CN109240182B - Electric curve-based anti-pinch method for electric sofa - Google Patents
Electric curve-based anti-pinch method for electric sofa Download PDFInfo
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- CN109240182B CN109240182B CN201811355046.XA CN201811355046A CN109240182B CN 109240182 B CN109240182 B CN 109240182B CN 201811355046 A CN201811355046 A CN 201811355046A CN 109240182 B CN109240182 B CN 109240182B
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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
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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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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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Abstract
The invention discloses an anti-pinch method of an electric sofa based on an electrical curve, which comprises the following steps: acquiring original current waveform data of a motor of the electric sofa; extracting the current characteristic current waveform through current calculation, differential current calculation or integral current calculation according to the original current waveform data; matching the current characteristic current waveform with the current waveform of a standard library according to a similarity calculation formula, and selecting a differential current standard waveform and an integral current standard waveform; calculating a waveform difference value by a difference formula according to the current characteristic current waveform and the current waveform of the standard library and the differential current standard waveform and the integral current standard waveform by local curve fitting; and when the waveform difference value is greater than the threshold value, sending out alarm information. The anti-pinch method of the electric sofa based on the electrical curve effectively realizes the anti-pinch function of the electric sofa.
Description
Technical Field
The invention relates to the technical field of intelligent household appliances, in particular to an anti-pinch method of an electric sofa based on an electrical curve.
Background
At present, the furniture industry is intelligentized to become a trend, and various electric sofas and electric reclining chairs are continuously developed. Electric sofa lounge chairs and the like bring comfort to people and simultaneously hide dangers. The electric sofa and other equipment can cause serious injury once clamped to people or animals. However, most electric sofa electric reclining chairs and the like in the market do not have an anti-pinch function.
In the prior art, infrared sensing is used to detect whether an object invades. Then an anti-pinch action is taken. This approach has several disadvantages:
1. the false detection rate is higher, and infrared induction technical characteristic decides to have certain false detection rate, and infrared induction still invades the object when unable distinguishing the object at all sofa annex. And it is impossible to determine whether an intruding object is caught or not;
2. is greatly influenced by the environment. The basis of infrared sensing technology is an infrared sensor. The sensor is greatly influenced by illumination and aging, so that the long-term stability cannot be ensured;
3. the original electric sofa is greatly improved and the installation is complex. The infrared induction scheme needs to install and debug the sensor probe, greatly changes the sofa structure and obviously increases the production and debugging difficulty.
Disclosure of Invention
In view of the above problems, the present invention provides an anti-pinch method for an electric sofa based on an electrical curve to solve the problem of poor anti-pinch function of the conventional electric sofa.
In a first aspect, the invention provides an anti-pinch method for an electric sofa based on an electrical curve, the anti-pinch method comprising:
acquiring original current waveform data of a motor of the electric sofa;
extracting a current characteristic current waveform through current calculation, differential current calculation or integral current calculation according to the original current waveform data;
matching the current characteristic current waveform with a current waveform of a standard library according to a similarity calculation formula, and selecting a differential current standard waveform and an integral current standard waveform;
calculating a waveform difference value by a difference formula according to the current characteristic current waveform and the current waveform of a standard library and the differential current standard waveform and the integral current standard waveform by local curve fitting;
and when the waveform difference value is larger than a threshold value, sending out alarm information.
Further, in the step of obtaining the original current waveform data of the motor of the electric sofa, the anti-pinch method comprises the following steps:
the method comprises the steps of obtaining original current waveform data through a timer, an analog-to-digital converter and a direct memory access controller, and transmitting the original current waveform data to a central controller through the direct memory access controller, wherein the original current waveform data received by the central controller comprise a first number of data points in a first preset time range.
Further, after the original current waveform data of the motor of the electric sofa is acquired, the anti-pinch method further comprises the following steps:
performing data stream preprocessing, the data stream preprocessing comprising:
filtering and denoising the original current waveform data by a fast iterative sorting method, filtering and denoising a second number of median filter samples of the original current waveform to obtain a third number of median filters, and extracting an average value of the second number of median filters as an effective data point to generate original current waveform data with reduced capacity and reduced abnormal burrs;
and identifying and blanking the wave head of the original current waveform data so as to avoid abnormal waveforms generated in a second preset time range after the motor is started.
Further, in "extracting a current characteristic current waveform through a current calculation, a differential current calculation, or an integral current calculation according to the original current waveform data", the anti-pinch method includes:
the current is calculated to calculate the force of the electric sofa during action; the differential current is calculated to calculate the sudden change of the force of the electric sofa during action; the integral current is calculated to calculate the abnormal accumulation event of the electric sofa during action.
Further, in the step of matching the current characteristic current waveform with a current waveform in a standard library according to a similarity calculation formula and selecting a differential current standard waveform and an integral current standard waveform, the anti-pinch method comprises the following steps:
recording a fourth number of data points before the current characteristic current waveform in a third preset time range;
respectively calculating a similarity value x between the current characteristic current waveform and each group of current waveforms of the standard library, wherein the similarity value x is as follows:
a. b is the current characteristic current waveform and the current waveform of the standard library respectively;
and selecting the closest similarity value in the current characteristic current waveform and the current waveform of the standard library as the differential current standard waveform and the integral current standard waveform.
Further, in "calculating a waveform difference value according to a difference formula between the current characteristic current waveform and a current waveform of a standard library and between the differential current standard waveform and an integral current standard waveform according to local curve fitting", the anti-pinch method includes:
acquiring a standard curve formed by a fifth quantity of data points of the current characteristic current waveform;
and performing quadratic fitting on the standard curve to obtain a fitting curve equation y:
y＝ax2+bx+c；
calculating a sixth number of data points of the fitted curve equation;
calculating the waveform difference value x according to the sixth number of data points:
further, when the electric sofa completes a complete retraction action and no anti-pinch trigger is generated in the middle of the complete retraction action, the secondary waveform is a current waveform added into the standard library by a sample characteristic waveform, and the anti-pinch method further comprises the following steps:
determining the integrity of the sample signature;
filtering the sample characteristic waveform;
calculating and searching a closest standard curve from the differential current standard waveform and the integral current standard waveform of the standard library;
calculating an average value according to the weight of the standard curve and superposing the average value;
filtering the average value of the standard curve after superposition;
and updating the standard waveform of the differential current and the standard waveform of the integral current of the standard library according to the average value of the standard curve after filtering.
In a second aspect, an anti-pinch method for an electric sofa based on an electrical curve includes:
acquiring original voltage waveform data of a motor of the electric sofa;
extracting the current characteristic voltage waveform through voltage calculation, differential voltage calculation or integral voltage calculation according to the original voltage waveform data;
matching the current characteristic voltage waveform with the voltage waveform of a standard library according to a similarity calculation formula, and selecting a differential voltage standard waveform and an integral voltage standard waveform;
calculating a waveform difference value according to a difference formula for the current characteristic voltage waveform and the voltage waveform of a standard library and the differential voltage standard waveform and the integral voltage standard waveform by local curve fitting;
and when the waveform difference value is larger than a threshold value, sending out alarm information.
In a third aspect, an anti-pinch method for an electric sofa based on an electrical curve includes:
acquiring original power waveform data of a motor of the electric sofa;
extracting a current characteristic power waveform through power calculation, differential power calculation or integral power calculation according to the original power waveform data;
matching the current characteristic power waveform with a power waveform of a standard library according to a similarity calculation formula, and selecting a differential power standard waveform and an integral power standard waveform;
calculating a waveform difference value according to a difference formula between the current characteristic power waveform and a power waveform of a standard library and between the differential power standard waveform and an integral power standard waveform by local curve fitting;
and when the waveform difference value is larger than a threshold value, sending out alarm information.
According to another embodiment of the present invention, a computer terminal is provided, which includes a memory for storing a computer program and a processor for executing the computer program to make the computer terminal execute the anti-pinch method of the electric sofa based on the electrical curve.
The invention provides an anti-pinch method of an electric sofa based on an electrical curve, which comprises the following steps: acquiring original current waveform data of a motor of the electric sofa; extracting the current characteristic current waveform through current calculation, differential current calculation or integral current calculation according to the original current waveform data; matching the current characteristic current waveform with the current waveform of a standard library according to a similarity calculation formula, and selecting a differential current standard waveform and an integral current standard waveform; calculating a waveform difference value by a difference formula according to the current characteristic current waveform and the current waveform of the standard library and the differential current standard waveform and the integral current standard waveform by local curve fitting; and when the waveform difference value is greater than the threshold value, sending out alarm information. The anti-pinch method of the electric sofa based on the electrical curve effectively realizes the anti-pinch function of the electric sofa.
In addition, the original current waveform data for reducing the capacity and abnormal burrs is generated by a fast iteration sorting method, and the accuracy of the electrical curve is improved. In addition, when the electric sofa finishes a complete retraction action and has no anti-pinch trigger, the secondary waveform is a current waveform added into the standard library by the sample characteristic waveform so as to dynamically update the current waveform of the standard library and increase the flexibility of data updating. In addition, the calculation method is simple and easy to implement, can meet the requirement of high real-time performance on an electrical curve, can fully utilize the existing system resources, improves the anti-clamping efficiency and flexibility of the electric sofa, and reduces the development cost.
The product installation and debugging of this application are simple. Because the hardware of the sofa body only adds an electrical detection circuit (including detecting current, voltage or power) on the controller circuit board, the sofa body structure is not modified. Therefore, the controller can replace the traditional controller without feeling, does not influence the production flow, and does not cause the obvious increase of the product cost (installation and debugging cost).
The application is little affected by the environment and has high stability. Because the current characteristic detection is adopted, the fault is judged only by detecting the abnormal internal current and using the mode matched with the mode, and the influence of the use environment is basically avoided. And the application has a slowly-varying learning mechanism and can effectively adapt to the aging of various parts in the using process of a product.
The method and the device can effectively avoid the phenomenon that the detection cannot be carried out. In principle the current must increase when the power seat is clamped to an object. If the influence of the working condition is used, the sensitivity is only reduced, and the situation that the detection cannot be carried out cannot occur.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments are briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of the embodiments of the present invention.
Fig. 1 is a flowchart of a method for preventing pinching of an electric sofa based on an electrical curve according to embodiment 1 of the present invention;
FIG. 1a is a graph showing the comparison of current, differential current and integral current based on electrical curves in example 1 of the present invention;
FIG. 1b is a schematic diagram of curve matching based on electrical curves in example 1 of the present invention;
fig. 2 is a flowchart of a method of preventing pinching of an electric sofa according to embodiment 2 of the present invention based on an electrical curve;
FIG. 2a is a schematic diagram of median filtering and partial enlargement based on electrical property curves in example 2 of the present invention;
fig. 2b is a schematic view of a wave head based on an electrical curve according to embodiment 2 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the embodiments of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, belong to the scope of protection of the embodiments of the present invention.
The following describes embodiments of the present invention in detail with reference to specific examples.
Example 1
Referring to fig. 1, fig. 1 is a flowchart of an anti-pinch method (hereinafter referred to as an "anti-pinch method") of an electric sofa according to an embodiment 1 of the present invention. The anti-pinch method comprises the following steps:
s101, acquiring original current waveform data of a motor of the electric sofa.
Further, when the motor of the electric sofa is in operation and rotation, the control component acquires the original current waveform data of the motor of the electric sofa. The control components may include a timer, an analog-to-digital converter, a direct memory access controller, and a central controller.
In one embodiment, the raw current waveform data is obtained through a timer, an analog-to-digital converter and a Direct Memory Access (DMA) controller, and the raw current waveform data is transmitted to the central controller through the DMA controller, wherein the raw current waveform data received by the central controller includes a first number of data points within a first predetermined time range. For example, the first amount may be 200, the first preset time range may be 100ms, and the timer and the dma controller are used in cooperation with the adc to acquire the original current waveform data, so that the cpu does not participate in the process of acquiring the original current waveform data as much as possible, thereby effectively reducing the amount of computation of the cpu.
And S103, extracting the current characteristic current waveform through current calculation, differential current calculation or integral current calculation according to the original current waveform data.
The current is calculated to calculate the force of the motor of the electric sofa during action. The differential current is calculated to calculate the sudden change of the force of the motor of the electric sofa during action. The integral current is calculated as an abnormal accumulation event when the motor of the electric sofa acts.
Referring to fig. 1a, fig. 1a is a schematic diagram illustrating comparison of current, differential current and integral current based on electrical curves in embodiment 1 of the present invention. The comparison of current, differential current and integral current is shown from top to bottom. Curve R is the normal current waveform and curve B is the abnormal current waveform. The method and the device identify the sand clamp to the object by adopting the current characteristic waveform matching mode. The current value of the electric push rod is continuously recorded and compared with the normal current waveform in the standard library to identify the abnormal current, so that whether the sofa clamps foreign matters or not is judged. It can be seen from fig. 1a that, when the x-axis is 1.4-1.7, abnormal events of current, differential current and integral current are generated, the curve R is not matched with the curve B, and the difference between the differential value and the current value of the current under normal and abnormal conditions can be seen.
And S105, matching the current characteristic current waveform with the current waveform of the standard library according to a similarity calculation formula, and selecting a differential current standard waveform and an integral current standard waveform. The anti-pinch method comprises the following steps:
recording a fourth number of data points before the current characteristic current waveform in a third preset time range;
respectively calculating a similarity value x between the current characteristic current waveform and each group of current waveforms in the standard library, wherein the similarity value x is as follows:
a. b is the current characteristic current waveform and the current waveform of the standard library respectively;
selecting the closest similarity value between the current characteristic current waveform and the current waveform of the standard library as a differential current standard waveform and an integral current standard waveform;
and repeating the steps to respectively select the standard waveform of the differential current and the standard waveform of the integral current.
In one embodiment, the central controller matches the current characteristic current waveform with the current waveform in the standard library according to the similarity between the current characteristic current waveform and the current waveform in the standard library, and selects the differential current standard waveform and the integral current standard waveform with the highest similarity in the standard library. For example, the fourth number may be 200, and the third preset time range may be 2 s. In other words, curve shape matching is mainly used for finding whether curve trends of two data segments are consistent in the first 2s of a primary motion curve, and is used for selecting one curve which is most consistent with the current working condition from a standard waveform group as a comparison curve. And selecting a default waveform for comparison if the multiple selection results are inconsistent.
Referring to fig. 1b, fig. 1b is a schematic diagram of curve matching based on an electrical curve according to embodiment 1 of the present invention. In FIG. 1b, the a-b segments of the curves are substantially identical in trend, and curve matching uses correlation calculations to evaluate the similarity of the two curves. Suppose there are two curves of n points to find the similarity value x. For example, the similarity value calculation method also uses a sliding iteration method to calculate a similarity curve, and compares the similarity degrees to determine the correlation curve that the current curve matches best. And (3) according to the formula n, the algorithm time complexity O when the points are segmented is as follows:
O(n)＝4n2；
the value of n can be reduced in a snapshot manner, so that the calculation amount of the central controller is reduced.
And S107, calculating a waveform difference value according to the current characteristic current waveform and the current waveform of the standard library, the differential current standard waveform and the integral current standard waveform through a difference formula according to local curve fitting. The anti-pinch method comprises the following steps:
acquiring a standard curve formed by a fifth quantity of data points of the current characteristic current waveform;
and performing quadratic fitting on the standard curve to obtain a fitting curve equation y:
y＝ax2+bx+c；
calculating a sixth number of data points of the fitted curve equation;
calculating a waveform difference value x according to a sixth number of data points:
and repeating the steps to calculate the waveform difference value x.
And when the waveform difference value x is larger than the threshold value, sending out alarm information.
In one embodiment, the purpose of curve correlation solving is to find the difference value between the current characteristic current waveform and the current waveform of the standard library and the differential current standard waveform and the integral current standard waveform in real time, and determine the abnormal waveform when the difference value is too large. For example, the fifth number may be 100 and the sixth number may be 100. The method and the device calculate the data difference value of the latest 100ms every 10ms according to the current application scene and judge whether the current characteristic current waveform is abnormal.
Example 2
Referring to fig. 2, fig. 2 is a flowchart of an anti-pinch method (hereinafter referred to as an "anti-pinch method") of the electric sofa according to embodiment 2 of the present invention. Please refer to the description of embodiment 1 for S101, S103, S105, and S107, which are not repeated herein. The anti-pinch method comprises the following steps:
s102, executing data stream preprocessing, comprising:
filtering and denoising the original current waveform data by a fast iterative sorting method, filtering and denoising a second number of median filter samples of the original current waveform to obtain a third number of median filters, and extracting an average value of the third number of median filters as an effective data point to generate original current waveform data with reduced capacity and reduced abnormal burrs;
and identifying and blanking the wave head of the original current waveform data to avoid abnormal waveforms generated in a second preset time range after the motor is started.
In one embodiment, the second number may be 20, the third number may be 10, and the second predetermined time range may be 0.2 s.
Referring to fig. 2a and 2b, fig. 2a is a schematic diagram of median filtering and partial enlargement based on an electrical curve according to embodiment 2 of the present invention, and fig. 2b is a schematic diagram of a wave head based on an electrical curve according to embodiment 2 of the present invention.
In an embodiment, the curve G is original data, the curve R is noise-reduced data, and the present application uses 20-point median filtering to perform filtering processing on sample data. After filtering, 10-point average filtering is adopted, namely, the 10-point data set is averaged to be used as an effective data point, and the method is mainly used for reducing data capacity and reducing abnormal burrs. In the present application, each time the motor is started, there will be a motor starting current spike, referred to herein as a wave head. The wave head is a normal phenomenon caused when the motor is started, but the characteristic of the wave head is consistent with the anti-pinch abnormal waveform, so that the wave head needs to be actively avoided, namely the abnormality is not identified in the first 0.2s of each time of starting the motor.
And S106, when the electric sofa completes one complete withdrawing action and no anti-pinch trigger exists in the middle of the complete withdrawing action, the secondary waveform is a current waveform of a sample characteristic waveform added into a standard library. The anti-pinch method further comprises the following steps:
judging the integrity of the sample characteristic waveform;
filtering the sample characteristic waveform;
calculating and searching a closest standard curve from a differential current standard waveform and an integral current standard waveform of a searched standard library;
calculating an average value according to the weight of the standard curve and superposing;
filtering the average value of the superposed standard curves;
and updating the standard waveform of the differential current and the standard waveform of the integral current of the standard library according to the average value of the standard curve after filtering.
In one embodiment, the central processing unit determines the integrity of the waveform by using time when the user completes a complete sofa retraction and no anti-pinch trigger is present. This allows tracking of various characteristic ramps of the motorized sofa while ignoring dangerous sudden changes. And (4) calculating the weighted average of the waveforms point by point according to weight superposition.
Preferably, the invention provides an anti-pinch method of an electric sofa based on an electrical curve, and the anti-pinch method comprises the following steps:
acquiring original voltage waveform data of a motor of the electric sofa;
extracting the current characteristic voltage waveform through voltage calculation, differential voltage calculation or integral voltage calculation according to the original voltage waveform data;
matching the current characteristic voltage waveform with the voltage waveform of a standard library according to a similarity calculation formula, and selecting a differential voltage standard waveform and an integral voltage standard waveform;
calculating a waveform difference value according to a difference formula for the current characteristic voltage waveform and the voltage waveform of a standard library and the differential voltage standard waveform and the integral voltage standard waveform by local curve fitting;
and when the waveform difference value is larger than a threshold value, sending out alarm information.
Preferably, the invention provides an anti-pinch method of an electric sofa based on an electrical curve, and the anti-pinch method comprises the following steps:
acquiring original power waveform data of a motor of the electric sofa;
extracting a current characteristic power waveform through power calculation, differential power calculation or integral power calculation according to the original power waveform data;
matching the current characteristic power waveform with a power waveform of a standard library according to a similarity calculation formula, and selecting a differential power standard waveform and an integral power standard waveform;
calculating a waveform difference value according to a difference formula between the current characteristic power waveform and a power waveform of a standard library and between the differential power standard waveform and an integral power standard waveform by local curve fitting;
and when the waveform difference value is larger than a threshold value, sending out alarm information.
In the embodiments provided in the present application, it should be understood that the disclosed method can be implemented in other ways. The method embodiments described above are merely illustrative, and the flowcharts and block diagrams in the figures, for example, illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a program segment or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It will also be noted that in alternative implementations, the flow diagrams may be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The above description is only a specific implementation of the embodiments of the present invention, but the scope of the embodiments of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the embodiments of the present invention, and all such changes or substitutions should be covered by the scope of the embodiments of the present invention. Therefore, the protection scope of the embodiments of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The electric sofa anti-pinch method based on the electrical curve is characterized by comprising the following steps:
acquiring original current waveform data of a motor of the electric sofa;
respectively carrying out current calculation, differential current calculation and integral current calculation on the current waveform, the differential current waveform and the integral current waveform which are correspondingly extracted according to the original current waveform data;
matching the current waveform, the differential current waveform and the integral current waveform of the current characteristic with current waveforms of a standard library one by one according to a similarity calculation formula so as to select a current standard waveform, a differential current standard waveform and an integral current standard waveform respectively;
fitting the current waveform, the differential current waveform and the integral current waveform of the current characteristic one by one according to local curve fitting, and respectively calculating waveform difference values between the fitted current waveform and a current standard waveform, between the differential current waveform and the differential current standard waveform and between the integral current waveform and the integral current standard waveform through a difference formula;
and when the waveform difference value is larger than a threshold value, sending out alarm information.
2. The electrical curve-based anti-pinch method for electric sofas of claim 1, wherein the method for preventing pinching comprises the steps of:
the method comprises the steps of obtaining original current waveform data through a timer, an analog-to-digital converter and a direct memory access controller, and transmitting the original current waveform data to a central controller through the direct memory access controller, wherein the original current waveform data received by the central controller comprise a first number of data points in a first preset time range.
3. The electrical curve-based anti-pinch method for electric sofas of claim 1, wherein after obtaining the original current waveform data of the motor of the electric sofa, the method further comprises:
performing data stream preprocessing, the data stream preprocessing comprising:
filtering and denoising the original current waveform data by a fast iterative sorting method, filtering and denoising a second number of median filter samples of the original current waveform to obtain a third number of median filters, and extracting an average value of the second number of median filters as an effective data point to generate original current waveform data with reduced capacity and reduced abnormal burrs;
and identifying and blanking the wave head of the original current waveform data so as to avoid abnormal waveforms generated in a second preset time range after the motor is started.
4. The electrical profile-based anti-pinch method for an electric sofa of claim 1, wherein the anti-pinch method comprises the following steps in the step of "extracting current waveform, differential current waveform and integral current waveform corresponding to the current feature by current calculation, differential current calculation and integral current calculation respectively according to the original current waveform data":
the current is calculated to calculate the force of the electric sofa during action; the differential current is calculated to calculate the sudden change of the force of the electric sofa during action; the integral current is calculated to calculate the abnormal accumulation event of the electric sofa during action.
5. The electrical curve-based anti-pinch method for an electric sofa of claim 1, wherein in the step of matching the current waveform, the differential current waveform and the integral current waveform of the current characteristic with the current waveform of a standard library one by one according to a similarity calculation formula to select the current standard waveform, the differential current standard waveform and the integral current standard waveform respectively, the anti-pinch method comprises:
recording the first fourth quantity of data points of the current waveform of the current characteristic in a third preset time range;
respectively calculating a similarity value x between the current waveform of the current feature and each group of current waveforms of the standard library, wherein the similarity value x is as follows:
a. b is the current waveform of the current characteristic and the current waveform of the standard library respectively;
selecting the closest similarity value between the current waveform of the current characteristic and the current waveform of the standard library as the current standard waveform;
and repeating the steps to respectively select the differential current standard waveform and the integral current standard waveform.
6. The electrical curve-based anti-pinch method for an electric sofa of claim 1, wherein in the step of fitting the current characteristic current waveform, the differential current waveform and the integral current waveform one by one according to a local curve fitting and calculating the waveform differences between the fitted current waveform and the current standard waveform, between the differential current waveform and the differential current standard waveform and between the integral current waveform and the integral current standard waveform respectively through a difference formula, the anti-pinch method comprises:
acquiring a standard curve formed by a fifth quantity of data points of the current waveform of the current characteristic;
and performing quadratic fitting on the standard curve to obtain a fitting curve equation y:
y＝ax2+bx+c；
calculating a sixth number of data points of the fitted curve equation;
calculating the waveform difference value x according to the sixth number of data points:
7. the electrical profile-based anti-pinch method for electric sofas of claim 1, wherein when the electric sofa completes a complete retraction without an anti-pinch trigger, the sub-waveform is a current waveform added to the standard library by a sample characteristic waveform, the anti-pinch method comprises:
determining the integrity of the sample signature;
filtering the sample characteristic waveform;
calculating and searching a closest standard curve from a differential current standard waveform and an integral current standard waveform of the standard library;
calculating an average value according to the weight of the standard curve and superposing the average value;
filtering the average value of the standard curve after superposition;
and updating the standard waveform of the differential current and the standard waveform of the integral current of the standard library according to the average value of the standard curve after filtering.
8. The electric sofa anti-pinch method based on the electrical curve is characterized by comprising the following steps:
acquiring original voltage waveform data of a motor of the electric sofa;
respectively and correspondingly extracting the voltage waveform, the differential voltage waveform and the integral voltage waveform of the current characteristic through voltage calculation, differential voltage calculation and integral voltage calculation according to the original voltage waveform data;
matching the voltage waveform, the differential voltage waveform and the integral voltage waveform of the current characteristic with the voltage waveforms of a standard library one by one according to a similarity calculation formula so as to select a voltage standard waveform, a differential voltage standard waveform and an integral voltage standard waveform respectively;
fitting the voltage waveform with the current characteristic, the differential voltage waveform and the integral voltage waveform one by one according to local curve fitting, and respectively calculating waveform difference values between the fitted voltage waveform and a voltage standard waveform, between the differential voltage waveform and the differential voltage standard waveform and between the integral voltage waveform and the integral voltage standard waveform through a difference formula;
and when the waveform difference value is larger than a threshold value, sending out alarm information.
9. The electric sofa anti-pinch method based on the electrical curve is characterized by comprising the following steps:
acquiring original power waveform data of a motor of the electric sofa;
respectively and correspondingly extracting a power waveform, a differential power waveform and an integral power waveform of the current characteristic through power calculation, differential power calculation and integral power calculation according to the original power waveform data;
matching the power waveform, the differential power waveform and the integral power waveform of the current characteristic with the power waveform of a standard library one by one according to a similarity calculation formula so as to select a power standard waveform, a differential power standard waveform and an integral power standard waveform respectively;
fitting the power waveform, the differential power waveform and the integral power waveform of the current characteristic one by one according to local curve fitting, and respectively calculating waveform difference values between the fitted power waveform and a power standard waveform, between the differential power waveform and the differential power standard waveform and between the integral power waveform and the integral power standard waveform through a difference formula;
and when the waveform difference value is larger than a threshold value, sending out alarm information.
10. A computer terminal, characterized by comprising a memory for storing a computer program and a processor for executing the computer program to make the computer terminal execute the anti-pinch method of the electric sofa according to any one of claims 1 to 9.
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| WO2020098192A1 (en) * | 2018-11-14 | 2020-05-22 | 刘盛荣 | Electrical curve-based anti-pinching method for electric sofa |
| CN113006626B (en) * | 2021-03-17 | 2022-11-29 | 宁波拓普集团股份有限公司 | Motor current-based electric tail gate anti-pinch method |
| CN113158941B (en) * | 2021-04-29 | 2022-08-16 | 浙江陀曼云计算有限公司 | Matching method and system of machine tool machining waveform based on time sequence power data |
| CN115869155B (en) * | 2022-12-02 | 2024-06-21 | 杭州晴川科技有限公司 | Anti-pinch detection method for electric telescopic leg beautifying of massage armchair |
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