Gripping force reduction system and gripping force reduction method

Abstract

The present invention discloses a clamping force reduction system and a clamping force reduction method, wherein the clamping force reduction method comprises the following steps: (a) controlling a motor to drive a movable part of a vehicle to move toward a fixed part through a PWM controller; (b) obtaining pulses generated by the motor; (c) when the pulse generated by the motor reaches the nth peak, adjusting the duty cycle of the PWM controller to reduce the rotation speed of the motor, wherein n≥1; (d) when the pulse generated by the motor reaches the mth peak, m>n+2, comparing the widths of adjacent peaks between the nth peak and the mth peak in the pulse generated by the motor, and when the widths of adjacent peaks between the nth peak and the mth peak in the pulse generated by the motor increase, preventing the movable part from moving toward the fixed part, so as to reduce the clamping force between the movable part and the fixed part.

Description

Technical Field

[0001] The present invention relates to the field of automobiles, and in particular to a clamping force reduction system and a clamping force reduction method. Background Art

[0002] The windows of most vehicles are equipped with a one-touch lifting function. When a passenger operates a lifting switch, a driving motor of the window is energized to drive the window glass to rise or fall. When the vehicle is in the open state, children will try to extend their necks, hands or other limbs or other objects out of the vehicle through the window. If a passenger (such as the driver) operates the lifting switch without paying attention, the drive motor will drive the window glass to rise, causing the window glass and the window frame or the door frame to clamp the child's neck, hands or other limbs or other objects. Once the window glass and the window frame or the door frame clamp the child's neck, hands or other limbs or other objects, the drive motor will still maintain its original working state, and the window glass and the window frame or the door frame can apply a clamping force of up to 350N to the obstacle (that is, the child's neck, hands or other limbs or other objects). Since the thickness of the window glass is about 8mm, the clamping force of 350N generated between the window glass and the window frame or the door frame is equivalent to a pressure of up to 350kg exerted by the window glass and the window frame or the door frame on the obstacle, which is far beyond the pressure that may cause suffocation or injury to children, and also exceeds the pressure that other objects and the window glass itself can withstand. In order to avoid the above situation, according to the standards issued by the European Union and the United States, when the distance between the edge of the window glass and the edge of the window frame or door frame is within the range of 4mm-200mm, the maximum limit of the clamping force applied to the obstacle by the edge of the window glass and the edge of the window frame or door frame is 100N. This standard means that when the vehicle window is closed, it is necessary not only to determine the specific position of the window glass, but also to determine whether there is an obstacle in the space between the edge of the window glass and the edge of the window frame or door frame. How the motor meets the above standards when the vehicle window is closed to avoid causing harm or damage to the obstacle during the window closing process is a technical problem that the inventor of the present invention is committed to solving. Summary of the invention

[0003] One object of the present invention is to provide a clamping force reduction system and a clamping force reduction method, wherein when a movable part of a vehicle is driven by a motor to move toward a fixed part, the clamping force reduction system can reduce the clamping force between the movable part and the fixed part to prevent the movable part and the fixed part from causing damage to the passenger's limbs (such as the neck, hands and other limbs of a child).

[0004] One object of the present invention is to provide a clamping force reduction system and a clamping force reduction method, wherein when the movable part of the vehicle is driven by the motor to move toward the fixed part, the clamping force reduction system can reduce the clamping force between the movable part and the fixed part to avoid the movable part and the fixed part causing damage to the object and the movable part itself.

[0005] An object of the present invention is to provide a clamping force reduction system and a clamping force reduction method, wherein the clamping force reduction system controls the working state of the motor by comparing the widths of adjacent peaks in the pulses generated by the motor, thereby avoiding injury or damage to obstacles when the vehicle window is closed.

[0006] One object of the present invention is to provide a clamping force reduction system and a clamping force reduction method, wherein the clamping force reduction system is associated with the motor and the camera, and the clamping force reduction system is configured to verify the judgment result based on the image captured by the camera and the comparison result based on the pulse generated by the motor, so as to control the working state of the motor according to the verification result, so as to avoid causing harm or damage to obstacles when the vehicle window is closed. Preferably, the time when the camera captures the image is earlier than the start time of the motor.

[0007] According to one aspect of the present invention, the present invention provides a clamping force reduction method for reducing the clamping force between a movable part and a fixed part of a vehicle, wherein the clamping force reduction method comprises the following steps:

[0008] (a) controlling a motor through a PWM controller to drive the movable part to move toward the fixed part;

[0009] (b) obtaining pulses generated by the motor;

[0010] (c) when the pulse generated by the motor reaches an nth peak, adjusting the duty cycle of the PWM controller to reduce the speed of the motor, where n≥1; and

[0011] (d) When the pulse generated by the motor reaches the mth peak, m>n+2, the widths of adjacent peaks between the nth peak and the mth peak in the pulse generated by the motor are compared, and when the widths of adjacent peaks between the nth peak and the mth peak in the pulse generated by the motor increase, the movable part is prevented from moving toward the fixed part to reduce the clamping force between the movable part and the fixed part.

[0012] According to an embodiment of the present invention, in step (c), n=2, so that when the pulse generated by the motor reaches the second peak, the duty cycle of the PWM controller is adjusted to reduce the rotation speed of the motor.

[0013] According to an embodiment of the present invention, in the step (c), when the pulse generated by the motor reaches each peak, the duty cycle of the PWM controller is adjusted according to a fixed amplitude.

[0014] According to an embodiment of the present invention, in the step (c), when the pulse generated by the motor reaches each peak, the duty cycle of the PWM controller is adjusted according to the gradient amplitude.

[0015] According to an embodiment of the present invention, in the step (c), when the pulse generated by the motor reaches each peak, the duty cycle of the PWM controller is adjusted according to a fixed amplitude of 50%.

[0016] According to one embodiment of the present invention, in step (d), m=10, so that the widths of adjacent peaks among the 2nd peak, 3rd peak, 4th peak, 5th peak, 6th peak, 7th peak, 8th peak, 9th peak and 10th peak in the pulses generated by the motor are compared.

[0017] According to an embodiment of the present invention, the movable part is a vehicle window glass, and the fixed part is a vehicle window frame or a vehicle door frame.

[0018] According to an embodiment of the present invention, the movable part is a vehicle door, and the fixed part is a vehicle body.

[0019] According to one aspect of the present invention, the present invention further provides a clamping force reduction system for reducing the clamping force between a movable part and a fixed part of a vehicle, wherein the clamping force reduction system comprises a motor, an AD circuit, a PWM controller and an MCU module, wherein the motor is connected to the MCU module through the AD circuit and the PWM controller respectively, wherein:

[0020] The PWM controller controls the motor to drive the movable part to move toward the fixed part;

[0021] The AD circuit acquires the pulse generated by the motor;

[0022] When the pulse generated by the motor reaches the nth peak, the MCU module adjusts the duty cycle of the PWM controller to reduce the speed of the motor, where n≥1;

[0023] When the pulse generated by the motor reaches the mth peak, m>n+2, the MCU module compares the widths of adjacent peaks between the nth peak and the mth peak in the pulse generated by the motor, and when the width of adjacent peaks between the nth peak and the mth peak in the pulse generated by the motor increases, the movable part is prevented from moving toward the fixed part to reduce the clamping force between the movable part and the fixed part.

[0024] According to one embodiment of the present invention, when the pulse generated by the motor reaches each peak, the MCU module adjusts the duty cycle of the PWM controller according to a fixed amplitude or a gradient amplitude.

[0025] According to one embodiment of the present invention, n=2, so that when the pulse generated by the motor reaches the second peak, the MCU module adjusts the duty cycle of the PWM controller to reduce the rotation speed of the motor.

[0026] According to one embodiment of the present invention, m=10, so that the MCU module compares the widths of adjacent peaks among the 2nd peak, 3rd peak, 4th peak, 5th peak, 6th peak, 7th peak, 8th peak, 9th peak and 10th peak in the pulses generated by the motor.

[0027] According to another aspect of the present invention, the present invention further provides a clamping force reduction system for reducing the clamping force between a movable part and a fixed part of a vehicle, comprising:

[0028] an acquisition unit, configured to acquire pulses generated by the motor when a PWM controller controls a motor to drive the movable part to move toward the fixed part;

[0029] an adjusting unit, configured to adjust the duty cycle of the PWM controller when the pulse generated by the motor reaches an nth peak, so as to reduce the rotation speed of the motor, wherein n≥1;

[0030] a comparing unit, configured to compare the widths of adjacent peaks between the nth peak and the mth peak in the pulse generated by the motor when the pulse generated by the motor reaches the mth peak, wherein m>n+2; and

[0031] A control unit is used to control the working state of the motor according to the comparison result of the comparison unit, wherein when the width of adjacent peaks between the nth peak and the mth peak in the pulse generated by the motor increases, the control unit controls the motor to reverse or stop, so as to prevent the movable part from moving toward the fixed part and reduce the clamping force between the movable part and the fixed part.

[0032] According to an embodiment of the present invention, n=2, so that when the pulse generated by the motor reaches the second peak, the regulating unit adjusts the duty cycle of the PWM controller to reduce the rotation speed of the motor.

[0033] According to an embodiment of the present invention, when the pulse generated by the motor reaches each peak, the regulating unit regulates the duty cycle of the PWM controller according to a fixed amplitude.

[0034] According to an embodiment of the present invention, when the pulse generated by the motor reaches each peak, the regulating unit regulates the duty cycle of the PWM controller according to the gradient amplitude.

[0035] According to an embodiment of the present invention, when the pulse generated by the motor reaches each peak, the regulating unit regulates the duty cycle of the PWM controller according to a fixed amplitude of 50%.

[0036] According to one embodiment of the present invention, m=10, so that the widths of adjacent peaks among the 2nd peak, 3rd peak, 4th peak, 5th peak, 6th peak, 7th peak, 8th peak, 9th peak and 10th peak in the pulses generated by the motor are compared.

[0037] According to an embodiment of the present invention, the movable part is a vehicle window glass, and the fixed part is a vehicle window frame or a vehicle door frame.

[0038] According to an embodiment of the present invention, the movable part is a vehicle door, and the fixed part is a vehicle body.

[0039] According to one embodiment of the present invention, the clamping force reduction system further comprises:

[0040] a collection unit, used to collect images of the interior of the vehicle;

[0041] an identification unit, configured to identify the positions of the movable part, the fixed part and an object in the image;

[0042] a determination unit for determining, based on the color change of the object, whether the object extends from the interior to the exterior of the vehicle through a space between an edge of the movable portion and an edge of the fixed portion; and

[0043] A verification unit is used to verify the comparison result of the comparison unit according to the judgment result of the judgment unit. If the judgment result of the judgment unit is consistent with the comparison result of the comparison unit, the control unit controls the motor to reverse or stop, so as to prevent the movable part from moving toward the fixed part and reduce the clamping force between the movable part and the fixed part. If the judgment result of the judgment unit is inconsistent with the comparison result of the comparison unit, the control unit controls the motor to keep working to allow the movable part to move toward the fixed part.

[0044] According to one embodiment of the present invention, the judging unit further comprises:

[0045] an analysis module, configured to analyze the color change of the object; and

[0046] A judging module is used to judge whether the object extends from the inside to the outside of the vehicle through the space between the edge of the movable part and the edge of the fixed part according to the analysis result of the analyzing module.

[0047] According to one embodiment of the present invention, the judging unit further comprises:

[0048] a segmentation module for segmenting the image of the interior of the vehicle; and

[0049] A processing module is used to perform binarization processing on the segmented image so that the color change of the object can be segmented by the analysis module later. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A block diagram of a clamping force reduction system is shown in accordance with a preferred embodiment of the present invention.

[0051] Figure 2 Another block diagram of the clamping force reduction system according to the above preferred embodiment of the present invention is shown.

[0052] Figure 3 Another block diagram of the clamping force reduction system according to the above preferred embodiment of the present invention is shown.

[0053] Figure 4 A three-dimensional schematic diagram of a vehicle to which the clamping force reduction system according to the preferred embodiment of the present invention is applied is shown.

[0054] Figure 5 A schematic diagram of the window closing process of the vehicle to which the clamping force reducing system of the above preferred embodiment of the present invention is applied is shown.

[0055] Figure 6A schematic diagram of a camera of a vehicle to which the clamping force reduction system according to the preferred embodiment of the present invention is applied is shown.

[0056] Figure 7 A flow chart of a clamping force reduction method according to a preferred embodiment of the present invention is shown. DETAILED DESCRIPTION

[0057] Before describing in detail any embodiment of the present invention, it should be understood that the present invention is not limited in its application to the construction and arrangement details of the components described below or illustrated in the following figures. The present invention can have other embodiments and can be practiced or carried out in various ways. In addition, it should be understood that the words and terms used here are for descriptive purposes and should not be considered restrictive. The use of "including", "comprising" or "having" and its variations herein is intended to cover the items and their equivalents and additional items displayed below. Unless otherwise specified or limited, the terms "install", "connect", "support" and "couple" and their variations are widely used and cover direct installation and indirect installation, connection, support and connection. In addition, "connect" and "couple" are not limited to physical or mechanical connections or connections.

[0058] Furthermore, on the first aspect, in the disclosure of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore the above terms cannot be understood as limitations on the present invention; on the second aspect, the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple, and the term "one" cannot be understood as a limitation on the quantity.

[0059] With reference to the accompanying drawings of the present invention Figures 1 to 6A clamping force reduction system and a vehicle 100 using the clamping force reduction system according to a preferred embodiment of the present invention are disclosed and explained in the following description, wherein the vehicle 100 includes a movable part 101, a fixed part 102, a motor 103, an AD circuit 104, a PWM controller 105 and an MCU module 106, the movable part 101 is movably mounted on the fixed part 102 and is drivably connected to the motor 103, and the motor 103 is connected to the MCU module 106 through the AD circuit 104 and the PWM controller 105. Preferably, the motor 103 can be a ripple motor.

[0060] The PWM controller 105 controls the motor 103 to drive the movable part 101 to move toward the fixed part 102. The AD circuit 104 obtains the pulse generated by the motor 103. When the pulse generated by the motor 103 reaches the nth peak, the MCU module 106 adjusts the duty cycle of the PWM controller 105 to reduce the rotation speed of the motor 103, where n≥1. When the pulse generated by the motor 103 reaches the mth peak, where m>n+2, the MCU module 106 compares the width between the nth peak and the mth peak in the pulse generated by the motor 103. If the comparison result is that the width of the adjacent peaks between the nth peak and the mth peak in the pulse generated by the motor 103 increases, the movable part 101 is prevented from moving toward the fixed part 102 to reduce the clamping force between the movable part 101 and the fixed part 102.

[0061] In the above manner, when there is an obstacle 200 in the space 1001 between the movable part 101 and the fixed part 102, even if the motor 103 is started to drive the movable part 101 to move toward the fixed part 102, resulting in the movable part 101 and the fixed part 102 starting to clamp the obstacle 200, the clamping force reduction system of the present invention obtains the pulses generated by the motor 103 and controls the motor 103 to stop or reverse by comparing the adjacent peak widths in the pulses generated by the motor 103. After the movable part 101 and the fixed part 102 start to clamp the obstacle 200, the clamping force reduction system can prevent the movable part 101 from continuing to move toward the fixed part 102, thereby greatly reducing the clamping force generated between the movable part 101 and the fixed part 102, thereby achieving the purpose of protecting the obstacle 200 and the movable part 101. It is understandable that the obstacle 200 may be a passenger's limbs, such as a child's neck, hand, or other limbs, and the clamping force reduction system of the present invention is not limited in this respect.

[0062] In some embodiments of the present invention, the movable part 101 is a vehicle window glass, such as a vehicle door glass or a sunroof glass, and the fixed part 102 is a vehicle window frame or a vehicle door frame. In these embodiments, the motor 103 can drive the movable part 101 to translate relative to the fixed part 102. In other embodiments of the present invention, the movable part 101 is a vehicle door, such as a side door or a rear door of a vehicle, and the fixed part 102 is a vehicle body. In these embodiments, the motor 103 can drive the movable part 101 to rotate relative to the fixed part 102.

[0063] Preferably, in the clamping force reduction system of the present invention, when the pulse generated by the motor 103 reaches the second peak, the MCU module 106 adjusts the duty cycle of the PWM controller 105 to reduce the rotation speed of the motor 103, that is, n=2. It can be understood that when the motor 103 is started to drive the movable part 101 to move toward the fixed part 102, the pulse initially generated by the motor 103 may be located near the first peak. If the MCU module 106 compares the widths of the adjacent peaks located at the first peak and the mth peak in the pulse generated by the motor 103 starting from the first peak, the accuracy of the comparison result will be affected. In other words, in order to ensure the accuracy of the comparison result, the clamping force reduction system of the present invention chooses to miss the first peak in the pulse generated by the motor 103, that is, the MCU module 106 compares the widths of adjacent peaks between the second peak and the mth peak in the pulse generated by the motor 103 to determine whether the width of adjacent peaks between the second peak and the mth peak in the pulse generated by the motor 103 increases.

[0064] In addition, when the pulse generated by the motor 103 reaches the second peak, the moving distance of the movable part 101 relative to the fixed part 102 is 0mm-0.33mm (which can be calculated or calibrated according to the reduction ratio of the motor 103 and the transmission ratio of the transmission mechanism). Even if the moving distance of the movable part 101 relative to the fixed part 102 reaches 0.33mm, the clamping force generated between the movable part 101 and the fixed part 102 is much smaller than the safe clamping force, that is, the clamping force reduction system of the present invention chooses to miss the first peak of the pulse generated by the motor 103 and will not cause danger to the obstacle 200.

[0065] It is worth mentioning that the specific manner in which the MCU module 106 adjusts the duty cycle of the PWM controller 105 when the pulse generated by the motor 103 reaches the second peak is not limited in the clamping force reduction system of the present invention. In some embodiments, when the pulse generated by the motor 103 reaches each peak, the MCU module 106 adjusts the duty cycle of the PWM controller 105 according to a fixed amplitude, for example, when the pulse generated by the motor 103 reaches each peak, the MCU module 106 adjusts the duty cycle of the PWM controller 105 according to a fixed amplitude of 50%. In other embodiments, when the pulse generated by the motor 103 reaches each peak, the MCU module 106 adjusts the duty cycle of the PWM controller 105 according to a gradient amplitude, for example, when the pulse generated by the motor 103 reaches the second peak, so as to gradually reduce the moving speed of the movable part 101. It can be understood that the duty cycle of the PWM controller 105 determines the rotation speed of the motor 103, thereby determining the moving speed of the movable part 101. When the window of the vehicle 100 is closed, the clamping force reduction system of the present invention can gradually reduce the moving speed of the movable part 101 implemented as the window glass by adjusting the duty cycle of the PWM controller 105, thereby avoiding the danger to the obstacle 200 caused by closing the window of the vehicle 100.

[0066] Preferably, when the pulse generated by the motor 103 reaches the 10th peak, that is, m=10, the MCU module 106 compares the width between the 2nd peak and the 10th peak in the pulse generated by the motor 103. If the comparison result is that the width of adjacent peaks between the 2nd peak and the 10th peak in the pulse generated by the motor 103 increases, the movable part 101 is prevented from moving toward the fixed part 102 to reduce the clamping force between the movable part 101 and the fixed part 102.

[0067] Specifically, the MCU module 106 compares the widths of adjacent peaks among the 2nd peak, the 3rd peak, the 4th peak, the 5th peak, the 6th peak, the 7th peak, the 8th peak, the 9th peak and the 10th peak in the pulses generated by the motor 103 to determine whether the widths of adjacent peaks increase. More specifically, first, the MCU module 106 obtains the distance L1 between the second peak and the third peak, the distance L2 between the third peak and the fourth peak, the distance L3 between the fourth peak and the fifth peak, the distance L4 between the fifth peak and the sixth peak, the distance L5 between the sixth peak and the seventh peak, the distance L6 between the seventh peak and the eighth peak, the distance L7 between the eighth peak and the ninth peak, and the distance L8 between the ninth and tenth peaks. Secondly, the MCU module 106 compares the values ​​of L1, L2, L3, L4, L5, L6, L7 and L8. If the comparison result is L1, L2, L3, L4, L5, L6, L7 and L8, If the values ​​of L1, L2, L3, L4, L5, L6, L7 and L8 are approximately equal, it means that the space 1001 between the movable part 101 and the fixed part 102 does not have the obstacle 200, and the motor 103 can be controlled to work continuously to drive the movable part 101 to move toward the fixed part 102. If the comparison result is that the values ​​of L1, L2, L3, L4, L5, L6, L7 and L8 increase in sequence, it means that the space 1001 between the movable part 101 and the fixed part 102 has the obstacle 200, and the motor 103 can be controlled to stop or reverse to prevent the movable part 101 from moving toward the fixed part 102, so as to protect the obstacle 200.

[0068] The clamping force reduction system of the present invention compares the distances between adjacent peaks between the second peak and the tenth peak in the pulses generated by the motor 103, and judges whether the obstacle 200 exists in the space 1001 between the movable part 101 and the fixed part 102 according to the comparison result. On the one hand, the reliability of the comparison result can be ensured, thereby ensuring the reliability of the clamping force reduction system. That is, the clamping force reduction system of the present invention judges whether the obstacle 200 exists in the space 1001 between the movable part 101 and the fixed part 102 by obtaining enough data (the values ​​of L1, L2, L3, L4, L5, L6, L7 and L8). On the one hand, it is possible to determine whether the obstacle 200 exists in the space 1001 between the movable part 101 and the fixed part 102. On the other hand, the moving distance of the movable part 101 can be reduced and the moving distance of the movable part 101 can be controlled to be about 3.3 mm. In this way, even if the obstacle 200 exists in the space 1001 between the movable part 101 and the fixed part 102, the clamping force generated between the movable part 101 and the fixed part 102 due to the movement of the movable part 101 is much smaller than the safety clamping force, so as to avoid danger to the obstacle 200.

[0069] Continue to refer to the attached Figure 1 The MCU module 106 of the clamping force reduction system can be permanently or temporarily configured as a plurality of units, which are an acquisition unit 1061, an adjustment unit 1062, a comparison unit 1063 and a control unit 1064. In other words, the clamping force reduction system includes the acquisition unit 1061, the adjustment unit 1062, the comparison unit 1063 and the control unit 1064, and the acquisition unit 1061, the adjustment unit 1062, the comparison unit 1063 and the control unit 1064 are communicably connected to each other.

[0070] The acquisition unit 1061 is used to acquire the pulse generated by the motor 103 when the PWM controller 105 controls the motor 103 to drive the movable part 101 to move toward the fixed part 102. In a specific example of the clamping force reduction system of the present invention, the acquisition unit 1061 can be externally connected to the AD circuit 104, and the AD circuit 104 can use a 5V reference and a 12-bit sampling accuracy. When the motor 103 drives the movable part 101 to move toward the fixed part 102, the AD circuit 104 can acquire the pulse generated by the motor 103, and the pulse acquired by the AD circuit 104 can be sent to the acquisition unit 1061 to allow the acquisition unit 1061 to acquire the pulse generated by the motor 103.

[0071] The regulating unit 1062 is used to regulate the duty cycle of the PWM controller 105 when the pulse generated by the motor 103 reaches the nth peak, so as to reduce the rotation speed of the motor 103, wherein n≥1. In some embodiments of the present invention, when the pulse generated by the motor 103 reaches each peak, the regulating unit 1062 regulates the duty cycle of the PWM controller 105 according to a fixed amplitude, for example, the regulating unit 1062 regulates the duty cycle of the PWM controller 105 according to a fixed amplitude of 50%. By regulating the duty cycle of the PWM controller 105, the moving speed of the movable part 101 implemented as a vehicle window glass can be gradually reduced, thereby preventing the closing window of the vehicle 100 from causing danger to the obstacle 200. In other embodiments of the present invention, when the pulse generated by the motor 103 reaches each peak, the regulating unit 1062 adjusts the duty cycle of the PWM controller 105 according to the gradient amplitude. By adjusting the duty cycle of the PWM controller 105, the moving speed of the movable part 101 implemented as the window glass can be gradually reduced, thereby avoiding the danger to the obstacle 200 caused by closing the window of the vehicle 100.

[0072] The comparison unit 1063 is used to compare the widths of adjacent peaks between the nth peak and the mth peak in the pulse generated by the motor 103 when the pulse generated by the motor 103 reaches the mth peak, wherein m>n+2.

[0073] The control unit 1064 is used to control the working state of the motor 103 according to the comparison result of the comparison unit 1063, wherein when the width of adjacent peaks between the nth peak and the mth peak in the pulse generated by the motor 103 increases, the control unit 1064 controls the motor 103 to reverse or stop, so as to prevent the movable part 101 from moving toward the fixed part 102 and reduce the clamping force between the movable part 101 and the fixed part 102, thereby achieving the purpose of protecting the obstacle 200.

[0074] Preferably, in the clamping force reduction system of the present invention, when the pulse generated by the motor 103 reaches the second peak, the adjustment unit 1062 adjusts the duty cycle of the PWM controller 105 to reduce the rotation speed of the motor 103 and reduce the moving speed of the movable part 101, thereby ensuring the accuracy of the subsequent comparison results of the comparison unit 1063 and improving the reliability of the clamping force reduction system.

[0075] It is worth mentioning that when the pulse generated by the motor 103 reaches the second peak, the moving distance of the movable part 101 relative to the fixed part 102 is 0mm-0.33mm. Even if the moving distance of the movable part 101 relative to the fixed part 102 reaches 0.33mm, the clamping force generated between the movable part 101 and the fixed part 102 is much smaller than the safe clamping force. That is, the clamping force reduction system of the present invention chooses to miss the first peak of the pulse generated by the motor 103 and will not cause danger to the obstacle 200.

[0076] Preferably, in the clamping force reduction system of the present invention, when the pulse generated by the motor 103 reaches the 10th peak, the comparison unit 1063 compares the width between the 2nd peak and the 10th peak in the pulse generated by the motor 103. If the comparison result is that the width of adjacent peaks between the 2nd peak and the 10th peak in the pulse generated by the motor 103 increases, the movable part 101 is prevented from moving toward the fixed part 102 to reduce the clamping force between the movable part 101 and the fixed part 102.

[0077] Specifically, the comparing unit 1063 compares the widths of adjacent peaks among the 2nd peak, the 3rd peak, the 4th peak, the 5th peak, the 6th peak, the 7th peak, the 8th peak, the 9th peak and the 10th peak in the pulse generated by the motor 103 to determine whether the widths of adjacent peaks increase. More specifically, first, the comparison unit 1063 obtains the distance L1 between the second peak and the third peak, the distance L2 between the third peak and the fourth peak, the distance L3 between the fourth peak and the fifth peak, the distance L4 between the fifth peak and the sixth peak, the distance L5 between the sixth peak and the seventh peak, the distance L6 between the seventh peak and the eighth peak, the distance L7 between the eighth peak and the ninth peak, and the distance L8 between the ninth and tenth peaks. Secondly, the comparison unit 1063 compares the values ​​of L1, L2, L3, L4, L5, L6, L7 and L8. If the comparison result is L1, L2, L3, L4, L5, L6, L7 and L8, then If the values ​​of L1, L2, L3, L4, L5, L6, L7 and L8 are approximately equal, it means that the space 1001 between the movable part 101 and the fixed part 102 does not have the obstacle 200, and the motor 103 can be controlled to work continuously to drive the movable part 101 to move toward the fixed part 102. If the comparison result is that the values ​​of L1, L2, L3, L4, L5, L6, L7 and L8 increase in sequence, it means that the space 1001 between the movable part 101 and the fixed part 102 has the obstacle 200, and the motor 103 can be controlled to stop or reverse to prevent the movable part 101 from moving toward the fixed part 102, so as to protect the obstacle 200.

[0078] The clamping force reduction system of the present invention compares the distances between adjacent peaks between the second peak and the tenth peak in the pulses generated by the motor 103, and judges whether the obstacle 200 exists in the space 1001 between the movable part 101 and the fixed part 102 according to the comparison result. On the one hand, the reliability of the comparison result can be ensured, thereby ensuring the reliability of the clamping force reduction system. That is, the clamping force reduction system of the present invention judges whether the obstacle 200 exists in the space 1001 between the movable part 101 and the fixed part 102 by obtaining enough data (the values ​​of L1, L2, L3, L4, L5, L6, L7 and L8). On the one hand, it is possible to determine whether the obstacle 200 exists in the space 1001 between the movable part 101 and the fixed part 102. On the other hand, the moving distance of the movable part 101 can be reduced and the moving distance of the movable part 101 can be controlled to be about 3.3 mm. In this way, even if the obstacle 200 exists in the space 1001 between the movable part 101 and the fixed part 102, the clamping force generated between the movable part 101 and the fixed part 102 due to the movement of the movable part 101 is much smaller than the safety clamping force, so as to avoid danger to the obstacle 200.

[0079] Continue to refer to the attached Figure 1 The clamping force reduction system further includes a collection unit 1065, an identification unit 1066, a judgment unit 1067 and a verification unit 1068, and the acquisition unit 1061, the adjustment unit 1062, the comparison unit 1063, the control unit 1064, the collection unit 1065, the identification unit 1066, the judgment unit 1067 and the verification unit 1068 are respectively connected in a communicative manner.

[0080] The acquisition unit 1065 is used to acquire an image of the interior of the vehicle 100. For example, the acquisition unit 1065 may be connected to a camera 107 inside the vehicle 100 to acquire an image of the interior of the vehicle 100 through the camera 107.

[0081] It is worth mentioning that the installation position of the camera 107 is not limited in the clamping force reduction system of the present invention, as long as it can capture images of the movable part 101 and the fixed part 102 of the vehicle 100. For example, the camera 107 can be a camera of the vehicle 100 for monitoring whether the driver is driving fatigued, and it is installed above the driving seat of the vehicle 100.

[0082] Preferably, the camera 107 is a wide-angle camera, which includes a photosensitive component 1071 and a lens 1072 held in the photosensitive path of the photosensitive component 1071, and the lens 1072 has the characteristics of short focal length and wide viewing angle. Figure 6 The lens 1072 is composed of eight lens elements, which are respectively a first lens element 10721, a second lens element 10722, a third lens element 10723, a fourth lens element 10724, a fifth lens element 10725, a sixth lens element 10726, a seventh lens element 10722 and an eighth lens element 10728 from the object side to the image side. These lens elements respectively have a central light-transmitting area 107201 and a peripheral light-shielding area 107202 surrounding the central light-transmitting area 107201. The central light-transmitting area 107201 allows light to pass through and enter the interior of the in-vehicle camera 1005 for subsequent imaging. The peripheral light-shielding area 107202 prevents light from passing through by absorbing light, so as to reduce stray light and improve the imaging quality of the in-vehicle camera 1005. The first lens element 10721 and the fifth lens element 10725 have positive refractive indices, the object side surface of the central light-transmitting area 107201 of the seventh lens element 10722 is a convex surface, and the image side surface of the central light-transmitting area 107201 of the eighth lens element 10058 is a concave surface. The focal length of the first lens element 10721 is f1, the Abbe number of the second lens element 10722 is V2, the thickness of the central light-transmitting area 107201 of the second lens element 10722 is CT2, the thickness of the central light-transmitting area 107201 of the third lens element 10723 is CT3, the focal length of the fifth lens element 10725 is f5, the thickness of the central light-transmitting area 107201 of the fifth lens element 10725 is CT5, and the thickness of the central light-transmitting area 107201 of the seventh lens element 10722 is CT7, wherein the above parameters satisfy the following conditions: 10<V2<50; 0<f5 / f1<2.85; 1<f5 / CT5<25; 0.1<CT3 / CT2<1.5; 0.1<CT7 / CT5<1.25.

[0083] More preferably, the object side surface of the central light-transmitting area 107201 of the first lens element 10721 is a convex surface, and the image side surface is a flat surface; the object side surface of the central light-transmitting area 107201 of the second lens element 10722 is a convex surface, and the image side surface is a concave surface; the object side surface of the central light-transmitting area 107201 of the third lens element 10723 is a convex surface, and the image side surface is a concave surface; the object side surface of the central light-transmitting area 107201 of the fourth lens element 10724 is The object side surface of the central light-transmitting area 107201 of the fifth lens element 10725 is concave, and the image side surface is convex; the object side surface of the central light-transmitting area 107201 of the sixth lens element 10726 is concave, and the image side surface is convex; the image side surface of the central light-transmitting area 107201 of the seventh lens element 10722 is concave; the object side surface of the central light-transmitting area 107201 of the eighth lens element 10728 is convex.

[0084] More preferably, the areas of the central light-transmitting regions 107201 of the lens elements 10050 on the same projection plane increase successively from the first lens element 10721 to the eighth lens element 10728 , so as to improve the imaging quality of the camera 107 .

[0085] The recognition unit 1066 is used to recognize the positions of the movable part 101, the fixed part 102 and an object in the image. It is worth mentioning that the manner in which the recognition unit 1066 recognizes the movable part 101, the fixed part 102 and the object from the image captured by the camera 107 is not limited. For example, the recognition unit 1066 can recognize the movable part 101 and the fixed part 102 from the image captured by the camera 107 according to their shapes, and after the movable part 101 and the fixed part 102 in the image captured by the camera 107 are recognized, the object in the image is immediately recognized.

[0086] The determining unit 1067 is used to determine whether the object extends from the interior to the exterior of the vehicle 100 through the space 1001 between the movable part 101 and the fixed part 102 according to the color change of the object.

[0087] Specifically, the judgment unit 1067 further includes a segmentation module 10671, a processing module 10672, an analysis module 10673 and a judgment module 10674, wherein the segmentation module 10671, the processing module 10672, the analysis module 10673 and the judgment module 10674 are respectively communicatively connected, wherein the segmentation module 10671 is used to separate the image of the interior of the vehicle 100 taken by the camera 107, the processing module 10672 is used to binarize the image segmented by the segmentation module 10671, the analysis module 10673 is used to analyze the color change of the object contained in the image taken by the camera 107, and the judgment module 10674 is used to judge whether the object contained in the image taken by the camera 107 extends from the interior to the outside of the vehicle 100 through the space 1001 between the movable part 101 and the fixed part 102 according to the analysis result of the analysis module 10673.

[0088] More specifically, after the camera 107 captures the image of the interior of the vehicle 100, the segmentation module 10671 segments the image captured by the camera 107, and saves and analyzes the segmented image, wherein the segmented image contains the object. For example, when the object appears in the lower left corner of the image captured by the camera 107, the segmentation module 10671 can segment the image portion in the lower left corner of the image for saving and analysis, and the image portion in the upper left corner, the image portion in the upper right corner, and the image portion in the lower right corner of the image can be discarded, which is conducive to reducing the amount of calculation and greatly improving the efficiency and sensitivity of the window management system.

[0089] The processing module 10672 may perform binarization processing on the image segmented by the segmentation module 10671. It is understandable that when the movable part 101 is implemented as a vehicle window glass, although the movable part 101 is light-transmissive, the light transmittance of the movable part 101 is much lower than the light transmittance of air, so if the object extends from the inside to the outside of the vehicle 100 through the space 1001 between the movable part 101 and the fixed part 102, even if the camera 107 captures the image of the entire object, the part of the object located outside the vehicle 100 is captured by the camera 107 through the movable part 101, so the clarity of the part of the object located outside the vehicle 100 is much lower than the clarity of the part of the object located inside the vehicle 100. In other words, it can be determined whether the object extends from the inside of the vehicle 100 to the outside through the space 1001 between the movable part 101 and the fixed part 102 according to the change in clarity of the object in the image captured by the camera 107. In order to further reduce the amount of calculation and improve the efficiency and sensitivity of the clamping force reduction system, the processing module 10672 can perform a binarization process on the image segmented by the segmentation module 10671. Specifically, the processing module 10672 performs a binarization process on the image segmented by the segmentation module 10671 by assigning a white block to the part of the object located inside the vehicle 100 and a black block to the part of the object located outside the vehicle 100.

[0090] The analysis module 10673 analyzes the binarization processing result of the processing module 10672 to determine the color change of the object. The judgment module 10674 judges whether the object extends from the inside of the vehicle 100 to the outside through the space 1001 between the movable part 101 and the fixed part 102 according to the analysis result of the analysis module 10673. For example, when the analysis result of the analysis module 10673 is that the binarization processing result of the processing module 10672 includes a white block and a black block, the judgment module 10674 can judge that the object extends from the inside of the vehicle 100 to the outside through the space 1001 between the movable part 101 and the fixed part 102. Accordingly, when the analysis result of the analysis module 10673 is that the binarization result of the processing module 10672 only contains white blocks, the judgment module 10674 can judge that the object extends from the inside to the outside of the vehicle 100 through the space 1001 between the movable part 101 and the fixed part 102.

[0091] The verification unit 1068 is used to verify the comparison result of the comparison unit 1063 according to the judgment result of the judgment unit 1067. If the judgment result of the judgment unit 1067 is consistent with the comparison result of the comparison unit 1063, the control unit 1064 controls the motor 103 to reverse or stop, so as to prevent the movable part 101 from moving toward the fixed part 102 and reduce the clamping force between the movable part 101 and the fixed part 102. If the judgment result of the judgment unit 1067 is inconsistent with the comparison result of the comparison unit 1063, the control unit 1064 controls the motor 103 to keep working, so as to allow the movable part 101 to move toward the fixed part 102.

[0092] In other words, the clamping force reduction system of the present invention can associate the motor 103 and the camera 107, and the clamping force reduction system is configured to verify the judgment result based on the image captured by the camera 107 and the comparison result based on the pulse generated by the motor 103, so as to control the working state of the motor 103 according to the verification structure, wherein when the verification unit 1068 verifies that the judgment result of the judgment unit 1067 is consistent with the comparison result of the comparison unit 1063, the control unit 1064 controls the motor 103 to reverse or stop. , so as to prevent the movable part 101 from moving toward the fixed part 102 and reduce the clamping force between the movable part 101 and the fixed part 102. Accordingly, when the verification unit 1068 verifies that the judgment result of the judgment unit 1067 is inconsistent with the comparison result of the comparison unit 1063, the control unit 1064 controls the motor 103 to keep working to allow the movable part 101 to move toward the fixed part 102, so as to avoid injury or damage to the obstacle 200 when the window of the vehicle 100 is closed.

[0093] Preferably, the camera 107 takes images earlier than the start time of the motor 103. Specifically, when the vehicle 100 performs the operation of the passenger, the vehicle 100 allows the camera 107 to be started to take images of the interior of the vehicle 100, and then the vehicle 100 allows the motor 103 to be started to drive the movable part 101 to move toward the fixed part 102.

[0094] It is worth mentioning that the manner in which the vehicle 100 receives the passenger's instruction is not limited in the clamping force reduction system of the present invention. Figure 3In the specific example shown, the vehicle 100 includes a perception unit 108, an intention identification unit 109, a device management unit 1010 and a policy execution unit 1011, and the perception unit 108, the intention identification unit 109, the device management unit 1010 and the policy execution unit 1011 are respectively connected in a communicative manner.

[0095] Specifically, the sensing unit 108 is used to collect human body signals of passengers. For example, in some embodiments, the sensing unit 108 may include a key switch 1081, which is used to receive the pressing action of the passenger to collect the human body signals of the passenger. In some other embodiments, the sensing unit 108 may include a camera 1082, which is used to capture the image of the passenger and collect the human body signals such as the passenger's movements, gestures or expressions based on the image of the passenger. In some other embodiments, the sensing unit 108 may include a car computer 1083, which is used to receive the passenger's operating gestures to collect the passenger's human body signals. In some other embodiments, the sensing unit 108 may include a microphone 1084, which is used to receive the passenger's voice to collect the passenger's human body signals.

[0096] The intention identification unit 109 pre-stores an intention identification model 1091. When the human body signal collected by the perception unit 108 is input into the intention identification unit 109, the intention identification model 1091 can identify the intention of the passenger according to the human body signal. In a typical example, the intention identification model 1091 pre-stored in the intention identification unit 109 is a voice model. When the voice of the passenger collected by the microphone 1084 of the perception unit 108 is input into the intention identification unit 109, the intention identification model 1091 can identify the intention of the passenger according to the voice of the passenger.

[0097] The device management unit 1010 may be a controller installed on the vehicle 100 . For example, the device management unit 1010 may include a motor controller 10101 for managing the motor 103 , and according to the state of the motor 103 , the device management unit 1010 may determine the relative position of the movable part 101 and the fixed part 102 .

[0098] The strategy execution unit 1011 is used to determine and execute the strategy to be executed according to the state of the motor 103 fed back by the device management unit 1010 and the intention of the passenger identified by the intention identification unit 109. For example, when the information fed back by the device management unit 1010 is that there is the space 1001 between the movable part 101 implemented as a window glass and the fixed part 102 of the vehicle 100, if the intention of the passenger identified by the intention identification unit 109 is to close the window, the strategy execution unit 1011 allows the MCU module 106 to generate a window closing instruction when determining and executing the strategy to be executed.

[0099] Attached Figure 7 A clamping force reduction method 700 according to a preferred embodiment of the present invention is shown, which is used to reduce the clamping force between the movable part 101 and the fixed part 102 of the vehicle 100, wherein the clamping force reduction method 700 comprises the following steps:

[0100] Step 701, (a) controlling the motor 103 through the PWM controller 105 to drive the movable part 101 to move toward the fixed part 102;

[0101] Step 702, (b) obtaining pulses generated by the motor 103;

[0102] Step 703, (c) when the pulse generated by the motor 103 reaches the nth peak, adjusting the duty cycle of the PWM controller 105 to reduce the speed of the motor 103, where n≥1; and

[0103] Step 704, (d) when the pulse generated by the motor 103 reaches the mth peak, m>n+2, the widths of adjacent peaks between the nth peak and the mth peak in the pulse generated by the motor 103 are compared, and when the widths of adjacent peaks between the nth peak and the mth peak in the pulse generated by the motor 103 increase, the movable part 101 is prevented from moving toward the fixed part 102 to reduce the clamping force between the movable part 101 and the fixed part 102.

[0104] It should be understood by those skilled in the art that the embodiments of the present invention described above and shown in the accompanying drawings are only examples and do not limit the present invention. The purpose of the present invention has been fully and effectively achieved. The functional and structural principles of the present invention have been demonstrated and explained in the embodiments, and the embodiments of the present invention may be deformed or modified in any way without departing from the principles.

Claims

1. A method for reducing the clamping force between a movable part and a fixed part of a vehicle, characterized in that: The clamping force reduction method comprises the following steps: (a) controlling a motor through a PWM controller to drive the movable part to move toward the fixed part; (b) obtaining pulses generated by the motor; (c) when the pulse generated by the motor reaches an nth peak, adjusting the duty cycle of the PWM controller to reduce the speed of the motor, where n≥1; as well as (d) when the pulse generated by the motor reaches the mth peak, m>n+2, the widths of adjacent peaks between the nth peak and the mth peak in the pulse generated by the motor are compared. When the widths of adjacent peaks between the nth peak and the mth peak in the pulse generated by the motor increase, it indicates that there is an obstacle between the movable part and the fixed part, preventing the movable part from moving toward the fixed part, so as to reduce the clamping force between the movable part and the fixed part; The clamping force reduction method is associated with the motor and a camera, and determines whether an object extends from the inside of the vehicle to the outside through the space between the movable part and the fixed part according to the change in clarity in the image captured by the camera, and the clamping force reduction method can be verified based on the judgment result of the image captured by the camera and the comparison result based on the pulse generated by the motor, so as to control the working state of the motor according to the verification result, wherein when the judgment result and the comparison result are both that there is an obstacle or object in the space between the movable part and the fixed part, the motor is controlled to reverse or stop, so as to prevent the movable part from moving toward the fixed part and reduce the clamping force between the movable part and the fixed part, and accordingly, when the judgment result and the comparison result are inconsistent, the motor remains in the working state, so as to allow the movable part to move toward the fixed part; The camera is a wide-angle camera, which includes a photosensitive component and a lens held in the photosensitive path of the photosensitive component, the lens is composed of eight lens elements, which are a first lens element, a second lens element, a third lens element, a fourth lens element, a fifth lens element, a sixth lens element, a seventh lens element and an eighth lens element from the object side to the image side, the first lens element and the fifth lens element have positive refractive index, the object side surface of the central light-transmitting area of ​​the eighth lens element is a convex surface, the image side surface of the central light-transmitting area of ​​the eighth lens element is a concave surface, and the first lens element and the fifth lens element have positive refractive index. The focal length of the lens element is f1, the Abbe number of the second lens element is V2 and the thickness of the central light-transmitting area is CT2, the thickness of the central light-transmitting area of ​​the third lens element is CT3, the focal length of the fifth lens element is f5 and the thickness of the central light-transmitting area is CT5, and the thickness of the central light-transmitting area of ​​the seventh lens element is CT7, wherein the above parameters satisfy the following conditions: 10<V2<50; 0<f5 / f1<2.85; 1<f5 / CT5<25; 0.1<CT3 / CT2<1.5; 0.1<CT7 / CT5<1.

25.

2. The clamping force reduction method according to claim 1, wherein in the step (c), n=2, so that when the pulse generated by the motor reaches the second peak, the duty cycle of the PWM controller is adjusted to reduce the rotation speed of the motor.

3. The clamping force reduction method according to claim 1, wherein in the step (c), when the pulse generated by the motor reaches each peak, the duty cycle of the PWM controller is adjusted according to a fixed amplitude. 4 . The clamping force reduction method according to claim 1 , wherein in the step (c), when the pulse generated by the motor reaches each peak, the duty cycle of the PWM controller is adjusted according to the gradient amplitude. 5 . The clamping force reduction method according to claim 3 , wherein in the step (c), when the pulse generated by the motor reaches each peak, the duty cycle of the PWM controller is adjusted according to a fixed amplitude of 50%.

6. The clamping force reduction method according to claim 2, wherein in the step (d), m=10, so that the widths of adjacent peaks among the 2nd peak, the 3rd peak, the 4th peak, the 5th peak, the 6th peak, the 7th peak, the 8th peak, the 9th peak and the 10th peak in the pulses generated by the motor are compared.

7. The clamping force reducing method according to any one of claims 1 to 6, wherein the movable part is a vehicle window glass, and the fixed part is a vehicle window frame or a vehicle door frame.

8. The clamping force reducing method according to any one of claims 1 to 6, wherein the movable part is a vehicle door, and the fixed part is a vehicle body.

9. A clamping force reduction system for reducing the clamping force between a movable part and a fixed part of a vehicle, characterized in that: The invention comprises a motor, an AD circuit, a PWM controller and an MCU module, wherein the motor is connected to the MCU module through the AD circuit and the PWM controller respectively, wherein: The PWM controller controls the motor to drive the movable part to move toward the fixed part; the AD circuit obtains the pulse generated by the motor; When the pulse generated by the motor reaches the nth peak, the MCU module adjusts the duty cycle of the PWM controller to reduce the speed of the motor, where n≥1; When the pulse generated by the motor reaches the mth peak, m>n+2, the MCU module compares the widths of adjacent peaks between the nth peak and the mth peak in the pulse generated by the motor. When the widths of adjacent peaks between the nth peak and the mth peak in the pulse generated by the motor increase, it indicates that there is an obstacle between the movable part and the fixed part, preventing the movable part from moving toward the fixed part, so as to reduce the clamping force between the movable part and the fixed part; The clamping force reduction system is associated with the motor and a camera, and determines whether an object extends from the inside of the vehicle to the outside through the space between the movable part and the fixed part according to the change in clarity in the image captured by the camera, and the clamping force reduction system is configured to be able to perform verification based on the judgment result of the image captured by the camera and the comparison result based on the pulse generated by the motor, so as to control the working state of the motor according to the verification result, wherein when the judgment result and the comparison result are both that there is an obstacle or object in the space between the movable part and the fixed part, the motor is controlled to reverse or stop, so as to prevent the movable part from moving toward the fixed part and reduce the clamping force between the movable part and the fixed part, and accordingly, when the judgment result and the comparison result are inconsistent, the motor remains in a working state, so as to allow the movable part to move toward the fixed part; The camera is a wide-angle camera, which includes a photosensitive component and a lens held in the photosensitive path of the photosensitive component, the lens is composed of eight lens elements, which are a first lens element, a second lens element, a third lens element, a fourth lens element, a fifth lens element, a sixth lens element, a seventh lens element and an eighth lens element from the object side to the image side, the first lens element and the fifth lens element have positive refractive index, the object side surface of the central light-transmitting area of ​​the eighth lens element is a convex surface, the image side surface of the central light-transmitting area of ​​the eighth lens element is a concave surface, and the first lens element and the fifth lens element have positive refractive index. The focal length of the lens element is f1, the Abbe number of the second lens element is V2 and the thickness of the central light-transmitting area is CT2, the thickness of the central light-transmitting area of ​​the third lens element is CT3, the focal length of the fifth lens element is f5 and the thickness of the central light-transmitting area is CT5, and the thickness of the central light-transmitting area of ​​the seventh lens element is CT7, wherein the above parameters satisfy the following conditions: 10<V2<50; 0<f5 / f1<2.85; 1<f5 / CT5<25; 0.1<CT3 / CT2<1.5; 0.1<CT7 / CT5<1.

25.

10. The clamping force reduction system according to claim 9, wherein when the pulse generated by the motor reaches each peak, the MCU module adjusts the duty cycle of the PWM controller according to a fixed amplitude or a gradient amplitude.

11. The clamping force reduction system according to claim 9, wherein n=2, so that when the pulse generated by the motor reaches the second peak, the MCU module adjusts the duty cycle of the PWM controller to reduce the rotation speed of the motor.

12. The clamping force reduction system of claim 11, wherein m=10, so that the MCU module compares the widths of adjacent peaks among the 2nd peak, 3rd peak, 4th peak, 5th peak, 6th peak, 7th peak, 8th peak, 9th peak and 10th peak in the pulses generated by the motor.

13. A clamping force reduction system for reducing the clamping force between a movable part and a fixed part of a vehicle, characterized in that: include: an acquisition unit, configured to acquire pulses generated by the motor when a PWM controller controls a motor to drive the movable part to move toward the fixed part; an adjusting unit, configured to adjust the duty cycle of the PWM controller when the pulse generated by the motor reaches an nth peak, so as to reduce the rotation speed of the motor, wherein n≥1; a comparing unit, configured to compare the widths of adjacent peaks between the nth peak and the mth peak in the pulse generated by the motor when the pulse generated by the motor reaches the mth peak, wherein m>n+2; as well as a control unit, configured to control the working state of the motor according to the comparison result of the comparison unit, wherein when the width of adjacent peaks between the nth peak and the mth peak in the pulses generated by the motor increases, it indicates that there is an obstacle between the movable part and the fixed part, and the control unit controls the motor to reverse or stop, so as to prevent the movable part from moving toward the fixed part and reduce the clamping force between the movable part and the fixed part; The clamping force reduction system is associated with the motor and a camera, and determines whether there is an object extending from the inside to the outside of the vehicle through the space between the movable part and the fixed part according to the change in clarity in the image captured by the camera. The clamping force reduction system is configured to be able to perform verification based on the judgment result of the image captured by the camera and the comparison result based on the pulse generated by the motor, so as to control the working state of the motor according to the verification result. When both the judgment result and the comparison result are that there is an obstacle or object in the space between the movable part and the fixed part, the motor is controlled to reverse or stop to prevent the movable part from moving toward the fixed part and reduce the clamping force between the movable part and the fixed part. Accordingly, when the judgment result and the comparison result are inconsistent, the motor remains in a working state to allow the movable part to move toward the fixed part. 14 . The clamping force reduction system according to claim 13 , wherein n=2, so that when the pulse generated by the motor reaches a second peak, the adjustment unit adjusts the duty cycle of the PWM controller to reduce the rotation speed of the motor. 15 . The clamping force reduction system according to claim 13 , wherein the adjustment unit adjusts the duty cycle of the PWM controller according to a fixed amplitude when the pulse generated by the motor reaches each peak. 16 . The clamping force reducing system according to claim 13 , wherein the regulating unit regulates the duty cycle of the PWM controller according to a gradient amplitude when the pulse generated by the motor reaches each peak. 17 . The clamping force reduction system according to claim 15 , wherein the adjustment unit adjusts the duty cycle of the PWM controller by a fixed amplitude of 50% when the pulse generated by the motor reaches each peak.

18. The clamping force reduction system of claim 14, wherein m=10, thereby comparing the widths of adjacent peaks among the 2nd peak, the 3rd peak, the 4th peak, the 5th peak, the 6th peak, the 7th peak, the 8th peak, the 9th peak, and the 10th peak in the pulses generated by the motor.

19. The clamping force reduction system according to any one of claims 13 to 18, wherein the movable part is a vehicle window glass, and the fixed part is a vehicle window frame or a vehicle door frame.

20. The clamping force reduction system according to any one of claims 13 to 18, wherein the movable part is a vehicle door and the fixed part is a vehicle body.

Images