JP2687847B2 - Window opening and closing control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a window opening / closing control device, for example, to a device suitable for controlling the opening / closing of a power window of an automobile and detecting the entrapment of foreign matter.

[0002]

2. Description of the Related Art In a power window for opening and closing an automobile window (window glass) by an electric device, when a foreign object is caught between the window and the window frame while the window is being closed, the caught foreign object and the electric power In order to protect the device, there is a device that detects the entrapment and performs a predetermined process such as issuing an alarm or forcibly opening a window based on the detection signal.

As an example, for example, Japanese Examined Patent Publication Sho 63-1
There is an automatic door opening / closing device having an alarm circuit disclosed in No. 18483. That is, this device stores the time required for the opening operation of the window, while the motor that drives the window from the start of the closing operation closes the window (the state of the window reaches the upper end of the window frame), The time required to stop due to the entrapment of foreign matter is measured by monitoring the current supplied to the motor, and compared with the time required for the opening operation. By recognizing this, an alarm is issued to prevent accidents due to trapping.

[0004]

However, in the above-mentioned conventional device, the time required for the opening operation is compared with the time required for the closing operation. It is not always the same when closed, and the degree of deviation often differs depending on each window (device). Therefore, in order to operate normally on various windows, it is necessary to set a predetermined margin for the time that is the criterion. As a result, it takes a certain amount of time from when a foreign object is actually caught until a warning is issued, so when a human body is caught, the state of being pinched continues for a certain period of time. May cause serious damage to

Further, in the above conventional device, the window (upper end) is
The position of is unknown, and it could not be applied to the case where the opening / closing operation is repeatedly performed in the middle (semi-closed state) due to the above-mentioned deviation of rising / falling.

Further, when a portion that does not move smoothly occurs due to aging, and the opening operation of the window is temporarily stopped (or the moving speed decreases) due to the portion that does not move smoothly when the window is closed, There is also a risk of misidentifying it as a foreign substance. Further, for example, even when frost or the like adheres to the window and the window frame and the smooth opening / closing operation of the window cannot be performed due to being caught by the adhered frost or the like, there is a possibility that the window may malfunction.

The present invention has been made in view of the above background, and an object of the present invention is to accurately determine whether or not a foreign substance is caught even if there is a difference in the windows or a secular change. Can be carried out, and it is possible to determine as quickly as possible from the occurrence of such entrapment.
An object of the present invention is to provide a window opening / closing control device that can be applied even when the closing operation is performed from the middle of the window.

[0008]

In order to achieve the above object, in a window opening / closing control device according to the present invention, a driving means for opening / closing the window and a compulsory switch for forcibly closing the window. And a pinching detection unit that detects the presence or absence of a foreign object being pinched by the closing window based on the learning result of the learning unit, and a predetermined force switch when the pinching detection unit outputs the pinching presence and opens the window. Control means for controlling the driving means so as to close the window when is turned on, and feature quantity extraction for extracting the feature quantity relating to the closed state of the window when the window is closing and storing it in a predetermined storage area Means and a state in which the window is closing using the feature quantity stored in the storage area by the feature quantity extracting means after the window is closed is a state in which no foreign matter is caught. And a learning means for performing learning as is.

As means for achieving the purpose of quick determination, a drive means for opening and closing the window, a moving speed detecting means for detecting the moving speed of the ascending window, and the moving speed detecting means are used. Drive voltage estimation means for estimating the drive voltage of the drive means from the detected moving speed,
A window position detection unit that detects the position of the window and a window position data when the moving speed becomes equal to or lower than a threshold value determined based on at least the estimated drive voltage are used to determine the presence or absence of a foreign object. It is composed of a judging means.

Further, the driving means for opening and closing the window, the moving speed detecting means for detecting the moving speed of the ascending window, and the moving speed at least the maximum value of the moving speed detected by the moving speed detecting means. Means for measuring the time required to reach the second reference value from the first reference value determined based on the above, and it is determined that a foreign substance is trapped when the measured time becomes equal to or less than a predetermined threshold value. You may comprise with a determination means.

Further, as means for achieving the purpose of accurately applying even when the closing operation is performed from the middle of the window, the current closing operation of the window is in the fully open state based on the position information of the window. If it is from the fully open state, it is provided with a storage means for storing the calculated maximum value of the moving speed or the driving voltage, and the current window closing operation is from the semi-closed state. If it is, the above determination processing is performed based on the maximum value of the moving speed or the drive voltage stored in the storage means.

[0012]

Operation: The drive means is operated to open and close the window. Then, when the window is closed, the operating condition thereof is detected, and the presence or absence of a foreign object is caught by the entrapment detecting means based on the learning result created in advance. When the pinch is detected, the drive means is controlled to open the window. Further, if the window is fully closed without being pinched, the characteristic amount relating to the situation at the time of the closing operation of the window at that time is extracted by the characteristic amount extraction means (actually, it is extracted at the time of closing operation and stored in the storage area. Based on this, the learning means corrects the knowledge, stores the learning result in the storage area, and prepares for the next entrapment detection. As a result, with respect to the change in the movement state of the window that is not detected as being pinched, a determination standard that matches the current situation is created, and the possibility of erroneous determination is reduced.

On the other hand, if the entrapment detection means makes an erroneous determination, the compulsory switch is turned on and the window is again closed. Then, if the window is forcibly fully closed, a new determination criterion or the like is obtained by the learning means based on the feature amount at the time of the closing operation and stored in the storage area. As a result, the misjudgment is taught, and the situation judged to be the misjudgment is learned as not the entrapment. Therefore, even if the substantially same situation occurs again, the entrapment is not judged.

Further, in the above-mentioned means for performing the rapid determination processing, the moving speed of the window is detected, and an appropriate determination threshold value is set based on the maximum value (driving voltage) of the moving speed. Furthermore, the window position is also detected at the same time. Then, the presence or absence of pinching is determined by looking at the window position when the moving speed falls below the determination threshold value. Further, the determination threshold has two values, a first reference value and a second reference value, and the time until the moving speed decreases from the first reference value to the second reference value is measured. When it is less than or equal to the threshold value (reference time) of, it is determined that there is jamming. Also in this case, the reference time and each reference value are determined based on the maximum value (driving voltage) of the moving speed. That is, since the determination standard (threshold value) is appropriately set according to the operating condition at the time of determination, it is not necessary to take an extra margin in advance to prevent erroneous determination, and the determination process is performed quickly.

Further, when a means for storing the maximum moving speed when the closing operation is performed from the fully opened state is provided, if the closing operation is performed from the state where the window position is in the middle (half closed) Even in this case, the threshold value can be determined according to the driving voltage at that time, and the determination process can be performed based on the threshold value.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of a window opening / closing control device according to the present invention will be described in detail below with reference to the accompanying drawings. 1 to 9
Shows a first embodiment of the present invention, and in the present embodiment, an example applied to a power window system that automatically (electrically) opens and closes a window (window glass) 2 provided in an automobile 1. That is, as shown in FIG. 1, the power window system includes a window motor 3 as is well known.
Is transmitted to the window 2 via the power transmission mechanism 4 for converting the rotational movement into the linear movement. By rotating the window motor 3 forward and backward, the window 2 is lowered (opening operation) / raising (closing operation). The window motor 3 and the power transmission mechanism 4 constitute a driving means for opening and closing the window.
In this example, the opening operation is performed when rotating in the forward direction for convenience. Then, according to the present invention, when a foreign object is sandwiched between the window 2 and the window frame 5 during the closing operation of the window 2, the foreign object is accurately detected, and the window 2 is moved to the opening operation based on the detection result. It is an opening / closing control device.

Here, in the present invention, as shown in FIG. 2, the output of each window motor 3 is connected to a motor rotation speed detection sensor 10, and the rotation status of the window motor 3 is detected by this motor rotation speed detection sensor 10. More specifically, one pulse is output per unit rotation angle and sent to the controller 11. This controller 11
As will be described later, has a function of detecting the presence of a foreign substance trapped during the closing operation of the window 2 based on various supplied data, and sending a predetermined control signal to the window motor 3. Further, a control switch 12 for issuing an opening / closing command for a normal window 2 is connected to the controller 11, and the controller 11 rotates a predetermined window motor 3 in a forward direction or a reverse direction according to ON / OFF of the switch 12. The window is opened and closed by rotating the direction. Although not specifically shown, the control switch 11 is installed at a predetermined position on the inner surface of the door as is well known.

Further, it has a high power switch 13,
When the switch 13 is turned on, the window 2 can be forcibly closed regardless of the determination result by the controller 11. Further, by providing the high power switch 13, even if it is determined that foreign matter is trapped due to misjudgment and the opening operation of the window 2 is attempted, the closing operation is surely performed to close the window 2 and the controller. It can be instructed that 11 is misjudged.

The controller 11 also has a function of correcting its own knowledge in accordance with the teaching of the above erroneous discrimination and preparing for the next discrimination processing. This allows
Immediate response to individual differences, changes over time, and adhesion of frost can be performed, and discrimination processing according to the state of the window can be performed, and erroneous discrimination is eliminated. Furthermore, the in-vehicle battery 14
Output voltage value of the battery voltage detection sensor 15, A / D
It is adapted to be input to the controller 11 via the converter 16.

Next, the structure of the controller 11 for exhibiting the above functions will be described. As shown in FIG. 3, the motor pulse generated by the rotation of the window motor 3 detected by the motor rotation speed detection sensor 10 is sent to the high power switch determination unit 20 in the controller 11. An ON / OFF signal of the high power switch 13 is also input to the high power switch determination unit 20, and when the switch signal is OFF, the motor pulse number is sent to the feature amount extraction unit 21 in the next stage. The feature amount extracted by the feature amount extraction unit 21 is sent to the entrapment determination unit 22, and based on the feature amount given here, a foreign substance, more specifically, one of the human body, is present between the window 2 and the window frame 5. It is designed to determine whether or not the part is sandwiched.

When the high power switch 13 is turned on, the high power switch determination unit 20
A control signal is issued to the predetermined window motor 3 to close the window 2. That is, the high power switch 13 constitutes a control means for controlling the driving means of the present invention. At the same time, data such as the given number of motor pulses is sent to the feature quantity extraction unit 23. Then, also in the feature quantity extraction unit 23, similar to the feature quantity extraction unit 21 described above, a predetermined feature quantity generated during the closing operation is extracted. The current voltage value Vnow of the battery 14 is input to the feature amount extraction units 21 and 23 and the entrapment determination unit 22.

Further, in this example, as a premise of various processes in the feature amount extraction unit 21 and the entrapment determination unit 22, the open / closed space of the window 2 is divided into a plurality of regions based on the position of the window 2 as shown in the following table. The processing is performed according to each area. With this, in the same region, it is possible to determine whether or not there is a pinch using the same threshold value.
By reducing the memory capacity used, it is possible to control multiple windows with one CPU. The window position can be detected from the total number of generated motor pulses.

[0023]

[Table 1] First, the feature quantity extraction unit 21 is processed according to the flowchart shown in FIG. 4. First, the number of pulses generated in the measurement section (sampling time) is read,
Pls (j) (S101). And that Pls
(J) is compared with Pmax (S102), and when it is larger, the process proceeds to the next processing step 103, and when it is smaller, step 1
I will fly to 04.

Here, Pmax is a threshold value (the number of pulses) based on the max method, specifically, the maximum number of pulses in the area that has occurred in the past, such as RAM or D-RA.
It is stored in the storage unit 24 which is a storage area composed of M and the like. Then, as an initial setting, it can be dealt with by setting an appropriate value or setting it to 0. That is, since the value of Pmax stored in the storage unit 24 is 0 or small at the beginning of control, the number of pulses Pls (1) initially extracted eventually becomes Pmax, as described later.

If it is judged to be large in the judgment at step 102, Pls (j) read this time is written as a new Pmax. Further, based on the newly set Pmax, a numerical value smaller than that value by a predetermined ratio is obtained, and the threshold value Pth max used for detection of entrapment is obtained.
(S103).

After this processing is completed, or if it is determined in step 102 that Pls (j) is smaller, the current window position WP is calculated from the in-time moving distance (S104). That is, since the number of revolutions of the window motor 3 is proportional to the amount of rise of the window 2, it can be easily obtained by taking the sum of the number of pulses proportional to the number of revolutions.

Next, the current voltage value Vnow is read,
The read pulse number Pls (j) is standardized by the voltage value to obtain the standardized pulse number S (j) (S105,
106). That is, since the number of pulses generated changes according to the moving speed of the window, if the load changes due to, for example, the operation of the air conditioner, the voltage of the battery 14 also changes, and the rotation speed of the window motor 3 changes accordingly. ,
The number of pulses generated in the measurement section also varies. Therefore, by dividing the number of generated pulses by the voltage value and normalizing it, the dependence on the voltage fluctuation is eliminated.

Then, the window area to which the current window 2 belongs (neck, arm, finger pinching area, etc.) is discriminated from the window position, and the standardized pulse number S (j) is compared with the feature quantity S * to determine a predetermined value. If the conditions are met, the feature quantity (pulse number S *, voltage V *) is updated (S107). Here, the subscripts “*” of S and V mean each feature amount (reference value) in the window region to which the window belongs. Therefore, when the standardized pulse number S (j) is small, it means that the window 2 may not move smoothly due to catching or the like in that region due to aging or the like. Therefore, the reference value is rewritten and set to a value according to the current situation.

The human body entrapment discriminating unit 21 is designed to be processed according to the flowchart shown in FIG. 5, but the basic principle will be described. First, the threshold value used as a reference for discriminating the human body entrapment is a pulse. It is determined using the number and battery voltage. That is, when the window 2 is closed, no pinching occurs, and the battery voltage changes when the window 2 is normally fully closed, and the number of pulses generated for each window position due to the change (the number of pulses generated per measurement section). 6A and 6B show an example of the history of FIG. That is, it can be seen that the number of pulses generated increases and decreases as the voltage increases and decreases as described above. on the other hand,
If the arm is pinched in the arm pinching region, the window 2 does not rise for a certain amount or more, so that the rotation of the window motor 3 decreases and finally stops, so that the number of generated pulses also decreases to zero. In addition, the change in the number of pulses in the normally closing section (for example, the neck pinching region) due to the voltage change is different from that in the normal state (see FIGS. 7A and 7B).

In view of this, the threshold value that matches the current battery voltage is obtained by linear approximation based on the following equation. In FIG. 6 (B), the dashed line in the figure is Pth now calculated by the following equation, and the dashed line in the figure is Pth max. That is, the determination threshold value Pth now is not always less than or equal to Pth max, and the occurrence of an accident due to a delay in detection of trapping is suppressed.

When Vnow ≧ 10 [V] Pth now = Pth ref * Vnow / Vref (1) When Vnow <10 [V] Pth now = Pth max (2) However, Pth now: current judgment threshold value (pulse Number) Pth ref: Judgment threshold value with reference voltage Vnow: Current battery voltage Vref: Battery reference voltage (ex.12V) Pth max: Threshold value obtained by the max method and stored in the storage unit 24 .

Then, when the number of actually captured pulses is below each of the above thresholds, it is determined that the human body is trapped. Then, specifically, first, the current window position W
From P (calculated by the feature quantity extraction unit 21), the threshold value Pth ref of the window region to which it belongs is read, and the current voltage value Vnow is read (S201, 202). Then, based on the read data, the threshold value Pth now matched to the current voltage value is calculated based on the above equations (1) and (2) (S203). Then, the obtained threshold Pth now
Is compared with the number of pulses Pls (j) obtained by the feature amount extraction unit 21, and the magnitude relationship is determined. When Pls (j) is smaller, it is determined that human body entrapment has occurred, and a predetermined control signal Is generated (S205).

When the human body is detected,
The rotation direction of the target window motor 3 is reversed, and the window motor 3 is rotated in the forward direction to open the window. On the other hand, when the human body is not caught, it is sent to the fully closed state detection unit 25 of the next stage, and it is determined here whether the window 2 is fully closed. This judgment can detect that the window position has reached the uppermost position based on the sum WP of the number of pulses. Then, when the fully closed state is reached, the feature amount obtained by the feature amount extraction unit 21 is sent to the learning unit 26, and the knowledge such as the determination threshold update and the determination region setting is performed here. There is. The fully-closed state detecting unit 25 is also given the data from the feature amount extracting unit 23, and the same processing as described above is performed.

That is, the processing is performed according to the flow chart shown in FIG. 8. First, m is initially set as the initial value.
The threshold value determined based on the ax method is set. Based on this, the current threshold value Pth ′ * is calculated for each window area based on the following equation (S301).

Pth ′ * (k) = S * −X * where *: any of neck region, arm region, and finger region, and X * in the above formula is a threshold value for the minimum pulse S * in that region. It is a margin, and the feature amount extraction unit 2
Fuzzy inference processing is performed according to the rules shown in the following table based on S * stored in the storage unit 24 and S * stored in the storage unit 24 and the voltage value V * at that time.

[0036]

[Table 2] Then, the fully closed state is the high power switch 1
It is determined whether or not the forced execution has been performed by turning on No. 3 (S302), and in the case of forced execution, the current threshold value is reset (S303). That is, when the closing operation is performed by forced execution, it can be determined that the erroneous determination, that is, the knowledge data for determining the currently held threshold value, does not follow the current actual situation. Rewrite.

On the other hand, when the threshold value is closed without being forcedly executed, the average of the threshold value up to the previous time and the threshold value this time is calculated, and the average value is determined as a new threshold value. Then, the determined new threshold value is stored in the storage unit 24. However, when the calculated new threshold Pth * (k) is smaller than Pth max, Pth
th max is set as a new threshold value (S304). In other words, if the threshold value becomes too small, it takes time to determine that the entrapment is occurring when the entrapment is actually occurring. Therefore, it is prevented from becoming smaller than a certain value and the occurrence of such self is prevented in advance. When the learning process (threshold update) is completed, the window position is reset to prepare for the next determination and learning (S30).
5). The overall processing of the apparatus of the above-described embodiment is shown in FIG.
It is shown as follows.

FIG. 10 shows a second embodiment of the present invention. As shown in the figure, the window motor 3 rotates in the forward and reverse directions based on the control command (open / close start / stop) from the control switch 12 'so that the window is opened / closed by a power transmission mechanism (not shown). It has become.
The basic structure is the same as that of the first embodiment described above. In the illustrated example, one window motor is shown for the sake of convenience, but in reality, as shown in FIG. 2, a window motor and an opening / closing control device connected thereto are installed for each window (see the following embodiment). Same for example).

The number of rotations of the window motor 3 is
It is adapted to be detected by the motor rotation speed detection sensor 10. In this example, unlike the first embodiment described above, when the shaft of the window motor 3 makes one rotation, the sensor 1
One pulse is output from 0 '. That is, at a predetermined position of the output shaft, a disc having a notch formed by cutting a peripheral edge at a predetermined angle is coaxially attached, and a proximity sensor is provided so as to face the peripheral edge of the disc. As a result, as shown in FIG. 11, when the proximity switch faces the cutout portion of the disk, the output is L
In addition, the output becomes H in the other sections. Therefore, the L and H ratios are constant during constant speed rotation.

By the way, the output voltage of the proximity sensor does not change instantaneously when it passes through the boundary of the cutout portion of the disk, but the output voltage gradually changes as shown in FIG. Will be done. Therefore, by comparing the output voltage with a predetermined threshold value Vth, a pulse wave in which 1/0 (H / L) is instantaneously switched is output as shown in FIG. ing.

Then, the output (pulse) is sent to the sampling device 31 in the next stage. As shown in FIG. 11B, the sampling device 31 reads a pulse given at every constant period t, detects the on / off (1/0) state of the pulse, and detects the on / off (1/0) state thereof.
2 In the example shown in the figure, the data is read for each arrow, and "1" is output from the first to the seventh, and switched to "0" at the eighth.

The edge number measuring device 32 receives the output signal from the sampling device 31 and detects the rising (falling) of the pulse generated during a predetermined time (edge measuring time). The number of falling edges is incremented when the output of the sampling device 31 changes from 1 to 0, and the rising number is incremented when the output of the sampling device 31 changes from 0 to 1. Then, both the edge measuring device 32 and the sampling device 31 follow the start command sent from the timing control device 33 which receives the start signal of the control switch 12 '.
It is supposed to start operating. In this example, the moving speed of the window is detected by counting the number of edges, and the moving speed detecting means is constituted by the motor rotation speed detecting sensor 10 ', the sampling device 31, the edge number measuring device 32, and the like. There is.

Then, the output of the edge number measuring device 32 is sent to the characteristic amount calculating device 34, where a predetermined characteristic amount is extracted. That is, first, an edge count process of counting the number of edges (pls count) of the pulse within a predetermined time (edge measurement time) is performed.

Specifically, as shown in FIG. 12, first,
Previously sampled pulse data (pls ol
d), the pulse data (pls n) sampled this time
ew) and the pulse edge number (pls count)
Each variable of is initialized (S401).

Then, the output of the motor rotation speed detection sensor 10 'is sampled, and the state (ON / OFF) at that time is stored in "samp data" (S402,
403). Then, the number of edges is counted based on the sample data. That is, first, the current sampling data (samp data) is changed to "pls ne
w ”and is equal to the previous value (pls new =
pls old), and if they are not equal, it is determined as a pulse edge, and the number of pulse edges (pls
count) is added. Then, the currently detected data "pls new" is stored in "pls old" in preparation for the next sampling process (S403 to 407).
After that, the process waits until the sampling period elapses (S408), and the process returns to step 402. After that, the above processing is performed until the edge measurement time elapses. As a result, the number of edges of the pulse within the edge measurement time is obtained, and this is sent to the means for executing the next processing (integration processing, filtering processing, etc.) (S409), and the flow returns to step 401 to proceed to the next edge measurement.

Next, the calculated edge number is integrated to calculate the window position. At this time, in consideration of the rotation direction of the window motor, the number of edges generated when the window rises (forward rotation) is added, and the number of edges generated when the window descends (reverse rotation) is subtracted. . Further, the integrated value is reset when the power is turned on or when the window is fully opened to suppress the occurrence of cumulative error. This function constitutes the window position detecting means.

Further, a predetermined filtering process is performed on the number of edges obtained above. That is, when the window normally rises and closes, the number of edges per edge measurement time gradually decreases as shown in FIG. However, due to slippage and deviation of the detection timing, noise Na such that the number of edges is larger or smaller than it should be, as shown in FIG.
Nb is generated. Therefore, the feature amount calculation device 34 performs a filtering process to remove the noise and obtain the number of pseudo edges, and gradually decreases as shown in FIG. The specific filtering process is shown in the table below.

[0048]

[Table 3] In other words, pay attention to the fact that the number of edges (corresponding to the number of rotations of the motor and the moving speed of the window) gradually decreases, and if the measured number of edges is smaller than the number of edges acquired last time, set that value in principle. If the number of pseudo edges is larger than the number of edges acquired last time, the previous value is set as the number of pseudo edges. As a result, the noise indicated by Na in FIG. 13A is removed. In addition, even if the pseudo edge is once reduced according to the above rule, noise (indicated by Nb in the figure) may occur when the pseudo edge is reduced, so that the correct number of edges (Nb If it is output), it will be corrected to that value.

Further, in the case of an automobile to which the present invention is applied,
Since the drive source of the window motor is an in-vehicle battery, the terminal voltage of the battery varies greatly. When the terminal voltage concerned is different, the characteristics of the change in the number of edges with respect to the passage of time (window rise) shown in FIG. 13 are also different. Therefore, in the present example, this characteristic is used in order to perform the determination process according to the terminal voltage of the battery. The current calculation terminal voltage of the battery (motor drive voltage) is estimated by the quantity calculation device 34.

That is, the number of edges from the fully opened state to the beginning of the closing operation is due to the drive voltage. The higher the drive voltage, the higher the pseudo edge number Un, and the battery terminal voltage (motor drive voltage) and the pseudo edge number Un. The relationship with the maximum value of is as shown in FIG. Therefore, the maximum number of pseudo edges is obtained, and the drive voltage is estimated based on the conversion table shown (actually, a table is created and referred to). Then, the estimated drive voltage becomes the feature quantity 1.
Further, such a function constitutes a driving voltage estimating means.

As is apparent from FIG. 13, since the number of pseudo edges decreases with the lapse of time, it is possible to monitor the predetermined number of pseudo edges at the beginning of starting and determine the maximum number of pseudo edges based on the number of pseudo edges. Therefore, the maximum number of pseudo edges (driving voltage) can be determined relatively quickly.

Further, the window speed span spn (U) shown in the above table is detected, and the duration of the number of pseudo edges, which is one greater than the current number of pseudo edges (the span of window speed spn). (Un + 1)) is calculated, and is set as the feature amount 2. Then, the feature quantities 1 and 2 obtained as described above are sent to the fuzzy inference device 35 at the next stage, and the window position and the number of pseudo edges are sent to the determination result processing device 36.

In the fuzzy reasoning device 35, the given 2
Based on one of the feature quantities 1 and 2, the threshold value of the number of pseudo edges, which serves as a criterion for the determination process using the rules shown in the table below and the membership function shown in FIG. 15, is determined. That is, when the drive voltage, which is the feature amount 1, is large, the rising speed of the window is also high, and therefore it is necessary to make the determination relatively quickly in order to protect the foreign matter that is trapped. If the time is short, it means that the ascending speed has decreased, so there is a possibility that pinching may occur, so the determination was made as early as possible. Then, the threshold value of the inference result is set to the determination result processing device 36.
To be sent to

[0054]

[Table 4] The judgment result processing device 36 uses the judgment threshold value given from the fuzzy reasoning device 35 and the window position and the number of pseudo edges given from the feature amount calculation device 34 to determine whether a foreign object (human body) is caught in the window. Is judged,
A control signal is sent to the window motor 3 in order to perform a predetermined process of continuing to raise the window / lowering the reverse rotation.
The specific determination rule is as shown in the table below.

This makes it possible to perform the determination process at an appropriate time according to the operating conditions such as the drive voltage, and when there is a high possibility that the entrapment is occurring, and when the entrapment is occurring. It is possible to promptly determine the reverse rotation drive and lower the window to protect the foreign matter.

[0056]

[Table 5] In the second embodiment described above, the threshold value of the number of pseudo edges for determination is obtained by fuzzy inference, but the present invention is not limited to such a configuration. For example, the threshold value is a fixed ratio of the maximum number of pseudo edges ( For example, it may be 50%). In such a case, as shown in FIG. 16, the fuzzy inference device shown in FIG. 10 is unnecessary, and the feature quantity calculation device 34 'is not necessary.
With regard to the function of, the number of edges may be integrated without calculating the feature quantities 1 and 2, and the number of pseudo edges may be obtained by filtering processing, and both may be sent to the determination result processing device 36 '. Further, the maximum number of edges is obtained (which means that the drive voltage is indirectly estimated), the threshold value is obtained, and the threshold value is sent to the determination result processing device 36 '. The rest of the configuration and operation are the same as those of the second embodiment described above, so a description thereof will be omitted.

FIG. 17 shows the operating principle (determination processing) of the third embodiment of the present invention. That is, in the above-described second embodiment and modified example, the presence or absence of entrapment is determined by detecting the window position when the number of pseudo edges reaches a predetermined threshold value. Paying attention to the change history (time series data), after the pseudo edge number reaches a certain value that is the first reference value (upper limit value α), another value that is the second reference value (lower limit value β (α > Β)) is calculated, and when the time d is less than or equal to a predetermined threshold Th as shown in FIG. 18, it is determined that there is entrapment, and a predetermined process is performed.

As the block diagram for carrying out this example, the same block diagram as that of the second example shown in FIG. 10 can be used, but the specific functions of the respective devices are different. That is, the feature quantity calculation device 34 obtains the number of edges per unit time, performs filtering processing on the number of edges, and sets the number of pseudo edges and the maximum number of pseudo edges max.
The maximum pseudo edge number is sent to the fuzzy inference device 35, and the pseudo edge number is sent to the judgment result processing device 36, although the same is true until the determination of The duration spn (Un) is not calculated.

Further, the feature quantity calculating device 34 obtains the determination threshold Th shown in FIG. 18 and the upper limit value α and the lower limit value β shown in FIG. 17, and specifically, based on the given maximum number of edges and the like. Inference processing is performed according to the following rules.

[0060]

[Table 6] Then, the determination result processing unit 36 starts the timer when the number of pseudo edges becomes equal to or less than the upper limit value α, detects the value of the timer when the number of pseudo edges becomes the lower limit value β, and the value is the threshold Th. It is determined whether or not it is below, and when it is less than or equal to the threshold value Th, it is determined to be abnormal (with pinching), the window motor 3 is driven in reverse, and the window is lowered. Further, when it is equal to or more than the threshold Th, it is determined that there is no abnormality and the driving is continued. That is, in this example, the determination result processing unit 36 serves as the measuring unit and the determining unit described in claim 3. Since the other configurations and operations are the same as those of the second embodiment, the description thereof will be omitted.

Also, in this embodiment, the threshold value Th is obtained by inference, but it is also possible to determine the threshold value by crisp without inferring the threshold value as in the modification of the second embodiment. That is, the upper limit value α and the lower limit value β are determined in advance in proportion to the maximum number of edges, and α and β are calculated based on the maximum number of pseudo edges calculated by the feature amount extraction unit. Furthermore, the threshold value d is also determined to be crisp with respect to the maximum number of pseudo edges. Then, the determination process may be performed by the determination result processing device based on it.

The values α and β are, for example, as shown in FIG.
As shown in FIG. 9, it is determined as the ratio of the values based on the maximum number of pseudo edges. The threshold Th can be set as shown in FIG. In addition,
This is just an example. With such a configuration, high-speed processing can be performed, and the upper limit value α, the lower limit value β, and the threshold value T can be appropriately set according to the maximum number of pseudo edges (driving voltage).
Since h is determined, the determination process suitable for the operating condition is performed.

FIG. 21 shows a fourth embodiment of the present invention. As shown in the figure, the present embodiment is based on the modified example (shown in FIG. 16) of the second embodiment described above (the same reference numerals are used for the same configuration), and in the present embodiment, the feature quantity calculation device 3 is used.
4 ″ and the judgment result processing device 36 ″ are provided with a window moving speed maximum value holding storage device 40 as a storage means to store the maximum moving speed (maximum number of pseudo edges) from the fully opened state to the present. Has become.

That is, in each of the above-described embodiments, the maximum number of pseudo edges is calculated based on the number of pseudo edges after the start of the window closing operation. Therefore, for example, the rising of the window is stopped halfway, and then the window is moved again. In this case, the maximum number of pseudo edges is smaller than that when fully opened (corresponding to the drive voltage). Therefore, if various determination processes are performed based on these values, the determination process will be delayed. There is a risk.
In the normal case, since there is a high possibility that foreign matter will be caught when the window is closed by auto mode or the like from the fully opened state, there is no problem in practical use even in the above-mentioned examples, and
Although there are many cases in which there is no problem even if the judgment is sent a little, in the present embodiment, the judgment process can be performed with higher accuracy and speed.

That is, the window moving speed maximum value holding storage device 40 serving as a storage means closes the window from the time when the operation is started this time to the time when the operation is started on the basis of the current window position obtained by the characteristic amount calculation device 34 ″. It is determined whether it is an operation or a window closing operation from the middle position, and in the case of the window closing operation from the time of full opening, the currently extracted maximum number of pseudo edges is stored in the window moving maximum speed. In the case of the closing operation, the window movement maximum speed stored in the storage device 40 is not updated and the value is used as it is.

In the judgment result processing device 36 ", the number of pseudo edges given from the maximum window moving speed value holding storage device 40 is the maximum window moving speed (maximum pseudo operating time when the window is operated from fully open in the ascending / descending operation of windows). The presence / absence of pinching is determined by determining whether or not the window position is 95% of fully closed in 1/2 of the number of edges), and a predetermined control signal for the window motor 3 is generated. Even if the window position is midway, appropriate determination processing (determination start timing and determination) can be performed, since the other configurations and operations are similar to those of the modification of the second embodiment described above. Detailed description is omitted.

In the fourth embodiment, the modification of the second embodiment shown in FIG. 16 is used as a reference, but the structure for storing and holding the maximum window moving speed is applied to each of the above embodiments. Of course you can. In addition, none of the above-described second to fourth embodiments and the modifications based on them consider the change in the opening / closing operation of the window due to the sliding of the window or the passage of time. Therefore, if such a phenomenon is also taken into consideration, the learning function may be added as in the first embodiment described above. That is, the present invention does not prevent the above-described embodiments from being appropriately combined and executed.

In addition, in each of the above-described embodiments, an example in which they are used for power windows of automobiles has been described, but the present invention is not limited to this, and openings such as windows of houses and windows of various machines and devices are provided. It can be applied to a mechanism in which a window capable of closing a part is automatically opened and closed by a driving means. Further, it is needless to say that the object to be pinched is not limited to the human being as in the above-mentioned embodiment.

[0069]

As described above, the window opening / closing control device according to the present invention has the following various effects. First, in the invention of claim 1, the knowledge for detecting the entrapment of the foreign matter is rewritten successively as necessary, and when the misjudgment is made by the compulsory switch, the misjudgment is made by forcibly closing the window. The device can be taught different things and new knowledge can be accumulated based on the forced closing motion. As a result, even if there are individual differences in windows and aging
Even if frost is attached, it is possible to accurately determine whether or not a foreign object is caught. On the contrary, even if the learning result is based on the adhesion of frost, if the window is opened and closed smoothly (relatively quickly) after the frost has melted, the current situation will gradually change due to continued learning. The learning result is suitable for.

Further, in the inventions of claims 2 to 6, since the moving speed of the window is detected and the maximum moving speed and the threshold value for the judgment processing based on the driving voltage at that time are determined,
The determination process is performed at an appropriate timing according to the operating environment at that time. Moreover, when the change in the moving speed occurs earlier than the normal state, the determination process is performed accordingly (there is no need to wait for a certain period of time as in the conventional case). Therefore, when entrapment occurs, the determination process can be performed quickly and accurately.

Further, as in the invention described in claim 6,
When the storage means is provided to store the data such as the drive voltage when the closing operation is started from the fully opened state, the threshold value serving as the reference of the above-mentioned determination process is set regardless of the window position at the start of the start. Since the determination can be made more accurately, the determination processing can be performed accurately.

By applying each of the above inventions to a power window of an automobile, it is possible to prevent an accident in which a human body or other object is caught between the window and the window frame.

[Brief description of the drawings]

FIG. 1 is a diagram showing an automobile of an application example of a window opening / closing control device according to the present invention.

FIG. 2 is a diagram showing a first embodiment of a window opening / closing control device according to the present invention.

FIG. 3 is a block diagram showing an internal configuration of a controller.

FIG. 4 is a flowchart illustrating a function of a feature quantity extraction unit.

FIG. 5 is a flowchart illustrating the function of a pinch detection unit.

FIG. 6 is a graph showing an example of changing states of voltage and pulse number with respect to a window position in a normal state.

FIG. 7 is a graph showing an example of a variation state of voltage and pulse number with respect to a window position when pinching occurs.

FIG. 8 is a flowchart illustrating a function of a learning unit.

FIG. 9 is a flowchart illustrating the operation of the entire control device according to the present embodiment.

FIG. 10 is a block diagram showing a second embodiment and a third embodiment of the present invention.

FIG. 11 is a diagram illustrating the operation of a rotation speed detection sensor and a sampling device.

FIG. 12 is a flowchart showing a part of the functions of the feature quantity computing device of the second embodiment.

FIG. 13 is a diagram illustrating a filtering function that is a part of the function of the feature amount calculation device.

FIG. 14 is a diagram illustrating a drive voltage estimation function that is a part of the function of the feature amount calculation device.

FIG. 15 is a diagram showing a membership function of the fuzzy inference apparatus according to the second embodiment.

FIG. 16 is a block diagram showing a modification of the second and third embodiments of the present invention.

FIG. 17 is a diagram for explaining the operation of the third embodiment of the present invention.

FIG. 18 is a diagram for explaining the operation of the third embodiment of the present invention.

FIG. 19 is a view for explaining the operation of the modification of the third embodiment of the present invention.

FIG. 20 is a view for explaining the operation of the modification of the third embodiment of the present invention.

FIG. 21 is a block diagram showing a fourth embodiment of the present invention.

[Explanation of symbols]

 2 window 3 window motor (driving means) 4 power transmission mechanism (driving means) 10 'motor rotation speed detection sensor (moving speed detection means) 13 high power switch (forced switch) 21,23 feature amount extraction section 22 pinch discrimination section 24 Storage part (storage area) 25 Fully closed state detection part 26 Learning part 31 Sampling device (moving speed detecting means) 32 Edge number measuring device (moving speed detecting means) 34, 34 ', 34 "Feature amount calculating device 35 Fuzzy inference device 36,36 ', 36 "Judgment result processing device

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tetsuya Fukumoto 10 Ouron Co., Ltd., Hanazono-cho, Ukyo-ku, Kyoto-shi, Omron Co., Ltd. (72) Nobuo Nagasaka 10 No. 10 Hanazono-do, Ukyo-ku, Kyoto, Japan In (72) Inventor Katsuyuki Inage 10 Hanazono Todo-cho, Ukyo-ku, Kyoto City Omron Co., Ltd. (56) Reference JP-A-63-118483 (JP, A) JP-A-5-286356 (JP, A) JP-A-6-10561 (JP, A) JP-A-6-19551 (JP, A) JP-A-64-39278 (JP, A) JP-A-62-280476 (JP, A) JP-A-3-143284 (JP, A)

Claims (7)

(57) [Claims] 1. A drive means for opening and closing a window, a compulsory switch for forcibly closing the window, and an entrapment detection means for detecting the presence or absence of an entrapment of foreign matter by the closing window based on the learning result of the learning means. And a control means for controlling the drive means so as to close the window when a predetermined compulsory switch is turned on when the jamming detection means outputs a message that there is jamming and operates to open the window, and the window. Feature quantity extraction means for extracting a feature quantity relating to the closed state of the window and storing it in a predetermined storage area when the window is closing, and a feature quantity stored in the storage area by the feature quantity extraction means after the window is closed. A window opening / closing control device comprising: learning means for learning that the state in which the window is being closed is a state in which no foreign matter is caught. 2. A drive means for opening and closing the window, a moving speed detecting means for detecting a moving speed of the window moving upward, and a driving voltage for the driving means based on the moving speed detected by the moving speed detecting means. Drive voltage estimating means for estimating, window position detecting means for detecting the position of the window, and from the window position data when the moving speed is at least equal to or less than a threshold value determined based on the estimated drive voltage An opening / closing control device for a window, comprising: a determination unit that determines whether or not a foreign object is caught. 3. A drive means for opening and closing a window, a moving speed detecting means for detecting a moving speed of an ascending window, and a moving speed at least the maximum value of the moving speed detected by the moving speed detecting means. First decided based on
Of the window provided with means for measuring the time required to reach the second reference value from the reference value of No. 1 and determination means for determining that there is a foreign substance trapped when the measured time becomes equal to or less than a predetermined threshold value. Switching control device. 4. The moving speed detecting means detects the number of revolutions of a motor that drives the window to open and close. The detected number of revolutions is subjected to predetermined filtering processing to remove at least noise caused by uneven rotation. 4. The window opening / closing control device according to claim 2, further comprising means for calculating a pseudo rotation speed obtained by performing the various processes based on the rotation speed based on the calculated pseudo rotation speed. 5. The method according to claim 2, further comprising means for performing fuzzy inference based on data of at least one of the moving speed and the driving voltage to infer the threshold value and / or the first and second reference values. The opening / closing control device for a window according to any one of items. 6. Based on the position information of the window, it is determined whether or not the current closing operation of the window is from the fully opened state, and when it is from the fully opened state, the maximum value of the calculated moving speed or When the current window closing operation is from the semi-closed state, the storage means for storing the drive voltage is provided, and the above-mentioned operation is performed based on the maximum value of the moving speed or the drive voltage stored in the storage means. The window opening / closing control device according to claim 2, wherein the determination process is performed. 7. A window opening / closing control device according to claim 1, wherein the window opening / closing control device is mounted on a power window of an automobile.