200945761 九、發明說明： 【發明所屬之技術領域】 本發明是有關於-種自動防夹裝置，特別是指 降低誤判之自動防夾裝置。 【先前技術】 參閱圖卜習知之自動防夹裝置！，連結於一物品（以 - 下說明以汽車電動窗為例），用以自㈣測該汽車電動窗是 〇 醫生夾住異物（如：使用者的頭、手）的異常情況，： 自動防夾裝置i包含：-馬達u、一控制器12、—分別與 該馬達11及該控制器12耦接之位置感測器13、一分別耦 接於該馬達u與該控制器12並用以驅動或停止該馬達U 之駆動電路14,及-用於儲存所處理資料之記憶體15。 由該位置感測器13所偵測到的馬達位置，傳送到該控 制器12中運算處理以得到相對應的馬達扭力值及該汽車; 動®之位置，且該控制器12將該馬達扭力值、該移動機構 〇 位置與該記憶體15中所儲存之預設的扭力門檻值及防夾區 位置作比對，當目前馬達u已進入防夹區時，且馬達扭力 值超過扭力門檻值時，判定目前該馬達u運轉可能出現異 常狀況（如：夾到使用者的手臂），因此，該控制器12將 會控制該驅動電路14，以驅動該馬達丨丨停止或是反轉。 此種習知之自動防夹裝置丨的缺點為：隨著馬達η使 用的時間越長，緩慢改變的結構因素（如：馬達丨丨老舊或 是汽車電動窗的摩擦力變大）將會導致該馬達扭力門檻值 的誤差越來越大’因此’若是該記憶體15内的門檻值沒有 200945761 及時更新或是發生該記憶體讀取該門檻值錯誤的情形則 該自動防夾裝4 1可能出現誤判的情況，導致嚴重的後果 〇 參閱圖2 ’為另一種習知之自動防夾裝置2，包括：一 馬達21 耗接於該馬達21並用以驅動或停止該馬達21 之驅動電路22、-㈣於該驅動電路22並用則貞測該驅動 電路22的電流訊號之電流偵測器23、一用以執行程式以判 斷是否夾到異物之控制器24,及一用以儲存一預設安全電 流門檻值之記憶體25。 該電流偵測器23偵測該驅動電路22之電流，並產生 一電流訊號傳送至該控制器24〇當有異常狀況（如··夾到 使用者的手臂）發生時’該電流_器23將會偵測到該驅 動電路22的電流量大幅上升，因此，該控制器24可以根 據該驅動電路22之電流量與儲存於該記憶體25内之該預 設安全電流門檻值作比較，以判斷該汽車電動窗是否操作 在異常狀態下。 綜合上述之該等習知，皆具有以下之缺點： 第一、該等習知之自動防夾裝置1、2用以判斷該馬達 U、21是否發生異常狀態的條件，是根據當時該馬達扭力 值或是該馬達11、21中驅動電路14、22的電流量，然而# 等判斷條件（馬達扭力、電流量），皆會因為馬達u、21的 老舊效應，而產生誤差日益變大的情況，因此，要利用該 等判斷條件來判定馬達是否異常，是不可靠的。 第二、該等習知之自動防爽裝置1、2必須將每次馬達 200945761 1卜2丨運轉時所產生的相關數據（馬達扭力值或電流量） 儲存於該記㈣15、25 N，下次才可以根據所儲存之前次 的相關數據來更新該等門檻值（馬達扭力門檀值或安全電 流門檀值），因此，如果在記憶體15、25讀取過程中發生 錯誤’將會發生誤判情形，使得風險變高。 第三、該等習知需要藉由該記憶體15、25 _助，以 - 處理因馬達Π、21老舊而造成該馬達扭力Η錄或是安全 φ ㈣⑽值會微幅上升的問題，因此，生產該等自動防夾 裝置1、2時’需額外設置該記憶體15、25，將會導致製造 成本上升。 【發明内容】 因此，本發明之目的，即在提供—種適用於防止一物 品夹住異物，該自動防夾裝置包含： 一馬達，能帶動該物品； 一驅動電路，驅動該馬達的運轉； ❹ 一位置感測器，搞接於該馬達’用以持續感測該馬達位 置，以得到一連串位置脈波； -控制單元，純於該驅動單元且t該馬達操作於異常 狀態下時，控制該驅動電路以驅動該馬達停止或反轉；及 一判定單元，純於該位置感測器，並比較與符合一樣 本脈波的前後兩次位置脈波有關的一參數是否大於該參數之 前次值’且當該參數大於該前次值時，該判定單^據該參 數與該參數前次值計算出該參數之變化量，I㈣參數Μ 量與-預設於該控制單Μ线定參數變化量作比較，當該 200945761 參數變化量小於該設定參數變化量時，該馬達此時操作於正 常狀態’當該參數變化量大於該設定參數變化量時，判斷該 馬達操作於異常狀態下，並送出表示該馬達操作於異常狀態 下的判定訊號給該控制單元。 〜 此外，本發明也提供一種自動防夾控制方法，適用於 p 方止-由-馬達帶動的物品發生夾住異物之異常情形該 自動防夾控制方法包含以下步驟： 0 ( A)啟動該馬達； (B) 持續感測該馬達位置，以得到一連串位置脈波； 及 ’* (C) 判斷與符合一樣本脈波的前後兩次位置脈波有關 的一參數是否大於該參數之前次值，若是，才執行步驟（D )； (D) 計算該參數變化量；及 (E) 將該參數變化量與一設定參數變化量作比較當 〇 該參數變化量大於該設定參數變化量時，判斷該馬達操作 於異常狀態下’因此’驅動該馬達停止或反轉。 【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。 在本發明被詳細描述之前，要注意的是，在以下的說 明内容中，類似的元件是以相同的編號來表示。 本發明自動防夾裝豎之笫一鲂佬實洛例 200945761 參閱圖3 ’本發明之自動防夾裝置9適用於偵測一物品 (在本實施例中將以汽車電動窗90為例作說明，但該物品 並不限定是汽車電動窗，也可以是電動門、電梯門、電捲 門等）是否發生夾住異物之異常狀態，該自動防夾裝置9 之第一較佳實施例包含：一馬達91、一耦接於該馬達91並 用以驅動該馬達91之驅動電路92、一耦接於該馬連91且 用以感測該馬達位置之位置感測器93、一用以判斷該馬達 91是否處於異常狀態之判定單元94,及一用以控制該驅動 電路92電流量以驅動該馬達91之控制單元％。 該馬達91連結並可帶動一電動窗9〇開啟或關閉。 該驅動電路92可以提供驅動該馬達91正轉或是反轉 之驅動訊號。 該位置感測器93 (如：霍爾元件或是編碼器）耦接於 該馬達91且用以偵測該馬達目前位置，並將馬達位置傳送 至該控制單元95。且該位置感測器93持續感測該馬達位置 ，以得到一連串位置脈波。 該判定單元94包括有一耦接於該控制單元95且用以 計數一由該控制單元95所送入的時脈訊號（CLK)週期數 量之計數器941、一可根據由該位置感測器93所送入的位 置脈波，進行比較判定並發送一判定訊號至該控制單元95 之比較器942，及一用以儲存資料之暫存器943。 該控制單元95包括：一接收該位置感測器93所傳送 馬達位置並將其轉換成對應該電動窗90位置之轉換器951 (如：可以一積分器或是一計數器來實現），該控制單元％ 200945761 還包括一產生並發送一控制訊號以控制該驅動電路92之控 制器952。 該控制器952根據該轉換器951所傳送之該電動窗90 位置’與一預設於該控制器952内之一防夾區位置作比較 ，當該控制器952判斷該電動窗9〇進入該防夾區時，該控 制器952將啟動該判定單元94並發送該時脈訊號至該判定 - 單元94中。 ^ 該比較器942在每一單位時脈訊號被觸發（tHgger)時 ，接收由該位置感測器93傳送之位置脈波訊號，當該位置 感測器93尚未感測到下一個位置脈波時，該位置脈波訊號 將保持在低電位位準，當該位置感測器93感測到下一個位 置脈波時，該位置脈波訊號將會由低電位位準改變為一脈波 訊號，而該比較器942會比較該位置脈波訊號是否符合預設 於其内的一樣本脈波，以判定是否已接收到下一個位置脈波 ，此外，收到下一個位置脈波時所需要的時間差（在本實施 〇 例中，該時間差是一單位時脈數）將會被儲存於該暫存器 945 中。 該比較器942對所收到之符合該樣本脈波的前後兩次 位置脈波進行進一步判定，即將收到此前後兩次位置脈波所 需的時間差與前—次收到前後兩次位置脈波所需的時間差（ 儲存於該暫存器945 t)作比較，若是本次時間差小於前次 的時間差，表示該馬達速度仍持續增加中因此判斷該馬 達91_操作於正常狀態，若是本次時間差大於前次的時間差 表示馬達速度變慢，此時，將本次時間差與前次時間差之 10 200945761 差值（即為時間差變化量）與一預設於該比較器942内之設 定時間差變化量作比較。 若是該時間差變化量大於該設定時間差變化量，表示 該馬達速度下降得過快，即表示該馬達91操作於異常狀態 ’可能發生夹到異物的情形，所以，該比較器942送出表 示該馬達91操作於異常（U)狀態下的判定訊號給該控制 器952 ’而該控制器952將透過該驅動電路92驅動該馬達 91停止或反轉。 若是該時間差變化量小於該設定時間差變化量，表示 當時馬達速度可能因為馬達91老舊或是即將完全關閉該電 動窗90而減速，因此判定該馬達91操作於正常狀態下。 另外，由於馬達91老舊所造成的減速效應是緩慢而連 續的，因此，只要在正常情況的前提下（亦即該時間差變化 量已經確定小於該設定時間差變化量），該比較器942將繼 續比較當時該時間差（即在本實施例中即為該單位時脈數） 與預5又於該比較器942内之設定時脈數（例如：12〇個單 位時脈）’參閱圖4、5，比較結果可能有下列三種情況： (I) 當該單元時脈數小於該設定時脈數時，則判定該 馬達91可能因非預期因素而導致速度過快，因此該比較器 942送出一過快（H)的判定訊號至該控制器952，如圖* 的位置脈波A。 (II) 當該單位時脈數等於該設定時脈數時，表示該馬 達91轉速正常，如圖4的位置脈波B。 (III )當該單元時脈數大於該設定時脈數，則判定該 11 200945761 馬達91可能因非預期因素（如：馬達老舊、溼度過高等） 導致轉速過慢’因此送^―過慢⑴_定減至該控制 器952 ’如圖4的位置脈波c。 此外，考量到電路中可能有元件誤差（如：時脈抖動 (clock jitter)效應）的存在而影響該時脈訊號的精確度， 因此忒《又疋時脈數也可以設定成是一設定時脈數區間（如 將該設定時脈數加減1〇個單位時脈），以容許適當的誤差 。例如：若該設定時脈數是120個單位時脈時，則該設定 時脈數區間可設為110〜130個單位時脈。因此，如圖6中 所舉例的：若位置脈波A距上—個符合樣本脈波的位置脈 波所收到的時_ 131個單位時脈，則會被判定為馬達 速度過慢，而位置脈波B為1〇8單位時脈，則會被判定馬 達速度太快，而位置脈波C》129個單位時脈，因為在該 設定時脈數區間内，故會被判定為馬達速度正常。 參閱圖7，整理上述例子’以設定時脈數為12〇個單位 時脈’且設定時脈數區間為11G〜13Q個單位時脈為例，則 判定的結果將有下列四種情況： ⑴當該單元時脈數不到11G個單位時脈訊號時，該 比較器942會送出-過快（η)的判定訊號至該控制器⑹ (II) 當該單元時脈數在110〜130個單位時脈訊號區間 内，判定馬達速度符合預期；及 (III) 當該單元時脈數超㉟131個單位時脈訊號時， 該比較器 942會送出一 過慢（L )㈣定訊號至該控制器 12 200945761 952。 本發明自動防夾裝Ϊ之第二鲂祛肯址备丨 參閱圖8,本發明之第二較佳實施例與第一較佳實施例 類似，不同的地方在於：該判定單元94包括一充電器943 及一電壓比較器944。且在本實施例中，該充電器943包含 一壓控電容器。 參閱圖9，當每一時脈脈波送入該充電器943時，該充 電器943便會作週期性的充電，直到該判定單元94接收到 下一個位置脈波時，該充電器943才被重置而放電。 該電壓比較器944在每一單位時脈訊號被觸發（tHgger )時’接收由該位置感測器93送來的一位置脈波，且比較 該位置脈波是否符合預設於其内的一樣本脈波。 此外，該電壓比較器944對所收到之符合該樣本脈波 的前後兩次位置脈波進行進一步判定，即將該充電器943於 收到此前後兩次位置脈波的期間所充電而產生的電壓值與前 一次收到前後兩次位置脈波時所充電而產生的電壓值（儲存 於該暫存器945中）作比較，若是本次充電電壓小於前次的 充電電壓’表示本次充電的時間較上次充電的時間短，即代 表相較於上一次收到該位置脈波，本次是以更短的時間收到 該位置脈波，因此判斷該馬達速度仍持續增加中，故該馬達 91操作於正常狀態，若是本次充電電壓大於前次的充電電 壓’本次充電的時間較上次充電的時間長，即代表相較於上 一次收到該位置脈波，本次是以更長的時間才收到該位置脈 波’因此判斷該馬達速度開始變慢，此時，將本次充電電壓 13 200945761 與前次充電電壓之差值（即為充電電壓變化量）與一預設於 該電壓比較器944内之設定電壓變化量作比較。 若是該充電電壓變化量大於該設定電壓變化量，表示 該馬達速度下降得過快，即表示該馬達91操作於異常狀態 ，可能發生夾到異物的情形，所以，該電壓比較器944送 出表示該馬達91操作於異常（u)狀態下的判定訊號給該 控制器952，而該控制器952將透過該驅動電路92驅動該 馬達91停止或反轉。 若是該充電電壓變化量小於該設定電壓變化量，表示 當時馬達速度可能因為馬達91老舊或是即將完全關閉該電 動窗90而減速，因此判定該馬達91操作於正常狀態下。 另外’由於馬達91老舊所造成的減速效應是緩慢而連 續的’因此’只要在正常情況的前提下（亦即該充電電壓變 化量已經確定小於該設定電壓變化量），該電壓比較器944 將繼續比較當時該充電電壓與一預設於該電壓比較器944内 之设定電壓（例如：5mV )，參閱圖10，綜合上述，可能有 以下幾種比較結果： (I )當該充電電壓小於該設定電壓時，則判定該馬達 91可能因非預期因素而導致速度過快，因此該電壓比較器 944送出一過快（Η )的判定訊號至該控制器952 ; (11)當該充電電壓等於該設定電壓時，表示該馬達轉 速符合預期；及 (HI )當該充電電壓大於該設定電壓時，則判定該馬 達可能因非預期因素導致轉速過慢，因此該電壓比較器944 14 200945761 送出一過慢（L)的判定訊號至該控制器952。 值得一提的是，該電壓比較器944作電壓比較時，可 以如同該第一實施例般，設計不同精確度的容許誤差於其中 ，且依照該自動防夾裝置9裝設在不同的物品上而設計不同 精確度的電壓值’舉例來說：在汽車車窗系統上，需要較高 的精密度以判斷是否車窗有發生夹住人體的情形，因此該設 疋電壓及設定電壓變化量可以取到小數以下第二位，甚至是 更小的電壓單位值（如：微伏特等），而若是在工廠生產線 上，用以判斷是否發生因輸送過程出問題，導致依序生產的 產品堵塞卡住輸送帶的情形，因為不會發生夾住人體的危急 情形，精確度便可降低，因此，該設定電壓及設定電壓變化 量可以只取到個位數，甚至是高大的電壓單位值（如：伏特 等）’如此就可以忽略掉小數位數等級上的誤差。 綜合上述二實施例，當該馬達速度需進行調整時，該 控制單元95内之控制器952會根據該判定單元94所傳送來 之判定訊號（Η或L )’控制該驅動電路92内的電流大小以 調整該馬達速度至一預設於該控制器内之設定速度；當該判 定訊號為過快（Η )時，則減少該驅動電路92之電流量， 以降低馬達速度至該設定迷度，當該判定訊號為過慢（L ) 時’則加大該驅動電路92之電流量，以提高馬達速度至該 設定速度。而若是馬達91發生異常狀態，該控制單元95會 根據該判定單元94所傳送來的判定訊號（υ)，控制該驅動 電路92，以驅動該馬達91停止或反轉。 參閱圖11 ’本發明之自動防夾控制方法的較佳實施例 15 200945761 包含以下步驟： 步驟71是該控制器952啟動該驅動電路92以驅動該 馬達91 ’並進而帶動該電動窗9〇; 步驟72是該位置感測器93偵測該馬達位置； 步驟73是該轉換器951根據該測得之該馬達位置，將 其轉換為該電動窗90的位置； 步驟74是該控制器952根據該電動窗9〇的位置判斷 Q 該電動窗90是否位於防夾區，若判斷結果為是，則執行步 驟75 ’否則跳回至步驟72 ; 步驟75是控制器952判斷目前該判定單元94及該位 置感測器93是否處於正常狀態，若判斷結果為是，則執行 步驟76，否則跳至步驟751 ; 步驟751是表示該位置感測器93或該判定單元94已 經無法正常工作，因此，該控制器952會發出警告訊息以 知會使用者，並跳至步驟7〇 ; ^ 步驟76是該控制器952啟動該判定單元94 ; 步驟771是該判定單元94判斷與符合一樣本脈波的前 後兩次位置脈波有關的一參數（如：該判定單元94收到前 後二次位置脈波的時間差、單位時脈數、該充電器943於 前後兩次位置脈波之間充電所產生的充電電壓）是否大於 該參數之前次值，若是，則執行步驟772，若否，則跳至步 驟78 ; 步驟772是該判定單元94根據該參數與該參數之前次 值之差值，計算出該參數變化量； 16 200945761 步驟773是該判定單元94判斷該參數變化量是否大於 一預設之設定參數變化量，若否，則執行步驟78，若是， 表示馬達速度下降過快，則跳至步驟7〇 ; 步驟78是該判定單元94判斷該參數是否等於一設定 參數（若需考慮元件誤差㈣，則以-設定參數區間來取 代該設定參數值作判斷依據），若是，跳回至步驟72，若否 ，則繼續執行步驟79 ; Ο ❹ 步驟79是該控制ϋ 952根據該判定單元叫回傳之判定 結果以控制該驅動電路92之電流量，該馬達速产至一 預設於該議952内之設定速度，然後跳回至步驟”， 及 步驟7〇是表示該馬達91操作於異常狀態下，因此該控 制器952控制該驅動電路92，以驅動访£ 以驅動該馬達91反轉或是停 止0 =意的是，以上實施例中的馬達”可為一種無刷 馬達也可為一種有刷馬達。 根據上述說明，本發明確竇 个I月磾貫了以達到以下幾項優點： 、因為不論原因為何，馬 5逹迷度的變化量是絕對且 直接影響一由馬達91所鹛勒 ㈣動之物品在操作安全上 的重要關鍵’因此，本發明 赞月利用該馬達位置之位 時間間隔，及與該時間間隔成比例關 943的充電電-，來判定該馬達速度 疋否過快、過慢，或是是 疋否有異常狀態發生，由 上述内容可知，該等判斷 J所方式的精確度是相當高 17 200945761 ’因此可以大幅降低誤判的情況，以提昇該自動 防夾裝置9的可靠度； 一、 本發明可以藉由偵測馬達位置之位置脈波的變化 情形’以調整馬達速度至所預期的速度，所以不 需要透過記憶體的輔助來處理因馬達老舊或是其 他不明因素造成馬達速度過快或是過慢的問題； 及 二、 相較於習知之設計，本發明僅僅需要一暫存器945 而不需要設置大量的記憶體，因此，相較於習知 的設計，在儲存資料的存取機制上變得相當簡單 ，因此，可以降低資料讀取錯誤而造成誤判的風 險’亦可以減少生產時的成本。 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夹裝置之方塊圖； 圖3是本發明自動防央裝置之第一較佳實施例之方塊 圖； 圓4是該第一較佳實施例之判定馬達狀態時脈圓； 圖5是該第一較佳實施例之判定馬達狀態圖； 18 200945761 圖6是該第一較佳實施例加入容許誤差後之判定馬達 狀態時脈圖； 圖7是該第一較佳實施例加入容許誤差後之判定馬達 狀態圖； 圖8是本發明自動防夾裝置之第二較佳實施例之方塊 圖； 圖9是該第二較佳實施例之由壓控電容充放電以判斷 馬達狀態之示意圖； 圖10是該第二較佳實施例之判定馬達狀態圖；及 圖11疋本發明之自動防失控制方法的較佳實施例之流 程圖。 〇 19 200945761 【主要元件符號說明】 70〜76 — 步驟 941… •…計數器 751 .···. 步驟 942… •…比較器 771〜773 步驟 943… •…充電器 78 〜79 ·. 步驟 944… •…電壓比較器 9 .......... 自動防夾裝置 945… •…暫存器 91......... 馬達 95 •…控制單元 92......... 驅動電路 951… •…轉換器 93......... '位置感測器 952… •…控制器 94......... 判定單元 90•… •…電動窗 ❹ 20200945761 IX. Description of the Invention: [Technical Field] The present invention relates to an automatic anti-pinch device, and more particularly to an automatic anti-trap device for reducing false positives. [Prior Art] Refer to the automatic anti-pinch device of Figure Bu! Connected to an item (for example, the electric window of the car is taken as an example), which is used to measure the abnormality of the foreign object (such as the user's head and hand) by the doctor. (4) The clip device i includes: a motor u, a controller 12, a position sensor 13 coupled to the motor 11 and the controller 12, respectively coupled to the motor u and the controller 12 for driving Or stop the pulsating circuit 14 of the motor U, and - the memory 15 for storing the processed data. The position of the motor detected by the position sensor 13 is transmitted to the controller 12 for processing to obtain a corresponding motor torque value and the position of the vehicle, and the controller 12 torques the motor. The value, the position of the moving mechanism, and the preset torque threshold value and the position of the anti-pinch area stored in the memory 15 are compared. When the current motor u has entered the anti-pinch area, and the motor torque value exceeds the torque threshold value. At this time, it is determined that the motor u may be in an abnormal state (for example, pinched to the user's arm), and therefore, the controller 12 will control the drive circuit 14 to drive the motor to stop or reverse. The disadvantage of this conventional automatic anti-pinch device is that as the motor η is used for a longer period of time, structural factors that slowly change (eg, the motor is old or the friction of the electric window of the car becomes large) will result in The error of the motor torque threshold is getting larger and larger. Therefore, if the threshold value in the memory 15 is not updated in 200945761 or the memory reads the threshold value incorrectly, the automatic anti-jamming device may be In the event of a misjudgment, a serious consequence is obtained. Referring to FIG. 2, another conventional automatic anti-pinch device 2 includes: a motor 21 consuming the motor 21 and driving or stopping the drive circuit 22 of the motor 21, (4) a current detector 23 for detecting a current signal of the driving circuit 22, a controller 24 for executing a program to determine whether a foreign object is caught, and a threshold for storing a predetermined safe current. Value memory 25. The current detector 23 detects the current of the driving circuit 22 and generates a current signal to the controller 24. When an abnormal condition occurs (such as when the user's arm is caught), the current_23 The amount of current of the driving circuit 22 is detected to be greatly increased. Therefore, the controller 24 can compare the current amount of the driving circuit 22 with the preset safety current threshold value stored in the memory 25. It is judged whether the electric window of the automobile is operating in an abnormal state. In combination with the above-mentioned conventional ones, the following disadvantages are obtained: First, the conditions of the conventional automatic anti-trap devices 1, 2 for determining whether the motor U, 21 are abnormal or not are based on the torque value of the motor at that time. Or the amount of current of the driving circuits 14 and 22 in the motors 11, 21, however, the judgment conditions (motor torque, current amount) of the motor 11 and 21 may cause an error to become larger due to the old effect of the motors u and 21. Therefore, it is unreliable to use these judgment conditions to determine whether the motor is abnormal. Secondly, the conventional automatic anti-friction devices 1, 2 must store the relevant data (motor torque value or current amount) generated each time the motor 200945761 1 is operated at the time of (4) 15, 25 N, next time. The threshold value (motor torque threshold value or safe current gate value) can be updated according to the previous relevant data stored. Therefore, if an error occurs during the reading of the memory 15, 25, a misjudgment will occur. The situation makes the risk higher. Thirdly, these conventional problems require the memory 15, 25 _ help, to deal with the problem that the motor torque recording due to the motor Π, 21 is old, or the safety φ (4) (10) value will rise slightly, so When these automatic anti-trap devices 1 and 2 are produced, 'the additional need to set the memory 15, 25 will result in an increase in manufacturing cost. SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide an automatic anti-pinch device that includes: a motor that can drive the article; and a drive circuit that drives the operation of the motor; ❹ a position sensor coupled to the motor for continuously sensing the position of the motor to obtain a series of position pulse waves; - a control unit that is pure to the drive unit and that controls the motor when operating in an abnormal state The driving circuit drives the motor to stop or reverse; and a determining unit is pure to the position sensor, and compares whether a parameter related to the pulse wave of the two positions before and after the pulse wave is greater than the parameter The value 'and when the parameter is greater than the previous value, the decision unit calculates the change amount of the parameter according to the parameter and the previous value of the parameter, and the I(four) parameter 与 quantity and - preset to the control unit 定 line parameter The amount of change is compared. When the amount of change of the parameter of 200945761 is less than the amount of change of the set parameter, the motor is now operating in a normal state. 'When the amount of change of the parameter is greater than the amount of change of the set parameter, OFF operation of the motor under an abnormal state, and sends the determination signal indicates that the motor is in an abnormal operating state to the control unit. In addition, the present invention also provides an automatic anti-pinch control method, which is suitable for an abnormal situation in which a p-square-to-motor-driven article is caught by a foreign object. The automatic anti-pinch control method includes the following steps: 0 (A) starting the motor (B) continuously sense the position of the motor to obtain a series of position pulse waves; and '* (C) determine whether a parameter related to the pulse wave at the two positions before and after the pulse is equal to the previous value of the parameter. If yes, perform step (D); (D) calculate the parameter change amount; and (E) compare the parameter change amount with a set parameter change amount; when the parameter change amount is greater than the set parameter change amount, judge The motor operates in an abnormal state 'so' to drive the motor to stop or reverse. The above and other technical contents, features and effects of the present invention will be apparent from the following detailed description of the preferred embodiments of the accompanying drawings. Before the present invention is described in detail, it is noted that in the following description, similar elements are denoted by the same reference numerals. The invention relates to the automatic anti-pinch device of the present invention. The automatic anti-pinch device 9 of the present invention is suitable for detecting an article (in the embodiment, the automobile electric window 90 will be taken as an example for illustration. However, the article is not limited to an electric window of a car, and may be an electric door, an elevator door, an electric roller door, or the like. Whether an abnormal state of pinching a foreign object occurs, and the first preferred embodiment of the automatic anti-pinch device 9 includes: a motor 91, a driving circuit 92 coupled to the motor 91 for driving the motor 91, a position sensor 93 coupled to the horse 91 and sensing the position of the motor, and a motor for determining the motor The determining unit 94 is in an abnormal state, and a control unit % for controlling the amount of current of the driving circuit 92 to drive the motor 91. The motor 91 is coupled and can drive a power window 9 to open or close. The drive circuit 92 can provide a drive signal that drives the motor 91 to rotate forward or reverse. The position sensor 93 (eg, a Hall element or an encoder) is coupled to the motor 91 and configured to detect the current position of the motor and transmit the motor position to the control unit 95. And the position sensor 93 continuously senses the motor position to obtain a series of position pulse waves. The determining unit 94 includes a counter 941 coupled to the control unit 95 for counting the number of clock signals (CLK) cycles sent by the control unit 95, and a counter 941 according to the position sensor 93 The sent position pulse wave is compared and a decision signal is sent to the comparator 942 of the control unit 95, and a register 943 for storing data. The control unit 95 includes a converter 951 that receives the position of the motor transmitted by the position sensor 93 and converts it into a position corresponding to the power window 90 (eg, can be implemented by an integrator or a counter). Unit % 200945761 also includes a controller 952 that generates and transmits a control signal to control the drive circuit 92. The controller 952 compares the position of the power window 90 transmitted by the converter 951 with a position of an anti-pinch zone preset in the controller 952, and when the controller 952 determines that the power window 9 In the anti-pinch zone, the controller 952 will activate the decision unit 94 and send the clock signal to the decision-unit 94. The comparator 942 receives the position pulse signal transmitted by the position sensor 93 when each unit clock signal is triggered (tHgger), when the position sensor 93 has not sensed the next position pulse wave. When the position sensor 93 senses the next position pulse wave, the position pulse signal will be changed from the low potential level to a pulse signal when the position sensor 93 senses the next position pulse wave. And the comparator 942 compares whether the pulse signal of the position meets the same pulse wave preset therein to determine whether the pulse of the next position has been received, and further, when the pulse of the next position is received The time difference (in the present embodiment, the time difference is a unit clock number) will be stored in the register 945. The comparator 942 further determines the pulse waveforms of the two positions before and after the received pulse wave of the sample, that is, the time difference required to receive the pulse wave at the two positions before and after, and the two positions before and after the previous reception. The time difference required by the wave (stored in the register 945 t) is compared. If the current time difference is smaller than the previous time difference, it indicates that the motor speed continues to increase, so that the motor 91_ is operated in the normal state, if this time The time difference is greater than the previous time difference, indicating that the motor speed is slow. At this time, the difference between the current time difference and the previous time difference 10 200945761 (that is, the time difference change amount) and a set time difference variation preset in the comparator 942 compared to. If the amount of time difference change is greater than the set time difference change amount, it means that the motor speed drops too fast, that is, the motor 91 operates in an abnormal state, and a foreign matter may be caught. Therefore, the comparator 942 sends out the motor 91. The decision signal operating in the abnormal (U) state is given to the controller 952' and the controller 952 will drive the motor 91 to stop or reverse through the drive circuit 92. If the amount of time difference change is smaller than the set time difference change amount, it means that the motor speed may be decelerated because the motor 91 is old or about to completely close the electric window 90, so that the motor 91 is judged to be in a normal state. In addition, since the deceleration effect caused by the old motor 91 is slow and continuous, the comparator 942 will continue as long as it is under normal conditions (i.e., the amount of time difference change has been determined to be smaller than the set time difference variation). The time difference (i.e., the number of clocks in the unit) in the present embodiment is compared with the number of clocks set in the comparator 942 (for example, 12 unit clocks). Referring to Figs. 4 and 5 The comparison result may have the following three conditions: (I) When the number of clocks of the unit is less than the set number of clocks, it is determined that the motor 91 may be too fast due to an unexpected factor, so the comparator 942 sends out a The fast (H) decision signal is sent to the controller 952, as shown in the position pulse wave A of FIG. (II) When the number of clocks in the unit is equal to the set number of clocks, it indicates that the motor 91 has a normal rotation speed, as shown in the position pulse B of FIG. (III) When the number of clocks in the unit is greater than the set number of clocks, it is determined that the 11 200945761 motor 91 may be caused by unexpected factors (such as: old motor, too high humidity, etc.), causing the speed to be too slow. (1)_ is reduced to the controller 952' as shown in the position pulse c of FIG. In addition, considering the possibility of component errors (such as clock jitter effect) in the circuit affecting the accuracy of the clock signal, the number of clocks can be set to a set time. The pulse number interval (such as adding or subtracting 1 set unit clock) to allow for an appropriate error. For example, if the set clock number is 120 unit clocks, the set clock number interval can be set to 110 to 130 unit clocks. Therefore, as exemplified in FIG. 6 , if the position pulse wave A is _ 131 unit clocks received from the position pulse wave corresponding to the sample pulse wave, it is determined that the motor speed is too slow, and When the position pulse wave B is 1 〇 8 unit clock, it is judged that the motor speed is too fast, and the position pulse wave C 129 unit clock pulse is determined as the motor speed because it is within the set pulse time interval. normal. Referring to Fig. 7, the above example is set as follows: "Setting the clock number to 12 unit clocks" and setting the clock interval to 11G to 13Q unit clocks as an example, the result of the determination will be as follows: (1) When the number of clocks of the unit is less than 11G unit clock signals, the comparator 942 sends a too fast (η) decision signal to the controller (6) (II) when the unit clock number is 110~130 In the unit clock signal interval, the motor speed is determined to be in accordance with expectations; and (III) when the unit clock number exceeds 35131 unit clock signals, the comparator 942 sends a slow (L) (four) fixed signal to the control. 12 200945761 952. The second preferred embodiment of the present invention is similar to the first preferred embodiment in that the determining unit 94 includes a charging unit. Referring to FIG. 8, the second preferred embodiment of the present invention is similar to the first preferred embodiment. And a voltage comparator 944. And in this embodiment, the charger 943 includes a voltage controlled capacitor. Referring to FIG. 9, when each clock pulse is sent to the charger 943, the charger 943 is periodically charged until the determination unit 94 receives the pulse of the next position, and the charger 943 is Reset and discharge. The voltage comparator 944 receives a position pulse sent by the position sensor 93 when each unit clock signal is triggered (tHgger), and compares whether the position pulse corresponds to the preset one. This pulse wave. In addition, the voltage comparator 944 further determines the received pulse wave of the two positions before and after the pulse wave of the sample, that is, the charger 943 is charged during the period of receiving the pulse wave twice before and after. The voltage value is compared with the voltage value generated by the charging of the two position pulse waves before and after the previous reception (stored in the register 945). If the current charging voltage is less than the previous charging voltage, the current charging is indicated. The time is shorter than the last charging time, which means that the pulse wave of the position is received in a shorter time than the last time the pulse wave is received at the position, so it is judged that the motor speed continues to increase, so The motor 91 is operated in a normal state. If the current charging voltage is greater than the previous charging voltage, the time of the current charging is longer than the time of the last charging, that is, compared to the pulse wave received last time, this time is It takes a longer time to receive the pulse of the position. Therefore, it is judged that the motor speed starts to slow down. At this time, the difference between the current charging voltage 13 200945761 and the previous charging voltage (that is, the charging voltage variation) Compared with a predetermined set voltage variation in the voltage of the comparator 944. If the amount of change in the charging voltage is greater than the amount of change in the set voltage, it means that the motor speed drops too fast, that is, the motor 91 is operated in an abnormal state, and a foreign matter may be caught. Therefore, the voltage comparator 944 sends out The motor 91 operates in the abnormal (u) state to the controller 952, and the controller 952 will drive the motor 91 to stop or reverse through the drive circuit 92. If the amount of change in the charging voltage is less than the amount of change in the set voltage, it means that the motor speed may be decelerated because the motor 91 is old or about to completely close the electric window 90, so that the motor 91 is determined to be operating in a normal state. In addition, the deceleration effect caused by the old motor 91 is slow and continuous 'so that' the voltage comparator 944 is provided under normal conditions (that is, the amount of change in the charging voltage has been determined to be smaller than the set voltage variation). The charging voltage and the set voltage preset in the voltage comparator 944 (for example, 5 mV) will continue to be compared. Referring to FIG. 10, the above comparison results may be made as follows: (I) When the charging voltage is used When the voltage is less than the set voltage, it is determined that the motor 91 may be too fast due to an unexpected factor, so the voltage comparator 944 sends a too fast (Η) decision signal to the controller 952; (11) when the charging When the voltage is equal to the set voltage, it indicates that the motor speed is in accordance with expectations; and (HI) when the charging voltage is greater than the set voltage, it is determined that the motor may be too slow due to an unexpected factor, so the voltage comparator 944 14 200945761 A slow (L) decision signal is sent to the controller 952. It is worth mentioning that when the voltage comparator 944 is used for voltage comparison, the tolerances of different precisions can be designed as in the first embodiment, and the automatic anti-trap device 9 is installed on different items. The voltage value of different precision is designed. For example, in the automobile window system, high precision is needed to judge whether the window has a situation in which the human body is caught, so the set voltage and the set voltage change amount can be Take the second place below the decimal, even the smaller voltage unit value (such as: microvolts, etc.), and if it is on the factory production line, to determine whether there is a problem due to the transportation process, resulting in the production of the product jam card In the case of the conveyor belt, since the critical situation of clamping the human body does not occur, the accuracy can be reduced. Therefore, the set voltage and the set voltage change amount can only take a single digit, or even a high voltage unit value (such as : Volt, etc.) 'So you can ignore the error in the scale of the decimal place. In combination with the above two embodiments, when the motor speed needs to be adjusted, the controller 952 in the control unit 95 controls the current in the driving circuit 92 according to the determination signal (Η or L) transmitted by the determining unit 94. Resizing to adjust the motor speed to a preset speed preset in the controller; when the determination signal is too fast (Η), reducing the amount of current of the driving circuit 92 to reduce the motor speed to the set brightness When the determination signal is too slow (L), the current amount of the driving circuit 92 is increased to increase the motor speed to the set speed. On the other hand, if the motor 91 is in an abnormal state, the control unit 95 controls the drive circuit 92 to drive the motor 91 to stop or reverse based on the determination signal (υ) transmitted from the determination unit 94. Referring to FIG. 11 'the preferred embodiment 15 of the automatic anti-pinch control method of the present invention, 200945761 includes the following steps: Step 71: The controller 952 activates the driving circuit 92 to drive the motor 91' and thereby drive the power window 9; Step 72 is that the position sensor 93 detects the motor position; Step 73 is that the converter 951 converts the motor position to the position of the power window 90 according to the measured motor position; Step 74 is that the controller 952 is based on The position of the power window 9 determines whether the power window 90 is located in the anti-pinch area. If the determination result is yes, step 75 is performed, otherwise the process jumps back to step 72; step 75 is that the controller 952 determines the current determination unit 94 and Whether the position sensor 93 is in a normal state, if the determination result is yes, step 76 is performed; otherwise, the process proceeds to step 751; step 751 is to indicate that the position sensor 93 or the determining unit 94 has not been working normally, therefore, The controller 952 will issue a warning message to inform the user and skip to step 7; ^ step 76 is that the controller 952 activates the determining unit 94; step 771 is that the determining unit 94 determines that it is the same as the match a parameter related to the pulse wave of the two positions before and after the pulse wave (for example, the time difference between the pulse wave received by the determining unit 94 before and after the second position, the number of unit clocks, and the pulse Between the two positions before and after the charger 943 Whether the charging voltage generated by charging is greater than the previous value of the parameter, if yes, step 772 is performed, and if not, then skip to step 78; step 772 is the difference between the parameter and the previous value of the parameter by the determining unit 94. Calculating the parameter change amount; 16 200945761 Step 773 is that the determining unit 94 determines whether the parameter change amount is greater than a preset set parameter change amount, and if not, executing step 78, and if so, indicating that the motor speed drops too fast, Then, the process proceeds to step 7: step 78, the determining unit 94 determines whether the parameter is equal to a set parameter (if the component error (four) is to be considered, the parameter interval is replaced by the parameter parameter interval for determining the basis), and if so, the jump Going back to step 72, if no, proceeding to step 79; Ο ❹ step 79 is the control ϋ 952 according to the determination result of the decision unit returning to control the power of the driving circuit 92 The motor is quickly produced to a set speed preset in the 952, and then jumps back to the step ”, and the step 7 〇 indicates that the motor 91 is operating in an abnormal state, so the controller 952 controls the drive circuit. 92, driving the drive to drive the motor 91 reverse or stop 0 = it is intended that the motor in the above embodiment "can be a brushless motor or a brush motor. According to the above description, the present invention succeeds in the first month of the sinus to achieve the following advantages: Because, regardless of the reason, the amount of change of the horse 5 逹 is absolutely and directly affects the movement of the motor 91 (4) The important key to the safety of the item's operation. Therefore, the present invention uses the positional interval of the motor position and the charging electric current proportional to the time interval 943 to determine whether the motor speed is too fast or too slow. , or whether there is an abnormal state, as can be seen from the above, the accuracy of the method of judging J is quite high 17 200945761 'Therefore, the false positive can be greatly reduced to improve the reliability of the automatic anti-pinch device 9 1. The present invention can adjust the motor speed to the expected speed by detecting the change of the position pulse of the motor position, so that it is not necessary to use the auxiliary of the memory to deal with the old or other unknown factors caused by the motor. The problem that the motor speed is too fast or too slow; and 2. Compared to the conventional design, the present invention only requires a register 945 and does not need to set a large number of notes. The body, therefore, compared to conventional designs, the information stored in the access mechanism becomes quite simple, and therefore, can reduce the data read error caused by the risk of false 'also can reduce the cost of production. 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 first preferred embodiment of the automatic anti-ball device of the present invention. Figure 4 is a block diagram; the circle 4 is the clock state of the motor state of the first preferred embodiment; Figure 5 is a diagram of the determination motor state of the first preferred embodiment; 18 200945761 Figure 6 is the first preferred embodiment FIG. 7 is a diagram showing the state of the motor after the tolerance is added to the first preferred embodiment; FIG. 8 is a second preferred embodiment of the automatic anti-trap device of the present invention. Figure 9 is a schematic view showing the state of the motor by charging and discharging a voltage-controlled capacitor according to the second preferred embodiment; Figure 10 is a diagram showing the state of the motor of the second preferred embodiment; and Figure 11 A flow chart of a preferred embodiment of an automatic loss prevention control method. 〇19 200945761 [Main component symbol description] 70~76 — Step 941... •...Counter 751 .···. Step 942... •... Comparator 771~773 Step 943... •... Charger 78~79 ·. Step 944... •...Voltage Comparator 9 .......... Automatic Anti-Pinch Device 945... •...Storage Register 91......Motor 95 •...Control Unit 92... ... drive circuit 951... •...converter 93......... 'position sensor 952... •...controller 94.........determination unit 90•... •...electric Window ❹ 20