JP2018135647A - Pinching detection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a pinching detection device capable of further reliably detecting pinching of an object by window glass.SOLUTION: A power window device 1 is configured to automatically open and close a movable window glass 3 using an actuator 4 as a drive source. The power window device 1 includes a controller 10 that controls an operation of the power window device 1. The controller 10 is connected with a pulse detecting unit 12 for detecting a pulse signal P generated depending on a driving of the actuator 4, a voltage detecting unit 13 for detecting a motor driving voltage V, and a current detecting unit 14 for detecting a motor driving current I. A pinching control unit 15 detects a pinching of an object by the window glass 3 on the basis of a moving load of the window glass 3 per unit pulse signal which is calculated by the pulse signal P, the motor driving voltage V, and the motor driving current I.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a pinch detection device.

  2. Description of the Related Art Conventionally, a power window device for a vehicle automatically opens and closes by moving the window glass up and down automatically by operating a switch for opening and closing the window glass of a door provided in the vehicle. Some of such power window devices include a pinching detection device that detects pinching of an object by a window glass (Patent Document 1).

  A pulse detection method is known as a method for detecting object pinching. The pulse detection method is performed by detecting the rotational speed of a motor that opens and closes the window glass and generating a pulse signal having a period proportional to the rotational speed. Here, in general, when the rotation speed of the motor is high, the pulse period (pulse signal period) is short, whereas when the rotation speed of the motor is low, the pulse period becomes long. When the window glass is opened and closed at a constant rotational speed, the pulse period is constant, whereas when an object is caught in the window glass, the pulse period becomes long. For this reason, the pinch detection device can detect the pinch of the object by the window glass based on the pulse period. In other words, this pinching detection device detects the presence or absence of pinching based on the detected pulse signal, and when the pulse width time exceeds a threshold value, the window glass is inverted as if there was pinching of an object by the window glass. Activate or deactivate.

JP 2000-152777 A

  By the way, in the case of a power window device, since the weight and sliding resistance of the window glass differ depending on the vehicle type, if it is attempted to detect the pinching of the object by the window glass based on the pulse period, it is necessary to design again according to the vehicle type. End up. For this reason, it has become difficult to share parts between vehicle types.

  Also, if the weight or sliding resistance of the window glass changes due to aging degradation or environmental changes of the power window device, the detected pulse period will change, so the determination condition for pinching determination by the pinching detection device Will need to be changed. If the determination conditions for the pinching determination are not changed even though the power window device has deteriorated over time or the environment has changed, there is a possibility that the pinching of the object by the window glass may be erroneously detected.

  Note that the same is true not only when detecting the object sandwiched by the window glass based on the pulse period, but also when detecting the object sandwiched by the window glass based on, for example, a change in the current that drives the motor.

  An object of the present invention is to provide a pinching detection device that can detect pinching of an object by a window glass more reliably.

  The pinching detection device that can achieve the above object is a pinching detection device that detects pinching of an object by an opening / closing body, and is used for driving voltage and driving current of electric power supplied to an actuator that opens / closes the opening / closing body, and driving of the actuator. A pinching control unit that calculates a moving load associated with opening / closing of the opening / closing body based on a pulse signal generated accordingly and detects pinching based on the moving load is provided.

  According to this configuration, the pinching control unit can detect the pinching of the object by the opening / closing body based on the moving load by calculating the moving load based on the driving voltage, the driving current, and the pulse signal. This is because the moving load increases when there is pinching.

  Here, when detecting pinching of an object by an opening / closing body due to a moving load, even if the driving voltage or driving current changes, the moving load does not change, so a determination for detecting object pinching by the opening / closing body There is no need to change the method. The same applies to cases where environmental changes and aging deterioration occur. For this reason, it is possible to detect pinching of the object by the opening / closing body more reliably.

  In the pinching detection device, the pinching control unit divides a product of the driving voltage, the driving current, and a moving time of the opening / closing member per pulse signal by a moving distance of the opening / closing member per pulse signal. Thus, it is preferable to calculate the moving load.

According to this configuration, the sandwiching control unit can calculate the moving load based on the driving voltage, the driving current, and the moving time and moving distance obtained by the pulse signal.
In the above-described pinching detection device, the pinching control unit compares the calculated moving load with a stored value that is the moving load stored in advance by the opening / closing body, thereby determining the object of the opening / closing body. It is preferable to detect pinching.

  According to this configuration, the pinch control unit compares the calculated moving load with a stored value stored in advance, and if the moving load deviates from the stored value, the pinching object is pinched by the opening / closing body. It can be determined that there was.

  In the pinching detection device, the pulse signal is an electric signal in which a unit pulse signal is continuously generated, and the pinching control unit is configured to store the moving load and the memory when the current unit pulse signal is generated. When the difference between the value and the stored value is larger than the difference between the moving load when the previous unit pulse signal is generated and the stored value, the movement when the current unit pulse signal is generated It is preferable to detect the object being caught by the opening / closing body when a situation in which the load is greater than the moving load when the previous unit pulse signal is generated continuously occurs.

According to this configuration, the pinching control unit can detect the pinching of the object by the opening / closing body because the moving load is considered to increase with the passage of time.
In the pinching detection device, the pinching control unit is configured such that the moving load is greater when the current unit pulse signal is generated than when the previous unit pulse signal is generated, compared to when the unit pulse signal is generated. If the moving load when the unit pulse signal of this time is generated is greater than the moving load when the unit pulse signal of the previous time is generated, When it does not occur, when the moving load is larger than a predetermined threshold, it is detected that the object is caught by the opening and closing body, and when the moving load is not larger than the predetermined threshold. It is preferable to detect that the object is not caught by the opening / closing body.

  According to this configuration, even when it is considered that the moving load does not increase with the passage of time, the pinching control unit has a moving load that is greater than a predetermined threshold (the moving load is sufficient). When it is large, it is considered that the object has been caught by the opening / closing body, so that the object is caught by the opening / closing body.

  In the above-described pinching detection device, the pulse signal is an electric signal in which unit pulse signals are continuously generated, and when the pinching control unit detects that no object is pinched by the opening / closing body, The moving load calculated when the unit pulse signal is generated is preferably stored as the stored value.

  According to this configuration, the stored value can be updated by setting the moving load when the object is not caught by the opening / closing body as a new stored value. As a result, the sandwiching control unit can detect the sandwiching of the object by the opening / closing body without changing any sandwiching determination conditions even when an environmental change or aging deterioration occurs.

  The opening / closing body in the pinch detection device is suitable for a window glass provided on a door of a vehicle.

  According to the pinching detection device of the present invention, pinching of an object by a window glass can be detected more reliably.

The schematic block diagram of a power window apparatus. The schematic block diagram of the power window apparatus provided with the pinching detection apparatus. (A) is a graph showing the time change of the motor drive current from the fully open state to the fully closed state of the open / close body when the motor drive voltage is 8V, and (b) is the open / close when the motor drive voltage is 8V. The graph which shows the time change of the electric energy from the fully open state of a body to a fully closed state. (A) is a graph showing the time change of the motor drive current from the fully open state to the fully closed state of the open / close body when the motor drive voltage is 12V, and (b) is the open / close when the motor drive voltage is 12V. The graph which shows the time change of the electric energy from the fully open state of a body to a fully closed state. (A) is a graph showing the time change of the motor drive current when the motor drive voltage is 8 V when the object is sandwiched by the window glass, and (b) is the motor drive when the object is sandwiched by the window glass. The graph which shows the time change of electric energy in case a voltage is 8V. The flowchart which shows the flow of the pinching determination of the object by window glass.

Hereinafter, an embodiment in which the pinch detection device is embodied as a power window device will be described.
As shown in FIG. 1, a power window device 1 (squeezing detection device) provided in a vehicle or the like automatically uses a movable window glass 3 (opening / closing body) provided in a door 2 and an actuator 4 as a drive source. Open and close. The window glass 3 is attached to the opening portion 6 of the door frame 5 so as to be capable of reciprocating in the sliding direction D between the fully closed position and the fully open position of the door 2. As the actuator 4, for example, a motor is employed, and the window glass 3 is reciprocated in the slide direction D (closed direction or open direction) by the rotational movement of the rotation shaft of the motor.

  As shown in FIG. 2, the power window device 1 includes a controller 10 that controls the operation of the power window device 1. When the power window device 1 is operated, the controller 10 receives an operation signal from the operation unit 11 operated by an occupant. The operation unit 11 is provided on the door 2, for example. Examples of operations that can be performed by the occupant using the operation unit 11 include a lifting operation, a lowering operation, an automatic lifting operation, and an automatic lowering operation of the window glass 3. The controller 10 supplies power from the battery via the power supply path Cp by controlling the drive circuit 7. The controller 10 controls the drive circuit 7 to supply electric power to the actuator 4 and control the drive of the actuator 4. The controller 10 moves the window glass 3 up and down by controlling the actuator 4 based on the operation signal input from the operation unit 11.

  A pulse detector 12, a voltage detector 13, and a current detector 14 are connected to the controller 10. The pulse detector 12 generates a pulse signal P by a hall sensor synchronized with the motor rotation shaft of the actuator 4. The pulse signal P is generated by the rotation of the motor and is a rectangular wave in which unit pulse signals are repeatedly generated continuously. Further, the voltage detection unit 13 and the current detection unit 14 detect the motor drive voltage V and the motor drive current I from the power supplied to the power supply path Rp from the drive circuit 7 to the actuator 4. The controller 10 recognizes the open / close position of the window glass 3 based on the pulse signal P (motor pulse) obtained from the pulse detector 12.

  The power window device 1 includes a pinching control unit 15 having a pinching prevention function that suppresses pinching of an object (such as a human body) by the window glass 3. The sandwiching control unit 15 is operated by a pulse signal P (pulse period) obtained from the pulse detection unit 12, a motor drive voltage V obtained from the voltage detection unit 13, and a motor drive current I obtained from the current detection unit 14. Based on the load L, it is determined whether or not an object is caught by the window glass 3. The moving load L is the magnitude of the force applied to the window glass 3 when the window glass 3 moves up and down. And the pinching control part 15 reversely moves or stops the window glass 3 in operation, when the pinching load by the window glass 3 is detected.

  The pulse signal P is synchronized with the rotation axis of the motor of the actuator 4. For this reason, the unit pulse signal of the pulse signal P and the opening / closing position of the window glass 3 correspond to each other. In addition, during the reciprocating movement of the window glass 3, the positional relationship between the unit pulse signal of the pulse signal P and the window glass 3 is the same regardless of the moving speed of the window glass 3. For this reason, the sandwiching control unit 15 calculates, from the pulse signal P, the pulse width time (movement time t) per unit pulse signal and the movement distance (movement distance d) of the window glass 3.

  More specifically, the sandwiching control unit 15 detects the sandwiching of the object by the window glass 3 based on the moving load L of the window glass 3 per unit pulse signal. The sandwiching control unit 15 calculates a moving load L of the window glass 3 per unit pulse signal based on the pulse signal P, the motor drive voltage V, and the motor drive current I. Further, the sandwiching control unit 15 stores the calculated movement load L (glass movement load L1) in the storage unit 16 as the stored value L0 in the operation process by the window glass 3. For example, the stored value L0 may be a moving load L with a pulse acquired in the operation process of the opening / closing body immediately before, or if it is known that the operation process is in a state where no object is caught, the object is not caught It is good also as the moving load L with the pulse acquired in the operation | movement process of the opening-and-closing body in. Note that some stored value L0 is stored even at the time of factory shipment. Then, the sandwiching control unit 15 detects the sandwiching of the object by the window glass 3 by comparing the calculated moving load L and the stored value L0 stored in the storage unit 16.

  Here, an arithmetic expression of the moving load L of the window glass 3 performed by the sandwiching control unit 15 will be described. First, in general, the electric energy E and the work amount W are expressed by the following equations (1) and (2).

Electric energy E = Power Pow × Time t (1)
Work W = force F × distance moved in the direction of force s (2)
Based on the above formulas (1) and (2), the magnitude F of the force can be expressed by the following formula (3).

Force magnitude F = power Pow × time t / distance s moved in the direction of force (3)
Next, when these equations are applied to the power window device 1, the moving load L per unit pulse signal when the window glass 3 is raised is expressed by the following equation (4).

Moving load L = Motor driving voltage V × Motor driving current I × Moving time t per unit pulse signal / Moving distance d per unit pulse signal (4)
The moving load calculated by the above equation (4) does not consider the pinching load when an object is pinched in the window glass 3, although it includes sliding resistance when the window glass 3 moves.

  For this reason, if the moving load L is expressed as a moving load of the window glass 3 for convenience, the moving load L1 per unit pulse signal is expressed as a glass moving load L1 and a sandwiching load L2 generated when the window glass 3 sandwiches an object. Is represented by the following equation (5).

Moving load L = Glass moving load L1 + Pinch load L2
= Motor drive voltage V × Motor drive current I × Movement time t per unit pulse signal / Movement distance d per unit pulse signal (5)
When the object is not sandwiched by the window glass 3, the sandwiching load L2 is “0”. Further, even when the object is not sandwiched by the window glass 3 and the motor driving voltage V is changed, the glass movement load L1 per unit pulse signal is the same as the stored value L0 stored in the storage unit 16. become.

Here, the electric energy Pl when the window glass 3 is operated from the fully open state to the fully closed state is expressed by the following equation (6).
Electric power Pl = motor driving voltage V × motor driving current I × movement time t from the fully open state to the fully closed state (6)
Next, when the window glass 3 is operated from the fully open state to the fully closed state, even if the motor drive voltage V changes, the fact that the power amount Pl does not change will be described.

  As shown in FIGS. 3A and 3B, when the motor drive voltage V is “8 V (volt)”, the motor drive current I flows “3.75 A (ampere)” on average. At this time, the movement time t from the fully open state to the fully closed state is “5.5 seconds”. When the amount of power Pl is calculated using the equation (6), “about 165 J (joule)” is obtained.

  Next, as shown in FIGS. 4A and 4B, when the motor drive voltage V is “12 V”, the motor drive current I flows “4.33 A” on average. At this time, the movement time t from the fully open state to the fully closed state is “3.2 seconds”. When the electric energy Pl is calculated using the equation (6), it is “about 166 J”.

Thus, even when the motor drive voltage V changes, the power amount Pl does not change when there is no object sandwiched by the window glass 3.
On the other hand, as shown in FIGS. 5A and 5B, when the motor driving voltage V is “8 V”, when the object is caught by the window glass 3, the movement time t is, for example, “2.75 seconds. Or the motor drive current I becomes “11.25 A”. If the amount of power Pl at this time is calculated using Expression (6), “165J” is obtained, and the amount of power required from the fully open state to the fully closed state is consumed before the fully closed state is reached. Specifically, the amount of electric power Pl required to move the same distance is larger than that when there is no object sandwiched by the window glass 3 because the object is sandwiched by the window glass 3.

  Next, a procedure for pinching determination performed by the pinching control unit 15 will be described. The storage unit 16 stores a stored value L0 in advance. Further, the sandwiching control unit 15 stores a movement load L (glass movement load L1) corresponding to the unit pulse signal of the pulse signal P by the window glass 3 in the storage unit 16 as a storage value L0. For example, the stored value L0 may be a moving load L (glass moving load L1) with a pulse acquired in the operation process of the opening / closing body immediately before, or when it is known as an operation process in a state where no object is caught. Further, the moving load (glass moving load L1) in a pulse acquired in the operation process of the opening / closing body in a state where no object is caught may be used.

  As shown in the flowchart of FIG. 6, the sandwiching control unit 15 determines that the difference between the movement load L when the current unit pulse signal is generated and the stored value L0 is the movement when the previous unit pulse signal is generated. It is determined whether or not the difference between the load L and the stored value L0 is larger (step S1). Here, the determination performed in step S1 can be expressed by the following equation (7). In the following, the moving load L when the current unit pulse signal is generated is “Ln”, the stored value L0 is “L0n”, and the moving load L when the previous unit pulse signal is generated is “Ln”. −1 ”and the stored value L0 is“ L0n−1 ”.

Ln−L0n> Ln−1−L0n−1 (7)
When the condition of Expression (7) is satisfied, YES is determined in the step S1. Note that the difference between the moving load Ln and the stored value L0n when the current unit pulse signal is generated is sufficiently larger than the moving load Ln−1 and the stored value L0n−1 when the previous unit pulse signal is generated. If it is larger, it is preferable to be YES in step S1. For this reason, it is preferable to provide a term of margin α in Expression (7) and determine Step S1 depending on whether Expression (8) is satisfied.

Ln−L0n> Ln−1−L0n−1 + α (8)
Next, the sandwiching control unit 15 determines that the difference between the moving load L and the stored value L0 when the current unit pulse signal is generated is the moving load L and the stored value L0 when the previous unit pulse signal is generated. When the determination is made that the difference is greater than the difference (YES in step S1), the moving load Ln when the current unit pulse signal is generated is greater than the moving load Ln-1 when the previous unit pulse signal is generated. It is determined whether or not a large situation continuously occurs (step S2). In addition, the situation where the moving load Ln is larger than the moving load Ln−1 continuously occurs is a situation where the moving load Ln is larger than the moving load Ln−1 over a plurality of unit pulse signals. In this situation, the moving load L increases as time elapses.

  The sandwiching control unit 15 continuously generates a situation where the moving load Ln when the current unit pulse signal is generated is larger than the moving load Ln-1 when the previous unit pulse signal is generated. In the case (step S2), the object sandwiched by the window glass 3 is detected (step S3). In this case, because the window glass 3 sandwiches an object, it is considered that the moving load L increases with time.

  On the other hand, the sandwiching control unit 15 determines that the difference between the moving load L and the stored value L0 when the current unit pulse signal is generated is the moving load L and the stored value when the previous unit pulse signal is generated. If it is not possible to determine that the difference from L0 is greater (NO in step S1), it is determined whether or not the moving load Ln when the current unit pulse signal is generated is greater than the threshold Th (step S4). Further, the sandwiching control unit 15 continuously generates a situation where the moving load Ln when the current unit pulse signal is generated is larger than the moving load Ln−1 when the previous unit pulse signal is generated. If not (NO in step S2), it is determined whether or not the moving load Ln when the current unit pulse signal is generated is larger than the threshold Th (step S4). This threshold value Th is set to about a large moving load L that is sufficiently larger than the moving load L when the object is not sandwiched by the window glass 3 and is considered that the object is sandwiched by the window glass 3.

  When the moving load Ln when the current unit pulse signal is generated is larger than the threshold Th (YES in step S4), the sandwiching control unit 15 detects the object sandwiched by the window glass 3 (step S3).

  On the other hand, the sandwiching control unit 15 detects that the object is not sandwiched by the window glass 3 when the moving load Ln when the current unit pulse signal is generated is not larger than the threshold Th (NO in step S4). (Step S5). Then, the sandwiching control unit 15 overwrites the stored value L0 stored in the storage unit 16 with the moving load Ln (glass moving load L1) when the current unit pulse signal is generated as a new stored value L0. (Step S6). The pinching determination process is thus completed.

According to the configuration of the present embodiment, the following effects can be obtained.
(1) The sandwiching control unit 15 detects the sandwiching of the object by the window glass 3 by calculating the moving load L per unit pulse signal based on the pulse signal P, the motor drive voltage V, and the motor drive current I. doing. The moving load L per unit pulse signal proportional to the electric energy Pl is when the motor drive voltage V changes as shown in FIGS. 3 (a) and 3 (b) and FIGS. 4 (a) and 4 (b). There is no change even if there is. For this reason, even when the motor drive voltage V changes, it is possible to perform pinching determination without changing the determination condition of the pinching determination processing. For this reason, even when the motor drive voltage V changes, it is possible to more reliably detect the object sandwiched by the window glass 3.

  Further, focusing on only the motor drive voltage V, it has been described that the moving load L does not change even when the motor drive voltage V changes. However, the motor drive current I is not limited to the motor drive voltage V, and the motor drive current I changes. The same applies to the case. That is, even when the motor driving current I changes, the moving load L does not change. Therefore, the sandwiching control unit 15 can determine whether the window glass is based on the moving load L even when the motor driving current I changes. 3 can be detected. When the sandwiching control unit 15 detects the sandwiching of the object by the window glass 3, the sandwiching control unit 15 cancels the state in which the object is sandwiched by the window glass 3, for example, by inverting or stopping the window glass 3.

  The same applies when the surrounding environment of the window glass 3 changes or when the window glass 3 deteriorates over time. That is, when the temperature around the window glass 3 becomes higher (or lower), the sliding resistance when the window glass 3 moves up and down changes due to the influence of thermal expansion accompanying the change in temperature. It is possible to end up. It is also conceivable that the sliding resistance of the window glass 3 increases due to the deterioration of the window glass 3 over time. In this respect, according to the present embodiment, the sandwiching control unit 15 detects the sandwiching of the object by the window glass 3 based on the moving load L, so that the window glass 3 can be used without changing any judgment condition for sandwiching determination. It is possible to detect object pinching.

  (2) Since the sandwiching control unit 15 detects the sandwiching of the object by the window glass 3 based on the moving load L per unit pulse, it is necessary to change the determination condition of the sandwiching determination process again according to the vehicle type. Absent. For example, although it is assumed that the weight and sliding resistance of the window glass 3 differ depending on the vehicle type, even when the weight of the window glass 3 and the sliding resistance when the window glass 3 moves up and down are changed, Since the change of the moving load L when the window glass 3 is moved is monitored, it is not necessary to change the pinching determination process performed by the pinching control unit 15. Thereby, it is not necessary to change the determination condition of the pinching determination process according to the vehicle type, and it is possible to reduce the trouble of designing again.

  (3) The pinching control unit 15 stores the moving load L as the stored value L0 when there is no pinching of the object by the window glass 3 even when the motor driving voltage V changes. There is no need to change the determination condition of the pinching determination process that accompanies the change in the voltage V or to correct the motor drive voltage V. Similarly, when the motor drive current I changes, it is not necessary to change the determination condition of the pinching determination process accompanying the change of the motor drive current I.

  On the other hand, for example, when detecting object pinching by the window glass 3 based on the motor driving voltage V or the motor driving current I, it is assumed that a false detection has been made in advance for a voltage change, an environmental change, an aging deterioration, and a dead zone. It may be necessary to set the determination condition of the pinching determination process to be sweet or to change the determination condition.

  (4) Since the pinching control unit 15 detects the pinching of the object by the window glass 3 based on the moving load L per unit pulse signal, it is desired to detect the pinching when the load changes. Therefore, it is possible to easily determine the determination condition for the pinching determination process.

  (5) The sandwiching control unit 15 detects the sandwiching of the object by the window glass 3 based on the moving load L calculated based on the pulse signal P, the motor drive voltage V, and the motor drive current I. The object sandwiched by the window glass 3 can be detected without providing a new sensor for detection.

  (6) The sandwiching control unit 15 determines whether the object is sandwiched by the window glass 3 by comparing the moving load L with the stored value L0 stored in the storage unit 16. For this reason, in the initial state, it is possible to execute the pinching determination immediately after the controller 10 is turned on by giving a range to the stored value in advance. On the other hand, when detecting pinching of the object by the window glass 3 based on the pulse signal P, initialization is required after turning on the power to the controller 10, so the power of the controller 10 is turned on. Immediately after that, pinching cannot be determined.

  (7) Even when the surrounding environment of the window glass 3 changes, the sandwiching control unit 15 does not need to correct the determination condition of the sandwiching determination process accompanying the change in environment. For example, even when the sliding resistance of the window glass 3 increases due to the temperature changing from normal temperature to low temperature (or high temperature), the pinching control unit 15 gradually increases the pinching load L2 due to the change in temperature. Can be detected. Further, even when the sliding resistance of the window glass 3 decreases due to the change in temperature from low temperature (or high temperature) to normal temperature, the pinching control unit 15 includes a pinching load L2 that gradually increases due to a change in temperature. Can be detected.

  (8) Even if the pinching load L2 continues to increase due to vibration of the vehicle (for example, vibration when the door is closed), the pinching control unit 15 performs pinching determination based on the moving load L. False detection can be suppressed.

In addition, you may change this embodiment as follows. The following other embodiments can be combined with each other within a technically consistent range.
The pinch determination may be performed when the window glass 3 is automatically operated, or may be performed when the window glass 3 is operating by the occupant operating the operation unit 11.

6 is not limited to the previous unit pulse signal, the moving load L and the stored value L0 for the past unit pulse signal may be used for a plurality of unit pulse signals.
The sandwiching determination may be performed not only when the window glass 3 is raised, but also when the window glass 3 is lowered.

In the present embodiment, the pinching detection device is embodied in the power window device 1, but may be embodied in another device or apparatus having an opening / closing body that may pinch an object.
-In this embodiment, although the motor was employ | adopted as the actuator 4, you may move the window glass 3 up and down by linearly moving.

  In the present embodiment, the window glass 3 is embodied as an opening / closing body, but is not limited thereto. For example, it may be embodied in another member such as a sunroof.

  DESCRIPTION OF SYMBOLS 1 ... Power window apparatus, 2 ... Door, 3 ... Window glass, 4 ... Actuator, 5 ... Door frame, 6 ... Opening part, 7 ... Drive circuit, 10 ... Controller, 11 ... Operation part, 12 ... Pulse detection part, 13 DESCRIPTION OF SYMBOLS ... Voltage detection part, 14 ... Current detection part, 15 ... Pinch control part, 16 ... Memory | storage part, D ... Sliding direction, D ... Movement distance, E ... Electric power amount, F ... Magnitude of force, I ... Motor drive current, L: moving load, P: pulse signal, s: distance, t: moving time, V: motor driving voltage, W: work load, L0: memorized value, L1: glass moving load, L2: pinching load, Ll: moving distance , Pl ... electric energy, Th ... threshold.

Claims (7)

In the pinching detection device that detects pinching of an object by an opening / closing body,
Based on a driving voltage and a driving current of electric power supplied to an actuator for opening and closing the opening and closing body, and a pulse signal generated according to the driving of the actuator, a moving load accompanying opening and closing of the opening and closing body is calculated, A pinching detection device including a pinching control unit that detects pinching based on a moving load. The pinch detection device according to claim 1,
The sandwiching control unit
A pinching detection device that calculates the moving load by dividing the product of the driving voltage, the driving current, and the moving time of the opening / closing body per pulse signal by the moving distance of the opening / closing body per pulse signal. The pinch detection device according to claim 1 or 2,
The sandwiching control unit
A pinching detection device that detects pinching of an object by the opening / closing body by comparing the calculated moving load with a stored value that is the movement load stored in advance. In the pinch detection device according to claim 3,
The pulse signal is an electrical signal in which unit pulse signals are continuously generated,
The sandwiching control unit
The difference between the moving load and the stored value when the current unit pulse signal is generated changes more greatly than the difference between the moving load and the stored value when the previous unit pulse signal is generated. If
When the moving load when the current unit pulse signal is generated is continuously larger than the moving load when the previous unit pulse signal is generated,
A pinching detection device that detects pinching of an object by the opening and closing body. The pinch detection device according to claim 4,
The sandwiching control unit
When the moving load has not changed much more compared to the stored value when the current unit pulse signal is generated than when the previous unit pulse signal was generated,
Alternatively, when the moving load when the unit pulse signal of the current time is generated is not continuously larger than the moving load when the unit pulse signal of the previous time is generated,
When the moving load is larger than a predetermined threshold, it is detected that the object is caught by the opening / closing body,
A pinching detection device that detects that the object is not pinched by the opening / closing body when the moving load is not greater than a predetermined threshold. In the pinch detection device according to any one of claims 3 to 5,
The pulse signal is an electrical signal in which unit pulse signals are continuously generated,
The sandwiching control unit
When it is detected that no object is caught by the opening / closing body,
An entrapment detection device that stores a moving load calculated when the current unit pulse signal is generated as the stored value. In the pinch detection device according to any one of claims 1 to 6,
The pinch detection device, wherein the opening / closing body is a window glass provided at a door of a vehicle.

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