A control method, device and computer-readable medium for an electric device

Abstract

The present application discloses a control method, device and computer-readable medium for an electric device. The electric device includes a brushless motor, a current detection circuit, a pressure sensor and a linear driver. The original current signal collected by the current detection circuit and the original pressure signal collected by the pressure sensor within the current acquisition period are obtained. The original current signal and the original pressure signal are preprocessed to obtain a decision current signal and a decision pressure signal. When it is determined that a clamping event has occurred based on the decision current signal and the decision pressure signal, the target position of the linear driver is determined, 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 and the target position feedback by the linear driver periodically until the linear driver retracts to the target position. It can reduce the false judgment rate caused by a single clamping detection mode and improve the robustness of clamping judgment, achieve accurate clamping judgment and real-time high-precision retraction anti-pinch.

Description

Technical Field

[0001] This application relates to the technical field of electric devices, and specifically, to a control method, device, and computer-readable medium for an electric device. Background Art

[0002] Traditional electric sofas are adjusted in different degrees of freedom such as the backrest inclination angle and the leg support height by motor drive. However, when abnormal situations such as accidental touch of the control panel by the user, accidental entrainment of the limb / clothing into the transmission gap, or jamming of foreign objects (such as children's toys) occur, it is impossible to quickly identify and take effective anti-pinch measures, which is extremely likely to cause user pinching. Summary of the Invention

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

[0004] As the first aspect of this application, a control method for an electric device is provided, where the electric device includes a brushless motor, a current detection circuit, a pressure sensor, and a linear driver, and the method includes:

[0005] Obtain the original current signal collected by the current detection circuit and the original pressure signal collected by the pressure sensor within the current acquisition period;

[0006] Preprocess the original current signal and the original pressure signal to obtain a decision current signal and a decision pressure signal;

[0007] When it is determined that a clamping event has occurred based on the decision current signal and the decision pressure signal, determine the target position of the linear driver;

[0008] Control the brushless motor to rotate in the reverse direction, and adjust 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 retracts to the target position.

[0009] Optionally, the determination that a clamping event has occurred based on the decision current signal and the decision pressure signal includes:

[0010] Calculate the change rate of the decision current signal in the current acquisition period as the current feature, and calculate the change rate of the decision pressure signal in the current acquisition period as the pressure feature;

[0011] When the current feature exceeds the starting current threshold and the pressure feature exceeds the operating pressure threshold, it is determined that a clamping event has occurred;

[0012] When the abnormal determination condition is satisfied, a decision parameter is determined according to the current feature and the pressure feature; wherein, the abnormal determination condition includes: the current feature exceeds the operating current threshold and does not exceed the starting current threshold, and / or, the pressure feature exceeds the operating pressure threshold;

[0013] When the decision parameter exceeds the decision threshold, it is determined that a clamping event has occurred.

[0014] Optionally, the decision parameter is determined by the following formula:

[0015] ;

[0016] In formula (1), represents the decision parameter, represents a preset current weight coefficient, represents the current feature, represents the operating current threshold, represents a preset pressure weight coefficient, represents the pressure feature, represents the operating pressure threshold.

[0017] Optionally, the method further includes:

[0018] Obtain the starting sample current signal of the electric device in the starting stage, the operating sample current signal and the operating sample pressure signal of the electric device in the operating stage;

[0019] Determine the starting current threshold according to the current mean value and the current standard deviation of the starting sample current signal;

[0020] Determine the operating current threshold according to the current mean value and the current standard deviation of the operating sample current signal, and determine the operating pressure threshold according to the maximum value and the minimum value of the operating sample pressure signal.

[0021] Optionally, preprocess the original current signal and the original pressure signal to obtain a decision current signal and a decision pressure signal, including:

[0022] Perform filtering processing on the original current signal and the original pressure signal respectively to obtain a filtered current signal and a filtered pressure signal;

[0023] Perform time series delay compensation on the filtered current signal and the filtered pressure signal to obtain a calibrated current signal and a calibrated pressure signal;

[0024] 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 the decision current signal and the decision pressure signal.

[0025] Optionally, the method further includes:

[0026] 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 acquisition period are obtained.

[0027] Optionally, when it is determined that a clamping event occurs based on the decision current signal and the decision pressure signal, determining the target position of the linear driver includes:

[0028] When it is determined that a clamping event occurs based on 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 period are obtained until it is determined that a clamping event occurs based on the decision current signals and the decision pressure signals corresponding to a continuous preset number of acquisition periods;

[0029] Determine the target position of the linear driver.

[0030] As a second aspect of the present application, there is provided an electronic device, where the electronic device includes:

[0031] One or more processors;

[0032] A memory storing one or more computer programs thereon, and 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.

[0033] As a third aspect of the present application, there is provided an electric device, where the electric device includes a brushless motor, a current detection circuit, a pressure sensor, a linear driver, and the electronic device provided in the second aspect of the present application.

[0034] As a fourth aspect of the present application, there is provided a computer-readable medium storing a computer program thereon, where the computer program, when executed by a processor, implements the control method for an electric device provided in the first aspect of the present application.

[0035] The control method for an electric device provided by an embodiment of the present application can simplify the structure of the electric device, avoid wear between the carbon brush and the commutator, improve reliability, and reduce noise by using a brushless motor to replace the brushed motor in the electric device including a linear driver; 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 arranged in the electric device to obtain the original current signal collected by the current detection circuit and the original pressure signal collected by the pressure sensor within the current acquisition period, preprocess the original current signal and the original pressure signal to obtain a decision current signal and a decision pressure signal, and determine whether a clamping event occurs according to the decision current signal and the decision pressure signal, which can reduce the false judgment rate caused by the single clamping detection mode and improve the robustness of clamping determination; when it is determined that a clamping event occurs according to the decision current signal and the decision pressure signal, by performing closed-loop control of the torque and position on the brushless motor, that is, determining the target position of the linear driver, 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 feedback by the linear driver and the target position until the linear driver retracts to the target position, it can make the electric sofa retract to the normal target position and achieve high-precision retraction control; finally, accurate clamping determination and real-time high-precision anti-pinch retraction of the electric device are realized, thereby taking into account the performance requirements and cost requirements of the electric device and improving the user experience of using the electric device. Description of the Drawings

[0036] The present application will be further described below with reference to the drawings:

[0037] Figure 1 is a flowchart of an implementation manner of the control method for an electric device provided by an embodiment of the present application;

[0038] Figure 2 is a circuit schematic diagram of an implementation manner of the electronic commutator provided by an embodiment of the present application;

[0039] Figure 3 is a schematic diagram of an implementation manner of signal flow in the electric device provided by an embodiment of the present application;

[0040] Figure 4 is a flowchart of an implementation manner of determining that a clamping event occurs according to the decision current signal and the decision pressure signal provided by an embodiment of the present application;

[0041] Figure 5 is a flowchart of an implementation manner of determining a threshold provided by an embodiment of the present application;

[0042] Figure 6It is a flowchart of an implementation manner for obtaining a decision current signal and a decision pressure signal provided by an embodiment of the present application;

[0043] Figure 7 It is a flowchart of another implementation manner for obtaining a decision current signal and a decision pressure signal provided by an embodiment of the present application;

[0044] Figure 8 It is a flowchart of another implementation manner for a control method for an electric device provided by an embodiment of the present application;

[0045] Figure 9 It is a schematic diagram of a module of an implementation manner of an electronic device provided by an embodiment of the present application;

[0046] Figure 10 It is a schematic diagram of a computer-readable medium provided by an embodiment of the present application.

[0047] Description of reference numerals

[0048] 101: Processor 102: Memory

[0049] 103: I / O interface 104: Bus. Detailed implementation manners

[0050] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions throughout. Based on the embodiments in the implementation manners, it is intended to explain the present application and should not be construed as a limitation to the present application.

[0051] As used herein, the phrase "one embodiment" or "instance" or "example" means that a particular feature, structure, or characteristic described in connection with the embodiment itself can be included in at least one embodiment of the present disclosure. The appearances of the phrase "in one embodiment" in various places in the specification do not necessarily refer to the same embodiment.

[0052] The applicant of the present application has found that traditional electric sofas are adjusted in different degrees of freedom such as the inclination angle of the backrest and the height of the leg support through motor drive. However, when abnormal situations such as accidental touch of the control panel by the user, accidental entrainment of the limb / clothing into the transmission gap, or jamming of foreign objects (such as children's toys) occur, it is impossible to quickly identify and quickly take effective anti-pinch measures, which can easily cause user pinching.

[0053] In response to this, the applicant of the present application has conducted in-depth research and proposed that the reason why traditional electric sofas are extremely likely to cause pinching injuries to users is that traditional electric sofas use a single detection mode and are driven by brushed motors. A single detection mode, such as the traditional current detection mode, is easily interfered by factors such as voltage fluctuations, load fluctuations, and mechanical aging, and has a high false trigger rate. Another example is that the Hall sensor solution requires the installation of magnetic rings and independent controllers, with high hardware costs and being sensitive to mechanical structures. It is prone to misjudgment due to resistance changes during long-term use. And the control accuracy of brushed motors decreases due to carbon brush wear, making it difficult to achieve precise torque detection and rapid response, and unable to adjust the torque in real time, resulting in a risk of pinching injuries.

[0054] The applicant of the present application further proposes that by setting a current detection circuit in the electric sofa to sense the change of the working current in real time and embedding a thin-film pressure sensor at the edge of the frame of the electric sofa to directly sense the force change of the mechanical transmission components, and fusing the current data and pressure data for clamping determination, the false judgment rate caused by a single clamping detection mode can be reduced and the robustness of clamping determination can be improved. Moreover, by replacing the original brushed motor with a brushless motor, after determining that a clamping event has occurred, controlling the brushless motor to rotate in the reverse direction and adjusting the output torque of the brushless motor according to the position feedback can enable the electric sofa to retreat to the target position where both the current and pressure are at normal levels, achieving high-precision retreat control.

[0055] The applicant of the present application further proposes that due to the natural matching between the mechanical characteristics of the linear actuator and the torque control of the brushless motor, this control method is particularly applicable to electric devices including linear actuators (such as electric sofas, electric beds, car tailgates, medical beds, etc.), taking into account the performance requirements and cost requirements of electric devices.

[0056] Correspondingly, as the first aspect of the embodiments of the present application, a control method for an electric device is provided, where the electric device includes a brushless motor, a current detection circuit, a pressure sensor, and a linear actuator. As Figure 1 shown, the method may include the following steps:

[0057] Step S110, obtaining the original current signal collected by the current detection circuit and the original pressure signal collected by the pressure sensor during the current acquisition period;

[0058] Step S120, preprocessing the original current signal and the original pressure signal to obtain a decision current signal and a decision pressure signal;

[0059] Step S130, when it is determined that a clamping event has occurred according to the decision current signal and the decision pressure signal, determining the target position of the linear actuator;

[0060] Step S140: Control the brushless motor to rotate in the reverse direction, and adjust the output torque of the brushless motor according to the current position periodically feedback by the linear driver and the target position until the linear driver retracts to the target position.

[0061] 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 driver in the electric device. For example, a modular design can be adopted, that is, the brushless motor and the linear driver are independent of each other; an integrated design can also be adopted, that is, the linear driver incorporates the brushless motor as a driving unit to form an integrated design; or a linear motor can be directly adopted.

[0062] The electric device provided in the embodiments of the present application uses a brushless motor. Compared with the traditional brushed motor, the brushless motor uses an electronic commutator instead of a mechanical commutation structure, which is simpler in structure, and there is no wear between the brush and the commutator, which also improves reliability and reduces noise.

[0063] As Figure 2 shown, it is a circuit schematic diagram of an implementation manner of the electronic commutator provided in the embodiments of the present application. The electronic commutator is a three-phase full-bridge inverter circuit, and the power tube structure adopts 6 Metal-Oxide-Semiconductor Field-Effect Transistors (MOSFETs), namely Q1, Q2, Q3, Q4, Q5, and Q6. Each phase includes upper and lower bridge arms. Q1 and Q4 are the U phase, Q3 and Q6 are the V phase, and Q5 and Q2 are the W phase. The power supply Vcc powers the circuit, the bottom is grounded, and the right side is connected to the three-phase windings (U, V, W) of the brushless motor. The electronic commutator can change the direction of the winding current by controlling the on / off of the power tubes, enabling the brushless motor to operate at an appropriate speed.

[0064] Among them, the control method provided in the embodiments of the present application can be applied to controllers such as the single-chip microcomputer main control in the electric device. As Figure 3 shown, it is a schematic diagram of an implementation manner of signal flow in the electric device provided in the embodiments of the present application. The single-chip microcomputer main control drives the electronic commutator through the power tube pre-driver based on the original current signal collected by the current detection circuit and the original pressure signal collected by the pressure sensor within the current acquisition period, and then drives the brushless motor.

[0065] Among them, the acquisition period is the acquisition window, and the current detection circuit and the pressure sensor collect corresponding signals within each acquisition window. The embodiment of the present application does not specifically limit the duration of each acquisition period. For example, the acquisition window can be dynamically adjusted according to the different starting stage and running stage of the brushless motor.

[0066] Among them, the embodiment of the present application does not specifically limit how to determine the target position of the linear driver. For example, the target position can be the position corresponding to the user's preset posture, or the position where both the current and the pressure are at normal levels (in this case, for example, it can be determined according to parameters such as the current start-up and running duration of the electric device, the normal operating current, and the normal operating pressure).

[0067] The control method for an electric device provided by the embodiment of the present application can simplify the structure of the electric device, avoid the wear between the carbon brush and the commutator, improve the reliability, and reduce the noise by using a brushless motor to replace the brushed motor in the electric device including a linear driver; 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 arranged in the electric device to obtain the original current signal collected by the current detection circuit and the original pressure signal collected by the pressure sensor within the current acquisition period, preprocess the original current signal and the original pressure signal to obtain a decision current signal and a decision pressure signal, and determine whether a clamping event occurs according to the decision current signal and the decision pressure signal, which can reduce the misjudgment rate caused by the single clamping detection mode and improve the robustness of the clamping determination; in the case where it is determined that a clamping event occurs according to the decision current signal and the decision pressure signal, by performing closed-loop control of the torque and position on the brushless motor, that is, determining the target position of the linear driver, 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, it can make the electric sofa retreat to the normal target position and achieve high-precision retreat control; finally, it realizes accurate clamping determination and real-time high-precision retreat anti-pinch of the electric device, and further takes into account the performance requirements and cost requirements of the electric device and improves the user's experience of using the electric device.

[0068] It should be noted that in the embodiment of the present application, the operations performed in the case where it is determined that a clamping event occurs according to the decision current signal and the decision pressure signal are not limited to controlling the brushless motor to rotate in the reverse direction until the linear driver retreats to the target position, and may also include controlling the brushless motor to stop rotating.

[0069] The applicant of the present application further proposes that clamping determination can be performed based on the change rates of the decision current signal and the decision pressure signal within the acquisition window. Moreover, considering that the current value is usually very large during the starting stage of the brushless motor, the current during the starting stage of the brushless motor can also be identified, and clamping determination can be performed according to the different starting stage and operating stage of the brushless motor, further improving the accuracy of clamping determination.

[0070] Correspondingly, in some embodiments, as Figure 4 shown, the determination of the occurrence of a clamping event based on the decision current signal and the decision pressure signal (i.e., involved in step S130) may include the following steps:

[0071] Step S210, calculate the change rate of the decision current signal in the current acquisition period as the current feature, and calculate the change rate of the decision pressure signal in the current acquisition period as the pressure feature;

[0072] Step S220, when the current feature exceeds the starting current threshold and the pressure feature exceeds the operating pressure threshold, determine that a clamping event has occurred;

[0073] Step S230, when the abnormal determination condition is satisfied, determine the decision parameter according to the current feature and the pressure feature; wherein, the abnormal determination condition includes: the current feature exceeds the operating current threshold and does not exceed the starting current threshold, and / or, the pressure feature exceeds the operating pressure threshold;

[0074] Step S240, when the decision parameter exceeds the decision threshold, determine that a clamping event has occurred.

[0075] Among them, the embodiments of the present application do not specifically limit how to calculate the change rate of the decision current signal in the current acquisition period. For example, the derivative of the decision current signal with respect to the duration of the current acquisition period can be calculated as its change rate. The embodiments of the present application do not specifically limit how to calculate the change rate of the decision pressure signal in the current acquisition period. For example, the ratio between the change amount of the decision pressure signal and the duration of the current acquisition period can be calculated as its change rate.

[0076] It can be understood that the current value is usually very large during the starting stage of the brushless motor, and the starting current threshold is greater than the operating current threshold.

[0077] In the embodiment of the present application, when it is determined that the current feature exceeds the starting current threshold, it is recognized that the brushless motor is in the starting stage. At this time, the clamping determination focuses on the original pressure signal. That is, when the pressure feature exceeds the operating pressure threshold, it is directly determined that a clamping event has occurred, without determining whether the abnormal determination condition is satisfied based on the current feature and the pressure feature, and even less determining a decision parameter based on the current feature and the pressure feature to compare with a decision threshold to determine whether a clamping event has occurred.

[0078] In the embodiment of the present application, when it is determined that the current feature exceeds the operating current threshold and does not exceed the starting current threshold and / or the pressure feature exceeds the operating pressure threshold, it is recognized that the operation of the brushless motor is abnormal. At this time, it is further determined whether the abnormal determination condition is satisfied based on the current feature and the pressure feature, and a decision parameter is determined based on the current feature and the pressure feature to compare with a decision threshold to determine whether a clamping event has occurred.

[0079] The control method for an electric device provided by the embodiment of the present application calculates the change rate of the decision current signal in the current acquisition period as the current feature, and calculates the change rate of the decision pressure signal in the current acquisition period as the pressure feature, and makes a decision based on the current feature and the pressure feature, which can reduce the false positive rate caused by a single clamping detection mode and improve the robustness of the clamping determination and the accuracy of the clamping determination; by identifying and eliminating the unreasonable decision factor of the current signal in the starting stage of the brushless motor, the accuracy of the clamping determination is further improved.

[0080] The applicant of the present application further proposes that there are differences in the information feedback degree of the current feature and the pressure feature for the clamping event, and a weight coefficient can be designed for decision-making. Correspondingly, in some embodiments, the decision parameter is determined by the following formula:

[0081] ;

[0082] In formula (1), represents the decision parameter, represents a preset current weight coefficient, represents the current feature, represents the operating current threshold, represents a preset pressure weight coefficient, represents the pressure feature, represents the operating pressure threshold.

[0083] Among them, in the embodiment of the present application, no specific limitations are imposed on the preset current weight coefficient, the preset pressure weight coefficient, and the decision threshold. For example, they can all be obtained through a clamping experiment.

[0084] The control method for an electric device provided by the embodiments of the present application designs corresponding weight coefficients for current characteristics and pressure characteristics, reasonably considers the differences in the information feedback degrees of current characteristics and pressure characteristics regarding the clamping event, and further improves the accuracy of clamping determination.

[0085] The applicant of the present application further proposes that sample current signals and sample pressure signals at different working stages of the electric device can be collected to determine the current threshold and pressure threshold corresponding to different working stages, so as to further improve the accuracy of clamping determination. Correspondingly, in some embodiments, as Figure 5 shown, the method further includes:

[0086] Step S310, obtaining the startup sample current signal of the electric device in the startup stage, the running sample current signal and running sample pressure signal of the electric device in the running stage;

[0087] Step S320, determining the startup current threshold according to the current mean value and current standard deviation of the startup sample current signal;

[0088] Step S330, determining the running current threshold according to the current mean value and current standard deviation of the running sample current signal, and determining the running pressure threshold according to the maximum value and minimum value of the running sample pressure signal.

[0089] The applicant of the present application further proposes that there is a certain amount of noise in the original current signal and pressure signal, there may be a timing delay between them such as pressure response lag, and the rising edges may not be synchronized either, all of which may interfere with the decision result. By preprocessing the original current signal and pressure signal to eliminate these interferences, the accuracy of clamping determination can be further improved. Correspondingly, in some embodiments, as Figure 6 shown, preprocessing the original current signal and the original pressure signal to obtain a decision current signal and a decision pressure signal (i.e., those involved in step S120) may include the following steps:

[0090] Step S410, respectively performing filtering processing on the original current signal and the original pressure signal to obtain a filtered current signal and a filtered pressure signal;

[0091] Step S420, 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;

[0092] Step S430, when it is determined that the rising edges of the calibrated current signal and the calibrated pressure signal are synchronized, determining the calibrated current signal and the calibrated pressure signal as the decision current signal and the decision pressure signal.

[0093] Among them, the embodiments of the present application do not specifically limit how to filter the original current signal and the original pressure signal. For example, the original current signal can be subjected to low-pass filtering to eliminate high-frequency interference (such as Pulse Width Modulation (PWM) noise), and the original pressure signal can be subjected to median filtering or moving average processing to suppress instantaneous impact noise.

[0094] Among them, there may be various types of timing delays between the filtered current signal and the filtered pressure signal, such as mechanical inertia delay and sampling delay. There are already various implementable ways in the art for compensating the timing delay of the filtered current signal and the filtered pressure signal, and the embodiments of the present application will not elaborate here.

[0095] Among them, the embodiments of the present application do not specifically limit the synchronization of the rising edge of the calibrated current signal and the rising edge of the calibrated pressure signal. For example, this "synchronization" can include complete synchronization in time sequence or an error in time sequence that does not exceed a preset time threshold.

[0096] The control method for an electric device provided by the embodiments of the present application can eliminate the interference caused by factors such as noise and timing delay to the decision result by sequentially performing filtering processing, timing delay compensation, and identification of whether the rising edges are synchronized on the original current signal and the original pressure signal, and can also avoid unreasonable current signals and pressure signals from participating in the decision, further improving the accuracy of clamping determination.

[0097] The applicant of the present application further proposes that in the case where the rising edges of the calibrated current signal and the calibrated pressure signal are not synchronized, the original current signal and the original pressure signal in the next acquisition cycle can be obtained and the clamping determination can be performed again. Correspondingly, in some embodiments, as Figure 7 shown, the method may further include the following steps:

[0098] Step S440, when it is determined that the rising edge of the calibrated current signal is asynchronous with the rising edge of the calibrated pressure signal, obtain 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.

[0099] 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 an electric device provided by the embodiments of the present application according to the original current signal and the original pressure signal in the next acquisition cycle.

[0100] The applicant of the present application further proposes that a delay confirmation mechanism can also be adopted, that is, the reverse operation is triggered only when it is determined that a clamping event has occurred after multiple consecutive determinations. Correspondingly, in some embodiments, when it is determined that a clamping event has occurred based on the decision current signal and the decision pressure signal, the target position of the linear driver is determined (i.e., the one involved in step S130), as Figure 8 shown, it may include the following steps:

[0101] Step S131, when it is determined that a clamping event has occurred based on the decision current signal and the decision pressure signal, obtain the original current signal collected by the current detection circuit and the original pressure signal collected by the pressure sensor in the next acquisition period, until it is determined that a clamping event has occurred based on the decision current signal and the decision pressure signal corresponding to a continuous preset number of acquisition periods;

[0102] Step S132, determine the target position of the linear driver.

[0103] 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 period, it means that, based on the original current signal and the original pressure signal in the next acquisition period, the control method for the electric device provided by the embodiments of the present application is continued to be executed.

[0104] The control method for the electric device provided by the embodiments of the present application adopts a delay confirmation mechanism. When it is determined that a clamping event has occurred based on the decision current signal and the decision pressure signal corresponding to a continuous preset number of acquisition periods, the target position of the linear driver is determined, 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 periodically fed back by the linear driver and the target position until the linear driver retreats to the target position. It can further improve the accuracy of clamping determination.

[0105] As the second aspect of the embodiments of the present application, an electronic device is provided. As Figure 9 shown, the electronic device includes:

[0106] One or more processors 101;

[0107] A memory 102, on which one or more computer programs are stored. 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 the electric device provided by the first aspect of the embodiments of the present application.

[0108] The electronic device may further include one or more I / O interfaces 103, which are connected between the processor 101 and the memory 102 and configured to implement information interaction between the processor 101 and the memory 102.

[0109] 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 a random access memory (RAM, more specifically such as SDRAM, DDR, etc.), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), and a flash memory (FLASH); the I / O interface (read / write interface) is connected between the processor and the memory and can implement information interaction between the processor and the memory, including but not limited to a data bus (Bus), etc.

[0110] In some embodiments, the processor 101, the memory 102, and the I / O interface 103 are interconnected through a bus 104 and then connected to other components of the computing device.

[0111] As a third aspect of the embodiments of the present application, an electric device is provided, where the electric device includes a brushless motor, a current detection circuit, a pressure sensor, a linear driver, and the electronic device provided in the second aspect of the embodiments of the present application.

[0112] Among them, the electric device and its control method have been described in detail in the first aspect of the embodiments of the present application, so they will not be elaborated here.

[0113] As a fourth aspect of the embodiments of the present application, as Figure 10 shown, a computer-readable medium is provided, on which a computer program is stored, where the computer program, when executed by a processor, implements the control method for the electric device provided in the first aspect of the embodiments of the present application.

[0114] Those of ordinary skill in the art will understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. Accordingly, the computer program can be stored in a non-volatile computer-readable storage medium, and when the computer program is executed, the methods of any of the above embodiments can be implemented. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided in the embodiments of the present application can include non-volatile and / or volatile memories. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can 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 (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0115] The above is only the specific implementation manner 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 content described in the drawings and the above specific implementation manner. 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 includes a brushless motor, a current detection circuit, a pressure sensor, and a linear driver. The method includes: Obtaining an original current signal collected by the current detection circuit and an original pressure signal collected by the pressure sensor within the current acquisition period; Preprocessing the original current signal and the original pressure signal to obtain a decision current signal and a decision pressure signal; When it is determined that a clamping event has occurred based on the decision current signal and the decision pressure signal, determining a target position of the linear driver; 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 retracts to the target position; Wherein, determining that a clamping event has occurred based on the decision current signal and the decision pressure signal includes: Calculating a change rate of the decision current signal in the current acquisition period as a current feature, and calculating a change rate of the decision pressure signal in the current acquisition period as a pressure feature; When the current feature exceeds a starting current threshold and the pressure feature exceeds an operating pressure threshold, determining that a clamping event has occurred; When an abnormal determination condition is satisfied, determining a decision parameter based on the current feature and the pressure feature; wherein, the abnormal determination condition includes: the current feature exceeds an operating current threshold and does not exceed the starting current threshold, and / or, the pressure feature exceeds the operating pressure threshold; When the decision parameter exceeds a decision threshold, determining that a clamping event has occurred.

2. The control method for an electric device according to claim 1, wherein, The decision parameter is determined by the following formula: ； In formula (1), represents the decision parameter, represents a preset current weight coefficient, represents the current feature, represents the operating current threshold, represents a preset pressure weight coefficient, represents the pressure feature, represents the operating pressure threshold.

3. The control method for an electric device according to claim 1, wherein The method further includes: Obtaining a starting sample current signal of the electric device in the starting stage, an operating sample current signal of the electric device in the operating stage, and an operating sample pressure signal; Determining the starting current threshold according to the current mean value and current standard deviation of the starting sample current signal; Determining the operating current threshold according to the current mean value and current standard deviation of the operating sample current signal, and determining the operating pressure threshold according to the maximum value and minimum value of the operating sample pressure signal.

4. The control method for an electric device according to claim 1, wherein, Preprocessing the original current signal and the original pressure signal to obtain a decision current signal and a decision pressure signal, including: 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 time-sequence delay compensation on the filtered current signal and the filtered pressure signal to obtain a calibrated current signal and a calibrated pressure signal; When it is determined that the rising edge of the calibrated current signal is synchronized with the rising edge of the calibrated pressure signal, determining the calibrated current signal and the calibrated pressure signal as the decision current signal and the decision pressure signal.

5. The control method for an electric device according to claim 4, characterized in that, The method further includes: When it is determined that the rising edge of the calibrated current signal is asynchronous with the rising edge of the calibrated pressure signal, obtaining an original current signal collected by the current detection circuit and an original pressure signal collected by the pressure sensor in the next acquisition period.

6. The control method for an electric device according to any one of claims 1-5, characterized in that, When it is determined that a clamping event has occurred based on the decision current signal and the decision pressure signal, determining the target position of the linear driver includes: When it is determined that a clamping event has occurred based on the decision current signal and the decision 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 acquisition period until it is determined that a clamping event has occurred based on the decision current signals and decision pressure signals corresponding to a continuous preset number of acquisition periods; Determining the target position of the linear driver.

7. An electronic device, characterized in that, The electronic device includes: One or more processors; A memory having stored thereon one or more computer programs, which when executed by the one or more processors cause the one or more processors to implement the control method for an electric device according to any one of claims 1-6.

8. 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 7.

9. A computer-readable medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the control method for an electric device according to any one of claims 1-6.

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