Anti-pinch control method, vehicle window device, control device and storage medium

Abstract

The invention discloses an anti-pinch control method, a vehicle window device, a control device and a storage medium. The anti-pinch control method comprises the steps that real-time current pulses generated by a driving motor are continuously obtained; adding the real-time current pulse to a first pulse interval, wherein the number of pulses in the first pulse interval is a first pulse number threshold; calculating a first current average value of the current pulse in the first pulse interval; the real-time current pulses are added to a second pulse interval, the number of pulses in the second pulse interval is a second pulse number threshold value, and the second pulse number threshold value is smaller than the first pulse number threshold value; calculating a second current average value of the current pulse in the second pulse interval; calculating a difference value between the second current average value and the first current average value to obtain a current abrupt change value; according to the design, the accuracy of control is improved, response is made in time, and operation is safe and reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of motor drive control, and particularly relates to an anti-pinch control method, a window device, a control device, and a storage medium. Background Art

[0002] In the past, when the motor drives the window to close, if an object is clamped between the window and the frame, the control module will still drive the motor to operate, which may cause damage to the object by the window. Therefore, some manufacturers sample the operating current of the motor to continuously obtain current data at a fixed time period. When the current data increases to a large value, it indicates that an object is clamped between the window and the frame, and the control module controls the motor to stop.

[0003] However, in the actual use process, the working current of the drive motor will also change due to the influence of the power supply voltage and the ambient temperature. For example, when the vehicle is in a low-temperature state, due to the hard window rubber strip, the friction between the glass and the rubber strip becomes larger, and the output power of the drive motor will increase during the window-rising process, and the working current of the drive motor is relatively large. According to the previous processing method, the control module will control the drive motor to stop, resulting in the inability to raise the window normally. When the vehicle is in a high-temperature state, due to the soft window rubber strip, the friction between the glass and the rubber strip becomes smaller, and the output power of the drive motor decreases during the window-rising process, and the working current of the drive motor is relatively small. At this time, when there may be an object clamped between the window and the frame, the control module is also not able to react in time to stop the drive motor. Therefore, when there is a clamping force between the window and the frame, the control module cannot control the motor to stop at the accurate moment. Summary of the Invention

[0004] The present invention aims to at least solve the technical problems existing in the prior art. The present invention provides an anti-pinch control method, a window device, a control device, and a storage medium, which improve the accuracy of control, make timely responses, and operate safely and reliably.

[0005] An anti-pinch control method according to an embodiment of the first aspect of the present invention includes: continuously obtaining real-time current pulses generated by a drive motor; adding the real-time current pulses to a first pulse interval, where the number of pulses in the first pulse interval is a first pulse number threshold; calculating a first current average value of the current pulses in the first pulse interval; adding the real-time current pulses to a second pulse interval, where the number of pulses in the second pulse interval is a second pulse number threshold, and the second pulse number threshold is less than the first pulse number threshold; calculating a second current average value of the current pulses in the second pulse interval; calculating a difference between the second current average value and the first current average value to obtain a current mutation value; when the current mutation value is greater than an anti-pinch current threshold, controlling the drive motor to stop or reverse.

[0006] A pinch protection control method according to an embodiment of the present invention has at least the following beneficial effects:

[0007] In the pinch protection control method of the present invention, when the drive motor is running, the real-time current pulses generated by the drive motor are continuously acquired and added to the first pulse interval. The number of pulses in the first pulse interval is the first pulse number threshold. It can be understood that regardless of how the generation frequency of the real-time current pulses changes due to environmental factors or the actual operating state of the motor, the number of pulses acquired in the first pulse interval always conforms to the first pulse number threshold. The first pulse interval has a sufficient number of current pulses to calculate the first current average value. The first current average value can match the actual operating state and working environment of the current motor. That is, if the first current average value is relatively high, it can represent that the motor outputs a relatively high power in the current working environment at this time, while if the first current average value is relatively low, it can represent that the motor outputs a relatively low power in the current working environment at this time. At the same time, the real-time current pulses are added to the second pulse interval. The number of pulses in the second pulse interval is the second pulse number threshold to ensure the accuracy of calculating the second current average value. The second pulse number threshold is less than the first pulse number threshold, and the real-time current pulses are added to the first pulse interval and the second pulse interval in real time. The current pulses in the second pulse interval are part of the current pulses in the first pulse interval. The current mutation value obtained from the difference between the second current average value and the first current average value can better reflect the change trend of the real-time current pulses. The control module can determine whether the drive motor is blocked according to whether the current mutation value is greater than the pinch protection current threshold, and immediately control the drive motor to stop or control the drive motor to reverse when blocked. This design improves the accuracy of control, makes a timely response, and operates safely and reliably.

[0008] According to some embodiments of the present invention, in the step of controlling the drive motor to stop when the current mutation value is greater than the pinch protection current threshold, it includes: obtaining the rotation stroke of the drive motor; when the rotation stroke has not reached the stroke threshold and the current mutation value is greater than the pinch protection current threshold, controlling the drive motor to stop.

[0009] According to some embodiments of the present invention, in the step of controlling the drive motor to stop or reverse when the current mutation value is greater than the pinch protection current threshold, it includes: obtaining the rotation stroke of the drive motor; when the rotation stroke reaches the stroke threshold and the current mutation value is greater than the pinch protection current threshold, controlling the drive motor to stop or reverse.

[0010] According to some embodiments of the present invention, the pinch protection control method further includes: obtaining the current change value of the real-time current pulse when the drive motor is under the action of a standard clamping force; setting the pinch protection current threshold according to the magnitude of the current change value.

[0011] According to some embodiments of the present invention, the pinch protection control method further includes: obtaining the generation frequency of real-time current pulses; determining the first pulse quantity threshold and the second pulse quantity threshold by using the generation frequency.

[0012] According to some embodiments of the present invention, the second pulse quantity threshold is the product of the first pulse quantity threshold and a preset ratio value.

[0013] According to some embodiments of the present invention, the second pulse quantity threshold is the difference between the first pulse quantity threshold and a preset spacing value.

[0014] A window device according to an embodiment of the second aspect of the present invention includes a control module, a driving motor, and a current sampling module. The driving end of the driving motor is connected to the window to drive the window to move. The current sampling module is connected to the driving motor to collect real-time current pulses of the driving motor. The control module is respectively connected to the current sampling module and the driving motor, and the control module executes the pinch protection control method disclosed in any of the above embodiments to control the operation of the driving motor.

[0015] The window device according to the embodiment of the present invention has at least the following beneficial effects:

[0016] The window device of the present invention applies the pinch protection control method disclosed in any of the above embodiments to control the operation of the driving motor, improves the accuracy of control, makes a timely response, and operates safely and reliably.

[0017] A control device according to an embodiment of the third aspect of the present invention includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the pinch protection control method disclosed in any of the above embodiments is implemented.

[0018] A computer-readable storage medium according to an embodiment of the fourth aspect of the present invention stores a computer program, and is characterized in that when the computer program is executed by a processor, the pinch protection control method disclosed in any of the above embodiments is implemented.

[0019] The additional aspects and advantages of the present invention will be partly given in the following description, partly will become obvious from the following description, or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, where:

[0021] Figure 1 is a schematic block diagram of the principle structure of one embodiment of the window device of the present invention;

[0022] Figure 2 It is a flowchart of one embodiment of the anti-pinch control method of the present invention;

[0023] Figure 3 It is a schematic block diagram of the principle structure of one embodiment of the control device of the present invention.

[0024] Reference numerals:

[0025] Control module 100; driving motor 200; window 300; current sampling module 400; processor 610; memory 620; input / output interface 630; communication interface 640; bus 650. Detailed implementation manners

[0026] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0027] It should be noted that although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order from the module division in the device or the order in the flowchart. Terms such as "first" and "second" in the description, claims and the above-mentioned drawings are used to distinguish similar objects and do not necessarily need to be used to describe a specific order or sequence.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0029] The anti-pinch control method of the present invention. In the anti-pinch control method of the present invention, when the driving motor is running, the real-time current pulses generated by the driving motor are continuously acquired. The real-time current pulses are added to the first pulse interval, and the number of pulses in the first pulse interval is the first pulse number threshold. It can be understood that regardless of how the generation frequency of the real-time current pulses changes due to environmental factors or the actual operating state of the motor, the number of pulses acquired in the first pulse interval always conforms to the first pulse number threshold. The first pulse interval has a sufficient number of current pulses to calculate the first current average value. The first current average value can match the actual operating state of the current motor and the working environment. That is, if the first current average value is relatively high, it can represent that the motor outputs a relatively high power under the current working environment at this time, while if the first current average value is relatively low, it can represent that the motor outputs a relatively low power under the current working environment at this time. At the same time, the real-time current pulses are added to the second pulse interval, and the number of pulses in the second pulse interval is the second pulse number threshold to ensure the accuracy of calculating the second current average value. The second pulse number threshold is less than the first pulse number threshold, and the real-time current pulses are added to the first pulse interval and the second pulse interval in real time. The current pulses in the second pulse interval are part of the current pulses in the first pulse interval. The current mutation value obtained from the difference between the second current average value and the first current average value can better reflect the change trend of the real-time current pulses. The control module can determine whether the window is pinched according to whether the current mutation value is greater than the anti-pinch current threshold. When pinched, immediately control the driving motor to stop or control the driving motor to reverse. This design improves the accuracy of control, makes a timely response, and operates safely and reliably.

[0030] As Figure 1 、 2 shown, an anti-pinch control method according to an embodiment of the first aspect of the present invention is applied to a motor control system. Specifically, it can be applied to vehicle-mounted devices such as a window 300 device, an electric pedal device, a tailgate switch device, a side door opening device, etc. Hereinafter, the window 300 device will be taken as an example for illustration.

[0031] The window 300 device includes a control module 100, a drive motor 200, a window 300, and a current sampling module 400. The control module 100 includes a controller such as an MCU or a CPU and its attached circuits, as well as a drive unit. The drive unit is composed of at least one semiconductor switching tube. The drive unit is connected to the drive motor 200. The control module 100 controls the start and stop of the drive motor 200 through the drive unit. A transmission structure such as a gear or a rack can be provided between the drive motor 200 and the window 300. The forward and reverse operation of the drive motor 200 can drive the window 300 to close or open relative to the window frame. The current sampling module 400 can be a conventional one that accesses a sampling resistor into the drive branch connected to the drive unit and the drive motor 200 to collect current pulses. In this way, current pulses are formed due to the on and off of the drive unit. The real-time current pulse can be obtained by calculating the current pulse through the duty cycle. The current sampling module 400 can also include a Hall sensor provided on the drive motor 200. When the drive motor 200 operates, the Hall sensor generates an induction signal. The current sampling module 400 detects the Hall sensor to obtain a pulse signal presented by the number of Hall elements. The real-time current pulse can also be obtained by analyzing this pulse signal.

[0032] As Figure 2 shown, the anti-pinch control method includes:

[0033] S510. Continuously obtain the real-time current pulse generated by the drive motor;

[0034] S520. Add the real-time current pulse to the first pulse interval, and the number of pulses in the first pulse interval is the first pulse number threshold;

[0035] S530. Calculate the first current average value of the current pulses in the first pulse interval;

[0036] S540. Add the real-time current pulse to the second pulse interval, the number of pulses in the second pulse interval is the second pulse number threshold, and the second pulse number threshold is less than the first pulse number threshold;

[0037] S550. Calculate the second current average value of the current pulses in the second pulse interval;

[0038] S560. Calculate the difference between the second current average value and the first current average value to obtain the current mutation value;

[0039] S570. When the current mutation value is greater than the anti-pinch current threshold, control the drive motor to stop or reverse.

[0040] It should be noted that during the process of adding real-time current pulses to the first pulse interval, as the real-time current pulses are obtained, each time a new current pulse is added to the head end of the first pulse interval, the current pulse at the tail end is deleted from the first pulse interval, so that the number of pulses in the first pulse interval remains constant at the first pulse number threshold. Similarly, during the process of adding real-time current pulses to the second pulse interval as the real-time current pulses are obtained, each time a new current pulse is added to the head end of the second pulse interval, the current pulse at the tail end is deleted from the second pulse interval, so that the number of pulses in the second pulse interval remains constant at the second pulse number threshold. Since the real-time current pulses serve as the current pulses in both the first pulse interval and the second pulse interval, and at the same time, the number of pulses in the first pulse interval is greater than that in the second pulse interval, then when recording the real-time current pulses, the tail current pulse in the first pulse interval is aligned with the tail current pulse in the second pulse interval, and the head current pulse in the first pulse interval is earlier than the head current pulse in the second pulse interval. For example, if the current pulses in the first pulse interval are current pulses numbered 1 to 200, then the current pulses in the second pulse interval can be current pulses numbered 180 to 200.

[0041] In the traditional method using a fixed time period, although pulse signals can also be obtained, when the output power of the motor is small, the detected pulse current of the motor is small. However, when the frequency of the pulse current changes, the signal data obtained based on the pulse signals within the period cannot accurately reflect the operating state of the motor.

[0042] Different from the traditional method using a fixed period, in the anti-pinch control method of the present invention, when driving the motor to operate, continuously obtain the real-time current pulses generated by the driving motor, and add the real-time current pulses to the first pulse interval, and the number of pulses in the first pulse interval is the first pulse number threshold.

[0043] Regardless of how the generation frequency of real-time current pulses changes due to environmental factors or the actual operating state of the motor, the number of pulses obtained in the first pulse interval always conforms to the first pulse number threshold. The first pulse interval has a sufficient number of current pulses to calculate the first current average value. The first current average value can match the actual operating state of the current motor and the working environment. That is, if the first current average value is relatively high, it can represent that the supply voltage received by the motor at this time is relatively large or the environmental temperature is relatively low. If the first current average value is relatively low, it can represent that the supply voltage received by the motor at this time is relatively small or the environmental temperature is relatively high. At the same time, the real-time current pulses are added to the second pulse interval. The number of pulses in the second pulse interval is the second pulse number threshold, ensuring the accuracy of calculating the second current average value. The second pulse number threshold is less than the first pulse number threshold, and the real-time current pulses are added to the first pulse interval and the second pulse interval in real time. The current mutation value obtained from the difference between the second current average value and the first current average value can better reflect the change of the real-time current pulses. The control module can determine whether the drive motor is blocked by whether the current mutation value is greater than the anti-pinch current threshold. When blocked, immediately control the drive motor to stop or control the drive motor to reverse. This design improves the accuracy of control, makes timely responses, and operates safely and reliably.

[0044] In some embodiments of the present invention, calculating the first current average value of the current pulses in the first pulse interval includes:

[0045] Calculating the first total current value according to the current values of the respective current pulses in the first pulse interval;

[0046] Calculating the first current average value according to the first total current value and the first pulse number threshold.

[0047] Among them, each current pulse has a corresponding current value. For example, the first pulse number threshold is one hundred, or it can be other numbers, that is, the first pulse interval contains one hundred current pulses. Add the current values corresponding to the one hundred current pulses to obtain the first total current value, and then divide the first total current value by one hundred pulses to obtain the first current average value.

[0048] In some embodiments of the present invention, calculating the second current average value of the current pulses in the second pulse interval includes:

[0049] Calculating the second total current value according to the current values of the respective current pulses in the second pulse interval;

[0050] Calculating the second current average value according to the second total current value and the second pulse number threshold.

[0051] Similarly, there will be corresponding current values in each pulse data of the second pulse interval. The current values corresponding to the number of pulse data equal to the second pulse quantity threshold are added to obtain the total second current, and then the total second current is divided by the second pulse quantity threshold to obtain the average second current.

[0052] In some embodiments of the present invention, the anti-pinch current threshold can be set by the designer considering the actual usage situation. When the difference between the average second current and the average first current is greater than the anti-pinch current threshold, it proves that the window 300 is obstructed during movement, and the control module 100 controls the drive motor 200 to stop or reverse.

[0053] In some embodiments of the present invention, when the current mutation value is greater than the anti-pinch current threshold and controlling the drive motor to stop includes:

[0054] Obtain the rotation stroke of the drive motor;

[0055] When the rotation stroke has not reached the stroke threshold, when the current mutation value is greater than the anti-pinch current threshold, control the drive motor to stop.

[0056] Each motor has a corresponding unit stroke value for each pulse. By recording the number of pulses, the rotation stroke of the drive motor after startup can be obtained, and the rotation stroke of the drive motor can correspond to the movement stroke of the window. It can be understood that when the window just moves from the fully open state towards the closed state, the probability of clamping an object is relatively low. Therefore, when the rotation stroke has not reached the stroke threshold and the current mutation value is greater than the anti-pinch current threshold, it is only necessary to control the drive motor to stop.

[0057] In some embodiments of the present invention, when the current mutation value is greater than the anti-pinch current threshold and controlling the drive motor to stop or reverse includes:

[0058] Obtain the rotation stroke of the drive motor;

[0059] When the rotation stroke reaches the stroke threshold, when the current mutation value is greater than the anti-pinch current threshold, control the drive motor to stop or reverse.

[0060] It can be understood that after the rotation stroke reaches the stroke threshold, that is, after the window moves a certain stroke, the probability of the window clamping an object increases. At this time, when the current mutation value is greater than the anti-pinch current threshold, control the drive motor to reverse. Of course, the motor can also be controlled to stop.

[0061] In some embodiments of the present invention, the anti-pinch control method further includes:

[0062] Obtain the current change value of the real-time current pulse of the drive motor under the action of the standard clamping force;

[0063] Set the anti-pinch current threshold according to the magnitude of the current change value.

[0064] Analyze the current change value based on the magnitude of the change and fluctuation of the real-time current pulse. For the setting of the anti-pinch current threshold, the standard clamping force can be a test given value set by the staff and applied to the drive motor. When the drive motor faces the same resistance, the larger the current change value, the greater the current fluctuation, and the anti-pinch current threshold can be set slightly larger. While the smaller the current change value, the smaller the current fluctuation, and the anti-pinch current threshold can be set slightly smaller. This adaptive setting makes the comparison between the current mutation value and the anti-pinch current threshold more reasonable and reduces the probability of the anti-pinch function being accidentally triggered.

[0065] In some embodiments of the present invention, the anti-pinch control method further includes:

[0066] Obtain the generation frequency of the real-time current pulse;

[0067] Determine the first pulse number threshold and the second pulse number threshold using the generation frequency.

[0068] For different specifications of the drive motor used, the generation frequency of the current pulse generated by the drive motor will also be different. When setting the first pulse number threshold and the second pulse number threshold, use the specific generation frequency of the drive motor to set the first pulse number threshold and the second pulse number threshold.

[0069] Specifically, under the same conditions, when the generation frequency of the current pulse generated by the drive motor is larger, the first pulse number threshold and the second pulse number threshold can be set larger. When the generation frequency of the current pulse generated by the drive motor is smaller, the first pulse number threshold and the second pulse number threshold can be set smaller. Based on the difference between the first pulse number threshold and the second pulse number threshold, the change of the current pulse in the first pulse interval can be quickly identified in the second pulse interval with fewer current pulses. When there is a current mutation in the drive motor, the second current average value changes significantly compared to the first current average value, and it can effectively identify that the window has clamped an object.

[0070] In some embodiments of the present invention, the second pulse quantity threshold is the product of the first pulse quantity threshold and a preset ratio value. For example, the second pulse quantity threshold is 1 / 2, 2 / 3, 3 / 5, 4 / 5, etc. of the first pulse quantity threshold. The average current is calculated based on the pulses with a larger quantity, and then the second average current is calculated based on an appropriate number of pulses. While ensuring the accuracy of the calculation of the second average current, it is ensured that there are enough pulses to support the calculation of a reasonable first average current, which is convenient for highlighting the difference between the second average current and the first average current in the blocked-rotor state. Based on the ratio between the first pulse quantity threshold and the second pulse quantity threshold, the current change in the current pulse can be flexibly identified in the second pulse interval with a smaller quantity ratio, so as to quickly respond to the current mutation value.

[0071] In some embodiments of the present invention, the second pulse quantity threshold is the difference between the first pulse quantity threshold and a preset spacing value. It can be understood that since the first pulse quantity threshold is greater than the second pulse quantity threshold, when adding the real-time current pulse to the first pulse interval and the second pulse interval, with the acquisition of each current pulse, at the initial moment, each newly acquired current pulse is first added to the first pulse interval. After the current pulses with the number of the preset spacing value are added to the first pulse interval, the newly acquired current pulses are synchronously added to both the first pulse interval and the second pulse interval.

[0072] By setting a sufficiently large preset spacing value, it is also possible to ensure the accuracy of the calculation of the second average current while ensuring that there are enough pulses to support the calculation of a reasonable first average current, which is convenient for highlighting the difference between the second average current and the first average current in the blocked-rotor state.

[0073] In some embodiments of the present invention, the anti-pinch control method further includes:

[0074] When receiving the start operation instruction of the drive motor 200, trigger the execution of obtaining the first real-time current pulse of the drive motor 200 according to the first pulse quantity threshold and the recalculation of the average current according to the start operation instruction.

[0075] Since the ambient temperature and the applied voltage will change at different times, therefore, each time the control module 100 controls the drive motor 200 to start according to the start operation instruction, the control module 100 correspondingly recalculates the average current to ensure timely anti-pinch processing in the control of the drive motor 200 this time.

[0076] According to the window 300 device of the second aspect embodiment of the present invention, it includes a control module 100, a drive motor 200, and a current sampling module 400. The drive end of the drive motor 200 is connected to the window 300 to drive the window 300 to move. The current sampling module 400 is connected to the drive motor 200 to collect the real-time current pulse of the drive motor 200. The control module 100 is respectively connected to the current sampling module 400 and the drive motor 200, and the control module 100 executes the anti-pinch control method disclosed in any of the above embodiments to control the operation of the drive motor 200.

[0077] The window 300 device of the present invention applies the anti-pinch control method disclosed in any of the above embodiments to control the operation of the drive motor 200, improves the accuracy of control, makes timely responses, and operates safely and reliably.

[0078] According to the control device of the third aspect embodiment of the present invention, the control device includes a memory 620 and a processor 610. The memory 620 stores a computer program, and when the processor 610 executes the computer program, it implements the anti-pinch control method disclosed in any of the above embodiments.

[0079] As Figure 3 shown, Figure 3 It also schematically shows the hardware structure of the control device of another embodiment. The control device includes:

[0080] The processor 610 can be implemented in ways such as a general-purpose central processing unit 610 (CPU), a microprocessor 610, an application specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided by the embodiments of the present application;

[0081] The memory 620 can be implemented in forms such as a read only memory 620 (ROM), a static storage device, a dynamic storage device, or a random access memory 620 (RAM). The memory 620 can store an operating system and other application programs. When implementing the technical solutions provided by the embodiments of this specification through software or firmware, the relevant program codes are stored in the memory 620 and are called by the processor 610 to execute the anti-pinch control method of the embodiments of the present application;

[0082] The input / output interface 630 is used to implement information input and output;

[0083] A communication interface 640 for implementing communication interaction between this device and other devices, which can achieve communication through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.);

[0084] A bus 650 for transmitting information between various components of the device (such as a processor 610, a memory 620, an input / output interface 630, and a communication interface 640);

[0085] Among them, the processor 610, the memory 620, the input / output interface 630, and the communication interface 640 achieve communication connections with each other inside the device through the bus 650.

[0086] According to the computer-readable storage medium of the fourth aspect embodiment of the present invention, the computer-readable storage medium stores a computer program, and when the computer program is executed by the processor 610, it implements the anti-pinch control method disclosed in any of the above embodiments.

[0087] The memory 620, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory 620 may optionally include a memory remotely set relative to the processor, and these remote memories can be connected to the processor through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0088] The embodiments described in the embodiments of the present application are for more clearly explaining the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art know that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.

[0089] Those skilled in the art can understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or combine certain steps, or different steps.

[0090] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0091] Those of ordinary skill in the art will understand that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or a suitable combination thereof.

[0092] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of this application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or are inherent to these processes, methods, products, or devices.

[0093] The preferred embodiments of the embodiments of the present application have been described above with reference to the drawings, and thus do not limit the scope of the rights of the embodiments of the present application. Any modifications, equivalent replacements, and improvements made by those skilled in the art without departing from the scope and essence of the embodiments of the present application shall be within the scope of the rights of the embodiments of the present application.

Claims

1. An anti-pinch control method, characterized in that: include: Continuously obtain the real-time current pulses generated by the drive motor; Adding the real-time current pulse to a first pulse interval, the number of pulses in the first pulse interval being a first pulse number threshold; Calculating a first current average value of the current pulses in the first pulse interval; Adding the real-time current pulse to a second pulse interval, the number of pulses in the second pulse interval is a second pulse number threshold, and the second pulse number threshold is less than the first pulse number threshold; Calculating a second current average value of the current pulses in the second pulse interval; Calculating a difference between the second current average value and the first current average value to obtain a current mutation value; When the current mutation value is greater than the anti-pinch current threshold, the drive motor is controlled to stop or reverse.

2. The anti-pinch control method according to claim 1, characterized in that: When the current mutation value is greater than the anti-pinch current threshold, controlling the drive motor to stop includes: Obtaining the rotational travel of the driving motor; When the rotation stroke does not reach the stroke threshold, and when the current mutation value is greater than the anti-pinch current threshold, the drive motor is controlled to stop.

3. The anti-pinch control method according to claim 1, characterized in that: When the current mutation value is greater than the anti-pinch current threshold, controlling the drive motor to stop or reverse includes: Obtaining the rotational travel of the driving motor; When the rotation stroke reaches the stroke threshold, and when the current mutation value is greater than the anti-pinch current threshold, the drive motor is controlled to stop or reverse.

4. The anti-pinch control method according to claim 1, characterized in that: Also includes: Acquire the current change value of the real-time current pulse of the driving motor when the driving motor is subjected to the standard clamping force; The anti-pinch current threshold is set according to the magnitude of the current change value.

5. The anti-pinch control method according to claim 1, characterized in that: Also includes: Get the generation frequency of real-time current pulses; The first pulse number threshold and the second pulse number threshold are determined using the generation frequency.

6. The anti-pinch control method according to claim 1, characterized in that: The second pulse quantity threshold is the product of the first pulse quantity threshold and a preset proportion value.

7. The anti-pinch control method according to claim 1, characterized in that: The second pulse quantity threshold is a difference between the first pulse quantity threshold and a preset spacing value.

8. A vehicle window device, characterized in that: It includes a control module, a drive motor and a current sampling module. The drive end of the drive motor is connected to the vehicle window so as to drive the vehicle window to move. The current sampling module is connected to the drive motor to collect the real-time current pulse of the drive motor. The control module is respectively connected to the current sampling module and the drive motor. The control module executes the anti-pinch control method as described in any one of claims 1 to 7 to control the operation of the drive motor.

9. A control device, characterized in that: The control device includes a memory and a processor, the memory stores a computer program, and the processor implements the anti-pinch control method according to any one of claims 1 to 7 when executing the computer program.

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

Images