Anti-pinch current threshold calculation method, system and device and storage medium

Abstract

The invention discloses an anti-pinch current threshold calculation method, system and device and a storage medium. The anti-pinch current threshold calculation method comprises the steps of dividing a whole Hall stroke into a plurality of Hall regions according to current characteristics; performing current acquisition of the complete motion process of the motor for multiple times in each Hall area to obtain multiple groups of current data of each Hall area; setting an anti-pinch current threshold value of each Hall region according to the multiple groups of current data of each Hall region; in each movement process of the motor, calculating the current average current value of each motor passing through the corresponding Hall area, judging whether the current average current value changes relative to the last average current value, if so, recalculating and updating the anti-pinch current threshold value of the Hall area, otherwise, returning to the next step; and the anti-pinch current threshold value does not change. According to the application, the anti-pinch current threshold can be dynamically adjusted, and the problem of anti-pinch failure caused by the change of the current characteristic of the motor along with the use time in the prior art is solved.

Description

Technical Field

[0001] This application relates to the technical field of anti-pinch, and in particular, to a method, system, device and storage medium for calculating an anti-pinch current threshold. Background Art

[0002] In a motor-driven anti-pinch system, traditional methods usually rely on pre-calibrated current thresholds to detect clamping situations. When anti-pinch occurs, the current rises rapidly. If the set current threshold is reached, an anti-pinch event is generated. However, as the usage time increases, the current characteristics of the motor may change. When the change rate of the current becomes smaller, the originally calibrated threshold may become invalid, resulting in a decrease in the reliability of the anti-pinch function. Summary of the Invention

[0003] This application provides a method, system, device and storage medium for calculating an anti-pinch current threshold, which can adapt to changes in the current characteristics of the motor and solve the problem of the decrease in the reliability of the anti-pinch function due to changes in the current characteristics of the motor in the above-mentioned prior art.

[0004] The specific technical solutions are as follows:

[0005] In a first aspect, an embodiment of this application provides a method for calculating an anti-pinch current threshold, including:

[0006] Dividing the entire Hall stroke into multiple Hall regions according to the current characteristics;

[0007] Performing current acquisition for multiple complete motor movement processes within each of the Hall regions to obtain multiple groups of current data for each of the Hall regions;

[0008] Setting an anti-pinch current threshold for each of the Hall regions according to the multiple groups of current data for each of the Hall regions;

[0009] During each movement process of the motor, calculating the current average value of each motor movement passing through the corresponding Hall region, and determining whether the current average value has changed relative to the average value of the previous time. If it has changed, recalculate and update the anti-pinch current threshold of the Hall region.

[0010] In some embodiments of this application, the setting an anti-pinch current threshold for each of the Hall regions according to the multiple groups of current data for each of the Hall regions specifically includes:

[0011] Calculating the average current value of each Hall region according to the multiple groups of current data for each Hall region, and obtaining the maximum current value and the increment threshold of each Hall region;

[0012] Calculate the sum of the maximum current value and the increment threshold of each of the Hall regions, and use it as the anti-pinch current threshold of each of the Hall regions.

[0013] In some embodiments of the present application, obtaining the increment threshold of each of the Hall regions specifically includes:

[0014] Set the increment threshold of each of the Hall regions according to a preset anti-pinch force.

[0015] In some embodiments of the present application, the step of, if a change occurs, recalculating and updating the anti-pinch current threshold of the Hall region specifically includes:

[0016] If the current average current value decreases relative to the previous average current value, recalculate the maximum current value of the Hall region, and use the sum of the recalculated maximum current value and the increment threshold as the new anti-pinch current threshold of the Hall region;

[0017] If the current average current value increases relative to the previous average current value, calculate the average current difference between the current average current value and the previous average current value, and use the sum of the current anti-pinch current threshold and the average current difference as the new anti-pinch current threshold of the Hall region.

[0018] In a second aspect, an embodiment of the present application provides an anti-pinch current threshold calculation system, including:

[0019] A region division module, configured to divide the entire Hall stroke into multiple Hall regions according to current characteristics;

[0020] A current acquisition module, configured to perform current acquisition during multiple complete motor movement processes in each of the Hall regions to obtain multiple groups of current data of each of the Hall regions;

[0021] A threshold calculation module, configured to set the anti-pinch current threshold of each of the Hall regions according to multiple groups of the current data of each of the Hall regions;

[0022] A threshold dynamic update module, configured to calculate the current average current value of each of the Hall regions passed by the motor during each movement process of the motor, and determine whether the current average current value changes relative to the previous average current value. If a change occurs, recalculate and update the anti-pinch current threshold of the Hall region.

[0023] In some embodiments of the present application, the threshold calculation module sets the anti-pinch current threshold of each of the Hall regions according to multiple groups of the current data of each of the Hall regions, and specifically is used for:

[0024] Calculate the average current value of each Hall region based on multiple sets of the current data of each Hall region, and obtain the maximum current value and the increment threshold of each Hall region;

[0025] Calculate the sum of the maximum current value and the increment threshold of each Hall region, and use it as the anti-pinch current threshold of each Hall region.

[0026] In some embodiments of the present application, the threshold calculation module obtains the increment threshold of each Hall region, specifically for:

[0027] Set the increment threshold of each Hall region according to a preset anti-pinch force.

[0028] In some embodiments of the present application, the threshold dynamic update module determines whether the current average current value changes relative to the previous average current value. If it changes, recalculate and update the anti-pinch current threshold of the Hall region, specifically for:

[0029] Determine whether the current average current value changes relative to the previous average current value;

[0030] If the current average current value drops relative to the previous average current value, recalculate the maximum current value of the Hall region, and use the sum of the recalculated maximum current value and the increment threshold as the new anti-pinch current threshold of the Hall region;

[0031] If the current average current value rises relative to the previous average current value, calculate the average current difference between the current average current value and the previous average current value, and use the sum of the current anti-pinch current threshold and the average current difference as the new anti-pinch current threshold of the Hall region.

[0032] In a third aspect, an embodiment of the present application provides an anti-pinch current threshold calculation device, including: a processor, a memory, and a computer program stored in the memory. When the processor executes the computer program, it executes the anti-pinch current threshold calculation method as described in the first aspect.

[0033] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium storing a computer program, and the computer program can be executed by a processor to complete the anti-pinch current threshold calculation method as described in the first aspect.

[0034] In a fifth aspect, an embodiment of the present application provides a computer program product, which contains instructions. When the instructions run on a computer or a processor, the computer or the processor is made to execute the anti-pinch current threshold calculation method as described in the first aspect.

[0035] The beneficial effects of the embodiments of the present application are as follows:

[0036] The anti-pinch current threshold calculation method can dynamically adjust the anti-pinch current threshold, solve the problem of anti-pinch failure caused by the change of the current characteristics of the motor over time in the prior art, and adopt the method of dividing the Hall stroke area, which can further improve the reliability of the anti-pinch function. Description of the Drawings

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0038] Figure 1 It is a schematic flow chart of an anti-pinch current threshold calculation method provided by an embodiment of the present application;

[0039] Figure 2 It is a schematic Hall stroke diagram provided by an embodiment of the present application;

[0040] Figure 3 It is a schematic block diagram of the composition of an anti-pinch current threshold calculation system provided by an embodiment of the present application. Detailed Embodiments

[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present application.

[0042] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The terms "including" and "having" and any variations thereof in the embodiments of the present application and the drawings are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices.

[0043] An embodiment of the present application discloses a method for calculating an anti-pinch current threshold, which can dynamically adjust the anti-pinch current threshold, and solves the problem that the anti-pinch function fails due to the change of the motor current characteristics over time. The present application is mainly applicable to systems with insufficient anti-pinch structure rigidity, slow current rise and limited rise height, and can also be applicable to systems whose current characteristics change with the increase of the operation time, such as anti-pinch of automobile windows, anti-pinch of automatic doors, etc. The following will be described in detail respectively.

[0044] Figure 1 Fig. shows a method for calculating an anti-pinch current threshold according to an embodiment of the present application. As Figure 1 shown, the method for calculating the anti-pinch current threshold includes the following steps:

[0045] Step S110: Divide the entire Hall stroke into multiple Hall regions according to the current characteristics.

[0046] In the embodiment of the present application, the Hall stroke region is divided first. As Figure 2 shown, during the operation of the motor, the mechanical structures corresponding to different Hall positions may be different, resulting in different current characteristics. For example, in an electric tailgate mechanism, there is a sealing strip near the closing structure, which will generate a certain sealing reaction force. When the tailgate runs near this structure, the current will show an obvious rising characteristic, while the current at other positions fluctuates relatively smoothly. In the present application, the entire Hall stroke of the motor operation is divided into multiple Hall regions according to different current characteristics, and the anti-pinch current threshold is calculated for each Hall region respectively, so as to solve the problem that the current characteristics are different due to different mechanical structures corresponding to different Hall positions, and the anti-pinch function is unreliable due to the same anti-pinch current threshold being used at different Hall positions.

[0047] Step S120: Collect the current of the motor during multiple complete motion processes in each Hall region to obtain multiple groups of current data for each Hall region.

[0048] In the embodiment of the present application, after the Hall stroke region is divided, current collection and data processing are performed. During each complete motion process of the motor, the current data of each Hall region is collected respectively, and the current data of multiple complete motion processes of the motor is collected, so that each Hall region will obtain multiple groups of current data, and the anti-pinch current threshold is calculated through this data.

[0049] Step S130: Set the anti-pinch current threshold for each Hall region according to the multiple groups of current data of each Hall region.

[0050] Specifically, based on multiple groups of current data for each Hall region, calculate the average current value for each Hall region, and obtain the maximum current value and increment threshold for each Hall region; calculate the sum of the maximum current value and the increment threshold for each Hall region, and use it as the anti-pinch current threshold for each Hall region. Further, in this application, the increment threshold for each Hall region is set according to a preset anti-pinch force.

[0051] Suppose each Hall region obtains n groups of current data through step S120, which are i1, i2, …, i n , then the average current value for each Hall region is (i1 + i2 + … + i n ) / n, and the maximum current value for each Hall region is max(i1, i2, …, i n ).

[0052] The increment threshold for each Hall region is set by calibrating the anti-pinch force. For example, the required anti-pinch force is 100 N. When the anti-pinch force reaches 100 N, the current rises to 10 A, while the maximum current (i.e., the base current) during normal closing is only 5 A. Then the increment threshold delta is 10 - 5 = 5 A.

[0053] Take the maximum current value of each Hall region as the base current. The anti-pinch current threshold for each Hall region is the sum of the base current and the preset increment threshold, that is, the sum of the maximum current value and the increment threshold of each Hall region is the anti-pinch current threshold for that Hall region.

[0054] Step S140: During each movement of the motor, calculate the current average current value of each Hall region passed by the motor movement, and determine whether the current average current value has changed compared to the average current value of the previous time.

[0055] In the embodiment of this application, every time the motor moves through the corresponding Hall region, the average current is recalculated, and at the same time, it is detected whether the currently recalculated average current value has changed compared to the existing average current value (i.e., the average current value of the previous time). If the average current value of the Hall region changes, then from step S140, enter step S150 to recalculate and update the anti-pinch current threshold for that Hall region; otherwise, from step S140, enter step S160, and the anti-pinch current threshold for that Hall region remains unchanged.

[0056] Step S150: Recalculate and update the anti-pinch current threshold for the Hall region.

[0057] This application dynamically adjusts the anti-pinch current threshold for the Hall region according to the change in the average current.

[0058] In some embodiments, if the current average current value decreases relative to the previous average current value, recalculate the maximum current value of the Hall region, and use the sum of the recalculated maximum current value and the increment threshold as the anti-pinch current threshold for the new Hall region; if the current average current value increases relative to the previous average current value, calculate the average current difference between the current average current value and the previous average current value, and use the sum of the current anti-pinch current threshold (the existing anti-pinch current threshold) and the average current difference as the anti-pinch current threshold for the new Hall region. That is to say, when the average current in the Hall region changes downward, recalculate the base current, and add the recalculated base current to the preset increment threshold to set it as the new anti-pinch current threshold; when the average current in the Hall region changes upward, add the change value of the average current (i.e., the average current difference) to the existing anti-pinch current threshold to prevent the normal anti-pinch function from being ineffective due to an overly large one-time update.

[0059] Step S160: The anti-pinch current threshold of the Hall region remains unchanged.

[0060] The above introduced each step of an anti-pinch current threshold calculation method provided in this embodiment. Next, taking the entire Hall stroke being divided into three Hall regions A, B, and C as an example, the complete process of the anti-pinch current threshold calculation method will be described in detail.

[0061] During each complete movement of the motor, collect the current data of Hall regions A, B, and C respectively, and repeat the collection n times to obtain n sets of current data.

[0062] Calculate the maximum current value and average current value of each of Hall regions A, B, and C. Denote the maximum current value of Hall region A as Ia_max, the average current value as Ia_avg, denote the maximum current value of Hall region B as Ib_max, the average current value as Ib_avg, denote the maximum current value of Hall region C as Ic_max, and the average current value as Ic_avg.

[0063] Set the increment threshold for Hall regions A, B, and C as deltaI.

[0064] Calculate the anti-pinch current threshold for Hall region A as Ia_max + deltaI;

[0065] Calculate the anti-pinch current threshold for Hall region B as Ib_max + deltaI;

[0066] Calculate the anti-pinch current threshold for Hall region C as Ic_max + deltaI.

[0067] When the average current value in Hall region A is detected to change: If Ia_avg decreases, recalculate Ia_max, denote the recalculated Ia_max as Ia_max′, and update the pinch protection current threshold for Hall region A to Ia_max′ + deltaI; if Ia_avg increases, add the change value of Ia_avg to the existing pinch protection current threshold (Ia_max + deltaI).

[0068] Similarly, when the average current value in Hall region B is detected to change: If Ib_avg decreases, recalculate Ib_max, denote the recalculated Ib_max as Ib_max′, and update the pinch protection current threshold for Hall region B to Ib_max′ + deltaI; if Ib_avg increases, add the change value of Ib_avg to the existing pinch protection current threshold (Ib_max + deltaI).

[0069] When the average current value in Hall region C is detected to change: If Ic_avg decreases, recalculate Ic_max, denote the recalculated Ic_max as Ic_max′, and update the pinch protection current threshold for Hall region C to Ic_max′ + deltaI; if Ic_avg increases, add the change value of Ic_avg to the existing pinch protection current threshold (Ic_max + deltaI).

[0070] Corresponding to the above method embodiments, an embodiment of the present application further provides a pinch protection current threshold calculation system for performing the steps of the pinch protection current threshold calculation method in the above embodiments. As Figure 3 shown, the pinch protection current threshold calculation system 200 includes: a region division module 210, a current acquisition module 220, a threshold calculation module 230, and a threshold dynamic update module 240.

[0071] Specifically, the region division module 210 is configured to divide the entire Hall stroke into multiple Hall regions according to the current characteristics.

[0072] The current acquisition module 220 is configured to perform current acquisition during multiple complete motor movement processes in each Hall region to obtain multiple groups of current data for each Hall region.

[0073] The threshold calculation module 230 is configured to set the anti-pinch current threshold for each Hall region according to multiple groups of current data of each Hall region. Specifically, the threshold calculation module 230 is configured to calculate the average current value of each Hall region based on multiple groups of current data of each Hall region, obtain the maximum current value and the increment threshold of each Hall region, and then calculate the sum of the maximum current value and the increment threshold of each Hall region, and use it as the anti-pinch current threshold for each Hall region. Further, the threshold calculation module 230 is configured to set the increment threshold for each Hall region according to a preset anti-pinch force.

[0074] The threshold dynamic update module 240 is configured to calculate the current average current value of each Hall region passed by the motor during each movement of the motor, and determine whether the current average current value has changed compared to the average current value of the previous time. If it has changed, the anti-pinch current threshold of the Hall region is recalculated and updated. Specifically, the threshold dynamic update module 240 is configured to: determine whether the current average current value has changed compared to the average current value of the previous time; if the current average current value has decreased compared to the average current value of the previous time, recalculate the maximum current value of the Hall region, and use the sum of the recalculated maximum current value and the increment threshold as the new anti-pinch current threshold of the Hall region; if the current average current value has increased compared to the average current value of the previous time, calculate the average current difference between the current average current value and the average current value of the previous time, and use the sum of the current anti-pinch current threshold and the average current difference as the new anti-pinch current threshold of the Hall region.

[0075] It should be noted that the anti-pinch current threshold calculation system provided in the embodiments of the present application, because it is based on the same concept as the embodiments of the anti-pinch current threshold calculation method of the present application, the technical effects brought by it are the same as those of the embodiments of the anti-pinch current threshold calculation method of the present application. For specific content, reference can be made to the description in the embodiments of the anti-pinch current threshold calculation method of the present application, and details will not be repeated here.

[0076] The embodiments of the present application further provide an anti-pinch current threshold calculation device, including: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps in the embodiments of the anti-pinch current threshold calculation method described above are implemented. Or, when the processor executes the computer program, the functions of each module in the embodiments of the anti-pinch current threshold calculation system described above are implemented.

[0077] In a specific embodiment, the computer program can be divided into one or more modules. The one or more modules are stored in the memory and executed by the processor to complete the embodiments of the present application. The one or more modules can be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program in the anti-pinch current threshold calculation device. For example, the computer program can be divided into a region division module, a current acquisition module, a threshold calculation module, and a threshold dynamic update module. The specific functions of each module are as follows:

[0078] The region division module is used to divide the entire Hall stroke into multiple Hall regions according to the current characteristics;

[0079] The current acquisition module is used to collect the current during multiple complete motor movement processes in each Hall region to obtain multiple groups of current data for each Hall region;

[0080] The threshold calculation module is used to set the anti-pinch current threshold for each Hall region according to multiple groups of current data for each Hall region;

[0081] The threshold dynamic update module is used to calculate the current average current value of each motor moving through the corresponding Hall region during each movement process of the motor, and determine whether the current average current value has changed relative to the average current value of the previous time. If it has changed, recalculate and update the anti-pinch current threshold of the Hall region.

[0082] The anti-pinch current threshold calculation device can be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud management server. Those skilled in the art can understand that the anti-pinch current threshold calculation device can include, but is not limited to, a processor and a memory, and can also include more or fewer components, or combine certain components, or different components. For example, the anti-pinch current threshold calculation device can also include input / output devices, network access devices, a bus, etc.

[0083] The processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor can be a microprocessor, or the processor can also be any conventional processor, etc.

[0084] The memory can be an internal storage unit of the anti-pinch current threshold calculation device. For example, it can be the hard disk or memory of the anti-pinch current threshold calculation device. The memory can also be an external storage device of the anti-pinch current threshold calculation device. For example, it can be a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital Card (SD card for short), a Flash Card, etc. equipped on the anti-pinch current threshold calculation device. Further, the memory can also include both the internal storage unit of the anti-pinch current threshold calculation device and the external storage device. The memory is used to store computer programs and other programs or data required by the anti-pinch current threshold calculation device. The memory can also be used to temporarily store the data that has been output or will be output.

[0085] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0086] Those of ordinary skill in the art can realize that the modules and algorithm steps of the various embodiments described in combination with the embodiments disclosed in this specification can be implemented by electronic hardware, or by a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but this implementation should not be considered to exceed the scope of the present invention.

[0087] In addition, the embodiments of the present application also provide a computer-readable storage medium. The computer-readable storage medium stores a computer program, and the computer program can be executed by a processor to complete the anti-pinch current threshold calculation method as described in the above embodiments. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable storage medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disc, a computer memory, a Read-Only Memory (ROM), a Random Access Memory (RAM), etc.

[0088] In summary, the present application discloses an anti-pinch current threshold calculation method, system, device and storage medium, which can dynamically adjust the anti-pinch current threshold, solve the problem of anti-pinch failure caused by the change of the current characteristics of the motor over time in the prior art, and adopt the method of dividing the Hall travel area, which can further improve the reliability of the anti-pinch function.

[0089] Those of ordinary skill in the art can understand that the accompanying drawings are only schematic diagrams of one embodiment, and the modules or processes in the drawings are not necessarily essential for implementing the present invention.

[0090] Those of ordinary skill in the art can understand that the modules in the device in the embodiment can be distributed in the device of the embodiment according to the description of the embodiment, or can be correspondingly changed to be located in one or more devices different from this embodiment. The modules of the above embodiments can be combined into one module, or can be further split into multiple sub-modules.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for calculating an anti-pinch current threshold, characterized in that including: dividing the entire Hall stroke into multiple Hall regions according to the current characteristics; collecting the current during multiple complete motor movement processes within each of the Hall regions to obtain multiple sets of current data for each of the Hall regions; setting an anti-pinch current threshold for each of the Hall regions according to the multiple sets of the current data for each of the Hall regions; during each movement process of the motor, calculating the current average value of each of the Hall regions through which the motor moves, and determining whether the current average value has changed compared to the average current value of the previous time. If it has changed, recalculate and update the anti-pinch current threshold of the Hall region.

2. The anti-pinch current threshold calculation method according to claim 1, wherein The setting of the anti-pinch current threshold for each of the Hall regions according to the multiple sets of the current data for each of the Hall regions specifically includes: calculating the average current value of each of the Hall regions according to the multiple sets of the current data for each of the Hall regions, and obtaining the maximum current value and the increment threshold for each of the Hall regions; calculating the sum of the maximum current value and the increment threshold for each of the Hall regions, and using it as the anti-pinch current threshold for each of the Hall regions.

3. The anti-pinch current threshold calculation method according to claim 2, characterized in that, Obtaining the increment threshold for each of the Hall regions specifically includes: setting the increment threshold for each of the Hall regions according to a preset anti-pinch force.

4. The anti-pinch current threshold calculation method according to claim 1, characterized in that, The recalculating and updating of the anti-pinch current threshold of the Hall region if it has changed specifically includes: if the current average value has decreased compared to the average current value of the previous time, recalculating the maximum current value of the Hall region, and using the sum of the recalculated maximum current value and the increment threshold as the new anti-pinch current threshold of the Hall region; if the current average value has increased compared to the average current value of the previous time, calculating the average current difference between the current average value and the average current value of the previous time, and using the sum of the current anti-pinch current threshold and the average current difference as the new anti-pinch current threshold of the Hall region.

5. A clamping prevention current threshold calculation system, characterized in that, including: a region division module for dividing the entire Hall stroke into multiple Hall regions according to the current characteristics; a current collection module for collecting the current during multiple complete motor movement processes within each of the Hall regions to obtain multiple sets of current data for each of the Hall regions; a threshold calculation module for setting an anti-pinch current threshold for each of the Hall regions according to the multiple sets of the current data for each of the Hall regions; a threshold dynamic update module for calculating the current average value of each of the Hall regions through which the motor moves during each movement process of the motor, and determining whether the current average value has changed compared to the average current value of the previous time. If it has changed, recalculate and update the anti-pinch current threshold of the Hall region.

6. The anti-pinch current threshold calculation system according to claim 5, wherein The threshold calculation module sets an anti-pinch current threshold for each of the Hall regions according to the multiple sets of the current data for each of the Hall regions, and is specifically used for: calculating the average current value of each of the Hall regions according to the multiple sets of the current data for each of the Hall regions, and obtaining the maximum current value and the increment threshold for each of the Hall regions; Calculate the sum of the maximum current value and the increment threshold of each of the Hall regions, and use it as the pinch prevention current threshold of each of the Hall regions.

7. The anti-pinch current threshold calculation system according to claim 6, wherein The threshold calculation module obtains the increment threshold of each of the Hall regions, specifically for: Set the increment threshold of each of the Hall regions according to a preset pinch prevention force.

8. The anti-pinch current threshold calculation system according to claim 5, wherein The threshold dynamic update module determines whether the current average current value has changed relative to the average current value of the previous time. If it has changed, recalculate and update the pinch prevention current threshold of the Hall region, specifically for: Determine whether the current average current value has changed relative to the average current value of the previous time; If the current average current value has decreased relative to the average current value of the previous time, recalculate the maximum current value of the Hall region, and use the sum of the recalculated maximum current value and the increment threshold as the new pinch prevention current threshold of the Hall region; If the current average current value has increased relative to the average current value of the previous time, calculate the average current difference between the current average current value and the average current value of the previous time, and use the sum of the current pinch prevention current threshold and the average current difference as the new pinch prevention current threshold of the Hall region.

9. An anti-pinch current threshold calculation device, characterized in that, Comprising: A processor, a memory, and a computer program stored in the memory. When the processor executes the computer program, it executes the pinch prevention current threshold calculation method according to any one of claims 1–4.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and the computer program can be executed by a processor to complete the pinch prevention current threshold calculation method according to any one of claims 1–4.

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