Electric suction door anti-pinch method and device, computer equipment and storage medium

Abstract

The invention discloses an anti-pinch method and device for an electric suction door, computer equipment and a storage medium, relates to the technical field of vehicle control, and aims to solve the problems that a suction lock switch cannot be switched off in time after a hand is pinched and the anti-pinch effect is poor in the prior art. The method comprises the following steps: controlling a pull-in motor to execute first-stage pull-in; a braking process is executed on the suction motor, and the braking duration is obtained; and in response to the situation that the braking duration reaches the preset braking duration, the suction motor is controlled to execute second-stage suction.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to an electric suction door anti-pinch method, device, computer equipment and storage medium. Background Art

[0002] The existing E-latch technology means that when the electric door is in a semi-locked state, the actuator drives the motor to pull the electric door from the semi-locked state to the fully locked state, so that the door can be closed quietly. During the motor pull-in process, in order to ensure that the pull-in can be successful under various working conditions, a large pull-in force of more than 800 Newtons is usually set. If the fingers are accidentally clamped during the motor pull-in process, serious personal injury may occur.

[0003] To this end, the related art proposes to use sensors or cameras to sense whether there is a target object between the electric suction door and the door frame of the electric suction door; if there is a target object, the suction lock switch of the electric suction door is controlled to be in a disconnected state within a preset time period. However, since the sensing range and sensitivity of the sensing equipment are limited, and the travel and time of the electric suction door are short, it may not be possible to accurately sense the presence of the human body in all cases, especially when sensing small objects such as fingers, resulting in the failure to disconnect the suction lock switch in time after the hand is pinched, and the anti-pinch effect is not good. Summary of the invention

[0004] Based on this, a method, device, computer equipment and storage medium for preventing pinching of electric suction doors are provided to solve the problem in the related art that the suction lock switch cannot be disconnected in time after pinching the hand, resulting in poor anti-pinch effect.

[0005] In a first aspect, the present application provides an anti-pinch method for an electric suction door, the method comprising:

[0006] In response to the electric suction door being in a semi-locked state, controlling the suction motor to perform stage suction, wherein the execution stage suction at least includes sequentially performing first stage suction and second stage suction;

[0007] After the first stage of pull-in is performed, the method further includes:

[0008] Execute a braking process on the pull-in motor and obtain the braking duration;

[0009] In response to the braking time reaching a preset braking time, the suction motor is controlled to perform the second stage suction.

[0010] In some embodiments, the performing of the first stage of pull-in further includes:

[0011] Acquire a first current signal of the pull-in motor;

[0012] Calculating a first clamping force corresponding to the electric suction door according to the first current signal;

[0013] In response to the first clamping force reaching a first preset threshold, a braking process is performed on the suction motor.

[0014] In some embodiments, calculating the first clamping force corresponding to the electric suction door according to the first current signal includes:

[0015] Preprocessing the first current signal to obtain the number of current ripples;

[0016] Determining the number of rotations of the pull-in motor according to the number of current ripples;

[0017] The rotation speed and acceleration of the suction motor are calculated according to the number of rotations of the suction motor;

[0018] The first clamping force is calculated according to the rotation speed and acceleration of the suction motor.

[0019] In some embodiments, the performing of the first stage of pull-in further includes:

[0020] Determining the target current ripple number corresponding to the suction motor when the first clamping force corresponding to the electric suction door reaches a first preset threshold;

[0021] Acquire a first current signal of the pull-in motor, and pre-process the first current signal to obtain the number of current ripples;

[0022] In response to the number of current ripples reaching the target number of current ripples, a braking process is performed on the pull-in motor.

[0023] In some embodiments, the performing of the first stage of pull-in further includes:

[0024] Obtaining a first closing time of the closing motor;

[0025] In response to the first suction duration reaching a preset duration, a braking process is performed on the suction motor, wherein the preset duration is determined based on the speed at which the suction motor drives the electric suction door to move in the first stage of suction, the theoretical suction stroke corresponding to the electric suction door, and the target width of the target object.

[0026] In some embodiments, the performing of the second stage of pull-in further includes:

[0027] Acquire a second current signal of the pull-in motor;

[0028] Calculating a second clamping force corresponding to the electric suction door according to the second current signal;

[0029] In response to the second clamping force reaching a second preset threshold, a retry is performed, wherein the second preset threshold is greater than the first preset threshold.

[0030] In some embodiments, the performing of the second stage of pull-in further includes:

[0031] Obtaining a second closing time length of the closing motor;

[0032] In response to the second engagement time reaching the maximum theoretical engagement time, a retry engagement is performed.

[0033] In a second aspect, the present application provides an electric suction door anti-pinch device, the device comprising:

[0034] The anti-pinch module is used to control the suction motor to perform a stage suction in response to the electric suction door being in a semi-locked state, wherein the execution stage suction at least includes sequentially performing a first stage suction and a second stage suction, and the anti-pinch module at least includes a first execution unit, a brake unit, and a second execution unit;

[0035] The first execution unit is used to control the suction motor to perform the first stage suction;

[0036] The brake unit is used to perform a braking process on the pull-in motor after executing the first stage of pull-in, and obtain a braking duration;

[0037] The second execution unit is used to control the suction motor to execute the second stage suction in response to the braking time reaching the preset braking time.

[0038] In a third aspect, the present application provides a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the electric suction door anti-pinch method of the first aspect when executing the computer program.

[0039] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the electric suction door anti-pinch method of the first aspect is implemented.

[0040] The above-mentioned electric suction door anti-pinch method, device, computer equipment and storage medium control the suction motor to execute the first stage suction and the second stage suction in sequence, and after controlling the suction motor to execute the first stage suction, first execute the braking process of the suction motor, in response to the braking time reaching the preset braking time, then control the suction motor to execute the second stage suction, so that if there is a risk of pinching the hand, the braking process can reserve sufficient reaction and processing time for the clamped object, and there is no need to add additional hardware equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic diagram of a flow chart of an electric suction door anti-pinch method provided in an embodiment of the present application;

[0042] Figure 2 A structural block diagram of an electric suction door anti-pinch device provided in an embodiment of the present application;

[0043] Figure 3 An internal structure diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. The specific operating methods in the method embodiments can also be applied to device embodiments or system embodiments. It should be noted that in the description of the present application, "multiple" is understood as "at least two". "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, and A and B exist, and B exists alone. A is connected to B, which can represent: A is directly connected to B and A is connected to B through C. In addition, in the description of the present application, words such as "first" and "second" are only used to distinguish the purpose of description, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order.

[0045] In the technical solution of this application, the acquisition, transmission, storage, and use of data are in compliance with the requirements of relevant national laws and regulations.

[0046] Before introducing the electric suction door anti-pinch method provided in the embodiment of the present application, in order to facilitate understanding, the technical background of the embodiment of the present application is first introduced in detail.

[0047] In the related art, it is proposed to use sensors or cameras to sense whether there is a target object between the electric suction door and the door frame of the electric suction door; if there is a target object, the suction lock switch of the electric suction door is controlled to be in a disconnected state within a preset time period. This method is a passive anti-pinch method, that is, the suction lock is controlled to be disconnected only after the target object is detected. Since the sensing range and sensitivity of the sensing equipment are limited, and the electric suction stroke and time are short, it may not be possible to accurately sense the presence of the human body in all cases, especially when sensing small objects such as fingers, resulting in the risk of pinching the hand, and the suction lock switch cannot be disconnected in time after the hand is pinched, and the anti-pinch effect is not good.

[0048] In view of this, the embodiments of the present application provide an anti-pinch method, device, computer equipment and storage medium for electric suction doors, which are used to solve the problem in the related art that the suction lock switch cannot be disconnected in time after the hand is pinched, and the anti-pinch effect is not good.

[0049] The technical solution provided in the embodiments of the present application is described in detail below with reference to the accompanying drawings and specific implementation methods.

[0050] In response to the electric suction door being in a semi-locked state, the suction motor is controlled to perform stage suction, and the execution stage suction at least includes sequentially performing the first stage suction and the second stage suction.

[0051] In the embodiment of the present application, executing the first stage of the pull-in includes but is not limited to driving the pull-in motor with a first preset duty cycle to execute the first stage of the pull-in; executing the second stage of the pull-in includes but is not limited to driving the pull-in motor with a second preset duty cycle to execute the first stage of the pull-in. Among them, the duty cycle affects the speed and torque of the pull-in motor. The larger the duty cycle, the faster the speed of the pull-in motor and the greater the torque. The first preset duty cycle can be 80%, and the second preset duty cycle can be 100%, depending on the specific situation, and is not limited here.

[0052] Based on this, the embodiment of the present application provides an anti-pinch method for electric suction doors, such as Figure 1 The figure is a flow chart of an electric suction door anti-pinch method provided in an embodiment of the present application. The flow can be executed by an electric suction door anti-pinch device, which can be implemented by software, hardware, or a combination of software and hardware. The flow includes the following steps:

[0053] S101, controlling the pull-in motor to perform the first stage pull-in;

[0054] S102, executing a braking process for the pull-in motor and obtaining a braking duration;

[0055] Among them, the braking process includes but is not limited to short-circuiting the positive and negative poles of the suction motor, thereby releasing the energy of the suction motor more quickly, reducing further movement caused by the inertia of the suction motor, and causing further damage to the target object.

[0056] S103, in response to the braking time reaching the preset braking time, controlling the suction motor to perform the second stage suction.

[0057] Optionally, the preset braking time is the timeout period of the dynamic braking of the suction motor. The suction motor is not driven during this time. The purpose is to allow the target object to be able to withdraw reflexively after feeling the clamping force, thereby avoiding injury. The value of the preset braking time can refer to the medical reaction time of the conditioned reflex after the human body is injured (for example, if the conditioned reflex time is 200ms, the preset braking time can be set to 400ms). It depends on the specific situation and is not limited here.

[0058] In the above-mentioned electric suction door anti-pinch method, the first stage suction and the second stage suction are executed in sequence by controlling the suction motor. After the suction motor is controlled to execute the first stage suction, the braking process is first executed on the suction motor. In response to the braking time reaching the preset braking time, the suction motor is controlled to execute the second stage suction. Therefore, if there is a risk of pinching, the braking process can reserve sufficient reaction and processing time for the target object without the need for additional hardware equipment.

[0059] In some embodiments, the first stage of pull-in is performed in S101, and further includes:

[0060] A first current signal of the suction motor is obtained, and a first clamping force corresponding to the electric suction door is calculated according to the first current signal, wherein the clamping force refers to the force applied to the obstacle when the suction motor pulls the door if an obstacle is encountered during the suction process.

[0061] In response to the first clamping force reaching the first preset threshold, a braking process is performed on the suction motor. The value of the first preset threshold can be determined by referring to medical literature and based on actual calibration test results, representing the clamping force corresponding to the pain caused by the target object being squeezed.

[0062] Through the above method, in response to the first clamping force reaching the first preset threshold, the target object will be squeezed and feel pain, and the motor will be braked immediately, thereby avoiding the target object from being injured while reserving sufficient reaction and processing time for the target object, thereby achieving active anti-pinch.

[0063] In some embodiments, the first clamping force corresponding to the electric suction door is calculated according to the first current signal, including but not limited to:

[0064] First, the first current signal is preprocessed to obtain the number of current ripples. For example, the first current signal is filtered by a filter (interference signal is filtered out) to obtain a filtered current signal, and the filtered current signal is sampled and digitized by an analog-to-digital converter to obtain a digital signal, and the digital signal is analyzed to obtain the number of current ripples.

[0065] Then, the number of rotations of the pull-in motor is determined according to the number of current ripples, and the rotation speed and acceleration of the pull-in motor are calculated according to the number of rotations of the pull-in motor.

[0066] Finally, the first clamping force is calculated according to the rotation speed and acceleration of the suction motor.

[0067] For example, the first clamping force can be calculated by Newton's second law and other practical mechanical equations, wherein Newton's second law states that the acceleration of an object is proportional to the force acting on it. The specific method depends on the situation and is not limited here.

[0068] By using the above method, the first clamping force is calculated according to the number of current ripples, and there is no need to add additional clamping force detection equipment, thereby avoiding an increase in hardware costs.

[0069] In some embodiments, the first stage of pull-in is performed in S101, and further includes:

[0070] First, determine the target current ripple number corresponding to the closing motor when the first clamping force corresponding to the electric suction door reaches a first preset threshold.

[0071] For example, a clamping rod corresponding to the width of an adult's finger is used to test the clamping force and current, that is, according to the clamping force of the clamping rod, the number of current ripples corresponding to different clamping forces within a preset time is recorded, and a corresponding mapping table is generated, wherein the preset time can be 1ms, depending on the specific situation, and is not limited here. Thus, the target number of current ripples corresponding to the suction motor when the first clamping force reaches the first preset threshold can be obtained through the mapping table.

[0072] Then, the first current signal of the pull-in motor is obtained and preprocessed to obtain the number of current ripples (the obtaining method is the same as above and will not be repeated here). In response to the number of current ripples reaching the target number of current ripples, the pull-in motor is braked.

[0073] Through the above method, the braking process is performed on the suction motor according to whether the number of current ripples reaches the target number of current ripples, without calculating the clamping force, thereby improving the anti-pinch sensitivity.

[0074] In some embodiments, the first stage of pull-in is performed in S101, and further includes:

[0075] The first suction duration of the suction motor is obtained, and in response to the first suction duration reaching a preset duration, a braking process is performed on the suction motor, wherein the preset duration is determined based on the speed at which the suction motor drives the electric suction door to move in the first stage of suction, the theoretical suction stroke corresponding to the electric suction door, and the target width of the target object.

[0076] Optionally, the preset duration is related to the theoretical suction stroke and the speed at which the suction motor drives the electric suction door to move, and can be calibrated according to the actual conditions of different vehicle models. The preset duration is obtained by, but is not limited to:

[0077] Obtain the theoretical closing stroke of the electric suction door from a semi-locked state to a fully locked state, as well as the target width of the target object. The target width of the target object refers to the width of the target object corresponding to a strong pain after being squeezed. This value can be determined by referring to relevant medical literature and combining with calibration tests in the actual development process.

[0078] The maximum theoretical suction stroke corresponding to the first stage of suction is calculated based on the theoretical suction stroke and the target width, and the preset duration is calculated based on the maximum theoretical suction stroke and the speed at which the suction motor drives the electric suction door to move in the first stage of suction.

[0079] For example, the theoretical suction stroke D1 is 6mm, the target width D2 of the target object is 4mm, and the suction motor drives the suction motor with a duty cycle of 80% to perform the first stage of suction. The speed V of the suction motor driving the electric suction door to move is 0.1mm / ms. The calculation shows that the maximum theoretical suction stroke corresponding to the first stage of suction is D1-D2=2mm, and the preset time length T1=(D1-D2) / V1=20ms is obtained, that is, before encountering clamping in the first stage of suction or before the first clamping force reaches the first preset threshold, the suction motor can be attracted for a maximum of 20ms.

[0080] Through the above method, the preset duration corresponding to the first stage of suction is determined according to the speed at which the suction motor drives the electric suction door to move in the first stage of suction, the suction stroke corresponding to the electric suction door, and the target width of the target object, which can effectively prevent the target object from being squeezed and injured.

[0081] In some embodiments, the second stage of suction is performed in S103, and further includes:

[0082] A second current signal of the suction motor is obtained, and a second clamping force corresponding to the electric suction door is calculated according to the second current signal, wherein the calculation method of the second clamping force is consistent with the calculation method of the first clamping force mentioned above, and will not be repeated here.

[0083] In response to the second clamping force reaching the second preset threshold, a retry is performed, wherein the first preset threshold represents the clamping force corresponding to when the target object is squeezed and produces pain, and the second preset threshold represents the clamping force corresponding to when the target object is squeezed and causes injury, therefore, the second preset threshold is greater than the first preset threshold. The second preset threshold can be referred to in medical literature, and the specific value depends on the situation and is not limited here.

[0084] Exemplarily, in response to the second clamping force reaching the second preset threshold, performing a retry of the clamping includes but is not limited to:

[0085] In response to the second clamping force reaching the second preset threshold, the current suction is terminated, and it is determined whether the current suction is the first suction.

[0086] If the current engagement is not the first engagement, the electric release of the electric door will be executed, and the diagnostic fault code will be recorded. According to the diagnostic fault code, a warning message will be generated and sent to the central control instrument and the remote mobile phone key. The driver will be prompted by a speaker prompt tone and / or steering wheel vibration to remind the driver that there is an obstacle during the engagement process, and please pay attention and deal with it, so as to improve maintenance efficiency and accuracy;

[0087] If the current attraction is the first attraction, the electric release of the electric suction door will be executed, and when the electric release time reaches the preset release time, the attraction motor will be controlled again to execute the stage attraction according to the above-mentioned electric suction door anti-pinch method, wherein the preset release time is the waiting time from the first attraction failure to the retry of attraction, and is the time given to the driver and passengers to deal with the target object (the clamped "foreign object"), which can be slightly longer, such as 3000ms. The specific value is calibrated according to the situation and is not limited here.

[0088] Optionally, in response to the second clamping force reaching the second preset threshold, the braking process can be performed on the pull-in motor, and when the current braking time exceeds the target braking time, it is determined whether the current pull-in is the first pull-in. The target braking time is the timeout time of the dynamic braking of the pull-in motor, during which the pull-in motor is not driven. The value can be combined with the actual situation, such as 200ms, and is not limited here.

[0089] Through the above method, in response to the second clamping force reaching the second preset threshold, the target object will be squeezed and injured. Retrying the attraction can effectively avoid the target object from being injured. Retrying the attraction can improve the reliability of the electric suction door system, reduce the adverse impact on user experience, and improve user satisfaction and comfort.

[0090] In some embodiments, the second stage of suction is performed in S103, and further includes:

[0091] The second engagement time of the engagement motor is obtained. In response to the second engagement time reaching the maximum theoretical engagement time, a retry engagement is performed (consistent with the above method and not repeated here). The maximum theoretical engagement time depends on the characteristics of the engagement motor and the design of the engagement door lock. The actual maximum theoretical engagement time for the engagement motor to engage the door from a semi-locked state to a fully locked state under normal working conditions is 1300ms. The specific value depends on the situation and is not limited here.

[0092] Through the above method, in response to the second suction time reaching the maximum theoretical suction time, a retry suction is performed to avoid damage to the target object caused by excessive clamping force, and the reliability of the electric suction door system can be improved.

[0093] Optionally, when the suction motor is controlled again to perform the suction phase according to the above-mentioned anti-pinch method of the electric suction door, the above-mentioned maximum theoretical suction time can be increased according to the empirical value, because in the second stage of the first suction, if the second suction time reaches the maximum theoretical suction time, and the second clamping force does not reach the second preset threshold, it indicates that the suction process encounters an obstacle or the suction pulling force is insufficient (at this time, the output torque of the suction motor needs to be increased). By increasing the above-mentioned maximum theoretical suction time, the stall time of the suction motor can be increased. During the stall period, the stall current of the suction motor will gradually increase, thereby increasing the output torque, avoiding the situation where the electric suction door cannot be closed due to insufficient output torque under abnormal conditions such as ice on the rubber strip.

[0094] In addition, if multiple (for example, 3 times, depending on the situation and not limited here) first-time attraction failures are detected within a certain period of time (for example, 1 month, the specific value depends on the situation and is not limited here), and during the retry attraction process, the retry attraction is successful after increasing the maximum theoretical attraction time, then the fault is recorded and the driver is prompted to inspect the vehicle to rule out conditions such as aging of the rubber strips or abnormal output torque of the attraction motor.

[0095] In the above-mentioned suction process, in response to receiving the door opening command, the current suction process is immediately terminated, and the electric release of the electric suction door is immediately started.

[0096] The above-mentioned electric suction door anti-pinch method adopts stepped smooth electric suction, which reserves sufficient reaction and processing time for the target object, while not affecting the normal operation and user experience of the electric suction door system, protecting the personal safety of drivers and passengers. No additional device assistance is required, so the manufacturing and R&D costs are lower, and it can be used on all models with electric suction door functions, making it more flexible to use. In the stage suction process, the start and stop conditions of each stage of suction are the results of pre-calibration based on several aspects such as vehicle body structure, motor characteristics, and human medical safety force reference. When the pre-calibrated threshold is reached, the suction motor braking process and the electric suction door are released, thereby avoiding the problems of delayed and insensitive perception response when dynamic perception triggers anti-pinch.

[0097] It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0098] In some embodiments, Figure 2 As shown, an anti-pinch device for electric suction door is provided, comprising: an anti-pinch module 201, wherein:

[0099] The anti-pinch module 201 is used to control the suction motor to perform a suction operation in response to the electric suction door being in a semi-locked state, wherein the suction operation in the execution stage at least includes sequentially performing a first-stage suction operation and a second-stage suction operation, and the anti-pinch module 201 at least includes a first execution unit 201a, a brake unit 201b, and a second execution unit 201c;

[0100] The first execution unit 201a is used to control the pull-in motor to execute the first stage pull-in;

[0101] The brake unit 201b is used to perform a braking process on the pull-in motor after executing the first stage of pull-in, and obtain the braking duration;

[0102] The second execution unit 201c is used for controlling the suction motor to execute the second stage suction in response to the braking time reaching the preset braking time.

[0103] In some embodiments, the first execution unit 201a is further configured to:

[0104] Acquire a first current signal of the pull-in motor;

[0105] Calculating a first clamping force corresponding to the electric suction door according to the first current signal;

[0106] In response to the first clamping force reaching a first preset threshold, a braking process is performed on the suction motor.

[0107] In some embodiments, the first execution unit 201a is further configured to:

[0108] Preprocessing the first current signal to obtain the number of current ripples;

[0109] The number of rotations of the pull-in motor is determined according to the number of current ripples;

[0110] The rotation speed and acceleration of the pull-in motor are calculated according to the number of rotations of the pull-in motor;

[0111] The first clamping force is calculated according to the rotation speed and acceleration of the suction motor.

[0112] In some embodiments, the first execution unit 201a is further configured to:

[0113] Determine the target current ripple number corresponding to the closing motor when the first clamping force corresponding to the electric suction door reaches a first preset threshold;

[0114] Acquire a first current signal of the pull-in motor, and pre-process the first current signal to obtain the number of current ripples;

[0115] In response to the number of current ripples reaching the target number of current ripples, a braking process is performed on the pull-in motor.

[0116] In some embodiments, the first execution unit 201a is further configured to:

[0117] Get the first closing time of the closing motor;

[0118] In response to the first suction duration reaching a preset duration, a braking process is executed on the suction motor, wherein the preset duration is determined based on the speed at which the suction motor drives the electric suction door to move in the first stage of suction, the theoretical suction stroke corresponding to the electric suction door, and the target width of the target object.

[0119] In some embodiments, the second execution unit 201c is further configured to:

[0120] Acquire a second current signal of the pull-in motor;

[0121] Calculating a second clamping force corresponding to the electric suction door according to the second current signal;

[0122] In response to the second clamping force reaching a second preset threshold, a retry is performed, wherein the second preset threshold is greater than the first preset threshold.

[0123] In some embodiments, the second execution unit 201c is further configured to:

[0124] Get the second closing time of the closing motor;

[0125] In response to the second engagement time reaching the maximum theoretical engagement time, a retry engagement is performed.

[0126] For the specific definition of the electric suction door anti-pinch device, please refer to the definition of the electric suction door anti-pinch method above, which will not be repeated here. The various modules in the above-mentioned electric suction door anti-pinch device can be implemented in whole or in part by software, hardware and their combination. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0127] In some embodiments, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 3 As shown. The computer device includes a processor, a memory, a network interface and a database connected via a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store electric suction door anti-pinch data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the electric suction door anti-pinch method as described above is implemented.

[0128] Those skilled in the art will understand that Figure 3 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0129] In some embodiments, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the following steps are implemented:

[0130] In response to the electric suction door being in a semi-locked state, controlling the suction motor to perform stage suction, wherein the execution stage suction at least includes sequentially performing the first stage suction and the second stage suction;

[0131] After the first stage of pull-in is executed, the following steps are also included:

[0132] Execute the braking process on the pull-in motor and obtain the braking duration;

[0133] In response to the braking time reaching the preset braking time, the suction motor is controlled to perform the second stage suction.

[0134] In some embodiments, when the processor executes the computer program, the processor further implements the following steps:

[0135] Acquire a first current signal of the pull-in motor;

[0136] Calculating a first clamping force corresponding to the electric suction door according to the first current signal;

[0137] In response to the first clamping force reaching a first preset threshold, a braking process is performed on the suction motor.

[0138] In some embodiments, when the processor executes the computer program, the processor further implements the following steps:

[0139] Preprocessing the first current signal to obtain the number of current ripples;

[0140] The number of rotations of the pull-in motor is determined according to the number of current ripples;

[0141] The rotation speed and acceleration of the pull-in motor are calculated according to the number of rotations of the pull-in motor;

[0142] The first clamping force is calculated according to the rotation speed and acceleration of the suction motor.

[0143] In some embodiments, when the processor executes the computer program, the processor further implements the following steps:

[0144] Determine the target current ripple number corresponding to the closing motor when the first clamping force corresponding to the electric suction door reaches a first preset threshold;

[0145] Acquire a first current signal of the pull-in motor, and pre-process the first current signal to obtain the number of current ripples;

[0146] In response to the number of current ripples reaching the target number of current ripples, a braking process is performed on the pull-in motor.

[0147] In some embodiments, when the processor executes the computer program, the processor further implements the following steps:

[0148] Get the first closing time of the closing motor;

[0149] In response to the first suction duration reaching a preset duration, a braking process is executed on the suction motor, wherein the preset duration is determined based on the speed at which the suction motor drives the electric suction door to move in the first stage of suction, the theoretical suction stroke corresponding to the electric suction door, and the target width of the target object.

[0150] In some embodiments, when the processor executes the computer program, the processor further implements the following steps:

[0151] Acquire a second current signal of the pull-in motor;

[0152] Calculating a second clamping force corresponding to the electric suction door according to the second current signal;

[0153] In response to the second clamping force reaching a second preset threshold, a retry is performed, wherein the second preset threshold is greater than the first preset threshold.

[0154] In some embodiments, when the processor executes the computer program, the processor further implements the following steps:

[0155] Get the second closing time of the closing motor;

[0156] In response to the second engagement time reaching the maximum theoretical engagement time, a retry engagement is performed.

[0157] In some embodiments, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0158] In response to the electric suction door being in a semi-locked state, controlling the suction motor to perform stage suction, wherein the execution stage suction at least includes sequentially performing the first stage suction and the second stage suction;

[0159] After the first stage of pull-in is executed, the following steps are also included:

[0160] Execute the braking process on the pull-in motor and obtain the braking duration;

[0161] In response to the braking time reaching the preset braking time, the suction motor is controlled to perform the second stage suction.

[0162] In some embodiments, when the computer program is executed by the processor, the following steps are also implemented:

[0163] Acquire a first current signal of the pull-in motor;

[0164] Calculating a first clamping force corresponding to the electric suction door according to the first current signal;

[0165] In response to the first clamping force reaching a first preset threshold, a braking process is performed on the suction motor.

[0166] In some embodiments, when the computer program is executed by the processor, the following steps are also implemented:

[0167] Preprocessing the first current signal to obtain the number of current ripples;

[0168] The number of rotations of the pull-in motor is determined according to the number of current ripples;

[0169] The rotation speed and acceleration of the pull-in motor are calculated according to the number of rotations of the pull-in motor;

[0170] The first clamping force is calculated according to the rotation speed and acceleration of the suction motor.

[0171] In some embodiments, when the computer program is executed by the processor, the following steps are also implemented:

[0172] Determine the target current ripple number corresponding to the closing motor when the first clamping force corresponding to the electric suction door reaches a first preset threshold;

[0173] Acquire a first current signal of the pull-in motor, and pre-process the first current signal to obtain the number of current ripples;

[0174] In response to the number of current ripples reaching the target number of current ripples, a braking process is performed on the pull-in motor.

[0175] In some embodiments, when the computer program is executed by the processor, the following steps are also implemented:

[0176] Get the first closing time of the closing motor;

[0177] In response to the first suction duration reaching a preset duration, a braking process is executed on the suction motor, wherein the preset duration is determined based on the speed at which the suction motor drives the electric suction door to move in the first stage of suction, the theoretical suction stroke corresponding to the electric suction door, and the target width of the target object.

[0178] In some embodiments, when the computer program is executed by the processor, the following steps are also implemented:

[0179] Acquire a second current signal of the pull-in motor;

[0180] Calculating a second clamping force corresponding to the electric suction door according to the second current signal;

[0181] In response to the second clamping force reaching a second preset threshold, a retry is performed, wherein the second preset threshold is greater than the first preset threshold.

[0182] In some embodiments, when the computer program is executed by the processor, the following steps are also implemented:

[0183] Get the second closing time of the closing motor;

[0184] In response to the second engagement time reaching the maximum theoretical engagement time, a retry engagement is performed.

[0185] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this 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 DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct RAMbus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0186] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0187] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. An anti-pinch method for electric suction doors, characterized in that: The method comprises: In response to the electric suction door being in a semi-locked state, controlling the suction motor to perform stage suction, wherein the execution stage suction at least includes sequentially performing first stage suction and second stage suction; After the first stage of pull-in is performed, the method further includes: Execute a braking process on the pull-in motor and obtain the braking duration; In response to the braking time reaching a preset braking time, the suction motor is controlled to perform the second stage suction.

2. The method according to claim 1, characterized in that The execution of the first stage of pull-in also includes: Acquire a first current signal of the pull-in motor; Calculating a first clamping force corresponding to the electric suction door according to the first current signal; In response to the first clamping force reaching a first preset threshold, a braking process is performed on the suction motor.

3. The method according to claim 2, characterized in that The calculating the first clamping force corresponding to the electric suction door according to the first current signal includes: Preprocessing the first current signal to obtain the number of current ripples; Determining the number of rotations of the pull-in motor according to the number of current ripples; The rotation speed and acceleration of the suction motor are calculated according to the number of rotations of the suction motor; The first clamping force is calculated according to the rotation speed and acceleration of the suction motor.

4. The method according to claim 1, characterized in that: The execution of the first stage of pull-in also includes: Determining the target current ripple number corresponding to the suction motor when the first clamping force corresponding to the electric suction door reaches a first preset threshold; Acquire a first current signal of the pull-in motor, and pre-process the first current signal to obtain the number of current ripples; In response to the number of current ripples reaching the target number of current ripples, a braking process is performed on the pull-in motor.

5. The method according to claim 1, characterized in that The execution of the first stage of pull-in also includes: Obtaining a first closing time of the closing motor; In response to the first suction duration reaching a preset duration, a braking process is performed on the suction motor, wherein the preset duration is determined based on the speed at which the suction motor drives the electric suction door to move in the first stage of suction, the theoretical suction stroke corresponding to the electric suction door, and the target width of the target object.

6. The method according to claim 2, characterized in that The execution of the second stage of pull-in also includes: Acquire a second current signal of the pull-in motor; Calculating a second clamping force corresponding to the electric suction door according to the second current signal; In response to the second clamping force reaching a second preset threshold, a retry is performed, wherein the second preset threshold is greater than the first preset threshold.

7. The method according to claim 1, characterized in that The execution of the second stage of pull-in also includes: Obtaining a second closing time length of the closing motor; In response to the second engagement time reaching the maximum theoretical engagement time, a retry engagement is performed.

8. An anti-pinch device for electric suction door, characterized in that: The device comprises: The anti-pinch module is used to control the suction motor to perform a stage suction in response to the electric suction door being in a semi-locked state, wherein the execution stage suction at least includes sequentially performing a first stage suction and a second stage suction, and the anti-pinch module at least includes a first execution unit, a brake unit, and a second execution unit; The first execution unit is used to control the suction motor to perform the first stage suction; The brake unit is used to perform a braking process on the pull-in motor after executing the first stage of pull-in, and obtain a braking duration; The second execution unit is used to control the suction motor to execute the second stage suction in response to the braking time reaching the preset braking time.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

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

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