CN109240182A - The anti-clamping method of Electric sofa based on electrical curve - Google Patents
The anti-clamping method of Electric sofa based on electrical curve Download PDFInfo
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- CN109240182A CN109240182A CN201811355046.XA CN201811355046A CN109240182A CN 109240182 A CN109240182 A CN 109240182A CN 201811355046 A CN201811355046 A CN 201811355046A CN 109240182 A CN109240182 A CN 109240182A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47C—CHAIRS; SOFAS; BEDS
- A47C17/00—Sofas; Couches; Beds
- A47C17/86—Parts or details for beds, sofas or couches only not fully covered in a single one of the sub-groups A47C17/02, A47C17/04, A47C17/38, A47C17/52, A47C17/64, or A47C17/84; Drawers in or under beds
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/25—Arrangements for measuring currents or voltages or for indicating presence or sign thereof using digital measurement techniques
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Abstract
The invention discloses a kind of anti-clamping methods of Electric sofa based on electrical curve, comprising: obtains the primary current Wave data of the motor of Electric sofa；It is calculated according to primary current Wave data by electric current, differential current calculates or integration current calculates and extracts current signature current waveform；Current signature current waveform is matched with the current waveform of java standard library according to calculating formula of similarity, and chooses differential current reference waveform and integration current reference waveform；Different wave shape value is calculated by difference formula according to current waveform and differential current reference waveform and integration current reference waveform of the local curve fitting to current signature current waveform and java standard library；Wherein, it when different wave shape value is greater than threshold value, sends a warning.The anti-clamping method of Electric sofa proposed by the present invention based on electrical curve effectively realizes the pinch resistant functionality of Electric sofa.
Description
Technical field
The present invention relates to intelligent appliance technical field more particularly to a kind of anti-pinch side of the Electric sofa based on electrical curve
Method.
Background technique
Current furniture industry intelligence becomes a kind of trend, various Electric sofas, and electric outdoor lounge chair product continues to bring out.And it is electric
Also danger lurked while bringing comfortable for us such as dynamic sofa lounging chair.The equipment such as Electric sofa once clip to human or animal
It will cause very serious injury.However current Electric sofa electric outdoor lounge chair most of in the market etc. does not have pinch resistant functionality.
In the prior art, seen and detected whether object intrusion with the mode of infrared induction.Then anti-pinch is taken to act.This
Kind mode has following disadvantage:
1. false detection rate is higher, infrared induction technical characteristic determines there is certain false detection rate, and the basic nothing of infrared induction
Sofa attachment still invades object when method distinguishes object.And it can not determine to invade whether object is jammed；
2. affected by environment big.The basis of infrared induction technology is infrared inductor sensor.This sensor is illuminated by the light
Influence is very big, and aging itself also has an impact, thus not can guarantee long-term stability；
3. larger to original Electric sofa transformation, installation is complicated.Infrared induction scheme needs installation and debugging sensor probe,
There is larger change to sofa configuration, hence it is evident that increase scheduling and planning difficulty.
Summary of the invention
In view of the above problems, the present invention propose it is a kind of solved based on the anti-clamping method of the Electric sofa of electrical curve it is existing
Electric sofa the bad problem of pinch resistant functionality.
In a first aspect, the present invention proposes a kind of anti-clamping method of Electric sofa based on electrical curve, the anti-clamping method
Include:
Obtain the primary current Wave data of the motor of the Electric sofa；
It is calculated according to the primary current Wave data by electric current, differential current calculates or integration current calculates to extract and work as
Preceding characteristic current waveform；
The current signature current waveform is matched with the current waveform of java standard library according to calculating formula of similarity, and
Choose differential current reference waveform and integration current reference waveform；
According to local curve fitting to the current waveform of the current signature current waveform and java standard library and differential electricity
Waveform of failing to be sold at auction passes through difference formula with integration current reference waveform and calculates different wave shape value；
Wherein, it when the different wave shape value is greater than threshold value, sends a warning.
Further, in " the primary current Wave data for obtaining the motor of the Electric sofa ", the anti-clamping method
Include:
The primary current Wave data is obtained by timer, analog-digital converter and direct memory access controller, by
The primary current Wave data is sent to central controller by the direct memory access controller, wherein the center control
The received primary current Wave data of device processed includes the data point of the first quantity in the first preset time range.
Further, after " the primary current Wave data for obtaining the motor of the Electric sofa ", the anti-clamping method
Further include:
Data flow pretreatment is executed, the data flow pretreatment includes:
Noise reduction is filtered to the primary current Wave data by fast iterative sequencing method, by the primary current waveform
The median filtering sampling of the second quantity be filtered after noise reduction and obtain third quantity median filtering, extract second quantity
The average value of median filtering is significant figure strong point to generate the primary current Wave data for reducing capacity and reducing abnormal burr；
To the wave head of the primary current Wave data carry out identification and blanking, to avoid after the electric motor starting second
The unusual waveforms generated in preset time range.
Further, it " is being calculated according to the primary current Wave data by electric current, differential current calculates or integral electricity
Stream calculation extracts current signature current waveform " in, the anti-clamping method includes:
The electric current is calculated as calculating dynamics of Electric sofa when movement；The differential current is calculated as calculating institute
State the mutation of dynamics of Electric sofa when movement；The integration current calculates different when movement to calculate the Electric sofa
Often accumulative event.
Further, " according to calculating formula of similarity to the current wave of the current signature current waveform and java standard library
Shape is matched, and chooses differential current reference waveform and integration current reference waveform " in, the anti-clamping method includes:
The data point of the 4th quantity before the current signature current waveform is recorded in third preset time range；
Calculate separately the similarity between the current signature current waveform and each group of current waveform of the java standard library
Value x, the similarity value x are as follows:
A, b is respectively the current waveform of the current signature current waveform and the java standard library；
Choose the immediate similarity value in the current waveform of the current signature current waveform and the java standard library
As the differential current reference waveform and the integration current reference waveform.
Further, " according to local curve fitting to the current waveform of the current signature current waveform and java standard library
Different wave shape value is calculated by difference formula with the differential current reference waveform and integration current reference waveform " in, it is described anti-
Clamping method includes:
Obtain the standard curve that the data point of the 5th quantity of the current signature current waveform is formed；
Quadratic fit is carried out to the standard curve and obtains fit curve equation formula y:
Y=ax2+bx+c；
Calculate the data point of the 6th quantity of the fit curve equation formula；
According to different wave shape value x described in the data point calculation of the 6th quantity:
Further, it completes primary complete withdrawal when the Electric sofa to act, and in this complete withdrawal movement
Between without anti-pinch triggering when, which is that the current waveform of the java standard library is added in sample characteristics waveform, and the anti-clamping method is also
Include:
Determine the integrality of the sample characteristics waveform；
The sample characteristics waveform is filtered；
It calculates and in the differential current reference waveform and the integration current reference waveform by finding the java standard library
Search immediate standard curve；
According to the weight computing average value of the standard curve and it is overlapped；
The average value of the superimposed standard curve is filtered again；
The differential electricity of the java standard library is updated according to the average value of the standard curve after being filtered again
It fails to be sold at auction waveform and the integration current reference waveform.
Second aspect, a kind of anti-clamping method of the Electric sofa based on electrical curve, the anti-clamping method include:
Obtain the primary voltage Wave data of the motor of the Electric sofa；
It is calculated according to the primary voltage Wave data by voltage, differential voltage calculates or integral voltage calculates to extract and work as
Preceding character voltage waveform；
The current signature voltage waveform is matched with the voltage waveform of java standard library according to calculating formula of similarity, and
Choose differential voltage reference waveform and integral voltage reference waveform；
According to local curve fitting to the voltage waveform of the current signature voltage waveform and java standard library and differential electricity
Reference waveform and integral voltage reference waveform is pressed to calculate different wave shape value by difference formula；
Wherein, it when the different wave shape value is greater than threshold value, sends a warning.
The third aspect, a kind of anti-clamping method of the Electric sofa based on electrical curve, the anti-clamping method include:
Obtain the original power Wave data of the motor of the Electric sofa；
It is calculated according to the original power Wave data by power calculation, differential power or integrated power calculates to extract and work as
Preceding feature power waveform；
The current signature power waveform is matched with the power waveform of java standard library according to calculating formula of similarity, and
Choose differential power reference waveform and integrated power reference waveform；
According to local curve fitting to the power waveform and the differential function of the current signature power waveform and java standard library
Rate reference waveform and integrated power reference waveform pass through difference formula calculating different wave shape value；
Wherein, it when the different wave shape value is greater than threshold value, sends a warning.
Another embodiment according to the present invention provides a kind of terminal, including memory and processor, institute
Memory is stated for storing computer program, the processor runs the computer program so that the terminal executes
According to the anti-clamping method of the above-mentioned Electric sofa based on electrical curve.
The present invention passes through a kind of anti-clamping method of Electric sofa based on electrical curve, comprising: obtains the electricity of Electric sofa
The primary current Wave data of machine；It is calculated according to primary current Wave data by electric current, differential current calculates or integration current
It calculates and extracts current signature current waveform；According to calculating formula of similarity to the current wave of current signature current waveform and java standard library
Shape is matched, and chooses differential current reference waveform and integration current reference waveform；It is fitted according to local curve to current spy
The current waveform and differential current reference waveform and integration current reference waveform for levying current waveform and java standard library pass through difference formula
Calculate different wave shape value；Wherein, it when different wave shape value is greater than threshold value, sends a warning.It is proposed by the present invention to be based on electrically
The anti-clamping method of the Electric sofa of curve effectively realizes the pinch resistant functionality of Electric sofa.
In addition, generating the primary current Wave data for reducing capacity and reducing abnormal burr by fast iterative sequencing method, increase
It is powered on the accuracy of linearity curve.When acting in addition, working as Electric sofa and completing primary complete withdrawal, and being triggered without anti-pinch, this time
Waveform is the current waveform that java standard library is added in sample characteristics waveform, dynamically to update the current waveform of java standard library, increases data more
New flexibility.In addition, above-mentioned calculation method is simple, easily realize, be able to satisfy that requirement of real-time is very high to be applied to electrical curve,
Existing system resource can be made full use of, improves Electric sofa anti-pinch efficiency and flexibility, and reduce development cost.
The product installation and debugging of the application are simple.Because the application hardware only increases an electrical property on controller circuit board
Detection circuit (including detection electric current, voltage or power), does not make any modification to sofa body construction.Therefore the noninductive substitution of energy
Traditional controller not will lead to product cost (installation and debugging cost) and obviously increase without generating any influence to production procedure.
The application is affected by environment small, and stability is high.Because the application is detected using current characteristic, only detection is internal electric
The matched mode of throat floater use pattern determines failure, will not be influenced substantially by use environment.And the application has gradual learning machine
System can effectively adapt to the various part agings in product use process.
The application can effectively evade the phenomenon that can't detect.Electric current must when automatic seat clips to object from the principle
Increase.If applying working condition influences that only sensitivity can be reduced without can't detect.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the embodiment of the present invention, therefore should not be seen
Work is the restriction to range of embodiment of the invention.
Fig. 1 is the method flow diagram of the anti-clamping method of the Electric sofa based on electrical curve of the embodiment of the present invention 1；
Fig. 1 a is the comparison signal of the electric current based on electrical curve, differential current and integration current of the embodiment of the present invention 1
Figure；
Fig. 1 b is the Curve Matching schematic diagram based on electrical curve of the embodiment of the present invention 1；
Fig. 2 is the method flow diagram of the anti-clamping method of the Electric sofa based on electrical curve of the embodiment of the present invention 2；
Fig. 2 a is the median filtering and partial enlargement diagram based on electrical curve of the embodiment of the present invention 2；
Fig. 2 b is the wave head schematic diagram based on electrical curve of the embodiment of the present invention 2.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiment is only a part of the embodiment of the embodiment of the present invention, instead of all the embodiments.
Therefore, claimed invention reality is not intended to limit to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
The range of example is applied, but is merely representative of the selected embodiment of the embodiment of the present invention.Embodiment based on the embodiment of the present invention, ability
Field technique personnel every other embodiment obtained without making creative work, belongs to implementation of the present invention
The range of example protection.
The embodiment of the present invention is described in detail below with reference to specific embodiment.
Embodiment 1
Fig. 1 is please referred to, Fig. 1 is anti-clamping method (the following letter of the Electric sofa based on electrical curve of the embodiment of the present invention 1
Claim " anti-clamping method ") method flow diagram.Anti-clamping method includes:
S101, obtain Electric sofa motor primary current Wave data.
Furthermore, it is understood that Electric sofa motor operate rotation when, by control assembly obtain Electric sofa motor
Primary current Wave data.Control assembly may include by timer, analog-digital converter, direct memory access controller and
Central controller.
In one embodiment, pass through timer, analog-digital converter and direct memory access controller (DMA, direct
Memory access) primary current Wave data is obtained, primary current Wave data is transmitted by direct memory access controller
To central controller, wherein the received primary current Wave data of central controller includes the data point of the first quantity in first
In preset time range.For example, the first quantity can be 200, the first preset time range can be 100ms, using timer
Primary current Wave data is obtained with direct memory access controller cooperation analog-digital converter, allows central controller to be not involved in as far as possible
The process for obtaining primary current Wave data, is effectively reduced the operand of central controller.
S103, it calculates and extracts by electric current calculating, differential current calculating or integration current according to primary current Wave data
Current signature current waveform.
Electric current is calculated as calculating dynamics of the motor of Electric sofa when movement.Differential current is calculated as calculating Electric sofa
Motor in movement when dynamics mutation.The exception that integration current calculates to calculate the motor of the Electric sofa when movement
Accumulative event.
Fig. 1 a is please referred to, Fig. 1 a is the electric current based on electrical curve, differential current and the integration current of the embodiment of the present invention 1
Contrast schematic diagram.It is successively the contrast schematic diagram of electric current, differential current and integration current from top to bottom.Curve R is normal electricity
Waveform is flowed, curve B is abnormal current waveform.The application identifies that sofa clips to using the matched mode of current flow signature waveform
Object.I.e. constantly record electric pushrod current value is simultaneously and the normal current comparison of wave shape in java standard library identifies abnormal current, from
And determine whether sofa presss from both sides foreign matter.In Fig. 1 a, it can be concluded that, x-axis generates electric current, differential current and integral electricity in 1.4-1.7
The anomalous event of stream, curve R and curve B are mismatched, it can be seen that current differential value, current value are by bright under normal, abnormal conditions
Significant difference is different, the application as long as can be completed as long as stable and accurate these differences of identification with special algorithm in a program anti-pinch determine, into
And anti-pinch measure is taken, for example, anti-pinch measure can suspend motor, or reverse motor to enable Electric sofa release nipped
Object.
S105, current signature current waveform is matched with the current waveform of java standard library according to calculating formula of similarity,
And choose differential current reference waveform and integration current reference waveform.Anti-clamping method includes:
The data point of the 4th quantity is in third preset time range before record current signature current waveform；
The similarity value x between current signature current waveform and each group of current waveform of java standard library is calculated separately, it is similar
Angle value x are as follows:
A, b is respectively the current waveform of current signature current waveform and java standard library；
Immediate similarity value is as differential current in the current waveform of selection current signature current waveform and java standard library
Reference waveform and integration current reference waveform；
It repeats the above steps and selects differential current reference waveform and integration current reference waveform respectively.
In one embodiment, by central controller according between current signature current waveform and the current waveform of java standard library
Similarity is matched, and the highest differential current reference waveform of similarity and integration current reference waveform in selection standard library.
For example, the 4th quantity can be 200, third preset time range can be 2s.In other words, curve shape matching is mainly used to
Whether the curve tendency that two data segments are found out in the preceding 2s of one-off curve is consistent, for choosing one from reference waveform group
The curve that item and current working are best suitable for curve as a comparison.Wherein, default waveform is chosen if repeatedly selection result is inconsistent
Comparison.
Fig. 1 b is please referred to, Fig. 1 b is the Curve Matching schematic diagram based on electrical curve of the embodiment of the present invention 1.In Fig. 1 b
In, be in the a-b section tendency of curve it is almost the same, Curve Matching assesses the similar of two curves using correlation calculations
Property.Assuming that there is the curve of two sections of each n points to seek similarity value x.For example, similarity value asks method also to find out using the mode of sliding iteration
Similarity curve, and compare degree of similarity to determine the most matched correlation curve of current curves.It is calculated when being segmented according to formula n point
Method time complexity O:
O (n)=4n2；
Here n value can be reduced by the way of snap shot, to reduce the calculation amount of central controller.
S107, the current waveform and differential current mark to current signature current waveform and java standard library are fitted according to local curve
Waveform and integration current reference waveform pass through difference formula calculating different wave shape value.Anti-clamping method includes:
Obtain the standard curve that the data point of the 5th quantity of current signature current waveform is formed；
Quadratic fit is carried out to standard curve and obtains fit curve equation formula y:
Y=ax2+bx+c；
The data point of 6th quantity of digital simulation fitting equation；
According to the data point calculation different wave shape value x of the 6th quantity:
It repeats the above steps and calculates different wave shape value x.
Wherein, it when different wave shape value x is greater than threshold value, sends a warning.
In one embodiment, the purpose that curvilinear correlation solves is to find out current signature current waveform and java standard library in real time
Current waveform and differential current reference waveform and integration current reference waveform difference value, be determined as when difference value is excessive different
Ordinary wave shape.For example, the 5th quantity can be 100, the 6th quantity can be 100.The application is according to the every 10ms of current application scene
It calculates the primary data difference value of 100ms recently and judges whether current signature current waveform is abnormal.
Embodiment 2
Referring to figure 2., Fig. 2 is anti-clamping method (the following letter of the Electric sofa based on electrical curve of the embodiment of the present invention 2
Claim " anti-clamping method ") method flow diagram.S101, S103, S105, S107 please refer to the explanation of embodiment 1, no longer superfluous herein
It states.Anti-clamping method includes:
S102, data flow pretreatment is executed, comprising:
Noise reduction is filtered to primary current Wave data by fast iterative sequencing method, by the second number of primary current waveform
The median filtering sampling of amount obtains the median filtering of third quantity after being filtered noise reduction, extracts the median filtering of third quantity
Average value is significant figure strong point to generate the primary current Wave data for reducing capacity and reducing abnormal burr；
To the wave head of primary current Wave data carry out identification and blanking, to avoid after electric motor starting in the second preset time
The unusual waveforms generated in range.
In one embodiment, the second quantity can be 20, and third quantity can be 10, and the second preset time range can be
0.2s。
A and Fig. 2 b referring to figure 2., Fig. 2 a are that the median filtering based on electrical curve of the embodiment of the present invention 2 is put with part
Big schematic diagram, Fig. 2 b are the wave head schematic diagrames based on electrical curve of the embodiment of the present invention 2.
In one embodiment, curve G is initial data, and curve R is data after noise reduction, and the application uses 20 median filterings
Sample data is filtered.After using 10 average filters, i.e. 10 point data collection to be averaging after filtering effectively as one
Data point, primarily to reducing data capacity and reducing abnormal burr.It, can be once electric when each electric motor starting in the application
Machine starting current spike, referred to herein as wave head.Caused normal phenomenon when wave head is electric motor starting, but its feature and anti-pinch
Unusual waveforms are consistent so the preceding 0.2s nonrecognition for needing actively to avoid the i.e. each electric motor starting of wave head is abnormal.
S106, complete primary complete withdrawal movement when Electric sofa, and this complete withdrawal act among without anti-pinch
When triggering, which is the current waveform that java standard library is added in sample characteristics waveform.Anti-clamping method further include:
Determine the integrality of sample characteristics waveform；
Sample characteristics waveform is filtered；
It calculates and immediate by being searched in the differential current reference waveform of searching java standard library and integration current reference waveform
Standard curve；
According to the weight computing average value of standard curve and it is overlapped；
The average value of superimposed standard curve is filtered again；
According to the average value of the standard curve after being filtered again update java standard library differential current reference waveform with
Integration current reference waveform.
In one embodiment, waveform integrality is determined using the time by central processing unit, when user completes sofa once
It is that sample characteristics waveform is added as a sample in this waveform that complete withdrawal movement and centre are triggered without anti-pinch.Such energy
The various characteristics for tracking Electric sofa are gradual, and ignore dangerous mutation.Putting one by one to waveform by weight superposition asks weighting flat
Mean.
Preferably, the present invention proposes a kind of anti-clamping method of Electric sofa based on electrical curve, the anti-clamping method packet
It includes:
Obtain the primary voltage Wave data of the motor of the Electric sofa；
It is calculated according to the primary voltage Wave data by voltage, differential voltage calculates or integral voltage calculates to extract and work as
Preceding character voltage waveform；
The current signature voltage waveform is matched with the voltage waveform of java standard library according to calculating formula of similarity, and
Choose differential voltage reference waveform and integral voltage reference waveform；
According to local curve fitting to the voltage waveform of the current signature voltage waveform and java standard library and differential electricity
Reference waveform and integral voltage reference waveform is pressed to calculate different wave shape value by difference formula；
Wherein, it when the different wave shape value is greater than threshold value, sends a warning.
Preferably, the present invention proposes a kind of anti-clamping method of Electric sofa based on electrical curve, the anti-clamping method packet
It includes:
Obtain the original power Wave data of the motor of the Electric sofa；
It is calculated according to the original power Wave data by power calculation, differential power or integrated power calculates to extract and work as
Preceding feature power waveform；
The current signature power waveform is matched with the power waveform of java standard library according to calculating formula of similarity, and
Choose differential power reference waveform and integrated power reference waveform；
According to local curve fitting to the power waveform and the differential function of the current signature power waveform and java standard library
Rate reference waveform and integrated power reference waveform pass through difference formula calculating different wave shape value；
Wherein, it when the different wave shape value is greater than threshold value, sends a warning.
In embodiment provided herein, it should be understood that disclosed method, it can also be by another way
It realizes.Embodiment of the method described above is only schematical, for example, the flow chart and structure chart in attached drawing show root
According to architectural framework in the cards, function and the behaviour of the method and computer program product of multiple embodiments of the embodiment of the present invention
Make.In this regard, each box in flowchart or block diagram can represent a part of a program segment or code, described program
Section or a part of code include one or more executable instructions for implementing the specified logical function.It should also be noted that
In the implementation as replacement, in flow chart, can function or movement as defined in executing it is dedicated hardware based
System is realized, or can be realized using a combination of dedicated hardware and computer instructions.
The above, the only specific embodiment of the embodiment of the present invention, but the protection scope of the embodiment of the present invention is not
It is confined to this, anyone skilled in the art can think easily in the technical scope that the embodiment of the present invention discloses
To change or replacement, should all cover within the protection scope of the embodiment of the present invention.Therefore, the protection scope of the embodiment of the present invention
It shall be subject to the protection scope of the claim.
Claims (10)
1. a kind of anti-clamping method of the Electric sofa based on electrical curve, which is characterized in that the anti-clamping method includes:
Obtain the primary current Wave data of the motor of the Electric sofa；
It is calculated according to the primary current Wave data by electric current, differential current calculates or integration current calculating extraction is current special
Levy current waveform；
The current signature current waveform is matched with the current waveform of java standard library according to calculating formula of similarity, and is chosen
Differential current reference waveform and integration current reference waveform；
According to local curve fitting to the current waveform and the differential current mark of the current signature current waveform and java standard library
Waveform and integration current reference waveform pass through difference formula calculating different wave shape value；
Wherein, it when the different wave shape value is greater than threshold value, sends a warning.
2. the anti-clamping method of the Electric sofa according to claim 1 based on current curve, which is characterized in that " obtaining
In the primary current Wave data of the motor of the Electric sofa ", the anti-clamping method includes:
The primary current Wave data is obtained by timer, analog-digital converter and direct memory access controller, by described
The primary current Wave data is sent to central controller by direct memory access controller, wherein the central controller
The received primary current Wave data includes the data point of the first quantity in the first preset time range.
3. the anti-clamping method of the Electric sofa according to claim 1 based on current curve, which is characterized in that " obtaining
After the primary current Wave data of the motor of the Electric sofa ", the anti-clamping method further include:
Data flow pretreatment is executed, the data flow pretreatment includes:
Noise reduction is filtered to the primary current Wave data by fast iterative sequencing method, by the of the primary current waveform
The median filtering sampling of two quantity obtains the median filtering of third quantity after being filtered noise reduction, extracts in second quantity
The average value of value filtering is significant figure strong point to generate the primary current Wave data for reducing capacity and reducing abnormal burr；
Identification and blanking are carried out to the wave head of the primary current Wave data, to avoid default second after the electric motor starting
The unusual waveforms generated in time range.
4. the anti-clamping method of the Electric sofa according to claim 1 based on current curve, which is characterized in that " according to
The primary current Wave data is calculated by electric current, differential current calculates or integration current calculates and extracts current signature current wave
In shape ", the anti-clamping method includes:
The electric current is calculated as calculating dynamics of Electric sofa when movement；The differential current is calculated as calculating the electricity
The mutation of dynamics of dynamic sofa when movement；The integration current calculates tired to calculate exception of Electric sofa when movement
Meter event.
5. the anti-clamping method of the Electric sofa according to claim 1 based on current curve, which is characterized in that " according to
Calculating formula of similarity matches the current signature current waveform with the current waveform of java standard library, and chooses differential current
In reference waveform and integration current reference waveform ", the anti-clamping method includes:
The data point of the 4th quantity before the current signature current waveform is recorded in third preset time range；
The similarity value x between the current signature current waveform and each group of current waveform of the java standard library is calculated separately,
The similarity value x are as follows:
A, b is respectively the current waveform of the current signature current waveform and the java standard library；
Choose the immediate similarity value conduct in the current waveform of the current signature current waveform and the java standard library
The differential current reference waveform and the integration current reference waveform.
6. the anti-clamping method of the Electric sofa according to claim 1 based on current curve, which is characterized in that " according to
Local curve fitting to the current waveform of the current signature current waveform and java standard library and the differential current reference waveform with
Integration current reference waveform calculates different wave shape value by difference formula " in, the anti-clamping method includes:
Obtain the standard curve that the data point of the 5th quantity of the current signature current waveform is formed；
Quadratic fit is carried out to the standard curve and obtains fit curve equation formula y:
Y=ax2+bx+c；
Calculate the data point of the 6th quantity of the fit curve equation formula；
According to different wave shape value x described in the data point calculation of the 6th quantity:
7. the anti-clamping method of the Electric sofa according to claim 1 based on current curve, which is characterized in that when the electricity
Dynamic sofa completes primary complete withdrawal movement, and when triggering among this complete withdrawal movement without anti-pinch, which is
The current waveform of the java standard library is added in sample characteristics waveform, and the anti-clamping method includes:
Determine the integrality of the sample characteristics waveform；
The sample characteristics waveform is filtered；
It calculates and is searched in the differential current reference waveform and the integration current reference waveform by finding the java standard library
Immediate standard curve；
According to the weight computing average value of the standard curve and it is overlapped；
The average value of the superimposed standard curve is filtered again；
The differential current mark of the java standard library is updated according to the average value of the standard curve after being filtered again
Waveform and the integration current reference waveform.
8. a kind of anti-clamping method of the Electric sofa based on electrical curve, which is characterized in that the anti-clamping method includes:
Obtain the primary voltage Wave data of the motor of the Electric sofa；
It is calculated according to the primary voltage Wave data by voltage, differential voltage calculates or integral voltage calculating extraction is current special
Levy voltage waveform；
The current signature voltage waveform is matched with the voltage waveform of java standard library according to calculating formula of similarity, and is chosen
Differential voltage reference waveform and integral voltage reference waveform；
According to local curve fitting to the voltage waveform and the differential voltage mark of the current signature voltage waveform and java standard library
Waveform and integral voltage reference waveform pass through difference formula calculating different wave shape value；
Wherein, it when the different wave shape value is greater than threshold value, sends a warning.
9. a kind of anti-clamping method of the Electric sofa based on electrical curve, which is characterized in that the anti-clamping method includes:
Obtain the original power Wave data of the motor of the Electric sofa；
It is calculated according to the original power Wave data by power calculation, differential power or integrated power calculating extraction is current special
Levy power waveform；
The current signature power waveform is matched with the power waveform of java standard library according to calculating formula of similarity, and is chosen
Differential power reference waveform and integrated power reference waveform；
According to local curve fitting to the power waveform and the differential power mark of the current signature power waveform and java standard library
Waveform and integrated power reference waveform pass through difference formula calculating different wave shape value；
Wherein, it when the different wave shape value is greater than threshold value, sends a warning.
10. a kind of terminal, which is characterized in that including memory and processor, the memory is calculated for storing
Machine program, the processor runs the computer program so that the terminal executes according to claim 1 to appointing in 9
The anti-clamping method of Electric sofa based on electrical curve described in one.
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| PCT/CN2019/078452 WO2020098192A1 (en) | 2018-11-14 | 2019-03-18 | Electrical curve-based anti-pinching method for electric sofa |
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