hand, the situation that the human hand is clamped is avoided.
In some embodiments, when the device is a cover plate of a concealment mechanism, the historical current data is historical drive current data of the drive motor when the cover plate is normally closed;
The reference current characterizes the driving current output by the driving motor when the driving motor controls the cover plate to be normally closed;
the target position is a second position, and the second position is a position where the cover plate is completely closed;
the target reference value is the anti-pinch force reference value.
Referring to fig. 4, when the device is a cover plate of the hiding mechanism, the cover plate is used for covering the completely retracted lidar in the hiding mechanism, and after the lidar works, the hiding position of the hiding mechanism is returned, the cover plate of the hiding mechanism is closed, so that the lidar is thoroughly hidden. Taking a hidden object as an example of a cover plate in a hidden mechanism in a high-level auxiliary driving function, after a vehicle system is electrified, a motor control unit of the hidden mechanism where the cover plate is positioned is awakened, and internal logic of the motor control unit calculates reference current when the cover plate in the hidden mechanism is driven by the drive motor to be normally closed according to the average value of drive currents of the drive motor when the cover plate of the preset times is normally closed. When the driver closes the advanced level auxiliary driving function, the laser radar smoothly returns to the second position in the hiding mechanism, namely the hiding position, and the cover plate of the hiding mechanism executes a closing flow so that the laser radar is completely hidden. The motor control unit obtains the number of rotation turns of the motor by reading the current ripple number of the motor driving module, so that the real-time position of the cover plate is calculated. The system judges whether the cover plate is at a completely closed target position according to the real-time position of the cover plate, and if the cover plate is completely closed to reach a final target position, the current driving current of the driving motor is stored; if the cover plate is not completely closed and still in the closed process, calculating a target reference value, namely an anti-pinch force reference value, according to the motor driving current and the reference current, setting the current driving current as I, and setting the target reference value as T, wherein the calculation formula of the target reference value is as follows:
T＝(I-I r )K
Wherein I is r For the reference current, K is a scaling factor, and K is a calibration value obtained by a person skilled in the art through multiple tests on the reference current and the anti-pinch force.
And comparing the anti-pinch force reference value with a preset threshold value to determine whether the cover plate in the hiding mechanism is in a foreign body blocking state, if the anti-pinch force parameter is smaller than or equal to the preset threshold value, judging that the cover plate does not encounter an abnormal condition and moves normally, and continuously calculating the real-time position of the cover plate at the moment. If the anti-pinch force parameter value is larger than the preset threshold value, the situation that the cover plate is blocked by an obstacle in the moving process is judged, the cover plate is controlled to move reversely and return to the original position, and then a driver is reminded that foreign matters exist at the cover plate. The motion process of the cover plate is monitored in real time, whether foreign matter clamping stagnation exists or not is accurately diagnosed in the closing process of the cover plate of the hiding mechanism where the laser radar is located, the cover plate is timely prevented from continuing to move towards the obstacle, the hand is prevented from being injured by clamping, the cover plate is prevented from being damaged, or the motor is prevented from being burnt due to overlarge current of the motor of the cover plate.
In some embodiments, the controlling the device based on the target policy includes:
and controlling the equipment to move reversely, and prompting a user that the equipment encounters an obstacle.
If the blocking of the obstacle is detected in the movement process of the equipment, the equipment is controlled to move reversely and return to a distance, and the user equipment is prompted to meet the obstacle, so that the user can timely process the blocking, the stability and the robustness of the whole equipment system in the use process are improved, the high-level auxiliary driving function is ensured to be started stably and reliably, and the risks of human body injury and damage to a laser radar or a hidden mechanism are avoided.
In some embodiments, the method further comprises:
and if the equipment is at the target position, storing the current driving current, and prompting a user that the equipment is moved.
If the device is judged to be at the target position according to the real-time position of the device, the device is indicated to finish normal movement, at the moment, the driving current of the normal movement of the device, namely the current driving current, is stored for being used as the historical driving current to calculate the reference current when the device moves next time, and the user is prompted to successfully reach the designated position. So that the driver can timely know the state of the equipment to perform the next operation.
Referring to fig. 5, according to a second aspect of the present disclosure, there is provided a control apparatus of a device, the apparatus comprising:
A reference current calculation module 10, configured to calculate a reference current of a device based on historical current data, where the historical current data is historical driving current data when a driving motor of the device controls the device to normally move, and the reference current represents a driving current output by the driving motor in a normal movement state of the device;
a real-time position calculating module 20, configured to calculate a real-time position of the device based on a number of motor rotation turns, where the number of motor rotation turns is a total number of turns that the driving motor controls the device to move to the real-time position;
a destination position judging module 30, configured to judge whether the device is at a destination position based on the real-time position, where the destination position is a destination position to be reached by the driving motor to control the device to move;
a target reference value calculation module 40, configured to calculate a target reference value based on the current driving current and the reference current if the device is not at the target position, where the target reference value includes an anti-blocking force reference value and an anti-pinching force reference value;
and the obstacle determining module 50 is configured to control the device based on a target policy in response to the situation that the target reference value is greater than a preset threshold, where the target policy is a control policy of the device in the situation that an obstacle exists.
In some embodiments, the apparatus further comprises:
and the normal execution module is used for responding to the condition that the target reference value is smaller than or equal to the preset threshold value, and executing the step of calculating the real-time position of the equipment based on the rotation number of the motor.
In some embodiments, functions or modules included in an apparatus provided by the embodiments of the present disclosure may be used to perform a method described in the foregoing method embodiments, and specific implementations thereof may refer to descriptions of the foregoing method embodiments, which are not repeated herein for brevity.
The embodiment of the disclosure also provides a computer readable storage medium, wherein at least one instruction or at least one section of program is stored in the computer readable storage medium, and the at least one instruction or the at least one section of program realizes the method when being loaded and executed by a processor. The computer readable storage medium may be a non-volatile computer readable storage medium.
The embodiment of the disclosure also provides an electronic device, which comprises: a processor; a memory for storing processor-executable instructions; wherein the processor is configured as the method.
The electronic device may be provided as a terminal, server or other form of device.
Fig. 6 shows a block diagram of an electronic device, according to an embodiment of the disclosure. For example, electronic device 800 may be a mobile phone, computer, digital broadcast terminal, messaging device, game console, tablet device, medical device, exercise device, personal digital assistant, or the like.
Referring to fig. 6, an electronic device 800 may include one or more of the following components: a processing component 802, a memory 804, a power component 806, a multimedia component 808, an audio component 810, an input/output (I/O) interface 812, a sensor component 814, and a communication component 816.
The processing component 802 generally controls overall operation of the electronic device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to perform all or part of the steps of the methods described above. Further, the processing component 802 can include one or more modules that facilitate interactions between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.
The memory 804 is configured to store various types of data to support operations at the electronic device 800. Examples of such data include instructions for any application or method operating on the electronic device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 804 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
The power supply component 806 provides power to the various components of the electronic device 800. The power components 806 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the electronic device 800.
The multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and the user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only a boundary of a touch or a sliding action but also a duration and a pressure related to the touch or the sliding operation. In some embodiments, the multimedia component 808 includes a front camera and/or a rear camera. When the electronic device 800 is in an operational mode, such as a shooting mode or a video mode, the front camera and/or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have focal length and optical zoom capabilities.
The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the electronic device 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may be further stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 further includes a speaker for outputting audio signals.
The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be a keyboard, click wheel, buttons, etc. These buttons may include, but are not limited to: homepage button, volume button, start button, and lock button.
The sensor assembly 814 includes one or more sensors for providing status assessment of various aspects of the electronic device 800. For example, the sensor assembly 814 may detect an on/off state of the electronic device 800, a relative positioning of the components, such as a display and keypad of the electronic device 800, the sensor assembly 814 may also detect a change in position of the electronic device 800 or a component of the electronic device 800, the presence or absence of a user's contact with the electronic device 800, an orientation or acceleration/deceleration of the electronic device 800, and a change in temperature of the electronic device 800. The sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscopic sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 816 is configured to facilitate communication between the electronic device 800 and other devices, either wired or wireless. The electronic device 800 may access a wireless network based on a communication standard, such as WiFi,2G, 3G, 4G, 5G, or a combination thereof. In one exemplary embodiment, the communication component 816 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component 816 described above further includes a Near Field Communication (NFC) module to facilitate short range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the electronic device 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic elements for executing the methods described above.
In an exemplary embodiment, a non-transitory computer readable storage medium is also provided, such as memory 804 including computer program instructions executable by processor 820 of electronic device 800 to perform the above-described methods.
Fig. 7 illustrates a block diagram of another electronic device, according to an embodiment of the present disclosure. For example, electronic device 1900 may be provided as a server. Referring to FIG. 7, electronic device 1900 includes a processing component 1922 that further includes one or more processors and memory resources represented by memory 1932 for storing instructions, such as application programs, that can be executed by processing component 1922. The application programs stored in memory 1932 may include one or more modules each corresponding to a set of instructions. Further, processing component 1922 is configured to execute instructions to perform the methods described above.
The electronic device 1900 may also include a power component 1926 configured to perform power management of the electronic device 1900, a wired or wireless network interface 1950 configured to connect the electronic device 1900 to a network, and an input/output (I/O) interface 1958. The electronic device 1900 may operate based on an operating system stored in memory 1932, such as Windows Server, mac OS XTM, unixTM, linuxTM, freeBSDTM, or the like.
In an exemplary embodiment, a non-transitory computer readable storage medium is also provided, such as memory 1932, including computer program instructions executable by processing component 1922 of electronic device 1900 to perform the methods described above.
The present disclosure may be a system, method, and/or computer program product. The computer program product may include a computer readable storage medium having computer readable program instructions embodied thereon for causing a processor to implement aspects of the present disclosure.
The computer readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: 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 disk read-only memory (CD-ROM), digital Versatile Disks (DVD), memory sticks, floppy disks, mechanical coding devices, punch cards or in-groove structures such as punch cards or grooves having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media, as used herein, are not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., optical pulses through fiber optic cables), or electrical signals transmitted through wires.
The computer readable program instructions described herein may be downloaded from a computer readable storage medium to a respective computing/processing device or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers and/or edge servers. The network interface card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium in the respective computing/processing device.
Computer program instructions for performing the operations of the present disclosure can be assembly instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, c+ and the like and conventional procedural programming languages, such as the "C" language or similar programming languages. The computer readable program instructions may be executed entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present disclosure are implemented by personalizing electronic circuitry, such as programmable logic circuitry, field Programmable Gate Arrays (FPGAs), or Programmable Logic Arrays (PLAs), with state information of computer readable program instructions, which can execute the computer readable program instructions.
Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable medium having the instructions stored therein includes an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. A method of controlling an apparatus, the method comprising:
calculating reference current of equipment based on historical current data, wherein the historical current data is historical driving current data when a driving motor of the equipment controls the equipment to normally move, and the reference current represents driving current output by the driving motor in a normal movement state of the equipment;
calculating the real-time position of the equipment based on the rotation number of the motor, wherein the rotation number of the motor is the total rotation number when the driving motor controls the equipment to move to the real-time position;
Judging whether the equipment is positioned at a target position to be reached by controlling the equipment to move by the driving motor based on the real-time position;
if the equipment is not at the target position, calculating a target reference value based on the current driving current and the reference current, wherein the target reference value comprises an anti-blocking force reference value or an anti-clamping force reference value;
and controlling the equipment based on a target strategy in response to the condition that the target reference value is larger than a preset threshold value, wherein the target strategy is the control strategy of the equipment under the condition that an obstacle exists.
2. The method according to claim 1, wherein the method further comprises:
and in response to the condition that the target reference value is smaller than or equal to the preset threshold value, executing the step of calculating the real-time position of the equipment based on the rotation number of the motor.
3. The method of claim 1, wherein the step of determining the position of the substrate comprises,
when the equipment is a hidden object in a hiding mechanism, the historical current data is historical driving current data of the driving motor when the hidden object is normally unfolded;
the reference current characterizes the driving current output by the driving motor when the driving motor controls the hidden object to be unfolded normally;
The target position is a first position, and the first position is a position where the hidden object is completely unfolded;
the target reference value is the anti-blocking force reference value.
4. The method of claim 1, wherein the step of determining the position of the substrate comprises,
when the equipment is a cover plate of the hiding mechanism, the historical current data is historical driving current data of the driving motor when the cover plate is normally closed;
the reference current characterizes the driving current output by the driving motor when the driving motor controls the cover plate to be normally closed;
the target position is a second position, and the second position is a position where the cover plate is completely closed;
the target reference value is the anti-pinch force reference value.
5. The method of claim 1, wherein the controlling the device based on the target policy comprises:
and controlling the equipment to move reversely, and prompting a user that the equipment encounters an obstacle.
6. The method according to claim 1, wherein the method further comprises:
and if the equipment is at the target position, storing the current driving current, and prompting a user that the equipment is moved.
7. A control device for an apparatus, the device comprising:
the reference current calculation module is used for calculating the reference current of the equipment based on historical current data, wherein the historical current data is historical driving current data when a driving motor of the equipment controls the equipment to normally move, and the reference current represents the driving current output by the driving motor in the normal movement state of the equipment;
the real-time position calculation module is used for calculating the real-time position of the equipment based on the rotation number of the motor, wherein the rotation number of the motor is the total rotation number when the driving motor controls the equipment to move to the real-time position;
the target position judging module is used for judging whether the equipment is at a target position or not based on the real-time position, wherein the target position is a target position to be reached when the driving motor controls the equipment to move;
a target reference value calculation module, configured to calculate a target reference value based on a current driving current and the reference current if the device is not at the target position, where the target reference value includes an anti-blocking force reference value and an anti-pinching force reference value;
and the obstacle determining module is used for controlling the equipment based on a target strategy in response to the condition that the target reference value is larger than a preset threshold value, wherein the target strategy is the control strategy of the equipment under the condition that the obstacle exists.
8. The apparatus of claim 7, wherein the apparatus further comprises:
and the normal execution module is used for responding to the condition that the target reference value is smaller than or equal to the preset threshold value, and executing the step of calculating the real-time position of the equipment based on the rotation number of the motor.
9. A computer-readable storage medium, characterized in that at least one instruction or at least one program is stored in the computer-readable storage medium, which is loaded and executed by a processor to implement a control method of an apparatus according to any one of claims 1-6.
10. An electronic device comprising at least one processor, and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the at least one processor implementing the method of controlling the apparatus of any one of claims 1-6 by executing the instructions stored by the memory.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210624658.4A CN117211630A (en) | 2022-06-02 | 2022-06-02 | Control method and device of equipment, storage medium and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210624658.4A CN117211630A (en) | 2022-06-02 | 2022-06-02 | Control method and device of equipment, storage medium and electronic equipment |
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| CN117211630A true CN117211630A (en) | 2023-12-12 |
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| CN202210624658.4A Pending CN117211630A (en) | 2022-06-02 | 2022-06-02 | Control method and device of equipment, storage medium and electronic equipment |
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| Country | Link |
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| CN (1) | CN117211630A (en) |
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