JP2007016463A - Opening-closing control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an opening-closing control device capable of preventing an erroneous determination of nipping by a simple means even if a vibration period and a motor rotating period are not synchronized. <P>SOLUTION: ON/OFF of a switch 82b is controlled by arranging a zero cross detecting part 84 outputting a zero cross signal in the predetermined timing when a value of acceleration detected by an acceleration sensor exists in the vicinity of zero. When the acceleration sensor 7 detects the acceleration of a predetermined value or more, a speed value detected by a rotating speed detecting part 81 is imparted to a variation calculating part 83 via the switches 82a and 82b at the time when the switch 82b is turned on by the zero cross signal. The variation calculating part 83 calculates a variation in a rotating speed by using this speed value, and a nipping determining part 85 determines the nipping by comparing this variation with a threshold value. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an opening / closing control device that controls opening / closing of a window of a vehicle or the like.

  BACKGROUND ART A window opening / closing control device (hereinafter referred to as “power window device”) used in an automobile is a device that opens and closes a window by moving a motor forward or backward by operating a switch to raise and lower a window glass of a door. FIG. 1 is a block diagram showing an electrical configuration of the power window device. 1 is an operation switch for opening and closing the window, 2 is a motor drive circuit for driving the motor 3, 4 is a rotary encoder that outputs a pulse synchronized with the rotation of the motor 3, and 5 is a pulse output from the rotary encoder 4. 6 is a memory composed of ROM, RAM, etc., 7 is an acceleration sensor for detecting acceleration due to vibration or impact applied to the vehicle body, and 8 is a control unit comprising a CPU for controlling the opening / closing operation of the window. is there.

  When the operation switch 1 is operated, a window opening / closing command is given to the control unit 8, and the motor 3 is rotated forward or backward by the motor drive circuit 2. By the rotation of the motor 3, the window opening / closing mechanism interlocked with the motor 3 is operated to open / close the window. The pulse detection circuit 5 detects the pulse output from the rotary encoder 4, and the control unit 8 calculates the opening / closing amount of the window and the motor speed based on the detection result, and rotates the motor 3 via the motor drive circuit 2. Control.

  FIG. 2 is a schematic configuration diagram illustrating an example of the operation switch 1. The operation switch 1 includes an operation knob 11 that can rotate in the ab direction around the axis Q, a rod 12 that is provided integrally with the operation knob 11, and a known slide switch 13. Reference numeral 14 denotes an actuator of the slide switch 13, and 20 denotes a cover of a switch unit in which the operation switch 1 is incorporated. The lower end of the rod 12 is engaged with the actuator 14 of the slide switch 13, and when the operation knob 11 rotates in the ab direction, the actuator 14 moves in the cd direction via the rod 12, and slides according to the moving position. A contact (not shown) of the switch 13 is switched.

  The operation knob 11 can be switched to each position of auto close AC, manual close MC, neutral N, manual open MO, and auto open AO. FIG. 2 shows a state in which the operation knob 11 is in the neutral N position. When the operation knob 11 is rotated by a certain amount in the direction a from this position to the manual closing MC position, a manual closing operation for closing the window is performed manually, and the operation knob 11 is further rotated in the direction a from this position. When the auto-close AC position is set, the auto-close operation is performed to close the window by the auto-operation. Further, when the operation knob 11 is rotated by a certain amount in the b direction from the neutral N position to the manual opening MO position, a manual opening operation is performed in which the window is opened manually, and the operation knob is further moved in the b direction from this position. When 11 is rotated to the auto-open AO position, an auto-open operation is performed in which the window is opened by auto operation. The operation knob 11 is provided with a spring (not shown), and when the hand is released from the rotated operation knob 11, the operation knob 11 returns to the neutral N position by the force of the spring.

  In the case of manual operation, the operation of closing or opening the window is performed only while the operation knob 11 is held by hand in the position of manual closing MC or manual opening MO, and the knob is neutral by releasing the hand from the operation knob 11. When returning to the N position, the window closing or opening operation stops. On the other hand, in the case of the automatic operation, once the operation knob 11 is rotated to the position of the auto-close AC or auto-open AO, after that, the hand is released from the operation knob 11 and the knob returns to the neutral N position. The window closing operation or opening operation is continuously performed.

  FIG. 3 is a view showing an example of a window opening / closing mechanism provided in each window of the vehicle. Reference numeral 100 denotes an automobile window, 101 denotes a window glass for opening and closing the window 100, and 102 denotes a window opening / closing mechanism. The window glass 101 moves up and down by the operation of the window opening / closing mechanism 102, the window 100 is closed when the window glass 101 is raised, and the window 100 is opened when the window glass 101 is lowered. In the window opening / closing mechanism 102, 103 is a support member attached to the lower end of the window glass 101. 104 is a first arm whose one end is engaged with the support member 103, and the other end is rotatably supported by the bracket 106. 105 is one end engaged with the support member 103, and the other end is engaged with the guide member 107. Second arm. The 1st arm 104 and the 2nd arm 105 are connected via the axis | shaft in each intermediate part. 3 is the motor described above, and 4 is the rotary encoder described above. The rotary encoder 4 is connected to the rotating shaft of the motor 3 and outputs a number of pulses proportional to the amount of rotation of the motor 3. The rotational speed of the motor 3 can be detected by counting the pulses output from the rotary encoder 4 within a predetermined time. Further, the amount of rotation of the motor 3 (the amount of movement of the window glass 101) can be calculated from the output of the rotary encoder 4.

  Reference numeral 109 denotes a pinion that is rotationally driven by the motor 3, and 110 denotes a fan-shaped gear that meshes with the pinion 109 and rotates. The gear 110 is fixed to the first arm 104. The motor 3 can rotate in the forward and reverse directions, and rotates the pinion 109 and the gear 110 by rotating in the forward and reverse directions to rotate the first arm 104 in the forward and reverse directions. Following this, the other end of the second arm 105 slides laterally along the groove of the guide member 107, and the support member 103 moves up and down to raise and lower the window glass 101, thereby opening and closing the window 100. .

  In the power window device as described above, when the operation knob 11 is at the position of the automatic closing AC in FIG. 2 and the automatic closing operation is performed, a function of detecting the object pinching is provided. That is, as shown in FIG. 4, when the object Z is caught in the gap between the window glasses 101 while the window 100 is closed, this is detected and the closing operation of the window 100 is stopped or switched to the opening operation. It has become. Since the window 100 automatically closes during automatic closing, it is necessary to prevent the human body from being harmed by prohibiting the closing when a hand or neck is accidentally pinched. A detection function is provided. In detecting pinching, the control unit 8 reads the rotation speed of the motor 3 that is the output of the pulse detection circuit 5 as needed, compares the current rotation speed with the previous rotation speed, and determines the pinching based on the comparison result. Determine presence or absence. When the object Z is caught in the window 100, the load on the motor 3 increases and the rotational speed decreases, so that the speed fluctuation amount increases, and when the speed fluctuation quantity exceeds a predetermined threshold, the object Z Is determined to have been sandwiched. The threshold value is stored in the memory 6 in advance.

  By the way, the fluctuation of the rotation speed of the motor 3 occurs not only due to the foreign object being caught, but also due to vibration when the door is closed or vibration when traveling on a rough road. When the rotational speed fluctuates due to such vibrations, it may happen that the foreign object is erroneously determined to be opened and the window is opened even though the foreign object is not interposed.

As a countermeasure against this, in Patent Document 1 below, an acceleration sensor that detects acceleration applied to the window glass is provided, and a determination value obtained by adding a motor load generated with the generation of the acceleration based on the acceleration detected by the acceleration sensor. There has been proposed a power window device in which (threshold) is calculated and pinching determination is performed using this determination value, thereby eliminating the influence of load due to acceleration and preventing erroneous determination. Patent Document 2 and Patent Document 3 also describe techniques for preventing erroneous determination by changing the pinching determination condition by detecting acceleration with an acceleration sensor.
Japanese Patent Laid-Open No. 9-224388 JP 7-293113 A JP 2002-144864 A

  The acceleration sensor as described above detects acceleration based on the vibration of the window glass that occurs when the door is closed or the vehicle travels on a rough road. Therefore, in the power window device of Patent Document 1, in order to remove the influence of the load due to acceleration, it is necessary to synchronize between the vibration period and the motor rotation period (pulse period). However, since the vibration modes are various, how the motor rotation speed changes when vibration occurs is case by case. For example, the rotation of the motor after the vibration occurs. The time until the number changes also changes according to the situation at that time. Therefore, it is extremely difficult to synchronize the vibration cycle and the motor rotation cycle, and the influence of the load caused by the acceleration cannot be removed, and an erroneous determination of pinching may occur. Further, according to the method of Patent Document 1, complicated calculation processing is required to obtain the determination value. No countermeasures against such a problem are described in Patent Document 2 and Patent Document 3.

  Accordingly, an object of the present invention is to provide an open / close control device that can prevent erroneous determination of pinching by simple means without synchronizing the vibration cycle and the motor rotation cycle.

  In the present invention, detection means for detecting the rotational speed of a motor for opening and closing the opening / closing body and whether or not a foreign object has been caught in the opening / closing body are determined based on the amount of change in the rotational speed detected by the detection means. In an opening / closing control device having a determination means, a control means for controlling a motor according to a determination result of the determination means, and an acceleration sensor for detecting an acceleration applied to the opening / closing body, an acceleration value detected by the acceleration sensor is near zero In this case, there is provided an extracting means for extracting the amount of change in the rotational speed of the motor at a predetermined timing. Then, the determining means determines the pinching based on the amount of change in the rotational speed extracted by the extracting means.

  The rotation speed of the motor may be detected by counting the number of pulses generated in synchronization with the rotation of the motor within a certain time, or may be detected by measuring the period of the pulse. The change amount of the rotational speed may be a difference between the current rotational speed and the past rotational speed, or may be a variation rate of the current rotational speed with respect to the past rotational speed. As a method for controlling the motor when pinching is detected, the motor may be rotated in reverse to open the window, or the motor may be stopped and the window may be prohibited from closing. Alternatively, once the motor is stopped and the window is prohibited from closing, the window may be opened by reversing the motor. Whether or not the acceleration value is near zero can be determined by setting a threshold value. For example, by setting threshold values on the + side and − side with respect to the acceleration value and treating the area between both threshold values as near zero, if the acceleration value is within the area, it is determined that the area is near zero. If not, it can be determined that it is not near zero. When the acceleration value is near zero, the timing for extracting the amount of change in the rotation speed of the motor is delayed by a certain time from the time when the acceleration value becomes near zero because the rotation speed fluctuates behind the acceleration. However, it is also possible to extract the amount of change in the rotational speed when the acceleration value becomes near zero.

  In the present invention, the amount of change in the rotational speed is extracted in accordance with the acceleration being close to zero, and the pinching is determined based on this, so fluctuations in the rotational speed when the acceleration is large are ignored. For this reason, even if the motor speed fluctuates greatly due to vibrations that occur when the door is closed or when driving on rough roads, the speed change amount used for pinching determination becomes a small value that exceeds the threshold value. There is no. For this reason, erroneous determination of pinching can be prevented without synchronizing the vibration period and the motor rotation period, or without performing complicated calculation processing to obtain a determination value (threshold value).

  In the present invention, the same function can be obtained by detecting the moving amount of the opening / closing body instead of detecting the rotational speed of the motor. In this case, the detection means detects the movement amount of the opening / closing body instead of the rotation speed of the motor, and the extraction means detects the opening / closing body at a predetermined timing when the acceleration value detected by the acceleration sensor is near zero. Extract the amount of movement change. Then, the determination unit determines the pinching based on the change amount of the movement amount extracted by the extraction unit.

  According to the present invention, it is possible to prevent erroneous determination of pinching due to vibration by simple means without synchronizing the vibration period and the motor rotation period.

  Next, an embodiment of the present invention will be described with reference to the drawings. In the following, FIGS. 1 to 4 described in the background art section are cited as embodiments of the present invention. FIG. 1 is a block diagram showing an electrical configuration of a power window device according to an embodiment of the present invention. The control unit 8 constitutes a control means in the present invention. FIG. 2 is a schematic configuration diagram illustrating an example of the operation switch. FIG. 3 is a view showing an example of a window opening / closing mechanism provided in each window of the vehicle. FIG. 4 is a diagram showing a state where an object is sandwiched in the window in FIG. Since each of these figures has already been described, redundant description is omitted here.

  FIG. 5 shows a pinching detection block in the first embodiment of the present invention. This pinching detection block is provided in the control unit 8 and is shown here as a hardware circuit for convenience, but in practice the function of each circuit is realized by software. Of course, the pinch detection block may be configured by a hardware circuit. The same applies to the second and subsequent embodiments described later.

  In FIG. 5, reference numeral 81 denotes a rotation speed detection unit that detects the rotation speed of the motor 3, and detects the rotation speed by counting the number and period of pulses output from the pulse detection circuit 5 of FIG. . The rotational speed detector 81 constitutes a detecting means in the present invention. 82 a is a switch provided between the rotation speed detection unit 81 and the change amount calculation unit 83, and the output of the rotation speed detection unit 81 is changed to the change amount calculation unit 83 side according to the output of the acceleration sensor 7. And switch to the switch 82b side for output. The switch 82 b is provided between the switch 82 a and the change amount calculation unit 83 and is turned ON / OFF by a zero cross signal from the zero cross detection unit 84. The change amount calculation unit 83 calculates the change amount of the rotation speed based on the output of the rotation speed detection unit 81. When detecting that the acceleration value output from the acceleration sensor 7 is near zero, the zero-cross detection unit 84 outputs a zero-cross signal with a delay of a predetermined timing. The switches 82a and 82b, the change amount calculation unit 83, and the zero cross detection unit 84 constitute extraction means in the present invention. The pinching determination unit 85 compares the speed change amount output from the change amount calculation unit 83 with a predetermined threshold value stored in the memory 6 (FIG. 1), and pinches depending on whether the speed change amount is equal to or greater than the threshold value. Is determined, and a control signal corresponding to the presence or absence of pinching is output to the motor drive circuit 2. This pinching determination unit 85 constitutes a determination unit in the present invention.

  The switch 82a is switched by the output of the acceleration sensor 7. When the acceleration sensor 7 has not detected an acceleration greater than or equal to a predetermined value, the contact point of the switch 82a is at the solid line position in the figure, and the output of the rotational speed detection unit 81 is directly sent to the change amount calculation unit 83 via the switch 82a. Given. When the acceleration sensor 7 detects an acceleration equal to or higher than a predetermined value, the contact of the switch 82a is switched to the position of the broken line in the figure, and the output of the rotation speed detector 81 is given to the switch 82b. The switch 82b is switched by the output of the zero cross detector 84. When the zero-cross signal is not output from the zero-cross detector 84, the contact of the switch 82b is at the solid line position in the figure, and the switch 82b is in the OFF state. At this time, even if the contact of the switch 82a is at the position of the broken line due to the output of the acceleration sensor 7, the output of the rotational speed detection unit 81 is not given to the change amount calculation unit 83 because the switch 82b is in the OFF state. On the other hand, when a zero cross signal is output from the zero cross detector 84, the contact of the switch 82 is switched to the position of the broken line in the figure, and the switch 82b is turned on. Thereby, the output of the rotation speed detection unit 81 is given to the change amount calculation unit 83 via the switches 82a and 82b.

  FIG. 6A is a time chart for explaining the operation of zero crossing in the present invention. The output waveform of the acceleration sensor 7 is, for example, a vibration waveform as shown in (b). The control unit 8 detects this acceleration at a timing for each control cycle T shown in (a). The control period T is determined by the timer value of an internal timer provided in the control unit 8. In the zero-cross detection unit 84, zero-cross thresholds K and -K as shown by the broken line in (b) are set for the output of the acceleration sensor. When the acceleration value α is in a range of −K ≦ α ≦ K, the acceleration value α is handled as a value near zero. When the acceleration value α is in the range of α <−K or K <α, the acceleration value α is not handled as a value near zero. (C) has shown the zero cross signal output from the zero cross detection part 84, and this is mentioned later. The rotation speed of the motor 3 fluctuates with a time delay from the acceleration as shown by the broken line in (d). Note that when the rotational speed detection unit 81 detects the speed based on the rise or fall of the output pulse of the rotary encoder 4, the interval and width of the pulses become irregular when the rotational speed fluctuates. Although the speed is not detected at every timing for each period T, in (d), the speed is detected at every timing for easy understanding.

  If the acceleration value α is a value near zero, as shown in FIG. 6A (c), a zero cross signal is output from the zero cross detector 84 with a delay of T (control cycle) from the time at this time. The switch 82 b is turned on by this zero cross signal, and the rotation speed of the motor 3 detected by the rotation speed detector 81 is given to the change amount calculator 83. In FIG. 6A (d), the detection speed of the rotation speed detection unit 81 at this time is indicated by a black circle. That is, this black circle represents the rotational speed of the motor 3 extracted based on the fact that the acceleration value was near zero at the previous time, and represents the rotational speed used for pinching detection. The reason why the acceleration value at the previous time is used as a reference is that the rotational speed of the motor 3 fluctuates behind the acceleration as described above. However, this is only one embodiment, and the acceleration value at the previous time may be used as a reference. Alternatively, without providing a delay time for the zero cross signal, the zero cross signal may be output at the time when the acceleration becomes a value near zero, and the rotational speed of the motor 3 at that time may be extracted. The change amount calculation unit 83 takes in the rotation speed of the black circles to calculate the speed fluctuation amount, and the pinching determination unit 85 determines pinching based on the fluctuation amount as described above.

  On the other hand, if the acceleration value α is not a value close to zero, the zero-cross signal is not output from the zero-cross detection unit 84 even if the time T has elapsed from this time, so that the switch 82b is turned off and the rotation speed detection unit 81 is turned off. The rotation speed of the motor 3 detected in (3) is not given to the change amount calculation unit 83. In FIG. 6A (d), the detection speed of the rotation speed detection unit 81 at this time is indicated by a white circle. That is, this white circle represents the rotational speed of the motor 3 that is ignored based on the fact that the acceleration value was not near zero at the previous time, and is not used for pinching detection.

  As can be seen from FIG. 6A (d), the rotational speed (white circle) of the motor 3 corresponding to the acceleration not near zero fluctuates greatly due to the influence of the acceleration, whereas the motor corresponding to the acceleration near zero. The rotation speed 3 (black circle) is not easily affected by acceleration and has a small fluctuation. Therefore, by extracting only the rotation speed corresponding to the acceleration in the vicinity of zero, the rotation speed with a large fluctuation is ignored, and the change amount calculation unit 83 calculates the change amount of the rotation speed based on the speed value with a small fluctuation. . As a result, the speed change amount calculated by the change amount calculation unit 83 is a small value. Therefore, even if the rotation speed of the motor 3 fluctuates greatly due to acceleration, the amount of change in speed used for the pinching determination is small, so that the amount of change does not exceed the threshold value. Can be avoided.

  FIG. 6B is a time chart when the rotation speed is interpolated. About (a)-(c), it is the same as that of the case of FIG. 6A. In FIG. 6B, as shown in (d), it uses the interpolation value like a gray circle in the area of the rotation speed of a white circle. Then, pinch determination is performed. As the interpolation value in each section, for example, the value of the immediately preceding rotation speed (black circle) is used. By doing in this way, even if all the rotation speeds of the white circles are ignored, the rotation speed used for pinching determination does not become discontinuous, so that pinching determination accuracy can be improved.

  FIG. 7 is a flowchart showing the basic operation of the power window device. This flowchart is common to each embodiment. If the operation switch 1 is in the manual closing MC position in step S1, the manual closing operation is performed (step S2). If the operation switch 1 is in the auto closing AC position in step S3, the automatic closing operation is performed. If the operation switch 1 is in the manual opening MO position in step S5, the manual opening operation is performed (step S6). In step S7, the operation switch 1 is automatically opened. If it is at the position of AO, an automatic opening operation process is performed (step S8). If the operation switch 1 is not in the auto-open AO position in step S7, the operation switch 1 is in the neutral N position and no processing is performed. Details of steps S2, S4, S6, and S8 will be described below in order.

  8 and 9 are flowcharts showing the operation of the first embodiment. FIG. 8 shows a detailed procedure of the manual closing operation in step S2 of FIG. 7, and FIG. 9 shows a detailed procedure of the automatic closing operation in step S4 of FIG.

  First, the procedure of the manual closing operation in FIG. 8 will be described. This procedure is executed by the CPU constituting the control unit 8. First, it is determined based on the output of the rotary encoder 4 whether the window 100 is completely closed by the manual closing operation (step S11). If the window 100 is completely closed (step S11: YES), the process is terminated. If the window 100 is not completely closed (step S11: NO), a normal rotation signal is output from the motor drive circuit 2 to cause the motor 3 to rotate forward. The window 100 is closed (step S12). Subsequently, it is determined whether or not the window 100 is completely closed (step S13). If the window 100 is completely closed (step S13: YES), the process is terminated. If the window 100 is not completely closed (step S13: NO), the acceleration sensor It is determined whether or not the acceleration of 7 is greater than a predetermined value (step S14).

  In step S14, when the acceleration sensor 7 has not detected an acceleration greater than or equal to a predetermined value (step S14: NO), the process proceeds to step S16, and it is determined whether pinching has been detected. At this time, since the switch 82a is at the solid line position, the pinch determination unit 85 determines the amount of change in the rotational speed calculated by the change amount calculation unit 83 from the speed value detected by the rotational speed detection unit 81 and a predetermined threshold value. A comparison is made to determine pinching.

  In step S14, when the acceleration sensor 7 detects an acceleration equal to or greater than a predetermined value (step S14: YES), the rotational speed of the motor 3 is extracted in the vicinity of zero acceleration according to the principle described in FIG. 6A (step S15). . At this time, the switch 82a is at the position of the broken line, and the switch 82b is turned on based on the fact that the acceleration value has become close to zero. Therefore, among the rotational speeds detected by the rotational speed detector 81, FIG. Only the rotation speed indicated by a black circle in () is given to the change amount calculation unit 83. Thereafter, the process proceeds to step S16 to determine whether or not pinching has been detected. However, as described above, since the rotation speed of the black circle is small, the change amount of the rotation speed calculated by the change amount calculation unit 83 is determined. Since the value is small and does not exceed the threshold value, it is not erroneously determined that there has been a pinch.

  In step S16, when the object Z is caught as shown in FIG. 4 (step S16: YES), a reverse rotation signal is output from the motor drive circuit 2 to reverse the motor 3, and the window 100 is opened (step S16). S17). Thereby, the pinching is released. Then, it is determined whether or not the window 100 is completely opened (step S18). If the window 100 is completely opened (step S18: YES), the process is terminated. If not completely opened (step S18: NO), the process proceeds to step S17. Return to continue the reverse rotation of the motor 3.

  If pinching is not detected in step S16 (step S16: NO), it is determined whether or not the operation switch 1 is in the manual closing MC position (step S19). If the operation switch 1 is in the manual closing MC position (step S19: YES), the process returns to step S12 to continue normal rotation of the motor 3, and if it is not in the manual closing MC position (step S19: NO), the automatic closing is performed. It is determined whether or not the position is AC (step S20). If the operation switch 1 is in the auto-closed AC position (step S20: YES), the process proceeds to an auto-close process described later (FIG. 9) (step S21). It is determined whether or not the position is the manual opening MO position (step S22). If the operation switch 1 is in the manual opening MO position (step S22: YES), the process proceeds to the manual opening process described later (FIG. 10) (step S23), and if it is not in the manual opening MO position (step S22: NO), It is determined whether or not the automatic open AO is in the position (step S24). If the operation switch 1 is in the auto-open AO position (step S24: YES), the process proceeds to an auto-open process described later (FIG. 11) (step S25). If the operation switch 1 is not in the auto-open AO position (step S24). : NO), the process ends without any processing.

  Next, the procedure of the automatic closing operation in FIG. 9 will be described. This procedure is executed by the CPU constituting the control unit 8. First, it is determined based on the output of the rotary encoder 4 whether or not the window 100 is completely closed by the automatic closing operation (step S31). If the window 100 is completely closed (step S31: YES), the process is terminated. If the window 100 is not completely closed (step S31: NO), a normal rotation signal is output to the motor drive circuit 2 to cause the motor 3 to perform normal rotation. The window 100 is closed (step S32). Subsequently, it is determined whether or not the window 100 is completely closed (step S33). If the window 100 is completely closed (step S33: YES), the process is terminated. If the window 100 is not completely closed (step S33: NO), the acceleration sensor is detected. It is determined whether or not the acceleration of 7 is greater than or equal to a predetermined value (step S34).

  In step S34, when the acceleration sensor 7 has not detected an acceleration equal to or higher than the predetermined value (step S34: NO), the process proceeds to step S36, and it is determined whether pinching has been detected. At this time, since the switch 82a is at the solid line position, the pinch determination unit 85 determines the amount of change in the rotational speed calculated by the change amount calculation unit 83 from the speed value detected by the rotational speed detection unit 81 and a predetermined threshold value. A comparison is made to determine pinching.

  In step S34, when the acceleration sensor 7 detects an acceleration equal to or greater than a predetermined value (step S34: YES), the rotational speed of the motor 3 is extracted in the vicinity of zero acceleration according to the principle described in FIG. 6A (step S35). . At this time, the switch 82a is at the position of the broken line, and the switch 82b is turned on based on the fact that the acceleration value has become close to zero. Therefore, among the rotational speeds detected by the rotational speed detector 81, FIG. Only the rotation speed indicated by a black circle in () is given to the change amount calculation unit 83. Thereafter, the process proceeds to step S36, where it is determined whether pinching has been detected. As described above, since the rotation speed of the black circle is small, the change amount of the rotation speed calculated by the change amount calculation unit 83 is not detected. Since the value is small and does not exceed the threshold value, it is not erroneously determined that there has been a pinch.

  In step S36, when the object Z is caught as shown in FIG. 4 (step S36: YES), a reverse rotation signal is output from the motor drive circuit 2 to reverse the motor 3, and the window 100 is opened (step S36). S37). Thereby, the pinching is released. Then, it is determined whether or not the window 100 is completely opened (step S38). If the window 100 is completely opened (step S38: YES), the process is terminated. If not completely opened (step S38: NO), the process proceeds to step S37. Return to continue the reverse rotation of the motor 3.

  If pinching is not detected in step S36 (step S36: NO), it is determined whether or not the operation switch 1 is in the manual open MO position (step S39). If the operation switch 1 is in the manual opening MO position (step S39: YES), the process proceeds to the manual opening process described later (FIG. 10) (step S40), and if it is not in the manual opening MO position (step S39: NO), It is determined whether or not the automatic opening AO is in the position (step S41). If the operation switch 1 is in the auto-open AO position (step S41: YES), the process proceeds to an auto-open process described later (FIG. 11) (step S42). If the operation switch 1 is not in the auto-open AO position (step S41). : NO), returning to step S32, the motor 3 continues to rotate normally.

  In this way, in the above embodiment, only the rotational speed with a small fluctuation corresponding to the acceleration in the vicinity of zero is extracted, and the pinching is determined based on the amount of change in the rotational speed. Even if the rotational speed of the motor fluctuates greatly due to vibration generated when traveling on a road, the amount of change in rotational speed used for pinching determination is a small value and does not exceed the threshold value. For this reason, erroneous determination of pinching can be prevented without synchronizing the vibration period and the motor rotation period, or without performing complicated calculation processing to obtain a determination value (threshold value). Further, when there is no acceleration, the zero-crossing operation is not performed, so that when the foreign object is caught, the amount of change in the rotational speed exceeds the threshold value, so that the original pinching can be accurately detected.

  FIG. 10 is a flowchart showing the detailed procedure of the manual opening process (step S6 in FIG. 7), and FIG. 11 is a flowchart showing the detailed procedure of the automatic opening process (step S8 in FIG. 7). Each procedure is executed by the CPU constituting the control unit 8 and is common to each embodiment. None of these are features of the present invention, but will be described below.

  In the manual opening process of FIG. 10, first, it is determined based on the output of the rotary encoder 4 whether or not the window 100 is completely opened by the manual opening operation (step S51). If the window 100 is completely opened (step S51: YES), the process is terminated. If the window 100 is not completely opened (step S51: NO), a reverse signal is output from the motor drive circuit 2 to reverse the motor 3, and the window 100 Is opened (step S52). Subsequently, it is determined whether or not the window 100 is completely opened (step S53). If the window 100 is completely opened (step S53: YES), the processing is terminated. If the window 100 is not completely opened (step S53: NO), the operation switch It is determined whether 1 is in the position of manual opening MO (step S54). If the operation switch 1 is in the manual opening MO position (step S54: YES), the process returns to step S52 to continue the reverse rotation of the motor 3, and if it is not in the manual opening MO position (step S54: NO), the automatic opening AO It is determined whether it is in the position (step S55). If the operation switch 1 is in the auto-open AO position (step S55: YES), the process proceeds to the auto-open process described later (FIG. 11) (step S56), and if it is not in the auto-open AO position (step S55: NO), It is determined whether or not the position is the manual closing MC position (step S57). If the operation switch 1 is in the manual closing MC position (step S57: YES), the process proceeds to the manual closing process described above (FIG. 8) (step S58), and if it is not in the manual closing MC position (step S57: NO), It is determined whether or not the automatic close AC position is reached (step S59). If the operation switch 1 is in the auto-close AC position (step S59: YES), the process proceeds to the above-described auto-close process (step S60) (step S60), and if the operation switch 1 is not in the auto-close AC position (step S59). : NO), the process ends without any processing.

  Next, in the automatic opening process of FIG. 11, it is first determined based on the output of the rotary encoder 4 whether or not the window 100 is completely opened by the automatic opening operation (step S71). If the window 100 is completely opened (step S71: YES), the process is terminated. If the window 100 is not completely opened (step S71: NO), a reverse signal is output from the motor drive circuit 2 to reverse the motor 3, and the window 100 Is opened (step S72). Subsequently, it is determined whether or not the window 100 is completely opened (step S73). If the window 100 is completely opened (step S73: YES), the processing is terminated. If the window 100 is not completely opened (step S73: NO), the operation switch It is determined whether 1 is in the position of the manual closing MC (step S74). If the operation switch 1 is in the manual closing MC position (step S74: YES), the process proceeds to the manual closing process described above (FIG. 8) (step S75), and if it is not in the manual closing MC position (step S74: NO), It is determined whether or not the automatic close AC position is reached (step S76). If the operation switch 1 is in the auto-close AC position (step S76: YES), the process proceeds to the above-described auto-close process (step S77) (step S77), and if the operation switch 1 is not in the auto-close AC position (step S76). : NO), the process returns to step S72 and the reverse rotation of the motor 3 is continued.

  FIG. 12 shows a pinch detection block in the second embodiment of the present invention. In FIG. 12, the same parts as those in FIG. In FIG. 5, switches 82 a and 82 b are provided between the rotation speed detection unit 81 and the change amount calculation unit 83, but in FIG. 12, the switch 82 a is provided between the change amount calculation unit 83 and the pinch determination unit 85. , 82b are provided.

  When the acceleration sensor 7 has not detected an acceleration greater than or equal to a predetermined value, the contact point of the switch 82a is at the position of the solid line in the figure, and the output of the change amount calculation unit 83 is given to the pinch determination unit 85 as it is. The pinch determination unit 85 compares the change amount calculated by the change amount calculation unit 83 with a threshold value and determines pinching. When the acceleration sensor 7 detects an acceleration equal to or higher than a predetermined value, the contact of the switch 82a is switched to the position of the broken line in the figure, and the output of the change amount calculation unit 83 is given to the switch 82b. When the zero-cross signal is not output from the zero-cross detector 84, the contact of the switch 82b is at the solid line position in the figure, and the switch 82b is in the OFF state. At this time, even if the contact of the switch 82a is at the position of the broken line due to the output of the acceleration sensor 7, the output of the change amount calculation unit 83 is not given to the pinching determination unit 85 because the switch 82b is in the OFF state. On the other hand, when a zero cross signal is output from the zero cross detector 84, the contact of the switch 82 is switched to the position of the broken line in the figure, and the switch 82b is turned on. As a result, the output of the change amount calculation unit 83 is given to the pinching determination unit 85 via the switches 82a and 82b.

  When acceleration is applied, the switch 82a is switched to the position of the broken line, and a zero-cross signal is output from the zero-cross detection unit 84 with a certain delay from the time when the acceleration becomes near zero, and the switch 82b is turned on. At this timing, a change amount of the rotational speed is given from the change amount calculation unit 83 to the pinching determination unit 85 via the switches 82a and 82b. Since the amount of change is calculated based on the rotation speed with little fluctuation in the vicinity of zero, the value is small. Therefore, by appropriately setting the threshold value in the pinching determination unit 85, the amount of change in the rotation speed does not exceed the threshold value even if the acceleration is quite large, thereby pinching the fluctuation in the rotation speed due to the acceleration. Can be avoided. When there is no acceleration, the switch 82a is at the solid line position, and the output of the change amount calculation unit 83 is directly applied to the pinch determination unit 85. Therefore, when a foreign object is pinched, the amount of change in the rotational speed is the threshold value. Thus, the original pinching can be accurately detected.

  13 and 14 are flowcharts showing the operation of the second embodiment. FIG. 13 shows a detailed procedure of the manual closing operation in step S2 of FIG. 7, and FIG. 14 shows a detailed procedure of the automatic closing operation in step S4 of FIG.

  The flowchart of FIG. 13 differs from FIG. 8 only in that the amount of change in rotational speed is extracted instead of extracting the rotational speed near zero acceleration in step S15 of FIG. 8 (step S15a). Since the other points are exactly the same as those in FIG. 8, the same reference numerals are given to the steps for performing the same processing as in FIG.

  Further, the flowchart of FIG. 14 also shows that the amount of change in rotational speed is extracted (step S35a) instead of extracting the rotational speed near zero acceleration in step S35 of FIG. 9 (step S35a). Since only the differences are the same as in FIG. 9, the other steps are the same as those in FIG.

  FIG. 15 shows a pinch detection block in the third embodiment of the present invention. In FIG. 15, the same parts as those of FIG. In FIG. 5, the output of the rotation speed detection unit 81 is supplied to the change amount calculation unit 83 via the switches 82 a and 82 b. However, in FIG. 15, the movement amount detection unit is used instead of the rotation speed detection unit 81. 81a is provided, and the output of the movement amount detection unit 81a is provided to the change amount calculation unit 83 via the switches 82a and 82b. The movement amount detection unit 81 a detects the movement amount (the distance moved) of the window glass 101 based on the pulse from the pulse detection circuit 5. When the load applied to the motor 3 increases due to foreign matter being caught, the amount of movement of the window glass 101 driven by the motor 3 decreases and the change in the amount of movement increases. Based on the same principle, the pinching can be detected from the change in the amount of movement of the window glass. Further, the amount of movement of the window glass 101 varies depending on acceleration.

  When the acceleration sensor 7 has not detected an acceleration greater than or equal to a predetermined value, the contact point of the switch 82a is at the solid line position, and the output of the movement amount detection unit 81a is provided to the change amount calculation unit 83 as it is. The pinch determination unit 85 compares the change amount calculated by the change amount calculation unit 83 with a threshold value and determines pinching. When the acceleration sensor 7 detects an acceleration equal to or higher than a predetermined value, the contact of the switch 82a is switched to the broken line position, and the output of the movement amount detection unit 81a is given to the switch 82b. When the zero-cross signal is not output from the zero-cross detector 84, the contact of the switch 82b is at the solid line position, and the switch 82b is in the OFF state. At this time, even if the contact of the switch 82a is at the position of the broken line by the output of the acceleration sensor 7, the output of the movement amount detection unit 81a is not given to the change amount calculation unit 83 because the switch 82b is in the OFF state. On the other hand, when a zero-cross signal is output from the zero-cross detection unit 84, the contact of the switch 82b is switched to the broken line position, and the switch 82b is turned on. Thereby, the output of the movement amount detection unit 81a is given to the change amount calculation unit 83 via the switches 82a and 82b.

  When acceleration is applied, the switch 82a is switched to the position of the broken line, and a zero-cross signal is output from the zero-cross detection unit 84 with a certain delay from the time when the acceleration becomes near zero, and the switch 82b is turned on. At this timing, the movement amount of the window glass 101 is given from the movement amount detection unit 81a to the change amount calculation unit 83 via the switches 82a and 82b. Since the window glass movement amount at this time has a small variation corresponding to the acceleration near zero, similarly to the rotation speed of the motor 3, the amount of change in the window glass movement amount calculated by the change amount calculation unit 83 is The value is small. Therefore, by appropriately setting the threshold value in the pinching determination unit 85, even if the acceleration is quite large, the amount of change in the window glass movement amount does not exceed the threshold value. It is possible to avoid misjudging that the fluctuation of the pinch is caught. When there is no acceleration, the switch 82a is in the position of the solid line, and the output of the movement amount detection unit 81a is directly supplied to the change amount calculation unit 83. Therefore, when a foreign object is caught, the change in the movement amount of the window glass The amount exceeds the threshold, so that the original pinching can be accurately detected.

  16 and 17 are flowcharts showing the operation of the third embodiment. FIG. 16 shows the detailed procedure of the manual closing operation in step S2 of FIG. 7, and FIG. 17 shows the detailed procedure of the automatic closing operation in step S4 of FIG.

  The flowchart of FIG. 16 differs from FIG. 8 only in that the window glass movement amount is extracted instead of extracting the rotation speed near zero acceleration in step S15 of FIG. 8 (step S15b). Since the other points are exactly the same as those in FIG. 8, the same reference numerals are given to the steps for performing the same processes as in FIG.

  Also, the flowchart of FIG. 17 differs from FIG. 9 in that the window glass movement amount is extracted instead of extracting the rotation speed near zero acceleration in step S35 of FIG. 9 (step S35b). Since the other points are exactly the same as in FIG. 9, the same reference numerals are given to steps performing the same processing as in FIG.

  FIG. 18 shows a pinch detection block in the fourth embodiment of the present invention. 18, the same parts as those in FIG. 15 are denoted by the same reference numerals. In FIG. 15, switches 82 a and 82 b are provided between the movement amount detection unit 81 a and the change amount calculation unit 83, but in FIG. 18, the switch 82 a is provided between the change amount calculation unit 83 and the pinch determination unit 85. , 82b are provided.

  When the acceleration sensor 7 has not detected an acceleration greater than or equal to a predetermined value, the contact point of the switch 82a is at the position of the solid line in the figure, and the output of the change amount calculation unit 83 is given to the pinch determination unit 85 as it is. The pinch determination unit 85 compares the change amount calculated by the change amount calculation unit 83 with a threshold value and determines pinching. When the acceleration sensor 7 detects an acceleration equal to or higher than a predetermined value, the contact of the switch 82a is switched to the position of the broken line in the figure, and the output of the change amount calculation unit 83 is given to the switch 82b. When the zero-cross signal is not output from the zero-cross detector 84, the contact of the switch 82b is at the solid line position in the figure, and the switch 82b is in the OFF state. At this time, even if the contact of the switch 82a is at the position of the broken line due to the output of the acceleration sensor 7, the output of the change amount calculation unit 83 is not given to the pinching determination unit 85 because the switch 82b is in the OFF state. On the other hand, when a zero cross signal is output from the zero cross detector 84, the contact of the switch 82b is switched to the position of the broken line in the figure, and the switch 82b is turned on. As a result, the output of the change amount calculation unit 83 is given to the pinching determination unit 85 via the switches 82a and 82b.

  When acceleration is applied, the switch 82a is switched to the position of the broken line, and a zero-cross signal is output from the zero-cross detection unit 84 with a certain delay from the time when the acceleration becomes near zero, and the switch 82b is turned on. At this timing, a change amount of the window glass movement amount is given from the change amount calculation unit 83 to the pinch determination unit 85 via the switches 82a and 82b. Since the amount of change is calculated based on the amount of movement of the window glass with little fluctuation in the vicinity of zero, the value is small. Therefore, by appropriately setting the threshold value in the pinching determination unit 85, even if the acceleration is quite large, the amount of change in the window glass movement amount does not exceed the threshold value. It is possible to avoid misjudging that the fluctuation of the pinch is caught. Further, when there is no acceleration, the switch 82a is in the position of the solid line, and the output of the change amount calculation unit 83 is directly given to the pinch determination unit 85. Therefore, when the foreign object is pinched, the change amount of the window glass movement amount Exceeds the threshold value, so that the original pinching can be accurately detected.

  19 and 20 are flowcharts showing the operation of the fourth embodiment. FIG. 19 shows a detailed procedure of the manual closing operation in step S2 of FIG. 7, and FIG. 20 shows a detailed procedure of the automatic closing operation in step S4 of FIG.

  The flowchart of FIG. 19 shows that the amount of change in the window glass movement amount is extracted instead of extracting the window glass movement amount in the vicinity of zero acceleration in step S15b of FIG. 16 (step S15c). 16 are the same as those in FIG. 16 except for the points described above, and steps that perform the same processing as in FIG.

  Further, in the flowchart of FIG. 20, instead of extracting the window glass movement amount in the vicinity of zero acceleration in step S35b of FIG. 17, the amount of change in the window glass movement amount is extracted (step S35c). 17 is different from FIG. 17 in other respects and is exactly the same as FIG. 17. Therefore, the same reference numerals are given to steps for performing the same processing as in FIG.

  In the embodiment described above, the case where the present invention is applied to an apparatus for controlling opening / closing of a door window of a vehicle is taken as an example, but the present invention is not limited to this, the sun roof on the ceiling of the vehicle, the rear door of the vehicle, The present invention can be applied to a device that controls opening and closing of various opening and closing bodies such as building windows and building doors and doors.

It is the block diagram which showed the electric constitution of the power window apparatus which is embodiment of this invention. It is the schematic block diagram which showed an example of the operation switch. It is the figure which showed an example of the window opening / closing mechanism. It is a figure which shows the state by which the object was pinched | interposed into the window. It is a figure which shows the pinching detection block in 1st Embodiment of this invention. It is a time chart explaining operation | movement of the zero cross in this invention. It is a time chart in the case of performing rotation speed interpolation. It is the flowchart which showed the basic operation | movement of the power window apparatus. It is a flowchart showing the detailed procedure of the manual closing process in 1st Embodiment. It is a flowchart showing the detailed procedure of the automatic closing process in 1st Embodiment. It is a flowchart showing the detailed procedure of the manual opening process. It is a flowchart showing the detailed procedure of the automatic opening process. It is a figure which shows the pinching detection block in 2nd Embodiment of this invention. It is a flowchart showing the detailed procedure of the manual closing process in 2nd Embodiment. It is a flowchart showing the detailed procedure of the automatic closing process in 2nd Embodiment. It is a figure which shows the pinching detection block in 3rd Embodiment of this invention. It is a flowchart showing the detailed procedure of the manual closing process in 3rd Embodiment. It is a flowchart showing the detailed procedure of the automatic closing process in 3rd Embodiment. It is a figure which shows the pinching detection block in 4th Embodiment of this invention. It is a flowchart showing the detailed procedure of the manual closing process in 4th Embodiment. It is a flowchart showing the detailed procedure of the automatic closing process in 4th Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Operation switch 2 Motor drive circuit 3 Motor 4 Rotary encoder 5 Pulse detection circuit 6 Memory 7 Acceleration sensor 8 Control part 81 Rotational speed detection part 81a Movement amount detection part 82a, 82b Switch 83 Change amount calculation part 84 Zero cross detection part 85 Pinch determination Part 100 Window 101 Window glass 102 Window opening / closing mechanism Z Object

Claims (2)

Detecting means for detecting a rotation speed of a motor for opening and closing the opening and closing body;
Determination means for determining whether or not a foreign object is caught in the opening and closing body based on the amount of change in rotational speed detected by the detection means;
Control means for controlling the motor according to a determination result of the determination means;
An acceleration sensor for detecting acceleration applied to the opening and closing body;
In an open / close control device having
When the acceleration value detected by the acceleration sensor is in the vicinity of zero, an extraction unit that extracts the amount of change in the rotation speed of the motor at a predetermined timing is provided.
The opening / closing control apparatus according to claim 1, wherein the determining means determines the pinching based on the amount of change in the rotational speed extracted by the extracting means. The opening / closing control device according to claim 1,
The detection means detects the amount of movement of the opening and closing body instead of the rotational speed of the motor,
The extraction means extracts the change amount of the movement amount of the opening / closing body at a predetermined timing when the value of the acceleration detected by the acceleration sensor is near zero,
The opening / closing control apparatus, wherein the determination unit determines the pinching based on the change amount of the movement amount extracted by the extraction unit.

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