A roof tent mechanism grading anti-pinch control method

Abstract

This invention discloses a graded anti-pinch control method for a rooftop camping mechanism. The method specifically includes: acquiring anti-pinch signals during the operation of the rooftop camping mechanism; determining the anti-pinch handling state of the rooftop camping mechanism based on the anti-pinch signals, wherein the anti-pinch handling state includes a release state and a locking state; when the anti-pinch handling state is release, controlling the rooftop camping mechanism to run in reverse, and controlling the rooftop camping mechanism to stop or lock based on the anti-pinch signal after reverse running; when the anti-pinch handling state is locking, locking the rooftop camping mechanism and outputting alarm information. This invention prioritizes stopping the drive after anti-pinch is triggered, and then selects reverse release or locking according to the risk state, reducing the risk of continuous application of clamping force.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a graded anti-pinch control method for a rooftop camping mechanism. Background Technology

[0002] With the development of camping vehicles and multi-purpose vehicles, rooftop camping mechanisms such as pop-up roofs, bed platforms, and projection screens can be configured. By controlling the raising of the roof, the unfolding of the bed platform, and the deployment of the projection screen, the interior space and camping functionality of the vehicle can be expanded. Bed platform and projection screen mechanisms are typically driven by motors. During operation, people, clothing, pets, luggage, or other foreign objects may enter the movement path of the mechanism, posing a risk of them being trapped.

[0003] Existing anti-pinch mechanisms typically stop the corresponding motor immediately upon detecting an anti-pinch signal and trigger an alarm via a buzzer and LED strip. While this method prevents the motor from continuing to apply clamping force, simply stopping the motor is not effective in releasing the clamped object once it has already occurred. Furthermore, the bed board mechanism, projection screen mechanism, and roof cover have different safe release directions depending on their movement. If the mechanism type, direction of travel, and current position are not distinguished and the objects are moved in the opposite direction, it may cause interference, secondary clamping, or out-of-bounds movement. Summary of the Invention

[0004] The purpose of this invention is to provide a graded anti-pinch control method for a rooftop camping mechanism, which prioritizes stopping the drive after the anti-pinch is triggered, and then selects to release or lock in the opposite direction according to the risk status, thereby reducing the risk of continuous application of clamping force and solving at least one of the above-mentioned problems in the prior art.

[0005] In a first aspect, the present invention provides a graded anti-pinch control method for a rooftop camping mechanism, the method specifically comprising: Acquire anti-pinch signals during the operation of the rooftop camping mechanism; Based on the anti-pinch signal, the anti-pinch handling status of the rooftop camping mechanism is determined, including a release state and a locking state. When the anti-pinch action is in the released state, control the rooftop camping mechanism to run in reverse, and control the rooftop camping mechanism to stop or lock based on the anti-pinch signal after the reverse operation. When the anti-pinch mechanism is in the locked state, the rooftop camping mechanism is locked and an alarm message is output.

[0006] In a second aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the graded anti-pinch control method for a rooftop camping mechanism as described in any of the above methods.

[0007] Thirdly, the present invention provides a vehicle including a roof, a bed board, a projection screen, a drive unit, a detection unit, and a controller, wherein the controller is used to execute the graded anti-pinch control method for the roof camping mechanism described in any of the above methods.

[0008] Compared with the prior art, the present invention has at least one of the following technical effects: 1. After the anti-pinch function is triggered, the drive is stopped first, and then the reverse release or locking is selected according to the risk status, which reduces the risk of continuous application of clamping force.

[0009] 2. Determine the reverse release direction based on the structural characteristics and running direction of different mechanisms such as the bed board mechanism and the projection screen mechanism to improve the matching between the anti-pinch treatment and the movement relationship of the mechanism.

[0010] 3. Limit the reverse release conditions by the current position and the number of anti-pinch triggers to avoid repeated actions of the mechanism when it is close to the limit position or when the anti-pinch is triggered continuously.

[0011] 4. By performing a second test after reverse operation, a graded control of "stop-release-retest-lock" is achieved, improving the reliability of anti-pinch control.

[0012] 5. Through audible and visual alarms and manual confirmation mechanisms, users can be promptly informed of abnormal institutional conditions and avoid automatic resumption of operation in the event of a malfunction. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of a roof system in a closed state according to an embodiment of the present invention; Figure 2 This is a schematic diagram of a roof system in an open state according to an embodiment of the present invention; Figure 3 This is a block diagram of an anti-pinch control system provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of a graded anti-pinch control process provided in an embodiment of the present invention; Figure 5 This is a flowchart illustrating a graded anti-pinch control method for a rooftop camping mechanism provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the anti-pinch signal acquisition and anti-pinch handling interaction provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the anti-pinch control of the bed board motor and the curtain motor provided in an embodiment of the present invention; Figure 8 This is a schematic diagram illustrating the determination of the anti-pinch handling status based on the current position and the number of anti-pinch triggers provided in an embodiment of the present invention; Figure 9 This is a schematic diagram of reverse release control under different operating directions provided in an embodiment of the present invention; Figure 10 This is a schematic diagram of the secondary anti-pinch treatment after reverse operation provided in an embodiment of the present invention; Figure 11 This is a schematic diagram of a manual confirmation unlocking interaction provided in an embodiment of the present invention.

[0015] Explanation of reference numerals in the attached drawings: 1. Top cover; 2. Bed board; 201. First bed board; 202. Second bed board; 203. Third bed board; 204. Fourth bed board; 205. Fifth bed board; 3. Electric projection screen.

[0016] It should be noted that the bed board 2 includes one or more bed board units, and the number, shape, size, arrangement and interconnection of the bed board units do not constitute a limitation on the present invention. Figure 1 and Figure 2 The first bed board 201, the second bed board 202, the third bed board 203, the fourth bed board 204 and the fifth bed board 205 shown are merely exemplary structures for illustrating the bed board lifting activity and its cooperative opening relationship with the top cover 1. Detailed Implementation

[0017] The "roof camping mechanism" in this application can be applied to campervans, motorhomes, passenger vehicles with pop-up roofs, or other vehicles with movable roof structures. The roof camping mechanism includes at least one of a roof cover, a bed platform mechanism, and a projection screen mechanism. In some embodiments, the roof camping mechanism includes a roof cover, a bed platform, and an electrically operated projection screen. Opening the roof cover provides camping space for unfolding the bed platform and using the electrically operated projection screen; the movement of the bed platform and the electrically operated projection screen can be correlated with the position of the roof cover.

[0018] In this application, "bed board mechanism" refers to a mechanism assembly used to realize the unfolding, retraction, movement, folding, or resetting of the bed board. The bed board mechanism may include at least one of the following: a bed board, a bed board drive device, a transmission component, a guide component, a position detection component, an anti-pinch detection component, and a control connector. The "opening direction" of the bed board mechanism can be the direction in which the bed board moves from the folded state to the unfolded state, and the "closing direction" of the bed board mechanism can be the direction in which the bed board moves from the unfolded state to the folded state.

[0019] In this application, "projection screen mechanism" refers to a mechanism assembly used to unfold or retract an electric projection screen. The projection screen mechanism may include at least one of an electric projection screen, a screen motor, a roller, a transmission component, a guide component, a position detection component, an anti-pinch detection component, and a control connector. The "unfolding direction" of the projection screen mechanism can be the direction in which the electric projection screen moves from the retracted position to the unfolded position, and the "retracting direction" of the projection screen mechanism can be the direction in which the electric projection screen moves from the unfolded position to the retracted position.

[0020] In this application, "roof" can refer to a movable roof of a vehicle, and may also be called a lift-up roof, pop-up roof, elevating roof, or vehicle roof. The roof can be opened or closed by one or more roof drive devices. During the opening process, the roof can rise at different positions relative to the vehicle body by varying amounts, resulting in a tilted posture with one end relatively low and the other relatively high. When the roof is closed, it can return to a position adjacent to or flush with the vehicle body to form the vehicle's roof appearance.

[0021] The "bed platform" in this application can be a movable load-bearing structure located under the roof, inside the vehicle body, or in the roof camping space. The bed platform can move between a retracted state and an extended state. When the roof is closed or not fully open, the bed platform can be in the retracted state; when the roof is fully open, the bed platform can be extended to form a platform for camping, resting, sleeping, or carrying items.

[0022] The "electric projection screen" in this application can be a retractable display component installed on the vehicle roof, interior side wall, near the bed, near the roof, or other rooftop camping space. The electric projection screen can be driven by a screen motor and can move between an unfolded position and a retracted position. When the electric projection screen is in the unfolded position, it can be used to display the projected image; when the electric projection screen is in the retracted position, it can be stored in a screen storage cavity, roof, bed, or vehicle interior structure.

[0023] With the development of camping vehicles, multi-purpose vehicles, and new energy vehicles, the demand for expanding and utilizing vehicle interior space is increasing. To enhance the parking, camping, rest, and entertainment functions of vehicles, some vehicles are equipped with roof camping mechanisms such as a liftable roof, an unfoldable or retractable bed platform, and an unfoldable or retractable projection screen. Specifically, the roof can be raised relative to the vehicle body via a tilting mechanism to create a larger headroom inside the vehicle; the bed platform can move between a retracted and unfolded position to form a sleeping or resting platform; and the projection screen mechanism can move between a retracted and unfolded position to work with in-vehicle projection equipment to achieve audio-visual entertainment functions.

[0024] The aforementioned rooftop camping mechanisms are typically driven by motors, transmission components, guide rail components, linkage components, roller components, or lifting components. During the unfolding or retraction of the bed board, the projection screen, and the raising or lowering of the roof, hands, heads, other body parts, clothing, bedding, pets, luggage, and other foreign objects may enter the mechanism's movement areas, guide gaps, closing gaps, or transmission paths, creating safety risks such as clamping, squeezing, entanglement, collision, or transmission jamming. Therefore, how to promptly and reliably control the rooftop camping mechanism after detecting a clamping risk becomes a crucial issue affecting vehicle safety and user experience.

[0025] In existing technologies, some electric opening and closing mechanisms are equipped with detection components such as anti-pinch sensors, motor current detection modules, stall detection modules, pressure detection elements, or contact switches. When the detection components detect abnormal pressure, abnormal current, abnormal drive load, or touch signals, the controller generally directly controls the corresponding motor to stop running, and simultaneously outputs alarm information through a buzzer, light strip, instrument panel, or vehicle infotainment system. This approach can prevent the motor from continuing to apply clamping force in its original direction to a certain extent, but it still has the following shortcomings.

[0026] Firstly, when a person, clothing, or foreign object is already clamped, simply stopping the motor can only maintain the mechanism in its current position and cannot actively increase the clamping gap, thus failing to effectively release the clamped object. Especially in the case of bed board closure, curtain retraction, or roof descent, the clamped object may still be affected by the mechanism's own weight, transmission preload, or structural compressive force after the mechanism stops, and the clamping risk is not substantially eliminated.

[0027] Secondly, different rooftop camping mechanisms have different structural forms, directions of movement, and safe release directions. For example, when a bed board mechanism is clamped during retraction, it usually needs to move in the unfolding direction to release the clamped object; when a projection screen is clamped during retraction, it usually needs to move in the unfolding direction; and when the roof cover is clamped during descent, it usually needs to move in the rising direction. Conversely, whether it is appropriate to reverse the movement and the range of possible reverse movement when the mechanism moves in the unfolding or rising directions also depends on the current position of the mechanism, the position of adjacent structures, the limit status, and spatial interference. If the controller does not distinguish between mechanism types, current direction of movement, current position, and the status of adjacent mechanisms and uniformly adopts a fixed reverse strategy, the bed board, screen, or roof cover may enter an unsafe position, causing mechanism interference, secondary clamping, out-of-bounds operation, transmission overload, or component damage.

[0028] Third, existing methods typically lack a verification mechanism to confirm whether the clamping risk has truly been eliminated after reverse release. If the foreign object is not completely removed, the mechanism remains stuck, the anti-pinch sensor is continuously under pressure, or the detection component malfunctions, the mechanism may automatically resume its original direction of operation and clamp the foreign object again. If the mechanism repeatedly performs stop and reverse actions, it may also cause frequent start and stop of the drive motor, impact on transmission components, and user misjudgment. On the other hand, some existing solutions rely solely on alarm prompts after an anomaly occurs, lacking a recovery mechanism that combines locking, manual confirmation, and safety verification, making it difficult to balance safety in abnormal situations with ease of use after troubleshooting.

[0029] To address the aforementioned issues, the graded anti-pinch control method for rooftop camping mechanisms provided in this application can determine the corresponding anti-pinch handling method based on information such as the anti-pinch signal, mechanism type, current running direction, and mechanism position. When the anti-pinch trigger condition is met, the mechanism first stops moving in the current direction, and then controls the mechanism to run in a preset safe reverse direction at a speed lower than the normal operating speed for a preset distance or time to actively release any person or foreign object that may be pinched. After the reverse run is completed, the controller acquires the anti-pinch signal again: if the anti-pinch signal no longer meets the anti-pinch trigger condition, the control mechanism stops and waits for the user to re-enter the control command, without automatically resuming the running direction before the anti-pinch trigger; if the anti-pinch signal still meets the anti-pinch trigger condition, the corresponding mechanism is locked and an alarm message is output to prevent repeated operation of the mechanism from causing secondary pinching or component damage.

[0030] like Figure 1 As shown, Figure 1 This is the fully closed roof system state. In this state, the roof cover 1 is positioned relatively close to the vehicle body, the bed platform 2 is in the retracted position, and the electric projection screen 3 is in the retracted position. The bed platform 2 may include a first bed platform 201, a second bed platform 202, a third bed platform 203, a fourth bed platform 204, and a fifth bed platform 205, each of which can be unfolded or retracted by a corresponding drive mechanism.

[0031] like Figure 2 As shown, Figure 2 The roof system is fully open. In this state, the roof 1 is raised relative to the vehicle body, the bed board 2 unfolds to form a camping support structure, and the electric projection screen 3 can be unfolded to provide projection display functionality.

[0032] When the bed board 2 is unfolded or retracted, relative movement gaps may form between the bed boards, between the bed board and the vehicle body, and between the bed board and the roof 1. When the electric projection screen 3 is unfolded or retracted, clamping areas may also form between the screen and the storage cavity, guide structure, or adjacent components. Therefore, anti-pinch detection is required during the operation of both the bed board 2 and the electric projection screen 3.

[0033] like Figure 3As shown, the anti-pinch control system includes a controller, an anti-pinch detection component, a position detection component, a Hall effect detection component, a key input component, a motor drive component, a bed board motor, a curtain motor, a buzzer, a roof light strip, and indicator lights, etc.

[0034] The anti-pinch detection component is used to acquire anti-pinch signals during the operation of the mechanism. The anti-pinch detection component may include at least one of the following: anti-pinch rubber strip, pressure switch, micro switch, proximity sensor, infrared sensor, photoelectric sensor, or motor load detection component.

[0035] In some embodiments, the anti-pinch signal can be a switch signal output after the anti-pinch rubber strip is squeezed. When the bed board 2 or the electric projection screen 3 clamps a foreign object, the foreign object applies pressure to the anti-pinch rubber strip, causing the anti-pinch rubber strip to deform and triggering the switch signal. The controller determines that the anti-pinch trigger has occurred based on this signal.

[0036] In other embodiments, the anti-pinch signal can be determined based on the operating parameters of the drive motor. These operating parameters may include motor operating current, motor output torque, motor operating power, motor speed variation, or stall status. When the operating current, output torque, or operating power exceeds the anti-pinch threshold corresponding to the current position and direction of travel, the controller can determine that an anti-pinch trigger has occurred.

[0037] The position detection component is used to obtain the current position of the bed board 2, the top cover 1, or the motorized projection screen 3. The current position can be determined by a zero-position switch, a position sensor, a limit switch, or a Hall effect counter value.

[0038] Hall effect sensors are used to detect the rotation of the drive motor. The controller can determine the travel already completed, the remaining travel, and whether the mechanism is approaching its limit position based on the Hall effect count.

[0039] The motor drive unit is used to drive the bed board motor or curtain motor to run forward, reverse, or stop according to the control commands of the controller. The controller can also control the motor drive unit to cut off the output of the drive motor, so that the mechanism stops quickly after the anti-pinch trigger is activated.

[0040] A buzzer, roof light strip, and indicator lights are used to output alarm information. For example, after the anti-pinch device is triggered, the buzzer can sound for 2 seconds, pause for 1 second, and repeat once; the roof light strip can emit red light and turn off after a preset time. For high-risk situations requiring locking, the red light can be kept constantly on or the buzzer can sound periodically until a manual confirmation command is received.

[0041] like Figure 4 As shown in the embodiments of this application, the graded anti-pinch control method for rooftop camping mechanisms may include the following steps.

[0042] S401, rooftop camping mechanism in operation.

[0043] The rooftop camping system operates based on control commands input by the user. These commands can be for automatic or manual modes. They can be input via physical buttons, touch buttons, the vehicle's central control screen, a remote control, or a mobile terminal.

[0044] Taking bed board 2 as an example, when the user presses the bed board button for 100ms to 500ms, bed board 2 can be automatically turned on or off; when the user presses the bed board button for more than 500ms, bed board 2 can be manually turned on or off. In automatic mode, bed board 2 can automatically stop after running to the target position; in manual mode, bed board 2 stops running after the user releases the bed board button.

[0045] Taking the motorized projection screen 3 as an example, users can control the motorized projection screen 3 to unfold or retract by short-pressing or long-pressing the projection screen button. In automatic mode, the motorized projection screen 3 can run to a preset position and then stop; in manual mode, the motorized projection screen 3 stops running when the user releases the projection screen button. Optionally, the motorized projection screen 3 can also stop running when a drive motor stall is detected.

[0046] During operation of the rooftop camping facility, the controller can cause the rooftop light strip to emit a yellow light and control the buzzer to sound intermittently to alert occupants that the facility is operational. Optionally, the ambient lighting function of the rooftop light strip can be locked during facility operation to avoid confusion between the normal ambient light color and the safety warning light.

[0047] S402, Detect anti-pinch signal.

[0048] During the operation of the rooftop camping mechanism, the controller continuously or periodically acquires anti-pinch signals. These anti-pinch signals can originate from anti-pinch detection components located within the movement area of ​​the bed board 2 or the electric projection screen 3, or from the detection results of the operating parameters of the drive motor.

[0049] The anti-pinch detection component may include an anti-pinch strip, a pressure sensor, a micro switch, a proximity sensor, an infrared sensor, a photoelectric sensor, or other detection components capable of detecting foreign objects entering the movement area of ​​the mechanism. When a human body, clothing, pet, luggage, or other foreign object enters the movement area of ​​the bed board 2 or the electric projection screen 3, and compresses, triggers, or blocks the anti-pinch detection component, the anti-pinch detection component outputs a corresponding anti-pinch signal.

[0050] In some embodiments, the controller may also determine the anti-pinch signal based on the operating parameters of the drive motor. The operating parameters may include at least one of the drive motor's current operating current, output torque, operating power, speed change, or stall state. When the change in the current operating current, output torque, or operating power relative to a reference parameter exceeds a corresponding threshold, or when the drive motor is in a stall state, the controller may determine that the anti-pinch signal meets the anti-pinch trigger condition.

[0051] The reference parameters can be determined based on the mechanism type, current position, running direction, ambient temperature, and historical operating status. For example, the gravitational component experienced by the bed plate 2 varies in different unfolded positions, and the normal operating current of the bed plate motor may differ in different position ranges. Therefore, the controller can set different reference operating currents and anti-pinch thresholds for different position ranges of the bed plate 2, thereby reducing the probability of false triggering caused by changes in the mechanism's own load.

[0052] S403, Immediately stop the corresponding drive motor.

[0053] When the anti-pinch signal meets the anti-pinch trigger condition, the controller immediately stops the corresponding drive motor to prevent the mechanism from continuing to move in the clamping direction and increasing the clamping force.

[0054] For example, when the bed board 2 triggers the anti-pinch function during the closing process, the controller immediately stops the bed board motor; when the bed board 2 triggers the anti-pinch function during the opening process, the controller also immediately stops the bed board motor. When the electric projection screen 3 triggers the anti-pinch function during the retraction or unfolding process, the controller immediately stops the screen motor.

[0055] In some embodiments, the controller can send a stop command to the motor drive component to stop the corresponding drive motor from outputting torque. In other embodiments, the anti-pinch detection component can also be connected to the motor drive circuit to directly cut off or restrict the motor drive circuit when the anti-pinch is triggered, thereby shortening the time from anti-pinch triggering to motor stop.

[0056] After the corresponding drive motor stops, the controller can control the buzzer to issue an initial alarm prompt and control the roof light strip to emit a red light to alert the user that an anti-pinch event has occurred in the current mechanism. The initial alarm prompt can be that the buzzer sounds for 2 seconds, stops for 1 second, and repeats once, and the red light can remain lit for a preset time before turning off.

[0057] S404. Obtain anti-pinch status information.

[0058] After stopping the corresponding drive motor, the controller acquires the anti-pinch status information. The anti-pinch status information may include at least one of the following: mechanism type, running direction, current position, number of anti-pinch triggers, and mechanism status.

[0059] The mechanism type is used to distinguish whether the current anti-pinch mechanism is a bed board mechanism or a projection screen mechanism. The running direction is used to distinguish whether the current mechanism is in the opening, closing, unfolding, or retracting direction. The current position can be a position detection signal, a zero-position state, a limit switch state, a Hall effect counter value, or a position range calculated based on the Hall effect counter value.

[0060] The number of anti-pinch triggers refers to the number of times the corresponding mechanism triggers its anti-pinch function within the current operating cycle. The current operating cycle can be the period from receiving an open command, close command, unfold command, or retract command until the mechanism reaches the target position, receives a stop command, enters the locked state, or completes a manual confirmation process.

[0061] The mechanism state may include at least one of position detection state, Hall effect detection state, motor drive state, and anti-pinch detection state. For example, if the position detection signal is abnormal, the Hall effect signal is abnormal, the communication of the anti-pinch detection component is abnormal, or the drive motor has overcurrent, stall, or drive failure, the controller can determine that the mechanism is in an abnormal state.

[0062] S405. Determine whether the reverse release condition is met.

[0063] The controller determines whether the reverse release condition is met based on the mechanism type, running direction, current position, number of anti-pinch triggers, and mechanism status.

[0064] When the current position is within the allowed reverse release range, the number of anti-pinch triggers is less than the threshold, there is no risk of position overrun or structural interference in the reverse running direction, and the mechanism is not in an abnormal state, the controller determines that the reverse release conditions are met and determines the current anti-pinch action as the release level.

[0065] The permissible reverse release range can be determined based on the mechanism type and operating direction. For the bed board 2, the permissible reverse release range can be the position range where the bed board 2 has a preset operable stroke in the opposite direction and will not interfere with the top cover 1, the vehicle body structure, adjacent bed boards, or other mechanisms. For the electric projection screen 3, the permissible reverse release range can be the position range where the electric projection screen 3 has a preset operable stroke in the opposite direction and will not cause abnormal screen winding, guide structure jamming, or position exceeding the limit.

[0066] The threshold number of times can be set to 1 time, 2 times, or other preset numbers. For example, when the anti-pinch occurs for the first time in the current operating cycle, the controller can allow the mechanism to perform a reverse release once; if the anti-pinch occurs again after the mechanism has performed a reverse release, the controller determines that the pinching risk has not been eliminated and will no longer allow the mechanism to perform a reverse release repeatedly.

[0067] If the current position is not within the allowed reverse release range, the number of anti-pinch triggers reaches the threshold, reverse operation may cause structural interference or position overrun, the position detection signal is abnormal, the Hall signal is abnormal, the anti-pinch detection signal is abnormal, or the drive motor is faulty, the controller determines that the reverse release condition is not met and sets the current anti-pinch action to the locking level.

[0068] S406, Reverse release.

[0069] When the reverse release condition is met, the controller controls the rooftop camping mechanism to travel a preset distance or time in the opposite direction to the current direction of operation, so that the mechanism moves away from the trapped object or exits the movement area where there is a risk of being trapped.

[0070] The preset stroke can be represented by a preset length, a preset Hall effect count value, a preset encoder count value, or a preset relative position change. The preset time can be determined based on the operating speed, structural dimensions, and available release space of different mechanisms.

[0071] To avoid new collisions or structural impacts during the reverse release process, the controller controls the mechanism to run in reverse at a release speed lower than the normal operating speed when the anti-pinch function is not triggered. For example, the release speed can be 30% to 70% of the normal operating speed.

[0072] For bed board 2, if the anti-pinch function is triggered when bed board 2 is running in the closing direction, the reverse release direction is the opening direction so that bed board 2 is away from the clamped object; if the anti-pinch function is triggered when bed board 2 is running in the opening direction, the controller can combine the current position of bed board 2, the current position of top cover 1, the position of adjacent bed boards and the spatial relationship of the vehicle body structure to determine whether bed board 2 is allowed to run in the reverse direction along the closing direction.

[0073] For the motorized projection screen 3, if the anti-pinch function is triggered when the motorized projection screen 3 is running in the retracting direction, the reverse release direction is the unfolding direction; if the anti-pinch function is triggered when the motorized projection screen 3 is running in the unfolding direction, the reverse release direction is the retracting direction.

[0074] In some embodiments, if the bed board 2 triggers anti-pinch in the opening direction, but the bed board 2 moves in the reverse direction in the closing direction and enters an area where the top cover 1 is not fully open, the adjacent bed board is not in a safe position, or there is a risk of structural interference, the controller will not perform reverse release, but will determine that the reverse release condition is not met and enter the locking level.

[0075] S407. Recheck the anti-pinch status.

[0076] After the rooftop camping mechanism reverses for a preset distance or time, the controller stops the corresponding drive motor and receives the anti-pinch signal again to detect whether the anti-pinch state has been released.

[0077] If the acquired anti-pinch signal does not meet the anti-pinch trigger condition, the controller determines that the reverse release has disengaged the mechanism from the clamping state. At this time, the controller keeps the corresponding drive motor stopped and makes the rooftop camping mechanism wait for new control commands.

[0078] In this situation, the controller will not automatically restore the roof camping mechanism to its original running direction before the anti-pinch trigger, thus preventing the mechanism from automatically resuming operation and causing another clamping when the object is still within the movement path. Users can re-enter the open, close, unfold, or retract commands after confirming the movement area is safe.

[0079] If the anti-pinch signal acquired after reverse release still meets the anti-pinch trigger condition, the controller determines that the reverse release has failed to eliminate the pinching risk, or that there is still a foreign object, structural jamming, or detection abnormality in the mechanism. In this case, the controller switches the anti-pinch action from the release level to the locking level.

[0080] S408, fault lockout or wait for manual confirmation, and output audible and visual alarm.

[0081] When the anti-pinch trigger condition is met again after the reverse release, or when it is determined that the reverse release condition is not met after stopping the corresponding drive motor, the controller will no longer control the roof camping mechanism to run in reverse. Instead, it will control the roof camping mechanism to enter the fault lock state or the manual confirmation waiting state, and output audible and visual alarm information.

[0082] In the fault-locked state, the controller keeps the corresponding drive motor stopped and prohibits the corresponding mechanism from responding to automatic mode commands, running commands in the same direction as before the anti-pinch operation, and automatic reverse release commands. Optionally, in the fault-locked state, the controller also prohibits the corresponding mechanism from responding to manual mode commands to prevent the user from forcibly driving the mechanism without removing the clamped object or eliminating the mechanism fault.

[0083] In the manual confirmation waiting state, the controller keeps the corresponding drive motor stopped and waits for the user to input a manual confirmation command. The manual confirmation command can be input by the user pressing and holding the corresponding mechanism button, or by the user inputting it through the vehicle's central control screen, vehicle terminal, remote control terminal, or maintenance diagnostic equipment. The manual confirmation command is used to indicate that the user has checked the mechanism's movement area, or to request the controller to re-perform the anti-pinch status detection.

[0084] After the rooftop camping mechanism enters a fault lock state or a manual confirmation waiting state, the controller outputs an audible and visual alarm to alert the user that the current mechanism has a clamping risk, sensor abnormality, position abnormality, or drive abnormality.

[0085] The audible and visual alarm information may include a buzzer alarm and a light alarm. For example, the buzzer sounds for 2 seconds, pauses for 1 second, and repeats once; the roof light strip emits red light, which remains on for 1 second before turning off. Optionally, during the fault-locked state, the roof light strip continuously emits red light or periodically flashes red light to distinguish it from the green light indication when the mechanism completes its normal operation.

[0086] In some embodiments, the controller can also output text, icon, or voice prompts via the vehicle instrument panel, central control screen, vehicle terminal, or mobile terminal. For example, when the bed board 2 is anti-pinch triggered, the controller outputs the prompt message "Bed board anti-pinch triggered, please check the clamping area"; when the electric projection screen 3 is anti-pinch triggered, the controller outputs the prompt message "Screen anti-pinch triggered, please remove obstacles"; when the mechanism enters the locking level, the controller outputs the prompt message "Mechanism malfunction locking, please manually confirm".

[0087] After receiving a manual confirmation command, the controller acquires the anti-pinch signal, current position, and mechanism status again, and determines whether to release the fault lock state or the manual confirmation waiting state based on the acquired anti-pinch signal, current position, and mechanism status again.

[0088] When the anti-pinch signal acquired again does not meet the anti-pinch triggering conditions, the current position is within the allowable operating range, the position detection signal and Hall signal are normal, and the drive motor is not faulty, the controller releases the fault lockout state or the manual confirmation waiting state, and makes the rooftop camping mechanism wait for new control commands.

[0089] When the anti-pinch signal acquired again still meets the anti-pinch triggering conditions, or the current position is not within the allowable operating range, or an abnormality is detected in the position detection, Hall signal, anti-pinch detection, or drive motor, the controller maintains the fault lockout state and continues to output audible and visual alarm information until the fault is cleared and a new manual confirmation command is received.

[0090] Using the above method, when the rooftop camping mechanism triggers the anti-pinch function, the controller first stops the corresponding drive motor to prevent further increase in clamping force. Then, based on information such as mechanism type, running direction, current position, and number of anti-pinch triggers, it determines whether reverse release is appropriate. For cases where safe release is possible, a low-speed reverse release is executed, followed by a secondary anti-pinch detection. For cases where safe release is not possible or where the risk of clamping remains after reverse release, the system handles the situation through fault locking, manual confirmation waiting, and audible and visual alarms. This prevents the rooftop camping mechanism from repeatedly operating while the clamping risk remains, improving the safety of the bed board 2 and the electric projection screen 3 during operation.

[0091] See Figure 5 , Figure 5A graded anti-pinch control method for a rooftop camping mechanism is shown and described in detail below: S501, acquires the anti-pinch signal during the operation of the rooftop camping mechanism; S502, based on the anti-pinch signal, determine the anti-pinch handling state of the rooftop camping mechanism, the anti-pinch handling state including the release state and the locking state; S503, when the anti-pinch handling state is the release state, controls the roof camping mechanism to run in reverse, and controls the roof camping mechanism to stop or lock based on the anti-pinch signal after the reverse running. S504, when the anti-pinch action is in the locked state, locks the roof camping mechanism and outputs an alarm message.

[0092] In some embodiments, determining the anti-pinch status of the rooftop camping mechanism based on the anti-pinch signal includes: When the anti-pinch signal meets the anti-pinch trigger condition, the corresponding drive motor is stopped; The anti-pinch handling status is determined based on the mechanism type, direction of operation, current location, and number of anti-pinch triggers.

[0093] Specifically, the controller periodically acquires anti-pinch signals during the operation of the rooftop camping mechanism and determines whether the anti-pinch signal meets the anti-pinch trigger condition. When the anti-pinch signal meets the trigger condition, the controller sends a stop command to the corresponding drive motor to stop the bed board mechanism or projection screen mechanism that triggered the anti-pinch from continuing to move in the current running direction. After stopping the corresponding drive motor, the controller acquires the type of mechanism that triggered the anti-pinch, the running direction when the anti-pinch was triggered, the current position, and the number of anti-pinch triggers in the current running cycle. The current position can be the position detected by the position sensor, the limit state, the position corresponding to the encoder count value, or the Hall count value. Based on the mechanism type, running direction, current position, and number of anti-pinch triggers, the controller determines whether the current mechanism has a safe reverse clearance space and determines the anti-pinch handling state as either a release state or a locking state. The release state indicates that reverse release is allowed, while the locking state indicates that automatic operation is not allowed to continue.

[0094] In this embodiment, when the rooftop camping mechanism is operating normally, the controller sends a running control command to the motor drive module. The motor drive module then drives the corresponding bed board motor or projection screen motor according to the running control command, causing the bed board mechanism to open or close, or the projection screen mechanism to unfold or retract. The controller can record the currently driven mechanism type and running direction. The mechanism type can be a bed board mechanism or a projection screen mechanism, and the running direction can be the opening or closing direction of the bed board mechanism, or the unfolding or retracting direction of the projection screen mechanism.

[0095] The anti-pinch detection module detects the anti-pinch area during the operation of the rooftop camping mechanism and sends an anti-pinch signal to the controller. This anti-pinch signal can be a trigger signal generated by the anti-pinch detection device, or an abnormal signal determined based on the operating status of the drive motor. For example, when the anti-pinch detection device detects a person, clothing, pet, luggage, or other foreign object entering the mechanism's movement area, the anti-pinch detection module outputs a trigger signal to the controller; or, when the drive motor's operating current, output torque, or operating power exceeds a corresponding preset threshold, or when the drive motor is in a stalled state, the controller can determine that the anti-pinch signal meets the anti-pinch trigger condition.

[0096] like Figure 6 As shown, the position detection module sends the current position of the rooftop camping mechanism to the controller. This current position can be obtained through a position sensor, limit switch, encoder, Hall effect sensor, or other position detection methods. For example, the current position can represent the position of the bed board relative to its retracted or extended position, or the position of the projection screen relative to its retracted or extended position. The motor drive module also feeds back the motor's running direction and operating status to the controller. The motor operating status can include running, stopped, reverse running, and abnormal states.

[0097] When the anti-pinch signal received by the controller meets the anti-pinch trigger conditions, the controller first sends a stop command to the motor drive module. The motor drive module then stops outputting drive to the corresponding bed board motor or curtain motor to prevent the rooftop camping mechanism from continuing to move in the current direction and increasing the risk of clamping. After stopping the corresponding drive motor, the controller makes an anti-pinch decision based on the recorded or real-time acquired mechanism type, the running direction when the anti-pinch was triggered, the current position, and the number of anti-pinch triggers.

[0098] The anti-pinch trigger count refers to the cumulative number of times the corresponding mechanism meets the anti-pinch trigger condition within the current operating cycle. The current operating cycle can be understood as the time period from when the rooftop camping mechanism receives an open, close, unfold, or retract control command until it completes the corresponding action, stops waiting for a new control command, or enters the locked state. When the corresponding mechanism completes a full stroke, receives a new operating control command, or unlocks, the controller can reset the anti-pinch trigger count to zero or restart the count.

[0099] The controller determines the corresponding reverse release direction based on the mechanism type and running direction, and judges whether the corresponding mechanism has a safe reverse clearance space based on the current position. If the current position is within the allowable reverse release range, and the number of anti-pinch triggers is less than a preset threshold, the controller determines the anti-pinch handling state to be the release state and sends a reverse running command to the motor drive module. The motor drive module then controls the corresponding motor to run at low speed in the opposite direction to the running direction when the anti-pinch was triggered, in order to release any foreign objects that may have been pinched.

[0100] If the current position is not within the allowed reverse release range, or if the number of anti-pinch triggers reaches or exceeds the threshold, the controller determines the anti-pinch handling state to be locked and sends a locking command to the motor drive module, keeping the corresponding motor stopped and thus preventing the rooftop camping mechanism from continuing to operate automatically. Optionally, after the reverse operation is completed, the anti-pinch detection module can also continue to send the anti-pinch signal after the reverse operation to the controller, so that the controller can further determine whether the pinching risk has been eliminated.

[0101] In some embodiments, the rooftop camping mechanism includes a bed board mechanism and a projection screen mechanism, wherein the mechanism type is either a bed board mechanism or a projection screen mechanism.

[0102] Specifically, the bed board mechanism is used to drive the bed board to move between the retracted and unfolded positions, and may include the bed board, bed board drive motor, transmission assembly, guide assembly, position detection component, and anti-pinch detection component. The projection screen mechanism is used to drive the electric projection screen to move between the retracted and unfolded positions, and may include the screen, screen drive motor, roller, guide assembly, position detection component, and anti-pinch detection component. After detecting an anti-pinch signal, the controller determines the type of mechanism that issued the anti-pinch signal or the abnormal operating parameters. When the corresponding mechanism is the bed board mechanism, the controller determines the anti-pinch handling state based on the opening or closing direction of the bed board, the current position of the bed board, and the number of times the bed board anti-pinch is triggered; when the corresponding mechanism is the projection screen mechanism, the controller determines the anti-pinch handling state based on the unfolded or retracted direction of the screen, the current position of the screen, and the number of times the screen anti-pinch is triggered. By distinguishing between different mechanisms, different release strategies can be set according to the structural characteristics of the bed board and the projection screen.

[0103] In this embodiment, the controller selects the corresponding motor drive control branch based on the type of mechanism currently issuing the anti-pinch signal, and determines the anti-pinch handling state according to the mechanism's running direction, current position, and number of anti-pinch triggers. The anti-pinch handling state can include a release state and a locking state, wherein the release state indicates that the corresponding mechanism is allowed to retreat in the opposite direction, and the locking state indicates that the corresponding mechanism is prohibited from continuing automatic operation.

[0104] The bed board mechanism includes a bed board, a bed board motor, a transmission assembly, a guide assembly, a position detection component, and an anti-pinch detection component. The bed board motor drives the bed board to move between a folded position and an unfolded position via the transmission assembly. The operating direction of the bed board mechanism can include an opening direction and a closing direction. The opening direction can be understood as the direction in which the bed board moves from the folded position to the unfolded position, and the closing direction can be understood as the direction in which the bed board moves from the unfolded position to the folded position. The anti-pinch detection component of the bed board mechanism can be installed at the edge of the bed board, in the relative movement gap between the bed board and the roof structure, in the guide path, or in the storage area to detect when a person, clothing, pet, luggage, or other foreign object enters the movement area of ​​the bed board.

[0105] The projection screen mechanism includes a screen, a screen motor, a roller, a guide assembly, a position detection component, and an anti-pinch detection component. The screen motor drives the roller to rotate, moving the screen between a retracted position and an extended position. The projection screen mechanism operates in two directions: an extended direction and a retracted direction. The extended direction is the direction in which the screen moves from the retracted position to the extended position, and the retracted direction is the direction in which the screen moves from the extended position to the retracted position. The anti-pinch detection component can be located at the screen's storage opening, guide area, screen edge, or the gap between the screen and adjacent structures to detect foreign objects entering the screen's retraction or extension path.

[0106] like Figure 7 As shown on the left, when the controller determines that the mechanism triggering the anti-pinch signal is a bed board mechanism, the controller controls the bed board mechanism control branch corresponding to the motor drive module to stop, reverse, or lock the bed board motor. Specifically, after detecting that the anti-pinch signal of the bed board mechanism meets the anti-pinch triggering conditions, the controller first controls the bed board motor to stop running and obtains the running direction when the bed board triggers the anti-pinch, the current position of the bed board, and the number of times the bed board mechanism triggers the anti-pinch in the current running cycle.

[0107] If an anti-pinch event occurs when the bed board is in the closed position, the controller can determine the opening direction as the reverse release direction; if an anti-pinch event occurs when the bed board is in the open position, the controller can determine the closing direction as the reverse release direction. The controller further determines whether the current position of the bed board has sufficient reverse clearance space. For example, when the bed board is near the folded position and moving in the closed direction, the bed board may not have space to continue moving in the closing direction, but it usually has space to clearance in the opening direction; when the bed board is near the unfolded position and moving in the opening direction, the controller needs to determine whether the preset clearance stroke in the closing direction will interfere with the roof structure, guide components, or other components. If the current position of the bed board allows safe movement of the preset stroke in the reverse release direction, and the number of anti-pinch triggers of the bed board mechanism is less than the threshold, the controller determines the bed board mechanism to be in the released state; otherwise, it determines the bed board mechanism to be in the locked state.

[0108] like Figure 7 As shown on the right, when the controller determines that the mechanism triggering the anti-pinch signal is a projection screen mechanism, the controller controls the corresponding projection screen mechanism control branch of the motor drive module to stop, reverse, or lock the screen motor. After detecting that the anti-pinch signal of the screen mechanism meets the anti-pinch triggering conditions, the controller controls the screen motor to stop and obtains the running direction of the screen when the anti-pinch is triggered, the current position of the screen, and the number of times the anti-pinch mechanism is triggered in the current running cycle.

[0109] For the projection screen mechanism, when the screen moves in the retracting direction and triggers the anti-pinch mechanism, the controller can determine the unfolding direction as the reverse release direction to allow the screen to exit the storage slot or move away from the possible clamping area. When the screen moves in the unfolding direction and triggers the anti-pinch mechanism, the controller can determine the retracting direction as the reverse release direction. The controller determines whether there is a preset retraction travel in the corresponding reverse direction based on the current position of the screen. For example, when the screen is close to the retracted position, it can usually retract in the unfolding direction; when the screen is close to the unfolded position, the controller needs to confirm that the preset retraction travel in the retracting direction will not cause the roll to over-wind, the screen to shift, the guide to jam, or the structure to interfere.

[0110] In this embodiment, the bed board mechanism and the projection screen mechanism each have independent anti-pinch trigger counts. That is, anti-pinch triggers generated by the bed board mechanism are not counted in the anti-pinch trigger count of the projection screen mechanism, and vice versa. The controller can reset or recount the anti-pinch trigger count for a given mechanism after it completes a full cycle, receives a new operating command, stops waiting, or is unlocked. This prevents abnormal triggering of one mechanism from affecting the normal anti-pinch control of another.

[0111] By selecting the corresponding control branch according to the type of mechanism, and adopting corresponding running direction judgment, position judgment and trigger number judgment methods for the bed board mechanism and the projection screen mechanism respectively, it is possible to adapt to the differences between the bed board and the screen in terms of structural size, running stroke, storage method and clamping risk area, thereby improving the pertinence and safety of the anti-pinch control of the rooftop camping mechanism.

[0112] In some embodiments, the anti-pinch signal includes a trigger signal for the anti-pinch detection element and operating parameters of the drive motor; the operating parameters include at least one of operating current, output torque, operating power, or stall state.

[0113] Specifically, the anti-pinch detection device can be installed at the edge, relative movement gap, guide path, storage opening, or other locations prone to pinching risk of the bed board mechanism or projection screen mechanism. The anti-pinch detection device may include anti-pinch rubber strips, pressure sensors, micro switches, infrared sensors, photoelectric sensors, proximity sensors, or other foreign object detection devices. When a human body, clothing, pet, luggage, or other foreign object enters the movement area of ​​the mechanism, the anti-pinch detection device outputs a corresponding trigger signal. The operating parameters of the drive motor may include at least one of the following: operating current, output torque, operating power, or stall state. The controller can compare the current operating parameters of the drive motor with a preset anti-pinch threshold; when the operating parameters exceed the corresponding anti-pinch threshold, or when the drive motor is determined to be in a stall state, the controller determines that there is an anti-pinch risk. The anti-pinch detection device signal and the motor operating parameters can be used individually as the basis for anti-pinch judgment, or they can be combined for anti-pinch judgment.

[0114] In this embodiment, as Figure 6 As shown, the rooftop camping mechanism may include a bed board mechanism and a projection screen mechanism, driven by a bed board motor and a projection screen motor, respectively. The system includes an anti-pinch detection module, a position detection module, a controller, a motor drive module, and a bed board motor / projection screen motor. The anti-pinch detection module is used to acquire the trigger signal of the anti-pinch detection component and / or the operating parameters of the drive motor, and sends the corresponding anti-pinch signal to the controller.

[0115] Anti-pinch detection devices can be installed in areas of the bed board mechanism or projection screen mechanism where the risk of pinching is likely to occur. For example, anti-pinch detection devices for the bed board mechanism can be installed at the edge of the bed board, in the relative movement gap between the bed board and the roof structure, in the bed board guide path, in the bed board storage area, or at the end of the bed board's closing stroke. Anti-pinch detection devices for the projection screen mechanism can be installed at the edge of the screen, in the screen guide path, in the screen storage opening, in the screen entry area near the roller, or in the movement gap between the screen and adjacent fixed structures. The above installation locations are not limited to a single detection area; one or more anti-pinch detection devices can be installed according to the movement path, structural form, and pinching risk locations of the bed board mechanism and projection screen mechanism.

[0116] The anti-pinch detection component can be an anti-pinch strip, a pressure sensor, a micro switch, an infrared sensor, a photoelectric sensor, a proximity sensor, or other detection devices capable of detecting foreign objects entering the moving area. Taking an anti-pinch strip as an example, when the strip is squeezed by a person, clothing, pet, luggage, or other foreign object, its internal conductive circuit, resistance value, or output state changes, and the anti-pinch detection module generates a corresponding trigger signal accordingly. Taking an infrared sensor, photoelectric sensor, or proximity sensor as examples, when a foreign object enters the preset detection range and blocks the detection light path, changes the reflected signal, or enters the sensing distance, the anti-pinch detection module outputs a corresponding trigger signal. For pressure sensors or micro switches, a trigger signal can also be output when the moving part is subjected to abnormal resistance, squeezing force, or displacement.

[0117] like Figure 6 As shown, during the operation of the bed board motor or the screen motor, the motor drive module sends operation control commands to the corresponding bed board motor / screen motor and can feed back the running direction and motor operating status to the controller. The running direction may include the opening or closing direction of the bed board mechanism, and the unfolding or retracting direction of the projection screen mechanism. The motor operating status may include at least the running state, the stopped state, the reverse running state, and the stalled state.

[0118] In addition to the trigger signal of the anti-pinch detection device, the operating parameters of the drive motor can also be used as anti-pinch signals or as a basis for anti-pinch judgment. These operating parameters include at least one of the following: operating current, output torque, operating power, or stall state. The controller can obtain these operating parameters through the motor drive module, or through current detection devices, torque detection devices, or encoders connected to the motor. The controller compares the current operating parameters with a preset anti-pinch threshold; when the operating current, output torque, or operating power exceeds the corresponding anti-pinch threshold, it indicates that the corresponding mechanism may experience abnormal resistance during movement, and the controller can determine that there is a risk of stalling. For stall state, when the motor is in a powered-on drive state but its speed is lower than a preset speed, the position count does not change within a preset time, or the motor drive module feeds back a stall flag, the controller can determine that the drive motor is in a stall state and use this state as the basis for meeting the anti-pinch trigger condition.

[0119] In the specific judgment process, the trigger signal of the anti-pinch detection device and the operating parameters of the drive motor can be used individually or in combination. For example, when the anti-pinch detection device outputs a valid trigger signal, the controller can directly determine that the anti-pinch signal meets the anti-pinch trigger condition. If no anti-pinch detection device is configured, the detection device does not trigger, or the detection device fails, the controller can determine that the anti-pinch signal meets the anti-pinch trigger condition based on the motor operating parameters exceeding the anti-pinch threshold or the motor entering a stall state. Alternatively, the controller can also determine that the anti-pinch risk level is high when the anti-pinch detection device outputs a trigger signal and the motor operating parameters are abnormal, thereby prioritizing the stopping of the corresponding motor and executing subsequent anti-pinch measures.

[0120] When the controller determines that the anti-pinch signal meets the anti-pinch trigger condition, such as Figure 6 As shown, the controller first sends a stop command to the motor drive module, causing the bed board motor or curtain motor that triggers the anti-pinch mechanism to stop moving in the current running direction. The controller can also combine the current position provided by the position detection module, the running direction and motor operating status fed back by the motor drive module, and the number of anti-pinch triggers in the current running cycle to further determine the release state or the locking state. When the state is determined to be release, the controller sends a reverse running command to the motor drive module and continues to receive the anti-pinch signal after the reverse running from the anti-pinch detection module during the reverse running.

[0121] In some embodiments, determining the anti-pinch handling status based on mechanism type, running direction, current position, and number of anti-pinch triggers includes: When the current position is within the allowed reverse release range and the number of anti-pinch triggers is less than the threshold, the anti-pinch handling state is determined to be the release state; Otherwise, the anti-pinch action status is determined to be the locked state.

[0122] Specifically, the controller first determines the corresponding reverse release direction based on the mechanism type and the direction of operation when the anti-pinch mechanism is triggered. Then, it determines whether the rooftop camping mechanism is within the permissible reverse release range based on the current position. The permissible reverse release range is the position range where the mechanism will not experience position overshoot, structural collision, transmission jamming, or other safety risks after running a preset distance in the reverse release direction. Simultaneously, the controller counts the number of anti-pinch triggers for the corresponding mechanism within the current operating cycle. When the current position is within the permissible reverse release range and the number of anti-pinch triggers is less than a threshold, the controller determines that the current pinching risk can be released through reverse retreat and sets the anti-pinch status to the release state. When the current position is not within the permissible reverse release range, or the number of anti-pinch triggers reaches or exceeds the threshold, the controller determines that continuing reverse operation may not eliminate the pinching risk or may trigger new risks, and sets the anti-pinch status to the locking state.

[0123] In this embodiment, as Figure 8 As shown, after receiving the anti-pinch trigger signal output by the anti-pinch detection module, the controller combines the current position output by the position detection module, the position count or running status output by the Hall detection module, and the number of anti-pinch triggers of the corresponding mechanism to determine whether the anti-pinch handling state is a release state or a locking state.

[0124] The anti-pinch detection module detects the risk of pinching during the operation of the bed board mechanism or projection screen mechanism. It sends an anti-pinch trigger signal to the controller when it detects a person, clothing, pet, luggage, or other foreign object entering the mechanism's movement area, or when it detects abnormal operating parameters of the drive motor. The position detection module detects the current position of the corresponding mechanism. This current position can be the position detected by a position sensor, the limit state corresponding to a limit switch, or the position calculated based on encoder count values ​​or Hall effect count values. The Hall effect detection module can be installed at the corresponding drive motor or transmission component to acquire the position count generated by the motor's rotation and can provide feedback on the motor's operating status to the controller. This operating status can at least indicate the mechanism's operating direction, stop status, or abnormal status.

[0125] Upon receiving the anti-pinch trigger signal, the controller first stops the corresponding drive motor that triggered the anti-pinch mechanism to prevent the bed board mechanism or projection screen mechanism from continuing to run in the direction it was in when the anti-pinch was triggered. Then, the controller identifies the type of mechanism that triggered the anti-pinch and determines the reverse release direction based on the mechanism type and the running direction when the anti-pinch was triggered.

[0126] For the bed board mechanism, when the bed board is running in the closing direction and an anti-pinch event occurs, the controller uses the bed board opening direction as the reverse release direction; when the bed board is running in the opening direction and an anti-pinch event occurs, the controller uses the bed board closing direction as the reverse release direction. For the projection screen mechanism, when the screen is running in the retracting direction and an anti-pinch event occurs, the controller uses the screen unfolding direction as the reverse release direction; when the screen is running in the unfolding direction and an anti-pinch event occurs, the controller uses the screen retracting direction as the reverse release direction. The controller can preset the allowable reverse release range corresponding to the reverse release direction for both the bed board mechanism and the projection screen mechanism.

[0127] The permissible reverse release range refers to the range of positions within which the corresponding mechanism, after traveling a preset distance in the reverse release direction from its current position, will not experience position overshoot, structural collision, transmission jamming, or other safety risks. The preset distance can be the minimum allowable retraction distance to release clamping risks, or it can be a retraction distance determined based on the structural dimensions of the bed board or curtain, guide travel, transmission mechanism margin, and the location of the anti-pinch area. The permissible reverse release range can be determined by the actual position detected by the position detection module, or based on the correspondence between the limit status, encoder count value, or Hall effect count value and the preset range.

[0128] For example, in a bed board mechanism, when the anti-pinch mechanism is triggered during the bed board closing process, if there is still an opening margin of not less than a preset stroke between the current position and the unfolded position of the bed board, then the current bed board position is within the corresponding allowable reverse release range; if the bed board is already close to the unfolded position and cannot complete the preset retraction stroke in the opening direction, then the current bed board position is not within the allowable reverse release range. Similarly, in a projection screen mechanism, when the anti-pinch mechanism is triggered during the screen retraction process, if there is an unfolding margin of not less than a preset stroke between the current position and the unfolded position of the screen, then the current screen position is within the allowable reverse release range; if the screen is already close to the unfolded position and cannot meet the preset reverse unfolding stroke, then it is not within the allowable reverse release range. Accordingly, when the anti-pinch mechanism is triggered during the bed board opening or screen unfolding process, the controller determines whether the reverse release condition is met based on the remaining operable stroke in the opposite direction.

[0129] Simultaneously, the controller counts the number of anti-pinch triggers for the corresponding mechanism within the current operating cycle. The current operating cycle can be the time period from when the controller issues an open, close, unfold, or retract command to the corresponding mechanism until the mechanism completes its target stroke, stops, receives a new operating command, or enters a locked state. The anti-pinch trigger counts for the bed board mechanism and the projection screen mechanism are counted separately and do not overlap. The threshold number can be pre-stored in the controller, and the same or different thresholds can be set for different mechanisms, different operating directions, or different position ranges.

[0130] like Figure 8 As shown in the judgment process on the right, when the controller determines that the current position is within the allowable reverse release range, and the number of anti-pinch triggers of the corresponding mechanism in the current operating cycle is less than the threshold, the controller determines the anti-pinch handling state to be the release state. In the release state, the controller sends a reverse running command to the motor drive module, causing the corresponding mechanism to run the preset stroke along the reverse release direction or run until the anti-pinch signal is released, so that any foreign objects that may be pinched can be released from the pinching area.

[0131] When the current position is not within the allowed reverse release range, or when the number of anti-pinch triggers reaches or exceeds the threshold, the controller determines the anti-pinch handling state to be locked. In the locked state, the controller sends a locking command to the motor drive module, keeping the corresponding drive motor stopped and preventing the mechanism from continuing automatic operation. Simultaneously, the controller can output alarm information to prompt the user to check for clamping risks, foreign object obstruction, or mechanical abnormalities in the bed board mechanism or projection screen mechanism. The alarm information can be output through an in-vehicle display device, vehicle speaker, indicator lights, mobile terminal, or other prompting devices. The controller can only release the locking state after the user has eliminated the abnormality and performed the preset unlocking operation.

[0132] In some embodiments, the permissible reverse release range is a range of positions in which the rooftop camping mechanism does not have the risk of exceeding the position limit or structural interference when it travels a preset distance in the reverse release direction; the reverse release direction is determined according to the mechanism type and the running direction when the anti-pinch is triggered. When the bed board mechanism triggers the anti-pinch function in the closing direction, the reverse release direction is the opening direction; when the bed board mechanism triggers the anti-pinch function in the opening direction, the reverse release direction is the closing direction. When the projection screen mechanism triggers anti-pinch in the retraction direction, the reverse release direction is the unfolding direction; when the projection screen mechanism triggers anti-pinch in the unfolding direction, the reverse release direction is the retraction direction.

[0133] Specifically, for the bed board mechanism, when the bed board mechanism moves in the closing direction and triggers the anti-pinch function, the controller determines the reverse release direction as the opening direction to keep the bed board away from any objects that might be trapped in the bed board's closing path; when the bed board mechanism moves in the opening direction and triggers the anti-pinch function, the controller determines the reverse release direction as the closing direction. For the projection screen mechanism, when the projection screen mechanism moves in the retracting direction and triggers the anti-pinch function, the controller determines the reverse release direction as the unfolding direction; when the projection screen mechanism moves in the unfolding direction and triggers the anti-pinch function, the controller determines the reverse release direction as the retracting direction. The controller further combines the current position, the available travel in the reverse direction, and the relevant structural status to determine whether the preset travel can be safely operated in the corresponding reverse direction.

[0134] In this embodiment, as Figure 9 As shown, the bed board mechanism is driven by a bed board motor, and the projection screen mechanism is driven by a screen motor. After detecting the anti-pinch signal, the controller determines the type of mechanism that triggered the anti-pinch and the running direction of that mechanism when it triggered the anti-pinch, and determines the corresponding reverse release direction accordingly.

[0135] The reverse release direction refers to the direction of operation opposite to the current running direction when the anti-pinch mechanism is triggered, and is used to move the mechanism away from the clamping area. After determining the reverse release direction, the controller further considers the current position of the mechanism, the available travel in the reverse direction, and the relevant structural status to determine whether the mechanism can safely run a preset travel along the reverse release direction. If it can run safely, the current position belongs to the permissible reverse release range; if running the preset travel along the reverse release direction may cause position overshoot, structural interference, transmission jamming, or other safety risks, the current position does not belong to the permissible reverse release range.

[0136] The preset travel distance is the retraction travel distance used to release the clamping risk after the mechanism triggers the anti-pinch mechanism. The preset travel distance can be pre-set based on the movement speed of the bed board or curtain, the size of the mechanism, the location of the anti-pinch detection device, the possible clamping gap, and the transmission response time. Alternatively, the preset travel distance can be determined by the travel distance corresponding to a preset running time; that is, the controller controls the corresponding motor to run at a low speed for a preset time in the reverse release direction to achieve the expected retraction distance. To avoid generating new clamping risks during reverse release, the reverse release process is preferably executed at a release speed lower than the normal operating speed.

[0137] like Figure 9 As shown on the left, for the bed plate mechanism, the controller determines the reverse release direction of the bed plate mechanism based on the current drive direction of the bed plate motor. When the bed plate mechanism moves in the closing direction and triggers the anti-pinch function, the controller determines the opening direction as the reverse release direction, causing the bed plate to retract away from the object trapped in the closing path. When the bed plate mechanism moves in the opening direction and triggers the anti-pinch function, the controller determines the closing direction as the reverse release direction. Before controlling the reverse release of the bed plate, the controller determines whether the remaining available travel of the bed plate in the opening or closing direction is greater than or equal to the preset travel, and determines whether the bed plate guide assembly, transmission assembly, storage structure, and adjacent roof components are in a state that allows reverse movement.

[0138] For example, when an anti-pinch event occurs during the bed board closing process, the controller obtains the current position of the bed board based on the position detection device and determines whether the bed board, after retracting a preset distance in the opening direction, is still within its allowable range of motion and will not interfere with the roof shell, support components, guide rail ends, or other structures. If the above conditions are met, the current position is determined to be within the allowable reverse release range corresponding to the bed board mechanism; otherwise, reverse release of the bed board is not allowed. Correspondingly, when the anti-pinch event is triggered during the bed board opening process, the controller determines the safety of the bed board retracting a preset distance in the closing direction.

[0139] like Figure 9 As shown on the right, for the projection screen mechanism, the controller determines the reverse release direction of the screen mechanism based on the current drive direction of the screen motor. When the projection screen mechanism moves in the retraction direction and triggers the anti-pinch function, the controller determines the unfolding direction as the reverse release direction, causing the screen to exit the storage slot or move away from any clamped object in the retraction path; when the projection screen mechanism moves in the unfolding direction and triggers the anti-pinch function, the controller determines the retraction direction as the reverse release direction. Before controlling the reverse release of the screen, the controller determines whether the available travel of the screen in the reverse release direction meets the preset travel, and determines whether there is structural interference, winding abnormalities, or operational jamming risks in the roller, screen guide, storage slot, and screen edges.

[0140] Specifically, the available travel distance can be determined by the distance between the current position and the travel endpoint corresponding to the reverse release direction, or it can be determined based on position count, Hall effect count, encoder count, limit switch status, or a preset position range. The relevant structural states may include whether the limit switch is triggered, whether the guide assembly is in a normal guiding state, whether the transmission assembly is in a permissible transmission state, and whether the motor is continuously stalled or abnormally overloaded. The controller determines that the current mechanism is within the permissible reverse release range only when the available travel distance meets the preset travel distance and the relevant structural states meet safety conditions.

[0141] When the current position is within the permissible reverse release range and the number of anti-pinch triggers has not reached the threshold, the controller controls the corresponding bed board motor or curtain motor to run at low speed for a preset stroke or preset time along the determined reverse release direction to release the clamping risk. During reverse release, the controller continuously monitors the anti-pinch detection signal and the motor's operating status; if an anti-pinch signal, motor stall, position out-of-bounds risk, or other abnormality is detected again, the controller stops reverse operation and enters the locking state. If the current position is not within the permissible reverse release range, the controller does not perform reverse release but directly locks the corresponding mechanism and can output an alarm prompt for the user to perform manual inspection and handling.

[0142] In some embodiments, the control of the rooftop camping mechanism to operate in reverse includes: Control the rooftop camping mechanism to run a preset distance or preset time in the opposite direction to the direction of operation when the anti-pinch mechanism is triggered; The reverse running speed of the rooftop camping mechanism is less than the running speed before the anti-pinch mechanism is triggered.

[0143] Specifically, when the anti-pinch action is in the release state, the controller controls the rooftop camping mechanism to travel a preset distance or for a preset time in the opposite direction to the direction in which the anti-pinch was triggered. The preset distance can be represented by a preset length, a preset relative position change, a preset encoder count value, a preset Hall effect count value, or a preset number of pulses. The preset time can be determined based on the operating speed, structural dimensions, and release space of the bed board mechanism or projection screen mechanism. For example, the controller can control the bed board to travel a preset distance in the opposite direction to disengage the edge of the bed board from a position where it might clamp foreign objects; or control the screen to travel a preset time in the opposite direction to remove the screen from the storage opening or guide area. The reverse running speed is less than the normal operating speed before the anti-pinch is triggered. By reducing the reverse running speed, the impact on foreign objects, mechanism components, and transmission structures during the reverse release process can be reduced, and the safety of the anti-pinch release process can be improved.

[0144] In this embodiment, after receiving the anti-pinch trigger signal and determining that the anti-pinch handling state is the release state, the controller controls the corresponding mechanism to run in the opposite direction to the running direction when the anti-pinch is triggered, so that the clamped or potentially clamped human body, clothing, pet, luggage or other foreign objects are released from the clamping area.

[0145] First, after triggering the anti-pinch mechanism, the controller stops the corresponding motor, obtains the mechanism type and running direction at the time of triggering, and determines the reverse release direction accordingly. For the bed board mechanism, when the anti-pinch is triggered while the bed board is in the closing direction, the controller controls the bed board motor to drive the bed board to run in the opposite direction along the opening direction; when the anti-pinch is triggered while the bed board is in the opening direction, the controller controls the bed board motor to drive the bed board to run in the opposite direction along the closing direction. For the projection screen mechanism, when the anti-pinch is triggered while the screen is in the retracting direction, the controller controls the screen motor to drive the projection screen to run in the opposite direction along the unfolding direction; when the anti-pinch is triggered while the screen is in the unfolding direction, the controller controls the screen motor to drive the projection screen to run in the opposite direction along the retracting direction.

[0146] like Figure 9 The directional correspondence of the middle bed plate mechanism is shown. After the anti-pinch mechanism is triggered, its reverse running direction is opposite to its current clamping trend. When the anti-pinch mechanism is triggered during the closing process, the bed plate retracts along the opening direction, keeping the edge of the bed plate away from foreign objects in the closing path; when the anti-pinch mechanism is triggered during the opening process, the bed plate retracts along the closing direction. Accordingly, as shown... Figure 9 As shown in the directional correspondence of the projection screen mechanism, when the anti-pinch mechanism is triggered during the retraction process of the projection screen, the controller controls the screen to retract along the unfolding direction so that the screen exits the storage port, winding area or guide area; when the anti-pinch mechanism is triggered during the unfolding process of the projection screen, the controller controls the screen to retract along the retraction direction.

[0147] The controller can control the rooftop camping mechanism to reverse a preset distance or for a preset time. The preset distance is a clearance distance used to release the risk of clamping, and can be represented by a preset length, a preset relative position change, a preset encoder count value, a preset Hall effect count value, or a preset number of pulses. The controller can detect the actual amount of movement of the mechanism in the reverse release direction based on position sensor, encoder, Hall effect detection module, or motor rotation count information; when the actual amount of movement reaches the preset distance, the controller controls the corresponding motor to stop.

[0148] In some implementations, the controller may also use a preset time as the termination condition for reverse operation. The preset time can be set based on the reverse operation speed of the mechanism, the structural dimensions of the bed board or screen, the location of the anti-pinch detection area, and the required release space. For example, the preset time for the bed board mechanism may correspond to the time required for the edge of the bed board to exit the clamping area; the preset time for the projection screen mechanism may correspond to the time required for the screen to exit the storage opening or guide path. To improve control reliability, the controller can simultaneously set a preset stroke and a preset time, and when the reverse operation reaches either the preset stroke or the preset time termination condition, control the corresponding mechanism to stop the reverse operation, thereby avoiding excessive reverse operation distance due to abnormal position detection or transmission.

[0149] During reverse operation, the controller ensures that the reverse speed of the corresponding mechanism is lower than the operating speed before the anti-pinch trigger is activated. The operating speed before the anti-pinch trigger can be the normal operating speed adopted by the bed board mechanism or projection screen mechanism after receiving user commands to open, close, unfold, or retract; the reverse speed is a pre-set low-speed release speed. The low-speed release speed can be set separately for the bed board mechanism and the projection screen mechanism, or it can be adjusted according to the current operating direction, current position, or anti-pinch trigger type. By making the reverse speed lower than the normal operating speed, the impact on foreign objects during the reverse start-up and retraction process of the mechanism can be reduced, the force on the bed board, screen, guide components, and transmission components can be reduced, and response time can be provided for the anti-pinch signal to be detected again and for the controller to stop control.

[0150] During reverse operation, the controller continuously receives anti-pinch signals from the anti-pinch detection module and monitors the motor's operating status and current position. If an anti-pinch trigger signal, motor stall, abnormal overcurrent, position approaching the travel boundary, or other conditions that do not meet safe operating requirements are detected again during reverse operation, the controller stops the reverse operation and switches the corresponding mechanism to the locked state. Conversely, when the mechanism completes the preset travel or preset time and no new abnormality is detected, the controller stops the corresponding motor and can maintain the mechanism in its current retreated position, waiting for the user to issue a new operating command.

[0151] In some embodiments, controlling the rooftop camping mechanism to stop or lock based on the anti-pinch signal after reverse operation includes: If the anti-pinch trigger condition is not met again after reverse operation, the rooftop camping mechanism stops and waits for a new control command. When the anti-pinch trigger condition is met again after reverse operation, the rooftop camping mechanism is locked.

[0152] Specifically, after the rooftop camping mechanism completes a preset travel distance or preset time of reverse operation, the controller stops the corresponding drive motor and re-acquires the anti-pinch signal to determine if the pinching risk has been eliminated. If the anti-pinch signal acquired after the reverse operation does not again meet the anti-pinch trigger condition, the controller determines that the reverse release is effective and the rooftop camping mechanism has exited the area with a pinching risk. At this time, the controller keeps the rooftop camping mechanism stopped and waits for the user to input new control commands, without automatically resuming the running direction before the anti-pinch trigger. If the anti-pinch signal acquired after the reverse operation still meets the anti-pinch trigger condition, the controller determines that the reverse release has failed to eliminate the pinching risk, or that the mechanism still has foreign objects, transmission jamming, abnormal position, or detection abnormality. At this time, the controller locks the rooftop camping mechanism, keeps the corresponding drive motor stopped, and prohibits the mechanism from continuing to run automatically to avoid repeated movement of the mechanism, which could increase the pinching risk or cause damage to components.

[0153] In this embodiment, as Figure 10 As shown, after determining that the anti-pinch handling state is the release state, the controller first stops the corresponding mechanism's movement in the current direction when the anti-pinch was triggered, and then controls the corresponding mechanism to run a preset distance or preset time in the reverse release direction at a speed lower than the normal operating speed. After the reverse run is completed, the controller obtains the anti-pinch signal again through the anti-pinch detection module, and determines whether the mechanism should stop and wait for a new control command or enter the locking state based on the newly obtained anti-pinch signal.

[0154] First, when the bed board mechanism or projection screen mechanism meets the anti-pinch trigger condition during operation, the controller sends a stop command to the motor drive module to stop the motor from outputting driving force in the current running direction. After determining that the current position meets the reverse release condition, the controller controls the motor drive module to drive the corresponding mechanism to run in the reverse direction. Specifically, when the anti-pinch is triggered in the closing direction, the bed board mechanism runs in the reverse direction in the opening direction, and when the anti-pinch is triggered in the opening direction, it runs in the reverse direction in the closing direction; when the anti-pinch is triggered in the retracting direction, the projection screen mechanism runs in the reverse direction in the unfolding direction, and when the anti-pinch is triggered in the unfolding direction, it runs in the reverse direction in the retracting direction.

[0155] like Figure 10 As shown, after the controller completes the reverse operation of the mechanism with a preset stroke or preset time, it controls the motor drive module to stop the motor. The preset stroke can be the clearance distance required for the edge of the bed board or curtain to exit the anti-pinch detection area, clamping area, or guide area; the preset time can be determined based on the reverse operation speed and the required clearance distance. After the reverse operation is completed, the anti-pinch detection module performs detection again and outputs an anti-pinch signal after the reverse operation to the controller.

[0156] The phrase "meeting the anti-pinch trigger condition again" means that the state detected by the anti-pinch detection module after the reverse operation ends still meets the preset anti-pinch judgment conditions. For example, the anti-pinch detection module may still detect that the anti-pinch sensor is under pressure, the detection switch is continuously conducting, there is a foreign object in the detection area, or the corresponding drive motor is still stalled, experiencing abnormal current, abnormal load, or other signals that can characterize the clamping risk, mechanism jamming, or detection abnormality. To avoid misjudgment caused by instantaneous fluctuations during motor stoppage or reverse operation, the controller can acquire the anti-pinch signal again after a preset detection waiting time after the reverse operation ends and the motor stops; alternatively, it can acquire multiple anti-pinch signals continuously within a preset detection time, and determine that the anti-pinch trigger condition is met again when the anti-pinch signal continuously meets the anti-pinch trigger condition.

[0157] If the anti-pinch signal obtained after reverse operation does not meet the anti-pinch trigger condition again, such as Figure 10 In the "No" response, the controller determines that the reverse release is effective, indicating that the bed board mechanism or projection screen mechanism has exited the area where there is a potential clamping risk. At this time, the controller controls the motor drive module to keep the motor stopped, keeping the roof camping mechanism in the reversed position and waiting for the user to input a new control command. The new control command can be to continue opening, continue closing, continue unfolding, continue retracting, or stop. The controller does not automatically control the mechanism to return to the running direction before the anti-pinch was triggered, thereby preventing the mechanism from re-entering the original clamping area before the foreign object has been completely removed.

[0158] When the anti-pinch signal obtained after reverse operation meets the anti-pinch trigger condition again, such as Figure 10 The processing path corresponding to "Yes" indicates that the controller determines the reverse release has failed to effectively remove the clamping risk, or that the corresponding mechanism still has issues such as foreign object obstruction, transmission jamming, abnormal positioning, or abnormal anti-pinch detection components. In this case, the controller switches the rooftop camping mechanism to the locked state, controls the motor drive module to keep the corresponding motor stopped, and prohibits the mechanism from responding to automatic continue-run commands. In the locked state, the controller can also control the alarm device to output alarm information, which can be displayed on the in-vehicle screen, indicator lights, buzzer, voice prompts, vehicle message system, or mobile terminal to prompt the user to check the mechanism's status.

[0159] In some implementations, the locking state is applied only to the bed board mechanism or projection screen mechanism that triggers the anti-pinch mechanism, while the other mechanism, which is not malfunctioning, remains in its original controllable state. In other implementations, the controller can also simultaneously prevent the bed board mechanism and projection screen mechanism from continuing automatic operation when either mechanism enters the locking state, to avoid potential interference between the two mechanisms. The locking state can be released after the user removes foreign objects, disengages, or completes a preset reset operation. The reset operation can include the user pressing and holding the unlock button, confirming on the display interface that the fault has been resolved, powering on again, or having a maintenance personnel perform a diagnostic reset. Through the above processing, the rooftop camping mechanism can be prevented from repeatedly moving forward and backward after the anti-pinch mechanism is triggered, improving the operational safety and reliability of the bed board mechanism and projection screen mechanism.

[0160] In some embodiments, the alarm information includes audible alarm information and visual alarm information; the audible alarm information includes a buzzer alarm, and the visual alarm information includes red light emitted by a roof light strip.

[0161] Specifically, when the rooftop camping mechanism enters the locked state, the controller activates a buzzer to sound an alarm and controls the rooftop light strip to emit a red light, alerting the user to potential risks of pinching, jamming, abnormal positioning, or malfunction in the rooftop camping mechanism. For example, the buzzer can sound for 2 seconds, pause for 1 second, and repeat once; the rooftop light strip can emit a continuous red light, a flashing red light, or a periodic red light. Optionally, the controller can also display text and icon prompts indicating bed board pinching, curtain pinching, or mechanism locking on the vehicle's central control screen or instrument panel, allowing the user to identify the specific mechanism experiencing the malfunction.

[0162] In some embodiments, the locking roof camping mechanism further includes: When a manual confirmation command is received and the anti-pinch signal no longer meets the anti-pinch triggering conditions, the locking of the rooftop camping mechanism is released.

[0163] Specifically, after locking the rooftop camping mechanism, the controller keeps the corresponding drive motor stopped and restricts the rooftop camping mechanism from responding to subsequent automatic control commands. Users can manually confirm the mechanism by checking the bed board mechanism, projection screen mechanism, and their movement path, ensuring the clamped object has been removed, the mechanism is not jammed, and the movement area is safe. This manual confirmation command can be input by pressing and holding the corresponding physical button, operating the vehicle's central control screen, operating the remote control terminal, operating a mobile terminal, or using maintenance and diagnostic equipment. Upon receiving the manual confirmation command, the controller again acquires the anti-pinch signal and simultaneously acquires the current position, position detection status, Hall effect count status, and drive motor status. When the anti-pinch signal no longer meets the anti-pinch trigger condition, and there is no position overshoot, sensor malfunction, or drive failure, the controller releases the lock on the rooftop camping mechanism, restoring it to a state awaiting control commands. When the anti-pinch signal still meets the anti-pinch trigger condition, the controller maintains the locked state and continues to output alarm information.

[0164] In this embodiment, when the rooftop camping mechanism enters the locked state because the anti-pinch trigger condition is still met after reverse release, the controller controls the corresponding drive motor to remain stopped and restricts the rooftop camping mechanism from responding to subsequent automatic control commands, so as to prevent the mechanism from continuing to operate when the clamped object has not been removed, there are still obstacles in the movement path, or the mechanism has a jamming fault.

[0165] In the locked state, the controller can output alarm information through the vehicle display interface, indicator lights, buzzer, voice broadcast, vehicle message system, or mobile terminal to notify the user that the rooftop camping mechanism has experienced an anti-pinch malfunction and has been locked. After receiving the alarm information, the user can check the bed board mechanism, projection screen mechanism, and their corresponding operating paths to confirm whether there are any foreign objects clamped, abnormal screen winding, guide component jamming, or interference between the bed board and adjacent structures. After confirming that the clamped object has been removed, the mechanism transmission is normal, and the movement area is safe, the user can input a manual confirmation command through the button input module.

[0166] like Figure 11 As shown, the manual confirmation command can be input by the user by pressing and holding the corresponding physical button, or via the vehicle's central control screen, remote control terminal, mobile terminal, or maintenance and diagnostic equipment. To avoid accidental unlocking of the mechanism in an abnormal state, the manual confirmation command preferably uses a confirmation operation different from ordinary open, close, unfold, or retract commands. For example, the user can perform a long press operation on the unlock button for a preset duration, or complete the preset confirmation steps in the fault prompt interface displayed on the central control screen. The controller only checks the unlocking function for the manual confirmation command when the roof camping mechanism is in the locked state.

[0167] Upon receiving a manual confirmation command, the controller again acquires the anti-pinch signal output by the anti-pinch detection module and determines whether the anti-pinch signal still meets the anti-pinch trigger condition. The anti-pinch signal can be a pressure signal from the anti-pinch sensor, the on / off state of a detection switch, a photoelectric detection signal, an abnormal motor current signal, a stall signal, or other detection signals used to characterize the presence of a clamping risk in the mechanism. To improve the reliability of the judgment, the controller can acquire the anti-pinch signal after a preset detection waiting time after receiving the manual confirmation command, or continuously acquire multiple anti-pinch signals within a preset detection time; when the anti-pinch signal continuously fails to meet the anti-pinch trigger condition, it is determined that the clamping risk has been eliminated.

[0168] In some implementations, the controller can also simultaneously acquire the current position of the mechanism, the position detection status, the Hall effect counter status, and the drive motor status to further confirm the unlocking conditions. Specifically, the current position is used to determine whether the bed board mechanism or the projection screen mechanism is within a preset permissible movement range; the position detection status and Hall effect counter status are used to determine whether the position detection component is malfunctioning, has abnormal counting, or is at risk of exceeding position limits; and the drive motor status is used to determine whether there is persistent stalling, abnormal overcurrent, drive failure, or other abnormal conditions unsuitable for resuming operation. The above detection results can serve as additional safety conditions for unlocking.

[0169] When the controller receives a manual confirmation command, and the subsequently acquired anti-pinch signal no longer meets the anti-pinch trigger conditions, and the current position, position detection status, and drive motor status meet the preset safety conditions, such as... Figure 11 The processing path corresponding to "Yes" is that the controller releases the lock on the rooftop camping mechanism, switching the mechanism from a locked state to a state awaiting control commands. After the lock is released, the drive motor remains stopped, and the controller does not automatically restore the mechanism to its original running direction before the anti-pinch function is triggered; the user needs to re-enter open, close, unfold, retract, or other valid control commands before the controller will control the corresponding mechanism to operate.

[0170] When the controller receives a manual confirmation command, if the anti-pinch signal still meets the anti-pinch trigger condition, or if any abnormality is detected such as position out of bounds, position detection abnormality, Hall count abnormality, or drive motor failure, then... Figure 11 In the "No" response, the controller maintains the locked state of the rooftop camping mechanism and continues to output alarm information. The unlocking mechanism, which combines manual confirmation with anti-pinch signal verification, avoids the risk of secondary clamping caused by simply relying on user commands to unlock the mechanism, thus improving the reliability and safety of the rooftop camping mechanism's anti-pinch control.

[0171] This invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the graded anti-pinch control method for rooftop camping mechanisms as described in any of the above methods.

[0172] In this embodiment, if the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium includes: any entity or device capable of carrying computer program code to a photographic device / terminal device, recording media, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0173] This invention also provides a vehicle, including a roof, a bed board, a projection screen, a drive device, a detection device, and a controller, wherein the controller is used to execute the graded anti-pinch control method for the roof camping mechanism described in any of the above methods.

[0174] In this embodiment, the roof is located on the upper part of the vehicle body and forms a rooftop camping space with the vehicle body; the bed board is located within the rooftop camping space and can move between a stowed position and an unfolded position; the projection screen is located within the rooftop camping space or on the inner side of the roof and can move between a retracted position and an unfolded projection position. The driving device includes a bed board motor for driving the bed board and a screen motor for driving the projection screen, and the bed board motor and screen motor are respectively connected to the bed board mechanism and the projection screen mechanism for transmission.

[0175] The detection device includes an anti-pinch detection module for detecting whether there is a risk of pinching on the movement path of the bed board mechanism and / or projection screen mechanism, and outputting an anti-pinch signal to the controller. The anti-pinch detection module may include at least one of a pressure sensor, a touch switch, a photoelectric sensor, a current detection unit, a Hall effect detection unit, and a position detection unit. The controller is electrically connected to both the drive device and the detection device, and is used to execute the graded anti-pinch control method for the rooftop camping mechanism described in any of the above embodiments.

[0176] Specifically, when the controller determines that the bed board mechanism or projection screen mechanism meets the anti-pinch trigger condition based on the anti-pinch signal, the controller controls the corresponding drive device to stop its movement in the current running direction and determines the reverse release direction based on the running direction when the anti-pinch is triggered. The controller controls the corresponding mechanism to reverse run at a speed lower than the normal operating speed before the anti-pinch is triggered for a preset stroke or preset time. After the reverse run is completed, the controller acquires the anti-pinch signal again; if the anti-pinch signal no longer meets the anti-pinch trigger condition, it controls the corresponding mechanism to stop and wait for a new control command; if the anti-pinch signal still meets the anti-pinch trigger condition, it locks the corresponding roof camping mechanism and can output alarm information.

[0177] In the locked state, the controller keeps the corresponding drive motor stopped and restricts the corresponding mechanism from responding to automatic operation commands. Upon receiving a manual confirmation command from the user via physical buttons, the vehicle's central control screen, a remote control terminal, a mobile terminal, or maintenance diagnostic equipment, the controller acquires the anti-pinch signal again. If the anti-pinch signal no longer meets the anti-pinch trigger conditions, and there is no positional overrun, sensor malfunction, or drive failure, the lock is released, restoring the rooftop camping mechanism to a state awaiting control commands. Thus, the vehicle can achieve tiered anti-pinch control for the bed board mechanism and projection screen mechanism, including stop, low-speed reverse release, locking, and manual confirmation unlocking, thereby improving the safety and reliability of the rooftop camping mechanism during operation.

[0178] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

Claims

1. A graded anti-pinch control method for a rooftop camping mechanism, characterized in that, The method specifically includes: Acquire anti-pinch signals during the operation of the rooftop camping mechanism; Based on the anti-pinch signal, the anti-pinch handling status of the rooftop camping mechanism is determined, including a release state and a locking state. When the anti-pinch action is in the released state, control the rooftop camping mechanism to run in reverse, and control the rooftop camping mechanism to stop or lock based on the anti-pinch signal after the reverse operation. When the anti-pinch mechanism is in the locked state, the rooftop camping mechanism is locked and an alarm message is output.

2. The method of claim 1, wherein, The determination of the anti-pinch status of the rooftop camping mechanism based on the anti-pinch signal includes: When the anti-pinch signal meets the anti-pinch trigger condition, the corresponding drive motor is stopped; The anti-pinch handling status is determined based on the mechanism type, direction of operation, current location, and number of anti-pinch triggers.

3. The method of claim 2, wherein, The rooftop camping mechanism includes a bed board mechanism and a projection screen mechanism, wherein the mechanism type is either a bed board mechanism or a projection screen mechanism.

4. The method of claim 2, wherein, The anti-pinch signal includes the trigger signal of the anti-pinch detection element and the operating parameters of the drive motor; the operating parameters include at least one of the following: operating current, output torque, operating power, or stall state.

5. The method of claim 3, wherein, The determination of the anti-pinch handling status based on mechanism type, running direction, current position, and number of anti-pinch triggers includes: When the current position is within the allowed reverse release range and the number of anti-pinch triggers is less than the threshold, the anti-pinch handling state is determined to be the release state; Otherwise, the anti-pinch action status is determined to be the locked state.

6. The method according to claim 5, characterized in that, The allowed reverse release range is the range within which the rooftop camping mechanism has no risk of exceeding the limit or structural interference when it travels a preset distance in the reverse release direction; the reverse release direction is determined based on the mechanism type and the direction of operation when the anti-pinch mechanism is triggered.

7. The method according to claim 1, characterized in that, The control mechanism for rooftop camping operates in reverse, including: Control the rooftop camping mechanism to run a preset distance or preset time in the opposite direction to the direction of operation when the anti-pinch mechanism is triggered; The reverse running speed of the rooftop camping mechanism is less than the running speed before the anti-pinch mechanism is triggered.

8. The method according to claim 1, characterized in that, The method of controlling the rooftop camping mechanism to stop or lock based on the anti-pinch signal after reverse operation includes: If the anti-pinch trigger condition is not met again after reverse operation, the rooftop camping mechanism stops and waits for a new control command. When the anti-pinch trigger condition is met again after reverse operation, the rooftop camping mechanism is locked.

9. The method according to claim 1, characterized in that, The alarm information includes audible alarm information and visual alarm information; the audible alarm information includes a buzzer alarm, and the visual alarm information includes a red light emitted by the roof light strip.

10. The method according to claim 1, characterized in that, The locking roof camping mechanism further includes: When a manual confirmation command is received and the anti-pinch signal no longer meets the anti-pinch triggering conditions, the locking of the rooftop camping mechanism is released.

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