200944645 九、發明說明： 【發明所屬之技術領域】 本發明是有關於一種自動防夾裝置’特別是指一種利 用無刷直流馬達之自動防夾裝置及自動防夾控制方法。 【先前技術】 利用馬達驅動一齒輪機構，帶動一特定的機械模組來 作為移動機構的方式’已相當普遍地被應用於人類的日常 ·© 生活中。然而，由於此種移動機構往往具有很大的推力輸 出’因此雖然可以帶動極重的物體移動，但相對的，一旦 有不正常運作的情況發生時，例如：夾住異物時，往往可 能造成機構的損壞，更嚴重者，更可能導致人員的傷亡。 因此’如何設計一自動防夾裝置，以提高該等以馬達為基 礎動力來源的移動機構的安全性，一直是產業界努力研究 的方向。 參閱圖1，習知之自動防夾裝置1包含：一馬達11、一 〇 控制器12、一與該馬達11及該控制器12耦接之位置感測 器13，及一耦接於該馬達11與該控制器12並用以驅動或 停止該馬達11之驅動電路14。 由該位置感測器13所監測的馬達位置，被傳送到該控 制器12作處理，以得到相對應的馬達扭力值，且該馬達扭 力值與扭力門檻值作比對，當目前馬達扭力值超過扭力門 檻值時’判定目前該馬達11運轉可能出現異常狀況（如： 夾到異物）’因此，該控制器12將會控制該驅動電路14， 以帶動該馬達11反轉或是停止。 5 200944645 此種習知之自動防夾裝置丨的缺點為··隨著馬達u使 用的時間越長，緩慢改變的結構因素（如：馬達老舊或是 機構摩擦力變大）將會導致扭力門檻值的誤差越來越大， 若是該門檻值沒有相對應更新，則可能出現誤判的情況， 導致重大傷害。 參閱圖2,為另一種習知之自動防夾裝置丨，，與圖1的 主要的差異點在於，該位置感測器13，不與該馬達u耦接 .參 ，而是設置於該移動機構10周邊（如：電動窗框架上）， 以監測該移動機構1〇的位置。而該控制器12，則依據該位 置感測器13’所偵測之該移動機構10位置而判斷，是否要 控制該驅動裝置14以帶動該馬達π反轉或是停止。 此種習知之自動防夾裝置丨’是可以直接且準確的判定 該移動機構10是否有夾住異物等異常情形發生，但缺點是 ’必須在該移動機構10周邊裝設該位置感測器13,與相關 電路’因此會增加施工及維護的成本。 〇 參閱圖3，另一種習知之自動防夾裝置2類似於中華民 國發明專利公開編號200711890所揭露的，包括：一馬達 21、一耦接於該馬達21並用以驅動或停止該馬達21之驅 動電路22、一耦接於該驅動電路22並用以偵測該驅動電路 22的電流訊號之電流偵測器23、一耦接於該電流债測器23 並用以根據該電流訊號而產生一漣波峰值訊號之電流漣波 峰值電路24，及一用以儲存資料並執行程式以判斷是否夾 到異物之邏輯運算單元25。 該電流偵測器23偵測該驅動電路22之電流，並產生 6 200944645 • 一電流訊號傳送至該電流漣波峰值電路24與該邏輯運算單 元25。正常情況下，該電流漣波峰值電路將會根據如電 刷轉動或齒輪轉動等微小電流的變化而產生一漣波峰值訊 號，並傳送至該邏輯運算單元25 ^當有異常狀況（如：夾 到異物）發生時，該電流漣波峰值電路24將會偵測到因馬 達2丨之扭力異常變化所導致的電流漣波週期改變因此， 〜邏輯運算單元25可以根據該漣波峰值訊號的變化（如： 〇 計算漣波峰值的數目）以得到該移動機構20之位置，且該 ^置與一預設之防夾區位置作比較，以判斷該移動機構2〇 疋否進入防夹區。 此種習知之自動防夾裝置2雖然可以改善該等習知i =1’的缺，點’但是仍有諸多缺點有待㈣，綜合上述該等 習知之架構，可以歸納為下列三項缺點： 第一、所需反致力大：聯合參閱圖^3 習知，皆是採用有刷直流馬達，而有刷直流馬達的= 〇 纟低轉速時扭力相當低，因此，需要透過高倍數的減速齒 輪15、26 (以汽車電動窗為例，一般約為2〇倍至⑽倍不 等）’以提高該有刷直流馬達的扭力…般有刷直流馬達所 帶動的移動機構10、20 (如：汽車電動窗）一旦夹住人體 時’有刷直流馬達的扭力將會透過該移動機構轉換為一夹 力，此夾力透過該減速齒輪15、26以螺旋桿方式傳遞到人 f上時，即使施以力量相等之反致力，也無法將該電動窗 推動。 第二、判斷電流值較不精確：有刷直流馬達的工作電 200944645 二相對較低’因此，對於因為電路元件誤差所造成工作電 "IL值改變的影響較大，所以合理的電流門檻值誤差範圍， =肩叹定的較大，舉例來說，假設一有刷直流馬達工作電 為5G毫安培’而因為元件誤差造成的影響可能達到10 毫安培，所以正常工作電流量就必須選取到60毫安培，誤 差範圍鬲達20%，如果引起這誤差的原因並非是元件誤差 ‘ @疋其他異常情況（如：使用者用手壓住電動窗）所造成 .❿ 時，就可能有誤判情形發生。 第二、成本較高：該等習知皆是採用在有刷直流馬達 上，另外裝設感測器、控制器或是邏輯運算器等方式來實 施，因此在能達到相同功能的情況下，生產成本可能相對 會提高。 【發明内容】 因此’本發明之目的’即在提供一種適用於防止一物 品失住異物之自動防夾裝置，包含： ❹ 一無刷直流馬達，能帶動該物品； 一驅動單元’驅動該無刷直流馬達的運轉； 一感測單元’柄接於該驅動單元’用以感測該驅動單 元之電流量’並根據該驅動單元之電流量產生一電流訊號 ;及 一控制單元，耦接於該感測單元以接收該電流訊號， 該控制單元將該電流訊號與一安全電流門檻值作比較，當 該電流訊號小於該安全電流門檻值時，判斷該無刷直流馬 達操作於正常狀態下，而當該電流訊號大於該安全電流門 200944645 檻值時，判斷該無刷直流馬達此時操作於異常狀態，因此 ，S亥控制單元控制該驅動單元以驅動該無刷直流馬達停止 或反轉。 而本發明之另一目的是在提供一種自動防夾控制方法 ，用於防止一由一無刷直流馬達帶動的物品發生夾住異物 之異常情形’該控制方法包含以下步驟： (A) 驅動該無刷直流馬達； (B) 偵測該無刷直流馬達之工作電流量，並基於該電 流量產生一電流訊號； (C )將該電流訊號與一安全電流門檻值作比較，當該 電流訊號大於該安全電流門檻值，驅動該無刷直流馬達停止 或反轉。 【實施方式】 有關本發明之前述及其他技術内容、特點與功效，在 以下配合參考圖式之二個較佳實施例的詳細說明中將可 清楚的呈現。 星二較佳竇施外 參閱圖4，本發明自動防夾裝置9之第一較佳實施例適 用於防止一物品夾住異物之異常情形且在本實施例中， 該物vm以電動窗90為例作說明，但該物品實際上也可為電 動門、電梯門、電捲門等β該自動防夾裝置9之較佳實施 例包3 . 一無刷直流馬達91、一耦接於該無刷直流馬達91 並用以驅動該無刷直流馬達91之驅動單元92、-用以· 該驅動單70 92電流量及該無刷直流馬達91位置之感測單 200944645 元93、-根據該感測單元93所傳送之該驅動單元μ電流 量及該無刷直流馬達91位置以判斷該無刷直流馬達Μ二 否處於異常狀態且控制該驅動單元92進而啟動該無刷直： 馬達反轉或是停止之控制單元叫，及—根據該驅動單元 92之電流量以運算該無刷直流馬達91在不同位置時 檻值之運算單元95 ^ ” 該無刷流馬it 91 (包括磁通分布為梯形或弦波形者 )具有複數個電樞（圖未示），此處為了以下方便說明本 實施例中以三個電柩為例，但是本發明並不以此為限，一 般實施中，設計者可以依照所需要的該無刷直流馬達91， 而設計成不同數量的電樞於該無刷直流馬達91内。 該驅動單元92包括：一電源模組（Power m〇dule) 921 及一控制該無刷直流馬達91相位變化之相激發換流器922 ’在本實施例中’配合該無刷直流馬達91中的該等電柩數 目為三個’所以設計該相激發換流器922為三相換流器， 但本發明並不以三相為限制。該電源模組921根據由該控 制單元94所傳送來的脈波寬度調變（pulse Width Modulation，PWM)控制訊號或是其他電流控制訊號（如： 脈波振幅調變（Pulse Amplitude Modulation，PAM)等其他 編碼方式），以產生一脈波寬度調變訊號（或是脈波振幅調 變訊號），該脈波寬度調變訊號（或是脈波振幅調變訊號） 傳送至該無刷直流馬達91以控制該無刷直流馬達91的電 流量。該相激發換流器922根據由該控制單元94傳送來的 相激發控制訊號（此實施例中為三相激發控制訊號），產生 10 200944645 -相位控制訊號（此實施例中為三相控制訊號)，該相位控 制訊號傳送至該無刷直流馬達91以控制該無刷直流馬達91 内部二個電枢的相位變化。 "亥感測單7L 93包括_㈣於該驅動單元92且偏測 該驅動單元92電流量以產生一電流訊號之電流感測器931 及一耦接於該無财流馬達91且心制該㈣直流馬達 目前位置之位置感測器932 (如：霍爾元件以編碼器）。200944645 IX. Description of the Invention: [Technical Field] The present invention relates to an automatic anti-trap device ‘, particularly to an automatic anti-pinch device using a brushless DC motor and an automatic anti-pinch control method. [Prior Art] The use of a motor to drive a gear mechanism to drive a specific mechanical module as a moving mechanism has been fairly widely used in human daily life. However, since such a moving mechanism tends to have a large thrust output 'thus, although it can drive extremely heavy objects to move, relatively, once an abnormal operation occurs, for example, when a foreign object is caught, the mechanism may often be caused. The damage, more serious, is more likely to cause casualties. Therefore, how to design an automatic anti-pinch device to improve the safety of these motor-based mobile mechanisms has been the direction of industry research. Referring to FIG. 1 , a conventional automatic anti-pinch device 1 includes a motor 11 , a controller 12 , a position sensor 13 coupled to the motor 11 and the controller 12 , and a motor 11 coupled thereto. The controller 12 is used together with the controller 12 to drive or stop the drive circuit 14 of the motor 11. The position of the motor monitored by the position sensor 13 is transmitted to the controller 12 for processing to obtain a corresponding motor torque value, and the motor torque value is compared with the torque threshold value, when the current motor torque value is When the torque threshold is exceeded, it is judged that the motor 11 may be in an abnormal state (e.g., foreign matter is caught). Therefore, the controller 12 will control the drive circuit 14 to drive the motor 11 to reverse or stop. 5 200944645 The shortcoming of this conventional automatic anti-pinch device is that the longer the motor u is used, the slower structural factors (such as the old motor or the increased friction of the mechanism) will lead to the torque threshold. The error of the value is getting larger and larger. If the threshold value is not updated correspondingly, misjudgment may occur, resulting in significant harm. Referring to FIG. 2, another conventional automatic anti-pinch device 丨, the main difference from FIG. 1 is that the position sensor 13 is not coupled to the motor u, but is disposed on the moving mechanism. 10 perimeter (eg, on the power window frame) to monitor the position of the moving mechanism. The controller 12 determines whether the driving device 14 is to be driven to drive the motor π to reverse or stop according to the position of the moving mechanism 10 detected by the position sensor 13'. Such a conventional automatic anti-pinch device 是' is capable of directly and accurately determining whether the moving mechanism 10 has an abnormal situation such as pinching a foreign object, but has a disadvantage that the position sensor 13 must be installed around the moving mechanism 10. , and related circuits' thus increase the cost of construction and maintenance. Referring to FIG. 3, another conventional automatic anti-pinch device 2 is similar to that disclosed in the Chinese Patent Publication No. 200711890, and includes a motor 21 coupled to the motor 21 for driving or stopping the driving of the motor 21. The circuit 22, a current detector 23 coupled to the driving circuit 22 for detecting the current signal of the driving circuit 22, coupled to the current debt detector 23 and configured to generate a chopping wave according to the current signal The peak signal current chopping peak circuit 24, and a logic operation unit 25 for storing data and executing a program to determine whether or not a foreign object is caught. The current detector 23 detects the current of the driving circuit 22 and generates 6 200944645. A current signal is transmitted to the current chopping peak circuit 24 and the logic operation unit 25. Under normal circumstances, the current chopping peak circuit will generate a chopping peak signal according to a change of a small current such as a brush rotation or a gear rotation, and transmit it to the logic operation unit 25 ^ when there is an abnormal condition (such as a clip) When the foreign matter occurs, the current chopping peak circuit 24 detects a change in the current chopping period caused by the abnormal change of the torque of the motor 2, and therefore, the logic operation unit 25 can change according to the chopping peak signal. (For example: 〇 calculating the number of chopping peaks) to obtain the position of the moving mechanism 20, and comparing the position with a predetermined anti-pinch zone to determine whether the moving mechanism 2 enters the anti-pinch zone. Although the conventional automatic anti-pinch device 2 can improve the shortcomings of the conventional i =1 ', but there are still many shortcomings to be treated (4), the above-mentioned conventional structures can be summarized into the following three disadvantages: First, the required counter-force is great: refer to Figure ^3. It is known that brushed DC motors are used, while brushed DC motors have a low torque at low speeds. Therefore, it is necessary to pass through high-speed reduction gears 15 26 (taking the electric window of a car as an example, generally about 2 times to (10) times) to improve the torque of the brushed DC motor. The moving mechanism 10, 20 driven by a brush DC motor (such as a car) When the power window is clamped to the human body, the torque of the brushed DC motor will be converted into a clamping force by the moving mechanism. When the clamping force is transmitted to the person f through the reduction gears 15, 26, even if the force is applied With the power of equal force, the power window cannot be pushed. Second, the current value is judged to be less accurate: the working current of the brushed DC motor is 200944645. The second is relatively low. Therefore, the influence of the change of the operating power "IL value caused by the error of the circuit component is large, so the reasonable current threshold is The error range, = shoulder sigh is large, for example, a brushed DC motor operating power is 5G mAh' and the effect of component error may reach 10 mA, so the normal working current must be selected 60 mA, the error range is up to 20%. If the cause of this error is not caused by component error '@疋 other abnormal conditions (such as: the user presses the power window by hand), 可能, there may be a misjudgment occur. Second, the cost is higher: these conventional methods are implemented on a brushed DC motor, and are additionally equipped with a sensor, a controller or a logic operator, so that the same function can be achieved. Production costs may increase relatively. SUMMARY OF THE INVENTION Therefore, the "object of the present invention" is to provide an automatic anti-pinch device suitable for preventing an object from escaping foreign matter, comprising: ❹ a brushless DC motor capable of driving the article; a driving unit driving the Brushing the operation of the DC motor; a sensing unit is coupled to the driving unit for sensing the amount of current of the driving unit and generating a current signal according to the current amount of the driving unit; and a control unit coupled to the The sensing unit receives the current signal, and the control unit compares the current signal with a safe current threshold value. When the current signal is less than the safe current threshold, determining that the brushless DC motor is operating in a normal state. When the current signal is greater than the threshold value of the safe current gate 200944645, it is determined that the brushless DC motor is operating in an abnormal state at this time. Therefore, the Shai control unit controls the driving unit to drive the brushless DC motor to stop or reverse. Another object of the present invention is to provide an automatic anti-pinch control method for preventing an abnormal situation in which an article driven by a brushless DC motor is caught by a foreign object. The control method comprises the following steps: (A) driving the (B) detecting the operating current of the brushless DC motor and generating a current signal based on the current amount; (C) comparing the current signal with a safe current threshold value, when the current signal Greater than the safe current threshold, the brushless DC motor is driven to stop or reverse. The above and other technical contents, features, and advantages of the present invention will be apparent from the following detailed description of the preferred embodiments. Referring to Figure 4, the first preferred embodiment of the automatic anti-pinch device 9 of the present invention is suitable for preventing an abnormal situation in which an article is caught by a foreign object. In the present embodiment, the object vm is a power window 90. For example, the article may actually be an electric door, an elevator door, an electric roller door, etc., a preferred embodiment of the automatic anti-pinch device 9. A brushless DC motor 91 is coupled to the The brushless DC motor 91 is used to drive the driving unit 92 of the brushless DC motor 91, the sensing unit for the driving unit 7092 current amount and the position of the brushless DC motor 91, 200944645 yuan 93, according to the sense The driving unit μ current amount transmitted by the measuring unit 93 and the position of the brushless DC motor 91 are determined to determine whether the brushless DC motor is in an abnormal state and the driving unit 92 is controlled to start the brushless straight: the motor is reversed or It is a control unit that is stopped, and - an arithmetic unit that calculates the value of the brushless DC motor 91 at different positions according to the amount of current of the driving unit 92. The brushless horse is 91 (including the magnetic flux distribution is Trapezoidal or string waveform) has multiple electric (Illustrated below), for the following convenience, three electric cymbals are taken as an example in the present embodiment, but the invention is not limited thereto. In general implementation, the designer can follow the brushless DC motor as required. 91, designed to have a different number of armatures in the brushless DC motor 91. The driving unit 92 includes: a power module 921 and a phase excitation for controlling the phase change of the brushless DC motor 91 The inverter 922 'in the present embodiment 'compensates with the number of the electric switches in the brushless DC motor 91 is three', so the phase excitation converter 922 is designed as a three-phase inverter, but the present invention does not The power module 921 is based on a pulse width modulation (PWM) control signal or other current control signal transmitted by the control unit 94 (eg, pulse amplitude modulation ( Pulse Amplitude Modulation (PAM) and other encoding methods) to generate a pulse width modulation signal (or pulse amplitude modulation signal), and the pulse width modulation signal (or pulse amplitude modulation signal) is transmitted. To the brushless straight The motor 91 controls the amount of current of the brushless DC motor 91. The phase excitation converter 922 generates 10 according to the phase excitation control signal (three-phase excitation control signal in this embodiment) transmitted from the control unit 94. a phase control signal (three-phase control signal in this embodiment), the phase control signal being transmitted to the brushless DC motor 91 to control the phase change of the two armatures inside the brushless DC motor 91. The single 7L 93 includes a current sensor 931 that is _(four) to the driving unit 92 and that biases the amount of current of the driving unit 92 to generate a current signal, and a current coupled to the no-flow motor 91 and the heart of the (four) DC motor Position sensor 932 (eg, Hall element with encoder).
該感測單元93將上述之電流訊號及無刷錢馬達位置，傳 送至該控制單元94。 該控制單元94包括：一接收該感測單元93所傳送無 刷直流馬達位置並將其轉換成對應該電動窗9〇位置之轉換 器941 (如：可以一積分器或是一計數器來實現），該控制 單元94還包括一用以產生並發送該脈波寬度調變控制訊號 及相激發控制訊號至該驅動單元92之控制器942。該控制 器942根據該轉換器941所傳送之該電動窗9〇位置，與一 預設於該控制器942内之一防夾區位置作比較，當該控制 器942判斷該電動窗90進入該防夾區時，該控制器942再 根據該電流感測器931所傳入之電流訊號與一安全電流門 檻值作比較’當該電流訊號小於該安全電流門檻值時，表 示該無刷直流馬連91操作在正常狀態下，當該電流訊號大 於該安全電流門檻值時’表示該無刷直流馬達91可能操作 在異常狀態（如：夾住異物）下，此時該控制器942會改 變該相激發控制訊號，以使得該驅動單元92反轉或停止該 無刷直流馬達91。 11 200944645 - 該運算單元95包括：一用以儲存由該控制單元94傳 送來的電流訊號的記憶元件951，及一運算該安全電流門權 值之運算元件952。每一無刷直流馬達91位置的對應電流 訊號會被儲存在該記憶元件951中，同時前一次在相同無 刷直流馬達91位置上的電流訊號將會被覆寫，因此，在該 記憶元件951中所紀錄的電流訊號皆為最新的，參閱圖5“ 及圖5-2’當該無刷直流馬達91因老舊而造成整體電流訊 ，❹ 號微幅上升時，該運算元件952每次會根據前一次在相同 位置上所儲存的電流訊號來計算出本次的安全電流門棰值 ，因此，該運算元件952可以隨時動態調整該安全電流門 檻值，以避免因該無刷直流馬達91老舊所引起的誤判情形 發生。 第二較佳實施你丨 第二較佳實施例不同於該第一較佳實施例之處，在於 該運算單元95的設計不同，因為該無刷直流馬達91老舊 © 所導致每一位置上電流訊號的變化是連續且緩慢的，因此 ，該第—較佳實施例中，僅儲存前一次同一位置上的電流 訊號以作為本次計算安全電流門檻值的基礎是合理的。 參閱圖5-3，然而，假設本發明之自動防夾裝置9是設 置j條件較差的環境（如：空氣雜質濃度高、或是環境溼 度高等），則可能因為不良的環境因素（如：灰塵卡進該無 刷直流馬達91内或是該無刷直流馬達91與連結物品之間 有水氣存在）而造成電流訊號以類似突波的方式突然升高 ，如果依照第一較佳實施例的設言十，則可能發生誤判情形 12 200944645The sensing unit 93 transmits the current signal and the position of the brushless motor to the control unit 94. The control unit 94 includes: a converter 941 that receives the position of the brushless DC motor transmitted by the sensing unit 93 and converts it into a position corresponding to the power window 9 (eg, can be implemented by an integrator or a counter) The control unit 94 further includes a controller 942 for generating and transmitting the pulse width modulation control signal and the phase excitation control signal to the driving unit 92. The controller 942 compares the position of the power window 9〇 transmitted by the converter 941 with a position of an anti-trapping zone preset in the controller 942, and when the controller 942 determines that the power window 90 enters the In the anti-pinch area, the controller 942 compares the current signal sent by the current sensor 931 with a safe current threshold value. When the current signal is less than the safe current threshold, the controller indicates the brushless DC Malian. When the operation of the 91 is in a normal state, when the current signal is greater than the safe current threshold, it indicates that the brushless DC motor 91 may operate in an abnormal state (eg, pinching foreign matter), and the controller 942 may change the phase. The control signal is activated such that the drive unit 92 reverses or stops the brushless DC motor 91. 11 200944645 - The arithmetic unit 95 includes: a memory element 951 for storing a current signal transmitted by the control unit 94, and an arithmetic element 952 for calculating the safe current gate weight. The corresponding current signal at the position of each brushless DC motor 91 is stored in the memory element 951, while the current signal at the position of the same brushless DC motor 91 is overwritten, and thus, in the memory element 951. The recorded current signals are all up-to-date. Refer to Figure 5 and Figure 5-2. When the brushless DC motor 91 is old due to the overall current signal, the arithmetic component 952 will be used every time. The current safe current threshold is calculated according to the current signal stored at the same position in the previous time. Therefore, the arithmetic component 952 can dynamically adjust the safe current threshold value at any time to avoid the old brushless DC motor 91. The misjudgment caused by the old occurrence occurs. The second preferred embodiment is different from the first preferred embodiment in that the design of the arithmetic unit 95 is different because the brushless DC motor 91 is old. The change of the current signal at each position caused by the old © is continuous and slow. Therefore, in the first preferred embodiment, only the current signal at the same position in the previous time is stored as the current time. It is reasonable to calculate the safe current threshold value. Referring to Figure 5-3, however, it is assumed that the automatic anti-pinch device 9 of the present invention is provided with an environment with poor j conditions (e.g., high air impurity concentration or high ambient humidity). The current signal may suddenly rise in a surge-like manner due to undesirable environmental factors (such as dust stuck in the brushless DC motor 91 or the presence of moisture between the brushless DC motor 91 and the connected item). High, if according to the tenth embodiment of the first preferred embodiment, a false positive situation may occur 12 200944645
參閱圖5-4,因此，基於克服此種情況，該記憶元件 51將針對每—馬達位置而儲存多次先前㈣流訊號，而該 運讀952運算該安全電流門檀值時，將會讀取先前的 電2訊號數據’再絲不同的權重加總運算，謂得最新 的安全電流門檻值。舉例來說：該記憶元# 951内針對每 -馬達位置㈣存先前十次的電流訊號值，而該運算元件 952運算該安全電流門檻值時，可採用先前其中三次的數 據，依照新舊順序分別給予〇.5、0.3及〇 2的權重，以運算 出新的安全電流門檻值，當因為環境不佳的因素而造成在 該無刷直流馬it 91 t較位置上會料電流突波時，此種 方式即可更適當的調整該安全電流門檻值，以降低誤判情 形的發生。 值得注意的是，上述例子僅為說明之用，該記憶元件 951内儲存之資料及權重分配方式等，皆可由設計者依不同 環境下而作任意設計’因此’本發明並不侷限於該上述例 子中之設計樣式。 由於該無刷直流馬達91可設計成具有低轉速時仍可提 供高扭力的特性，因此’在達到相同的扭力及速度時，所 需要的減速齒輪倍數將會遠低於有刷直流馬達。而本發明 中以無刷直流馬達91所驅動該電動窗90的反致力，可以 設計在10〜30公斤以下，因此，減速齒輪倍數的降低可以 提高當人體被該電動窗90夹住時，自行推回以避開危險的 可能性或是相較於習知利用有刷直流馬達之設計，可以提 13 200944645 南人體被夹住時安全性。 再者，由於具低轉速且高扭力的無刷直流馬達的工作 電流較-般有刷直流馬達高，受到元件誤差的影響程度較 低，所以電流門檻值的判斷較為精確’舉例來說，假設一 無刷直流馬達工作電流為200毫安培，若是因為元件誤差 所造成的影響可能為10毫安培，所以合理的工作電流值就 必須選取到210毫安培，則誤差範圍僅為5%，由此可知， φ 無刷直流馬達91受到元件誤差的影響而發生誤判的機會遠 比有刷直流馬達為低。 此外’習知基於有刷直流馬達的設計，全部感測元件 及控制元件都需要額外安裝設定，因此習知技術的成本將 會變得相當高。但是，由於無刷直流馬達在使用上原本就 會搭配一些相關的控制電路一起使用，因此本發明之實施 例可基於原有的硬體元件再做進一步改良、設定或程式化 ’因此相較於習知之自動防夾裝置而言，可以有效的節省 生產成本。 值得注意的是，本實施例中的運算單元95可移出此防 失農置9而結合到所應用的設備中，例如：當物品是一車 輛的電動窗時，本實施例中的運算單元95可直接利用車輛 • 中本來就有的運算單元，且透過軟體設定車輛中的運算單 疋來執行本實施例之運算單元95的動作與功能，因而進一 步郎省了防夾裝置9之硬體電路的成本。 如圖6所示，本發明之自動防夾控制方法的較佳實施 例包含以下步驟： 14 200944645 步驟81是該控制器942啟動該驅動單元92以驅動該 無刷直流馬達91 ’並進而帶動該電動窗9〇; 步驟82是該位置感測器932偵測該無刷直流馬達91 的位置； 步驟83是該轉換器941根據該位置感測器932測得之 該無刷直流馬達91位置，將其轉換為該電動窗9〇的位置 - > -❹ 步驟84是該控制器942根據該電動窗9〇的位置判斷 該電動窗90是否位於防夹區，若判斷結果為是，則執行步 驟85，否則跳回至步驟82 ; 步驟85是控制器942判斷目前該電流感測器93丨及該 位置感測器932是否處於正常狀態，若判斷結果為是，則 執行步驟86，否則跳至步驟8〇 ; 步驟86是該電流感測器931偵測驅動單元92的電流 量，並將該電流量轉換為一電流訊號傳送至該控制器9们 Q 中； 步驟87是控制器942根據該電流感測器931所傳送來 的電流訊號與該運算元件952根據前次儲存於該記憶元件 951内之電流訊號所運算出的安全電流門檻值作比較，當該 電流訊號大於該安全電流門檻值，跳至執行步驟89，否則 執行步驟88 ;值得注意的是，運算元件952可基於前述所 提的任一方式運算出安全電流門檻值； 步驟88是該控制器942將電流訊號傳送並儲存於該吃 憶元件951内，以完成該記憶元件951的更新，然後跳回 15 200944645 至步驟82 ; μ驟89疋表不有異常情形發生，因此該控制器941控 二目激發換流器922改變相位訊號，以驅動該無刷直流 馬達91反轉或是停止；及 步驟8〇疋表不該電流感測器931或該位置感測器932 已’、、、法正常工作，因此，該控制器州會發出警告訊息 以知會使用者，並執行步驟的。Referring to Figures 5-4, therefore, based on overcoming this situation, the memory component 51 will store a plurality of previous (four) stream signals for each motor position, and the read 952 will read the safe current gate value when it is read. Take the previous electric 2 signal data 're-different weight plus total operation, which is the latest safe current threshold. For example, in the memory element #951, the current ten signal values are stored for each of the motor positions (four), and when the operation element 952 calculates the safe current threshold value, the data of the previous three times may be used, in accordance with the old and new order. The weights of 〇.5, 0.3, and 〇2 are respectively given to calculate a new safe current threshold. When the current surge is caused by the position of the brushless DC horse at the 91 t position due to environmental factors In this way, the safe current threshold can be adjusted more appropriately to reduce the occurrence of false positives. It should be noted that the above examples are for illustrative purposes only, and the data and weight distribution methods stored in the memory element 951 can be arbitrarily designed by the designer according to different environments. Therefore, the present invention is not limited to the above. The design style in the example. Since the brushless DC motor 91 can be designed to provide high torque even at low rotational speeds, the required reduction gear multiplier will be much lower than that of a brushed DC motor when the same torque and speed are achieved. In the present invention, the reciprocating force of the power window 90 driven by the brushless DC motor 91 can be designed to be 10 to 30 kg or less. Therefore, the reduction of the reduction gear multiple can improve when the human body is clamped by the power window 90. Push back to avoid the possibility of danger or the design of the brushed DC motor compared to the conventional design, can be raised 13 200944645 South human body is caught when it is safe. Furthermore, since the operating current of a brushless DC motor with low rotation speed and high torque is higher than that of a general brush DC motor and is less affected by component errors, the current threshold value is judged more accurately. For example, suppose A brushless DC motor has an operating current of 200 mA. If the influence due to component errors may be 10 mA, a reasonable operating current value must be selected to 210 mA, and the error range is only 5%. It can be seen that the φ brushless DC motor 91 is far less likely to be misjudged by the component error than the brushed DC motor. In addition, conventionally based on the design of a brushed DC motor, all sensing components and control components require additional mounting settings, so the cost of conventional techniques will become quite high. However, since the brushless DC motor is originally used in conjunction with some related control circuits, embodiments of the present invention can be further improved, set or programmed based on the original hardware components. In the case of the conventional automatic anti-pinch device, the production cost can be effectively saved. It should be noted that the arithmetic unit 95 in this embodiment can be removed from the anti-lost farm 9 and incorporated into the applied device. For example, when the item is a power window of a vehicle, the arithmetic unit 95 in this embodiment. The operation unit and the function of the arithmetic unit 95 of the present embodiment can be directly used by the operation unit in the vehicle, and the hardware unit of the anti-trap device 9 can be further implemented. the cost of. As shown in FIG. 6, the preferred embodiment of the automatic anti-pinch control method of the present invention comprises the following steps: 14 200944645 Step 81 is that the controller 942 activates the driving unit 92 to drive the brushless DC motor 91' and thereby drive the Step 82 is that the position sensor 932 detects the position of the brushless DC motor 91; Step 83 is the position of the brushless DC motor 91 measured by the converter 941 according to the position sensor 932. Converting it to the position of the power window 9 - - ❹ Step 84 is that the controller 942 determines whether the power window 90 is located in the anti-pinch area according to the position of the power window 9 ,, and if the determination result is YES, executes Step 85, otherwise jump back to step 82; Step 85 is to determine whether the current sensor 93 and the position sensor 932 are in a normal state. If the determination result is yes, execute step 86, otherwise skip Step 8: Step 86: The current sensor 931 detects the amount of current of the driving unit 92, and converts the current amount into a current signal and transmits it to the controller 9; Step 87 is the controller 942 according to the controller 942 The current sensor 931 The current signal sent is compared with the safe current threshold calculated by the computing component 952 based on the current signal stored in the memory component 951. When the current signal is greater than the safe current threshold, the process proceeds to step 89. Otherwise, step 88 is performed; it is noted that the arithmetic component 952 can calculate the safe current threshold based on any of the foregoing methods; in step 88, the controller 942 transmits and stores the current signal in the memory component 951. To complete the update of the memory element 951, and then jump back to 15 200944645 to step 82; the μ 疋 89 疋 table does not have an abnormal situation, so the controller 941 controls the binocular excitation converter 922 to change the phase signal to drive the The brushless DC motor 91 is reversed or stopped; and the step 8 indicates that the current sensor 931 or the position sensor 932 has been operated normally, and therefore, the controller state issues a warning message. To inform the user and perform the steps.
根據上述說明，本發明確實可以達到以下幾項優點： 一、減少所需反致力，以提高發生人體被夾住情形之 安全性，並增加以人力自行推開的可能性； 一、觉到7G件誤差影響的程度較低，較不易發生誤判 情形； 二、可以動態調整安全電流門檻值，以減少因馬達老 舊而發生誤判的情形。 所以’確實能達成本發明之目的。 惟以上所述者，僅為本發明之較佳實施例而已，當不 能以此限定本發明實施之範圍，即大凡依本發明申請專利 範圍及發明說明内容所作之簡單的等效變化與修飾，皆仍 屬本發明專利涵蓋之範圍内。 【圖式簡單說明】 圖1是一習知之自動防夾裝置之方塊圖； 圖2是另一習知之自動防夾裝置之方塊圖； 圖3是另一習知之自動防夾裝置之方塊圖； 圖4是本發明自動防夾裝置之較佳實施例的方塊圖； 16 200944645 圖5-1是當門檻值不隨電流量微幅增加而更新的示意圖 ， ® 5·2是該第一較佳實施例之門檻值隨電流量微幅增加 而動態更新的示意圖； 立圖5-3是當因為環境不佳因素而造成電流訊號突波之示 圖5 -4 β妥ϊAccording to the above description, the present invention can achieve the following advantages: 1. Reduce the required anti-force, to improve the safety of the human body being caught, and increase the possibility of pushing by humans; 1. I feel 7G The degree of influence of the error is relatively low, and it is less likely to be misjudged. Second, the safe current threshold can be dynamically adjusted to reduce the misjudgment caused by the old motor. Therefore, it is indeed possible to achieve the object of the present invention. The above is only the preferred embodiment of the present invention, and the scope of the invention is not limited thereto, that is, the simple equivalent changes and modifications made by the scope of the invention and the description of the invention are All remain within the scope of the invention patent. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of a conventional automatic anti-pinch device; FIG. 2 is a block diagram of another conventional automatic anti-pinch device; FIG. 3 is a block diagram of another conventional automatic anti-pinch device; 4 is a block diagram of a preferred embodiment of the automatic anti-pinch device of the present invention; 16 200944645 FIG. 5-1 is a schematic diagram when the threshold value is not updated with a slight increase in the amount of current, and ® 5·2 is the first preferred A schematic diagram of the threshold value of the embodiment is dynamically updated with a slight increase in the amount of current; Figure 5-3 is a diagram showing the current signal surge due to environmental factors.
不佳因素，較Γ施例之設計以避免因為環境 本發明自動防夹控制方法的流程圖。The poor factor is better than the design of the embodiment to avoid the flow chart of the automatic anti-pinch control method of the present invention.
17 200944645 【主要元件符號說明】 80〜89，·' ••步驟 932… •…位置感測器 9 ......... •自動防夾裝置 94*..·· •…控制單元 91........ •無刷直流馬達 941… …·轉換器 92........ •驅動單元 942… •…控制器 921 ...... •電源模組 95…… •…運算單元 922*，.'，. •相激發換流器 951 ·· •…記憶元件 93........ •感測單元 952… •…運算元件 931...... •電流感測器 ❹ 1817 200944645 [Description of main component symbols] 80~89,·' ••Step 932... •...Position sensor 9 ......... •Automatic anti-trap device 94*..··•...Control unit 91........ • Brushless DC Motor 941... Converter 92........ • Drive Unit 942... • Controller 921... Power Module 95 ......•... arithmetic unit 922*,.',. • phase excitation converter 951 ···...memory element 93........•sensing unit 952...•...arithmetic element 931.... .. • Current Sensor ❹ 18