200947846 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曰常 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2，包括：一馬達21、 一麵接於該馬達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。當有異常狀況（如：夾到 使用者的手臂）發生時，該電流偵測器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 5 200947846 據該驅動電路22之電流量與儲存於該記憶體内之該預 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。 習知之自動防夾裝置2,具有以下之缺點： 第一、習知之自動防夾裝置2用以判斷該馬達21是否 發生異常狀態的條件’是根據當時驅動電路22的電流量是 否超過一預設之電流門檻值，然而驅動電路22的電流量會 因為馬達21的老舊效應，而產生誤差日益變大的情況因 此，僅僅利用該驅動電路22的電流量來判定該馬達21是 否異常，是不可靠的； 第二、習知之自動防夾裝置2僅僅只能判斷該馬達21 是否發生異常狀態，然而對於因馬達老舊或是受環境因素 影響所造成的馬達速度不穩定情形，卻無法提供調整速度 的功能，如此’當該自動防夾裝置2使用一段時間之後， 將容易造成使用不便’例如：因馬達老舊造成關上電動窗 或電動門的時間變長； 第三、習知之自動防夾裝置2必須將每次馬達21運轉 時所產生電流量儲存於該記憶體25内，下次才可以更新該 安全電流門檻值，因此，如果在記憶體25讀取過程中發生 錯誤，將會發生誤判情形，使得風險變高；及 第四、習知之自動防夾裝置2需要藉由該記憶體25的 輔助，以處理因馬達21老舊而造成該安全電流門檻值會微 幅上升的問題’因此，生產該等自動防夾裝置2時，需額 外設置該記憶體25，將會導致製造成本上升。 200947846 【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 品夾住異物之自動防夾裝置，包含： 一馬達，能帶動該物品； 一驅動電路，驅動該馬達的運轉； 一感測單元，耦接於該驅動電路，以得到該驅動電路 之電流量；及 g 控制單元’箱接於該感測單元以接收該媒動電路之 - 電流量，若該電流量大於前次電流量時，該控制單元再根 據該電流量計算出該驅動電流變化量，並將該驅動電流變 化量與一預設於該控制單元内之設定電流變化量作比較， 當該驅動電流變化量小於該設定電流變化量時，該馬達此 時操作於正常狀態；當該驅動電流變化量大於該設定電流 變化量時’該馬達此時操作於異常狀態，因此該控制單元 控制該驅動電路以驅動該馬達停止或反轉。 〇 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—馬達帶動的物品發生夾住異物之異常情 开> ’該控制方法包含以下步驟： (A)啟動該馬達； - (B)持續感測該馬達的驅動電流量； - (C)判斷目前的驅動電流量是否大於前次的驅動電流 量，若是，才執行步驟（D); (D)計算一驅動電流變化量；及 (E )將該驅動電流變化量與一設定電流變化量作比較 200947846 ，當該驅動電流變化量大於該設定電流變化量時，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一個較佳實施例的詳細說明中，將可 清楚的呈現。 參閱圖2,本發明自動防夾裝置9之較佳實施例適用於BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic anti-pinch device, and more particularly to an automatic anti-pinch device using a 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 widely used in human 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 is more serious and 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. The automatic anti-pinch device 2 of the present invention includes a motor 21, a driving circuit 22 connected to the motor 21 for driving or stopping the motor 21, and a driving circuit 22 coupled to the driving circuit 22 for detecting The current detector 23 of the current signal of the driving circuit 22, a controller 24 for executing a program to determine whether a foreign object is clamped, and a memory 25 for storing a preset safe current threshold. 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 (such as a clip to the user's arm) occurs, the current detector 23 will detect that the amount of current of the drive circuit 22 is greatly increased. Therefore, the controller 24 can be based on the root 5 200947846. The amount of current of the driving circuit 22 is compared with the preset safe current threshold value stored in the memory to determine whether the automotive power window is operating in an abnormal state. The conventional automatic anti-pinch device 2 has the following disadvantages: First, the condition of the conventional automatic anti-trap device 2 for determining whether the motor 21 has an abnormal state is based on whether the current amount of the drive circuit 22 exceeds a preset. The current threshold value, however, the amount of current of the driving circuit 22 may increase the error due to the old effect of the motor 21. Therefore, only the amount of current of the driving circuit 22 is used to determine whether the motor 21 is abnormal or not. Reliable; Second, the conventional automatic anti-pinch device 2 can only judge whether the motor 21 has an abnormal state, but the motor speed is unstable due to the old motor or environmental factors, but the adjustment cannot be provided. The function of speed, so 'when the automatic anti-pinch device 2 is used for a period of time, it will easily cause inconvenience to use'. For example, the time for closing the power window or the electric door due to the old motor is long; Third, the conventional automatic anti-pinch The device 2 must store the amount of current generated each time the motor 21 is operated in the memory 25, and the safe current can be updated next time. Depreciation, therefore, if an error occurs during the reading of the memory 25, a misjudgment situation will occur, causing the risk to become higher; and fourth, the conventional automatic anti-pinch device 2 needs to be assisted by the memory 25 to The problem that the safe current threshold value rises slightly due to the old motor 21 is handled. Therefore, when the automatic anti-trap device 2 is produced, the memory 25 is additionally provided, which causes an increase in manufacturing cost. 200947846 SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide an automatic anti-pinch device suitable for preventing an object from being caught by a foreign object, comprising: a motor capable of driving the article; and a driving circuit for driving the operation of the motor; a sensing unit coupled to the driving circuit to obtain a current amount of the driving circuit; and a control unit 'connected to the sensing unit to receive the current flow of the medium circuit, if the current amount is greater than before The secondary current quantity is further calculated by the control unit according to the electric flow meter, and the driving current change amount is compared with a set current change amount preset in the control unit, when the driving current changes When the amount is less than the set current change amount, the motor is operated in a normal state at this time; when the drive current change amount is greater than the set current change amount, the motor is operated in an abnormal state at this time, so the control unit controls the drive circuit to Drive the motor to stop or reverse. Further, another object of the present invention is to provide an automatic anti-pinch control method for preventing an abnormality caused by a motor-driven article from being caught by a foreign object> 'The control method comprises the following steps: (A) starting The motor; - (B) continuously sensing the amount of driving current of the motor; - (C) determining whether the current driving current amount is greater than the previous driving current amount, and if so, performing step (D); (D) calculating one The driving current variation amount; and (E) comparing the driving current variation amount with a set current variation amount 200947846, when the driving current variation amount is greater than the set current variation amount, determining that the motor operates in an abnormal state, therefore, Drive the motor 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 2, a preferred embodiment of the automatic anti-pinch device 9 of the present invention is applicable to
❹ 防止一物品夾住異物之異常情形，且在本實施例中，該物 品以電動窗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。該自動防夾裝置9之較佳實施例包 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、一用以偵測該驅動電路92電流量及該馬達 91位置之感測單元93、一根據該感測單元93所傳送之該 驅動電路92電流量以判斷該馬達91是否處於異常狀態且 控制該驅動電路92進而啟動該馬達91反轉或是停止之控 制單元94。 該馬達91連結並可帶動—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。 一耦接於該馬達91且用以偵測 該感測單元93包括 :馬達目前位置之位置感測器931 (如：霍爾元件或是編碼 器）及一耦接於該驅動電路92且偵測該驅動電路92電流 量之電流感測器932。該感測單元％將驅動電路之電流量 及馬達位置’傳送至該控制單元94。 8 200947846 該控制單元94包括：一接收該感測單元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 還包括一產生並發送一控制訊號以控制該驅動電路92之控 制器942及一用以儲存前次由該電流感測器932所傳送的 電流量之暫存器943。 該控制器942根據該轉換器941所傳送之該電動窗9〇异常 An abnormal situation in which an article is caught by foreign matter is prevented, and in the present embodiment, the article is exemplified by the power window 90, but the article may actually be an electric door, an elevator door, an electric roller door, or the like. The 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 current for detecting the current of the driving circuit 92, and the motor 91. The sensing unit 93 of the position, according to the amount of current of the driving circuit 92 transmitted by the sensing unit 93, determines whether the motor 91 is in an abnormal state, and controls the driving circuit 92 to start the control of inverting or stopping the motor 91. Unit 94. The motor 91 is coupled and can be driven - the power window 9 is opened or closed. The drive circuit 92 can provide a drive signal that drives the motor 91 to rotate forward or reverse. A position sensor 931 (such as a Hall element or an encoder) coupled to the motor 91 and configured to detect the current position of the motor and coupled to the driving circuit 92 The current sensor 932 of the current amount of the driving circuit 92 is measured. The sensing unit % transmits the current amount of the drive circuit and the motor position ' to the control unit 94. 8 200947846 The control unit 94 includes: a converter 941 that receives the motor position transmitted by the sensing unit 93 and converts it into a position corresponding to the power window 90 (eg, can be implemented by an integrator or a counter). The control unit 94 further includes a controller 942 that generates and transmits a control signal to control the drive circuit 92 and a register 943 for storing the amount of current previously transmitted by the current sensor 932. The controller 942 is based on the power window 9 该 transmitted by the converter 941
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 制器會將該電流感測器932所傳入之電流量與該暫存器943 内之前次電流量作比較，當該電流量小於該暫存器943中 所儲存之前次電流量時’表示該馬達負載小於一理論負載 值，因此該馬達91操作在正常狀態’當該電流量大於該暫 存器943中所儲存之前次電流量時，表示該馬達91負載大 於該理論負載值，此時將該電流量與該暫存器943中之前 次電流量之差值，作為一驅動電流變化量，並與一預設於 該控制器942内之設定電流變化量作比較。 •當該驅動電流變化量大於該設定電流變化量時，代表 =三達負載心速變大，即表示該馬達91操作於異常狀態， =發生夾到異物的情形’所以’此時該控制_ 942將透 過該驅動電路92驅動該馬達91停止或反轉。 當:驅動電流變化量小於該設定電流變化量時，表示 2=能因為環境因素(如：澄度過高）·是馬達負 均的影響而導致負載微幅變大，因此判定該馬 200947846 達91仍操作於正常狀態下。 值得一提的是，該馬達的設定電流變化量可以依照該 自動防夾裝置9裝設在不同的物品上而設計成不同精確度 的值’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夾住人體的情形，因此設定電流變 化量可以取到小數以下第二位，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，因為不會發生夹住人體的危急 情形，精確度便可降低，因此，該設定電流變化量可以只 取到個位數’而可以忽略掉小數位數等級上的誤差。 另外，參閱圖3,由於馬達負載變動不平均所造成的效 應是緩慢而連續的，因此，只要在正常情況的前提下（亦 即該驅動電流變化篁已經嫁定小於該設定電流變化量時， 或是確定該電流量小於前次電流量），於一段時間内判斷馬 達負載是否正常，誤判率是可以有效降低，因此，當該驅 動電流變化量小於該設定電流變化量時，該控制器942將 根據一預設於該控制器942内之判定時間，持續比較當時 該電流量與一預設於該控制器942内之理論電流量，該理 論電流量是依據馬達負載沒有因老舊或其他環境因素影響 而改變的前提下，所㈣估算㈣理論值，聯合參閱圖4、 5、6，比較結果可能有下列三種情況： (1)在該判定時間内’該電流量可以等於該理論電流 量，並能保持在該理論電流量直到該判定時間結束，則表 示該馬達請沒有因其㈣素造成變化，因此判斷該馬達 10 200947846 負載符合該理論負載值； (2)當在判定時間結束之後，該電流量仍持續超過該 理論電流量時，則該控制器942判斷該馬達91發生因環境 因素或是老舊等情形，導致負載變大，因此，該控制器942 將會加大該驅動電路92内之電流量，以提高馬達速度至一 預設於該控制器942内之目標速度；及 (3 )當在判定時間結束之後，若是該電流量小於該設 φ 理論電流量，則該控制器942判斷該馬達91因其他不明因 素造成負載變小，因此，該控制器942會減少該驅動電路 92内之電流量，以降低該馬達速度至該目標速度。 此外，考量到電路中可能有元件誤差（如：時脈抖動 (clock jitter)效應）的存在而影響該電流感測器932的精 確度’因此該理論電流量也可以設定成是一理論電流區間 (例如：取10%作為誤差範圍）’以容許適當的誤差。例如 •若該理論電流值是1安培時，則該理論電流區間可預設 Q 為OH.1安培。因此，聯合參閱圖7、8、9,整理上述例 子’以理論電流量為1安培’且理論電流區間為09〜Κ1安 培為例，則判定的結果將有下列四種情況： (I )當該電、"it· 1低於0 · 9安培時（或是在該判定時間 結束後仍低於0.9安培），該控制器942判斷該馬達91因其 - 他不明因素造成負載變小，因此’該控制器942會減少該驅 動電路92内之電流量’以降低該馬達速度至該目標速度； (Π )當該電流量在0.9~ 1 · 1安培範圍内時（或是直到 該判定時間結束後仍保持於0.9〜1.1安培之間），判定該馬 11 200947846 達負載符合該理論負載值；及 (III)當該電流量超過hl安培時（或是在該判定時間 結束後仍超過1_1安培）’該控制器942判斷該馬達91發生 因環境因素或是負載變動不平均等情形，導致負載變大， 因此，該控制器942將會加大該驅動電路92内之電流量， 以提高馬達速度至一預設於該控制器942内之目標速度。 值得注意的是，當該驅動電流變化量大於該設定電流 ❹ 變化量時，也可以依需要執行上述比較。 . 如圖1G所示’本發明之自動时控制方法的較佳實施 例包含以下步驟： 步驟81是該控制器942啟動該驅動電路％以驅動該 馬達91 ’並進而帶動該電動窗9〇 ; 步驟82是該位置感測器931偵測該馬達91的位置； 步驟83疋该轉換器941根據該位置感測器％丨測得之 該馬達91位置’將其轉換為該電動窗9〇的位置； Ο 步驟84疋該控制器942根據該電動窗90的位置判斷 4電動® 90是否位於防夾區，若騎結果為是則執行步 驟85 ’否則跳回至步驟82 ; v驟85疋控制器942判斷目前該位置感測器931及該 電桃感測器932是否處於正常狀態，若判斷結果為是，則 執行步驟86，否則執行步驟851 ; 步驟851 I表示該位置感測器931或該電流感測器932 已&無法正常工作’因此’該控制器942會發出警告訊息 以知會使用者，並跳至步驟8〇; 12 200947846 步驟86是該電流感測器932偵測該驅動電路92之電 流量； 步驟871是該控制器942判斷該電流量是否大於該暫 存器943内之前次電流量，若是，執行步驟872，若否，則 跳至步驟88 ; 步驟872是該控制器942將根據該電流量與前次電流 量之差值，計算出該驅動電流變化量； 步驟873是該控制器942判斷該驅動電流變化量是否The position is compared with a position of the anti-pinch zone preset in the controller 942. When the controller 942 determines that the power window 90 enters the anti-pinch zone, the controller will use the current sensor 932. The amount of incoming current is compared with the previous current amount in the register 943. When the current amount is less than the previous current amount stored in the register 943, 'the motor load is less than a theoretical load value, so the The motor 91 operates in a normal state. When the current amount is greater than the previous current amount stored in the register 943, it indicates that the motor 91 load is greater than the theoretical load value, and the current amount is compared with the register 943. The difference in the previous current amount is used as a driving current variation amount and compared with a set current variation amount preset in the controller 942. • When the amount of change in the drive current is greater than the set current change amount, the representative = three-point load heart speed becomes larger, which means that the motor 91 is operating in an abnormal state, = the situation where the foreign object is caught 'so that's the control _ 942 will drive the motor 91 to stop or reverse through the drive circuit 92. When the amount of change in the drive current is less than the amount of change in the set current, it means that 2 = can be caused by environmental factors (such as too high a degree), and the load is slightly increased due to the influence of the negative motor, so the horse is judged 200947846 91 is still operating under normal conditions. It is worth mentioning that the set current change amount of the motor can be designed to have different precision values according to the automatic anti-pinch device 9 installed on different articles. For example, on the car window system, it is necessary to compare High precision to judge whether the window has caught in the human body. Therefore, the set current change amount can be taken to the second place below the decimal level, and if it is on the factory production line, it is used to judge whether there is a problem due to the conveyance process. The product produced in sequence is blocked by the conveyor belt, because the critical situation of clamping the human body does not occur, and the accuracy can be reduced. Therefore, the set current change amount can only take the single digit ' and the decimal can be ignored. The error in the number of digits. In addition, referring to FIG. 3, since the effect caused by the uneven variation of the motor load is slow and continuous, as long as the normal situation (that is, the drive current change 篁 has been grafted less than the set current change amount, Or determining that the current amount is less than the previous current amount), determining whether the motor load is normal within a period of time, and the false positive rate can be effectively reduced. Therefore, when the driving current change amount is less than the set current change amount, the controller 942 The current amount and the theoretical current amount preset in the controller 942 are continuously compared according to a determination time preset in the controller 942. The theoretical current amount is not based on the motor load due to old or other Under the premise of changing the influence of environmental factors, (4) Estimating (4) Theoretical values, referring to Figures 4, 5 and 6, together, the comparison results may have the following three cases: (1) In the determination time, the current amount can be equal to the theoretical current. Quantity, and can maintain the theoretical current amount until the end of the determination time, it means that the motor does not change due to its (four), so it is judged Up to 10 200947846 The load meets the theoretical load value; (2) When the current amount continues to exceed the theoretical current amount after the end of the determination time, the controller 942 determines that the motor 91 is due to environmental factors or is old. In this case, the load is increased. Therefore, the controller 942 will increase the amount of current in the drive circuit 92 to increase the motor speed to a target speed preset in the controller 942; and (3) when After the end of the determination time, if the current amount is less than the theoretical current amount of the set φ, the controller 942 determines that the load of the motor 91 is reduced due to other unknown factors, and therefore, the controller 942 reduces the current in the drive circuit 92. A quantity to reduce the motor speed to the target speed. In addition, it is considered that there may be a component error (such as a clock jitter effect) in the circuit to affect the accuracy of the current sensor 932. Therefore, the theoretical current amount can also be set to be a theoretical current interval. (eg: take 10% as the error range)' to allow for the appropriate error. For example • If the theoretical current value is 1 amp, the theoretical current interval can be preset to Q OH.1 amps. Therefore, referring to Figures 7, 8, and 9, together with the above example 'with a theoretical current of 1 ampere' and a theoretical current interval of 09 to Κ 1 amp, the results of the determination will have the following four cases: (I) When the electric power "it·1 is lower than 0.9 ampere (or less than 0.9 amp after the end of the determination time), the controller 942 determines that the motor 91 has a small load due to its unknown factor. Therefore, 'the controller 942 will reduce the amount of current in the drive circuit 92' to lower the motor speed to the target speed; (Π) when the current amount is in the range of 0.9 to 1 · 1 amp (or until the determination) At the end of the time, it remains between 0.9 and 1.1 amps, and it is determined that the horse 11 200947846 reaches the load in accordance with the theoretical load; and (III) when the current exceeds hl amps (or exceeds the end of the determination time) 1_1 amps. 'The controller 942 determines that the motor 91 is uneven due to environmental factors or load fluctuations, and the load is increased. Therefore, the controller 942 will increase the amount of current in the drive circuit 92 to Increase motor speed to a preset Within the target speed controller 942. It is worth noting that when the amount of change in the drive current is greater than the set current ❹ change amount, the above comparison can also be performed as needed. As shown in FIG. 1G, the preferred embodiment of the automatic time control method of the present invention comprises the following steps: Step 81: The controller 942 activates the drive circuit % to drive the motor 91' and thereby drive the power window 9; Step 82 is that the position sensor 931 detects the position of the motor 91; Step 83: The converter 941 converts the position of the motor 91 according to the position sensor % 将 to convert it into the power window 9 〇 Position ; Step 84 疋 The controller 942 determines whether the 4 electric® 90 is located in the anti-pinch zone according to the position of the power window 90, and if the riding result is yes, performs step 85 'otherwise jumps back to step 82; v The device 942 determines whether the position sensor 931 and the electric peach sensor 932 are in a normal state. If the determination result is yes, step 86 is performed; otherwise, step 851 is performed; step 851 I indicates the position sensor 931 or The current sensor 932 has & is not working properly. Therefore, the controller 942 will issue a warning message to inform the user and jump to step 8; 12 200947846 Step 86 is the current sensor 932 detects the drive. The amount of current of circuit 92; Step 871 is to determine whether the current amount is greater than the previous current amount in the register 943. If yes, go to step 872. If no, go to step 88. Step 872 is that the controller 942 will be based on the current. The difference between the amount and the previous current amount is calculated, and the amount of change in the driving current is calculated. Step 873 is whether the controller 942 determines whether the amount of change in the driving current is
D 大於一預設之設定電流變化量，若否，則執行步驟88，若 是，表示馬達負載急速變大，則跳至步驟80 ; 步驟88是該控制器942判斷該電流量是否等於一預設 之理論電流量（或是介於一預設之理論電流區間），若是， 跳回至步驟82，若否，則繼續執行步驟89 ; 步驟89是該控制器942根據判定結果以控制該驅動電 路92之電流量，進而調整該馬達速度至一預設之目標速度 ^ ，然後跳回至步驟82 ;及 〇 步驟80是表示該馬達91操作於異常狀態下，因此該控 制器942控制該驅動電路92，以驅動該馬達91反轉或是停 止。 值得注意的是，步驟88中也可以藉由如上述所說的設 定一判定時間，以在這判定時間中再進一步判斷馬達負載 是正常、太大還是太小，然後再據此選擇跳到步驟82或89 〇 值得注意的是，以上實施例中的馬達91可為一種無刷 13 200947846 馬達也可為—種有刷馬達。 根據上述說明，本發明確實可以達到以下幾項優點： 一、當馬達91因夾住異物導致電流大幅上升時，利用 偵測驅動電流變化量來偵測，可以較習知以電流 門檻值之判斷方式更快判定出是異常情形，因此 ’判斷的靈敏度較習知之設計更高； 二'可以降低因馬達及機構老舊所導致驅動電流量變 ❹ 大，進而發生誤判的機率； " 二、本發明可以根據該驅動電路92電流量的大小提供 速度調整的功能，當該電流量大於該理論電流量 時’即自動加大該驅動電路92電流量，以加快馬 達速度至目標速度，當該電流量小於該理論電流 量時，即自動減少該驅動電路92電流量，以降低 馬達速度至目標速度；及 四、相較於習知之設計，本發明僅僅需要一暫存器943 ◎ 而不需要設置大量的記憶體，因此，可以降低記 憶體因複雜的讀取機制所造成因讀取錯誤而產生 誤判的風險，亦可以減少生產成本。 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】 14 200947846 圖1是一習知之自動防夾裝置之方塊圖； 圖2是本發明自動防夾裝置之較佳實施例的方塊圖； 圖3是該較佳實施例之判定馬達狀態圖； _圖4是在該判定時間内該電流量等於該理論電流量之 示意圖； _圖5疋在該判定時間内該電流量過大而需進行調整之 示意圖； ❹D is greater than a preset set current change amount. If not, step 88 is performed. If yes, indicating that the motor load is rapidly increasing, then the process goes to step 80; in step 88, the controller 942 determines whether the current amount is equal to a preset. The theoretical current amount (or between a predetermined theoretical current interval), if yes, jump back to step 82, if not, proceed to step 89; step 89 is that the controller 942 controls the driving circuit according to the determination result. The amount of current of 92, and then the motor speed is adjusted to a predetermined target speed ^, and then jumps back to step 82; and step 80 indicates that the motor 91 is operating in an abnormal state, so the controller 942 controls the drive circuit 92, to drive the motor 91 to reverse or stop. It should be noted that, in step 88, by setting a determination time as described above, it is further determined in the determination time whether the motor load is normal, too large or too small, and then according to the selection, jump to the step. 82 or 89 〇 It is worth noting that the motor 91 in the above embodiment may be a brushless 13 200947846 motor or a brush motor. According to the above description, the present invention can achieve the following advantages: 1. When the motor 91 causes a large increase in current due to the clamping of foreign matter, the detection of the amount of change in the detected driving current can be determined by the current threshold value. The method is faster to determine that it is an abnormal situation, so the sensitivity of the judgment is higher than that of the conventional design; the second one can reduce the probability that the amount of driving current is large due to the old motor and the mechanism, and then the probability of misjudgment occurs; " The invention can provide a speed adjustment function according to the magnitude of the current of the driving circuit 92. When the current amount is greater than the theoretical current amount, the amount of current of the driving circuit 92 is automatically increased to accelerate the motor speed to the target speed when the current When the amount is less than the theoretical current amount, the current amount of the driving circuit 92 is automatically reduced to reduce the motor speed to the target speed; and 4. Compared with the conventional design, the present invention only needs a register 943 ◎ without setting A large amount of memory, therefore, can reduce the misjudgment of memory due to a reading error caused by a complicated reading mechanism Risk can also reduce production costs. 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 a preferred embodiment of the automatic anti-pinch device of the present invention; FIG. 3 is a determination of the preferred embodiment. Motor state diagram; _ Figure 4 is a schematic diagram of the current amount equal to the theoretical current amount during the determination time; _ Figure 5 is a schematic diagram of the current amount being too large to be adjusted during the determination time;
一 是在該判定時間内該電流量過小而需進行調螫之 示意圖； 4啊正〜 圖7 之示意圖 是在5亥判定時間内該電流量符合該理論電流區間 而命雄疋在該判定時間内該電流量超過該理論電流區間 仃調整之示意圖； 而需進行定時間内該電流量低於該理論電流區間 调整之示意圖；及 圖10是本發日月ώ 4 月自動防夾控制方法的流程圖。 15 200947846 【主要元件符號說明】 8 0〜8 6 步驟 93·"· .....感測单元 851 * * * * 步驟 931 * *…·位置感測器 871-873 步驟 932 …·電流感測器 8 8 〜8 9 " 步驟 94 · · .....控制單元 自動防夾裝置 941 · •…·轉換器 $ 〇 «♦»♦»*!(«?! 電動窗 942 · •…·控制器 91 *»»***»»· 馬達 943 ** …"暫存器 9 2 *#<♦*♦*♦»♦ 驅動電路 ❹ 16First, the current amount is too small during the determination time, and the schematic diagram needs to be tuned; 4 ah positive ~ Figure 7 is a schematic diagram of the current amount in accordance with the theoretical current interval during the 5 Hz determination time. The current amount exceeds the theoretical current interval 仃 adjustment diagram; and the current amount is less than the theoretical current interval adjustment in a fixed time; and FIG. 10 is the automatic anti-pinch control method of the present month flow chart. 15 200947846 [Description of main component symbols] 8 0~8 6 Step 93·"· ..... Sensing unit 851 * * * * Step 931 * *...·Position sensor 871-873 Step 932 ...· Current Sensor 8 8 ~ 8 9 " Step 94 · · ..... Control unit automatic anti-pinch device 941 · •...·Transducer $ 〇«♦»♦»*!(«?! Power window 942 · • ...·Controller 91 *»»***»»· Motor 943 ** ..."Register 9 2 *#<♦*♦*♦»♦ Drive Circuit ❹ 16