JP4664872B2 - Pinch detection device - Google Patents

Description

  The present invention relates to a pinch detection device that detects the occurrence of pinching in the opening and closing of a window mounted on a door of an automobile, and more particularly to a pinch detection device that detects pinching based on torque characteristics of a motor that drives a window.

  2. Description of the Related Art Conventionally, in a power window device of an automobile, a device that detects pinching of a window is known. In the detection of pinching of the window, the torque of the motor that drives the window is detected, and when it exceeds a predetermined value, it is determined that pinching has occurred.

  Here, when the window is driven by the motor and moves up and down, the contact state between the window and the pillar and roof changes accordingly, and the frictional force changes, so the motor torque required to move the window up and down Changes with this, and shows a specific torque characteristic. When the door is closed, the window moves up and down with the pillars and roof in contact. On the other hand, when the door is open, the window moves up and down without contacting the pillars and roof. The torque characteristics of the motor differ depending on the state of the door.

Further, since the torque characteristics of the motor may change due to the above-mentioned aging, etc., when the window moves up and down, learning is performed by sequentially updating the torque characteristics in a state where no pinching occurs. . Since the reference value varies depending on the open / closed state of the door, a detection switch for detecting the open / closed state of the door is provided, and learning is performed after determining which state the door is in. As such a pinching detection device, there is one as disclosed in Patent Document 1, for example.
JP-A-11-131909

  However, in the conventional pinch detection device, since the detection switch is provided to detect the open / closed state of the door, the cost due to the necessity of providing parts and the transmission of a signal regarding the open / closed state is required. It was supposed to invite up.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a pinching detection device that can detect the open / closed state of a door without providing a detection switch.

In order to solve the above problems, a pinch detection device according to the present invention includes a window mounted on a door of an automobile, a motor for driving the window to open and close, and the motor when the torque of the motor is greater than a predetermined value by a predetermined value or more. In the pinching detection device provided with a control unit that stops or reverses rotation of
The control unit includes detection means for detecting torque of the motor, and determination means for determining an open / closed state of the door according to a rate of change of the torque of the motor detected by the detection means. It is configured.

  In addition, the pinch detection device according to the present invention is characterized in that the control unit includes an update unit that updates a memory content connected to the control unit when the determination unit determines that the door is closed. Has been.

Furthermore, in the pinching detection device according to the present invention, the motor is provided with a rotation detection unit that detects the rotation amount thereof, and the control unit specifies a position of the window based on a signal from the rotation detection unit. With specific means,
The determination means acquires the position of the window where the torque of the motor starts increasing when the window is raised from the position specifying means, and determines the open / closed state of the door from the acquired window position. It is configured as a feature.

  Furthermore, the pinch detection device according to the present invention is such that the roof of the automobile can be freely opened and closed, and the control unit performs the control only when the determination unit determines that the door is closed and the roof is closed. An updating means for updating the contents of the memory connected to the unit is provided.

  According to the pinching detection device according to the present invention, the control unit includes detection means for detecting the torque of the motor, and determination means for determining the open / closed state of the door according to the rate of change of the motor torque detected by the detection means. Thus, the open / closed state of the door can be determined without providing a detection switch, so that torque characteristics for pinching detection can be learned with a simple configuration, and costs can be reduced.

  Further, according to the pinching detection apparatus according to the present invention, the control unit includes an updating unit that updates the contents of the memory connected to the control unit when the determination unit determines that the door is in the closed state. Learning can be performed only in cases, and more accurate pinching detection can be performed.

  Further, according to the pinch detection device according to the present invention, when the window rises, the determination means acquires the position of the window where the torque of the motor starts to increase from the position specifying means, and the door position is determined from the acquired window position. By determining the open / closed state, it is possible to more reliably determine whether the door is open or closed without providing a detection switch, so that it is possible to learn torque characteristics for pinching detection with a simple configuration and to reduce costs. .

  Furthermore, according to the pinch detection device according to the present invention, the control unit includes an updating unit that updates the contents of the memory connected to the control unit only when the determination unit determines that the door is closed and the roof is closed. By providing, learning can be performed only when pinching can occur, and pinch detection can be performed more accurately.

  Embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a perspective view showing an outline of an automobile having a pinching detection device according to this embodiment. As shown in this figure, the automobile 1 having the pinching detection device of the present embodiment has a door 2 that can be opened and closed, and the door 2 has a window 3 that can move up and down. The automobile 1 is configured as an open car having a roof 4 that can be freely opened and closed.

  FIG. 2 shows a block diagram of the pinch detection device in the present embodiment. As shown in this figure, the pinch detection device includes the above-described window 3, the motor 10 that drives the window 3 to open and close, and the control unit 11 that reverses the rotation of the motor 10 when the torque of the motor 10 is greater than a reference value by a predetermined value or more. And a switch unit 12 for operating the window 3, a memory 13 connected to the control unit 11 for storing necessary data, and a pulse encoder 14 for detecting the rotation amount of the motor 10. Is.

  The switch unit 12 includes three switches, an up switch 12a, a down switch 12b, and an automatic switch 12c. When the raising switch 12a is operated, the control unit 11 drives the motor 3 to raise the window 3, that is, in a closing direction. When the lowering switch 12b is operated, the controller 11 causes the motor 10 to drive the window 3 downward, that is, in the opening direction. The ascending switch 12a and the descending switch 12b can move the window 3 up and down only while being operated.

  On the other hand, when the automatic switch 12c and the raising switch 12a are operated at the same time, the control unit 11 raises the window 3 with respect to the motor 10, and continues the raising operation even after the operation of the switch is stopped. When it reaches, stop its operation. Even when the automatic switch 12c and the lowering switch 12b are operated at the same time, the control unit 11 lowers the window 3 with respect to the motor 10, and then continues the lowering operation even if the operation of the switch is stopped, so that the window reaches the lower end. When that happens, stop its operation.

  The control unit 11 has a function of controlling the rotation of the motor 10 in accordance with the operation of the switch unit 12, and also includes a detection unit 20 for detecting the torque of the motor 10 and a motor detected by the detection unit 20 as shown in FIG. 10 based on a signal from the pulse encoder 14, a determination unit 21 that determines whether the reference value can be updated according to a torque change rate of 10, an update unit 22 that updates the contents of the memory 13 based on the determination of the determination unit 21. Position specifying means 23 for specifying the position of the window 3 is provided.

  The pulse encoder 14 is attached to the motor 10 and generates a pulse along with its rotation. The control unit 11 connected to the pulse encoder 14 detects a pulse edge of a pulse generated by the pulse encoder 14. The position specifying means 23 of the control unit 11 can count the pulse edges to detect the rotation amount of the motor 10 and can specify the position of the window 3 from the rotation amount.

  The control unit 11 detects the voltage applied to the motor 10, and the detection unit 20 calculates the torque of the motor 10 based on the voltage applied to the motor 10 and the pulse interval from the pulse encoder 14. To do. The determination of update performed by the determination unit 21 of the control unit 11 in accordance with the measured value of the torque of the motor 10 will be described in detail later.

  When the position of the window 3 rises upward from the lower end, the torque of the motor 10 once suddenly rises and then exhibits a substantially flat characteristic. As the position of the window 3 approaches the upper end, the torque characteristics differ depending on the open / close state of the door 2 and the open / close state of the roof 4.

  FIG. 5 is a diagram illustrating the behavior of the window 3 when the door 2 is closed and the roof 4 is closed. As shown in FIG. 5a, the base portion of the window 3 is held by the holder 31, and the holder 31 is driven by the motor 10 so that the range between the stoppers 21 provided in the door 2 body can be moved up and down. It has become. The holder 31 moves so as to enter from a slightly oblique direction (a direction from the front side to the rear side) with respect to the vertical direction, and the window 3 also moves accordingly. Further, the front window 5 side of the window 3 is formed in an acute angle shape, and the roof 4 side is formed in an obtuse angle shape.

  FIG. 3 is a diagram schematically showing measured values of motor torque when no pinching occurs. As shown in this figure, when the position of the window 3 rises upward from the lower end portion, the torque of the motor 10 once rises rapidly and then shows a substantially flat characteristic. As the position of the window 3 approaches the upper end, the torque characteristics differ depending on the open / close state of the door 2 and the open / close state of the roof 4.

  Here, the case where the door 2 is in the closed state and the roof 4 is in the closed state will be described. As shown in FIG. 5a, when the window 3 is moved from the fully opened state, the window 3 rises in a state where it does not contact the sashes 4a and 5a and the rubber packings 4b and 5b provided in the sash part. Torque corresponding to the weight of the window 3 and the frictional force with the packing 32 provided in the storage portion of the window 3 is applied. Therefore, as shown in FIG. 3, the torque has a substantially constant value within this range.

  Next, as shown in FIG. 5b, the window 3 comes into contact with the side of the roof 4 formed in an obtuse angle as it rises, and begins to slide with the sash 4a itself or the rubber packing 4b. As a result, the torque slightly increases from the point a shown in FIG. When further raised, the sash 5a on the front window 5 side and the rubber packing 5b provided on the sash 5a begin to slide as shown in FIG. The torque further increases from the corresponding position. And if it raises to an upper end as shown in FIG. 5 d, the movement of the holder 31 will be stopped.

  When the window 3 is open, there is no possibility of pinching in a state where there is almost no gap, so pinching is not detected. In the non-detection region shown in FIG. 3, the motor 10 is stopped when a predetermined current or more flows through the motor 10. The motor 10 may be stopped when it is detected from the pulse that the window 3 is located at a predetermined position.

  Even when the door 2 is open or the roof 4 is open, the basic behavior of the window 3 is the same. When the door 2 is closed and the roof 4 is open, the front window 5 The torque characteristic corresponds to the sliding of only the side sash 5a and the rubber packing 5b, and when both are open, only the torque applied by contact with the stopper 21 is obtained.

  In general, the torque characteristics when the door 2 and the roof 4 are in the open state are added with the torque associated with the sliding with the sash 5a on the front window 5 side, so that the door 2 is in the closed state and the roof 4 is in the open state. This is the torque characteristic when the door 2 is in the closed state and the roof 4 is in the closed state.

  Next, the operation of the pinching detection device will be described along a flowchart. FIG. 4 shows a flowchart of the pinch detection device. Since the pinch detection is executed at the time of auto-up, the case where the automatic switch 12c and the raising switch 12a are operated simultaneously in the switch unit 12 will be described. When the operation is started (S1), the control unit 11 detects the presence / absence of a pulse edge input from the pulse encoder 14 (S2). When there is a pulse edge input, the control unit 11 calculates the position of the window 3 from the pulse count number in the position specifying means 23 (S3).

  Next, the control unit 11 calculates the actual torque value Tn of the motor 10 at the window position from the voltage applied to the motor 10 and the pulse interval in the detection means 20 (S4). Further, the control unit 11 calls the torque value T (n−1) at the time of measuring the previous pulse edge from the memory 13 and obtains the difference between the torque value Tn and the torque value T (n−1) (S5). .

  Next, the control unit 11 calculates a reference value TSn of the torque of the motor 10 at the window position and stores it in the memory 13 (S6). The reference value TSn is a value that serves as a determination reference for pinching determination, and a predetermined value X is added to the reference value TSn to set a determination reference value for pinching.

  For this reference value TSn, the reference value TS (n−1) at the time of measuring the pulse edge immediately before the sandwiching is read from the memory 13, multiplied by, for example, 2 and added to the torque value Tn obtained this time, Calculate by dividing the sum by 3. That is, it is calculated by a load average obtained by doubling the contribution rate of the already stored value with respect to the contribution rate of the current value. If the difference between Tn and T (n-1) is larger than the predetermined value Y in S5, the determination reference value TSn is not updated, and the value of TS (n-1) is set to the value of TSn as it is. Thus, the value in the case where the jamming occurs does not contribute to the update of the reference value TSn. Further, the value of the reference value TSn is ignored when the torque Tn exceeds a predetermined value, so that the value of the reference value TSn does not become a value along the torque characteristic above the deviation point in FIG. Instead, a substantially flat value is set.

  Next, it is calculated whether the value calculated in S5 is smaller than the predetermined value Z and smaller than the predetermined value Y, thereby determining whether the actual torque Tn is deviated from the reference value TSn (S7). . This means that the characteristic has deviated from the flat reference value curve of FIG. If it is determined that there is a divergence, the current position is temporarily stored as a divergence point (S8). If it is determined that there is no divergence, the process proceeds to the next step.

  Next, it is determined whether the torque Tn is larger than the maximum deviation point load (S9). If the torque Tn is larger, the position and the load are temporarily stored as the position and the load of the maximum deviation point (S10). Move on to the next step. Note that the maximum deviation point load is initially set to a torque value at the window position on the non-detection area side several pulses from the upper end of the pinching detection area, avoiding an unstable end position, and exceeding the pinching area. The value at the selected position is set.

  Next, it is determined whether the current window position detected in S3 is fully closed from the deviation point from the value obtained in S8 (S11). If it is determined that the window is fully closed, the actual torque Tn is converted. (S12). The conversion is performed in any region in order to enable pinching detection in the next S13 with the same determination standard, and is performed by subtracting a predetermined value from the actual torque Tn. Specifically, from the divergence point and the maximum divergence point already stored in the memory by the previous window switch operation, a virtual line connecting the two is obtained, and a value α obtained by multiplying the inclination of the virtual line by the distance from the divergence point That is, the difference is calculated by subtracting the difference between the virtual line and the reference value.

  If it is determined at S11 that the valve is fully open from the deviation point, the torque value is not converted. After that, the current position is the pinching detection range, and pinching is determined based on whether the converted value or torque value obtained in S12 exceeds a value obtained by adding the predetermined value X to the reference value TSn (S13). If it is determined that the window 3 is reversed (S14), the process proceeds to the next step if it is not determined.

  Subsequently, it is determined whether the window 3 has reached the upper end position. Specifically, when the motor current exceeds a predetermined value and exceeds a predetermined time in the non-detection area, or when it is detected by the detection switch for the upper end, it is determined as the upper end position, and the next S16 is performed. If not, the process returns to S2 to wait for the next pulse edge input. In S16, since the operation of the window 3 by one auto up is completed, the position of the deviation point and the data of the maximum deviation point are stored in at least the memory 13. From this data, the rate of change of the straight line in the current auto-up operation is obtained, and when the value is within a predetermined range by the determination means 21 and the deviation point is within the predetermined range, once in S8 and S10, The value stored in the memory is determined by the updating means 22, the parameters necessary for load conversion are stored (S17), and used in the next operation.

  If the door 2 is in the closed state and the roof 4 is in the open state, or the door 2 is in the open state and the roof 4 is in the open state, the rate of change is greater than a predetermined value and the deviation point is The value will not be updated in S16, and there is no problem in the pinching determination when the window 3 is closed and the roof 4 is closed. If the door 2 is in the closed state and the roof 4 is in the open state, and the door 2 is in the closed state and the roof 4 is in the closed state, the torque conversion in S12 is performed. As is apparent from FIG. 3, the value of the line connecting the deviation point and the maximum deviation point when the door 2 is closed and the roof 4 is open is obtained from the value of the reference curve in this state. Since it is smaller, only a small value can be subtracted from the reference curve, and it is erroneously detected that pinching has occurred.

  When the door 2 is closed and the roof 4 is open or when the door 2 is open and the roof 4 is open, it is not determined that the object is caught. That is, when the torque is converted in S12, as is apparent from FIG. 3, the deviation point and the maximum when the door 2 is in the closed state and the roof 4 is in the closed state from the value of the reference curve in the state. This is because the value of the line connecting the divergence points is larger, and the larger value is subtracted from the reference curve. In this state, since the window 3 does not face the sash, there is almost no occurrence of pinching.

  In this embodiment, since the judgment of the deviation point is based on the condition that it is within a predetermined window position, if the load that blocks the movement of the window is added and removed during the operation, the deviation is apologized. Since the possibility of determining a point is reduced, the reliability is further increased.

  In the present embodiment, the deviation point and the maximum deviation point are connected, the curve is determined, and the torque value is converted accordingly. Therefore, in any state of opening and closing of the door 2 and opening and closing of the roof 4 Depending on whether a straight line (parameter value for conversion) is recorded, an erroneous sandwiching determination result is obtained. In this sense, it is important to determine which state is stored. However, the use of the determination result of the opening / closing of the door 2 and the opening / closing of the roof 4 in the present invention is not limited thereto. For example, as in the conventional example, in learning of the reference value when the door 2 is in the open state and the reference value when the door 2 is in the closed state, it may be determined which value to learn from the rate of change in torque. . In that case, as in the present invention, the position of the divergence point is preferably used as an element of determination.

  In the present embodiment, whether the door 2 is in the closed state and the roof 4 is in the closed state when the rate of change is within the predetermined range by the determination means 21 and the deviation point is in the predetermined range. In addition, it is also possible to detect that the door 2 is closed and the roof 4 is open or the door 2 is open and the roof 4 is open.

  Since the presence or absence of learning is determined according to the torque characteristics in this way, there is no need to provide a switch or the like for detecting the open / closed state of the door 2 or the roof 4, and it is not necessary to provide a transmission path therefor. Cost can be reduced.

  As mentioned above, although embodiment of this invention was described, application of this invention is not restricted to these embodiment, It can apply variously within the range of the technical idea. In the present embodiment, the automobile 1 is shown as an open car in which the roof 4 is opened and closed. However, the present invention can also be applied to an automobile having a sashless window in which the roof does not open and close. In this case, since the torque characteristics of the motor change depending on the open / closed state of the door, the open / closed state of the door is determined based on the torque gradient between the deviation point and the maximum deviation point, and the door is determined to be closed. Learning only needs to be done. In the present embodiment, the pinch detection device is provided for the driver's seat window 3, but the pinch detection device may also be provided in the passenger seat and the rear seat.

It is a perspective view which shows the outline | summary of the motor vehicle which has the pinching detection apparatus in this embodiment. It is a block diagram of the pinch detection device in the present embodiment. It is the figure which showed the torque characteristic of the motor accompanying the change of a window position. It is a flowchart of a pinch detection device. It is a figure which shows the behavior of a window in case a door is in a closed state and a roof is in a closed state.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Car 2 Door 3 Window 4 Roof 5 Front window 10 Motor 11 Control part 12 Switch part 13 Memory 14 Pulse encoder 20 Detection means 21 Judgment means 22 Update means 23 Position specification means

Claims (4)

A pinch detection device comprising a window mounted on a door of an automobile, a motor that drives the window to open and close, and a control unit that stops or reverses the rotation of the motor when the torque of the motor is greater than a reference value by a predetermined value or more In
The control unit includes detection means for detecting the torque of the motor, and determination means for determining an open / closed state of the door according to a rate of change of the torque of the motor detected by the detection means. Pinch detection device.   2. The pinch detection device according to claim 1, wherein the control unit includes an update unit that updates a memory content connected to the control unit when the determination unit determines that the door is in a closed state. The motor includes a rotation detection unit that detects a rotation amount thereof, and the control unit includes a position specifying unit that specifies a position of the window based on a signal from the rotation detection unit,
The determination means acquires the position of the window where the torque of the motor starts increasing when the window is raised from the position specifying means, and determines the open / closed state of the door from the acquired window position. The pinch detection device according to claim 1.   The vehicle has a roof that can be opened and closed, and the control unit updates the contents of the memory connected to the control unit only when the determination unit determines that the door is closed and the roof is closed. The pinch detection device according to claim 3, further comprising:

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