Anti-pinch method, device, equipment and storage medium

Abstract

The embodiments of the present invention disclose an anti-pinch method and device. The anti-pinch method is mainly used for anti-pinch control of a closing device under low-temperature startup, and includes: detecting a closing signal; based on the closing signal, starting a motor to drive the closing device; in the startup phase of the motor, if the closing device is in the anti-pinch interval and the ambient temperature is lower than the set temperature, low-temperature compensation is performed on the anti-pinch threshold to increase the anti-pinch threshold, and if the duration of the closing device stopping movement exceeds the set value, low-temperature compensation is further performed on the anti-pinch threshold to further increase the anti-pinch threshold; and, based on the starting current of the motor and the compensated anti-pinch threshold, anti-pinch control is performed on the closing device. In the embodiments of the present invention, when the closing device is started at low temperatures, the problem of misoperation of the anti-pinch function (such as misreversal) can be prevented, thereby improving the user experience.

Description

Technical Field

[0001] The present invention relates to control technology, and in particular to an anti-pinch method, device, equipment and storage medium. Background Art

[0002] In the scheme involving electric control of glass, for example, the electric control scheme of the window or sunroof glass in the vehicle, in order to ensure safety, it is generally required to configure the anti-pinch function. The so-called anti-pinch function means that when the glass encounters an obstacle during movement, it can stop moving or move in the opposite direction to avoid pinching hands.

[0003] Generally speaking, the window (or sunroof) controller determines whether to perform an anti-pinch operation by detecting an anti-pinch signal, such as controlling the glass to stop moving or controlling the glass to move in the opposite direction. At present, the anti-pinch signal is essentially the current signal of the motor (used to drive the glass to move), that is, by comparing the current signal of the motor with a specific threshold, if the current signal exceeds the threshold, it is considered that the anti-pinch signal is detected and the anti-pinch operation needs to be performed.

[0004] However, in actual application, the inventor of this application found that in some low-temperature scenarios, the anti-pinch function is easily activated by mistake, especially in the startup phase of the motor, which makes it impossible for users to close the windows or sunroof, reducing the user experience. In addition, the anti-pinch function is also applicable to devices such as automatic doors or automatic tailgates, which also have similar problems. Summary of the invention

[0005] The main purpose of the present invention is to provide an anti-pinch method, device, equipment and storage medium, which can reduce the possibility of anti-pinch control being mistakenly enabled when a closed device is started at low temperature, thereby improving the user experience.

[0006] In order to achieve the above-mentioned purpose of the invention, an embodiment of the present invention provides an anti-pinch method for anti-pinch control of a closing device under low-temperature startup, including: detecting a closing signal, the closing signal being used to indicate the closing of the closing device; starting a motor to drive the closing device according to the detected closing signal; in the starting stage of the motor, when a first preset condition is met, performing a first low-temperature compensation on the anti-pinch threshold, and when a second preset condition is met, performing a second low-temperature compensation on the anti-pinch threshold, and the anti-pinch threshold after the second low-temperature compensation is greater than the anti-pinch threshold after the first low-temperature compensation; and performing anti-pinch control on the closing device based on the starting current of the motor and the compensated anti-pinch threshold; wherein the first preset condition includes: the closing device is in the anti-pinch interval, and the ambient temperature is lower than the set temperature; the second preset condition includes: the first preset condition, and the length of time the closing device stops moving exceeds the set value.

[0007] Wherein, after performing the first or second low temperature compensation on the anti-pinch threshold, the method further comprises: after the starting current of the motor starts to decrease from the peak value, gradually reducing the compensated anti-pinch threshold.

[0008] Wherein, gradually reducing the compensated anti-pinch threshold includes: based on a predetermined gradient, sequentially reducing the compensated anti-pinch threshold.

[0009] The performing of the second low temperature compensation on the anti-pinch threshold comprises: further performing low temperature compensation on the anti-pinch threshold after the first low temperature compensation.

[0010] The performing of the first low temperature compensation on the anti-pinch threshold comprises: performing low temperature compensation on the anti-pinch threshold using the ambient temperature.

[0011] Wherein, the closed device is used in a vehicle, and the ambient temperature is obtained by reading an air-conditioning temperature signal on a communication bus in the vehicle.

[0012] Wherein, the closing device includes: a skylight, a car window, an automatic sliding door, or an automatic tailgate.

[0013] An embodiment of the present invention also provides an anti-pinch device for anti-pinch control of a closing device under low-temperature startup, comprising: a detection module for detecting a closing signal, wherein the closing signal is used to indicate the closing of the closing device; a starting module for starting a motor to drive the closing device according to the detected closing signal; a compensation module for performing a first low-temperature compensation on an anti-pinch threshold during the startup phase of the motor when a first preset condition is met, and performing a second low-temperature compensation on the anti-pinch threshold when a second preset condition is met, and the anti-pinch threshold after the second low-temperature compensation is greater than the anti-pinch threshold after the first low-temperature compensation; an acquisition module for acquiring the starting current of the motor; an anti-pinch module for performing anti-pinch control on the closing device based on the starting current of the motor and the compensated anti-pinch threshold; wherein the first preset condition comprises: the closing device is within the anti-pinch interval, and the ambient temperature is lower than the set temperature; the second preset condition comprises: the first preset condition, and the duration of the closing device stopping movement exceeds the set value.

[0014] An embodiment of the present invention further provides a control device, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the executable instructions to implement the method according to the embodiment of the present invention.

[0015] An embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. The computer program includes executable instructions. When the executable instructions are executed by a processor, the method according to the embodiment of the present invention is implemented.

[0016] Beneficial effects of the embodiments of the present invention:

[0017] In the embodiments of the present invention, in view of the situation that the motor is prone to generate large current during the low-temperature starting stage, when the ambient temperature is detected to be lower than the set temperature, the anti-pinch threshold is compensated for at low temperature to increase the anti-pinch threshold, and when the ambient temperature is detected to be lower than the set temperature and the length of time that the closing device stops moving exceeds the set value, the anti-pinch threshold is compensated for at a deeper level at low temperature to further increase the anti-pinch threshold, thereby solving the problem of the large current generated by the motor being mistakenly identified as an anti-pinch signal during the low-temperature starting stage, thereby mistakenly triggering the anti-pinch control, thereby improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Other details and advantages of the present invention will become apparent from the detailed description provided below. It should be understood that the following drawings are merely illustrative and thus cannot be considered as limiting the present invention, and the following will be described in detail with reference to the drawings, wherein:

[0019] Figure 1 is a schematic flow chart of an embodiment of the anti-pinch method of the present invention;

[0020] Figure 2 yes Figure 1 Schematic diagram of the process of the embodiment of step S14;

[0021] Figure 3 is a schematic flow chart of another embodiment of the anti-pinch method of the present invention;

[0022] Figure 4 is a waveform diagram of the motor current and the anti-pinch threshold value when the closing device according to the embodiment of the present invention is started at low temperature;

[0023] Figure 5 is a schematic structural diagram of an embodiment of an anti-pinch device of the present invention;

[0024] Figure 6 It is a schematic structural diagram of an embodiment of a control device of the present invention. DETAILED DESCRIPTION

[0025] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and more understandable, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.

[0026] For closed devices such as car windows and sunroofs, anti-pinch functions are generally configured to ensure safety. However, taking car windows as an example, in cold weather such as winter, the ambient temperature will cause the car windows to freeze. At this time, when the motor is started, the motor will generate a large current in order to break the freeze on the car windows. If the car window is in the anti-pinch range at this time, that is, the anti-pinch function is turned on, the large current may trigger the anti-pinch operation, resulting in the inability to close the car window. For example, the user issues an instruction to close the car window upwards, but the car window does not respond, or not only does it not respond, but it retracts downward for a distance. In addition, experiments have found that when the length of time the car window is frozen (the length of time the car window stops moving from the last time) reaches a certain extent, the phenomenon of generating large current becomes more obvious. In view of this, in the embodiment of the present application, during the startup phase of the motor, when the ambient temperature is lower than the set temperature (e.g., 0 degrees), the anti-pinch threshold is subjected to low-temperature compensation to increase the anti-pinch threshold to avoid the anti-pinch function being falsely triggered; and, when the ambient temperature is lower than the set temperature and the duration of the window stopping movement exceeds the set value, the anti-pinch threshold is subjected to a deeper degree of low-temperature compensation to significantly increase the anti-pinch threshold to avoid the anti-pinch function being falsely triggered. In addition, after the anti-pinch threshold is increased, the anti-pinch threshold is gradually lowered based on the current change of the motor to ensure that the anti-pinch force meets the requirements of relevant regulations. The present invention is described in detail below in conjunction with the contents of the following embodiments. It should be noted that the following embodiments respectively describe the present application from one or more aspects, and the various aspects of the following embodiments (including: various steps, various operations, various modules, etc.) can be combined with each other.

[0027] like Figure 1 , which is a flow chart of an embodiment of the anti-pinch method of the present invention. The anti-pinch method is used for anti-pinch control of a closed device when starting at low temperature. Specifically, the anti-pinch method can prevent the anti-pinch operation from being falsely triggered due to the large current generated when the closed device starts at low temperature, such as the problem of false reversal. The anti-pinch method comprises the following steps:

[0028] Step S10: detecting a closing signal, where the closing signal is used to indicate closing of the closing device.

[0029] The closing signal is, for example, a signal indicating that the closing device moves in the closing direction. Taking a car window as an example, the closing signal may be a rising signal of the car window. Taking a car window as an example, a user of the vehicle may trigger the generation of a rising signal by operating a mechanical button or a touch interface, and the rising signal may be detected by a car window controller.

[0030] Step S12: according to the closing signal detected in step S10, start the motor to drive the closing device to move.

[0031] After the closing signal is detected in step S10, step S12 can start the motor to execute the closing signal to drive the closing device to move in the closing direction. Taking the car window as an example, the motor can drive the car window glass to move upward. When the motor is started in a low temperature environment, its current curve can be referred to Figure 4 As shown in the lower curve, during the motor startup process, the motor current first climbs up (in order to break the frozen state of the closed device), and then slowly decreases after reaching the peak. In addition, in order to prevent the current pulse generated by the motor at the moment of power-on from triggering the anti-pinch operation, the current pulse at the moment of power-on has been filtered out. Figure 4 In the figure, the motor current is 0 when it is some distance away from the origin.

[0032] Step S14: During the start-up phase of the motor, low temperature compensation is performed on the anti-pinch threshold.

[0033] Specifically, step S14 includes sub-steps S140 and S142. At step S140, when the first preset condition (the closing device is in the anti-pinch interval and the ambient temperature is lower than the set temperature) is met, the anti-pinch threshold is low-temperature compensated to increase the anti-pinch threshold. Wherein, if the closing device is in the anti-pinch interval, it means that the anti-pinch function needs to be executed to ensure safety. The anti-pinch interval can be a certain distance from the closing position. It is generally specified by relevant laws and regulations. Wherein, when the closing device is used in a vehicle, the ambient temperature can be obtained by reading the air conditioning temperature signal on the communication bus in the vehicle; of course, a special ambient temperature sensor can also be added to detect the ambient temperature. Wherein, the set temperature can be, for example, 0 degrees, or other values ​​representing low temperature. Wherein, when the first preset condition is met, it means that the anti-pinch function is turned on and the motor is started at low temperature. At this time, the motor may generate a current greater than the anti-pinch threshold (e.g., obtained based on calibration and preset in the system) in order to break the frozen state of the closing device. Therefore, the anti-pinch threshold is low-temperature compensated to increase the anti-pinch threshold and avoid the anti-pinch operation from being triggered. The low temperature compensation for the anti-pinch threshold may be, for example, to compensate the anti-pinch threshold based on the ambient temperature, or to directly increase the anti-pinch threshold by a predetermined amount.

[0034] At step S142, when the second preset condition (the first preset condition, and the duration of the cessation of movement of the closing device exceeds the set value) is met, a deeper degree of low temperature compensation is performed on the anti-pinch threshold. The so-called deeper degree of low temperature compensation, for example, refers to: the anti-pinch threshold after compensation under the second preset condition is greater than the anti-pinch threshold after compensation under the first preset condition. Among them, the duration of the cessation of movement of the closing device, for example, refers to the time interval from the last time the movement of the closing device stopped, and this time duration can be obtained by timing by a clock. According to the experiments of the present application, generally speaking, under low temperature conditions, after the duration of the cessation of movement of the closing device reaches a certain value (for example, 5 minutes, 10 minutes), the current of the motor in the startup phase will increase significantly, making it easier to falsely trigger the anti-pinch control. Among them, the low temperature compensation of the anti-pinch threshold under the second preset condition is, for example, to continue to perform low temperature compensation on the basis of the compensated anti-pinch threshold under the first preset condition, such as Figure 3 As shown in step S28; or directly increase the original anti-pinch threshold by a larger amount.

[0035] Specifically, Figure 3 As shown, it is a flow chart of a specific embodiment of step S14, wherein at step S20, it is determined whether the closing device is in the anti-pinch interval. If not, there is no need to enable the anti-pinch function. If in the anti-pinch interval, the anti-pinch function needs to be enabled, and step S22 is executed to determine whether the ambient temperature is lower than a threshold value (e.g., a preset temperature value). If not, a preset anti-pinch threshold is used. If lower than the threshold, step S24 is executed to use the ambient temperature to compensate for the anti-pinch threshold to increase the anti-pinch threshold. Next, at step S26, it is determined whether the freezing time of the closing device exceeds the set time, such as 5 minutes. If not, the anti-pinch threshold outputted in step S24 is maintained. If exceeded, step S28 is executed, i.e., the anti-pinch threshold is further increased on the basis of the anti-pinch threshold outputted in step S24.

[0036] Step S16: Based on the starting current of the motor and the anti-pinch threshold value compensated in step S14, anti-pinch control is performed on the closing device.

[0037] Among them, step S16 may include, for example: when the starting current of the motor is lower than the anti-pinch threshold, the motor starts normally to drive the closing device to move in the closing direction; when the starting current of the motor is greater than the anti-pinch threshold, the motor is controlled to stop moving or reverse.

[0038] In this embodiment, when the closing device is started in the anti-pinch interval, if the ambient temperature is lower than the set temperature, low-temperature compensation is performed on the anti-pinch threshold to increase the anti-pinch threshold, and when the ambient temperature is lower than the set temperature and the length of time the closing device stops moving exceeds the set value, a deeper degree of low-temperature compensation is performed on the anti-pinch threshold to further increase the anti-pinch threshold, thereby solving the problem of mistakenly identifying the normal large current generated by the motor as an anti-pinch signal and mistakenly triggering the anti-pinch control when the motor is started at low temperature in the anti-pinch interval.

[0039] like Figure 2 FIG. 1 is a flow chart of another embodiment of the anti-pinch method of the present invention. When the motor is started at a low temperature in the anti-pinch range (step S30), the following steps can be referred to: Figure 1 The anti-pinch threshold is low-temperature compensated in the manner mentioned in the embodiment (step S32). After low-temperature compensation, when the starting current of the motor is monitored to decrease from the peak value, the compensated anti-pinch threshold is gradually reduced (step S33) so that the gradually reduced anti-pinch threshold is consistent with the gradually reduced current in trend. In step S34, anti-pinch control is performed based on the starting current of the motor obtained in step S31 and the anti-pinch threshold provided in step S32 or step S33.

[0040] In this embodiment, when the starting current of the motor starts to decrease from the peak value, the compensated anti-pinch threshold is gradually reduced, for example, the compensated anti-pinch threshold is gradually reduced with a predetermined gradient. Figure 4 As shown, the above curve is the variation curve of the anti-pinch threshold. Initially, the anti-pinch threshold has an initial value (e.g., obtained by calibration and then pre-stored in the system). When the motor is started at low temperature in the anti-pinch range, the anti-pinch threshold is compensated for low temperature, thereby obtaining a larger anti-pinch threshold. Then, the compensated anti-pinch threshold gradually decreases at a predetermined gradient until it returns to the initial anti-pinch threshold. In this embodiment, after the starting current of the motor begins to decrease from the peak value, the purpose of gradually lowering the anti-pinch threshold is to keep the anti-pinch force within a reasonable range (such as the range specified by laws and regulations) to avoid the inability to truly identify the anti-pinch situation. For example, after the starting current of the motor begins to decrease from the peak value, the starting current of the motor will gradually decrease to a low value. If the anti-pinch threshold is still maintained at a high value at this time, the load of the motor that may be superimposed with obstacles cannot exceed the anti-pinch threshold, resulting in the inability to identify the obstacle being clamped.

[0041] like Figure 5, which is a schematic structural diagram of an embodiment of the anti-pinch device of the present invention. The anti-pinch device 5 corresponds to the anti-pinch method described above, so many of its operating details have been described in the aforementioned embodiments and will not be repeated here for the sake of brevity. Specifically, the anti-pinch device is used for anti-pinch control of a closing device during a low-temperature startup phase, and includes: a detection module 50, used to detect a closing signal, the closing signal being used to indicate that the closing device is closed; a starting module 52, used to start a motor to drive the closing device to close according to the detected closing signal; a compensation module 54, used to perform a first low-temperature compensation on an anti-pinch threshold during the startup phase of the motor when a first preset condition is met, and to perform a second low-temperature compensation on the anti-pinch threshold when a second preset condition is met, and the anti-pinch threshold after the second low-temperature compensation is greater than the anti-pinch threshold after the first low-temperature compensation; an acquisition module 56, used to acquire a starting current of the motor; and an anti-pinch module 58, which performs anti-pinch control on the closing device based on the starting current of the motor and the compensated anti-pinch threshold; wherein the first preset condition includes: the closing device is in an anti-pinch interval, and the ambient temperature is lower than a set temperature; the second preset condition includes: the first preset condition, and the duration of the closing device stopping movement exceeds a set value.

[0042] like Figure 6 , which is a schematic diagram of the structure of an embodiment of a control device 6 of the present invention, the control device 6 may be, for example, a window controller, a door controller, a sunroof controller, a domain controller, etc. The control device 6 includes: a memory 60 for storing executable instructions; and a processor 62 for executing the executable instructions stored in the memory 60 to implement the anti-pinch method of the present application.

[0043] In addition, the present application also discloses a computer-readable storage medium on which a computer program is stored. The computer program includes executable instructions. When the executable instructions are executed by a processor, the anti-pinch method of the present application is implemented.

[0044] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, controller, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0045] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An anti-pinch method for anti-pinch control of a closed device at low temperature startup, characterized in that: include: detecting a closing signal, wherein the closing signal is used to indicate closing of the closing device; According to the detected closing signal, starting a motor to drive the closing device; During the startup phase of the motor, when a first preset condition is met, a first low temperature compensation is performed on the anti-pinch threshold, and when a second preset condition is met, a second low temperature compensation is performed on the anti-pinch threshold, and the anti-pinch threshold after the second low temperature compensation is greater than the anti-pinch threshold after the first low temperature compensation; as well as Based on the starting current of the motor and the compensated anti-pinch threshold, performing anti-pinch control on the closing device; Among them, the first preset condition includes: the closing device is in the anti-pinch range, and the ambient temperature is lower than the set temperature; the second preset condition includes: the first preset condition, and the length of time the closing device stops moving exceeds the set value.

2. The anti-pinch method according to claim 1, characterized in that: After performing the first or second low temperature compensation on the anti-pinch threshold, the method further includes: When it is monitored that the starting current of the motor starts to decrease from the peak value, the compensated anti-pinch threshold is gradually reduced.

3. The anti-pinch method according to claim 2, characterized in that: The gradually reducing the anti-pinch threshold after compensation includes: Based on a predetermined gradient, the compensated anti-pinch threshold is sequentially reduced.

4. The anti-pinch method according to claim 1, characterized in that: The performing a second low temperature compensation on the anti-pinch threshold comprises: The anti-pinch threshold after the first low-temperature compensation is further subjected to low-temperature compensation.

5. The anti-pinch method according to claim 1, characterized in that: The performing a first low temperature compensation on the anti-pinch threshold comprises: Low temperature compensation is performed on the anti-pinch threshold using the ambient temperature.

6. The anti-pinch method according to claim 1, characterized in that: The closed device is used in a vehicle, and the ambient temperature is obtained by reading an air-conditioning temperature signal on a communication bus in the vehicle.

7. The anti-pinch method according to claim 1, characterized in that: The closing device includes: a sunroof, a car window, an automatic sliding door, or an automatic tailgate.

8. An anti-pinch device, used for anti-pinch control of closed equipment under low temperature startup, characterized in that: include: A detection module, used for detecting a closing signal, wherein the closing signal is used for indicating closing of the closing device; A starting module, used for starting a motor to drive a closing device according to the detected closing signal; A compensation module, used for performing a first low temperature compensation on the anti-pinch threshold value during the startup phase of the motor when a first preset condition is met, and performing a second low temperature compensation on the anti-pinch threshold value when a second preset condition is met, and the anti-pinch threshold value after the second low temperature compensation is greater than the anti-pinch threshold value after the first low temperature compensation; An acquisition module, used for acquiring the starting current of the motor; an anti-pinch module, performing anti-pinch control on the closing device based on the starting current of the motor and the compensated anti-pinch threshold; Among them, the first preset condition includes: the closing device is in the anti-pinch range, and the ambient temperature is lower than the set temperature; the second preset condition includes: the first preset condition, and the length of time the closing device stops moving exceeds the set value.

9. A control device, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; The processor is configured to execute the executable instructions to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, the computer program comprising executable instructions, and when the executable instructions are executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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