JP4781126B2 - Opening and closing body control device - Google Patents

Description

  The present invention relates to an opening / closing body control device for opening / closing an opening / closing body such as a window in a vehicle.

  BACKGROUND ART A window opening / closing control device (hereinafter referred to as “power window device”) used in an automobile is a device that opens and closes a window by moving a motor forward or backward by operating a switch to raise and lower a window glass of a door. FIG. 12 is a block diagram showing an electrical configuration of a general power window device. 1 is a control unit composed of a CPU for controlling the opening and closing operation of the window, 2 is a motor drive circuit for driving the motor 3, 4 is a rotary encoder that outputs a pulse synchronized with the rotation of the motor 3, and 5 is output from the rotary encoder 4. A pulse detection circuit for detecting a pulse, 6 a memory composed of a ROM, a RAM and the like, and 7 an operation switch for operating the opening and closing of the window.

  When the operation switch 7 is operated, a window opening / closing command is given to the control unit 1, and the motor 3 is rotated forward or backward by the motor drive circuit 2. By the rotation of the motor 3, the window opening / closing mechanism interlocked with the motor 3 is operated to open / close the window. The pulse detection circuit 5 detects a pulse output from the rotary encoder 4, and the control unit 1 calculates the opening / closing amount of the window and the motor speed based on the detection result, and rotates the motor 3 via the motor drive circuit 2. Control.

  FIG. 13 is a schematic configuration diagram illustrating an example of the operation switch 7. The operation switch 7 includes an operation knob 71 that can rotate about the axis Q in the ab direction, a rod 72 provided integrally with the operation knob 71, and a known slide switch 73. 74 is an actuator of the slide switch 73, and 20 is a cover of the switch unit in which the operation switch 7 is incorporated. The lower end of the rod 72 is engaged with the actuator 74 of the slide switch 73. When the operation knob 71 rotates in the ab direction, the actuator 74 moves in the cd direction via the rod 72, and slides according to the moving position. A contact (not shown) of the switch 73 is switched.

  The operation knob 71 can be switched to each position of auto-close AC, manual close MC, neutral N, manual open MO, and auto open AO. FIG. 13 shows a state where the operation knob 71 is in the neutral N position. When the operation knob 71 is rotated by a certain amount in the direction a from this position to the manual closing MC position, a manual closing operation for closing the window is performed manually, and the operation knob 71 is further rotated in the direction a from this position. When the auto-close AC position is set, the auto-close operation is performed to close the window by the auto-operation. Further, when the operation knob 71 is rotated a certain amount in the b direction from the neutral N position to the manual opening MO position, a manual opening operation is performed in which the window is opened manually, and the operation knob is further moved in the b direction from this position. When 71 is rotated to the auto-open AO position, an auto-open operation is performed in which the window is opened by auto operation. The operation knob 71 is provided with a spring (not shown), and when the hand is released from the rotated operation knob 71, the operation knob 71 returns to the neutral N position by the force of the spring.

  In the case of manual operation, the window is closed or opened only while the operation knob 71 is held by hand at the position of manual closing MC or manual opening MO, and the knob is neutralized by releasing the hand from the operation knob 71. When returning to the N position, the window closing or opening operation stops. On the other hand, in the case of the automatic operation, once the operation knob 71 is rotated to the position of auto-close AC or auto-open AO, after that, the hand is released from the operation knob 71 and the knob returns to the neutral N position. The window closing operation or opening operation is continuously performed.

  FIG. 14 is a diagram illustrating an example of a window opening / closing mechanism provided in each window of the vehicle. Reference numeral 100 denotes an automobile window, 101 denotes a window glass for opening and closing the window 100, and 102 denotes a window opening / closing mechanism. The window glass 101 moves up and down by the operation of the window opening / closing mechanism 102, the window 100 is closed when the window glass 101 is raised, and the window 100 is opened when the window glass 101 is lowered. In the window opening / closing mechanism 102, 103 is a support member attached to the lower end of the window glass 101. 104 is a first arm whose one end is engaged with the support member 103, and the other end is rotatably supported by the bracket 106. 105 is one end engaged with the support member 103, and the other end is engaged with the guide member 107. Second arm. The 1st arm 104 and the 2nd arm 105 are connected via the axis | shaft in each intermediate part. 3 is the motor described above, and 4 is the rotary encoder described above. The rotary encoder 4 is connected to the rotating shaft of the motor 3 and outputs a number of pulses proportional to the amount of rotation of the motor 3. The rotational speed of the motor 3 can be detected by counting the pulses output from the rotary encoder 4 within a predetermined time. Further, the amount of rotation of the motor 3 (the amount of movement of the window glass 101) can be calculated from the output of the rotary encoder 4.

  Reference numeral 109 denotes a pinion that is rotationally driven by the motor 3, and 110 denotes a fan-shaped gear that meshes with the pinion 109 and rotates. The gear 110 is fixed to the first arm 104. The motor 3 can rotate in the forward and reverse directions, and rotates the pinion 109 and the gear 110 by rotating in the forward and reverse directions to rotate the first arm 104 in the forward and reverse directions. Following this, the other end of the second arm 105 slides laterally along the groove of the guide member 107, and the support member 103 moves up and down to raise and lower the window glass 101, thereby opening and closing the window 100. .

  In the power window device as described above, when the operation knob 71 is at the position of the automatic closing AC in FIG. 13 and the automatic closing operation is performed, a function of detecting the object pinching is provided. That is, as shown in FIG. 15, when the object Z is sandwiched in the gap of the window glass 101 while the window 100 is closed, this is detected and the closing operation of the window 100 is switched to the opening operation. . Since the window 100 is automatically closed during the automatic closing operation, the pinching detection function works to prevent the window 100 from being closed in order to prevent the pinched object Z from being damaged.

  In detecting pinching, the controller 1 reads the rotational speed of the motor 3 that is the output of the pulse detection circuit 5 as needed, compares the current rotational speed with the previous rotational speed, and based on the comparison result, Determine presence or absence. When the object Z is caught in the window 100, the load of the motor 3 increases and the rotational speed decreases, so that the amount of change in speed increases, and when the amount of change in speed exceeds a predetermined threshold, the object Z Is determined to have been sandwiched. The threshold value is stored in the memory 6 in advance.

As another means for detecting pinching, there is a method in which a pinching detection sensor is provided in a window frame of a vehicle. For example, Patent Document 1 below describes a device that detects a pinching based on a signal output from a sensor when a piezoelectric sensor is attached to a window frame and an object comes into contact with the piezoelectric sensor. Further, in Patent Document 2 below, a capacitive sensor is provided at the opening of the window and a position sensor for detecting the position of the window is provided. Based on the change in the output of the capacitive sensor and the output of the position sensor, An apparatus for detecting pinching is described.
Japanese Patent Laid-Open No. 10-76843 JP-T-2004-506110

  However, fluctuations in the rotational speed of the motor 3 are caused not only by foreign matter being caught, but also by vibrations when the door is closed and vibrations on a rough road with many irregularities. Therefore, in the method of detecting pinching based on the amount of change in the rotational speed of the motor as described above, it is assumed that the foreign object is caught even though the foreign object is not caught during opening / closing of the door or traveling on a rough road. It may happen that a window is opened by mistake. As a countermeasure, it is conceivable to set a high threshold value for judging the pinching. However, if the threshold value is high, there is a problem that the pinching load increases and the pinched object is easily damaged. On the other hand, in the method of detecting pinching by a sensor attached to a window frame as in Patent Document 1 and Patent Document 2, there is a possibility that erroneous detection may occur when an object touches the sensor.

  Accordingly, an object of the present invention is to provide an opening / closing body control device that can accurately detect pinching even when there is a disturbance and does not cause erroneous determination.

  An opening / closing body control device according to the present invention includes a load change amount detecting means for detecting a change amount of a load of a motor for opening / closing an opening / closing body provided in a vehicle, a disturbance detecting means for detecting a disturbance to the vehicle, and an opening / closing body. Foreign matter detection means for detecting foreign matter to be sandwiched, and determination means for determining whether or not pinching has occurred. When the disturbance detection unit detects a disturbance, the determination unit detects that the load change amount of the motor detected by the load change amount detection unit exceeds a predetermined value, and the foreign object detection unit detects the foreign object. It is determined that a foreign object has been caught in the opening / closing body.

  In the present invention, even when a disturbance is applied to the vehicle, it is determined that the jamming has occurred because the load change amount of the motor exceeds a predetermined value and a foreign object is detected. Even if there is, if the load change amount of the motor is small or no foreign matter is detected, it is not determined that the object is caught. Therefore, there is no possibility of erroneous determination due to disturbance, and pinching can be accurately detected. In addition, since an erroneous determination does not occur without increasing the pinching determination threshold, it is possible to reduce the pinching load and prevent damage to the pinched object.

  In a preferred embodiment of the present invention, when the disturbance detection means does not detect a disturbance, the change amount of the motor load detected by the load change amount detection means exceeds a predetermined value, or the foreign object detection means detects foreign substances. When detected, it is determined that a foreign object has been caught in the opening / closing body.

  According to this, in a state where there is no disturbance, pinching is detected when either the load change amount of the motor exceeds a predetermined value or a foreign object is detected. In this case, this can be detected quickly and accurately, and the closing operation of the opening / closing body can be switched to the opening operation or the stop.

  As the disturbance detection means in the present invention, there can be used a device that includes a switch for detecting opening / closing of a vehicle door and detects door open or door close as a disturbance.

  When a door open / close detection switch is used as the disturbance detection means, it is preferable to maintain the disturbance detection state until a predetermined time has elapsed after detecting the opening or closing of the door. Since the vibration due to the opening and closing of the door occurs for a certain time after the door is opened or closed, it is possible to detect the pinching more accurately by treating this vibration as a disturbance.

  Further, when the door open / close detection switch is used as the disturbance detection means, the disturbance detection state is maintained until the opening / closing body moves by a predetermined amount instead of maintaining the disturbance detection state until a predetermined time elapses as described above. You may do it. When the door is opened or closed, the opening / closing body moves by an amount corresponding to the opening / closing speed of the door due to the impact. Therefore, it is assumed that a disturbance has occurred during this movement. Can be detected.

  As the disturbance detection means in the present invention, various devices other than the door opening / closing detection switch described above can be adopted. For example, it is possible to use a disturbance detection means that includes a vehicle speed sensor that detects the speed of the vehicle and detects a vehicle speed of a certain level or more as a disturbance. In addition, a disturbance detection unit that includes an acceleration sensor that detects an acceleration applied to the vehicle and detects a certain acceleration as a disturbance may be used. Further, it is possible to use disturbance detection means that includes an outside air temperature sensor that detects the temperature outside the vehicle and that detects an outside air temperature below a certain level as a disturbance.

  According to the present invention, even when a disturbance is applied to the vehicle, the load change amount of the motor exceeds a predetermined value, and it is determined that pinching has occurred due to the detection of a foreign object. There is no possibility of erroneous determination due to disturbance, and pinching can be accurately detected. In addition, since an erroneous determination does not occur without increasing the pinching determination threshold, it is possible to reduce the pinching load and prevent damage to the pinched object.

  FIG. 1 is a block diagram showing an electrical configuration of a power window device according to an embodiment of the present invention. In FIG. 1, the same parts as those in FIG. 1 is a control unit composed of a CPU for controlling the opening and closing operation of the window, 2 is a motor drive circuit for driving the motor 3, 4 is a rotary encoder that outputs a pulse synchronized with the rotation of the motor 3, and 5 is output from the rotary encoder 4. A pulse detection circuit for detecting a pulse, 6 a memory composed of a ROM, a RAM and the like, and 7 an operation switch for operating the opening and closing of the window. The operation switch 7 is the same as that shown in FIG. The memory 6 stores a threshold for judging pinching.

  Reference numeral 8 denotes a door opening / closing detection switch for detecting opening / closing of a vehicle door. For example, a courtesy lamp switch for controlling lighting of a lamp in the vehicle in conjunction with opening / closing of the door can be used. Of course, a dedicated detection switch may be provided separately from the courtesy lamp switch. Reference numeral 9 denotes a vehicle speed sensor that detects the speed of the vehicle, and reference numeral 10 denotes a pressure-sensitive sensor that detects foreign matter caught in the window. The pressure sensitive sensor 10 includes a piezoelectric sensor or the like.

  2 and 3 are views showing an example of a window opening / closing mechanism provided in each window of the vehicle, and correspond to FIGS. 14 and 15, respectively. 2 and 3, the same parts as those in FIGS. 14 and 15 are denoted by the same reference numerals. As shown in FIG. 2, the pressure sensor 10 described above is attached to the window frame portion at the top of the window 100, and when the object Z is sandwiched in the gap of the window glass 101 as shown in FIG. 3. The object Z is pressed against the pressure sensor 10, and a detection signal is output from the pressure sensor 10. Here, the pressure-sensitive sensor 10 is provided only on the upper portion of the window 100, but the pressure-sensitive sensor 10 may be provided on both sides of the window 100.

  In FIG. 1, when the operation switch 7 is operated, a window opening / closing command is given to the control unit 1, and the motor 3 is rotated forward or backward by the motor drive circuit 2. By the rotation of the motor 3, the window opening / closing mechanism 102 (FIGS. 2 and 3) interlocked with the motor 3 is operated to open / close the window 100. The pulse detection circuit 5 detects the pulse output from the rotary encoder 4, and the control unit 1 calculates the opening / closing amount of the window 100 and the rotation speed of the motor 3 based on the detection result, and the motor via the motor drive circuit 2. 3 is controlled.

  In the above configuration, the rotary encoder 4 and the pulse detection circuit 5 together with the control unit 1 constitute an embodiment of the load change amount detection means in the present invention. The door opening / closing detection switch 8 and the vehicle speed sensor 9 together with the control unit 1 constitute an embodiment of the disturbance detection means in the present invention. The pressure sensor 10 constitutes an embodiment of the foreign matter detection means in the present invention together with the control unit 1. Moreover, the control part 1 comprises one Embodiment of the determination means in this invention. Moreover, the window glass 101 comprises one Embodiment of the opening / closing body in this invention.

  FIG. 4 is a flowchart showing the basic operation of the power window device according to the embodiment of the present invention. “SW” in the drawing represents “operation switch 7” (the same applies to the following flowcharts). If the operation switch 7 is in the manual closing MC position in step S1, the manual closing operation is performed (step S2). If the operation switch 7 is in the auto closing AC position in step S3, the automatic closing operation is performed. If the operation switch 7 is in the manual opening MO position in step S5, the manual opening operation is performed (step S6). In step S7, the operation switch 7 is automatically opened. If it is at the position of AO, an automatic opening operation process is performed (step S8). If the operation switch 7 is not in the auto-open AO position in step S7, the operation switch 7 is in the neutral N position and no processing is performed. Details of steps S2, S4, S6, and S8 will be described below in order.

  FIG. 5 shows a detailed procedure of the “manual closing process” in step S2 of FIG. This procedure is executed by the CPU constituting the control unit 1. First, it is determined based on the output of the rotary encoder 4 whether the window 100 is completely closed by the manual closing operation (step S11). If the window 100 is completely closed (step S11: YES), the process is terminated. If the window 100 is not completely closed (step S11: NO), a normal rotation signal is output from the motor drive circuit 2 to cause the motor 3 to rotate forward. The window 100 is closed (step S12). Subsequently, it is determined whether or not the window 100 is completely closed (step S13). If the window 100 is completely closed (step S13: YES), the process is terminated. If the window 100 is not completely closed (step S13: NO), pinching is performed. It is determined whether or not it has been detected (step S14). This pinching detection will be described in detail later.

  If the object Z is caught as shown in FIG. 3 (step S14: YES), a reverse rotation signal is output from the motor drive circuit 2 to reverse the motor 3, and the window 100 is opened (step S15). Thereby, the pinching is released. Then, it is determined whether or not the window 100 is completely opened (step S16). If the window 100 is completely opened (step S16: YES), the process is terminated. If the window 100 is not completely opened (step S16: NO), the process proceeds to step S15. Return to continue the reverse rotation of the motor 3.

  If pinching is not detected in step S14 (step S14: NO), it is determined whether or not the operation switch 7 is in the manual closing MC position (step S17). If the operation switch 7 is in the manual closing MC position (step S17: YES), the process returns to step S12 to continue normal rotation of the motor 3, and if it is not in the manual closing MC position (step S17: NO), the automatic closing is performed. It is determined whether or not the position is AC (step S18). If the operation switch 7 is in the auto-closed AC position (step S18: YES), the process proceeds to an auto-close process described later (FIG. 6) (step S19), and if it is not in the auto-closed AC position (step S18: NO), It is determined whether or not the position is the manual opening MO position (step S20). If the operation switch 7 is in the manual opening MO position (step S20: YES), the process proceeds to the manual opening process described later (FIG. 7) (step S21), and if it is not in the manual opening MO position (step S20: NO), It is determined whether or not the automatic open AO position is reached (step S22). If the operation switch 7 is in the auto-open AO position (step S22: YES), the process proceeds to an auto-open process described later (FIG. 8) (step S23). If the operation switch 7 is not in the auto-open AO position (step S22). : NO), the process ends without any processing.

  FIG. 6 shows a detailed procedure of the “automatic closing process” in step S4 of FIG. This procedure is executed by the CPU constituting the control unit 1. First, it is determined based on the output of the rotary encoder 4 whether or not the window 100 is completely closed by the automatic closing operation (step S31). If the window 100 is completely closed (step S31: YES), the processing is terminated. If the window 100 is not completely closed (step S31: NO), the process proceeds to step S32.

  In step S32, a normal rotation signal is output to the motor drive circuit 2 to cause the motor 3 to rotate normally, and the window 100 is closed. Subsequently, it is determined whether or not the window 100 is completely closed (step S33). If the window 100 is completely closed (step S33: YES), the process is terminated. If the window 100 is not completely closed (step S33: NO), the step is performed. Shifting to S34, it is determined whether or not pinching has been detected. This pinching detection will be described in detail later.

  If the object Z is caught as shown in FIG. 3 (step S34: YES), the motor drive circuit 2 outputs a reverse rotation signal to reverse the motor 3 and open the window 100 (step S35). Thereby, the pinching is released. Then, it is determined whether or not the window 100 is completely opened (step S36). If the window 100 is completely opened (step S36: YES), the process is terminated. If the window 100 is not completely opened (step S36: NO), step S35 is performed. Return to, and continue the reverse rotation of the motor 3.

  If pinching is not detected in step S34 (step S34: NO), it is determined whether or not the operation switch 7 is in the manual opening MO position (step S37). If the operation switch 7 is in the manual opening MO position (step S37: YES), the process proceeds to the manual opening process described later (FIG. 7) (step S38), and if it is not in the manual opening MO position (step S37: NO), It is determined whether or not the automatic open AO position is reached (step S39). If the operation switch 7 is in the auto-open AO position (step S39: YES), the process proceeds to the auto-open processing described later (FIG. 8) (step S40). If the operation switch 7 is not in the auto-open AO position (step S39). : NO), returning to step S32, the automatic closing operation is continued, and the window 100 is closed.

  FIG. 7 shows a detailed procedure of the “manual opening process” in step S6 of FIG. This procedure is executed by the CPU constituting the control unit 1. First, it is determined based on the output of the rotary encoder 4 whether or not the window 100 is completely opened by the manual opening operation (step S51). If the window 100 is completely opened (step S51: YES), the process is terminated. If the window 100 is not completely opened (step S51: NO), a reverse signal is output from the motor drive circuit 2 to reverse the motor 3, and the window 100 Is opened (step S52). Subsequently, it is determined whether or not the window 100 is completely opened (step S53). If the window 100 is completely opened (step S53: YES), the processing is terminated. If the window 100 is not completely opened (step S53: NO), the operation switch It is determined whether or not 7 is at the position of manual opening MO (step S54). If the operation switch 7 is in the manual opening MO position (step S54: YES), the process returns to step S52 to continue the reverse rotation of the motor 3, and if it is not in the manual opening MO position (step S54: NO), the automatic opening AO It is determined whether it is in the position (step S55). If the operation switch 7 is in the position of auto-open AO (step S55: YES), the process proceeds to the auto-open process described later (FIG. 8) (step S56), and if it is not in the position of auto-open AO (step S55: NO), It is determined whether or not the position is the manual closing MC position (step S57). If the operation switch 7 is in the manual closing MC position (step S57: YES), the process proceeds to the manual closing process described above (FIG. 5) (step S58), and if it is not in the manual closing MC position (step S57: NO), It is determined whether or not the automatic close AC position is reached (step S59). If the operation switch 7 is in the auto-close AC position (step S59: YES), the process proceeds to the above-described auto-close process (step S60) (step S60), and if the operation switch 7 is not in the auto-close AC position (step S59). : NO), the process ends without any processing.

  FIG. 8 shows a detailed procedure of the “automatic opening process” in step S8 of FIG. This procedure is executed by the CPU constituting the control unit 1. First, it is determined based on the output of the rotary encoder 4 whether or not the window 100 is completely opened by the automatic opening operation (step S71). If the window 100 is completely opened (step S71: YES), the process is terminated. If the window 100 is not completely opened (step S71: NO), a reverse signal is output from the motor drive circuit 2 to reverse the motor 3, and the window 100 Is opened (step S72). Subsequently, it is determined whether or not the window 100 is completely opened (step S73). If the window 100 is completely opened (step S73: YES), the processing is terminated. If the window 100 is not completely opened (step S73: NO), the operation switch It is determined whether or not 7 is at the position of the manual closing MC (step S74). If the operation switch 7 is in the manual closing MC position (step S74: YES), the process proceeds to the manual closing process described above (FIG. 5) (step S75), and if not in the manual closing MC position (step S74: NO), It is determined whether or not the automatic close AC position is reached (step S76). If the operation switch 7 is in the auto-close AC position (step S76: YES), the process proceeds to the auto-close process described above (FIG. 6) (step S77), and if the operation switch 7 is not in the auto-close AC position (step S76). : NO), the process returns to step S72 and the reverse rotation of the motor 3 is continued.

  FIG. 9 is a flowchart showing details of the pinching detection process in step S14 of FIG. 5 and step S34 of FIG. In step S101, the rotational speed of the motor 3 is detected based on the output of the pulse detection circuit 5. The detected rotation speed is sequentially stored in the memory 6. Subsequently, the rotational speed of the motor 3 stored in the memory 6 is read out, the current rotational speed is compared with the previous rotational speed, and the amount of change in the rotational speed is calculated (step S102).

  Next, it is determined whether or not a disturbance is detected based on the output of the door open / close detection switch 8 (step S103). When the door is opened or when the door is closed, the output state of the door open / close detection switch 8 changes, so that the control unit 1 detects door opening or door closing as a disturbance due to this change. In this case, since the vibration due to the opening / closing has occurred for a while after the door is opened / closed, the control unit 1 maintains the disturbance detection state until a predetermined time elapses after detecting the opening / closing of the door. To do.

  When a disturbance is detected as a result of the determination in step S103 (step S103: YES), the process proceeds to step S104. In step S104, it is determined whether or not the amount of change in the rotation speed of the motor 3 calculated in step S102 exceeds a predetermined value, that is, a threshold value stored in the memory 6. When the object Z is not pinched as shown in FIG. 3, the motor 3 is not overloaded and the rotation speed is stable, so the amount of change in the rotation speed is small, but the object Z is pinched. When this occurs, the load on the motor 3 increases and the rotational speed decreases, so the amount of change in the rotational speed increases.

  As a result of the determination in step S104, when the amount of change in the rotation speed of the motor 3 exceeds the threshold (step S104: YES), the process proceeds to step S105. In step S105, it is determined based on the output of the pressure sensor 10 whether or not a foreign object has been detected. When no foreign matter is caught, the pressure sensitive sensor 10 does not output a detection signal because the foreign matter does not contact the pressure sensitive sensor 10. On the other hand, when a foreign object is caught, a detection signal is output from the pressure-sensitive sensor 10 in contact with the foreign object.

  As a result of the determination in step S105, when a foreign object is detected (step S105: YES), the process proceeds to step S108, and it is finally determined that a foreign object is caught. If determined in this way, as described in step S15 in FIG. 5 or step S35 in FIG. 6, a reverse rotation signal is output from the motor drive circuit 2 to reverse the motor 3, and the window 100 is opened. As a result, the pinching load is reduced, so that it is possible to prevent the pinched object Z from being damaged.

  Even if a disturbance is detected in step S103, if the amount of change in the rotational speed of the motor 3 does not exceed the threshold value in step S104 (step S104: NO), or if no foreign object is detected in step S105 (Step S105: NO) does not determine that a foreign object has been caught, and ends the process.

  If no disturbance is detected in step S103 (step S103: NO), the process proceeds to step S106, and in the same manner as in step S104, it is determined whether or not the amount of change in the rotational speed of the motor 3 exceeds a threshold value. As a result of the determination, when the amount of change in the rotation speed exceeds the threshold (step S106: YES), the process proceeds to step S108, and it is determined that foreign matter is caught. On the other hand, when the change amount of the rotational speed does not exceed the threshold value (step S106: NO), the process proceeds to step S107, and it is determined whether or not a foreign object is detected in the same manner as step S105. If a foreign object is detected as a result of the determination (step S107: YES), the process proceeds to step S108, where it is determined that the foreign object has been caught. On the other hand, when no foreign matter is detected (step S107: NO), it is not determined that the foreign matter is caught, and the process is terminated.

  As described above, in the procedure of FIG. 9, when disturbance is detected, the amount of change in the rotational speed of the motor 3 exceeds the threshold (step S104), and foreign matter is detected (step S105). When the two conditions are satisfied at the same time, it is determined that the object has been caught for the first time. For this reason, even if the amount of change in the rotation speed of the motor 3 exceeds the threshold due to disturbance, it is not determined that the object has been caught by itself, and even if an object contacts the pressure sensor 10, it is not. Therefore, there is no possibility of erroneous determination and pinching can be accurately detected. In addition, since erroneous determination does not occur without increasing the pinching determination threshold, it is possible to reduce the pinching load and prevent damage to the pinched object Z.

  Further, in the procedure of FIG. 9, when no disturbance is detected, either the amount of change in the rotational speed of the motor 3 exceeds the threshold value (step S106) or a foreign object is detected (step S107). If the condition is satisfied, it is determined that the object has been caught. For this reason, in a normal state where there is no disturbance, it is determined that pinching has occurred when the amount of change in the rotational speed of the motor 3 exceeds a threshold value or when a foreign object is detected. Therefore, pinching is detected quickly and accurately. The window 100 can be opened by reversing the motor 3.

  When the door opening / closing operation is performed, vibration is generated for a certain period of time due to an impact at the time of opening / closing. However, in step S103 of FIG. 9, as described above, the door opening / closing detection switch 8 is opened or closed. After detecting the door closing, the disturbance detection state is maintained until a predetermined time elapses, and the vibration during this period is treated as a disturbance. Therefore, during this time, unless the rotational speed change amount exceeds the threshold value in step S104 and a foreign object is not detected in step S105, the pinching is not determined, so that pinching can be detected more accurately.

  Further, instead of maintaining the disturbance detection state until a predetermined time elapses as described above, the disturbance detection state may be maintained until the window glass 101 moves by a predetermined amount. When the door is opened or closed, the window glass 101 is moved by an amount corresponding to the opening / closing speed of the door due to the impact. Therefore, by handling it as a disturbance occurring during this movement, it is possible to detect pinching more accurately as in the case described above. The amount of movement of the window glass 101 can be detected by the rotary encoder 4.

  In step S103 of FIG. 9, the presence / absence of a disturbance is detected based only on the output of the door opening / closing detection switch 8. However, even if the presence / absence of a disturbance is detected based on the outputs of the door opening / closing detection switch 8 and the vehicle speed sensor 9, respectively. Good. That is, the disturbance may be detected when at least one of the detection of the opening / closing of the door by the door opening / closing detection switch 8 and the detection of the vehicle speed by the vehicle speed sensor 9 is achieved. When the vehicle speed value detected by the vehicle speed sensor 9 is large, the vehicle is traveling at a high speed and vibrations are likely to occur depending on the road conditions and the like.

  In step S15 in FIG. 5 and step S35 in FIG. 6, the motor drive circuit 2 outputs a reverse rotation signal to reverse the motor 3 and opens the window 100. However, the motor drive circuit 2 outputs a stop signal. Then, the motor 3 may be stopped and the closing operation of the window 100 may be stopped.

  The present invention can employ various embodiments other than the above-described embodiments. For example, in the above embodiment, an example in which the pressure sensor 10 is used as the foreign matter detection unit has been described. However, as shown in FIG. 10, a capacitance sensor 11 may be used instead of the pressure sensor 10.

  Moreover, in the said embodiment, although the example using the door opening / closing detection switch 8 and the vehicle speed sensor 9 was given as a disturbance detection means, as shown in FIG. 11, in addition to these, the acceleration sensor 12 and the external temperature sensor 13 are used. You may use as a disturbance detection means. The acceleration sensor 12 is a sensor that detects acceleration based on vibration or impact applied to the vehicle, and detects acceleration of a certain level or more as disturbance. When the vehicle travels on a road with a lot of unevenness (bad road), a large vibration is generated in the vehicle body and acceleration is applied. Therefore, an acceleration exceeding a certain level becomes a disturbance. The outside air temperature sensor 13 is a sensor that detects the outside air temperature of the vehicle, and detects an outside air temperature below a certain level as a disturbance. When the outside air temperature drops in winter or the like and ice adheres to the window, the resistance when opening and closing the window increases and the load on the motor 3 increases, so a decrease in the outside temperature can also be a kind of disturbance. In addition to this, for example, a means for detecting the rotation of the engine starting motor can be considered as the disturbance detecting means.

  In the above embodiment, the change amount of the motor load is detected based on the change amount of the rotation speed of the motor 3, but instead, the change amount of the motor load is determined based on the change amount of the current flowing through the motor 3. You may make it detect. In this case, a current detection circuit for detecting the motor current may be provided as the load change amount detection means.

  Furthermore, in the said embodiment, although the window glass of the vehicle was mentioned as an example as an opening / closing body, this invention is applicable also when controlling opening / closing bodies, such as a rear part door and a sunroof of a vehicle. Further, the present invention can be applied not only to a vehicle but also to controlling doors and door opening / closing in a building.

It is the block diagram which showed the electrical structure of the power window apparatus which concerns on this invention. It is the figure which showed an example of the window opening / closing mechanism in this invention. It is a figure which shows the state by which the object was pinched | interposed into the window. It is the flowchart which showed the basic operation | movement of the power window apparatus. It is a flowchart showing the detailed procedure of the manual closing process. It is a flowchart showing the detailed procedure of the automatic closing process. It is a flowchart showing the detailed procedure of the manual opening process. It is a flowchart showing the detailed procedure of the automatic opening process. It is a flowchart showing the detailed procedure of the pinch detection process. It is the block diagram which showed the electric constitution of the power window apparatus which concerns on other embodiment of this invention. It is the block diagram which showed the electric constitution of the power window apparatus which concerns on other embodiment of this invention. It is the block diagram which showed the electrical structure of the general power window apparatus. It is the schematic block diagram which showed an example of the operation switch. It is the figure which showed an example of the window opening / closing mechanism. It is a figure which shows the state by which the object was pinched | interposed into the window.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Control part 2 Motor drive circuit 3 Motor 4 Rotary encoder 5 Pulse detection circuit 6 Memory 7 Operation switch 8 Door open / close detection switch 9 Vehicle speed sensor 10 Pressure sensor 11 Capacitance sensor 12 Acceleration sensor 13 Outside temperature sensor 100 Window 101 Window glass 102 Window opening / closing mechanism Z Object

Claims (8)

A load change amount detecting means for detecting a change amount of a load of a motor for opening and closing an opening and closing body provided in the vehicle;
Disturbance detection means for detecting disturbance to the vehicle;
Foreign matter detection means for detecting foreign matter sandwiched between the opening and closing body;
When the disturbance detection unit detects a disturbance, when the load change amount of the motor detected by the load change amount detection unit exceeds a predetermined value, and the foreign object detection unit detects the foreign object, Determining means for determining that a foreign object is caught in the opening and closing body;
An opening / closing body control device comprising: In the opening-closing body control apparatus of Claim 1,
The determination means detects the foreign matter when the change amount of the motor load detected by the load change amount detection means exceeds a predetermined value when the disturbance detection means does not detect a disturbance, or when the foreign matter detection means detects the foreign matter. When this happens, it is determined that a foreign object has been caught in the opening / closing body. In the opening-closing body control apparatus of Claim 1,
The disturbance detection means includes a switch for detecting opening / closing of a door of a vehicle, and detects opening / closing of the door as disturbance. In the opening-closing body control apparatus of Claim 3,
The disturbance detection means maintains the disturbance detection state until a predetermined time elapses after detecting door opening or door closing. In the opening-closing body control apparatus of Claim 3,
The disturbance detecting means maintains the disturbance detection state until the opening / closing body moves by a predetermined amount after detecting door opening or door closing. In the opening-closing body control apparatus of Claim 1,
The said disturbance detection means is provided with the vehicle speed sensor which detects the speed of a vehicle, and detects the vehicle speed more than fixed as a disturbance, The opening-closing body control apparatus characterized by the above-mentioned. In the opening-closing body control apparatus of Claim 1,
The disturbance detecting means includes an acceleration sensor that detects acceleration applied to the vehicle, and detects an acceleration of a certain level or more as a disturbance. In the opening-closing body control apparatus of Claim 1,
The said disturbance detection means is provided with the outside temperature sensor which detects the temperature outside a vehicle, and detects the outside temperature below a fixed as a disturbance, The opening-closing body control apparatus characterized by the above-mentioned.

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