Electric sofa anti-pinch control method and system and electric sofa

Abstract

The invention discloses an anti-pinch control method and system for an electric sofa and the electric sofa, and the method comprises the following steps: collecting electrical operation parameters when a motor drives a movable part of the electric sofa to move, the electrical operation parameters comprising current and rotating speed; performing anti-pinch detection according to the electrical operation parameters and a pre-generated normal operation reference curve to obtain a detection result; and controlling the motor according to the detection result. According to the invention, anti-pinch detection is carried out through the collected electrical operation parameters and the pre-generated normal operation reference curve to obtain the detection result, and the motor is controlled according to the detection result without depending on an external sensor, so that the cost is reduced, the detection accuracy is improved, and the effectiveness of anti-pinch control is improved.

Description

Technical Field

[0001] This invention relates to the field of electric sofa technology, and in particular to an anti-pinch control method and system for electric sofas, as well as an electric sofa. Background Technology

[0002] In electric sofa design, anti-pinch detection is a crucial function for ensuring user safety. Current anti-pinch detection methods largely rely on external sensors, such as pressure sensors or infrared sensors placed between moving parts (like the backrest and footrest) and the fixed structure. These sensors detect the presence of obstacles, triggering a stop or retraction action to prevent pinching. However, this type of external sensor-based anti-pinch detection method has the following problems: First, the hardware cost is high and assembly is complex. The external sensors themselves need to be purchased separately, and their installation, wiring, and calibration increase the number of steps and time in the production process, increasing overall manufacturing costs and reducing assembly efficiency. Second, the accuracy of anti-pinch detection is low. The reliability of the sensors is easily affected by the environment, and dust accumulation, fabric obstruction, or mechanical wear can cause sensor sensitivity to decrease or malfunction, thus affecting the accuracy of anti-pinch detection. Finally, maintenance costs are high. When the external sensor malfunctions, the entire anti-pinch detection system usually fails, often requiring professional inspection and replacement. This not only complicates the maintenance process but also increases the user's subsequent operating costs and inconvenience. Summary of the Invention

[0003] This invention provides an anti-pinch control method, system, and electric sofa for electric sofas, aiming to solve the problems of high cost and low accuracy of existing anti-pinch detection methods for electric sofas.

[0004] In a first aspect, embodiments of the present invention provide an anti-pinch control method for an electric sofa, comprising: The electrical operating parameters of the moving parts of the electric sofa driven by the motor are collected, wherein the electrical operating parameters include current and speed; The anti-pinch detection is performed based on the electrical operating parameters and the pre-generated normal operating reference curve to obtain the detection result; The motor is controlled based on the test results.

[0005] Secondly, embodiments of the present invention also provide an electric sofa, including a motor controller, a motor, and a metal frame, wherein the motor controller is used to execute the electric sofa anti-pinch control method of the first aspect described above, and the motor controller controls the motor to drive the metal frame to move between the starting position and the ending position of the travel.

[0006] Thirdly, embodiments of the present invention also provide an anti-pinch control system for an electric sofa, including a control terminal and the electric sofa described in the second aspect above, wherein the electric sofa is communicatively connected to the control terminal.

[0007] This invention provides an anti-pinch control method, system, and electric sofa for an electric sofa. The method includes: collecting electrical operating parameters when a motor drives the moving parts of the electric sofa, including current and rotational speed; performing anti-pinch detection based on the electrical operating parameters and a pre-generated normal operating reference curve to obtain a detection result; and controlling the motor based on the detection result. This invention's technical solution, by using the collected electrical operating parameters and a pre-generated normal operating reference curve to perform anti-pinch detection and obtain a detection result, and then controlling the motor based on the detection result, eliminates the need for external sensors, reducing costs and improving detection accuracy, thereby enhancing the effectiveness of anti-pinch control. Attached Figure Description

[0008] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1 This is a schematic diagram of an anti-pinch control system for an electric sofa according to an embodiment of the present invention; Figure 2 This is a flowchart illustrating an anti-pinch control method for an electric sofa according to an embodiment of the present invention. Figure 3 This is a schematic diagram of a sub-process of an anti-pinch control method for an electric sofa according to an embodiment of the present invention; Figure 4 This is a schematic diagram of another sub-process of an anti-pinch control method for an electric sofa provided in an embodiment of the present invention; Figure 5 This is a schematic block diagram of an anti-pinch control device for an electric sofa according to an embodiment of the present invention; Figure 6 This is a schematic block diagram of an electric sofa provided as an embodiment of the present invention. Detailed Implementation

[0010] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0011] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0012] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0013] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0014] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."

[0015] This invention proposes an anti-pinch control method, system, and electric sofa for electric sofas, addressing the issues of high cost and low accuracy in existing anti-pinch detection methods for electric sofas. In this embodiment, anti-pinch detection is performed by comparing collected electrical operating parameters with a pre-generated normal operating baseline curve to obtain detection results. The motor is then controlled based on the detection results, eliminating the need for external sensors. This not only reduces costs but also improves detection accuracy, thereby enhancing the effectiveness of anti-pinch control.

[0016] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0017] This invention provides an anti-pinch control method for electric sofas, which can be used in anti-pinch control systems for electric sofas, such as... Figure 1 As shown, the electric sofa anti-pinch control system 200 includes a control terminal 10 and an electric sofa 20. The electric sofa 20 is communicatively connected to the control terminal 10. The control terminal includes, but is not limited to, a remote control, an APP, etc. The electric sofa includes a motor controller 21, a motor 22, and a frame 23. The motor controller 21 controls the motor 22 to drive the frame 23 to move between the start and end positions of the travel. The specific functions implemented in the units configured in the motor controller 21 will be described in detail in the later embodiments. For simplicity, they will not be repeated here. Please refer to... Figure 2 , Figure 2 A flowchart illustrating the anti-pinch control method for electric sofas according to an embodiment of the present invention is shown, as follows: Figure 2 As shown, the electric sofa anti-pinch control method includes steps S110-S130.

[0018] S110. Collect electrical operating parameters when the motor drives the moving parts of the electric sofa to move, wherein the electrical operating parameters include current and speed.

[0019] In this embodiment, step S110 includes: when the motor drives the moving parts of the electric sofa to move, the current is collected at a preset sampling frequency through a current detection circuit, and the back EMF waveform of the motor is collected simultaneously through a back EMF zero-crossing detection circuit or a voltage sampling module; the rotational speed is calculated based on the back EMF waveform. Specifically, when the motor drives the moving parts of the electric sofa to move, the current of the three-phase windings of the motor is collected at a preset sampling frequency of not less than 10kHz through a current detection circuit built into the motor controller (the current detection circuit includes a shunt resistor and an operational amplifier circuit). Understandably, the reason for using a preset sampling frequency of not less than 10kHz is to ensure that subtle changes in current caused by sudden load changes can be captured; at the same time, the back EMF waveform of the motor is collected in real time with the help of the back EMF zero-crossing detection circuit or a voltage sampling module, and the rotational speed is obtained by detecting the zero-crossing information of the back EMF in the back EMF waveform. It should be noted that the resolution of the rotational speed is set to not less than 1rpm, so as to ensure high-precision perception of changes in rotational speed.

[0020] It should also be noted that the reason for collecting the electrical operating parameters of the motor in this embodiment is that the motor, as the core driving component of the electric sofa, generates parameters such as current, back electromotive force, and speed during operation. These parameters are directly related to the load state of the iron frame driven by the motor. When the iron frame encounters an obstacle (such as pinching the user's fingers, arms, or other limbs) during movement, the motor load will suddenly increase, which will cause changes in parameters such as current and speed. Based on this characteristic, by analyzing the changing patterns of these parameters, anti-pinch detection can be achieved without relying on external sensors.

[0021] S120. Based on the electrical operating parameters and the pre-generated normal operating reference curve, anti-pinch detection is performed to obtain the detection result.

[0022] In this embodiment, the normal operation reference curve is generated after the electric sofa enters self-learning mode, based on the real-time recording of the self-learning position, self-learning current, and self-learning speed when the motor drives the iron frame to complete at least one reciprocating motion between the origin and end positions of the travel. The specific process of generating the normal operation reference curve is as follows: The establishment of the baseline curve begins with the triggering of the "self-learning mode," which is usually manually activated under specific conditions, such as after the first installation and debugging of the electric sofa, replacement of the sofa frame, or maintenance of the motor. Users can trigger the self-learning mode through a dedicated remote control or mobile APP. After the self-learning mode is triggered, the motor will drive the sofa's moving parts (such as the backrest or footrest) from their origin position (such as a fully upright or retracted position) to their end position (such as a fully reclined or extended position), performing 1 to 3 complete reciprocating movements. Understandably, the purpose of the reciprocating movement is to ensure that comprehensive motor operation data covering the entire movement stroke can be collected, laying the foundation for establishing an accurate normal operation reference curve. During the execution of the self-learning mode, the motor controller will record the current and speed of the motor at every moment during the movement in real time. It should be noted that the position information of the moving parts is not obtained through external sensors, but is calculated by integrating the cumulative number of motor steps with the speed. This effectively simplifies the structure and reduces costs. In order to eliminate abnormal data interference caused by accidental factors such as momentary jamming of the sofa fabric, the current and speed collected at the same position in multiple reciprocating movements will be averaged. Based on this, a "normal operation reference curve" will be formed, reflecting the normal range of current and speed corresponding to different positions under normal unobstructed operation of the sofa. It should be noted that the normal current range can be set to 0.8–1.2A, and the normal speed range can be set to 30–35rpm. In addition to the static parameter range, the current change rate and speed change rate under normal operating conditions will also be calculated. The current change rate and speed change rate can provide a basis for subsequent real-time judgment on whether the motor load changes suddenly or whether there is a risk of clamping.

[0023] It should also be noted that, to ensure the normal operating baseline curve always matches the actual usage state of the sofa, a dynamic update mechanism is set up. Specifically, if a preset number of runs is reached, the system automatically enters the self-learning mode to update the normal operating baseline curve. When the motor has driven the frame to complete 100 full movements, the motor controller will automatically trigger the normal operating baseline curve update process. During the update process, abnormal data (such as brief load fluctuations caused by a user suddenly leaning against the sofa) will be automatically removed, the average current and average speed at each position throughout the entire stroke will be recalculated, a new normal operating baseline curve will be generated, and the new normal operating baseline curve will overwrite the original one.

[0024] Among them, such as Figure 3 As shown, step S120 specifically includes steps S121-S122: S121. Obtain the curve current and curve speed that are at the same position as the electrical operating parameters in the pre-generated normal operation reference curve; S122. The detection result is obtained by performing anti-pinch detection based on the curve current, the curve speed and the electrical operating parameters.

[0025] In this embodiment, step S122 specifically includes: obtaining the upper limit value of the curve current to obtain the reference current upper limit; obtaining the lower limit value of the curve rotation speed to obtain the reference rotation speed lower limit; and performing anti-pinch detection based on the reference current upper limit, the reference rotation speed lower limit, and the electrical operating parameters to obtain the detection result. Specifically, the step of performing anti-pinch detection based on the reference current upper limit, the reference rotation speed lower limit, and the electrical operating parameters to obtain the detection result includes: calculating the reference current upper limit threshold based on the reference current upper limit; calculating the reference rotation speed lower limit threshold based on the reference rotation speed lower limit; and performing anti-pinch detection based on the reference current upper limit threshold, the reference rotation speed lower limit threshold, and the electrical operating parameters to obtain the detection result. It should be noted that the upper limit of the reference current is calculated by multiplying the upper limit of the reference current by the multiple of the upper limit of the reference current. For example, assuming the upper limit of the reference current is 1.2A and the multiple of the upper limit of the reference current is 150%, the corresponding upper limit of the reference current is 1.8A. The lower limit of the reference speed is calculated by multiplying the lower limit of the reference speed by the multiple of the lower limit of the reference speed. For example, assuming the lower limit of the reference speed is 30rpm and the multiple of the lower limit of the reference speed is 80%, the corresponding lower limit of the reference speed is 24rpm.

[0026] Further, the step of obtaining the detection result by performing anti-pinch detection based on the reference current upper limit threshold, the reference speed lower limit threshold, and the electrical operating parameters includes: if the current is greater than the reference current upper limit threshold and the duration is not less than a preset duration, then the current detection result is set as abnormal motor load; if the speed is less than the reference speed lower limit threshold and the speed change rate of the motor is not greater than a preset speed change rate, then the speed detection result is set as obstructed iron frame movement, wherein the speed change rate = (speed at the next moment - speed at the previous moment) / time interval between two samplings; the detection result is determined based on the current detection result and the speed detection result. Specifically, the step of determining the detection result based on the current detection result and the speed detection result includes: if the current detection result is abnormal motor load and the speed detection result is obstructed iron frame movement, then the detection result is set as risk of pinching injury; if the current detection result is abnormal motor load or the speed detection result is obstructed iron frame movement, then the detection result is set as suspected interference. Understandably, when the current exceeds the upper limit of the reference current (e.g., 1.2A × 150% = 1.8A) and the duration is not less than the preset duration (50ms), it is determined to be an abnormal motor load. If the speed is less than the lower limit of the reference speed (e.g., 30rpm × 80% = 24rpm) and the rate of change of the motor speed is not greater than the preset rate of change of speed (the preset rate of change of speed is, for example, -3rpm / ms), it is determined to be an obstruction to the movement of the iron frame. Only when both the abnormal motor load and the obstruction to the movement of the iron frame occur simultaneously is it finally confirmed as a risk of pinching injury. If neither of the two states of abnormal motor load and obstruction to the movement of the iron frame occurs, or only one occurs, it is determined to be a suspected interference, which requires further confirmation. It should also be noted that in this embodiment, in addition to the upper limit threshold of the reference current and the lower limit threshold of the reference speed, the duration of the abnormal state and the rate of change of the speed are introduced as the judgment criteria in the anomaly detection, thereby effectively distinguishing between real pinch risk and short-term random interference, thus significantly improving the accuracy of anti-pinch detection, avoiding false triggering caused by instantaneous load fluctuations, and ensuring that protection actions are only performed when a continuous and significant abnormal mode occurs.

[0027] S130. Control the motor according to the detection results.

[0028] In this embodiment, as Figure 4As shown, step S130 specifically includes steps S131-S132: S131, if the detection result is suspected interference, then after a preset delay time, return to the step of collecting the electrical operating parameters when the motor drives the moving parts of the electric sofa; S132, if the detection result is a risk of pinching injury, then control the motor to stop. It should be noted that after the motor stops, it will also be controlled to reverse the motor by a preset angle. After the motor reverses, it will also be controlled to enter a locked state and simultaneously issue an alarm message. Specifically, If the detected result is "suspected interference" (e.g., a brief load fluctuation caused by temporary wrinkles in the sofa fabric or slight mechanical jamming, triggering only a single judgment condition of abnormal current or abnormal speed), the anti-pinch action will not be executed immediately. Instead, an anti-false alarm mechanism will be activated: after a preset delay time (e.g., 100 milliseconds), the electrical operating parameters of the motor will be re-acquired and compared with the normal operating baseline curve again. This delayed re-checking step can effectively filter out instantaneous and occasional interference signals, significantly reduce the false trigger rate, and ensure the accuracy of the anti-pinch action. Once the detection result is confirmed as "pinch risk" (i.e., the conditions of abnormal current in the first-level judgment and abnormal speed in the second-level judgment are met simultaneously), the motor controller will cut off the motor drive signal within a very short time (e.g., within 50 milliseconds), causing it to stop running quickly to prevent the pinching force from increasing further. After the motor stops, the motor controller will control the motor to rotate in the opposite direction by a preset angle (the preset angle is set according to the type of iron frame) to release the pinched space, thereby alleviating the pinching situation. After the motor completes its reverse rotation, the motor controller will lock the motor to prevent secondary damage caused by accidental movement of moving parts. Simultaneously, it will alert the user via audible and visual signals (such as a specific flashing pattern on the red indicator light or three short beeps) to indicate the presence of an obstruction that needs to be removed. The motor will only unlock and resume normal operation after the user removes the obstruction and issues a new adjustment command via a control terminal (such as a remote control or mobile app).

[0029] In summary, this embodiment achieves anti-pinch detection by collecting the motor's own current and speed, without relying on any external sensors, significantly reducing hardware costs and assembly complexity, and improving detection accuracy. It establishes a normal operating baseline curve through a self-learning mode and can dynamically update it, thus adapting to different specifications of sofa frames and user habits, effectively reducing the false positive rate. Furthermore, by avoiding interference from external sensors due to fabric obstruction and dust accumulation during anti-pinch detection, it exhibits stronger anti-interference capabilities and higher long-term reliability in complex usage environments.

[0030] Figure 5 This is a schematic block diagram of an anti-pinch control device 200 for an electric sofa provided in an embodiment of the present invention. For example... Figure 5 As shown, corresponding to the above-described anti-pinch control method for electric sofas, the present invention also provides an anti-pinch control device 200 for electric sofas. This anti-pinch control device 200 includes a unit for executing the above-described anti-pinch control method for electric sofas, and the device can be configured in the motor controller of the electric sofa. Specifically, please refer to... Figure 5 The electric sofa anti-pinch control device 200 includes a data acquisition unit 201, a detection unit 202, and a control unit 203. Detailed descriptions of each functional module are as follows: The acquisition unit 201 is used to acquire electrical operating parameters when the motor drives the moving parts of the electric sofa to move, wherein the electrical operating parameters include current and speed; The detection unit 202 is used to perform anti-pinch detection based on the electrical operating parameters and the pre-generated normal operating reference curve to obtain the detection result. The normal operating reference curve is generated after the electric sofa enters the self-learning mode, based on the self-learning position, self-learning current and self-learning speed recorded in real time when the motor drives the iron frame to complete at least one reciprocating motion between the origin position and the end position of the stroke. The control unit 203 is used to control the motor based on the detection results.

[0031] In one embodiment, the acquisition unit 201 is specifically used for: When the motor drives the moving parts of the electric sofa to move, the current is collected by the current detection circuit at a preset sampling frequency, and the back EMF waveform of the motor is collected by the back EMF zero-crossing detection circuit or voltage sampling module. The rotational speed is calculated based on the back electromotive force waveform.

[0032] In one embodiment, the detection unit 202 is specifically used for: Obtain the curve current and curve speed that are at the same position as the electrical operating parameters in the pre-generated normal operation reference curve; The detection result is obtained by performing anti-pinch detection based on the curve current, the curve rotation speed, and the electrical operating parameters.

[0033] In one embodiment, the detection unit 202 is further configured to: The upper limit of the curve current is obtained to obtain the reference current upper limit; The lower limit of the speed of the curve is obtained to obtain the lower limit of the reference speed; The detection result is obtained by performing anti-pinch detection based on the upper limit of the reference current, the lower limit of the reference speed, and the electrical operating parameters.

[0034] In one embodiment, the detection unit 202 is further configured to: Calculate the upper limit threshold of the reference current based on the aforementioned upper limit of the reference current; Calculate the lower limit threshold of the reference speed based on the lower limit of the reference speed; The detection result is obtained by performing anti-pinch detection based on the upper limit threshold of the reference current, the lower limit threshold of the reference speed, and the electrical operating parameters.

[0035] In one embodiment, the detection unit 202 is further configured to: If the current is greater than the upper limit threshold of the reference current and the duration is not less than the preset duration, then the current detection result is set as abnormal motor load. If the rotational speed is less than the lower limit threshold of the reference rotational speed and the rate of change of the motor's rotational speed is not greater than the preset rate of change of rotational speed, then the rotational speed detection result is set as the iron frame movement being obstructed. The detection result is determined based on the current detection result and the rotational speed detection result.

[0036] In one embodiment, the detection unit 202 is further configured to: If the current detection result indicates abnormal motor load and the speed detection result indicates obstructed movement of the iron frame, then the detection result is set as a risk of pinching injury. If the current detection result indicates abnormal motor load or the speed detection result indicates obstructed movement of the iron frame, then the detection result is set as suspected interference.

[0037] In one embodiment, the control unit 203 is specifically used for: If the detection result is suspected interference, then after a preset delay time, return to the step of collecting the electrical operating parameters when the motor drives the moving parts of the electric sofa. If the detection result indicates a risk of pinching injury, the motor will be stopped.

[0038] In one embodiment, the control unit 203 is further configured to: Control the motor to rotate in the opposite direction by a preset angle; The motor is controlled to enter a locked state, and an alarm message is issued simultaneously.

[0039] In one embodiment, such as this embodiment, the electric sofa anti-pinch control device 200 further includes an update unit.

[0040] An update unit is used to automatically enter the self-learning mode to update the normal operation baseline curve if a preset number of runs is reached.

[0041] The aforementioned anti-pinch control device for electric sofas can be implemented as a computer program, which can, for example... Figure 6 The electric sofa shown is in operation.

[0042] Please see Figure 6 , Figure 6 This is a schematic block diagram of an electric sofa provided in an embodiment of the present invention. The electric sofa 300 is a device capable of anti-pinch control.

[0043] See Figure 6 The electric sofa 300 includes a processor 302, a memory, and a network interface 305 connected via a system bus 301. The memory may include a non-volatile storage medium 303 and internal memory 304.

[0044] The non-volatile storage medium 303 may store an operating system 3031 and a computer program 3032. When the computer program 3032 is executed, it causes the processor 302 to execute an anti-pinch control method for an electric sofa.

[0045] The processor 302 provides computing and control capabilities to support the operation of the entire electric sofa 300.

[0046] The internal memory 304 provides an environment for the operation of the computer program 3032 in the non-volatile storage medium 303. When the computer program 3032 is executed by the processor 302, the processor 302 can execute an anti-pinch control method for an electric sofa.

[0047] This network interface 305 is used for network communication with other devices. Those skilled in the art will understand that... Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present invention and does not constitute a limitation on the electric sofa 300 to which the present invention is applied. The specific electric sofa 300 may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0048] The processor 302 is used to run a computer program 3032 stored in a memory to implement any embodiment of the above-described electric sofa anti-pinch control method.

[0049] It should be understood that, in this embodiment of the invention, the processor 302 may be a Central Processing Unit (CPU), or it may be 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. The general-purpose processor may be a microprocessor or any conventional processor.

[0050] It will be understood by those skilled in the art that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program may be stored in a storage medium, which is a computer-readable storage medium. The computer program is executed by at least one processor in the computer system to implement the process steps of the embodiments of the above methods.

[0051] Therefore, the present invention also provides a storage medium. This storage medium can be a computer-readable storage medium. The storage medium stores a computer program. When executed by a processor, the computer program causes the processor to perform any embodiment of the above-described electric sofa anti-pinch control method.

[0052] The storage medium can be any computer-readable storage medium capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory (ROM), magnetic disk, or optical disk.

[0053] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software 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 such implementations should not be considered beyond the scope of this invention.

[0054] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of each unit is merely a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0055] The steps in the method of this invention can be adjusted, merged, or reduced in order according to actual needs. The units in the device of this invention can be merged, divided, or reduced according to actual needs. Furthermore, the functional units in the various embodiments of this invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0056] If the integrated unit example is implemented as a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an electric sofa to perform all or part of the steps of the methods described in the various embodiments of the present invention.

[0057] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0058] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Since these modifications and variations fall within the scope of the claims and their equivalents, this invention also intends to include these modifications and variations.

[0059] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for preventing pinching in electric sofas, characterized in that, include: The electrical operating parameters of the moving parts of the electric sofa driven by the motor are collected, wherein the electrical operating parameters include current and speed; The anti-pinch detection is performed based on the electrical operating parameters and the pre-generated normal operating reference curve to obtain the detection result; The motor is controlled based on the test results.

2. The method according to claim 1, characterized in that, The step of obtaining the detection result by performing anti-pinch detection based on the electrical operating parameters and the pre-generated normal operating reference curve includes: Obtain the curve current and curve speed that are at the same position as the electrical operating parameters in the pre-generated normal operation reference curve; The detection result is obtained by performing anti-pinch detection based on the curve current, the curve rotation speed, and the electrical operating parameters.

3. The method according to claim 2, characterized in that, The step of obtaining the detection result by performing anti-pinch detection based on the curve current, the curve speed, and the electrical operating parameters includes: The upper limit of the curve current is obtained to obtain the reference current upper limit; The lower limit of the speed of the curve is obtained to obtain the lower limit of the reference speed; The detection result is obtained by performing anti-pinch detection based on the upper limit of the reference current, the lower limit of the reference speed, and the electrical operating parameters.

4. The method according to claim 3, characterized in that, The step of obtaining the detection result by performing anti-pinch detection based on the upper limit of the reference current, the lower limit of the reference speed, and the electrical operating parameters includes: Calculate the upper limit threshold of the reference current based on the aforementioned upper limit of the reference current; Calculate the lower limit threshold of the reference speed based on the lower limit of the reference speed; The detection result is obtained by performing anti-pinch detection based on the upper limit threshold of the reference current, the lower limit threshold of the reference speed, and the electrical operating parameters.

5. The method according to claim 4, characterized in that, The step of obtaining the detection result by performing anti-pinch detection based on the reference current upper limit threshold, the reference speed lower limit threshold, and the electrical operating parameters includes: If the current is greater than the upper limit threshold of the reference current and the duration is not less than the preset duration, then the current detection result is set as abnormal motor load. If the rotational speed is less than the lower limit threshold of the reference rotational speed and the rate of change of the motor's rotational speed is not greater than the preset rate of change of rotational speed, then the rotational speed detection result is set as the iron frame movement being obstructed. The detection result is determined based on the current detection result and the rotational speed detection result.

6. The method according to claim 5, characterized in that, The step of determining the detection result based on the current detection result and the rotational speed detection result includes: If the current detection result indicates abnormal motor load and the speed detection result indicates obstructed movement of the iron frame, then the detection result is set as a risk of pinching injury. If the current detection result indicates abnormal motor load or the speed detection result indicates obstructed movement of the iron frame, then the detection result is set as suspected interference.

7. The method according to claim 6, characterized in that, The step of controlling the motor based on the detection result includes: If the detection result is suspected interference, then after a preset delay time, return to the step of collecting the electrical operating parameters when the motor drives the moving parts of the electric sofa. If the detection result indicates a risk of pinching injury, the motor will be stopped.

8. The method according to claim 7, characterized in that, After the step of controlling the motor to stop, the method further includes: Control the motor to rotate in the opposite direction by a preset angle.

9. The method according to claim 8, characterized in that, After the step of controlling the motor to reverse the rotation by a preset angle, the method further includes: The motor is controlled to enter a locked state, and an alarm message is issued simultaneously.

10. The method according to any one of claims 1-9, characterized in that, The normal operating baseline curve is generated after the electric sofa enters the self-learning mode, based on the self-learning position, self-learning current, and self-learning speed recorded in real time when the motor drives the iron frame to complete at least one reciprocating motion between the origin and end points of the stroke.

11. The method according to claim 10, characterized in that, The method further includes: If the preset number of runs is reached, the system will automatically enter the self-learning mode to update the normal operation baseline curve.

12. The method according to any one of claims 1-9, characterized in that, The steps for collecting electrical operating parameters when the motor drives the moving parts of the electric sofa include: When the motor drives the moving parts of the electric sofa to move, the current is collected by the current detection circuit at a preset sampling frequency, and the back EMF waveform of the motor is collected by the back EMF zero-crossing detection circuit or voltage sampling module. The rotational speed is calculated based on the back electromotive force waveform.

13. An electric sofa, characterized in that, The device includes a motor controller, a motor, and a metal frame. The motor controller is used to execute the electric sofa anti-pinch control method as described in any one of claims 1-12, and the motor controller controls the motor to drive the metal frame to move between the start position and the end position of the travel.

14. An anti-pinch control system for an electric sofa, characterized in that, It includes a control terminal and the electric sofa as described in claim 13, wherein the electric sofa is communicatively connected to the control terminal.

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