Control method and equipment for electric equipment and computer readable medium

Abstract

The invention discloses a control method and device for electric equipment and a computer readable medium, and the electric equipment comprises a brushless motor, a current detection circuit, a pressure sensor and a linear driver, and obtains an original current signal collected by the current detection circuit and an original pressure signal collected by the pressure sensor in a current collection period; and preprocessing the original current signal and the original pressure signal to obtain a decision current signal and a decision pressure signal, determining a target position of the linear driver under the condition of determining that a clamping event occurs according to the decision current signal and the decision pressure signal, and controlling the brushless motor to rotate reversely, and the output torque of the brushless motor is adjusted according to the current position periodically fed back by the linear driver and the target position until the linear driver returns to the target position. The misjudgment rate caused by a single clamping detection mode can be reduced, the clamping judgment robustness is improved, and accurate clamping judgment and real-time high-precision back-off clamping prevention are achieved.

Description

Technical Field

[0001] The present application relates to the technical field of electric devices, and in particular, to a control method, device and computer-readable medium for electric devices. Background Art

[0002] Traditional electric sofas use motors to adjust backrest angles, leg support heights, and other degrees of freedom. However, when users accidentally touch the control panel, limbs or clothing are accidentally caught in the transmission gap, or foreign objects (such as children's toys) are blocked, it is impossible to quickly identify and take effective anti-pinch measures, which can easily cause users to be pinched. Summary of the invention

[0003] The present application aims to solve one of the technical problems in the related art to a certain extent. To this end, the present application provides a control method, a device and a computer readable medium for an electric device.

[0004] As a first aspect of the present application, a control method for an electric device is provided, wherein the electric device includes a brushless motor, a current detection circuit, a pressure sensor and a linear driver, and the method includes: Acquire the original current signal collected by the current detection circuit and the original pressure signal collected by the pressure sensor in the current collection cycle; Preprocessing the original current signal and the original pressure signal to obtain a decision current signal and a decision pressure signal; In the case where a clamping event is determined to have occurred according to the decision current signal and the decision pressure signal, determining a target position of the linear actuator; The brushless motor is controlled to rotate in the reverse direction, and the output torque of the brushless motor is adjusted according to the current position of the linear drive periodically fed back and the target position until the linear drive retreats to the target position.

[0005] Optionally, determining that a clamping event occurs according to the decision current signal and the decision pressure signal comprises: Calculating a change rate of the decision current signal in a current acquisition cycle as a current feature, and calculating a change rate of the decision pressure signal in a current acquisition cycle as a pressure feature; determining that a clamping event occurs when the current characteristic exceeds a starting current threshold and the pressure characteristic exceeds an operating pressure threshold; When the abnormality determination condition is met, a decision parameter is determined according to the current characteristic and the pressure characteristic; wherein the abnormality determination condition includes: the current characteristic exceeds the operating current threshold and does not exceed the starting current threshold, and / or the pressure characteristic exceeds the operating pressure threshold; In case the decision parameter exceeds the decision threshold, it is determined that a clamping event occurs.

[0006] Optionally, the decision parameter is determined by the following formula: ; In formula (1), represents the decision parameter, Indicates the preset current weight coefficient, represents the current characteristics, represents the operating current threshold, Represents the preset pressure weight coefficient, represents the pressure characteristic, Indicates the operating pressure threshold.

[0007] Optionally, the method further comprises: Acquire a startup sample current signal of the electric device in a startup phase, and an operation sample current signal and an operation sample pressure signal of the electric device in an operation phase; Determining the starting current threshold value according to the current mean and current standard deviation of the starting sample current signal; The operation current threshold is determined according to the current mean and the current standard deviation of the operation sample current signal, and the operation pressure threshold is determined according to the maximum and the minimum values ​​of the operation sample pressure signal.

[0008] Optionally, preprocessing the original current signal and the original pressure signal to obtain a decision current signal and a decision pressure signal includes: Performing filtering processing on the original current signal and the original pressure signal respectively to obtain a filtered current signal and a filtered pressure signal; Performing timing delay compensation on the filtered current signal and the filtered pressure signal to obtain a calibrated current signal and a calibrated pressure signal; In the case where it is determined that the rising edge of the calibration current signal is synchronized with the rising edge of the calibration pressure signal, the calibration current signal and the calibration pressure signal are determined as a decision current signal and a decision pressure signal.

[0009] Optionally, the method further comprises: When it is determined that the rising edge of the calibration current signal is asynchronous with the rising edge of the calibration pressure signal, the original current signal collected by the current detection circuit and the original pressure signal collected by the pressure sensor in the next collection cycle are acquired.

[0010] Optionally, when it is determined according to the decision current signal and the decision pressure signal that a clamping event occurs, determining a target position of the linear actuator comprises: When it is determined that a clamping event has occurred according to the decision current signal and the decision pressure signal, the original current signal collected by the current detection circuit and the original pressure signal collected by the pressure sensor in the next acquisition cycle are obtained until the occurrence of a clamping event is determined according to the decision current signal and the decision pressure signal corresponding to a preset number of acquisition cycles; A target position of the linear drive is determined.

[0011] As a second aspect of the present application, an electronic device is provided, wherein the electronic device includes: one or more processors; A memory having one or more computer programs stored thereon, when the one or more computer programs are executed by the one or more processors, the one or more processors implement the control method for an electric device provided in the first aspect of the present application.

[0012] As a third aspect of the present application, an electric device is provided, wherein the electric device includes a brushless motor, a current detection circuit, a pressure sensor, a linear drive and the electronic device provided in the second aspect of the present application.

[0013] As a fourth aspect of the present application, a computer-readable medium is provided, on which a computer program is stored, wherein when the computer program is executed by a processor, the control method for an electric device provided in the first aspect of the present application is implemented.

[0014] The control method for an electric device provided in the embodiment of the present application can simplify the structure of the electric device, avoid wear between the brush and the commutator, improve reliability, and reduce noise by using a brushless motor instead of a brush motor in the electric device including a linear drive; by using a multi-sensor data fusion detection method to replace the traditional single detection mode, a current detection circuit and a pressure sensor are set in the electric device, the original current signal collected by the current detection circuit and the original pressure signal collected by the pressure sensor in the current collection cycle are obtained, the original current signal and the original pressure signal are pre-processed to obtain a decision current signal and a decision pressure signal, and whether a clamping event occurs is determined according to the decision current signal and the decision pressure signal, which can reduce the single The misjudgment rate caused by the clamping detection mode is improved and the robustness of the clamping judgment is improved; when a clamping event is determined according to the decision current signal and the decision pressure signal, the brushless motor is controlled in a closed-loop manner through torque and position, that is, the target position of the linear drive is determined, the brushless motor is controlled to rotate in the opposite direction, and the output torque of the brushless motor is adjusted according to the current position of the linear drive periodic feedback and the target position until the linear drive retracts to the target position, so that the electric sofa can retract to the normal target position and realize high-precision retraction control; finally, accurate clamping judgment and real-time high-precision retraction anti-clamping of the electric device are realized, thereby taking into account the performance requirements and cost requirements of the electric device and improving the user's experience of using the electric device. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present application is further described below in conjunction with the accompanying drawings: Figure 1 is a flow chart of an implementation method of a control method for an electric device provided in an embodiment of the present application; Figure 2 is a circuit diagram of an implementation of an electronic commutator provided in an embodiment of the present application; Figure 3 It is a schematic diagram of an implementation method of signal flow in an electric device provided in an embodiment of the present application; Figure 4 It is a flow chart of an implementation method of determining the occurrence of a clamping event according to a decision current signal and a decision pressure signal provided in an embodiment of the present application; Figure 5 This is a flowchart of an implementation method of determining a threshold value provided in an embodiment of the present application; Figure 6 This is a flow chart of an implementation method of obtaining a decision current signal and a decision pressure signal provided in an embodiment of the present application; Figure 7 It is a flow chart of another implementation method of obtaining a decision current signal and a decision pressure signal provided in an embodiment of the present application; Figure 8 is a flow chart of another implementation of a control method for an electric device provided in an embodiment of the present application; Fig. 9 It is a module schematic diagram of an implementation mode of an electronic device provided in an embodiment of the present application; Fig.10 It is a schematic diagram of a computer-readable medium provided in an embodiment of the present application.

[0016] Description of Reference Numerals 101: Processor 102: Memory 103: I / O interface 104: bus. DETAILED DESCRIPTION

[0017] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments based on the embodiments are intended to be used to explain the present application and cannot be understood as limiting the present application.

[0018] References to "one embodiment" or "an example" or "an example" in this specification mean that a particular feature, structure, or characteristic described in conjunction with the embodiment itself may be included in at least one embodiment disclosed in the present application. The appearance of the phrase "in one embodiment" in various places in the specification does not necessarily refer to the same embodiment.

[0019] The applicant of this application has found that conventional electric sofas use motor drive to adjust different degrees of freedom such as backrest inclination and leg support height. However, when abnormal situations occur, such as users accidentally touching the control panel, limbs or clothing accidentally getting caught in the transmission gap, or foreign objects (such as children's toys) getting stuck, it is impossible to quickly identify and take effective anti-pinch measures, which can easily cause users to get pinched.

[0020] In this regard, the applicant of this application conducted in-depth research and proposed that the reason why traditional electric sofas are very easy to cause users to be pinched is because traditional electric sofas use a single detection mode and are driven by brushed motors. Single detection modes, such as traditional current detection modes, are easily interfered by factors such as voltage fluctuations, load fluctuations, and mechanical aging, and have a high false trigger rate. For example, the Hall sensor solution requires the installation of magnetic rings and independent controllers, which has high hardware costs and is sensitive to mechanical structures. Long-term use is prone to misjudgment due to changes in resistance. The control accuracy of brushed motors decreases due to the wear of carbon brushes, making it difficult to achieve accurate torque detection and rapid response, and it is impossible to adjust the torque in real time, leading to the risk of pinching.

[0021] The applicant of this application further proposed that by setting a current detection circuit in the electric sofa to sense the changes in the working current in real time and embedding a thin film pressure sensor on the edge of the frame of the electric sofa to directly sense the force changes of the mechanical transmission components, the current data and pressure data are integrated to make clamping judgments, thereby reducing the misjudgment rate caused by a single clamping detection mode and improving the robustness of the clamping judgment. In addition, by replacing the original brushed motor with a brushless motor, after determining that a clamping event has occurred, the brushless motor is controlled to rotate in the opposite direction and the output torque of the brushless motor is adjusted according to position feedback, so that the electric sofa can be retracted to the target position where the current and pressure are at normal levels, thereby achieving high-precision retraction control.

[0022] The applicant of this application further proposed that due to the natural match between the mechanical characteristics of the linear drive and the torque control of the brushless motor, this control method is particularly suitable for electric equipment that includes a linear drive (such as electric sofas, electric beds, car tailgates, medical beds, etc.), taking into account both the performance requirements and cost requirements of the electric equipment.

[0023] Accordingly, as a first aspect of an embodiment of the present application, a control method for an electric device is provided, wherein the electric device includes a brushless motor, a current detection circuit, a pressure sensor and a linear driver, such as Figure 1 As shown, the method may include the following steps: Step S110, acquiring the original current signal collected by the current detection circuit and the original pressure signal collected by the pressure sensor in the current collection cycle; Step S120, preprocessing the original current signal and the original pressure signal to obtain a decision current signal and a decision pressure signal; Step S130, determining a target position of the linear actuator when a clamping event is determined to have occurred according to the decision current signal and the decision pressure signal; Step S140 , controlling the brushless motor to rotate in the reverse direction, and adjusting the output torque of the brushless motor according to the current position periodically fed back by the linear driver and the target position, until the linear driver retreats to the target position.

[0024] Among them, the types of electric devices provided in the embodiments of the present application may include traditional electric devices and intelligent electric devices. It should be noted that the embodiments of the present application do not specifically limit the relationship between the brushless motor and the linear drive in the electric device. For example, a modular design may be adopted, that is, the brushless motor and the linear drive are independent of each other; an integrated design may also be adopted, that is, the linear drive has a built-in brushless motor as a drive unit to form an integrated design; or a linear motor may be directly adopted.

[0025] The electric device provided in the embodiment of the present application uses a brushless motor. Compared with a traditional brushed motor, a brushless motor uses an electronic commutator instead of a mechanical commutation structure, is simpler in structure, and eliminates wear between the brush and the commutator, thereby improving reliability and reducing noise.

[0026] like Figure 2 As shown, it is a circuit diagram of an implementation method of the electronic commutator provided in the embodiment of the present application. The electronic commutator is a three-phase full-bridge inverter circuit. The power tube structure adopts 6 metal-oxide-semiconductor field-effect transistors (MOSFET), namely Q1, Q2, Q3, Q4, Q5 and Q6. Each phase includes an upper and lower bridge arm. Q1 and Q4 are U phases, Q3 and Q6 are V phases, and Q5 and Q2 are W phases. The power supply Vcc supplies power to the circuit, the bottom is grounded, and the three-phase winding (U, V, W) of the brushless motor is connected on the right side. The electronic commutator changes the direction of the winding current by controlling the on and off of the power tube, so that the brushless motor can run at a suitable speed.

[0027] The control method provided in the embodiment of the present application can be applied to controllers such as single-chip microcomputer master control in electric equipment. Figure 3 As shown, it is a schematic diagram of an implementation method of signal flow in the electric device provided in an embodiment of the present application. The single-chip main control drives the electronic commutator through the front stage of the power tube based on the original current signal collected by the current detection circuit and the original pressure signal collected by the pressure sensor in the current collection cycle, thereby driving the brushless motor.

[0028] The acquisition cycle is the acquisition window, and the current detection circuit and the pressure sensor acquire corresponding signals in each acquisition window. The embodiment of the present application does not specifically limit the duration of each acquisition cycle. For example, the acquisition window can be dynamically adjusted according to the different startup and operation stages of the brushless motor.

[0029] Among them, the embodiment of the present application does not make any specific limitation on how to determine the target position of the linear actuator. For example, the target position can be a position corresponding to a preset posture of the user, or a position where both the current and pressure are at normal levels (in this case, it can be determined based on parameters such as the current startup and running time of the electric equipment, and the normal operating current, and the normal operating pressure).

[0030] The control method for an electric device provided in the embodiment of the present application can simplify the structure of the electric device, avoid wear between the brush and the commutator, improve reliability, and reduce noise by using a brushless motor instead of a brush motor in the electric device including a linear drive; by using a multi-sensor data fusion detection method to replace the traditional single detection mode, a current detection circuit and a pressure sensor are set in the electric device, the original current signal collected by the current detection circuit and the original pressure signal collected by the pressure sensor in the current collection cycle are obtained, the original current signal and the original pressure signal are pre-processed to obtain a decision current signal and a decision pressure signal, and whether a clamping event occurs is determined according to the decision current signal and the decision pressure signal, which can reduce the single The misjudgment rate caused by the clamping detection mode is improved and the robustness of the clamping judgment is improved; when a clamping event is determined according to the decision current signal and the decision pressure signal, the brushless motor is controlled in a closed-loop manner through torque and position, that is, the target position of the linear drive is determined, the brushless motor is controlled to rotate in the opposite direction, and the output torque of the brushless motor is adjusted according to the current position of the linear drive periodic feedback and the target position until the linear drive retracts to the target position, so that the electric sofa can retract to the normal target position and realize high-precision retraction control; finally, accurate clamping judgment and real-time high-precision retraction anti-clamping of the electric device are realized, thereby taking into account the performance requirements and cost requirements of the electric device and improving the user's experience of using the electric device.

[0031] It should be noted that in the embodiment of the present application, the operation performed when a clamping event is determined to have occurred based on the decision current signal and the decision pressure signal is not limited to controlling the brushless motor to rotate in the opposite direction until the linear drive returns to the target position, but may also include controlling the brushless motor to stop rotating.

[0032] The applicant of this application further proposed that clamping judgment can be made based on the change rate of the decision current signal and the decision pressure signal within the acquisition window, and, considering that the current value in the starting phase of the brushless motor is usually very large, the current in the starting phase of the brushless motor can also be identified, and clamping judgment can be made according to the differences between the starting phase and the operating phase of the brushless motor, thereby further improving the accuracy of the clamping judgment.

[0033] Accordingly, in some embodiments, Figure 4 As shown, the determination of the occurrence of a clamping event (ie, involved in step S130 ) according to the decision current signal and the decision pressure signal may include the following steps: Step S210, calculating the change rate of the decision current signal in the current acquisition cycle as a current feature, and calculating the change rate of the decision pressure signal in the current acquisition cycle as a pressure feature; Step S220, determining that a clamping event occurs when the current characteristic exceeds a starting current threshold and the pressure characteristic exceeds an operating pressure threshold; Step S230, when the abnormality determination condition is met, determining a decision parameter according to the current characteristic and the pressure characteristic; wherein the abnormality determination condition includes: the current characteristic exceeds the operating current threshold and does not exceed the starting current threshold, and / or the pressure characteristic exceeds the operating pressure threshold; Step S240: When the decision parameter exceeds the decision threshold, it is determined that a clamping event occurs.

[0034] The embodiment of the present application does not specifically limit how to calculate the change rate of the decision current signal in the current acquisition cycle. For example, the derivative of the decision current signal with respect to the duration of the current acquisition cycle can be calculated. The present application embodiment does not specifically limit how to calculate the change rate of the decision pressure signal in the current acquisition cycle. For example, the ratio between the change amount of the decision pressure signal and the duration of the current acquisition cycle can be calculated. as its rate of change.

[0035] It is understandable that the current value of the brushless motor is usually very large during the starting phase, and the starting current threshold is greater than the running current threshold.

[0036] In the embodiment of the present application, when it is determined that the current characteristic exceeds the starting current threshold, it is recognized that the brushless motor is in the starting stage. At this time, the focus is on clamping judgment based on the original pressure signal, that is, when the pressure characteristic exceeds the operating pressure threshold, it is directly determined that a clamping event has occurred. There is no need to judge whether the abnormal judgment conditions are met based on the current characteristics and the pressure characteristics, and there is no need to determine the decision parameters based on the current characteristics and the pressure characteristics to compare with the decision threshold to determine whether a clamping event has occurred.

[0037] In an embodiment of the present application, when it is determined that the current characteristic exceeds the operating current threshold and does not exceed the starting current threshold and / or the pressure characteristic exceeds the operating pressure threshold, it is recognized that an abnormality has occurred in the operation of the brushless motor. At this time, it is further determined whether the abnormality determination conditions are met based on the current characteristics and the pressure characteristics, and a decision parameter is determined based on the current characteristics and the pressure characteristics to compare with the decision threshold to determine whether a clamping event occurs.

[0038] The control method for electric equipment provided in the embodiment of the present application calculates the change rate of the decision current signal in the current acquisition cycle as the current feature, and calculates the change rate of the decision pressure signal in the current acquisition cycle as the pressure feature, and makes decisions based on the current feature and the pressure feature. This can reduce the misjudgment rate caused by a single clamping detection mode, improve the robustness of the clamping judgment, and improve the accuracy of the clamping judgment; by identifying and eliminating the unreasonable decision factor of the current signal in the startup phase of the brushless motor, the accuracy of the clamping judgment is further improved.

[0039] The applicant of the present application further proposes that there is a difference in the degree of information feedback on the clamping event between the current feature and the pressure feature, and a weight coefficient can be designed to make a decision. Accordingly, in some embodiments, the decision parameter is determined by the following formula: ; In formula (1), represents the decision parameter, Indicates the preset current weight coefficient, represents the current characteristics, represents the operating current threshold, Represents the preset pressure weight coefficient, represents the pressure characteristic, Indicates the operating pressure threshold.

[0040] Among them, the embodiments of the present application do not make specific limitations on the preset current weight coefficient, the preset pressure weight coefficient and the decision threshold. For example, they can all be obtained through clamping experiments.

[0041] The control method for electric equipment provided in the embodiment of the present application designs corresponding weight coefficients for current characteristics and pressure characteristics, reasonably considers the difference in the degree of information feedback between current characteristics and pressure characteristics for clamping events, and further improves the accuracy of clamping judgment.

[0042] The applicant of the present application further proposes that sample current signals and sample pressure signals of the electric device at different working stages can be collected to determine the current threshold and pressure threshold corresponding to the different working stages, so as to further improve the accuracy of the clamping determination. Figure 5 As shown, the method also includes: Step S310, acquiring a startup sample current signal of the electric device in a startup phase, an operation sample current signal and an operation sample pressure signal of the electric device in an operation phase; Step S320, determining the starting current threshold value according to the current mean and current standard deviation of the starting sample current signal; Step S330 , determining the operating current threshold value according to the current mean value and the current standard deviation of the operating sample current signal, and determining the operating pressure threshold value according to the maximum value and the minimum value of the operating sample pressure signal.

[0043] The applicant of the present application further proposes that the original current signal and the pressure signal have certain noise, there may be timing delays between them, such as pressure response lag, and the rising edges may not be synchronized, all of which may interfere with the decision results. By preprocessing the original current signal and the pressure signal to eliminate these interferences, the accuracy of the clamping judgment can be further improved. Accordingly, in some embodiments, such as Figure 6 As shown, preprocessing the original current signal and the original pressure signal to obtain a decision current signal and a decision pressure signal (ie, those involved in step S120) may include the following steps: Step S410, filtering the original current signal and the original pressure signal respectively to obtain a filtered current signal and a filtered pressure signal; Step S420, performing timing delay compensation on the filtered current signal and the filtered pressure signal to obtain a calibration current signal and a calibration pressure signal; Step S430 : when it is determined that the rising edge of the calibration current signal is synchronized with the rising edge of the calibration pressure signal, the calibration current signal and the calibration pressure signal are determined as a decision current signal and a decision pressure signal.

[0044] Among them, the embodiments of the present application do not make any specific limitations on how to filter the original current signal and the original pressure signal. For example, the original current signal can be low-pass filtered to eliminate high-frequency interference (such as pulse width modulation (PWM) noise), and the original pressure signal can be median filtered or sliding averaged to suppress instantaneous impact noise.

[0045] Among them, there may be various types of timing delays such as mechanical inertia delay and sampling delay between the filtered current signal and the filtered pressure signal. There are many possible implementation methods in the art for compensating the timing delay of the filtered current signal and the filtered pressure signal, which will not be elaborated in the embodiments of the present application.

[0046] Among them, the embodiment of the present application does not make any specific limitation on the synchronization of the rising edge of the calibration current signal and the rising edge of the calibration pressure signal. For example, the "synchronization" can include complete synchronization in timing, or the timing error does not exceed a preset time threshold.

[0047] The control method for electric equipment provided in the embodiment of the present application can eliminate the interference of factors such as noise and timing delay on the decision-making results by filtering the original current signal and the original pressure signal in sequence, compensating for the timing delay, and identifying whether the rising edge is synchronized. It can also avoid unreasonable current signals and pressure signals from participating in the decision-making, thereby further improving the accuracy of clamping judgment.

[0048] The applicant of the present application further proposes that, if the rising edges of the calibration current signal and the calibration pressure signal are not synchronized, the original current signal and the original pressure signal of the next acquisition cycle can be obtained to re-carry out the clamping determination. Figure 7 As shown, the method may further include the following steps: Step S440, when it is determined that the rising edge of the calibration current signal is asynchronous with the rising edge of the calibration pressure signal, acquiring the original current signal collected by the current detection circuit and the original pressure signal collected by the pressure sensor in the next collection cycle.

[0049] Among them, it can be understood that obtaining the original current signal collected by the current detection circuit and the original pressure signal collected by the pressure sensor in the next acquisition cycle means continuing to execute the control method for the electric equipment provided in the embodiment of the present application based on the original current signal and the original pressure signal in the next acquisition cycle.

[0050] The applicant of the present application further proposes that a delayed confirmation mechanism may also be adopted, that is, the retraction operation is triggered only when the clamping event is determined to have occurred for multiple consecutive times. Accordingly, in some embodiments, when the clamping event is determined to have occurred according to the decision current signal and the decision pressure signal, the target position of the linear actuator (i.e., the one involved in step S130) is determined, such as Figure 8 As shown, the following steps may be included: Step S131, when it is determined that a clamping event occurs according to the decision current signal and the decision pressure signal, obtaining the original current signal collected by the current detection circuit and the original pressure signal collected by the pressure sensor in the next acquisition cycle, until the occurrence of a clamping event is determined according to the decision current signal and the decision pressure signal corresponding to a preset number of consecutive acquisition cycles; Step S132, determining the target position of the linear actuator.

[0051] Among them, it can be understood that after obtaining the original current signal collected by the current detection circuit and the original pressure signal collected by the pressure sensor in the next acquisition cycle, it means that the control method for the electric equipment provided in the embodiment of the present application continues to be executed according to the original current signal and the original pressure signal in the next acquisition cycle.

[0052] The control method for electric equipment provided in the embodiment of the present application adopts a delayed confirmation mechanism, and only when the clamping event is determined according to the decision current signal and decision pressure signal corresponding to a preset number of consecutive acquisition cycles, the target position of the linear drive is determined, the brushless motor is controlled to rotate in the opposite direction, and the output torque of the brushless motor is adjusted according to the current position of the linear drive cycle feedback and the target position until the linear drive retreats to the target position. The accuracy of clamping determination can be further improved.

[0053] As a second aspect of the embodiments of the present application, an electronic device is provided, wherein: Fig. 9 As shown, the electronic device includes: One or more processors 101; The memory 102 stores one or more computer programs. When the one or more computer programs are executed by the one or more processors 101, the one or more processors 101 implement the control method for an electric device provided in the first aspect of the embodiment of the present application.

[0054] The electronic device may further include one or more I / O interfaces 103 connected between the processor 101 and the memory 102 and configured to implement information interaction between the processor 101 and the memory 102 .

[0055] Among them, the processor 101 is a device with data processing capabilities, including but not limited to a central processing unit (CPU), etc.; the memory 102 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory (FLASH); the I / O interface (read-write interface) is connected between the processor and the memory, and can realize information exchange between the processor and the memory, including but not limited to a data bus (Bus), etc.

[0056] In some embodiments, the processor 101 , the memory 102 , and the I / O interface 103 are connected to each other via a bus 104 , and further connected to other components of the computing device.

[0057] As a third aspect of an embodiment of the present application, an electric device is provided, wherein the electric device includes a brushless motor, a current detection circuit, a pressure sensor, a linear drive, and the electronic device provided by the second aspect of the embodiment of the present application.

[0058] Among them, the electric equipment and its control method have been described in detail in the first aspect of the embodiment of the present application, so they will not be repeated here.

[0059] As a fourth aspect of the embodiment of the present application, Fig.10 As shown, a computer-readable medium is provided, on which a computer program is stored, wherein when the computer program is executed by a processor, the control method for an electric device provided in the first aspect of an embodiment of the present application is implemented.

[0060] It will be understood by those skilled in the art that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. Accordingly, the computer program can be stored in a non-volatile computer-readable storage medium, and the computer program can implement the method of any of the above-mentioned embodiments when executed. Among them, any reference to memory, storage, database or other media used in the embodiments provided in the embodiments of the present application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0061] The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Those skilled in the art should understand that the present application includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modification that does not deviate from the functional and structural principles of the present application will be included in the scope of the claims.

Claims

1. A control method for an electric device, characterized in that: The electric device comprises a brushless motor, a current detection circuit, a pressure sensor and a linear driver, and the method comprises: Acquire the original current signal collected by the current detection circuit and the original pressure signal collected by the pressure sensor in the current collection cycle; Preprocessing the original current signal and the original pressure signal to obtain a decision current signal and a decision pressure signal; In the case where a clamping event is determined to have occurred according to the decision current signal and the decision pressure signal, determining a target position of the linear actuator; The brushless motor is controlled to rotate in the reverse direction, and the output torque of the brushless motor is adjusted according to the current position of the linear drive periodically fed back and the target position until the linear drive retreats to the target position.

2. The control method for electric equipment according to claim 1, characterized in that: Determining the occurrence of a clamping event according to the decision current signal and the decision pressure signal includes: Calculating the change rate of the decision current signal in the current acquisition cycle as the current feature, and calculating the change rate of the decision pressure signal in the current acquisition cycle as the pressure feature; determining that a clamping event occurs when the current characteristic exceeds a starting current threshold and the pressure characteristic exceeds an operating pressure threshold; When the abnormality determination condition is met, a decision parameter is determined according to the current characteristic and the pressure characteristic; wherein the abnormality determination condition includes: the current characteristic exceeds the operating current threshold and does not exceed the starting current threshold, and / or the pressure characteristic exceeds the operating pressure threshold; In case the decision parameter exceeds the decision threshold, it is determined that a clamping event occurs.

3. The control method for electric equipment according to claim 2, characterized in that: The decision parameters are determined by the following formula: ； In formula (1), represents the decision parameter, Indicates the preset current weight coefficient, represents the current characteristics, represents the operating current threshold, Indicates the preset pressure weight coefficient, represents the pressure characteristic, Indicates the operating pressure threshold.

4. The control method for electric equipment according to claim 2, characterized in that: The method further comprises: Acquire a startup sample current signal of the electric device in a startup phase, and an operation sample current signal and an operation sample pressure signal of the electric device in an operation phase; Determining the starting current threshold value according to the current mean and current standard deviation of the starting sample current signal; The operation current threshold is determined according to the current mean and the current standard deviation of the operation sample current signal, and the operation pressure threshold is determined according to the maximum and the minimum values ​​of the operation sample pressure signal.

5. The control method for electric equipment according to claim 1, characterized in that: Preprocessing the original current signal and the original pressure signal to obtain a decision current signal and a decision pressure signal includes: Performing filtering processing on the original current signal and the original pressure signal respectively to obtain a filtered current signal and a filtered pressure signal; Performing timing delay compensation on the filtered current signal and the filtered pressure signal to obtain a calibrated current signal and a calibrated pressure signal; In the case where it is determined that the rising edge of the calibration current signal is synchronized with the rising edge of the calibration pressure signal, the calibration current signal and the calibration pressure signal are determined as a decision current signal and a decision pressure signal.

6. The control method for electric equipment according to claim 5, characterized in that: The method further comprises: When it is determined that the rising edge of the calibration current signal is asynchronous with the rising edge of the calibration pressure signal, the original current signal collected by the current detection circuit and the original pressure signal collected by the pressure sensor in the next collection cycle are acquired.

7. The control method for electric equipment according to any one of claims 1 to 6, characterized in that: The step of determining a target position of the linear actuator when a clamping event is determined to have occurred according to the decision current signal and the decision pressure signal comprises: When it is determined that a clamping event has occurred according to the decision current signal and the decision pressure signal, the original current signal collected by the current detection circuit and the original pressure signal collected by the pressure sensor in the next acquisition cycle are obtained until the occurrence of a clamping event is determined according to the decision current signal and the decision pressure signal corresponding to a preset number of acquisition cycles; A target position of the linear drive is determined.

8. An electronic device, characterized in that: The electronic device comprises: one or more processors; A memory having one or more computer programs stored thereon, wherein when the one or more computer programs are executed by the one or more processors, the one or more processors implement the control method for an electric device according to any one of claims 1-7.

9. An electric device, characterized in that: The electric device includes a brushless motor, a current detection circuit, a pressure sensor, a linear driver, and the electronic device according to claim 8.

10. A computer readable medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method for an electric device according to any one of claims 1 to 7 is implemented.

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