Anti-pinch method and device for partition system

Abstract

The embodiment of the application relates to the technical field of vehicle safety control, and discloses a method and device for preventing pinching of a partition system, the method comprising: determining an operation stage of the partition system, and acquiring corresponding sensing data; comparing the sensing data with sensing data thresholds of the corresponding operation stage to determine a comparison result; and when the comparison result indicates that the partition system is blocked, controlling the partition system to stop continuous operation and reversely operate for a preset stroke. According to the technical scheme, the operation stage is dynamically divided, the sensing data threshold and the reverse stroke are adapted, the anti-pinch force threshold is adaptively adjusted according to the closing degree, the detection sensitivity for small object blocking at the end of the stroke is improved, and the risk of pinching at the end of the stroke is effectively avoided.

Description

Technical Field

[0001] This application relates to the field of vehicle safety control technology, specifically to an anti-pinch method and device for a partition system. Background Technology

[0002] In related technologies, electric partition systems in automobiles, such as power windows, power tailgates, power doors, sunroofs, and sliding ceiling screens, often have anti-pinch functions to prevent people from being pinched during operation. These anti-pinch forces are determined by assessing the resistance encountered by the partition system to determine if it might pinch a person. If the anti-pinch force is inadequate, fingers or other body parts may be pinched at the moving ends of the partition system, potentially causing personal injury. Summary of the Invention

[0003] In view of the above problems, this application provides an anti-pinch method and device for a partition system to solve the problem of insufficient anti-pinch sensitivity in the prior art.

[0004] According to one aspect of the embodiments of this application, an anti-pinch method for a partition system is provided. The method includes: determining the operating phase of the partition system and acquiring corresponding sensing data, wherein the operating phase is used to characterize the travel range in which the partition system is closed; comparing the sensing data with the sensing data threshold of the corresponding operating phase to determine the comparison result; and when the comparison result indicates that there is a partition obstacle in the partition system, controlling the partition system to stop continuing to operate and reverse the preset travel.

[0005] According to another aspect of the embodiments of this application, an anti-pinch device for a partition system is provided. The device includes: an acquisition module, used to determine the operating stage of the partition system and acquire corresponding sensing data, wherein the operating stage is used to characterize the travel range in which the partition system is when closed; a determination module, used to compare the sensing data with the sensing data threshold of the corresponding operating stage and determine the comparison result; and a control module, used to control the partition system to stop continuing to operate and reverse to run a preset travel range when the comparison result indicates that there is a partition obstacle in the partition system.

[0006] According to another aspect of the embodiments of this application, an anti-pinch device for a partition system is provided, comprising: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other through the communication bus; the memory is used to store at least one executable instruction, wherein the executable instruction causes the processor to perform the operation of the anti-pinch method of the partition system as described above.

[0007] According to another aspect of the embodiments of this application, a computer-readable storage medium is provided, the storage medium storing at least one executable instruction, the executable instruction causing the anti-pinch device / apparatus of the partition system to perform the following operations: determining the operating phase of the partition system and acquiring corresponding sensing data, the operating phase being used to characterize the travel range of the partition system when closed; comparing the sensing data with the sensing data threshold of the corresponding operating phase to determine the comparison result; when the comparison result indicates that there is a partition obstacle in the partition system, controlling the partition system to stop continuing to operate and reverse the preset travel.

[0008] This application embodiment dynamically divides the operation phases and adapts the sensor data threshold and reverse stroke, so that the anti-pinch force threshold is adaptively adjusted according to the degree of closure, thereby significantly improving the detection sensitivity of small object obstruction at the end of the stroke and effectively avoiding the risk of pinching injury at the end of the stroke.

[0009] The above description is merely an overview of the technical solutions of the embodiments of this application. In order to better understand the technical means of the embodiments of this application and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of this application more obvious and understandable, specific implementation methods of this application are described below. Attached Figure Description

[0010] The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A flowchart illustrating a first embodiment of the anti-pinch method for the partition system provided in this application is shown. Figure 2 A flowchart illustrating a second embodiment of the anti-pinch method for the partition system provided in this application is shown. Figure 3 A flowchart illustrating a third embodiment of the anti-pinch method for the partition system provided in this application is shown. Figure 4 A flowchart illustrating a fourth embodiment of the anti-pinch method for the partition system provided in this application is shown. Figure 5 A first schematic diagram shows a first example of the anti-pinch method for the partition system provided in this application; Figure 6 A second schematic diagram shows a first example of the anti-pinch method for the partition system provided in this application; Figure 7 A third schematic diagram of a first example of the anti-pinch method for the partition system provided in this application is shown; Figure 8 A first schematic diagram shows a second example of the anti-pinch method for the partition system provided in this application; Figure 9 A second example of the anti-pinch method for the partition system provided in this application is shown in a second schematic diagram; Figure 10 A second example of the anti-pinch method for the partition system provided in this application is shown in a third schematic diagram; Figure 11 A first schematic diagram of a third example of the anti-pinch method for the partition system provided in this application is shown; Figure 12 A schematic diagram of the anti-pinch device of the partition system provided in this application is shown; Figure 13 A schematic diagram of an embodiment of the anti-pinch device of the partition system provided in this application is shown. Detailed Implementation

[0011] Exemplary embodiments of the present application will now be described in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited to the embodiments set forth herein.

[0012] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0013] Existing automotive electric motion mechanisms, such as power windows, power tailgates, or sunroofs, generally use a fixed anti-pinch force threshold during operation. This single threshold setting results in a relatively large anti-pinch force being set at the beginning of the movement to effectively detect larger obstacles. However, at the end of the movement, when a small part is caught, a larger clamping force is required to trigger the anti-pinch function, leading to insufficient sensitivity and a risk of injury, posing a safety hazard to the user.

[0014] To address this issue, this application proposes an anti-pinch method for a partition system, such as... Figure 1 As shown, the method includes: Step S110: Determine the operating stage of the isolation system and acquire the corresponding sensor data.

[0015] Partition systems refer to mechanisms that can open and close to achieve spatial division or connection, such as power windows, power tailgates, power sliding doors, sunroofs, or sliding ceiling screens in automobiles. Their operation is typically driven by motors and requires anti-pinch functionality to ensure user safety.

[0016] The operational phase characterizes the travel range of the partition system during its closing process. The entire closing travel of the partition system can be divided into multiple distinct phases, each corresponding to a specific position range or time period. By dividing the operational phases, differentiated anti-pinch strategies can be implemented to meet the needs of different travel positions.

[0017] Sensor data refers to numerical values ​​collected by sensors on the partition system that reflect the system's operating status or external environmental information. This data may include, but is not limited to, motor current, motor speed, position encoder signals, and pressure sensor signals, and is used to detect whether the partition system encounters any obstructions during operation.

[0018] Specifically, the entire operation of the partition system, from fully opening to fully closing, can be simply divided into three phases: initial, intermediate, and final. In one implementation, a timer records the time from the start of the closing process and determines the current phase based on a preset time point. For example, the first 2 seconds after closing are the initial phase, 2 to 5 seconds are the intermediate phase, and after 5 seconds is the final phase. In another implementation, a simple position sensor, such as a limit switch, installed on the partition system can detect whether the system has reached a preset position, thus determining the current phase. Simultaneously, relevant sensor data is acquired. For example, the current value of the motor driving the partition system can be used as sensor data. When the partition system encounters an obstacle, the motor load increases, and the current value rises accordingly.

[0019] Step S120: Compare the sensor data with the sensor data threshold of the corresponding operating stage to determine the comparison result.

[0020] The sensor data threshold refers to a preset reference value for sensor data used to determine the presence of obstructions in each operating phase. When the actual collected sensor data exceeds or falls below this threshold, it is determined that an obstruction may exist. Different sensor data thresholds can be set for different operating phases to adapt to the anti-pinch sensitivity requirements at different travel positions.

[0021] Specifically, in the three operating phases—initial, intermediate, and final—a motor current threshold can be preset for each phase. In the initial phase, a relatively high current threshold can be set because larger obstacles may need to be detected; in the intermediate phase, a medium current threshold can be set; and in the final phase, a relatively low current threshold can be set to improve the sensitivity to detect small obstacles. When the actual detected motor current value exceeds the current threshold corresponding to the current operating phase, the comparison result indicates that an obstruction exists in the isolation system.

[0022] Step S130: When the comparison result indicates that there is a barrier in the partition system, control the partition system to stop running and run in reverse for a preset distance.

[0023] Among them, "obstacle" refers to any object or human body part that hinders the normal operation of the isolation system during its closure. Detecting an obstruction is a prerequisite for triggering the anti-pinch function.

[0024] The preset travel distance refers to the specific distance or angle at which the partition system stops its current direction of operation and reverses its direction when an obstruction is detected. This is designed to release the clamping force on the obstruction in a timely manner, preventing injury.

[0025] Specifically, once the motor current is detected to exceed the threshold of the current operating stage, the system controller will immediately issue a command to stop the drive motor from its current closing action and to reverse its rotation or translation by a preset distance. This preset distance can be a uniform fixed value, such as reversing by 5 centimeters or rotating by 10 degrees, to ensure that the obstruction is released. Alternatively, it can be set according to the operating stage.

[0026] It is understood that the anti-pinch method of this application effectively solves the problem of insufficient anti-pinch sensitivity at the end of the stroke of the existing fixed threshold scheme by dynamically adjusting the anti-pinch strategy according to the operation stage of the partition system. This method can more accurately identify obstacles in different stroke ranges, especially at the closing end, improving the protection capability for small parts, enhancing the user's sense of security when using the electric motion mechanism, and avoiding the risk of pinching injury.

[0027] In some of the solutions mentioned above in this application, the anti-pinch function of the partition system is controlled by determining the operating stage and comparing the sensor data threshold. However, in practical applications, if a uniform anti-pinch force standard is adopted for each operating stage, or if the correlation between the anti-pinch force and the degree of stroke closure is not designed reasonably, the system will have insufficient sensitivity to identify small obstacles at the end of the stroke, and will be unable to effectively balance the anti-pinch safety and operational reliability, thus making it difficult to solve the problem of high risk of pinching at the end of the stroke.

[0028] In response, this application further proposes an anti-pinch method for a partition system, wherein the operation phase includes multiple levels, and the sensor data threshold corresponding to each operation phase is determined by the anti-pinch force. The triggering difficulty represented by the sensor data threshold is positively correlated with the anti-pinch force, and the anti-pinch force corresponding to each operation phase is negatively correlated with the degree of closure represented by the travel interval in which it is located. The preset travel of the reverse operation corresponding to each operation phase is positively correlated with the degree of closure represented by the travel interval in which it is located.

[0029] Specifically, the operation phase is subdivided into multiple levels to achieve refined management of the entire closed-loop travel of the partition system. This multi-level division can be based on the physical travel distance of the partition system; for example, the total travel can be divided into several equal intervals, such as 0-25%, 25-50%, 50-75%, 75-100%, etc. Alternatively, the travel can be divided into intervals of unequal length according to the actual application scenario and safety requirements. For example, a denser level can be set at the end of the travel (e.g., 90%-100%) to improve the anti-pinch sensitivity in that area. Through multi-level division, the system can adopt differentiated anti-pinch strategies based on the characteristics of different travel positions.

[0030] In this application, the sensor data threshold corresponding to each operational stage is not a fixed value, but is dynamically determined based on a preset anti-pinch force. Specifically, the system can pre-establish a mapping relationship between the anti-pinch force and the sensor data threshold, for example, through experimental calibration or theoretical calculation. When it is necessary to set the anti-pinch force for a certain operational stage, the system queries or calculates the corresponding sensor data threshold based on the anti-pinch force value. This makes the adjustment of the anti-pinch strategy more flexible and precise, and allows for indirect control of the sensor's trigger sensitivity by directly adjusting the anti-pinch force.

[0031] Meanwhile, there is a positive correlation between the triggering difficulty, as represented by the sensor data threshold, and the anti-pinch force. This means that the larger the set anti-pinch force, the greater the amount of sensor data change the system needs to detect, such as sudden changes in motor current or the rate of change in Hall counts, in order to trigger the anti-pinch action; that is, the triggering difficulty is higher. Conversely, the smaller the set anti-pinch force, the higher the system's sensitivity to changes in sensor data; even small changes in sensor data can trigger the anti-pinch action, meaning the triggering difficulty is lower. This ensures that adjusting the anti-pinch force directly and effectively affects the system's anti-pinch sensitivity.

[0032] To optimize anti-pinch performance, in this application, the anti-pinch force corresponding to each operational stage is negatively correlated with the degree of closure represented by the travel range of the partition system. This means that the closer the partition system is to a fully closed state, i.e., the higher the degree of closure, such as at the end of the travel range, the smaller the set anti-pinch force. For example, at the beginning of the travel range, the partition system may need a larger anti-pinch force to deal with larger obstacles, such as an arm; while at the end of the travel range, the anti-pinch force will be reduced to protect small obstacles, such as a child's finger. This allows the system to dynamically adjust the anti-pinch strength according to the potential risk of pinching, thereby maximizing safety while ensuring operational reliability.

[0033] Furthermore, when an obstruction is detected and the anti-pinch action is triggered, the preset reverse travel length of the partition system is positively correlated with the degree of closure represented by the current travel interval. Specifically, when the partition system is in a travel interval with a high degree of closure, such as at the end of the travel interval, its preset reverse travel length will be relatively long. Conversely, in a travel interval with a low degree of closure, such as at the beginning of the travel interval, the preset reverse travel length will be relatively short. This ensures that a sufficient reverse travel distance is provided when the partition system is about to fully close and the risk of pinching is high, thus providing more release space for the pinched object and further enhancing the anti-pinch effect and safety.

[0034] It is understood that, through the above technical solution, this application further introduces refined management of multi-level operation stages. By establishing a positive correlation between sensor data thresholds and anti-pinch force, and making the anti-pinch force at each operation stage negatively correlated with the degree of stroke closure, the system can automatically reduce the anti-pinch force at stages with a higher degree of closure of the partition system, thereby improving the detection sensitivity for small obstacles at the end of the stroke. This effectively solves the problems of insufficient anti-pinch sensitivity and high risk of pinching at the end of the stroke in existing technologies, avoiding the risk of pinching due to excessive anti-pinch force. At the same time, by making the preset stroke of the reverse operation at each stage positively correlated with the degree of stroke closure, it ensures that when an obstacle occurs at the end of the stroke, the system can quickly disengage from the contact area through a larger reverse displacement, providing more sufficient release space for the pinched object and further enhancing the system's safety protection capability. It achieves dynamic adaptation between the anti-pinch strategy and the degree of closure of the partition system, not only optimizing detection sensitivity but also improving the emergency response range, ensuring that the partition system can provide protection measures matching the current risk level throughout the entire closure stroke, thereby effectively balancing anti-pinch safety and operational reliability.

[0035] In some of the embodiments described above in this application, it is proposed to determine the obstruction by comparing sensor data with a threshold. However, in practical applications, relying solely on sensor data of a single dimension is often insufficient to fully cover complex obstruction scenarios, which can easily lead to misjudgment or omission. Especially when the obstruction system is dynamically changing during operation, how to accurately extract obstruction features from multi-dimensional sensor information and combine them with the characteristics of different operating stages for logical judgment is a key challenge in improving the reliability of the anti-pinch system.

[0036] To address this, this application further proposes an anti-pinch method for an isolation system. The sensing data includes motor stall information and Hall element sensing information, and the sensing data thresholds include stall parameter thresholds and Hall number change rate thresholds. For example... Figure 2 As shown, the method includes: Step S210: Determine the operational stage of the isolation system and acquire the corresponding sensor data. See details... Figure 1Step S110 in the embodiment will not be described again here.

[0037] Step S220 involves comparing the sensor data with the sensor data thresholds for the corresponding operating phase to determine the comparison result. Specifically, this includes: Step S2201: If the Hall element sensing information meets the first trigger condition of the Hall number change rate threshold of the current operating stage, and / or if the motor stall information meets the second trigger condition of the stall parameter threshold of the current operating stage, determine that the comparison result indicates that there is a stall obstacle in the isolation system.

[0038] Specifically, motor stall information refers to the abnormal changes in parameters such as current, voltage, and speed of the drive motor in the isolation system when it experiences a sharp drop in speed or even stops due to external obstruction or excessive load during operation. This information directly reflects the magnitude of the physical resistance experienced by the isolation system. For example, it can be determined by monitoring the rate of change or peak value of the motor current. When the motor encounters an obstruction, its current will increase instantaneously, and the system can detect this by setting a current threshold. Alternatively, it can be determined by monitoring the deviation between the motor drive voltage and the actual speed. When the motor stalls, the speed will decrease at a given voltage, and this deviation can serve as a basis for determining stall. Hall element sensing information refers to the position or speed information of the moving parts of the isolation system detected by Hall elements. This information can reflect abnormalities in the motion state and trajectory of the isolation system, such as a sudden drop in speed or a complete stop. For example, Hall elements can be installed near moving parts of an isolation system, working with magnets to obtain the real-time speed or displacement of the moving parts by detecting the frequency of changes in the magnetic field. When the movement is obstructed, the frequency or count of the Hall signal will be abnormal. Alternatively, multiple Hall elements can be distributed along the movement path, and the speed and direction of the movement can be calculated by detecting the triggering sequence and time interval of different Hall elements. When the movement is obstructed, the triggering sequence of the Hall elements will be interrupted or the time interval will be abnormal.

[0039] Stall parameter thresholds are critical values ​​used to determine whether a motor is stalled. These can be thresholds for parameters such as current, voltage, and speed change rate, serving as a basis for judging whether the isolation system is subject to physical obstruction. For example, a current upper limit can be preset; if the motor current exceeds this value and remains so for a period of time, it is considered stalled. Alternatively, a speed decrease rate threshold can be preset; if the motor speed decreases beyond this threshold in a short period, it is considered stalled. Hall effect count change rate thresholds are critical values ​​used to determine whether the movement speed of the isolation system is abnormal. They typically refer to the change in the Hall effect count per unit time, serving as a basis for judging whether the movement trajectory or speed of the isolation system is abnormal. For example, if the motor rotates 500 revolutions per second and has 3 Hall effect sensors, then the Hall effect speed is 1500 / s. The Hall effect change rate is the ratio of the Hall effect speed that decreases due to an obstacle before triggering the anti-pinch function to the normal speed.

[0040] A minimum rate of change of Hall pulse count per unit time can be preset; if the rate of change is lower than this, the motion is considered to be blocked. Alternatively, a threshold for the decrease of Hall pulse count within a continuous sampling period can be preset; if the decrease exceeds this threshold, the motion is considered to be blocked.

[0041] During the judgment process, the controller collects Hall element sensing information and motor stall information in real time, and compares them with the Hall number change rate threshold and stall parameter threshold corresponding to the current operating stage, respectively. If the Hall element sensing information meets the first trigger condition of the Hall number change rate threshold for the current operating stage, i.e., the Hall number change rate is lower than the preset threshold, it indicates an abnormal movement speed; and / or, if the motor stall information meets the second trigger condition of the stall parameter threshold for the current operating stage, i.e., the motor stall parameter, such as the current, is higher than the preset threshold, it indicates the presence of physical resistance, then the comparison result indicates that there is a blocking obstacle in the isolation system. This means that as long as either trigger condition is met, the system can determine that there is a blocking obstacle.

[0042] Step S230: When the comparison result indicates that the partition system has a partition obstacle, control the partition system to stop operating and reverse the preset stroke. See details. Figure 1 Step S130 in the embodiment will not be described again here.

[0043] It is understood that, through the above technical solution, this application introduces a multi-source data fusion mechanism combining motor stall information and Hall element sensing information, enhancing the anti-pinch system's perception of obstruction states. The system can simultaneously monitor both physical load changes and motion trajectory deviations, effectively solving the detection blind spot problem that may exist with a single sensor under specific operating conditions. For example, for soft obstructions, abnormal motion speed may occur, but the motor current change is not significant; in this case, the Hall element sensing information can capture it promptly. For hard obstructions, the motor may stall momentarily; in this case, the motor stall information can respond quickly. This ensures that the system can respond promptly in different types of obstruction scenarios, thereby improving the robustness and safety of the anti-pinch function. Furthermore, by dynamically associating multi-dimensional sensing data thresholds with the travel range of the partition system when it is closed, the anti-pinch system can adaptively adjust its anti-pinch sensitivity according to the degree of closure of the partition system, such as increasing sensitivity at the end of the travel range. This effectively avoids the risk of pinching injuries caused by fixed anti-pinch force thresholds in existing technologies, providing users with a safer and more reliable user experience.

[0044] In some of the solutions mentioned above in this application, the operation phase of the partition system is determined to achieve differentiated anti-pinch control. However, in practical applications, partition systems have various physical forms, such as rotary and translational types. The motion trajectory and travel definition methods of different types of systems are completely different. If a unified phase determination logic is adopted, it will be impossible to accurately match the operation status of different types of systems, resulting in inaccurate or false triggering of the anti-pinch triggering timing.

[0045] To address this issue, this application proposes an anti-pinch method for a partition system, wherein the partition system includes a rotating partition system and a sliding partition system. For example... Figure 3 As shown, the method includes: Step S310: Determine the operational stage of the isolation system and acquire the corresponding sensor data. Specifically, this includes: Step S3101: When the partition system is a rotating partition system, determine the operating stage based on the opening and closing angle of the rotating partition system, and acquire the corresponding sensor data.

[0046] Step S3102: When the partition system is a sliding partition system, determine the operating stage based on the sliding stroke of the sliding partition system and acquire the corresponding sensor data.

[0047] Specifically, a rotating partition system refers to a partition device that opens, closes, or moves by rotating around a certain axis, such as a car's rotating window, rotating sunroof, or certain rotating doors. Its movement is usually characterized by changes in angle. A sliding partition system refers to a partition device that opens, closes, or moves by moving linearly along a certain direction, such as a car's sliding window, power tailgate, sliding ceiling screen, or certain sliding doors. Its movement is usually characterized by the distance of displacement.

[0048] When the partition system is a rotating partition system, the opening / closing angle refers to the angle by which the rotating partition system rotates from the fully closed state to its current position. This angle is a physical quantity characterizing the current position of the rotating partition system. For example, the opening / closing angle can be accurately measured using an angle sensor mounted on the rotating shaft, such as a photoelectric encoder or magnetic encoder; or it can be calculated by monitoring the number of rotations of the drive motor and combining it with the reduction ratio. Determining the operating phase means dividing the entire rotation stroke of the rotating partition system into several preset intervals, each interval corresponding to an operating phase. For example, 0-30 degrees can be defined as the first phase, 30-60 degrees as the second phase, and so on. The division can be based on empirical data, safety standards, or actual test results to ensure that appropriate anti-pinch strategies are applied in different angle intervals.

[0049] When the partition system is a sliding partition system, the sliding stroke refers to the linear distance the sliding partition system moves from the fully closed state to its current position. This stroke is a physical quantity characterizing the current position of the sliding partition system. For example, the sliding stroke can be accurately measured by linear displacement sensors installed on the sliding track, such as Hall sensor arrays or potentiometers; or it can be calculated by monitoring the number of rotations of the drive motor and combining it with the parameters of the transmission mechanism. Determining the operating phase means dividing the entire sliding stroke of the sliding partition system into several preset intervals, each interval corresponding to an operating phase. For example, 0-100mm can be defined as the first phase, 100-200mm as the second phase, and so on. The division can also be based on empirical data, safety standards, or actual test results to ensure that appropriate anti-pinch strategies are applied in different stroke intervals.

[0050] Step S320 involves comparing the sensor data with the sensor data threshold for the corresponding operating stage to determine the comparison result. Specifically, this includes: Step S3201: If the Hall element sensing information meets the first trigger condition of the Hall number change rate threshold for the current operating stage, and / or if the motor stall information meets the second trigger condition of the stall parameter threshold for the current operating stage, determine that the comparison result indicates that the isolation system has a blocking obstruction. See details. Figure 2 Step S2201 in the embodiment will not be described again here.

[0051] Step S330: When the comparison result indicates that the partition system has a partition obstacle, control the partition system to stop running and reverse the preset stroke. See details. Figure 1 Step S130 in the embodiment will not be described again here.

[0052] It is understood that, through the above technical solutions, this application can accurately divide the operating stages of partition systems with different physical forms. For rotating partition systems, the operating stage is determined by monitoring their opening and closing angles, accurately reflecting their positional changes during circular motion; for sliding partition systems, the operating stage is determined by monitoring their translational stroke, accurately capturing their displacement state during linear motion. This effectively solves the problem that the unified logic used in existing technologies cannot adapt to diverse motion mechanisms. Based on this, combined with the anti-pinch method proposed above—which obtains corresponding sensor data based on the operating stage and compares it with sensor data thresholds—it ensures that the anti-pinch system can apply differentiated anti-pinch strategies according to its precise current operating stage on different types of partition systems. This improves the accuracy and reliability of anti-pinch triggering, avoids false triggering or anti-pinch failure due to inaccurate stage judgment, and ultimately improves user safety and comfort.

[0053] In some of the solutions mentioned above in this application, an anti-pinch strategy is proposed based on the operation stage of the partition system. However, in practical applications, there are differences between rotating partition systems and sliding partition systems in terms of motion mechanism, force characteristics, and stroke definition. If targeted motion control is not performed on different types of partition systems, the reverse running stroke will not match the actual anti-pinch requirements, thereby affecting the accuracy and safety of the anti-pinch action.

[0054] In response, this application further proposes an anti-pinch method for a partition system. For example... Figure 4 As shown, the method includes: Step S410: Determine the operational stage of the isolation system and acquire the corresponding sensor data. Specifically, this includes: Step S4101: When the partition system is a rotating partition system, determine the operating stage based on the opening and closing angle of the rotating partition system, and acquire the corresponding sensor data. See details... Figure 3 Step S3101 in the embodiment will not be described again here.

[0055] Step S4102: When the partition system is a sliding partition system, determine the operating stage based on the sliding stroke of the sliding partition system and acquire the corresponding sensor data. See details... Figure 3 Step S3102 in the embodiment will not be described again here.

[0056] Step S420: Compare the sensor data with the sensor data threshold for the corresponding operating stage to determine the comparison result. Specifically, this includes: Step S4201: If the Hall element sensing information meets the first trigger condition of the Hall number change rate threshold for the current operating stage, and / or if the motor stall information meets the second trigger condition of the stall parameter threshold for the current operating stage, determine that the comparison result indicates that the isolation system has an obstruction. (See details...) Figure 2 Step S2201 in the embodiment will not be described again here.

[0057] Step S430: When the comparison result indicates that the partition system has a partition obstacle, control the partition system to stop operating and reverse the preset stroke. Specifically, this includes: Step S4301: When the partition system is a rotating partition system, control the rotating partition system to stop rotating and rotate in the opposite direction to the preset rotation stroke corresponding to the current operating stage.

[0058] Step S4302: When the partition system is a sliding partition system, control the sliding partition system to stop sliding and reverse the preset sliding stroke corresponding to the current operating stage.

[0059] Specifically, when an obstruction is detected, for a rotating partition system, the controller immediately cuts off or reverses the power supply to the drive motor, stopping its current rotation. It then locates the corresponding preset rotation stroke based on the current operating stage and instructs the system to rotate in the opposite direction by that preset angle. For example, the reverse rotation angle can be monitored using an encoder or angle sensor, and the system stops again once the preset value is reached. For a sliding partition system, the controller similarly immediately cuts off or reverses the power supply to the drive motor, stopping its current sliding movement. It then locates the corresponding preset sliding stroke based on the current operating stage and instructs the system to slide in the opposite direction by that preset distance. For example, the reverse sliding distance can be monitored using a position sensor, such as a Hall effect sensor or a linear encoder, and the system stops again once the preset value is reached.

[0060] It is understood that, through the above technical solutions, this application achieves a deep adaptation between the anti-pinch action and the physical characteristics of the system. For the rotating partition system, by controlling it to stop rotating and execute a preset rotation stroke corresponding to the current operating stage, it ensures that when an obstacle is detected, the system can accurately retract to a safe position based on the finely segmented opening and closing angle, avoiding excessive or insufficient retraction caused by a uniform stroke setting. For the sliding partition system, by controlling it to stop sliding and execute a preset sliding stroke corresponding to the current operating stage, the retraction distance can be dynamically adjusted according to the degree of closure of the sliding stroke, thereby maximizing the system's operating efficiency while ensuring the anti-pinch effect. This solves the problem of poor adaptability of general anti-pinch logic in complex motion mechanisms, ensuring that the system can remove obstacles in the way most consistent with the laws of physical motion under different operating stages, improving the overall reliability of the anti-pinch system and the user experience. In some of the embodiments described above in this application, it is proposed to set the anti-pinch force by grading the operation stages in order to solve the problem of insufficient anti-pinch sensitivity at the end of the stroke. However, in its implementation, the system only determines the anti-pinch force based on the stroke position and fails to take into account the differences in the physical properties of the actual contact object. As a result, when facing obstacles of different hardness, the setting of the anti-pinch force may not be accurate enough, and it is impossible to ensure safety while taking into account the operating efficiency of the system.

[0061] In this regard, this application further proposes that the anti-pinch force corresponding to each stage of operation be determined through the following steps: Step a1: Determine the rate of change of the sensor data within a preset unit time period.

[0062] Step a2: Determine the resistance characteristics of the barrier based on the rate of change, and determine the anti-pinch force corresponding to the current operating stage based on the resistance characteristics of the barrier. The resistance characteristics are used to characterize the hardness of the anti-pinch object.

[0063] Specifically, during the operation of the isolation system, the first step is to determine the rate of change of the sensor data within a preset unit time period. Sensor data can include motor stall information, Hall element sensing information, etc., which reflect the resistance encountered by the isolation system or changes in its motion state during operation. The preset unit time period refers to a relatively short time window, such as tens to hundreds of milliseconds, used to capture the instantaneous dynamic response of the system when encountering an obstacle. The rate of change can be determined by continuously collecting motor current data and calculating the ratio of the current change to the time interval between adjacent sampling points or within the preset time window; or by determining the rate of change through changes in Hall element sensing information. For example, the rate of change of the Hall pulse count within the preset unit time period can reflect the speed change of the isolation system; when encountering an obstacle, the speed decreases rapidly, causing a decrease in the Hall pulse rate of change.

[0064] Based on this, the resistance characteristics of the barrier are determined according to the rate of change. The resistance characteristics characterize the hardness of the anti-pinch object; that is, by analyzing the rate of change of the sensor data, the physical characteristics of the obstacle encountered by the barrier system can be inferred, especially its hardness. For example, when the barrier system encounters a hard object, the rate of change of the sensor data, such as the rate of increase of current and the rate of decrease of velocity, will be very rapid and large; while when encountering a soft object, the rate of change will be relatively gradual. The resistance characteristics can be determined by pre-setting multiple rate of change intervals, each interval corresponding to a resistance characteristic, such as "soft," "medium," and "hard." When the calculated rate of change of the sensor data falls into a certain interval, the corresponding resistance characteristic is determined. Alternatively, a machine learning model can be trained, using the rate of change of sensor data under anti-pinch objects of different hardness as input to train the model to output the corresponding resistance characteristics, thereby achieving intelligent identification of the resistance characteristics.

[0065] Subsequently, the anti-pinch force corresponding to the current operating stage is determined based on the resistance characteristics of the barrier. After determining the resistance characteristics of the barrier, i.e., the hardness of the object to be pinched, the system can dynamically adjust the anti-pinch force for the current operating stage. This avoids oversensitivity to soft objects and false triggering, while ensuring timely response to hard objects, thus improving safety. The anti-pinch force can be determined by establishing a lookup table or mapping relationship, which associates different resistance characteristics, such as "soft," "medium," and "hard," with different anti-pinch force coefficients or specific anti-pinch force values. For example, when the resistance characteristic is "hard," a higher anti-pinch force is used; when the resistance characteristic is "soft," a lower anti-pinch force is used. Alternatively, it can be achieved through a dynamic adjustment algorithm, which calculates the final anti-pinch force based on a preset base anti-pinch force for the current operating stage, combined with the resistance characteristics, such as a hardness coefficient.

[0066] It is understood that, through the above technical solution, this application, based on setting the anti-pinch force in the graded operation phase, further introduces dynamic sensing of the physical properties of the barrier obstacle. By monitoring the rate of change of sensor data within a preset unit time period, the system can identify the resistance characteristics of the anti-pinch object contacted by the barrier system in real time, i.e., its hardness. The identification of hardness allows the anti-pinch force to no longer depend solely on the stroke position, but can be finely adjusted according to the physical characteristics of the actual contact object. For example, when the system detects a softer obstacle, it can appropriately reduce the trigger threshold of the anti-pinch force to avoid unnecessary reverse operation, thereby improving the system's operating efficiency and user experience; while when a harder obstacle is detected, especially a hard object that may cause injury, even at the end of the stroke when the overall anti-pinch force is low, the system can respond quickly, stop in time, and reverse operation, thereby improving the sensitivity and safety of the anti-pinch mechanism and effectively preventing pinching accidents.

[0067] In some of the solutions mentioned above in this application, the resistance characteristics are determined by the rate of change of sensor data and the anti-pinch force is determined accordingly. However, in practical applications, it is difficult to accurately distinguish the resistance characteristics of objects with different hardness based on a single rate of change value alone. This results in a lack of specificity in the selection of the anti-pinch force coefficient, which in turn affects the accuracy and safety of the anti-pinch protection.

[0068] In response, this application further proposes the above-mentioned method for determining the resistance characteristics of the barrier based on the rate of change, and for determining the anti-pinch force corresponding to the current operating stage based on the resistance characteristics of the barrier, including: Step b1: Determine the range of changes in which the rate of change falls.

[0069] Step b2: Determine the current resistance characteristics corresponding to the current anti-pinch object based on the range of change rate.

[0070] Step b3: Query the corresponding anti-pinch force coefficient based on the current resistance characteristics.

[0071] Step b4: Obtain the standard anti-pinch force, which represents the anti-pinch force when the resistance characteristic is the hardest.

[0072] Step b5: Reduce the standard anti-pinch force according to the anti-pinch force coefficient to obtain the anti-pinch force corresponding to the current operating stage.

[0073] Specifically, the first step is to determine the specific range of the rate of change of the sensor data within a preset unit time period. This rate of change range divides the continuous range of sensor data change rates into multiple discrete, preset sub-intervals. For example, based on empirical data, simulation results, or actual tests, the rate of change can be divided into low, medium, high, or more detailed levels. The system can transform continuously changing sensor data into categorizable feature information, effectively filtering measurement noise.

[0074] Based on this, the system determines the resistance characteristics corresponding to the current anti-pinch object according to the determined rate of change range. The resistance characteristics characterize the hardness of the anti-pinch object; for example, a lower rate of change range may correspond to a soft obstacle, such as a human limb, while a higher rate of change range may correspond to a hard obstacle, such as a solid object. This determination can be achieved through a preset mapping table or rule set. For example, a lookup table can be created to associate each rate of change range with a specific resistance characteristic, such as "soft," "medium," or "hard." The system can infer the physical properties of the pinched object from the dynamic changes in sensor data, thus providing a basis for differentiated anti-pinch force control.

[0075] Furthermore, once the resistance characteristics of the current anti-pinch object are determined, the system will query the corresponding anti-pinch force coefficient based on these characteristics. The anti-pinch force coefficient can be a value between 0 and 1, used to adjust the final anti-pinch force. For example, for an obstacle judged as "soft," a smaller anti-pinch force coefficient, such as 0.3, can be queried; for a "medium" obstacle, a medium coefficient, such as 0.6, may be corresponding to it; and for a "hard" obstacle, a larger coefficient, such as 1.0 or close to 1.0, may be corresponding to it. This coefficient query can be completed through a preset database or lookup table to ensure that obstacles of different hardness can be matched with appropriate anti-pinch force adjustment ratios.

[0076] At the same time, the system will acquire a standard anti-pinch force. This standard anti-pinch force is a benchmark value, which usually represents the maximum anti-pinch force allowed when the partition system encounters an object with the hardest resistance characteristics during operation.

[0077] Finally, the system will reduce the standard anti-pinch force based on the retrieved anti-pinch force coefficient to obtain the actual anti-pinch force to be used in the current operating phase. Specifically, the anti-pinch force in the current operating phase is equal to the standard anti-pinch force multiplied by the anti-pinch force coefficient. For example, if the standard anti-pinch force is 100N and the anti-pinch force coefficient is 0.3, then the current actual anti-pinch force is 30N. This allows the anti-pinch force to be dynamically adjusted according to the detected resistance hardness, avoiding the safety hazards associated with a fixed anti-pinch force.

[0078] The anti-pinch force coefficient can also be a value in the same unit as the anti-pinch force. When the resistance characteristics are softer, the standard anti-pinch force is subtracted from the corresponding anti-pinch force coefficient to obtain the adjusted anti-pinch force.

[0079] It is understood that, through the above technical solution, this application can accurately identify the resistance characteristics of the current anti-pinch object by dividing the rate of change of sensor data into different intervals, i.e., hardness. The system can match differentiated anti-pinch force coefficients for obstacles of different hardness. Based on this, combined with the preset standard anti-pinch force, the anti-pinch force required for the current operating stage is dynamically calculated by reducing the coefficient. This allows the partition system to quickly reduce the anti-pinch force threshold and improve anti-pinch sensitivity when encountering soft obstacles, such as human fingers, thereby effectively avoiding the risk of pinching, especially providing more adequate protection for small parts such as children's fingers at the end of the stroke; while maintaining sufficient anti-pinch force to ensure effective detection when encountering hard obstacles. Therefore, this application improves the accuracy, adaptability, and safety of the partition system's anti-pinch protection, providing users with a more reliable and user-friendly experience.

[0080] In some embodiments, this application further proposes determining the operating phase based on the opening and closing angle of the rotating partition system and acquiring corresponding sensing data, including: Step c1: Divide the opening and closing angle of the rotating partition system into a preset number of angle intervals; wherein, different angle intervals are marked with different anti-pinch force thresholds.

[0081] Specifically, this step pre-divides the rotation stroke into discrete intervals. The number of intervals can be flexibly customized based on the product's safety level, mechanism size, and clamping risk level. An equal-angle division mode or a non-uniform, denser division mode can be used. For example, under normal operating conditions, the total rotation angle is divided into three equal parts (fully open, middle, and closed end). For vehicle partition mechanisms that are frequently touched by children and prone to being clamped by small objects, a denser subdivision of angle intervals is set for the closed end, achieving refined control of end-pinch prevention. After completing the interval division, a dedicated anti-pinch force threshold is assigned to each independent angle interval through bench calibration. The degree of closure of the interval is negatively correlated with the corresponding anti-pinch force: the larger the opening angle and the farther from the fully closed position (lower closure degree), the greater the anti-pinch force value of the interval; the smaller the opening angle and the closer to the fully closed position (higher closure degree), the smaller the anti-pinch force value of the interval. The differentiated anti-pinch force thresholds for different angle intervals are pre-stored in the controller's storage unit, forming an angle interval and anti-pinch force mapping table, providing data support for subsequent dynamic switching of anti-pinch judgment standards.

[0082] Step c2: Determine the angle range in which the rotating partition system is located, in order to determine the anti-pinch force threshold corresponding to the angle range.

[0083] Specifically, the controller continuously collects the current real-time opening and closing angle of the rotating partition system through an angle encoder and a magnetic ring Hall angle sensor. The sensor acquisition frequency matches the motor drive control cycle to ensure that the position data is lag-free and jump-free. The controller compares and matches the real-time collected opening and closing angle values ​​with all angle interval boundaries preset in step c1 to accurately locate the unique angle interval in which the mechanism is currently located, completing the operation phase determination; then, it retrieves the pre-stored mapping lookup table and matches and outputs the specific benchmark anti-pinch force threshold for this angle interval.

[0084] Step c3: Obtain motor stall information and Hall element sensing information of the rotary partition system within the angular range.

[0085] Specifically, real-time operating current, voltage, and speed data of the motor driving the rotating mechanism are collected, and stall characteristic parameters are extracted, including peak current, current rise rate, speed drop amplitude, and stall duration. When the partition encounters an obstacle during rotation, the motor load increases sharply, leading to a stall trend, a sudden rise in current, and a rapid drop in speed. This data directly reflects the magnitude of resistance experienced by the mechanism. Relying on the motor's built-in Hall sensor, the Hall pulse count is collected in real time within a unit sampling period, and the Hall number change rate is calculated to characterize the real-time rotational speed of the rotating mechanism. Both types of sensor data are simultaneously transmitted to the judgment module and compared with the stall parameter threshold and Hall number change rate threshold corresponding to the current angle range, respectively. As long as either type of sensor data meets the corresponding trigger condition, it can be determined that there is a partition obstruction in the rotation path, and the safety protection logic of stopping and reversing rotation is immediately activated.

[0086] In some embodiments, the operating phase is determined based on the translation stroke of the sliding partition system, and corresponding sensor data is acquired, including: Step d1: Divide the translation stroke of the sliding partition system into a preset number of stroke intervals; different stroke intervals are marked with different anti-pinch force thresholds.

[0087] Specifically, this step pre-processes the entire linear closure stroke by discretely segmenting it. The number of stroke intervals can be customized based on vehicle safety standards, partition dimensions, and pinch risk levels. Two segmentation methods are supported: one is an equidistant division mode, which divides the total translational stroke into multiple segments; the other is a non-uniform densified segmentation mode, which sets denser, subdivided stroke intervals near the closure end, enabling refined anti-pinch control at the ends of thin lines that are prone to pinching fingers. After completing the stroke interval segmentation, a dedicated anti-pinch force threshold is assigned to each independent stroke interval through bench calibration tests. The interval anti-pinch force follows the unified rules of this application: the larger the stroke value and the farther away from the fully closed position (lower degree of closure), the larger the corresponding calibrated anti-pinch force value; the smaller the stroke value and the closer to the fully closed position (higher degree of closure), the smaller the corresponding calibrated anti-pinch force value. The correspondence between all stroke intervals and matched anti-pinch forces is pre-stored in the vehicle controller storage unit, generating a stroke interval and anti-pinch force mapping table, providing underlying data support for subsequent dynamic switching of anti-pinch judgment thresholds.

[0088] Step d2: Determine the travel range of the translation partition system to determine the anti-pinch force threshold corresponding to the travel range.

[0089] Specifically, the controller continuously collects the real-time translation stroke of the sliding partition system through linear Hall displacement sensors and motor encoders to calculate the displacement. The sensor sampling frequency is synchronized with the motor drive control cycle to ensure that the displacement data is without delay or jumps, and to accurately reflect the real-time position of the partition. The controller compares the real-time collected translation stroke values ​​with the boundary values ​​of all stroke intervals preset in step d1 one by one to uniquely identify the stroke interval in which the current translation mechanism is located, thus completing the operation phase determination. Then, it retrieves the locally stored stroke and anti-pinch force mapping table and outputs the specific benchmark anti-pinch force threshold for this stroke interval.

[0090] Step d3: Obtain motor stall information and Hall element sensing information of the translational partition system within the travel range.

[0091] Specifically, the system collects real-time operating current, bus voltage, and real-time speed of the motor driving the translation mechanism, extracting stall characteristic parameters, including peak stall current, current rise rate, speed drop amplitude, and stall duration. If a collision with an obstacle occurs during the closing of the translation partition, the motor load surges instantaneously, leading to a rapid stall trend, a sharp increase in current, and a significant drop in speed. This data directly reflects the magnitude of the hard resistance experienced by the mechanism. Utilizing the Hall effect sensor built into the drive motor, the system counts Hall pulses within a fixed sampling period and calculates the rate of change of the Hall pulse count in real time, thus characterizing the current linear speed of the translation partition. When an obstacle exists within the partition path, the rate of change of the Hall pulse count decreases significantly.

[0092] Both types of sensor data are simultaneously sent to the anti-pinch judgment module and compared with the stall parameter threshold and Hall number change rate threshold corresponding to the current travel range, respectively. As long as the Hall sensing information meets the Hall number change rate trigger condition or the motor stall information meets the stall parameter trigger condition, it can be determined that there is an obstruction in the translation path. The controller immediately issues a command to control the obstruction to stop the forward closing and reverse the preset translation stroke matched to the current travel range to release the clamped object and avoid the risk of pinching injury.

[0093] In one example, the following provides a more detailed explanation of the above technical solution through a more specific example: Consider an electrically operated sliding partition system, such as an electric sliding door for a vehicle, which needs to implement an anti-pinch function during closing. When closing, the entire sliding stroke of this electric sliding door is divided into multiple operating stages. For example, the entire closing stroke can be divided into an initial operating stage, a middle operating stage, and a final operating stage. Each operating stage corresponds to a different stroke range, and a different anti-pinch force is preset according to the degree of closure represented by that stroke range. Specifically, in the initial operating stage, due to the lower degree of closure, a larger obstacle, such as a human arm, may need to be detected, so the corresponding anti-pinch force is relatively large; while in the final operating stage, the degree of closure is higher, and a smaller obstacle, such as a child's finger, may need to be detected, so the corresponding anti-pinch force is relatively small. The anti-pinch force is negatively correlated with the degree of closure represented by the current stroke range.

[0094] In actual operation, when the electric sliding door begins to close, the system first determines its operating stage based on its current translational travel. For example, if the sliding door is in the initial 30% range of its closing travel, it is determined to be in the initial operating stage. During this stage, the system continuously acquires relevant sensor data, including motor stall information and Hall element sensing information. Motor stall information reflects changes in current or torque when the motor encounters an obstacle, while Hall element sensing information reflects changes in the sliding door's position or speed.

[0095] The system compares the currently acquired sensor data with preset sensor data thresholds for the initial operation phase. These thresholds include stall parameter thresholds and Hall number change rate thresholds, which are determined based on the relatively large anti-pinch force required in the initial operation phase, thus their triggering difficulty is relatively high. For example, if the rate of change of the information sensed by the Hall element within a preset unit time, such as the Hall number change rate, meets the first triggering condition of the Hall number change rate threshold for the current operation phase, this may indicate an abnormal decrease in the sliding door speed; and / or, if the motor stall information, such as the motor current or torque, meets the second triggering condition of the stall parameter threshold for the current operation phase, this may indicate an abnormal increase in the motor load. When either or both conditions are met, the system determines that the comparison result indicates that the electric sliding door has a blocking obstruction.

[0096] For example, during the initial operation phase, if a user's arm accidentally enters the closing path of the sliding door, the motor load will increase rapidly upon contact with the arm, causing the motor stall information to meet the stall parameter threshold for the initial operation phase. At this point, the system immediately controls the electric sliding door to stop moving and reverse the movement by the preset translation stroke corresponding to the current operation phase. Because it is the initial operation phase, the corresponding preset reverse stroke is relatively short, allowing sufficient space for the obstruction to be released.

[0097] Unlike existing technologies that use a fixed anti-pinch force threshold, the advantage of this solution lies in its dynamically adjusted anti-pinch force. For example, in existing technologies, the larger anti-pinch force threshold used in the initial operation phase is applied until the final operation phase. This means that if a child's finger is pinched in the final operation phase, a clamping force equivalent to that required to pinch the arm is needed to trigger the anti-pinch function, which could lead to serious injury.

[0098] In this scheme, as the electric sliding door continues to close and enters the final operation phase—for example, the last 10% of its closing stroke—the system redetermines whether it is currently in the final operation phase based on its translational travel. At this time, the sensor data acquired by the system is compared with the preset sensor data thresholds for the final operation phase. The anti-pinch force corresponding to the final operation phase is set to be relatively small to improve the detection sensitivity to small obstacles. Therefore, the corresponding sensor data thresholds, stall parameter thresholds, and Hall number change rate thresholds are also reduced accordingly, resulting in a lower triggering difficulty.

[0099] For example, during the final stage of operation, if a child's finger accidentally enters the closing path of a sliding door, even if the resistance generated when the door contacts the finger is relatively small, the anti-pinch force threshold is lowered during this stage. Therefore, the motor stall information or Hall element sensing information is more likely to meet the stall parameter threshold or Hall number change rate threshold for this final stage. Once the trigger condition is met, the system immediately determines the presence of an obstruction and controls the electric sliding door to stop its continued translation and reverse the translation by a preset stroke corresponding to the current operating stage. Because it is the final stage of operation, the corresponding reverse stroke is relatively long to release the finger and prevent injury.

[0100] Furthermore, the anti-pinch force corresponding to each operational stage is not simply preset, but can be precisely determined based on actual conditions. For example, the rate of change of sensor data within a preset unit of time can be determined, and the resistance characteristic of the barrier can be determined based on this rate of change. This resistance characteristic characterizes the hardness of the object to be prevented from being pinched. For instance, by determining the range of the rate of change, it can be determined whether the current object to be prevented from being pinched is relatively soft, such as clothing, or relatively hard, such as a finger or arm. Based on the current resistance characteristic, the corresponding anti-pinch force coefficient can be queried, and combined with the standard anti-pinch force, the anti-pinch force corresponding to the current operational stage can be obtained by reducing the standard anti-pinch force. This further enhances the intelligence and safety of the anti-pinch system.

[0101] In another example, such as Figure 5 , Figure 6 and Figure 7 As shown, this embodiment is applicable to vehicle rotating partition mechanisms, including in-vehicle rotating sliding ceiling screens, rotating electric doors, electric rotating tailgates, etc. When the mechanism rotates from the maximum opening angle to the fully closed position, it is divided into multiple operating stages according to the rotation opening and closing angle, and differentiated anti-pinch strategies are configured according to the different levels.

[0102] This embodiment takes a total rotational closure stroke of 90° (fully open) to 0° (fully closed) as an example, dividing it into three angle intervals to achieve segmented anti-pinch. Actual products can add more segments according to the mechanism's stroke requirements. For the rotary partition system, the controller collects the current opening and closing angle of the mechanism in real time through an angle encoder to determine the current operating stage. Each stage calibrates a dedicated sensing threshold based on a preset standard anti-pinch force. The anti-pinch force is negatively correlated with the degree of interval closure, while the reverse rotation stroke is positively correlated with the degree of interval closure.

[0103] The system synchronously collects dual-channel sensor data, including motor stall information and Hall element motion sensing information. If either sensor data meets the corresponding stage threshold, it is determined that there is an obstruction. The forward closing is immediately stopped and the system rotates in the opposite direction at the corresponding preset angle to release the obstacle.

[0104] First operating stage: Opening angle range 90°~60° (low degree of closure). The benchmark anti-pinch force is set at 100N in this stage, which is uniformly recorded as benchmark anti-pinch force A1 N. The external force threshold required to trigger anti-pinch is higher and the triggering difficulty is greater, which is suitable for the recognition of large obstacles in the early stage of the stroke.

[0105] Stall parameter calibration: The anti-pinch point of the motor and load transmission mechanism is calibrated with a standard resistance force of 100N to obtain the critical stall current Ia1 of the motor under the anti-pinch force, and the effective continuous maintenance time Ta1 of the stall is calibrated.

[0106] Hall number change rate threshold calibration: The target Hall rotation speed when the acquisition mechanism is normally closed. When the real-time Hall running speed is lower than a1% of the target Hall rotation speed, the motion speed is judged to be abnormal.

[0107] Anti-pinch execution logic: If an obstacle is detected during the closing process, and the motor stall current continuously reaches Ia1 and is maintained for a duration of Ta1, or the Hall real-time speed is lower than the target speed a1%, the controller determines that there is an obstruction, immediately terminates the forward rotation action, and controls the mechanism to rotate in the opposite direction by a preset angle m=5° to complete the obstacle release.

[0108] Second operating phase: Opening angle range 60°~30° (medium degree of closure). The benchmark anti-pinch force is set at 70N in this phase, which is uniformly denoted as benchmark anti-pinch force B1 N, where A1>B1. Compared with the first phase, the anti-pinch force threshold is reduced, and the obstacle detection sensitivity in the medium closure range is improved.

[0109] Stall parameter calibration: The mechanism is calibrated using a standard resistance force of 70N to obtain the corresponding critical stall current Ib1 and the effective stall judgment duration Tb1.

[0110] Hall number change rate threshold calibration: When the real-time Hall running speed is lower than b1% of the target Hall rotation speed, it is determined that the mechanism is obstructed.

[0111] Anti-pinch execution logic: When the closing mechanism encounters an obstacle, if any of the stall parameters or Hall speed trigger conditions are met, it is determined that there is an obstacle, the forward rotation stops, and the control mechanism rotates in the opposite direction by a preset angle n=10° (m<n).

[0112] The third operating stage: opening and closing angle range 30°~0° (high degree of closure, closed end). The benchmark anti-pinch force in this stage is set at 30N, which is uniformly recorded as the benchmark anti-pinch force C1 N (B1>C1). This is the lowest anti-pinch force threshold in the entire stroke, which greatly improves the detection sensitivity of small objects such as fingers and cables and avoids the risk of pinching injury at the end.

[0113] Stall parameter calibration: The critical stall current Ic1 and the effective stall judgment duration Tc1 are obtained by calibrating with a standard resistance force of 30N.

[0114] Hall number change rate threshold calibration: If the real-time Hall running speed is lower than c1% of the target Hall rotation speed, the motion abnormality can be determined.

[0115] Anti-pinch execution logic: When an obstacle is detected at the closing end, the closing action is stopped immediately after any sensor trigger condition is met. The control mechanism rotates in the opposite direction by a preset angle l=15° (m<n<l) to provide a larger release stroke and fully disengage from the clamping area.

[0116] In another example, such as Figure 8 , Figure 9 and Figure 10 As shown, this embodiment is applicable to various translational electric motion mechanisms in vehicles, including sliding ceiling screen translation mechanisms, window regulators, electric sunroofs, etc. When the mechanism translates from its maximum opening stroke to its fully closed position, it divides the operating range into multiple levels based on the linear travel distance and configures differentiated anti-pinch control strategies accordingly. This embodiment takes a total closing stroke of 300mm (fully open) to 0mm (fully closed) as an example, dividing it into three stroke ranges to achieve segmented anti-pinch. Actual products can add more segmented ranges according to the actual operating stroke requirements of the mechanism. During equipment operation, the controller collects the current translation stroke of the mechanism in real time through displacement detection elements to determine the operating range of the mechanism. Each range is calibrated with a dedicated stall force and Hall speed dual judgment threshold based on a preset standard anti-pinch force. The closer the stroke is to the closing end point, the smaller the configured anti-pinch force and the larger the reverse retreat distance. The system synchronously collects motor current signals and Hall speed signals, and uses a dual judgment mechanism of current stall anti-pinch and Hall speed abnormality anti-pinch. If either condition is triggered, it is determined that there is an obstacle, immediately stops the forward closing and retreats the corresponding distance in the reverse direction, releasing the clamped object.

[0117] First operating range: 300mm~200mm (initial closing section). The reference anti-pinch force in this range is set to 100N, and the general marking is reference anti-pinch force A2 N. Larger blocking force is allowed in the initial stage of the stroke to adapt to scenarios where large foreign objects block the path and reduce the probability of false triggering.

[0118] Stall parameter calibration: Bench calibration was carried out on the motor and transmission load mechanism with a standard blocking force of 100N. The motor stall critical current Ia2 corresponding to the anti-pinch force was measured, and the effective stall judgment time Ta2 was calibrated at the same time.

[0119] Hall number change rate threshold calibration: The target Hall rotation speed when the acquisition mechanism is normally closed. When the real-time Hall running speed is lower than a2% of the target Hall rotation speed, it is determined that the mechanism is obstructed.

[0120] Anti-pinch execution logic: If an obstacle is detected during the closing process, and either the motor stall current continuously reaches Ia2 and is maintained for a duration of Ta2, or the real-time Hall speed is lower than the target speed a2%, the controller immediately cuts off the forward drive, stops the translational closing action, and the control mechanism reverses and retreats a=50mm to complete the release of the foreign object.

[0121] Second operating range: Stroke 200mm~100mm (middle closed section). The reference anti-pinch force in this range is set to 70N. The general mark is that the reference anti-pinch force B2N is satisfied (A2>B2). Compared with the initial range, the anti-pinch trigger threshold is reduced, and the sensitivity of foreign object detection in the middle stroke is improved.

[0122] Stall parameter calibration: The stall characteristic parameters of the mechanism are calibrated using a standard blocking force of 70N to obtain the corresponding stall critical current Ib2 and stall effective judgment time Tb2.

[0123] Hall number change rate threshold calibration: When the real-time Hall running speed is lower than b2% of the target Hall rotation speed, the mechanism is judged to be in abnormal motion.

[0124] Anti-pinch execution logic: After the closed circuit encounters an obstacle, the anti-pinch program is activated when either the stall current or the Hall speed trigger condition is met, the forward translation is terminated, and the control mechanism retreats in the opposite direction by b2=100 mm (satisfying a2<b2).

[0125] The third operating range: 100mm to 0mm (end closed section). The reference anti-pinch force in this range is set to 30N, and the general mark is the reference anti-pinch force C2N. If B2>C2, it is the lowest anti-pinch force threshold in the entire stroke. It can accurately identify small foreign objects such as fingers and thin lines, and avoid injuring the human body at the end of the stroke.

[0126] Stall parameter calibration: The critical stall current Ic2 and the effective stall judgment time Tc2 are obtained by calibrating with a standard stall force of 30N.

[0127] Hall number change rate threshold calibration: if the real-time Hall running speed is lower than c2% of the target Hall rotation speed, the mechanism can be determined to be obstructed.

[0128] Anti-pinch execution logic: When an obstacle is detected at the closing end, the closing action is stopped immediately after any sensor trigger condition is met. The control mechanism retreats in the opposite direction by c2=150mm, satisfying a2<b2<c2, providing sufficient retreat space to prevent small parts from being pinched.

[0129] In another example, such as Figure 11As shown, this embodiment, based on the aforementioned segmented anti-pinch control logic of the rotation and translation mechanisms, adds an obstacle hardness recognition algorithm to the segmentation of each stroke or angle. Combined with the slope of the motor current change, it dynamically fine-tunes the anti-pinch threshold for each interval, adapting to obstacles of different materials, thus further improving anti-pinch safety and user comfort. In the segmented anti-pinch control logic, each operating interval is independently configured with three sets of basic judgment thresholds: stall current, stall duration, and Hall speed decay ratio. This segmented threshold judgment mechanism can be linked with the obstacle hardness recognition algorithm to adjust the anti-pinch trigger standard differently for obstacles of different materials. During the closing process of the vehicle's electric mechanism, if it comes into contact with a soft obstacle, such as clothing, sponge, human skin, or fingers, the motor load will not instantly reach the stall peak, and the motor operating current will show a gradual curve of slow and steady increase. If it comes into contact with a hard obstacle, such as metal, plastic, or hard board, the motor current will surge sharply in a short period of time. The controller collects the motor current change curve per unit time in real time.

[0130] This example calculates the slope K of the current change and distinguishes the hardness of the obstacle based on the magnitude of the slope: within the same sampling time, the smaller the slope K value, the softer the obstacle material; the larger the slope K value, the harder the obstacle material. Through bench testing and calibration, multiple current slope thresholds are defined. The example sets three standard slopes K1, K2, and K3, and matches them with corresponding differentiated anti-pinch control strategies.

[0131] The slope K1 corresponds to a hard obstacle, and the current rises rapidly. The original basic anti-pinch force, stall force, and Hall effect judgment threshold of the current segmented interval can be used.

[0132] The slope K2 corresponds to obstacles of medium hardness. The current anti-pinch force threshold is appropriately lowered to shorten the stall judgment time and reduce the Hall speed decay trigger ratio.

[0133] The slope K3 corresponds to the softest obstacle, which greatly reduces the anti-pinch force in the current section and further relaxes the anti-pinch trigger conditions. Even a small amount of resistance can quickly trigger the anti-pinch retreat.

[0134] More gradient slope thresholds can be calibrated according to application scenario requirements, with each slope corresponding to an independent anti-pinch force correction coefficient. The controller matches the current travel or angle segment of the mechanism in real time, as well as the current slope level detected in real time, and outputs the final anti-pinch judgment threshold under dual conditions, taking into account both reliable identification of hard foreign objects and protection of soft human body parts, avoiding the risk of pinching pain and injury.

[0135] As can be seen from the above examples, this solution effectively solves the problem of insufficient protection at the end of the stroke of the fixed anti-pinch force threshold in the prior art by dynamically adjusting the anti-pinch force threshold and reverse travel according to the operation stage of the partition system, thereby improving the anti-pinch safety and user experience of electric sliding doors at different operation stages.

[0136] Figure 12 A schematic diagram of an embodiment of the anti-pinch device of the partition system of this application is shown. Figure 12 As shown, the device 1200 includes: an acquisition module 12001, a determination module 12002, and a control module 12003.

[0137] The acquisition module 12001 is used to determine the operating phase of the partition system and acquire the corresponding sensor data. The operating phase is used to characterize the travel range of the partition system when it is closed.

[0138] The determination module 12002 is used to compare the sensor data with the sensor data threshold of the corresponding operating stage and determine the comparison result.

[0139] The control module 12003 is used to control the partition system to stop running and reverse the preset stroke when the comparison result indicates that there is a partition obstacle in the partition system.

[0140] In one alternative approach, the operation phase includes multiple levels, and the sensor data threshold corresponding to each operation phase is determined by the anti-pinch force. The triggering difficulty represented by the sensor data threshold is positively correlated with the anti-pinch force, and the anti-pinch force corresponding to each operation phase is negatively correlated with the degree of closure represented by the stroke interval it is in. The preset stroke for reverse operation corresponding to each operation phase is positively correlated with the degree of closure represented by the stroke interval it is in.

[0141] In one alternative approach, module 12001 includes: The first unit is used to determine the operating stage and acquire corresponding sensor data based on the opening and closing angle of the rotating partition system when the partition system is a rotating partition system.

[0142] The second unit is used to determine the operating stage and acquire the corresponding sensor data based on the translation stroke of the sliding partition system when the partition system is a sliding partition system.

[0143] In one alternative approach, determining module 12002 includes: The third unit is used to determine the comparison result characterizing that there is a blocking obstruction in the blocking system if the Hall element sensing information meets the first trigger condition of the Hall number change rate threshold of the current operating stage, and / or if the motor stall information meets the second trigger condition of the stall parameter threshold of the current operating stage.

[0144] In one alternative embodiment, the control module 12003 includes: The fourth unit is used to control the rotating partition system to stop rotating and rotate in the opposite direction to the preset rotation stroke corresponding to the current operating stage when the partition system is a rotating partition system.

[0145] The fifth unit is used to control the sliding partition system to stop its continued sliding and to reverse the sliding distance to the preset distance corresponding to the current operating stage when the partition system is a sliding partition system.

[0146] Figure 13 The diagram shows a structural schematic of an embodiment of the anti-pinch device of the partition system of this application. The specific embodiments of this application do not limit the specific implementation of the anti-pinch device of the partition system.

[0147] like Figure 13 As shown, the anti-pinch device of the partition system may include: processor 1302, communication interface 1304, memory 1306, and communication bus 1308.

[0148] The processor 1302, communication interface 1304, and memory 1306 communicate with each other via communication bus 1308. Communication interface 1304 is used to communicate with other network elements such as clients or other servers. The processor 1302 executes program 1310, specifically performing the relevant steps in the above-described embodiment of the anti-pinch method for the isolation system.

[0149] Specifically, program 1310 may include program code, which includes computer-executable instructions.

[0150] The processor 1302 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The anti-pinch device of the partition system includes one or more processors, which may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0151] Memory 1306 is used to store program 1310. Memory 1306 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0152] Specifically, program 1310 can be called by processor 1302 to cause the anti-pinch device of the partition system to perform the following operations: The operation phase of the partition system is determined and the corresponding sensor data is acquired. The operation phase is used to characterize the travel range of the partition system when it is closed. The sensor data is compared with the sensor data threshold of the corresponding operation phase to determine the comparison result. When the comparison result indicates that there is a partition obstacle in the partition system, the partition system is controlled to stop running and run in reverse to the preset travel.

[0153] This application provides a computer-readable storage medium storing at least one executable instruction. When the executable instruction is executed on the anti-pinch device / apparatus of the partition system, it causes the anti-pinch device / apparatus of the partition system to perform the anti-pinch method of the partition system in any of the above method embodiments.

[0154] Specifically, the executable instructions can be used to cause the anti-pinch device / apparatus of the partition system to perform the following operations: The operation phase of the partition system is determined and the corresponding sensor data is acquired. The operation phase is used to characterize the travel range of the partition system when it is closed. The sensor data is compared with the sensor data threshold of the corresponding operation phase to determine the comparison result. When the comparison result indicates that there is a partition obstacle in the partition system, the partition system is controlled to stop running and run in reverse to the preset travel.

[0155] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Furthermore, the embodiments in this application are not directed to any particular programming language.

[0156] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. Similarly, for the purpose of simplification and aiding understanding of one or more aspects of the invention, in the above description of exemplary embodiments of this application, various features of the embodiments are sometimes grouped together in a single embodiment, figure, or description thereof. The claims, which follow the detailed description, are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of this application.

[0157] Those skilled in the art will understand that the modules in the device of the embodiment can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiment can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components, except that at least some of such features and / or processes or units are mutually exclusive.

[0158] It should be noted that the above embodiments are illustrative of this application and not restrictive, and those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. A method for preventing pinching in a partition system, characterized in that, The method includes: The operating phase of the partition system is determined and the corresponding sensor data is acquired. The operating phase is used to characterize the travel range of the partition system when it is closed. The sensor data is compared with the sensor data threshold of the corresponding operating stage to determine the comparison result; When the comparison result indicates that the partition system has a partition obstacle, the partition system is controlled to stop running and run in reverse for a preset distance.

2. The method according to claim 1, characterized in that, The operation phase includes multiple levels. The sensor data threshold corresponding to each operation phase is determined by the anti-pinch force. The triggering difficulty represented by the sensor data threshold is positively correlated with the anti-pinch force. The anti-pinch force corresponding to each operation phase is negatively correlated with the degree of closure represented by the travel interval. The preset travel of the reverse operation corresponding to each operation phase is positively correlated with the degree of closure represented by the travel interval.

3. The method according to claim 2, characterized in that, The sensing data includes motor stall information and Hall element sensing information, and the sensing data thresholds include stall parameter thresholds and Hall number change rate thresholds. The step of comparing the sensing data with the sensing data threshold of the corresponding operating stage to determine the comparison result includes: If the Hall element sensing information satisfies the first trigger condition of the Hall number change rate threshold in the current operating stage, and / or if the motor stall information satisfies the second trigger condition of the stall parameter threshold in the current operating stage, the comparison result is determined to indicate that the isolation system has an isolation obstacle.

4. The method according to claim 1, characterized in that, The partition system includes a rotating partition system and a sliding partition system. The process of determining the operational phase of the partition system and acquiring corresponding sensor data includes: When the partition system is the rotating partition system, the operating stage is determined according to the opening and closing angle of the rotating partition system, and the corresponding sensing data is acquired. When the partition system is a sliding partition system, the operating stage is determined based on the sliding stroke of the sliding partition system, and the corresponding sensor data is acquired.

5. The method according to claim 4, characterized in that, The step of determining the operating stage based on the opening and closing angle of the rotating partition system and acquiring corresponding sensor data includes: The opening and closing angle of the rotating partition system is divided into a preset number of angle intervals; different angle intervals are marked with different anti-pinch force thresholds. Determine the angle range in which the rotating partition system is located, in order to determine the anti-pinch force threshold corresponding to the angle range; The motor stall information and Hall element sensing information of the rotary partition system within the specified angle range are obtained.

6. The method according to claim 4, characterized in that, The step of determining the operating stage based on the translation stroke of the sliding partition system and acquiring corresponding sensor data includes: The translation stroke of the sliding partition system is divided into a preset number of stroke intervals; different angle intervals are calibrated with different anti-pinch force thresholds. Determine the travel range in which the translational partition system is located, in order to determine the anti-pinch force threshold corresponding to the travel range; The motor stall information and Hall element sensing information of the translational partition system within the travel range are obtained.

7. The method according to claim 4, characterized in that, The control of the isolation system to stop operation and reverse the preset stroke includes: When the partition system is the rotating partition system, control the rotating partition system to stop rotating and rotate in the opposite direction to the preset rotation stroke corresponding to the current operating stage; When the partition system is the sliding partition system, control the sliding partition system to stop sliding and reverse the preset sliding distance corresponding to the current operating stage.

8. The method according to claim 2, characterized in that, The anti-pinch force corresponding to each stage of operation is determined through the following steps: Determine the rate of change of the sensor data within a preset unit of time; The resistance characteristics of the partition are determined based on the rate of change, and the anti-pinch force corresponding to the current operating stage is determined based on the resistance characteristics of the partition. The resistance characteristics are used to characterize the hardness of the anti-pinch object.

9. The method according to claim 8, characterized in that, The process of determining the resistance characteristics of the barrier based on the rate of change, and determining the anti-pinch force corresponding to the current operating stage based on the resistance characteristics of the barrier, includes: Determine the range of changes in which the rate of change falls; The current resistance characteristics corresponding to the current anti-pinch object are determined based on the range of the rate of change. Based on the current resistance characteristics, query the corresponding anti-pinch force coefficient; Obtain a standard anti-pinch force, which represents the anti-pinch force when the resistance characteristic is the hardest. The standard anti-pinch force is reduced based on the anti-pinch force coefficient to obtain the anti-pinch force corresponding to the current operating stage.

10. An anti-pinch device for a partition system, characterized in that, The device includes: The acquisition module is used to determine the operating stage of the partition system and acquire the corresponding sensor data. The operating stage is used to characterize the travel range of the partition system when it is closed. The determination module is used to compare the sensor data with the sensor data threshold of the corresponding operating stage and determine the comparison result; The control module is used to control the partition system to stop running and reverse the preset stroke when the comparison result indicates that there is a partition obstacle in the partition system.

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