JP2016097891A - Pinching detection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a pinching detection device that can detect a pinched subject accurately even when an opening and closing body performs an opening operation from the totally closed position.SOLUTION: An ECU as a pinching detection part and a position detection part detects, when a slide door performs an opening operation from a totally closing position Xc, a movement position X of the slide door successively. Then, the ECU sets a detected value (Cx) by a capacitive sensor at the time when the slide door reaches a predetermined movement position Xr to a reference value Cr of a capacitance change to be used in pinching detection.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a pinch detection device.

  2. Description of the Related Art Conventionally, for example, an open / close body pinching detection device provided at an opening of a vehicle, such as a slide door, uses a capacitance sensor for the sensor. For example, the pinch detection device described in Patent Document 1 includes a capacitance sensor provided at the front end portion of the slide door. And based on the electrostatic capacitance change detected by this electrostatic capacitance sensor, it is the structure which detects the pinching object at the time of sliding door full-close operation.

  Moreover, about the installation location of an electrostatic capacitance sensor, setting to the peripheral edge part by the side of the vehicle opening part in which pinching between the opening-and-closing bodies occurs, for example, the back peripheral edge part etc. of a door opening part, etc. is also considered. That is, even when the opening / closing body is opened, there is a possibility that pinching may occur between the opening and closing edge of the vehicle and the peripheral edge of the vehicle opening. Therefore, by providing a capacitance sensor at the peripheral edge on the opening operation direction side where pinching occurs during the opening operation, the object to be pinched can be detected in advance.

Japanese Patent No. 5380748

  By the way, the detection value by the capacitance sensor varies depending on the usage environment such as temperature and humidity. For this reason, it is desirable to set the reference value of the capacitance change used for the pinching detection based on the value detected as recently as possible.

  However, in the configuration in which the capacitance sensor is installed at the peripheral edge of the vehicle opening as described above, when the opening / closing body is in the fully closed position, the opening / closing body is disposed in the vicinity of the capacitance sensor. Is detected. For this reason, it is difficult to properly set the reference value of the capacitance change used for pinching detection during the opening operation, and this is one factor that hinders improvement in detection accuracy. The room was left.

  The present invention has been made in order to solve the above-described problems, and the object of the present invention is to perform pinching that can accurately detect the pinching object even when the opening / closing body is opened from the fully closed position. It is to provide a detection device.

  A pinch detection device that solves the above-described problems includes a capacitance sensor disposed at a peripheral edge in the opening operation direction in a vehicle opening provided with an opening / closing body that slides, and a static electricity detected by the capacitance sensor. A pinching detection unit that detects a pinching target based on a change in electric capacity; and a position detection unit that detects a moving position of the opening / closing body, wherein the pinching detection unit opens the opening / closing body from a fully closed position. In this case, it is preferable that a detection value detected by the capacitance sensor when the opening / closing body reaches a predetermined movement position is set as a reference value of the capacitance change.

  According to the above configuration, it is possible to appropriately set the reference value of the capacitance change used for pinching detection while suppressing the influence of the opening / closing body located in the vicinity of the capacitance sensor. As a result, the sensitivity of the capacitance sensor can be set high, so that even when the opening / closing body is opened from the fully closed position, the object to be pinched can be detected with high accuracy.

  In the pinching detection device that solves the above-described problem, the opening / closing body opens from the fully closed position including sliding movement in the opening direction, and the predetermined moving position is determined by sliding movement in the opening direction. It is preferable that the opening / closing body is set at a position away from the vehicle opening.

  That is, in a section in which the opening / closing body is separated from the vehicle opening by sliding movement in the opening direction, pinching that is caught in the opening / closing body that is opened is unlikely to occur. The influence of the opening / closing body that opens from the fully closed position on the electrostatic capacity sensor provided at the peripheral edge portion in the opening operation direction of the vehicle opening portion is generally that the opening / closing body is opened by the sliding movement in the opening direction. It is eliminated in the section that is separated from the section. Therefore, according to the above configuration, it is possible to appropriately set the reference value while minimizing the possibility of occurrence of pinching in the interval until the reference value of the capacitance change used for pinching detection is set. .

In the pinch detection device that solves the above problem, it is preferable that the opening / closing body is a slide door, and the capacitance sensor is provided at a rear peripheral edge of the door opening.
That is, in the case of a slide door that opens and closes the door opening of the vehicle, a vehicle occupant is located in the vicinity, and therefore, there is a possibility of being caught between the rear peripheral edge of the door opening. However, according to the above configuration, the object to be sandwiched can be quickly detected. As a result, it is possible to prevent the occurrence of pinching that is caught in the sliding door that is opened.

  A pinch detection device that solves the above problem stores a previous value storage that stores, for each movement position, a capacitance detected by the capacitance sensor in a section from the fully closed position to the predetermined movement position. And when the opening / closing body is in a section until the predetermined movement position is reached, the pinching detection unit calculates the previous value of the capacitance at the movement position of the opening / closing body. It is preferable to use the reference value for the change.

  According to the above configuration, the object to be pinched can be detected with high accuracy even in a section in which the opening / closing body that opens from the fully closed position reaches the predetermined movement position.

  ADVANTAGE OF THE INVENTION According to this invention, even when an opening / closing body opens from a fully closed position, the pinching detection apparatus which can detect the pinching object accurately can be provided.

The schematic block diagram of a power slide door apparatus. The side view which shows a door opening part and a slide door (side view by the side of a vehicle compartment). The figure which shows the moving path | route of the slide rail which the guide rail provided in the vehicle body side surface and the said guide rail form. Explanatory drawing which shows the aspect of the reference value setting of the electrostatic capacitance change at the time of opening operation from a fully closed position. The flowchart which shows the process sequence of the pinching detection based on an electrostatic capacitance change, and its reference value setting. The flowchart which shows another example regarding the process sequence of the pinching detection based on an electrostatic capacitance change, and its reference value setting.

Hereinafter, an embodiment embodied in a pinch detection device provided in a power slide door device will be described with reference to the drawings.
As shown in FIGS. 1 and 2, the sliding door 1 as an opening / closing body is supported by a side surface of a vehicle (not shown) and moves in the front-rear direction, thereby opening and closing the door opening 2 provided on the side surface of the vehicle. To do. Specifically, the sliding door 1 is moved to the vehicle front side (left side in FIG. 1, right side in FIG. 2) to be in a fully closed state that closes the door opening 2 as the vehicle opening. By moving to the vehicle rear side (right side in FIG. 1, left side in FIG. 2), the vehicle is configured to be in a fully open state in which an occupant can get on and off through the door opening 2. The slide door 1 is provided with an outside door handle 3a and an inside door handle 3b for opening and closing the slide door 1.

  As shown in FIG. 1, the slide door 1 is provided with a plurality of locking devices 5. The slide door 1 is provided with a front lock 5a and a rear lock 5b as fully closed locks for restraining the slide door 1 in the fully closed position. Further, the slide door 1 is provided with a fully open lock 5c for restraining the slide door 1 in the fully open position. In the slide door 1 of the present embodiment, these lock devices (latch mechanisms) 5 are connected to the door handle 3 via a remote controller 6.

  That is, the sliding door 1 of the present embodiment is configured such that the restrained state by each of the locking devices 5 is released by operating the door handle 3. The door handle 3 can be manually operated to open and close.

  Moreover, the sliding door 1 of this embodiment can cancel | release the restraint state by each locking device 5 also by remote operation, when a passenger | crew operates the operation switch provided in the vehicle interior, or a portable machine. It is possible. Furthermore, the slide door 1 of the present embodiment is provided with a drive device 11 using the motor 10 as a drive source, and an ECU 12 that controls the operation of the drive device 11 by supplying drive power to the motor 10. And in this embodiment, the power slide door apparatus 20 which can open and close the sliding door 1 based on the driving force of the motor 10 by this is formed.

  More specifically, as shown in FIG. 3, a guide rail (center rail) 22 extending in the vehicle front-rear direction (left-right direction in FIG. 3) is provided on the vehicle body side surface 21. Specifically, the guide rail 22 of the present embodiment has a shape in which the end portion on the vehicle front side (left side in the figure) is curved toward the vehicle width direction inner side (upper side in the figure). Yes. The guide rail 22 is provided with a guide roller unit 24 having a guide roller 23 that rolls on a track formed by the guide rail 22. The slide door 1 of the present embodiment is supported by the vehicle body side surface 21 via the guide roller unit 24, and can move in the vehicle front-rear direction along the extending direction of the guide rail 22. It has become.

  That is, the sliding door 1 of the present embodiment is arranged such that the design surface 1s is substantially flush with the vehicle body side surface 21 provided with the guide rail 22 at the fully closed position Xc moved to the front side of the vehicle. Is done. A curved portion 25 a based on the shape of the guide rail 22 is set in the movement path 25 of the slide door 1 formed by the guide rail 22. Thus, the slide door 1 of the present embodiment is thus positioned at the vehicle rear side (right side in FIG. 3) that moves when the sliding door 1 is opened. By being arranged on the lower side, the vehicle body side surface 21 is not interfered.

  That is, the sliding door 1 of the present embodiment slides away from the door opening 2 in the opening direction of the door opening 2, that is, the door opening 2 moves outward in the vehicle width direction (from the upper side to the lower side in FIG. 3). It is configured to open from the fully closed position Xc, including a sliding movement that is separated in the direction of heading. In FIG. 3, the sliding door 1 moves away from the vehicle body side surface 21 in which the door opening 2 is formed by moving through the curved portion 25 a set in the moving path 25. The end position Xa of the is shown. Then, the slide door 1 of the present embodiment then slides to the vehicle rear side to the fully open position Xo shown on the right side in FIG. 3 while maintaining the vehicle width direction position separated from the vehicle body side surface 21. It is configured.

  As shown in FIG. 1, the drive device 11 of the present embodiment includes a drum device 30 that rotates based on the drive force of the motor 10. And the drive device 11 of this embodiment has a known structure that opens and closes the slide door 1 via a drive cable (not shown) that the drum device 30 can wind.

  Further, the drive device 11 of the present embodiment is provided with a pulse sensor 31 that outputs a pulse signal Sp synchronized with the operation of the drum device 30. And ECU12 of this embodiment detects the movement position X of the sliding door 1 driven by the drive device 11 based on the pulse output shown by this pulse signal Sp.

  Furthermore, an output signal (operation input signal Sc) of an operation input unit 32 provided in the door handle 3, the vehicle interior, a portable device, or the like is input to the ECU 12 of the present embodiment. That is, the ECU 12 according to the present embodiment detects an operation request for the slide door 1 by the user based on the operation input signal Sc. And it is the structure which controls the action | operation of the drive device 11 in order to move the slide door 1 to the requested | required action | operation direction.

  Further, the power slide door device 20 of the present embodiment includes a pinching detection sensor 33 for detecting pinching by the slide door 1. In the present embodiment, the output signal St of the pinch detection sensor 33 is also input to the ECU 12. That is, in this embodiment, a pinching detection device 40 is formed using the ECU 12 as a pinching detection unit. And the power slide door apparatus 20 of this embodiment is based on the detection result of this pinching detection apparatus 40, for example, stops the slide door 1 in operation, etc. between the slide door 1 and the door opening part 2 This prevents the occurrence of pinching.

  Specifically, as shown in FIG. 2, the pinch detection device 40 of the present embodiment includes a touch sensor 41 provided at the front end 1 a of the slide door 1 as the pinch detection sensor 33. In the present embodiment, the touch sensor 41 is built in a weather strip (not shown). Based on the output signal of the touch sensor 41, the ECU 12 serving as a pinching detection unit, when the sliding door 1 is closed, has a front edge 1 a of the sliding door 1 and a front peripheral edge 2 a of the door opening 2, that is, It is the structure which detects generation | occurrence | production of pinching between the peripheral edge parts of a closing operation direction.

  Further, the pinch detection device 40 of the present embodiment includes a capacitance sensor 42 provided at the rear peripheral edge 2b of the door opening 2 as the pinch detection sensor 33. In the present embodiment, the capacitance sensor 42 is also provided in a weather strip (not shown) in the same manner as the touch sensor 41. And ECU12 of this embodiment is the aspect caught in the said slide door 1 which moves to the vehicle rear side at the time of opening operation of the slide door 1 based on the electrostatic capacitance change detected by this electrostatic capacitance sensor 42 Thus, it is configured to detect a pinching object that may be pinched between the rear peripheral edge 2b of the door opening 2, that is, the peripheral edge in the opening operation direction.

  More specifically, as shown in FIG. 4, the ECU 12 according to the present embodiment detects the capacitance C by the capacitance sensor 42 when the slide door 1 is opened from the fully closed position Xc, and slides. The movement position X of the door 1 is monitored. Then, the detection value (Cx) by the capacitance sensor 42 when the slide door 1 reaches the predetermined movement position Xr is set to the reference value Cr of the capacitance change used for pinching detection (Cr = Cx). .

  Specifically, in the present embodiment, the predetermined moving position Xr for setting the reference value Cr of the capacitance change is that the sliding door 1 that opens from the fully closed position Xc by the sliding movement in the opening direction is the door opening. The position is set to a position away from the portion 2, more specifically, to a sliding movement end position Xa away from the door opening 2 (see FIG. 3).

  Further, the ECU 12 of the present embodiment sets a value obtained by adding the predetermined value α to the reference value Cr set at the predetermined movement position Xr as the sandwiching determination threshold value C0 (C0 = Cr + α). In this embodiment, the reference value Cr and the threshold value C0 are held in the storage area 43 in the ECU 12 (see FIG. 1). Then, the ECU 12 of the present embodiment is configured to detect the pinching based on whether or not the capacitance C detected by the capacitance sensor 42 exceeds the set threshold value C0. .

  That is, in the section from the fully closed position Xc to the predetermined movement position Xr, the value of the capacitance C detected by the capacitance sensor 42 when the slide door 1 is positioned in the vicinity of the capacitance sensor 42. Is high. In consideration of this point, the ECU 12 of the present embodiment does not detect pinching based on the change in capacitance until the sliding door 1 that is opened from the fully closed position Xc reaches a predetermined movement position Xr (mask section Dm). ). As described above, the detection value Cx detected by the capacitance sensor 42 when the mask section Dm passes is set to the reference value Cr of the capacitance change, so that the slide door 1 is opened from the fully closed position Xc. Even when it operates, it is configured to be able to detect the object to be pinched with high accuracy.

Next, a process procedure for pinching detection based on a change in capacitance by the pinch detection apparatus 40 of the present embodiment configured as described above and its reference value setting will be described.
As shown in the flowchart of FIG. 5, in the pinching detection device 40 of the present embodiment, the ECU 12 constituting the pinching detection unit and the position detection unit opens the slide door 1 from the fully closed position Xc (step 101: YES). ) Sequentially detects the movement position X (step 102). Then, it is determined whether or not the slide door 1 has reached the predetermined movement position Xr (step 103). If the slide door 1 has reached the predetermined movement position Xr (step 103: YES), the capacitance at that time is determined. The detection value Cx detected by the sensor 42 is set to the reference value Cr for capacitance change used for pinching detection (Cr = Cx, step 104).

  Next, the ECU 12 sets a pinching determination threshold value C0 based on the set reference value Cr (C0 = Cr + α, step 105), and the capacitance C detected by the capacitance sensor 42 It is determined whether or not the threshold value C0 is exceeded (step 106). If the detected capacitance C exceeds the threshold value C0 (C> C0, step 106: YES), the vicinity of the rear peripheral edge 2b of the door opening 2 where the capacitance sensor 42 is provided. Then, it is determined that there is an object to be sandwiched between the rear peripheral edge 2b and the slide door 1 (step 107).

  On the other hand, when the detected capacitance C is equal to or less than the threshold value C0 (C ≦ C0, step 106: NO), it is determined that there is no object to be sandwiched (step 108). And ECU12 of this embodiment is the structure which repeats the process of the said step 106-step 108 until the sliding door 1 which the opening operation | movement stops (step 109: YES).

As described above, according to the present embodiment, the following effects can be obtained.
(1) The ECU 12 as the pinching detection unit and the position detection unit is a capacitance sensor when the slide door 1 reaches the predetermined movement position Xr when the slide door 1 is opened from the fully closed position Xc. Is set to a reference value Cr of capacitance change used for pinching detection.

  According to the above configuration, it is possible to appropriately set the reference value Cr of the capacitance change used for pinching detection while suppressing the influence of the slide door 1 located in the vicinity of the capacitance sensor 42. And by this, it becomes possible to set the sensitivity of the capacitance sensor 42 to be high, so that even when the sliding door 1 is opened from the fully closed position Xc, it is possible to detect the object to be pinched with high accuracy. Can do.

  (2) The slide door 1 is opened from the fully closed position Xc including a sliding movement that separates from the door opening 2 in the opening direction of the door opening 2. The predetermined movement position Xr for setting the reference value Cr of the capacitance change is a position where the sliding door 1 is separated from the door opening 2 by sliding movement in the opening direction, specifically, is separated from the door opening 2. The end position Xa of the slide movement is set.

  That is, in a section where the slide door 1 is separated from the door opening 2 by sliding movement in the opening direction, it is difficult for pinching to be caught in the slide door 1 that opens. The influence of the slide door 1 that is opened from the fully closed position on the capacitance sensor 42 provided at the rear peripheral edge 2b of the door opening 2 is generally due to the sliding movement in the opening direction. Is eliminated in a section away from the door opening 2. Therefore, according to the above configuration, the reference value Cr is appropriately set while minimizing the possibility of pinching in the interval until the reference value Cr of the capacitance change used for pinching detection is set. Can do.

In addition, you may change the said embodiment as follows.
In the above embodiment, the pinch detection device 40 provided in the power slide door device 20 that opens and closes the slide door 1 provided on the side surface of the vehicle is embodied. However, the present invention is not limited to this, and a configuration that detects pinching by the slidingly moving opening / closing body based on a capacitance change detected by a capacitance sensor disposed at a peripheral edge portion in the opening operation direction in the vehicle opening portion. If so, for example, the present invention may be applied to a vehicle opening / closing body control device that targets an opening / closing body other than a slide door, such as a sunroof device.

  In the above embodiment, the ECU 12 as a control device that controls the operation of the drive device 11 constitutes the pinch detection unit and the position detection unit of the pinch detection device 40. However, the configuration is not limited thereto, and the sandwiching detection unit and the position detection unit may be provided independently of the ECU 12 of the power slide door device 20.

  In the above embodiment, the moving position X of the sliding door 1 is detected based on the pulse signal Sp output from the pulse sensor 31 provided in the driving device 11 (the drum device 30). You may change arbitrarily about. The configuration of the driving device 11 may also be arbitrarily changed.

  In the above embodiment, the well-known touch sensor 41 is provided at the front end 1a of the slide door 1 as the pinching detection sensor 33 for the closing operation. However, the present invention is not limited to this, and the pinching detection sensor 33 for the closing operation is also a capacitance sensor, similar to the pinching detection sensor 33 for the opening operation provided at the rear peripheral edge 2b of the door opening 2. 42 may be used. In this case, the threshold value of the capacitance change used for detecting the pinching during the closing operation may be set before the sliding door 1 is closed.

  In the above embodiment, the detection value Cx by the capacitance sensor 42 when the slide door 1 that opens from the fully closed position Xc reaches the predetermined movement position Xr is used as a reference for capacitance change used for pinching detection. The value Cr is set (see FIG. 5, steps 102 to 104). However, the present invention is not limited to this, and the “detected value Cx by the capacitance sensor 42 when reaching the predetermined movement position Xr” does not necessarily have to be a single detection. For example, the configuration may be such that the reference value Cr of the change in capacitance is set using an average value or a minimum value obtained by detecting a plurality of times or continuously detecting capacitance for a predetermined time.

  In the embodiment described above, pinching detection based on the change in capacitance is not performed until the sliding door 1 that opens from the fully closed position Xc reaches the predetermined movement position Xr. However, the present invention is not limited to this. For example, the capacitance C detected in the mask section Dm until the slide door 1 reaches the predetermined movement position Xr from the fully closed position Xc is determined for each movement position of the slide door 1. Remember. When the sliding door 1 is in the mask section Dm from the fully closed position Xc to the predetermined moving position Xr during the next opening operation, the capacitance C at the moving position X is provisionally set. The previous value (capacitance previous value Cxb) may be set as a reference value (provisional reference value Cr ′) for capacitance change, and pinching detection based on the capacitance change may be performed.

  For example, as shown in the flowchart of FIG. 6, when it is determined that the slide door 1 has not reached the predetermined movement position Xr (step 203: NO), the previous capacitance value Cxb at the movement position X is stored in the storage area. 43 (see FIG. 1) (step 210) and set to a provisional reference value Cr ′ (Cr ′ = Cxb, step 211). Then, a provisional threshold value C0 ′ based on the provisional reference value Cr ′ is set (step 212), and provisional pinching detection using the provisional threshold value C0 ′ is executed (step 213).

  The provisional threshold value C0 ′ based on the provisional reference value Cr ′ in step 212 is set, for example, by adding a predetermined value β to the provisional reference value Cr ′ (C0 ′ = Cr ′ + β). The provisional pinch detection processing procedure in step 213 may be performed in the same manner as the pinch detection processing in steps 106 to 108 in the flowchart of FIG.

  Further, after the end of the provisional pinching detection in the above step 213, the “capacitance previous value Cxb at the moving position X” stored in the storage area 43 is stored in the storage area 43 by the detection value Cx by the capacitance sensor 42 in the current opening operation. Update (overwrite) (step 214). Then, the above-described steps 202 and 203 and steps 210 to 214 may be repeated until the sliding door 1 to be opened reaches a predetermined movement position Xr (step 203: YES).

  In the flowchart shown in FIG. 6, the processes in steps 201 to 205 (209) are the same as the processes in steps 101 to 105 (109) in the flowchart shown in FIG. As a result, the object to be pinched can be detected with high accuracy even in the section until the sliding door 1 that opens from the fully closed position Xc reaches the predetermined movement position Xr.

  In the above embodiment, the predetermined movement position Xr for setting the reference value Cr of the capacitance change is a position where the slide door 1 is separated from the door opening 2 by sliding movement in the opening direction, specifically, the door opening. Although the end position Xa of the slide movement away from 2 is set, the predetermined movement position Xr may be arbitrarily changed.

Next, technical ideas that can be grasped from the above embodiments will be described.
The vehicle opening / closing body control apparatus provided with the pinching detection apparatus as described in any one of Claims 1-4. Thereby, even when the opening / closing body is opened from the fully closed position, occurrence of the pinching can be preferably suppressed.

  DESCRIPTION OF SYMBOLS 1 ... Sliding door (opening-closing body), 2 ... Door opening part (vehicle opening part), 2b ... Back periphery edge part (periphery edge part of an opening operation direction), 6 ... Remote control, 10 ... Motor, 11 ... Drive apparatus, 12 DESCRIPTION OF SYMBOLS ... ECU (Pinch detection part and position detection part), 20 ... Power slide door device, 21 ... Car body side surface, 22 ... Guide rail, 25 ... Movement path, 25a ... Curve part, 31 ... Pulse sensor, 33 ... Pinch detection sensor, 40: Pinch detection device, 41: Touch sensor, 42: Capacitance sensor, 43: Storage area (previous value storage unit), C: Capacitance, Cx: Detection value, Cxb: Capacitance previous value, α, β ... predetermined value, Cr ... reference value, Cr '... temporary reference value, C0 ... threshold value, C0' ... temporary threshold value, Sp ... pulse signal, X ... moving position, Xc ... fully closed position, Xo ... fully open position, Xr ... Predetermined movement position, Xa ... terminal position, m ... mask section.

Claims (4)

A capacitance sensor arranged at the peripheral edge in the opening operation direction in the vehicle opening provided with the sliding opening and closing body;
A pinching detection unit that detects a pinching object based on a change in capacitance detected by the capacitance sensor;
A position detection unit that detects a movement position of the opening and closing body,
When the opening / closing body is opened from the fully closed position, the pinching detection unit detects a detection value detected by the capacitance sensor when the opening / closing body reaches a predetermined movement position. Pinch detection device set to change reference value. The pinch detection device according to claim 1,
The opening / closing body is opened from the fully closed position including sliding movement in the opening direction,
The pinch detection device according to claim 1, wherein the predetermined movement position is set to a position where the opening / closing body is separated from the vehicle opening by sliding movement in the opening direction. In the pinch detection device according to claim 1 or 2,
The pinch detection device, wherein the opening / closing body is a sliding door, and the capacitance sensor is provided at a rear peripheral edge of the door opening. In the pinch detection device according to any one of claims 1 to 3,
A previous value storage unit that stores, for each movement position, a capacitance detected by the capacitance sensor in a section from the fully closed position to the predetermined movement position;
In a case where the opening / closing body is in a section until reaching the predetermined movement position, the pinching detection unit uses the previous value of the capacitance at the movement position of the opening / closing body as a reference value of the capacitance change. A pinch detection device characterized by that.