Anti-pinch control method, ceiling screen, equipment and program product
By obtaining the operating and environmental parameters of the ceiling screen in real time and calculating theoretical and actual torque values, the problem of low accuracy in the anti-clip function control of the ceiling screen is solved, and high accuracy and low cost anti-clip function control is achieved.
Patent Information
- Application Number
- CN202411944995.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-26
- Publication Date
- 2025-05-13
AI Technical Summary
The existing ceiling screen anti-clip function control solution has problems such as low accuracy, high probability of false triggering, and high hardware cost.
By obtaining the real-time operating parameters and environmental parameters in the movement stroke of the ceiling screen, the theoretical torque value of the ceiling screen motor is calculated and compared with the actual torque value. If the difference is greater than the threshold, the anti-clip function will be triggered.
It improves the control accuracy of the anti-clip function of the ceiling screen, avoids the increase in hardware costs, and achieves fast and accurate anti-clip function control.
Smart Images
Figure CN119995455A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of equipment control technology, and in particular to an anti-pinch control method, a ceiling screen, equipment and a program product. Background Art
[0002] A ceiling screen is a display screen installed on the top of a space. For example, it is usually used in commercial environments, home entertainment systems, conference rooms, educational institutions and other places. In particular, some vehicles are currently equipped with ceiling screens to provide users with more quality services. Ceiling screens are usually configured with an opening and closing function. The ceiling screen needs to be opened for use and closed when not needed. Since there is a risk of pinching the human body or clamping obstacles during the opening or closing movement, the anti-pinch function of the ceiling screen is crucial. In the prior art, there are three commonly used anti-pinch function control schemes: the first is to control whether the anti-pinch function is triggered by the motor current; the second is to control whether the anti-pinch function is triggered by the change of the screen position; the third is to control whether the anti-pinch function is triggered by adding additional sensors. However, the control method of the motor current cannot guarantee the triggering accuracy, and the probability of false triggering is high; the control method of the screen position change has a judgment delay, so it is also impossible to guarantee a high control accuracy; the control method of adding additional sensors will take up more space and increase hardware costs. Summary of the invention
[0003] Based on the above-mentioned defects and shortcomings of the prior art, the present application proposes an anti-pinch control method, ceiling screen, equipment and program product, which can improve the control accuracy of the anti-pinch function of the ceiling screen without increasing the hardware cost.
[0004] According to the first aspect of the present application, an anti-pinch control method is provided, including: obtaining real-time operating parameters in the movement stroke of the ceiling screen and real-time environmental parameters of the environment in which the ceiling screen is located; based on the real-time operating parameters and the real-time environmental parameters, obtaining a theoretical torque value of the ceiling screen motor, wherein the ceiling screen motor is used to pull the ceiling screen to move; obtaining an actual torque value of the ceiling screen motor in the movement stroke; and controlling the anti-pinch function of the ceiling screen based on the theoretical torque value and the actual torque value.
[0005] According to the anti-pinch control method provided in the first aspect of the present application, the theoretical torque value of the ceiling screen motor is obtained based on the real-time operating parameters and the real-time environmental parameters, including: inputting the real-time operating parameters and the real-time environmental parameters into a torque calculation model to obtain the theoretical torque value output by the torque calculation model; wherein the torque calculation model is a model obtained by training a neural network model using sample data.
[0006] According to the anti-pinch control method provided in the first aspect of the present application, the process of data processing by the torque calculation model is as follows: obtain the real-time operating parameters and the real-time environmental parameters; based on the input layer weight, perform weighted summation on the real-time operating parameters and the real-time environmental parameters to obtain a first intermediate value; use a first activation function to process the first intermediate value to obtain a hidden layer output result; based on the hidden layer weight, perform weighted summation on the hidden layer output result to obtain a second intermediate value; use a second activation function to process the second intermediate value to obtain the theoretical torque value.
[0007] According to the anti-pinch control method provided in the first aspect of the present application, obtaining the actual torque value of the ceiling screen motor in the movement stroke includes: obtaining the motor current of the ceiling screen motor in the movement stroke; and obtaining the actual torque value based on the motor current and the torque constant of the ceiling screen motor.
[0008] According to the anti-pinch control method provided in the first aspect of the present application, the anti-pinch function of the ceiling screen is controlled based on the theoretical torque value and the actual torque value, including: calculating the difference between the theoretical torque value and the actual torque value; if the difference is greater than a difference threshold, triggering the anti-pinch function of the ceiling screen.
[0009] According to the anti-pinch control method provided in the first aspect of the present application, the real-time operating parameters include at least one of the real-time movement direction of the ceiling screen, the real-time screen angle of the ceiling screen, the real-time screen angle change rate of the ceiling screen and the real-time motor current of the ceiling screen motor.
[0010] According to the anti-pinch control method provided in the first aspect of the present application, the real-time environmental parameter includes the real-time ambient temperature of the environment where the ceiling screen is located.
[0011] According to a second aspect of the present application, a ceiling screen is provided, and an anti-pinch function of the ceiling screen is controlled by the anti-pinch control method as described in any one of the first aspects.
[0012] According to a third aspect of the present application, an electronic device is provided, comprising: a memory and a processor; the memory is connected to the processor and is used to store programs; the processor is used to implement the anti-pinch control method as described in the first aspect by running the program in the memory.
[0013] According to a fourth aspect of the present application, a computer program product is provided, comprising computer program instructions; when the computer program instructions are executed by a processor, the processor is enabled to execute the anti-pinch control method as described in the first aspect.
[0014] In the present application, the real-time operating parameters of the ceiling screen in the movement stroke and the real-time environmental parameters of the environment in which the ceiling screen is located are obtained; based on the real-time operating parameters and the real-time environmental parameters, the theoretical torque value of the ceiling screen motor is obtained, wherein the ceiling screen motor is used to pull the ceiling screen to move; the actual torque value of the ceiling screen motor in the movement stroke is obtained; based on the theoretical torque value and the actual torque value, the anti-pinch function of the ceiling screen is controlled. In the above process, the above process does not require additional hardware equipment such as sensors, thereby avoiding an increase in hardware costs. Based on the real-time operating parameters and the real-time environmental parameters, various factors that affect the triggering of the anti-pinch function of the ceiling screen are covered, thereby avoiding the problem of low accuracy caused by controlling the anti-pinch function based on a single parameter. Moreover, the torque value can directly and quickly reflect whether the ceiling screen has an abnormality in the movement stroke, and the anti-pinch function of the ceiling screen is controlled based on the inferred torque value and the actual torque value of the ceiling screen motor. On the basis of further improving the control accuracy, the rapidity of controlling the anti-pinch function is also guaranteed, thereby improving the control effect of the anti-pinch function. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.
[0016] Figure 1 One of the flow charts of an anti-pinch control method provided in an embodiment of the present application;
[0017] Figure 2 An example diagram of a torque calculation model architecture provided in an embodiment of the present application;
[0018] Figure 3 A second flow chart of an anti-pinch control method provided in an embodiment of the present application;
[0019] Figure 4 A third flow chart of an anti-pinch control method provided in an embodiment of the present application;
[0020] Figure 5 A block diagram of an anti-pinch control device provided in an embodiment of the present application;
[0021] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION
[0022] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0023] Application Overview
[0024] The applicant further analyzes the anti-pinch function control scheme commonly used in the prior art as follows:
[0025] First, for the solution that only uses motor current to control whether to trigger the anti-pinch function of the ceiling screen, due to the particularity of the ceiling screen's motion mechanism, its starting current is different in different positions, and it is also closely related to the direction of movement, showing a nonlinear relationship. At the same time, under different ambient temperatures, the resistance of the ceiling screen mechanism and the characteristics of the ceiling screen motor will also be different. Often, only the motor current is used to determine whether the anti-pinch function of the ceiling screen is triggered. The judgment condition is single and cannot cope with various working conditions, which may cause false triggering.
[0026] Second, for the solution that controls whether to trigger the anti-pinch function of the ceiling screen only by the change of the screen position, the response speed of judging whether to trigger the anti-pinch function by the screen position is not as fast as the motor current, and there is a certain delay. Often, the current has already triggered the stall, and the screen position has the stall feature, which can easily cause the motor to have excessive torque and damage the transmission mechanism. At the same time, when the screen is starting or about to end, the screen speed is relatively slow, the judgment is inaccurate, and it is easy to make a misjudgment.
[0027] The third solution is to add additional sensors to control whether the anti-pinch function of the ceiling screen is triggered. When using additional sensors to judge, you first need to consider the installation position of the sensor, which may take up additional space, and then you need to increase additional hardware costs.
[0028] Exemplary Methods
[0029] In response to the problems existing in the prior art, the present application provides an anti-pinch control method, which can improve the control accuracy of the anti-pinch function of the ceiling screen without increasing the hardware cost.
[0030] In one embodiment, if Figure 1 As shown, the process steps for implementing the anti-pinch control method include:
[0031] Step 101, obtaining real-time operating parameters of the ceiling screen during its movement and real-time environmental parameters of the environment where the ceiling screen is located.
[0032] In this embodiment, the movement stroke of the ceiling screen includes the movement stroke of the ceiling screen between any two positions between the fully open position and the fully closed position, and the movement direction of the movement stroke includes the opening direction and the closing direction. That is to say, the method can monitor any stage of the movement process of the ceiling screen to perform anti-pinch control at any stage of the movement of the ceiling screen. Real-time operating parameters refer to real-time mechanical, electrical and / or control parameters during the movement of the ceiling screen, for example, the real-time movement direction of the ceiling screen, the real-time motor current of the ceiling screen motor, etc. Real-time environmental parameters refer to real-time environmental parameters during the movement stroke of the ceiling screen, for example, real-time ambient temperature, real-time ambient temperature, etc.
[0033] In this embodiment, the real-time operation parameters and real-time environmental parameters of the ceiling screen during its motion are obtained, covering various factors that affect the triggering of the anti-pinch function of the ceiling screen, avoiding the problem of low accuracy caused by controlling the anti-pinch function based on a single parameter. At the same time, the real-time nature of the real-time motion parameters and real-time environmental parameters can ensure the real-time control of the anti-pinch function of the ceiling screen, avoid control delay problems, and further improve the accuracy of the anti-pinch function of the ceiling screen.
[0034] Step 102, based on the real-time operating parameters and the real-time environmental parameters, obtain the theoretical torque value of the ceiling screen motor, wherein the ceiling screen motor is used to pull the ceiling screen to move.
[0035] In this embodiment, the ceiling screen motor refers to the motor that pulls the ceiling screen to move, and the torque value can directly and quickly reflect whether there is any abnormality in the ceiling screen during the movement. After obtaining the real-time operating parameters and the implementation environment parameters, the real-time operating parameters and the implementation environment parameters are processed through the pre-set data processing logic to obtain the theoretical torque value of the ceiling screen motor. The theoretical torque value is not the actual torque value during the working process of the ceiling screen motor, but an ideal theoretical value based on the real-time operating parameters and the real-time environment parameters, and the working process of the ceiling screen motor is without any abnormality.
[0036] In this embodiment, the data processing logic used to process the real-time operating parameters and the implementation environment parameters can be a logical relationship based on any form of fitting polynomial calculation formulas, relationship tables, neural network models, and other data processing forms. Optionally, the data processing logic can be obtained after pre-processing such as experimental test simulations and training, and configured in the anti-pinch control method. Furthermore, when the data processing logic needs to be updated or upgraded, the data processing logic in the anti-pinch control method can be updated or upgraded again.
[0037] Step 103, obtaining the actual torque value of the ceiling screen motor during the motion stroke.
[0038] In this embodiment, when the ceiling screen motor drives the ceiling screen to move, an actual torque value will be generated, that is, the actual torque value of the ceiling screen motor. The actual torque value can also be collected in real time based on the movement stroke of the ceiling screen. The torque value refers to the rotational torque output by the motor, which is one of the important parameters for measuring motor performance. Through the actual torque value, the actual operating state of the ceiling screen motor can be truly and accurately reflected, thereby improving the accuracy of the anti-pinch control of the ceiling screen.
[0039] Step 104: Based on the theoretical torque value and the actual torque value, the anti-pinch function of the ceiling screen is controlled.
[0040] In this embodiment, the theoretical torque value is based on the real-time operating parameters and real-time environmental parameters, and more accurately and comprehensively characterizes the ideal motion state of the ceiling screen motor; while the actual torque value more accurately and quickly characterizes the actual motion state of the ceiling screen motor. Based on the theoretical torque value and the actual torque value, the anti-pinch function of the ceiling screen can be controlled more accurately, ensuring the control accuracy and control speed of the anti-pinch function of the ceiling screen, and improving the control effect of the anti-pinch function.
[0041] In one embodiment, the theoretical torque value of the ceiling screen motor is obtained based on real-time operating parameters and real-time environmental parameters, including: inputting the real-time operating parameters and real-time environmental parameters into a torque calculation model to obtain the theoretical torque value output by the torque calculation model; wherein the torque calculation model is a model obtained by training a neural network model using sample data.
[0042] In this embodiment, the torque calculation model is used to process the real-time operating parameters and real-time environmental parameters to obtain the theoretical torque value. The torque calculation model is a model obtained by training the neural network model using sample data. The sample data can be the data obtained after pre-processing such as cleaning and denoising of various data such as experimental data, historical data and / or empirical data. The sample data includes the sample real-time operating parameters and sample real-time environmental parameters corresponding to the operation of the ceiling screen motor without abnormality, and the sample torque value when the ceiling screen motor works normally under the sample real-time operating parameters and sample real-time environmental parameters. The neural network model with the basic model framework is iteratively trained using sample data, and the weights and other parameters in the neural network model are continuously adjusted until the performance of the neural network model reaches the optimal level, and the neural network model with the best performance is determined to be the torque calculation model. Optionally, the torque calculation model is pre-trained offline, and the torque calculation model configured in the anti-pinch control method is a trained model, so as to avoid the training process from occupying too many computing resources. Optionally, according to the actual situation and needs, the sample data can be updated, the torque calculation model can be retrained and updated, and further, according to the actual situation and needs, the retrained torque calculation model can be re-updated to the anti-pinch control method.
[0043] In one embodiment, the neural network model adopts a back propagation (BP) neural network model, which is a commonly used feedforward neural network and is trained by a back propagation algorithm. Optionally, when training the BP neural network model, an error back propagation algorithm is used, which adjusts the weights in the network by back propagating errors, thereby minimizing the difference between the predicted output and the actual output.
[0044] In this embodiment, the basic model framework based on the BP neural network model includes an input layer, a hidden layer and an output layer. Optionally, in order to save computing resources, the hidden layer uses one hidden layer, and the number of neurons in the hidden layer is set according to the number of input parameters and actual needs. For example, based on the BP neural network of the basic model framework, the torque calculation model architecture obtained by training is as follows: Figure 2 As shown, Figure 2 In the figure, x1, x2, x3, x4 and x5 represent different real-time operating parameters or real-time environmental parameters respectively. For example, x1, x2, x3, x4 and x5 represent the real-time movement direction of the ceiling screen, the real-time screen angle of the ceiling screen, the real-time screen angle change rate of the ceiling screen, the real-time motor current of the ceiling screen motor and the real-time ambient temperature respectively; q1, q2, q3, q4, q5 and q6 represent different hidden layer neuron inputs respectively; h1, h2, h3, h4, h5 and h6 represent different hidden layer neuron outputs respectively; u represents the output layer neuron input; y represents the output layer output, that is, y is the theoretical torque value output by the torque calculation model.
[0045] In one embodiment, the process of data processing by the torque calculation model is as follows: obtain real-time operating parameters and real-time environmental parameters; based on the input layer weight, perform weighted summation on the real-time operating parameters and the real-time environmental parameters to obtain a first intermediate value; use a first activation function to process the first intermediate value to obtain a hidden layer output result; based on the hidden layer weight, perform weighted summation on the hidden layer output result to obtain a second intermediate value; use a second activation function to process the second intermediate value to obtain a theoretical torque value.
[0046] In this embodiment, based on the torque calculation model including an input layer, a hidden layer and an output layer, taking the hidden layer including 6 neurons as an example, the input layer obtains real-time operating parameters and real-time environmental parameters, and the input layer includes input layer weights corresponding to each real-time operating parameter or real-time environmental parameter obtained by pre-training. The input layer performs weighted summation on the real-time operating parameters and the real-time environmental parameters to obtain a first intermediate value, and the input layer inputs the first intermediate value to the hidden layer. The calculation formula is as follows:
[0047] qi=x1*w1i+x2*w2i+x3*w3i+x4*w4i+x5*w5i (1);
[0048] Among them, x1, x2, x3, x4 and x5 represent different real-time operating parameters or real-time environmental parameters respectively; qi represents the input of the i-th hidden layer neuron (that is, the i-th first intermediate value, the first intermediate value corresponds to the hidden layer neuron), and i takes the value of 1, 2, 3, 4, 5 or 6; w1i, w2i, w3i, w4i and w5i represent the input layer weights used when calculating the input of the i-th hidden layer neuron based on x1, x2, x3, x4 and x5 respectively.
[0049] After the hidden layer obtains the first intermediate value corresponding to each neuron, the hidden layer processes the first intermediate value using the first activation function to obtain the hidden layer output result. The calculation process is as follows:
[0050] hi=f1(qi) (2);
[0051] The hidden layer output result includes the output of each hidden layer neuron, hi represents the output of the i-th hidden layer neuron, f1 represents the first activation function, and optionally, the first activation function adopts the SigMoid function. The principle formula of the SigMoid function is as follows:
[0052]
[0053] Among them, f represents the output of the SigMoid function, and is also hi in this embodiment; x represents the input of the SigMoid function, and is also qi in this embodiment; e is a constant.
[0054] In this embodiment, the output layer performs weighted summation on the outputs of neurons in each hidden layer based on the weights of the hidden layer to obtain the second intermediate value, and the calculation formula is as follows:
[0055] u=h1*v1+h2*v2+h3*v3+h4*v4+h5*v5+h6*v6 (4);
[0056] Among them, u represents the second intermediate value, i1, h2, h3, h4, h5, and h6 represent the outputs of each hidden layer neuron respectively, and v1, v2, v3, v4, v5 and v6 represent the hidden layer weights corresponding to each hidden layer neuron respectively.
[0057] The output layer uses the second activation function to process the second intermediate value to obtain the theoretical torque value. The calculation formula is as follows:
[0058] y=f2(u) (5);
[0059] Wherein, y represents the theoretical torque value output by the output layer, f2 represents the second activation function, and optionally, the second activation function includes a linear activation function to ensure that the output is a continuous value and is not affected by nonlinear transformation.
[0060] In one embodiment, obtaining the actual torque value of the ceiling screen motor during the motion stroke includes: obtaining the motor current of the ceiling screen motor during the motion stroke; and obtaining the actual torque value based on the motor current and the torque constant of the ceiling screen motor.
[0061] In this embodiment, the actual torque value is calculated based on the motor current of the ceiling screen motor during the motion stroke, and the calculation formula is as follows:
[0062] T_act = K*I (6);
[0063] Among them, T_act represents the actual torque value; K represents the torque constant of the ceiling screen motor; I represents the motor current of the ceiling screen motor.
[0064] In this embodiment, the motor current of the ceiling screen motor in the motion stroke can be detected in real time by the current sensor in the motion stroke of the ceiling screen. The specific value of the torque constant is related to the performance of the ceiling screen motor, and the torque constant can be set in advance according to actual conditions and needs through experimental data or empirical data.
[0065] In one embodiment, the anti-pinch function of the ceiling screen is controlled based on the theoretical torque value and the actual torque value, including: calculating the difference between the theoretical torque value and the actual torque value; if the difference is greater than the difference threshold, triggering the anti-pinch function of the ceiling screen.
[0066] In this embodiment, in order to avoid the anti-pinch function from being accidentally triggered and to flexibly adjust the sensitivity of the anti-pinch function, a difference threshold is set, and the difference between the theoretical torque value and the actual torque value is compared with the difference threshold to determine whether the anti-pinch function of the ceiling screen is triggered. Specifically, the difference between the theoretical torque value and the actual torque value is calculated as follows:
[0067] T delta =|T_act–T_limit| (7);
[0068] Among them, T_delta represents the difference between the theoretical torque value and the actual torque value, and the difference is the absolute value result; T_act represents the actual torque value; T_limit represents the theoretical torque value.
[0069] Determine whether the difference T_delta between the theoretical torque value and the actual torque value is greater than the difference threshold T_set. If so, the anti-pinch function of the ceiling screen is triggered, and the ceiling screen motor is controlled to stop outputting torque; if not, the anti-pinch function of the ceiling screen is not triggered, and the ceiling screen motor continues to output torque based on actual opening and closing requirements. Optionally, during the movement of the ceiling screen, the anti-pinch control method provided by the above-mentioned embodiments is adopted, with a set time length as a period, to periodically calculate the theoretical torque value and the actual torque value, and to determine the size of the difference and the difference threshold until it is determined that the difference is greater than the difference threshold, wherein the set time length is set in advance according to actual conditions and needs. Periodically monitor the ceiling screen for a long time to achieve long-term monitoring of the entire movement stroke of the ceiling screen, and further improve the anti-pinch control effect.
[0070] In this embodiment, the difference threshold is set according to actual conditions and needs. At the same time, by adjusting the difference threshold, the sensitivity of triggering the anti-pinch function can be flexibly adjusted. The smaller the difference threshold, the higher the sensitivity of the anti-pinch function.
[0071] In this embodiment, Figure 3 As shown, the implementation process of the anti-pinch control method includes:
[0072] Step 301, turning on the ceiling screen;
[0073] Step 302, determining whether the ceiling screen can turn the screen on or off, if yes, executing step 302, if no, repeating step 302;
[0074] Step 303, calculating a theoretical torque value through a torque calculation model, and obtaining an actual torque value;
[0075] Step 304, calculating the difference between the theoretical torque value and the actual torque value;
[0076] Step 305, determine whether the difference is greater than the difference threshold, if so, execute step 306, if not, execute step 303;
[0077] Step 306, triggering the anti-pinch function of the ceiling screen.
[0078] In one embodiment, the real-time operating parameters include at least one of the real-time movement direction of the ceiling screen, the real-time screen angle of the ceiling screen, the real-time screen angle change rate of the ceiling screen, and the real-time motor current of the ceiling screen motor.
[0079] In this embodiment, the above-mentioned real-time operating parameters are only exemplary operating parameters. In the actual operation environment, other types of real-time operating parameters can be used according to the actual situation and needs. It should be noted that the real-time operating parameters are obtained by using the hardware devices configured by the ceiling screen as much as possible, or obtained through network information, so as to avoid the increase of hardware costs.
[0080] In one embodiment, the real-time environmental parameter includes the real-time ambient temperature of the environment where the ceiling screen is located.
[0081] In this embodiment, the above real-time ambient temperature is only an exemplary operating parameter. In an actual operating environment, other types of real-time ambient parameters can be used according to actual conditions and needs. It should be noted that various real-time ambient parameters are obtained as much as possible using hardware devices configured for the ceiling screen, or obtained through network information, for example, obtaining real-time ambient temperature through the network, so as to avoid an increase in hardware costs.
[0082] In a specific embodiment, Figure 4 As shown, taking the real-time operating parameters including the real-time movement direction of the ceiling screen, the real-time screen angle of the ceiling screen, the real-time screen angle change rate of the ceiling screen and the real-time motor current of the ceiling screen motor, and the real-time environmental parameters including the real-time ambient temperature of the environment where the ceiling screen is located as an example, the real-time movement direction of the ceiling screen, the real-time screen angle of the ceiling screen, the real-time screen angle change rate of the ceiling screen, the real-time motor current of the ceiling screen motor and the real-time ambient temperature of the environment where the ceiling screen is located are processed by the torque calculation model to obtain the theoretical torque value. At the same time, the real-time motor current of the ceiling screen motor is obtained by real-time detection of the current sensor, and the actual torque value of the ceiling screen motor is calculated. By calculating the difference between the theoretical torque value and the actual torque value in real time, the difference is compared with the difference threshold to determine whether the anti-pinch function of the ceiling screen is triggered.
[0083] In the present application, the real-time operating parameters of the ceiling screen in the movement stroke and the real-time environmental parameters of the environment in which the ceiling screen is located are obtained; based on the real-time operating parameters and the real-time environmental parameters, the theoretical torque value of the ceiling screen motor is obtained, wherein the ceiling screen motor is used to pull the ceiling screen to move; the actual torque value of the ceiling screen motor in the movement stroke is obtained; based on the theoretical torque value and the actual torque value, the anti-pinch function of the ceiling screen is controlled. In the above process, the above process does not require additional hardware equipment such as sensors, thereby avoiding an increase in hardware costs. Based on the real-time operating parameters and the real-time environmental parameters, various factors that affect the triggering of the anti-pinch function of the ceiling screen are covered, thereby avoiding the problem of low accuracy caused by controlling the anti-pinch function based on a single parameter. Moreover, the torque value can directly and quickly reflect whether the ceiling screen has an abnormality in the movement stroke, and the anti-pinch function of the ceiling screen is controlled based on the inferred torque value and the actual torque value of the ceiling screen motor. On the basis of further improving the control accuracy, the rapidity of controlling the anti-pinch function is also guaranteed, thereby improving the control effect of the anti-pinch function.
[0084] Furthermore, without adding extra sensor costs, the motor current, screen movement direction, screen position, screen position change rate, and ambient temperature are used as influencing factors. The neural network model is used to take the variables of these nonlinear relationships as inputs to infer the currently required theoretical torque value, and the difference threshold is used to determine whether to trigger the anti-pinch function of the ceiling screen. Without adding extra costs, the rapidity of the anti-pinch triggering is taken into account, while the nonlinear coupling relationship of the ceiling screen anti-pinch is also considered, which improves the accuracy of the anti-pinch triggering.
[0085] Exemplary ceiling screen
[0086] Correspondingly, an embodiment of the present application further provides a ceiling screen, and the anti-pinch function of the ceiling screen is controlled by an anti-pinch control method provided in any of the above embodiments.
[0087] The ceiling screen provided in this embodiment belongs to the same application concept as the anti-pinch control method provided in the above embodiments of this application, and can execute the anti-pinch control method provided in any of the above embodiments of this application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in this embodiment, please refer to the specific processing content of the anti-pinch control method provided in the above embodiments of this application, and will not be repeated here.
[0088] Exemplary Devices
[0089] Accordingly, the present application also provides an anti-pinch control device, such as Figure 5 As shown, the device may include:
[0090] The parameter acquisition module 501 is used to acquire the real-time operation parameters of the ceiling screen during its movement and the real-time environmental parameters of the environment where the ceiling screen is located;
[0091] Theoretical torque acquisition module 502, used to acquire the theoretical torque value of the ceiling screen motor based on the real-time operation parameters and the real-time environment parameters, wherein the ceiling screen motor is used to pull the ceiling screen to move;
[0092] The actual torque acquisition module 503 is used to obtain the actual torque value of the ceiling screen motor during the motion stroke;
[0093] The control module 504 is used to control the anti-pinch function of the ceiling screen based on the theoretical torque value and the actual torque value.
[0094] In one embodiment, the theoretical torque acquisition module 502 is used to input real-time operating parameters and real-time environmental parameters into a torque calculation model to obtain a theoretical torque value output by the torque calculation model; wherein the torque calculation model is a model obtained by training a neural network model using sample data.
[0095] In one embodiment, the theoretical torque acquisition module 502 is used to implement the process of data processing of the torque calculation model, and the process is as follows: obtain real-time operating parameters and real-time environmental parameters; based on the input layer weight, perform weighted summation on the real-time operating parameters and the real-time environmental parameters to obtain a first intermediate value; use a first activation function to process the first intermediate value to obtain a hidden layer output result; based on the hidden layer weight, perform weighted summation on the hidden layer output result to obtain a second intermediate value; use a second activation function to process the second intermediate value to obtain a theoretical torque value.
[0096] In one embodiment, the actual torque acquisition module 503 is used to acquire the motor current of the ceiling screen motor during the motion stroke; based on the motor current and the torque constant of the ceiling screen motor, the actual torque value is obtained.
[0097] In one embodiment, the control module 504 is used to calculate the difference between the theoretical torque value and the actual torque value; if the difference is greater than a difference threshold, the anti-pinch function of the ceiling screen is triggered.
[0098] In one embodiment, the real-time operating parameters include at least one of the real-time movement direction of the ceiling screen, the real-time screen angle of the ceiling screen, the real-time screen angle change rate of the ceiling screen, and the real-time motor current of the ceiling screen motor.
[0099] In one embodiment, the real-time environmental parameter includes the real-time ambient temperature of the environment where the ceiling screen is located.
[0100] The anti-pinch control device provided in this embodiment belongs to the same application concept as the anti-pinch control method provided in the above embodiments of this application, and can execute the anti-pinch control method provided in any of the above embodiments of this application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in this embodiment, please refer to the specific processing content of the anti-pinch control method provided in the above embodiments of this application, and will not be repeated here.
[0101] Exemplary Electronic Devices
[0102] The present application also provides an electronic device, such as Figure 6 As shown, the electronic device includes: a memory 600 and a processor 601.
[0103] The memory 600 is connected to the processor 601 and is used to store programs.
[0104] The processor 601 is used to implement the anti-pinch control method in the above embodiment by running the program stored in the memory 600 .
[0105] Specifically, the electronic device may further include: a communication interface 602 , an input device 603 , an output device 604 and a bus 605 .
[0106] The processor 601, the memory 600, the communication interface 602, the input device 603 and the output device 604 are connected to each other via a bus.
[0107] Bus 605 may include a pathway for transferring information between the various components of the computer system.
[0108] The processor 601 may be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the scheme of the present invention. It may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
[0109] The processor 601 may include a main processor, and may also include a baseband chip, a modem, etc.
[0110] The memory 600 stores a program for executing the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the program may include a program code, and the program code includes a computer operation instruction. More specifically, the memory 600 may include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (RAM), other types of dynamic storage devices that can store information and instructions, a disk storage, a flash, and the like.
[0111] The input device 603 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor.
[0112] Output device 604 may include a device that allows information to be output to a user, such as a display screen, printer, speaker, etc.
[0113] The communication interface 602 may include any transceiver or the like to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.
[0114] The processor 601 executes the program stored in the memory 600 and calls other devices, which can be used to implement the various steps of the anti-pinch control method provided in the above embodiments of the present application.
[0115] Exemplary computer program products and storage media
[0116] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the anti-pinch control method described in the embodiment of the present application.
[0117] The computer program product may be written in any combination of one or more programming languages to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.
[0118] In addition, the embodiments of the present application may also be a storage medium on which a computer program is stored, and the computer program is executed by a processor to execute the steps of the anti-pinch control method described in the embodiments of the present application.
[0119] For the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.
[0120] It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.
[0121] The steps in the methods of each embodiment of the present application can be adjusted in order, combined and deleted according to actual needs, and the technical features recorded in each embodiment can be replaced or combined.
[0122] The modules and sub-modules in the devices and terminals provided in the embodiments of the present application can be merged, divided and deleted according to actual needs.
[0123] In the several embodiments provided in the present application, it should be understood that the disclosed terminals, devices and methods can be implemented in other ways. For example, the terminal embodiments described above are only schematic, for example, the division of modules or submodules is only a logical function division, and there may be other division methods in actual implementation, for example, multiple submodules or modules can be combined or integrated into another module, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.
[0124] The modules or submodules described as separate components may or may not be physically separated, and the components of the modules or submodules may or may not be physical modules or submodules, that is, they may be located in one place, or they may be distributed on multiple network modules or submodules. Some or all of the modules or submodules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0125] In addition, each functional module or submodule in each embodiment of the present application may be integrated into one processing module, or each module or submodule may exist physically separately, or two or more modules or submodules may be integrated into one module. The above-mentioned integrated modules or submodules may be implemented in the form of hardware or in the form of software functional modules or submodules.
[0126] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.
[0127] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly by hardware, software units executed by a processor, or a combination of the two. The software units may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
[0128] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.
[0129] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.
Claims
1. An anti-pinch control method, characterized in that: include: Acquire real-time operating parameters of the ceiling screen during its movement and real-time environmental parameters of the environment in which the ceiling screen is located; Based on the real-time operating parameters and the real-time environmental parameters, a theoretical torque value of a ceiling screen motor is acquired, wherein the ceiling screen motor is used to pull the ceiling screen to move; Obtaining an actual torque value of the ceiling screen motor during the motion stroke; Based on the theoretical torque value and the actual torque value, the anti-pinch function of the ceiling screen is controlled.
2. The anti-pinch control method according to claim 1, characterized in that: The obtaining of the theoretical torque value of the ceiling screen motor based on the real-time operating parameter and the real-time environmental parameter includes: Inputting the real-time operating parameter and the real-time environmental parameter into a torque calculation model to obtain the theoretical torque value output by the torque calculation model; Wherein, the torque calculation model is a model obtained by training a neural network model using sample data.
3. The anti-pinch control method according to claim 2, characterized in that: The process of data processing by the torque calculation model is as follows: Acquiring the real-time operating parameters and the real-time environmental parameters; Based on the input layer weight, performing weighted summation on the real-time operation parameter and the real-time environment parameter to obtain a first intermediate value; Processing the first intermediate value using a first activation function to obtain a hidden layer output result; Based on the hidden layer weight, performing weighted summation on the hidden layer output results to obtain a second intermediate value; The second intermediate value is processed by using a second activation function to obtain the theoretical torque value.
4. The anti-pinch control method according to claim 1, characterized in that: The obtaining of the actual torque value of the ceiling screen motor in the motion stroke includes: Obtaining the motor current of the ceiling screen motor during the movement stroke; The actual torque value is obtained based on the motor current and the torque constant of the ceiling screen motor.
5. The anti-pinch control method according to claim 1, characterized in that: The controlling the anti-pinch function of the ceiling screen based on the theoretical torque value and the actual torque value includes: Calculating a difference between the theoretical torque value and the actual torque value; If the difference is greater than the difference threshold, the anti-pinch function of the ceiling screen is triggered.
6. The anti-pinch control method according to any one of claims 1 to 5, characterized in that: The real-time operation parameter includes at least one of the real-time movement direction of the ceiling screen, the real-time screen angle of the ceiling screen, the real-time screen angle change rate of the ceiling screen, and the real-time motor current of the ceiling screen motor.
7. The anti-pinch control method according to any one of claims 1 to 5, characterized in that: The real-time environmental parameters include the real-time ambient temperature of the environment where the ceiling screen is located.
8. A ceiling screen, characterized in that: The anti-pinch function of the ceiling screen is controlled by the anti-pinch control method as described in any one of claims 1 to 7.
9. An electronic device, characterized in that: include: Memory and processor; The memory is connected to the processor and is used to store programs; The processor is used to implement the anti-pinch control method according to any one of claims 1 to 7 by running the program in the memory.
10. A computer program product, characterized in that includes computer program instructions; When the computer program instructions are executed by a processor, the processor is caused to execute the anti-pinch control method according to any one of claims 1 to 7.