JP4167621B2 - Pinching detection method and vehicle movable body drive device - Google Patents

Description

  The present invention relates to a pinching detection method and a vehicle movable body drive device, and more particularly to a pinching detection method for detecting pinching of foreign matter in a movable body provided in a vehicle and detection of foreign object pinching in a movable body provided in a vehicle. The present invention relates to a vehicle movable body drive device having a function.

  2. Description of the Related Art Conventionally, a vehicle movable body drive device that moves a movable body such as a window glass, a door, and a slide roof provided in a vehicle by a driving force such as a motor is known. Furthermore, recently, a movable body drive device for a vehicle that deploys and retracts a movable floor that is movably provided on the vehicle floor by a driving force such as a motor, and a movable step from the entrance to the outside of the vehicle by a driving force such as a motor. A vehicle movable body drive device that can be deployed or stored inside the vehicle has been proposed. By the way, in this kind of vehicle movable body drive device, there is a possibility that some foreign matter is caught in the movable body as the movable body is moved. Accordingly, in order to prevent the foreign object from being caught in the movable body, the foreign body is detected in the movable body, and when the sandwich is detected, the movable body is stopped or reversed. A drive device has been proposed (see, for example, Patent Documents 1 to 4).

  For example, in the example described in Patent Document 1, a rotation detection sensor that detects the rotation of a motor that is a drive source for moving a movable body is provided, and a window based on a change in the period of a rotation pulse output from the rotation detection sensor is provided. It is determined whether or not the glass has caught a foreign object. However, in the example described in Patent Document 1, since the reference for determining that a foreign object is caught is constant, for example, an increase in sliding resistance between a weather strip and a window glass due to a temperature change, or a motor due to a secular change. When the opening and closing speed of the window glass decreases due to torque fluctuation, etc., there was a case where it was erroneously detected that pinching occurred even though pinching did not actually occur in the window glass. .

  Therefore, in order to solve the above-described problem, in the example described in Patent Document 2, the window glass opening / closing operation area is divided into a plurality of areas, and the reference for pinching detection is set in each area. When the detection value at the time of opening and closing exceeds the reference set for each area, it is determined that pinching has occurred. According to this method, it is possible to cope with the case where the opening / closing speed of the window glass varies in each region. However, in general, the opening / closing speed of the window glass (rotational speed of the motor) depends on the power supply voltage supplied to the motor. That is, when the battery as a power source is insufficiently charged or when a plurality of electrical devices are operated at the same time, the power supply voltage supplied to the motor decreases, and the opening / closing speed of the window glass decreases. Become.

As described above, in order to detect the pinching without malfunction even when the power supply voltage fluctuates, it is necessary to set a reference value having a margin in consideration of the fluctuation of the power supply voltage. However, if a reference value with a margin that takes into account the fluctuations in the power supply voltage is set, it will take time to detect pinching even if pinching occurs, and the pinch detection sensitivity will decrease, and pinching at the time of pinching will occur. There is a problem that the power is increased. Therefore, in the example described in Patent Document 3, the power supply voltage is monitored in order to cope with fluctuations in the power supply voltage, and the pinch detection reference is corrected according to the power supply voltage value.
JP-A-5-95694 (page 3-4, FIG. 3 to FIG. 6) Specification and drawings of Japanese Utility Model Application No. 4-44077 (Japanese Utility Model Application Publication No. 5-96371) (page 7-12, FIG. 2, FIG. 3) Japanese Patent Laid-Open No. 7-145685 (page 3-5, FIG. 3, FIG. 6 to FIG. 8)

  However, in the example described in Patent Document 3, as described above, the reference for determining that a foreign object is caught is corrected only in accordance with the power supply voltage. For this reason, when the power supply voltage is sufficiently supplied to the motor, the window glass can be opened and closed due to, for example, an increase in sliding resistance between the weather strip and the window glass due to a temperature change or a change in motor torque due to a secular change. When the speed is reduced, there is a possibility that erroneous detection may be made that pinching has occurred even though pinching has not actually occurred in the window glass. Therefore, even when the power supply voltage fluctuates or when the opening / closing speed of the window glass varies depending on the opening / closing position of the window glass, the movable body for vehicles capable of maintaining high pinch detection sensitivity. A drive device was desired.

  The present invention has been made in view of the above circumstances, and its purpose is when the power supply voltage fluctuates or when the opening / closing speed of the movable body fluctuates according to the moving position of the movable body. Another object of the present invention is to provide a pinching detection method and a vehicle movable body drive apparatus that can detect pinching of foreign matter in a movable body with high accuracy.

According to the pinching detection method according to claim 1, the pinching detection method detects a driving state of a movable body that is movable relative to a vehicle, and detects pinching of a foreign object in the movable body based on the driving state. In the method, a threshold value is set for each of a plurality of movable positions within the movable range of the movable body, and the auxiliary threshold value is set on an auxiliary reference line connecting adjacent reference threshold values with a straight line or an approximate curve. A setting step, a power adjustment step for adjusting the driving power supplied to the motor that drives the movable body to a constant even when the power supply of the power supply base fluctuates, and the motor driving current of the motor or the rotation speed of the motor At least one of them is sequentially obtained, and a plurality of obtained motor driving currents or rotational speeds are averaged to calculate a moving average value. If the average value exceeds the reference threshold or the auxiliary threshold, and a determination step determines that entrapment of foreign object has occurred in the movable member, in said determination step, sequentially acquired plurality of motor drive current Alternatively, a reference driving situation value serving as a reference is set from among the rotation speeds, and an abnormal driving situation value having a difference of a predetermined value or more from the reference driving situation value exists in a plurality of sequentially obtained motor driving currents or rotation speeds. In this case, instead of the abnormal driving situation value, an average value of the motor driving current or the rotational speed acquired before and after the abnormal driving situation value is calculated, and the motor driving current or the rotational speed among the plurality of sequentially acquired motor driving currents or rotational speeds is calculated. This is solved by calculating the moving average value using the remaining motor driving current or rotational speed excluding the abnormal driving status value and the average value .

  As described above, in the pinching detection method according to the present invention, the reference threshold value is provided for each of the plurality of movable positions within the movable range of the movable body, and the adjacent reference threshold value is connected by a straight line or an approximate curve. Since the auxiliary threshold is set on the line, for example, even when the driving state of the movable body varies within the movable range of the movable body, it is possible to set the reference threshold in advance according to the variation in the driving state of the movable body. is there. As a result, it is possible to detect pinching of foreign matter in the movable body with high accuracy.

  In the pinching detection method of the present invention, a reference threshold value is provided for each of a plurality of movable positions within the movable range of the movable body, and the auxiliary reference line that connects adjacent reference threshold values with a straight line or an approximate curve is assisted. Since the threshold value is set, it is possible to set a more precise threshold value for the movable range of the movable body. Thereby, it becomes possible to detect pinching of foreign matter in the movable body with higher accuracy than in the past. Furthermore, if only the reference threshold value is set based on the actual measurement value or the theoretical value, the remaining auxiliary threshold value can be set based on the auxiliary reference line connecting the adjacent reference threshold values with a straight line or an approximate curve. Therefore, it is possible to simplify the current threshold setting operation.

  Furthermore, in the pinching detection method of the present invention, even when the power supply of the power supply base fluctuates, the drive power supplied to the motor that drives the movable body is adjusted to be constant, so that the motor can be operated stably. It is. Accordingly, it is possible to prevent erroneous detection that pinching has occurred even though pinching has not actually occurred in the movable body.

  In addition, conventionally, it has been necessary to set a threshold with a margin in consideration of fluctuations in the power supply. However, in the present invention, as described above, the motor can be stably operated. Can be set closer to the drive status value. As a result, it is possible to further increase the sensitivity of detection of foreign object pinching in the movable body, and to reduce the pinching force during pinching.

Further, in the detection method narrowing seen today with sequentially acquires at least one of the rotational speed of the motor driving current or motor through the motor, and calculates a moving average value of the plurality of motor drive current or rotational speed and the acquired by averaging When the moving average value exceeds the reference threshold value or the auxiliary threshold value, it is determined that the foreign object is caught in the movable body.

Then, set the reference drive condition value as a reference from a plurality of motor driving current or rotational speed in sequential acquisition sequentially acquired plurality of motor driving current or a predetermined value than the reference drive condition value in the rotational speed When there is an abnormal driving situation value having a difference as described above, instead of the abnormal driving situation value, an average value of motor driving currents or rotational speeds obtained before and after the abnormal driving situation value is calculated, and a plurality of sequentially obtained A moving average value is calculated by using the remaining motor drive current or rotation speed excluding the abnormal drive status value of the motor drive current or rotation speed and the average value. In this way, even when the motor drive current or the rotation speed is disturbed due to noise, disturbance, or the like, it is possible to reliably prevent the pinch detection accuracy from being lowered.

  Here, as described in claim 2, in the pinching detection method of the present invention, more preferably, the reference threshold value and the auxiliary threshold value that are different between when the motor is driven in one direction and when the motor is driven in the other direction. Set. Here, in general, when the motor is driven in one direction and when the motor is driven in the other direction, the driving situation in the motor is different. However, as in the present invention, the driving means is driven in one direction and the driving is performed. By setting the reference threshold value and the auxiliary threshold value differently when driving the means in the other direction, it is possible to perform appropriate pinching detection according to the driving direction of the motor.

As described in claim 3 , in the pinching detection method of the present invention, more preferably, when the supply power of the power supply base fluctuates and the supply power exceeds the rating of the motor, Adjust the drive power supplied to the motor so that it is rated for the motor. In this way, even when the power supply of the power supply base rises, the motor can be operated more stably. It is possible to reliably prevent erroneous detection of the occurrence of.

Further, as described in claim 4, when the entrapment detection method of the present invention, more preferably, said power supply by supplying power of the power supply group varies is below the rated in the motor, the motor The drive power supplied to the power supply is adjusted so as to be the highest value in the fluctuation range of the power supply of the power supply base. This makes it possible to operate the motor more stably even when the power supply of the power supply base is lowered. It is possible to reliably prevent erroneous detection of the occurrence of.

Further, according to the vehicle movable body drive device according to claim 5 , the subject is a drive means for driving a movable body movable with respect to the vehicle, and a drive status detection means for detecting a drive status of the drive means. And a control means for controlling the driving means, and a power supply means for supplying power to the driving means, and the foreign object is caught in the movable body based on the driving situation detected by the driving situation detecting means. In the vehicle movable body drive apparatus for detecting, the drive means is configured to have a motor, and the drive status detection means is a current detector for detecting a motor drive current flowing through the motor or a rotational speed of the motor. A rotation detector for detecting, and the control means sets a reference threshold value for each of a plurality of movable positions within a movable range of the movable body, and an adjacent reference Set the auxiliary threshold between values on the connecting it auxiliary reference line a straight line or approximation curve, even when the supply power supplied from said power supply means is varied to adjust the driving power supplied to the drive means to a constant Sequentially acquiring at least one of the motor drive current of the motor detected by the current detector or the rotation speed of the motor detected by the rotation detector, and obtaining the plurality of acquired motor drive currents or rotation speeds. A moving average value is averaged to calculate a reference driving situation value as a reference from a plurality of motor driving currents or rotational speeds obtained sequentially, and the motor driving current or rotational speed obtained sequentially is If there is an abnormal driving situation value that differs by more than a predetermined value from the reference driving situation value, it is taken before and after the abnormal driving situation value instead of the abnormal driving situation value. The average value of the motor drive current or rotation speed obtained is calculated, and the remaining motor drive current or rotation speed and the average value excluding the abnormal drive status value among the plurality of motor drive currents or rotation speeds obtained sequentially are used. The moving average value is calculated, and when the moving average value exceeds the reference threshold value or the auxiliary threshold value, it is determined that a foreign object is caught in the movable body .

  As described above, the control means according to the present invention is provided with the reference threshold for each of the plurality of movable positions within the movable range of the movable body, and the auxiliary that connects the adjacent reference thresholds with a straight line or an approximate curve. Since the auxiliary threshold is set on the reference line, for example, even when the driving state of the movable body varies within the movable range of the movable body, the reference threshold may be set in advance in accordance with the variation in the driving state of the movable body. Is possible. As a result, it is possible to detect pinching of foreign matter in the movable body with high accuracy.

  In the vehicle movable body drive device of the present invention, a reference threshold is provided for each of a plurality of movable positions within the movable range of the movable body, and an auxiliary reference in which adjacent reference thresholds are connected by a straight line or an approximate curve. Since the auxiliary threshold is set on the line, it is possible to set a finer threshold for the movable range of the movable body. Thereby, it becomes possible to detect pinching of foreign matter in the movable body with higher accuracy than in the past. Furthermore, if only the reference threshold value is set based on the actual measurement value or the theoretical value, the remaining auxiliary threshold value can be set based on the auxiliary reference line connecting the adjacent reference threshold values with a straight line or an approximate curve. Therefore, it is possible to simplify the current threshold setting operation.

  Further, the control means according to the present invention detects a change in the power supply in the power supply means, and adjusts the power supply so that the drive power supplied to the drive means remains constant even when the power supply changes. Therefore, even when fluctuation occurs in the power supply of the power supply means, the power supply supplied to the drive means can be kept constant. Therefore, it is possible to operate the driving means stably. Accordingly, it is possible to prevent erroneous detection that pinching has occurred even though pinching has not actually occurred in the movable body.

  Further, in the past, it was necessary to set a threshold with a margin in consideration of fluctuations in the power supply, but in the vehicle movable body drive device of the present invention, the drive means is stably operated as described above. Therefore, the threshold value can be set closer to the driving status value. As a result, it is possible to further increase the sensitivity of detection of foreign object pinching in the movable body, and to reduce the pinching force during pinching.

  The driving means includes a motor, and the driving status detecting means includes a current detector that detects a motor driving current flowing through the motor or a rotation detector that detects a rotation speed of the motor. Based on at least one of the motor driving current of the motor detected by the current detector or the rotational speed of the motor detected by the rotation detector and the reference threshold value or the auxiliary threshold value, the trapping of the foreign matter in the movable body is detected.

Also, control means may sequentially acquires at least one of the rotational speed of the motor detected by the current detector the motor drive current or the rotation detector of the motor detected by a plurality of motor driving current in the acquired or A moving average value is calculated by averaging the rotation speed, and when the moving average value exceeds a reference threshold value or an auxiliary threshold value, it is determined that a foreign object is caught in the movable body.

Then, set the reference drive condition value as a reference from a plurality of motor driving current or rotational speed in sequential acquisition sequentially acquired plurality of motor driving current or a predetermined value than the reference drive condition value in the rotational speed When there is an abnormal driving situation value having a difference as described above, instead of the abnormal driving situation value, an average value of motor driving currents or rotational speeds obtained before and after the abnormal driving situation value is calculated, and a plurality of sequentially obtained The moving average value is calculated using the remaining motor drive current or rotational speed and the average value obtained by removing the abnormal drive status value from the motor drive current or rotational speed. With this configuration, even when the driving situation value is disturbed due to noise or disturbance, the average value of the driving situation values acquired before and after the abnormal driving situation value is applied instead of the abnormal driving situation value. Therefore, it is possible to reliably prevent the pinch detection accuracy from being lowered.

Here, according to the sixth aspect of the present invention, in the vehicle movable body drive apparatus according to the present invention, the control means has different criteria for driving the driving means in one direction and driving the driving means in the other direction. Set threshold and auxiliary threshold. Here, in general, when the driving unit is driven in one direction and when the driving unit is driven in the other direction, the driving state of the driving unit is different, but the driving unit is driven in one direction as in the present invention. By setting the reference threshold value and the auxiliary threshold value to be different between the case and the case where the driving unit is driven in the other direction, it is possible to perform appropriate pinching detection according to the driving direction of the driving unit.

More preferably, according to the seventh aspect of the present invention, in the vehicle movable body drive apparatus according to the present invention, the control means is configured such that the supply power in the power supply means fluctuates so that the supply power is rated in the drive means. If the value exceeds the value, the drive power supplied to the drive means is adjusted so that the drive means is rated. With this configuration, even when the supply power in the power supply means fluctuates and the supply power exceeds the rating in the drive means, the drive power supplied to the drive means becomes the rating of the drive means. Therefore, the driving means can be operated more stably. Accordingly, it is possible to reliably prevent erroneous detection that pinching has occurred even though pinching has not actually occurred in the movable body.

Further preferably, according to the eighth aspect of the present invention, in the vehicle movable body drive device according to the present invention, the control means is configured such that the supply power in the power supply means varies and the supply power is rated in the drive means. When the value is lower than the value, the drive power supplied to the drive means is adjusted to the maximum value in the fluctuation range of the power supply of the power supply means. With this configuration, even when the supply power in the power supply means fluctuates and the supply power falls below the rating in the drive means, the drive power supplied to the drive means is the highest in the fluctuation range of the supply power. Since the value is adjusted to be a value, the driving means can be operated more stably. Accordingly, it is possible to reliably prevent erroneous detection that pinching has occurred even though pinching has not actually occurred in the movable body.

  According to the present invention, for example, even when there is a variation in the driving state of the movable body in the movable range of the movable body, it is possible to provide a reference threshold in advance according to the variation in the driving state of the movable body. It becomes possible to detect the trapping of foreign matter in the movable body with high accuracy. As a result, it is possible to prevent malfunction of the movable body. In the present invention, a reference threshold value is provided for each of a plurality of movable positions within the movable range of the movable body, and the auxiliary threshold value is set on an auxiliary reference line connecting adjacent reference threshold values with a straight line or an approximate curve. Therefore, it is possible to set a finer threshold for the movable range of the movable body. Thereby, it becomes possible to detect pinching of foreign matter in the movable body with higher accuracy than in the past. Furthermore, if only the reference threshold value is set based on the actual measurement value or the theoretical value, the remaining auxiliary threshold value can be set based on the auxiliary reference line connecting the adjacent reference threshold values with a straight line or an approximate curve. Therefore, it is possible to simplify the current threshold setting operation. As a result, the cost of the apparatus can be reduced.

  Further, according to the present invention, the drive power supply can be kept constant even when the supply power supply fluctuates, so that the motor can be operated stably. Accordingly, it is possible to prevent erroneous detection that pinching has occurred even though pinching has not actually occurred in the movable body. In addition, conventionally, it has been necessary to set a threshold with a margin in consideration of fluctuations in the power supply. However, in the present invention, as described above, the motor can be stably operated. Can be set closer to the drive status value. As a result, it is possible to further increase the sensitivity of detection of foreign object pinching in the movable body, and to reduce the pinching force during pinching.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings. It should be noted that members, arrangements, and the like described below do not limit the present invention, and it goes without saying that various modifications can be made in accordance with the spirit of the present invention.

  FIG. 1 to FIG. 7 are diagrams showing an embodiment of the present invention, FIG. 1 is a block diagram showing a configuration of a vehicle movable body drive device, and FIG. 2 is an explanatory view showing a state in which a movable floor is unfolded in the vehicle. FIG. 3 is an explanatory diagram showing a state in which the movable floor shown in FIG. 2 is stored, FIG. 4 is a graph showing the relationship between the current threshold stored in the ROM and the motor rotation angle, and FIG. 5 is a flowchart showing the operation of the CPU. FIG. 6 is an explanatory diagram showing how the motor drive current is averaged in the CPU, and FIG. 7 is an explanatory diagram showing the relationship between the motor drive current and the current threshold.

  The vehicle movable body drive device S according to this embodiment is suitably mounted on a vehicle 60 such as a passenger car, for example, and as shown in FIG. A current detector 21 and a rotation detector 22 as drive status detection means, a microcomputer 31 as control means (hereinafter referred to as microcomputer 31), a battery 41 as power supply means and a power supply circuit 42. It is configured. Although the vehicle movable body drive device S can be suitably applied to any vehicle, in the present embodiment, as an example of a vehicle to which the vehicle movable body drive device S is applied, a one-box car This will be described using a so-called minivan or the like.

  The vehicle 60 according to the present embodiment will be briefly described. The vehicle 60 of the present example includes a sliding door 61 on a side surface thereof as shown in FIGS. When the door 61 of the vehicle 60 is opened, a step 64 is formed at the entrance / exit 62 that is one step down from the vehicle floor 63. Above the step 64, a movable floor 65 as a movable body according to the present invention is formed. Is provided. The movable floor 65 is formed of a flat plate extending in the vehicle front-rear direction, and is rotatably attached to the edge of the vehicle floor 63. When the movable floor 65 is deployed, the concave space on the step 64 is closed by the movable floor 65 as shown in FIG. On the other hand, when the movable floor 65 is stored, the step 64 appears at the entrance 62 as shown in FIG.

  In the present embodiment, the movable floor 65 is used as an example of the movable body according to the present invention. However, the movable body according to the present invention includes a window glass and a hinged door provided in the vehicle. , Sliding doors, flip-up doors, movable steps, sunroofs, trunk lids, seat surfaces for sliding and height-adjustable vehicle seats, seat backs for reclining vehicle seats, tilt and telescopic steering, unfolding retractable door mirrors A movable air spoiler, a deployable retractable roof for a convertible vehicle, or the like may be used.

  The motor 11 serves as a drive source for deploying and storing the movable floor 65, and includes, for example, a DC motor with a brush or a brushless motor. The output shaft of the motor 11 is connected to the movable floor 65 via a reduction mechanism and a link mechanism (not shown). In this example, when the output shaft of the motor 11 rotates, a reduction mechanism and a link mechanism (not shown) are operated, and the movable floor 65 is expanded or stored. The driving means according to the present invention includes the motor 11 and a speed reduction mechanism and a link mechanism (not shown).

  The current detector 21 is for detecting a motor driving current supplied from the power supply circuit 42 to the motor 11. For example, the current detector 21 is connected in series to a power supply line connected from the power supply circuit 42 to the motor 11. It is composed of resistors. The motor drive current signal output from the current detector 21 is input to an A / D conversion circuit 31d of the microcomputer 31 described later. A current sensor may be used as the current detector 21 instead of the resistor.

  The rotation detector 22 is for detecting the rotation speed and rotation direction of the motor 11, and is constituted by, for example, a Hall element, a rotary encoder, a resolver, and the like. The rotation detector 22 is configured to output a two-phase pulsed rotation signal corresponding to the rotation speed of the motor 11. The two-phase rotation signal output from the rotation detector 22 is input to an input circuit 31e of the microcomputer 31 described later.

  The microcomputer 31 is based on the command signal output from the outside, the motor drive current signal output from the current detector 21, the rotation signal output from the rotation detector 22, and the power supply voltage signal from the battery 41. Predetermined calculations and processing are performed, and a PWM signal and a rotation direction detection signal are output to the power supply circuit 42. The microcomputer 31 of this example includes a ROM 31a, a CPU 31b, a RAM 31c, an A / D conversion circuit 31d, an input circuit 31e, and an output circuit 31f.

  The ROM 31a stores a program and the like necessary for the arithmetic processing by the CPU 31b, and stores in advance a current threshold Is (x) and the like for determining pinching. In FIG. 4, the horizontal axis represents the rotation angle of the motor 11, and the vertical axis represents the motor drive current value. The current threshold value Is (x) includes a reference threshold value Ik (n) and an auxiliary threshold value Ih (m). The motor drive current value Id (x) is the value of the motor drive current supplied from the power supply circuit 42 to the motor 11.

  FIG. 4 shows a graph when the movable floor 65 shifts from the retracted state to the expanded state, and the motor rotation angle shown on the horizontal axis corresponds to the moving position of the movable floor 65. The reference threshold value Ik (n) is calculated by adding a constant Ij calculated in advance to the motor drive current value Id (n) set based on the actual measurement value or the theoretical value, as shown in Equation 1. . The reference threshold value Ik (n) is set for each predetermined motor rotation angle, and each of the reference threshold values Ik (n) corresponds to a plurality of movable positions within the movable range of the movable floor 65.

  Further, in this example, as shown in FIG. 4, the reference threshold value Ik (n) set for each predetermined motor rotation angle and the reference threshold value (n + 1) adjacent to the reference threshold value Ik (n) are auxiliary reference lines made of straight lines or approximate curves. A plurality of auxiliary threshold values Ih (m), Ih (m + 1), Ih (m + 2)... Are set by connecting with L. Thus, a plurality of auxiliary threshold values Ih (m), Ih are arranged on the auxiliary reference line L connecting the reference threshold value Ik (n) set for each predetermined motor rotation angle and the reference threshold value (n + 1) adjacent thereto. By setting (m + 1), Ih (m + 2)..., The current also flows between the reference threshold value Ik (n) set for each predetermined motor rotation angle and the reference threshold value Ik (n + 1) adjacent thereto. A threshold is set.

  Thus, in this example, since the reference threshold value Ik (n) is provided in advance in accordance with the load acting on the movable floor 65, for example, the load acting on the movable floor 65 in the movable range of the movable floor 65, for example. Even when variations occur, it is possible to detect the foreign object pinching on the movable floor 65 with high accuracy. In this example, adjacent reference threshold values Ik (n) and Ik (n + 1) are connected by an auxiliary reference line L made of a straight line or an approximate curve, and a plurality of auxiliary threshold values Ih (m) are arranged on the auxiliary reference line L. , Ih (m + 1), Ih (m + 2)... Are set, so that a more precise threshold can be set for the movable range of the movable floor 65. Thereby, it becomes possible to detect pinching of foreign matter on the movable floor 65 with higher accuracy than in the past.

  Further, if only the reference threshold value Ik (n) is set based on the actual measurement value or the theoretical value, the remaining auxiliary threshold values Ih (m), Ih (m + 1), Ih (m + 2). Since the setting can be made based on the auxiliary reference line L provided between Ik (n) and Ik (n + 1), the setting operation of the current threshold Is (x) can be simplified. The reference threshold value Ik (n) is set by adding a predetermined constant Ij to the motor drive current value Id (n) set based on actual measurement or theory for each predetermined motor rotation angle as described above. The method is not limited to this method, and a method of directly calculating the reference threshold value Ik (n) corresponding to the motor rotation angle based on actual measurement or theory may be used.

  By the way, FIG. 4 shows a graph when the movable floor 65 shifts from the retracted state to the expanded state, but a similar graph can be obtained also when the movable floor 65 shifts from the expanded state to the retracted state. it can. However, generally, the load characteristic that acts on the movable floor 65 when the movable floor 65 shifts from the retracted state to the expanded state is the load characteristic that acts on the movable floor 65 when the movable floor 65 shifts from the expanded state to the retracted state. And different. Therefore, in this example, when the movable floor 65 shifts from the expanded state to the retracted state, a current threshold Is () different from the graph when the movable floor 65 shifts from the retracted state to the expanded state as shown in FIG. x) is set. Note that the graph when the movable floor 65 shifts from the expanded state to the stored state is omitted.

  The CPU 31b is configured to operate based on a command signal input via the input circuit 31e. The command signal in this case is a door 61 closing signal output from the door 61 closing detector that detects that the door 61 is completely closed, or a door 61 opening detector that detects that the door 61 is completely opened. The door 61 open signal output from the control signal and the operation signal output from the central control device (not shown).

  The CPU 31b of this example reads and operates the program stored in the ROM 31a, and in addition to the motor driving process for driving the motor 11 based on the command signal, the current signal input via the A / D conversion circuit 31d A driving situation value calculation process for calculating a motor driving current value based on data (digital signal) and detecting a motor rotation angle and a rotation direction based on rotation signal data (digital signal) input via the input circuit 31e; , A moving average process for calculating a moving average value of the motor drive current, a predetermined current based on the rotation angle of the motor 11 (moving position of the movable floor 65) and the rotating direction of the motor 11 (moving direction of the movable floor 65). Current threshold value extraction processing for extracting a threshold value, pinching determination processing for determining whether or not the movable floor 65 is pinched, and pinching And anti-entrapment process reversing operation of the motor 11 based on the determination result in the determination process, and a motor drive voltage adjustment process that monitors the supply voltage to adjust the duty ratio of the PWM signal performing. The RAM 31c is for temporarily storing the data processed in the ROM 31a. Specific processing and operation using the CPU 31b, ROM 31a, and RAM 31c will be described later.

  The A / D conversion circuit 31d receives the power supply voltage signal output from the battery 41 and the motor drive current signal output from the current detector 21, converts these analog signals into digital signals, and converts the digital signals to the CPU 31b. It is configured to output to. The input circuit 31e receives a pulse-like two-phase rotation signal output from the rotation detector 22 and a command signal output from the outside. The two-phase rotation signal output from the rotation detector 22 and the command signal output from the outside are converted into predetermined signal data by the input circuit 31e, and these signals are output to the CPU 31b. The output circuit 31f generates a predetermined PWM signal and a rotation direction command signal based on the motor control signal (including information related to the PWM duty ratio and information related to the motor rotation direction) output from the CPU 31b. It is configured to output to.

  The battery 41 is mounted in an engine room or the like of the vehicle 60, and is configured to supply, for example, a 12V power supply voltage to the power supply circuit 42 or the like. The power supply voltage output from the battery 41 is input as a power supply voltage signal to an A / D conversion circuit 31d of the microcomputer 31 described later. Note that a voltage (eg, 3.3 V) stepped down by a step-down circuit (not shown) is supplied to the power supply terminal of the microcomputer 31, and the microcomputer 31 is activated by this step-down voltage. The power supply circuit 42 is configured to convert the voltage supplied from the battery 41 into a predetermined voltage based on the PWM signal output from the microcomputer 31 and the rotation direction instruction signal, and supply this to the motor 11. .

Next, the operation of the vehicle movable body drive apparatus S configured as described above will be described with reference to FIGS. 5 to 7 as appropriate.
When a command signal is output from the outside, this command signal is converted into command signal data in the input circuit 31e. The command signal data output from the input circuit 31e is input to the CPU 31b. The CPU 31b starts when the command signal data output from the input circuit 31e is input, and reads a program stored in the ROM 31a. Thereby, each process shown in the flowchart shown in FIG. 5 is started.

  When starting the program processing, the CPU 31b first initializes the count value of the counter that counts the number of times of processing of the program stored in the RAM 31c to “0” (step S1). Then, the CPU 31b outputs a motor control signal to the output circuit 31f based on the command signal data (step S2). The motor control signal output from the CPU 31b includes information on the PWM duty ratio and information on the motor rotation direction. The output circuit 31 f generates a predetermined PWM signal and a rotation direction command signal based on the motor control signal output from the CPU 31 b, and outputs this to the power supply circuit 42.

  The power supply circuit 42 converts the voltage supplied from the battery 41 into a predetermined voltage based on the PWM signal and the rotation direction instruction signal output from the output circuit 31 f and supplies this to the motor 11. Thereby, the motor 11 rotates in a predetermined direction, and the movable floor 65 starts to move (for example, shifts from the retracted state to the expanded state). Here, when the motor 11 is started, since a starting current flows through the motor 11, a timer is started, and current signal data is input after a predetermined time has elapsed (steps S3 to S5). Then, the CPU 31b calculates a motor drive current value from the current signal data input in step S5, and stores this in the RAM 31c as the motor drive current value Id (0) in the current routine process R (0) (step S6). ).

  Subsequently, the CPU 31b performs an averaging process of the motor drive current value Id (x) used for the pinch determination (Steps S7 to S10). Here, as is apparent from the graph shown in FIG. 4, generally, the motor drive current value Id (x) to the motor 11 is caused by a load variation on the movable floor 65, the power supply circuit 42, the motor 11, When noise or the like is superimposed on the power supply line connecting the two, the rotation angle of the motor 11 (the moving position of the movable floor 65) changes greatly. Accordingly, when the sandwiching determination is performed based on the motor drive current value Id (x), if the moving average value Ia (x) is simply calculated, an abnormal value causes an error in the moving average value Ia (x). It will be. Therefore, in this example, the motor drive current value Id (x) used for the pinching determination is averaged in the following manner.

  FIG. 6 is a diagram for explaining how the motor drive current value Id (x) is averaged in the CPU 31b according to the present embodiment. In FIG. 6, the horizontal axis represents the rotation angle of the motor 11, and the vertical axis represents the motor drive current value. The motor drive current value Id (0) is a value calculated based on the current signal data in the current routine process R (0), and the motor drive current value Id (−1) is 1 more than the current routine process R (0). The value calculated based on the current signal data in the routine process R (-1) processed before the operation, the motor drive current value Id (-2), is processed twice before the current routine process R (0). The value calculated based on the current signal data in the routine processing R (−2) and the motor drive current value Id (−3) are processed three times before the current routine processing R (0). This is a value calculated based on the current signal data in R (-3).

  First, in order to average the motor drive current value Id (x), the CPU 31b obtains the current signal data in the routine process R (-2) processed twice before the current routine process R (0). Read from RAM 31c. Then, the motor drive current value Id (0) stored in the RAM 31c in step S6 and the motor drive current value Id in the routine process R (-2) processed twice before the current routine process R (0). It is determined whether (−2) is substantially the same, that is, whether the motor drive current value Id (−2) is within a certain error range with respect to the motor drive current value Id (0) (step S7). Here, when the current routine process R (0) is the first process or the second process, there is no routine process two times before the current routine process R (0). In step S7: NO), the process proceeds to step S10 described later.

  On the other hand, when the current routine process R (0) is the second and subsequent processes, the current signal data in the routine process R (-2) processed two times before the current routine process R (0) is Since it is stored in the RAM 31c, in this case, as described above, it is determined whether the motor drive current value Id (−2) falls within a certain error range with respect to the motor drive current value Id (0) ( Step S7). When it is determined that the motor drive current value Id (0) and the motor drive current value Id (−2) are substantially the same, that is, the motor drive current value Id (−2) is the motor drive current value Id (0). ) Is within a certain error range (step S7: YES), the current routine is executed from the routine process R (-2) processed twice before the current routine process R (0). The motor drive current up to the process R (0) is relatively stable. Therefore, in this case, the process proceeds to step S8 described later.

  By the way, when the pinching determination is performed based on the motor drive current value Id (x), a load variation or the like on the movable floor 65 occurs, or noise or the like is superimposed on the power supply line connecting the power supply circuit 42 and the motor 11. As a result, a motor drive current value higher than the motor drive current value in the normal state may be detected. Therefore, in this example, in the process of step S8, the motor drive current value Id (-1) in the routine process R (-1) processed once before the current routine process R (0) is read from the RAM 31c. Whether or not the absolute value of the value obtained by subtracting the motor drive current value Id (-1) from the motor drive current value Id (0) stored in the RAM 31c in step S6 is equal to or greater than a predetermined predetermined value. Judgment is made (step S8). That is, it is determined whether or not the motor drive current value Id (-1) in the routine process R (-1) processed once before the current routine process R (0) is an abnormal value due to noise or the like. .

  In step S6, it is determined that the absolute value of the value obtained by subtracting the motor drive current value Id (-1) from the motor drive current value Id (0) stored in the RAM 31c is greater than or equal to a predetermined predetermined value. If this is the case (step S8: YES), since the motor drive current value Id (-1) in the routine process R (-1) is an abnormal value, the process proceeds to step S9 and, as will be described later, A pseudo value Id ′ (− 1) of the drive current value Id (−1) is calculated. On the other hand, when it is determined that the absolute value of the value obtained by subtracting the motor drive current value Id (-1) from the motor drive current value Id (0) is smaller than a predetermined predetermined value (step S8: NO). Then, the process proceeds to step S10 described later.

  As described above, when the motor drive current value Id (-1) in the routine process R (-1) is an abnormal value, if the pinch determination is performed using this value, the pinch detection accuracy decreases. Therefore, in this example, when the motor drive current value Id (−1) is an abnormal value, a pseudo value Id ′ (− 1) of the motor drive current value Id (−1) is calculated. (Step S9). In this example, a pseudo motor drive current value Id ′ (− 1) that is a substitute for the motor drive current value Id (−1) is calculated based on the following equation 2. That is, the motor drive current value Id ′ (− 1) is obtained by calculating the motor drive current value Id (0) in the current routine process R (0) and the motor drive current value Id (−2) in the routine process R (−2). Average current value.

  In step S10, a moving average value Ia (x) of the motor drive current value Id (x) is calculated (step S10). In this example, as an example, the motor drive current value Id (0) in the current routine process R (0) and the motor drive current value in the routine process R (-1) one time before the current routine process R (0) The average value of the motor drive current value Id (-2) in Id (-1) and the routine process R (-2) two times before the current routine process R (0) is defined as the moving average value Ia (0). .

  By the way, when the current routine process R (0) is the first process, there is no routine process one time before the current routine process R (0). In this case, the current routine process R (0) The motor drive current value Id (0) at 0) is applied as it is as the moving average value Id (0). Further, when the current routine process R (0) is the second process, there is no routine process twice before the current routine process R (0). In this case, the current routine process R (0) 0) and the average value of the motor drive current value Id (-1) in the routine process R (-1) one time before the current routine process R (0) is the moving average value. Apply as Ia (0).

  On the other hand, when the current routine process R (0) is the second and subsequent processes, the current signal data in the routine process R (-2) processed two times before the current routine process R (0) is Since it is stored in the RAM 31c, in this case, as described above, the motor drive current value Id (0) in the current routine process R (0) and the routine one time before the current routine process R (0) are stored. Average of motor drive current value Id (-1) in process R (-1) and motor drive current value Id (-2) in routine process R (-2) two times before current routine process R (0) The value is a moving average value Ia (0).

  At this time, when the motor drive current value Id (-1) in the routine process R (-1) one time before the current routine process R (0) is a normal value, the motor drive current value Id ( -1) is applied to the calculation of the moving average value Ia (0) as it is. On the other hand, when the motor drive current value Id (-1) in the routine process R (-1) one time before the current routine process R (0) is an abnormal value, a pseudo value obtained from the above equation 2 is obtained. The motor drive current value Id ′ (− 1) is applied to the calculation of the moving average value Ia (0). Thus, when the motor drive current value Id (-1) in the routine process R (-1) one time before the current routine process R (0) is an abnormal value, the pseudo motor drive current Since the value Id ′ (− 1) is applied to the calculation of the moving average value Ia (0), even when the motor driving current value Id (x) is disturbed due to noise, disturbance, or the like, the pinching detection accuracy is lowered. Can be prevented.

  In the above embodiment, when the motor drive current value Id (−1) in the routine process R (−1) one time before the current routine process R (0) is an abnormal value, the above formula 2 Although the pseudo motor drive current value Id ′ (− 1) obtained more is applied to the calculation of the moving average value Ia (0), the present invention is not limited to this. In addition, when the motor drive current value Id (-1) in the routine process R (-1) one time before the current routine process R (0) is an abnormal value, this motor drive current value Id The moving average value Ia (0) may be calculated based on the motor drive current value I (0) and the motor drive current value I (-2), excluding (-1). The moving average value Ia (0) is not limited to the value calculated based on the motor drive current value Id (0), the motor drive current value Id (-1), and the motor drive current value Id (-2). Of course, it is possible to calculate based on a plurality of arbitrarily selected motor drive current values.

  Then, the CPU 31b performs the current threshold value extraction process for extracting the current threshold value Is (x) serving as a reference for the pinching determination after performing the averaging process of the motor driving current value Id (x) used for the pinching determination in the above manner. It performs (step S11-step S12). The rotation detector 22 outputs a two-phase pulsed rotation signal corresponding to the rotation speed of the motor 11 as the motor 11 rotates. The two-phase rotation signal output from the rotation detector 22 is converted into rotation signal data by the input circuit 31e, and this rotation signal data is output to the CPU 31b (step S11). The CPU 31b detects the rotation angle and rotation direction of the motor 11 based on the rotation signal data output from the input circuit 31e, and extracts the current threshold Is (x) corresponding to the motor rotation angle from the ROM 31a (step S12).

  Subsequently, the CPU 31b inserts foreign matter in the movable floor 65 based on the moving average value Ia (x) calculated in steps S7 to S10 and the current threshold value Is (x) extracted in steps S11 to S12. A determination is made (step S13). That is, as shown in FIG. 7, it is determined whether or not the moving average value Ia (x) calculated in steps S7 to S10 is equal to or greater than the current threshold value Is (x) extracted in steps S11 to S12. . When it is determined that the moving average value Ia (x) is smaller than the current threshold Is (x) (step S13: NO), the process proceeds to step S15 described later.

  On the other hand, when it is determined that the moving average value Ia (x) is equal to or greater than the current threshold value Is (x) (step S13: YES), a pinching prevention process for reversing the motor 11 by a predetermined distance is performed (step S14). . When the CPU 31b determines that the moving average value Ia (x) is equal to or greater than the current threshold value Is (x), the motor 31 reversely operates the motor 11 so as to immediately release the foreign object from the movable floor 65. The control signal is output to the output circuit 31f. The output circuit 31 f generates a predetermined PWM signal and a rotation direction command signal based on the motor control signal output from the CPU 31 b, and outputs this to the power supply circuit 42.

  The power supply circuit 42 converts the voltage supplied from the battery 41 into a predetermined voltage based on the PWM signal and the rotation direction instruction signal output from the output circuit 31 f and supplies this to the motor 11. As a result, the motor 11 performs a reverse operation, and the movable floor 65 moves in the opposite direction (for example, when it has shifted from the retracted state to the expanded state, it moves in the retracted direction). Thus, by moving the movable floor 65 in the opposite direction, it is possible to prevent foreign matter from being caught in the movable floor 65.

  In the above embodiment, when it is determined that the moving average value Ia (x) is equal to or greater than the current threshold value Is (x), the movable floor 65 is reversed by a predetermined distance. However, the present invention is not limited to this. Is not to be done. In addition, the movable floor 65 may be quickly stopped. Further, a sudden increase in motor drive current at the time of pinching may be limited to reduce the driving force after pinching.

  Subsequently, as described above, after performing the pinching prevention process for reversing the motor 11 based on the determination result in the pinching determination process, the motor drive voltage adjustment process for monitoring the power supply voltage and adjusting the duty ratio of the PWM signal (Steps S15 to S17). In general, the torque and rotation speed of the motor 11 are proportional to the motor drive voltage supplied to the motor 11. Therefore, if the current threshold value Is (x) is set close to the actual motor drive current value Id (x) in order to set the pinching load at the time of pinching, there is a risk of erroneous determination due to fluctuations in the power supply voltage. . Therefore, in this example, the power supply voltage is monitored, and the PWM duty ratio in the motor drive current is adjusted so that the motor drive voltage supplied to the motor 11 is constant.

  The power supply voltage output from the battery 41 is input as a power supply voltage signal to the A / D conversion circuit 31d of the microcomputer 31, and the A / D conversion circuit 31d converts the power supply voltage signal output from the battery 41 into power supply voltage signal data ( The power supply voltage signal data is output to the CPU 31b. The CPU 31b receives the power supply voltage signal data output from the A / D conversion circuit 31d (step S15), and calculates the current output voltage value of the battery 41 based on the power supply voltage signal. Then, an optimum PWM duty ratio is set based on the output voltage value of the battery 41 calculated based on the power supply voltage signal (step S16), and the motor drive current having this PWM duty ratio is output to the motor 11 (step S17). ).

  For example, when the power supply voltage is 12V and the motor drive voltage supplied to the motor 11 is 8V, the PWM duty ratio is set to 67%. In addition, when the power supply voltage decreases for some reason and falls below the motor drive voltage, the duty ratio is set to 100% and the power supply voltage is supplied to the motor 11 as it is. Thus, by keeping the motor driving voltage supplied to the motor 11 constant, the motor 11 can be stably operated. Accordingly, it is possible to prevent erroneous detection that pinching has occurred even though pinching has not actually occurred in the movable floor 65.

  Conventionally, it is necessary to set a threshold with a margin in consideration of the variation of the power supply voltage. However, in this example, the motor drive voltage supplied to the motor 11 can be kept constant. Accordingly, since the motor 11 can be operated stably, the current threshold Is (x) can be set closer to the motor drive current value Id (x). As a result, it is possible to further increase the sensitivity of foreign object pinching detection on the movable floor 65 and also reduce the pinching force at the time of pinching.

  Then, after performing the motor drive voltage adjustment process as described above, the CPU 31b counts up the count value for counting the number of routine processes, and stores this count value in the RAM 31c (step S18). Then, it returns to the process of step S3, and repeats the process of step S3-step S18 after that. In the above-described embodiment, the case where the movable floor 65 shifts from the retracted state to the expanded state has been described, but the same operation process is performed when the movable floor 65 shifts from the expanded state to the retracted state. Therefore, the detailed description about the case where the movable floor 65 shifts from the expanded state to the stored state is omitted.

As described above, according to the present embodiment, the following effects are obtained.
(A) According to this embodiment, since the reference threshold value Ik (n) is provided in advance according to the load or the like acting on the movable floor 65, for example, it acts on the movable floor 65 in the movable range of the movable floor 65. Even when the load or the like varies, it is possible to detect the foreign object pinching on the movable floor 65 with high accuracy.

  (B) According to the present embodiment, the adjacent reference threshold values Ik (n) and Ik (n + 1) are connected by the auxiliary reference line L formed of a straight line or an approximate curve, and a plurality of auxiliary threshold values are provided on the auxiliary reference line L. Since Ih (m), Ih (m + 1), Ih (m + 2)... Are set, it is possible to set a finer threshold for the movable range of the movable floor 65. Thereby, it becomes possible to detect pinching of foreign matter on the movable floor 65 with higher accuracy than in the past.

  (C) According to this embodiment, if only the reference threshold value Ik (n) is set based on the actual measured value or the theoretical value, the remaining auxiliary threshold values Ih (m), Ih (m + 1), Ih (m + 2),. Can be set based on the auxiliary reference line L provided between the adjacent reference threshold values Ik (n) and Ik (n + 1). Therefore, it is possible to simplify the setting operation of the current threshold value Is (x).

  (D) According to the present embodiment, the motor drive voltage supplied to the motor 11 can be kept constant, so that the motor 11 can be operated stably. Accordingly, it is possible to prevent erroneous detection that pinching has occurred even though pinching has not actually occurred in the movable floor 65.

  (E) According to the present embodiment, since the motor 11 can be stably operated by keeping the motor driving voltage supplied to the motor 11 constant, the current threshold Is (x) is driven by the motor. It can be set closer to the current value Id (x). Therefore, unlike the conventional case, it is not necessary to set a threshold value with allowance for fluctuations in the power supply voltage, so that it is possible to further increase the sensitivity of foreign object pinching detection on the movable floor 65 and at the time of pinching It is also possible to reduce the pinching force at.

  (F) According to the present embodiment, the current threshold Is (x) is set differently when the motor 11 is driven in one direction and when the motor 11 is driven in the other direction. Even when the motor 11 is driven in one direction and the motor 11 is driven in the other direction, even when the load acting on the motor 11 is different, appropriate pinching detection according to the rotation direction of the motor 11 can be performed. .

  (G) According to the present embodiment, when the motor drive current value Id (-1) in the routine process R (-1) one time before the current routine process R (0) is an abnormal value, Since the pseudo motor drive current value Id ′ (− 1) is applied to the calculation of the moving average value Ia (0), even when the motor drive current value Id (x) is disturbed due to noise, disturbance, or the like, pinching detection is performed. It is possible to prevent a decrease in accuracy.

The embodiment of the present invention can be modified as follows.
(A) In the above embodiment, the foreign object pinching determination is performed based on the motor drive current signal output from the current detector 21, but the present invention is not limited to this. In addition, the rotational speed of the motor 11 is calculated based on the rotational speed signal output from the rotation detector 22, and when the rotational speed exceeds the threshold speed, foreign matter is caught in the movable floor 65. May be determined. Moreover, you may obtain | require the moving average value of rotational speed in the said way. Further, when pinching is detected based on the rotation speed, so-called differential determination may be applied in which it is determined that pinching has occurred when the amount of change (for example, the difference value) in the rotation speed of the motor 11 exceeds a threshold value. good.

  (B) In the above embodiment, the motor rotation speed is detected after detecting the motor drive current, and the current threshold value corresponding to the motor rotation speed is extracted. However, the present invention is not limited to this. Absent. In addition, after detecting the motor rotation speed, the motor drive current may be detected, and a current threshold value corresponding to the motor rotation speed at the time when the motor drive current is detected may be extracted.

  (C) In the above embodiment, the moving average value Ia is calculated, and when the moving average value Ia exceeds the reference threshold value Ik or the auxiliary threshold value Ih, it is determined that pinching has occurred. It is not limited to this. In addition, when the motor drive current value Id (x) detected by the current detector 21 exceeds the reference threshold value Ik or the auxiliary threshold value Ih, it may be determined that pinching has occurred.

The technical ideas other than the claims that can be grasped from the above embodiments will be described below.
(1) When at least one of a motor driving current flowing through the motor or a rotation speed of the motor exceeds the reference threshold value or the auxiliary threshold value, it is determined that a foreign object is caught in the movable body. The pinch detection method according to claim 3.

  (2) In the case where at least one of the motor driving current of the motor detected by the current detector or the rotational speed of the motor detected by the rotation detector exceeds the reference threshold value or the auxiliary threshold value, the control means The vehicle movable body drive device according to claim 11, wherein it is determined that foreign matter is caught in the movable body.

  (3) The pinching detection method according to claim 4, wherein when it is determined that a foreign object has been pinched in the movable body, the motor is stopped or reversed.

  (4) The vehicle movable body drive device according to claim 12, wherein the control means stops or reverses the motor when it is determined that foreign matter is caught in the movable body. .

It is a block diagram which shows the structure of the movable body drive device for vehicles concerning this embodiment. It is explanatory drawing which shows the state by which the movable floor was expand | deployed in the vehicle which concerns on this embodiment. It is explanatory drawing which shows the state in which the movable floor shown in FIG. 2 was stored. It is a graph which shows the relationship between the electric current threshold memorize | stored in ROM which concerns on this embodiment, and a motor rotation angle. It is a flowchart which shows operation | movement of CPU concerning this embodiment. It is explanatory drawing which shows a mode that a motor drive current is averaged in CPU which concerns on this embodiment. It is explanatory drawing which shows the relationship between the motor drive current which concerns on this embodiment, and a current threshold value.

Explanation of symbols

11 motor, 21 current detector, 22 rotation detector, 31 microcomputer (microcomputer), 31a ROM, 31b CPU, 31c RAM, 31e input circuit, 31f output circuit, 31d A / D conversion circuit, 41 battery, 42 power supply Circuit, 60 vehicle, 61 door, 62 boarding gate, 63 vehicle floor, 64 steps, 65 movable floor, Ia moving average value, Id motor drive current value, Ih auxiliary threshold value, Ik reference threshold value, Is current threshold value, L auxiliary reference line , S Vehicle movable body drive device

Claims (8)

In a pinching detection method for detecting a driving state of a movable body movable with respect to a vehicle and detecting pinching of a foreign object in the movable body based on the driving state,
A threshold setting step for setting a reference threshold value for each of a plurality of movable positions within the movable range of the movable body, and setting an auxiliary threshold value on an auxiliary reference line connecting adjacent reference threshold values with straight lines or approximate curves; ,
Even when the power supply of the power supply base fluctuates, a power adjustment step for adjusting the drive power supplied to the motor that drives the movable body to a constant level; and
At least one of the motor driving current of the motor or the rotational speed of the motor is sequentially acquired, the moving average value is calculated by averaging the acquired plurality of motor driving currents or rotational speeds, and the moving average value is the reference A determination step that determines that a foreign object has been caught in the movable body when a threshold value or the auxiliary threshold value is exceeded , and
In the determination step, a reference driving situation value serving as a reference is set from a plurality of sequentially obtained motor driving currents or rotational speeds, and the plurality of sequentially obtained motor driving currents or rotational speeds are determined from the reference driving situation values. If there is an abnormal driving situation value having a difference of a predetermined value or more, instead of the abnormal driving situation value, the average value of the motor driving current or rotational speed obtained before and after the abnormal driving situation value is calculated, and sequentially Pinching detection characterized in that the moving average value is calculated using the remaining motor drive current or rotation speed and the average value obtained by removing the abnormal drive status value from the plurality of acquired motor drive currents or rotation speeds. Method. 2. The pinching detection method according to claim 1 , wherein different reference threshold values and auxiliary threshold values are set for driving the motor in one direction and for driving the motor in the other direction. When the power supply of the power supply base fluctuates and the power supply exceeds the rating of the motor, the drive power supplied to the motor is adjusted to be the rating of the motor. The pinching detection method according to claim 1 . When the power supply of the power supply base fluctuates and the power supply falls below the rating of the motor, the drive power supplied to the motor becomes the highest value in the fluctuation range of the power supply of the power supply base. The pinch detection method according to claim 1, wherein the pinch detection method is adjusted as follows. Drive means for driving a movable body movable relative to the vehicle;
Driving status detecting means for detecting the driving status of the driving means;
Control means for controlling the drive means;
A power supply means for supplying power to the drive means, and the vehicle movable body drive device for detecting a foreign object in the movable body based on the drive status detected by the drive status detection means,
The drive means is configured to have a motor,
The drive status detection means is configured by a current detector that detects a motor drive current flowing in the motor or a rotation detector that detects a rotation speed of the motor,
The control means sets a reference threshold value for each of a plurality of movable positions within the movable range of the movable body, and sets an auxiliary threshold value on an auxiliary reference line connecting adjacent reference threshold values with a straight line or an approximate curve. Even when the supply power supplied from the power supply means fluctuates, the drive power supplied to the drive means is adjusted to be constant, and the motor drive current or the rotation of the motor detected by the current detector is detected. At least one of the rotation speeds of the motor detected by the detector is sequentially acquired, and the plurality of acquired motor drive currents or rotation speeds are averaged to calculate a moving average value. Alternatively, a reference drive status value serving as a reference is set from among the rotation speeds, and the reference drive status is included in a plurality of motor drive currents or rotation speeds acquired sequentially. If there is an abnormal driving situation value having a difference of a predetermined value or more than the average value, the average value of the motor driving current or rotational speed obtained before and after the abnormal driving situation value is calculated instead of the abnormal driving situation value. The moving average value is calculated using the remaining motor driving current or rotational speed and the average value, excluding the abnormal driving status value among a plurality of motor driving currents or rotational speeds obtained sequentially, and the moving average value is When the reference threshold value or the auxiliary threshold value is exceeded, it is determined that a foreign object is caught in the movable body. 6. The vehicle according to claim 5 , wherein the control means sets different reference threshold values and auxiliary threshold values when driving the driving means in one direction and driving the driving means in the other direction. Movable body drive device. When the supply power in the power supply means fluctuates and the supply power exceeds the rating in the drive means, the control means sets the drive power supplied to the drive means to the rating of the drive means. The vehicle movable body drive device according to claim 5 , wherein the vehicle movable body drive device is adjusted as described above. When the supply power in the power supply means fluctuates and the supply power falls below the rating in the drive means, the control means supplies the drive power supplied to the drive means to the supply power of the power supply means. The vehicle movable body drive device according to claim 5 , wherein the vehicle movable body drive device is adjusted so as to be a maximum value in a fluctuation range of the vehicle.

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