JP2823553B2 - Window opener - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a window glass opening / closing device, and more particularly to an automatic window glass lifting / lowering device. 2. Description of the Related Art In recent years, windowpane raising / lowering devices for opening and closing a windowpane of an automobile without manual operation have become widespread. This windowpane raising / lowering device generally raises and lowers a windowpane by operating a motor that rotates forward and backward by a manual operation switch. And while turning on the manual operation switch,
The pane continues to rise or fall. Therefore, when an object such as a passenger's hand or head is inserted between the window glass and the window frame while the window glass is being raised, the object is sandwiched between the window glass and the window frame. Problem. Therefore, various methods for solving this problem have been studied. For example, Japanese Patent Application Laid-Open No. 60-185626 discloses that an optical fiber is assembled along a window frame, and the refraction of the optical fiber is detected to detect an abnormality such as pinching of an object. In Japanese Patent Application Laid-Open No. 60-185625, an energization pattern of a motor for raising and lowering a window glass in a normal state is stored in advance, and this is compared with data at the time of actual operation as reference data, and the It is disclosed that an abnormality such as pinching is detected. Further, Japanese Patent Application Laid-Open No. 61-52172 discloses that the rotation of a DC motor is detected as a pulse, and that the window glass has stopped halfway up is detected by a pulse, and the motor is reversed. However, the one disclosed in Japanese Patent Application Laid-Open No. 60-185626 requires that an expensive optical fiber be assembled to a window frame, which increases the number of working steps and special detection. Equipment must be provided. In addition, in general, when a sensor for detecting pinch detection is installed, the sensor is put into practical use due to mounting problems, restrictions on the production of doors including window frames and window glass, and a significant increase in cost or reliability. It is difficult at present. On the other hand, the one disclosed in Japanese Patent Application Laid-Open No. 60-185625 eliminates the influence of variations in motor load, including the sliding resistance between the window frame and window glass attached to the actual vehicle. In order to store the reference data, it is necessary to operate the storage switch for storage when the window glass is raised and lowered. Also, it is necessary to provide a limit switch to detect that the window glass has reached the fully open position or the fully closed position. No consideration is given to the fact that the reference data is data during normal operation. The motor disclosed in Japanese Patent Application Laid-Open No. 61-52172 detects the stop of the rising of the window glass and then reverses the motor. SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned drawbacks of the prior art. By detecting the entrapment before the motor stops and reversing the motor, the response is quick and the object entrapment accident is prevented. It is an object of the present invention to provide a window glass opening / closing device that can perform the operation. According to a first aspect of the present invention, there is provided a window glass opening / closing apparatus for opening and closing a window glass, the motor capable of rotating forward and backward, and generating a pulse signal corresponding to the number of rotations of the motor. A pulse generator, a counter that counts the number of pulse signals output by the pulse generator, and a window glass position determiner that determines whether the window glass is within the fully closed position range based on the count value of the counter. A speed calculator for obtaining a motor rotation speed based on a pulse signal output by the pulse generator; a storage unit for storing a plurality of motor rotation speed data obtained by the speed calculator; and a plurality of storage units for storing the rotation speed data. Averaging means for averaging the data of the speed, a speed change calculator for calculating a change amount or a change rate of the average value obtained by the averaging means and the current speed data obtained by the speed calculator, and a window glass is closed. A windowpane operation discriminator for discriminating whether the windowpane is in operation or an open operation, and a windowpane motion discriminator discriminates that the windowpane is in a closing operation, and a windowpane position discriminator determines that the windowpane is in a fully closed position range. In the case where it is determined that it is not within the range, when the output of the speed change calculator is equal to or more than a predetermined set value, it has a configuration having a reverse rotation command generator that reverses the motor and opens the window glass. I have. In the present invention constructed as described above, when the window glass is moving to the closing side, the window glass operation discriminator determines that the window glass is in the closing operation, and
In the state where the windowpane is determined not to be within the fully closed position range by the windowpane position discriminator, when the pinch occurs in the windowpane moving to the closing side, the output of the speed change calculator is predetermined. Exceed the set value. Then, the reverse rotation command generator reverses the motor to open the window glass. Therefore, when an object is caught between the window frame and the window glass, the pinch is detected before the rotation of the motor stops, and the motor is reversed to lower the window glass. Less damage or damage. A preferred embodiment of a window glass opening / closing device according to the present invention will be described in detail with reference to the accompanying drawings. FIG. 3 is a block diagram showing an embodiment of a window glass opening / closing device according to the present invention. In FIG. 3, a motor 10 is a motor that can rotate forward and backward, and is provided corresponding to each door 12 of the automobile. Then, the motor 10 raises and lowers the window glass 16 mounted in the window frame 14. The motor 10 is connected to a power supply (battery) via a drive circuit 18.
Connected to B. The drive circuit 18 is connected to a pulse generation circuit 20 and a central processing unit (CPU) 24 of a controller 22. The controller 22 is connected to a power supply B via a constant voltage circuit (not shown), and has a counter 26 connected to the CPU 24 therein. And CPU2
4 receives an ascending request signal 30a or a descending request signal 30b of the window glass 16 by an operation switch panel 28 operated by a passenger, and outputs an ascending signal 32a and a descending signal 32b to the drive circuit 18. The drive circuit 18 includes a CPU 24
The forward drive signal 34a for raising the window glass 16 or the reverse drive signal 34b for lowering the window glass 16 is given to the motor 10 in accordance with the output signal of FIG. The pulse generating circuit 20 outputs a pulse signal to be described later to the CPU 24 and the counter 26. CPU2
4 detects the position of the window glass 16 based on the number of pulses counted by the counter 26. That is, the CPU 24 has a map 36 in which the number of pulses corresponds to the position of the window glass 16. For example, when the number of pulses is 0, the window glass 16 is fully closed and the number of pulses is 2000 ( P _MAX )
In this case, it can be detected that the window glass 16 is fully opened. Reference numeral 38 shown in FIG. 3 indicates an object sandwiched between the window frame 14 and the window glass 16. The operation of the embodiment constructed as described above is as follows. When the passenger wants to raise the window glass 16, he pushes the up button on the operation switch panel 28.
As a result, the ascending request signal 30a is input to the CPU 24 from the operation switch panel 28. When the CPU 24 receives the rising request signal 30a, the CPU 24 inputs the rising signal 32a to the driving circuit 18, and the driving circuit 18 outputs the normal rotation driving signal 34a.
To connect the motor 10 to the power supply B,
Is driven to rise. When the motor 10 rotates, a ripple current corresponding to the rotation speed is generated in the motor current. The pulsating waveform of the ripple current is guided to the pulse generation circuit 20 via the drive circuit 18. The pulse generation circuit 20 shapes the pulsating waveform of the ripple current, and outputs the pulse signal to the CPU 2.
4 and the counter 26. As will be described later, the counter 26 is operated by the CPU 24 so as to count down when the window glass 16 moves up and to count up when the window glass 16 moves down. Therefore, when the pulse generation circuit 20 receives a pulse signal generated by the forward rotation of the motor 10, the counter 26 sequentially counts down according to the number of pulse signals. On the other hand, the CPU 24 always determines whether or not the object 38 is sandwiched between the window frame 14 and the window glass 16 according to the flowchart shown in FIG. The CPU 24 determines in step 100 that the motor 10
It is determined whether or not there is an operation command (input of the ascending request signal 30a or the descending request signal 30b). If there is no operation command, acceptance of the interrupt processing shown in FIG. If there is an instruction, the process proceeds to step 101, where a request for an interrupt process shown in FIG. 2 is received. As shown in FIG. 4, a timer interrupt signal is given to the CPU 24 at regular intervals, for example, every 100 .mu.sec. The interrupt processing shown in (1) is executed. This interrupt processing detects the current position of the window glass 16 and the motor speed based on the pulse signal output from the pulse generation circuit 20.
In, it is determined whether or not the voltage level of the pulse signal has changed from 0 (low level) to 1 (high level). If there is no change, the process skips to step 64 and ends the interrupt program. Further, the CPU 24 determines in step 5
When the voltage level is higher this time at 0 than at the previous time, that is, when the voltage level changes from 0 to 1, the process proceeds to step 52, and it is determined whether the window glass 16 is being raised (UP operation). I do. If the window glass 16 is rising, the process proceeds to step 54 to decrement (count down) the counter 26 by 1. If the window glass 16 is falling, the process proceeds to step 56 and the counter 26 is incremented (counted up) by 1 and step 58. Proceed to. It is well known that a pulse signal, that is, a pulsating waveform due to the ripple current of the motor 10 is generated a fixed number of times (the number of segments of the rotor of the motor 10) during one rotation of the motor 10. Is the window glass 16
Is proportional to the amount by which the window glass 16 is raised or lowered by the elevating mechanism to which is connected. Accordingly, the motor rotation speed when the window glass 16 moves up and down over the entire stroke from the fully closed position to the fully opened position of the window glass 16 shown in FIG.
The value of 6 to 0, if the value P _MAX of the fully open position of the window glass 16 in 2000, it is possible to detect the position of the window glass 16 by the contents of the counter 26. That is, step 5
Reference numerals 4 and 56 indicate that the current position of the window glass 16 has been detected. In step 58, it is determined whether or not the motor is at start-up. The rotation speed of the motor 10 greatly changes when the motor is started (at the time of initial operation), as shown in FIG. Therefore, at the time of the initial operation, for example, after starting the motor 10, 100 to 200
Since the transition state is a transition state during msec, the process proceeds to step 64, and the interrupt program ends. And the CPU 24
, When it is determined not when the motor starts in step 58, calculates a T _p (the period of the pulse signal) the current rotational speed of the motor 10 proceeds to step 60, step 62
As shown in (5), the data is stored in a speed data table in a memory (not shown), and the flow advances to step 64 to end the interrupt processing. The calculation of the cycle T _p is performed at the time of the previous interrupt processing in step 6.
0, and the current interrupt processing starts at step 60
Is calculated by calculating the elapsed time until the vehicle passes through. That is, as shown in FIG. 4, the time from the timer interrupt signal after the pulse signal changes from 0 to 1 to the timer interrupt signal after the pulse signal next changes from 0 to 1 is defined as the pulse period T. _{and p} . Therefore, if the cycle of the timer interrupt signal is 100 μsec, the calculation accuracy of the cycle T _p of the pulse signal is T _p ± 100 μsec. According to experimental data, the period T _p is
Motor 1 including sliding resistance between window frame 14 and window glass 16
0, the type of motor, etc., the actual measurement at the maximum speed is about 1.2 msec, and the calculated value is 1.1 to
1.3 msec. Therefore, the difference between them is at most about 1
It is about 0%. However, when an object is sandwiched,
Motor speed slows down, since the period T _p becomes larger, it no practical problem at all in error is reduced has been confirmed by experiments. Further, the period T _p (motor speed)
If you want to improve the detection accuracy of the timer, reduce the period of the timer interrupt signal or measure the pulse period m times,
The average value may be regarded as the current motor speed. The velocity data table described above, for example is as shown in FIG. 5, n pieces of period T _p up to the previous
The Yes and arranged from oldest, each time through the steps 62, is deleted temporally oldest period T _pn, conventional T _p
Are updated to T _p1 and T _p1 is updated to T _p2 . When the CPU 24 reaches step 64 and terminates the interrupt process, the CPU 24 returns to the main routine shown in FIG. 1, proceeds to step 102, and determines whether or not the motor 10 has been started. If so, the process proceeds to step 103, where it is determined whether the operation is a rising operation. If the input signal from the operation switch panel 28 is the ascending request signal 30a, it is determined that the ascending operation is performed, the process proceeds to step 104, the ascending signal 32a is input to the drive circuit 18, and the process returns to step 100. If the signal input to the CPU 24 is the descending request signal 30b, the CPU 24 proceeds from step 103 to step 117, and sends the descending signal 32b to the drive circuit 18.
And returns to step 100. If it is determined in step 102 that the motor has not been started, that is, if a predetermined time has elapsed since the motor was started and the motor 10 is in a steady operating state, the routine proceeds to step 105, where the speed shown in FIG. the mean value T _m of a n-number of the speed data up to the last data table (the period of the pulse signal), calculated by the following equation. [0028] That is, step 105 calculates the immediately preceding motor speed. Thereafter, the CPU 24 proceeds to step 106 to determine whether or not the operation is a rising operation. If the operation is a rising operation, the process proceeds to step 107 to determine whether the current position of the window glass 16 is in the fully closed position range (near the fully closed position). It is determined whether or not. The fully closed position range is determined to be a motor lock for fully closing the window glass 16 even when the motor 10 is decelerated and the speed change rate is increased, as shown in FIG. This is a good position and a position where the object 38 is not likely to be pinched. Specifically, the value of the counter 26 is in a predetermined range, for example, a range of 0 to 100 (0 to p in FIG. 3). If the window glass 16 is out of the fully closed position range,
Proceeding to step 108, the current motor speed and step 1
The ratio between the previous motor speed calculated in 05, i.e. the motor speed variation rate T _p / T _m is, determines whether the predetermined value α or more. This makes it possible to determine whether or not the object is pinched. That is, if there is an object sandwiched,
The load applied to the motor increases, and as shown in FIG. 7A, the motor rotation speed decreases and the value of the pulse signal period _Tpn increases. Therefore, the motor speed decreases, and FIG.
As shown in (B), when (T _p / T _m ) ≧ α, it is determined that the object 38 is pinched. It should be noted that the motor speed is controlled by the increase and decrease of the load on the motor such as the sliding resistance between the window frame 14 and the window glass 16 even during the normal operation, the fluctuation of the power supply voltage, etc.
Slightly fluctuate as shown in FIG. Therefore, when setting the value of α, it is necessary to repeat experiments and select an appropriate value. If it is determined in step 108 that the object is pinched, the process proceeds to step 109, where the CPU 24
Sends a descending signal 32b to the drive circuit 18 and
0 is inverted, and the window glass 16 is lowered. The lowering of the window glass 16 is performed in step 110 by (T _p / T
_m ) Until it is determined that ≧ β. The value of β is β
> Α. This is shown in FIG.
As shown by way of example, when the window 6 rises, the rate of change of the motor speed becomes large at the fully closed and fully opened positions of the window glass 16, so that this is detected. Further, by setting α <β, it is possible to detect the entrapment while the deceleration of the motor is small as compared with the fully closed state, that is, while the force for entrapping the object is weak, and to invert the motor to avoid the entrapment of the object. When the CPU 24 detects in step 110 that the window glass 16 has been fully opened, the CPU 24 proceeds to step 11.
The process proceeds to 1 and the value of the counter 26 is reset. this is,
This is to improve the reliability of the position detection of the window glass 16.
That is, there is a possibility that the counter 26 miscounts the pulse signal due to the fluctuation of the power supply of the motor 16 or the mixing of the induction noise. The reference value is reset when the window glass 16 is fully opened, and the counter is reset when the window glass 16 is fully closed as described later. 26 is cleared to zero to prevent a deviation between the value of the counter and the actual position of the window glass 16. Next, the CPU 24 proceeds to step 114, outputs a motor stop signal to the drive circuit 18, and sets T _m1 in the speed data table of FIG. 5 in step 115. That is, in step 115, the value in the speed data table is set to _Tm1 . This is the data when the motor starts up, passes the initial operation time, first proceeds from step 102 to step 105, and calculates the motor speed. T _m1
Is determined by experiment. After the setting of T _m1 is completed in step 115, the process returns to step 100 again. When it is determined in step 106 that the window glass 16 is not in the upward operation, that is, the window glass 16 is not in the upward operation, the process proceeds to step 116 in which it is determined whether the window glass 16 is at the fully open position. If the window glass 16 is in the fully open position, the process proceeds to step 111, and if not, the process proceeds to step 117, in which a lowering signal is given to the drive circuit 18, and
Return to 0. If the CPU 24 determines that the window glass 16 is within the fully closed position range in step 107, and determines in step 112 that the window glass 16 is within the fully closed position range.
To determine whether (T _p / T _m ) ≧ β, that is, the window glass 1
It is determined whether 6 is the fully closed position. If the window glass 16 is at the fully closed position, the process proceeds to step 113, where the counter 26 is cleared to zero, steps 114 and 115 are executed, and the process returns to step 100. However, if it is determined in step 112 that (T _p / T _m ) <β, the window glass 16
Has not been fully closed yet, so go to step 104,
An ascending signal is given to the drive circuit 18 and the process returns to step 100. Further, the CPU 24 determines in step 106 that the operation is an up operation, and determines in step 107 that the window glass 16 is out of the fully closed position range.
When it is determined that no object is pinched, step 104 is executed, and the process returns to step 100. As described above, in this embodiment, by monitoring the speed fluctuation rate of the motor, which is not an absolute amount such as the speed of the motor, the influence of variations in the motor load can be reduced. Then, by selecting the value of the comparison value (set value) α to an appropriate value, the entrapment of the object is detected early, and the window glass 16 is lowered to the fully open position, so that the entrapment of the object is broken or damaged. And safety is extremely high. Further, since the comparison value β larger than α is used at the fully closed and fully opened positions, the motor 10 does not stop unless the speed fluctuation rate of the motor becomes considerably large, that is, the tightening force does not become sufficiently large. The window glass 16 can be completely closed and fully opened. Further, in this embodiment, the motor 10
The number of rotations is counted by the counter 26, and the position of the window glass 16 is detected. Since no sensors are mounted on the transmission mechanism including the motor body, cost reduction and various restrictions are imposed. Can be eliminated. The value of the counter is cleared to zero when the window glass 16 is fully closed and reset when the window glass 16 is fully opened, so that the position of the window glass 16 can be accurately detected without malfunction. Further, since the position of the window glass 16 can be accurately detected, it is possible to reduce the range of the fully closed position, and it is possible to detect the entrapment even if the object is quite small. FIGS. 8 and 9 are flow charts for explaining another embodiment of the present invention, and show an example in which the pinching of the object 38 is detected based on the speed of the motor 10. FIG. The CPU 24 constantly executes the processing shown in FIG. 8, and starts the processing from step 150. When there is no operation for raising and lowering the window glass 16, that is, when no signal is input from the operation switch panel 28, all signals are not generated.
From 54, the process proceeds to step 156. And the CPU 24
After extinguishing the ascending signal 32a in step 156,
Proceeding to step 162 via steps 158 and 160,
The interrupt processing shown in FIG. 9 is prohibited, and the process returns to step 152. When the ascending request signal 30a is input to the CPU 24 from the operation switch panel 28, the CPU 24 proceeds from step 154 to step 164, where the drive circuit 18
Signal 34a to the motor 10 and the motor 10
(Forward rotation) in the direction in which Thereafter, the process proceeds to step 166, where the interrupt process shown in FIG. 9 is accepted, and the interrupt routine is entered by using the pulse signal transmitted from the pulse generation circuit 20 as a trigger. The interrupt processing shown in FIG. 9 corresponds to the detection of the position of the window glass 16 shown in FIG.
00 is compared with the set value f ₀ frequency (hereinafter referred to as pulse frequency) of the pulse signal is a rotation speed of the motor 10 by the pulse generating circuit 20 outputs. And the pulse frequency>
If f ₀ , that is, if the pulse frequency is abnormally large,
It is determined that noise is present, and the process returns to the main routine of FIG. If the answer is affirmative (YES) in step 200, the counter is counted down by 1 if the rising signal is generated, and is counted up by 1 if the falling signal is generated, and the process returns to the main routine and proceeds to step 168. The CPU 24 compares the value of the counter 26, which has been counted down by the interrupt processing of FIG. The set value P is a value indicating the fully closed position range of the window glass 16 as shown in FIG. 3, and is 100 in the embodiment as described above. If it is determined in step 168 that the window glass 16 is in the fully closed position range, the process proceeds to step 170, where the pulse frequency is compared with the set value f _L. This set value f _L corresponds to the set value β in the previous embodiment.
Therefore, when the determination at step 170 is NO (NO), the window glass 16 has not been fully closed yet, so the process returns to step 152. When the determination is YES (YES), the window glass 16 is fully closed. Because
Proceeding to step 176 via steps 172 and 174,
The counter 26 is cleared to zero and the process returns to step 152. On the other hand, if no (N
O), or window glass 16 when it is determined to be outside the fully closed position range, the process proceeds to step 178 and compares the pulse frequency with the set value f _H. This set value f _H corresponds to the set value α in the previous embodiment. And step 1
If no (NO) at 78, there is no object to be pinched, so the process returns to step 152, and if yes (YES),
It is determined that the object is pinched, and steps 180 and 18 are performed.
Then, the process proceeds to step 182 through step 2 to generate an abnormal signal, and returns to step 152. The CPU 24, which has generated an abnormal signal in step 184 and returned to step 152, proceeds to step 186, outputs a descending signal 32b to the drive circuit 18, and outputs
0 is inverted and the window glass 16 is lowered. Thereafter, the flow proceeds to step 188 to perform the interruption processing (counting up of the counter) shown in FIG. 9, and then proceeds to step 190. Step 1
If no (NO) at 90, the window glass 16 is not fully opened, so the process returns to step 152, and 186, 188,
The loop of 190 is executed. When it is determined YES (YES), in step 190, since the window glass 16 is fully opened, the flow proceeds to step 196 via steps 192 and 194, after the value of the counter 26 and re-set to P _MAX, in step 198 The abnormal signal disappears and the process returns to step 152. In this embodiment, too, the object can be detected at an early stage without specially providing a sensor such as an optical fiber or a limit switch.
Damage can be prevented. In the above-described embodiment, the apparatus for opening and closing the window glass 16 of the automobile door has been described. However, the present invention can also be applied to a glass attached to the roof of an automobile, and an opening and closing apparatus for doors and shutters. As described above, according to the present invention,
When the window glass is moving to the closing side, the window glass operation discriminator determines that the window glass is in the closing operation, and the window glass position discriminator determines that the window glass is not within the fully closed position range. If the window glass moving toward the closing side is pinched in the determined state, the output of the speed change calculator exceeds a predetermined set value. Then, the reverse rotation command generator reverses the motor to open the window glass.
Therefore, when an object is caught between the window frame and the window glass, the pinch is detected before the rotation of the motor stops, and the motor is reversed to lower the window glass. Less damage or damage. Therefore, when an object is caught between the window frame and the window glass, the pinch is detected before the rotation of the motor stops, and the motor is reversed to lower the window glass. It has an excellent effect of minimizing damage and damage and improving safety.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a flowchart illustrating the operation of an embodiment of a window glass opening / closing device according to the present invention. FIG. 2 is a flowchart of a method for obtaining a window glass position and a motor speed in the embodiment. FIG. 3 is a block diagram of the embodiment. FIG. 4 is an explanatory diagram of an interrupt processing timing and a pulse signal generated by a pulse generation circuit in FIG. 2; FIG. 5 is an explanatory diagram showing an example of a motor speed data table used to calculate a motor speed change rate. FIG. 6A is an explanatory diagram showing the relationship between the position of the window glass 16 and the motor speed, and FIG. 6B is an explanatory diagram showing the relationship between the position of the window glass 16 and the motor speed change rate. 7A is an explanatory diagram of a change in motor speed when an object is sandwiched, and FIG. 7B is an explanatory diagram of a motor speed change rate when an object is sandwiched. FIG. 8 is a flowchart illustrating the operation of another embodiment according to the present invention. FIG. 9 is a flowchart illustrating the operation of another embodiment according to the present invention. [Description of Signs] 10 Motor 16 Window glass 20 Pulse generator 22 Controller 24 CPU (Central Processing Unit) (Window glass position discriminator, speed calculator, storage means, averaging means, speed change calculator, window glass operation discrimination , Reverse rotation command generator) 26 Counter B power supply

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-58-189472 (JP, A) JP-A-61-39873 (JP, A) JP-A-61-52172 (JP, A) 21634 (JP, B2) JP-B 54-42129 (JP, B2) JP-B 53-8084 (JP, B2) (58) Fields investigated (Int. Cl. ⁶ , DB name) E05F 15/00-15 / 20 B60J 1/00-1/17

Claims (1)

(57) [Claims] A forward / reverse rotatable motor that opens and closes a window glass; a pulse generator that generates a pulse signal according to the number of rotations of the motor; a counter that counts the number of pulse signals output from the pulse generator; A window glass position determiner that determines whether or not the window glass is within the fully closed position range based on the count value; and a speed calculation that determines a rotation speed of the motor based on a pulse signal output by the pulse generator. A storage unit that stores a plurality of rotation speed data of the motor obtained by the speed calculator; an averaging unit that averages a plurality of data stored by the storage unit; A speed change calculator that calculates an average value and a change amount or a change rate of the current speed data obtained by the speed calculator; and a window glass movement that determines whether the window glass is in a closing operation or an opening operation. A discriminator, when the windowpane operation discriminator determines that the windowpane is in the closing operation, and when the windowpane position discriminator determines that the windowpane is not within the fully closed position range, When the output of the speed change calculator is equal to or more than a predetermined set value,
A window glass opening / closing device, comprising: a reverse rotation command generator that rotates the motor to open the window glass.