JP4781222B2 - Opening and closing body control device - Google Patents

Description

  The present invention relates to a control device for an opening / closing body such as a window opening / closing control device (hereinafter referred to as “power window device”) used in a vehicle.

  The power window device is a device that opens and closes a window by rotating a motor forward or reverse by operating a switch to raise and lower a window glass of a door. FIG. 1 is a block diagram showing an electrical configuration of the 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 the pulse output from the rotary encoder 4, and the control unit 1 calculates the rotational speed of the motor and the moving distance of the window based on the detection result, and the motor 3 via the motor drive circuit 2. Control the rotation.

  FIG. 2 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. 2 shows a state in which 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. 3 is a view showing 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. 2 and the automatic closing operation is performed, a function of detecting the object pinching is provided. That is, as shown in FIG. 4, 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 human body from being harmed when a hand or neck is accidentally pinched. Operation is prohibited. 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 past rotational speed, and compares the results (changes in rotational speed). The presence or absence of pinching is determined based on the amount. 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.

  In the window opening / closing mechanism 102 shown in FIGS. 3 and 4, the first arm 104 and the second arm 105 constitute an X-shaped link mechanism, and the power of the motor 3 is transmitted through the link mechanism to the window glass. 101 is transmitted. Hereinafter, an arm constituting such an X-shaped link mechanism is referred to as an “X arm”. The detailed mechanism of the X arm is described in, for example, Patent Document 1 described later. In addition to the X arm, a single arm consisting of only one arm can be used for the window opening / closing mechanism.

  By the way, in the vicinity of the fully closed position of the window glass 101, the window glass 101 comes into contact with a weather strip (not shown) provided in the sash of the window 100, and the friction of the window glass 101 occurs due to friction generated at that time. The moving speed is reduced. When the moving speed is reduced in this way, even if there is jamming, the amount of change in the speed becomes small and falls below the threshold value, so that pinching may not be detected accurately.

  Therefore, in Patent Document 2, the window moves from the fully open state to the fully closed state so that the foreign object pinching can be normally determined even when the movement speed of the window glass near the fully closed position decreases. A power window device is described in which a region to be divided is divided into a plurality of regions, and different threshold values are provided for each region, and when a load exceeds the threshold value, it is determined that a foreign object is caught. Further, in Patent Document 3, by reducing the rotational speed of the motor in a predetermined section before the fully-closed position, the margin for the pinching load is increased to prevent erroneous determination of pinching due to friction such as a weather strip, An opening / closing body control device is described in which the opening / closing body is reliably closed by increasing the output of the motor when the rotational speed drops below a specified value immediately before the fully closed position.

Utility Model Registration No. 2555475 Japanese Patent No. 2857048 JP 2002-327574 A

  In the window opening / closing mechanism using the X arm or the single arm described above, when the rotational speed of the motor 3 is constant, the moving speed of the glass decreases as the window glass 101 approaches the fully closed position. This will be described with reference to the principle diagram of FIG. In FIG. 12, M is a motor, A is an arm that rotates in conjunction with the rotation of the motor M, W is a window glass that moves up and down as the arm A rotates, and R is a rail that guides the tip of the arm A. Here, for simplicity, the arm A is a single arm. The arm A corresponds to the first arm 104 in FIG. 3, and the rail R corresponds to the support member 103 in FIG.

  The movement distance of the window glass W when the arm A is rotated upward by the angle θ from the initial position in the horizontal state (the position where the window is fully opened) is Y1, and the arm A is the final position (the window is fully closed). Y1> Y2 where Y2 is the moving distance of the window glass W when it is rotated by an angle θ from a position close to the final position to the final position, so if the rotational speed of the motor M is constant, the window The relationship between the speed V1 at which the glass W moves the distance Y1 and the speed V2 at which the window glass W moves the distance Y2 is V1> V2. That is, the window glass W has a high moving speed in the vicinity of the fully opened position, and the moving speed decreases as it approaches the fully closed position. As a result, if pinching occurs in the vicinity of the fully closed position, the amount of change in speed becomes smaller and falls below the threshold value, and pinching may not be detected accurately. This will be described in detail below.

  FIG. 13 is a graph showing an example of a temporal change in the motor rotation speed. Here, the motor rotation speed on the vertical axis is the frequency of the output pulse of the rotary encoder 4. The time on the horizontal axis represents the pulse edge timing of the output pulse. f1 indicates a pulse frequency (motor rotation speed) when pinching occurs when the window is near the fully open position, and f2 indicates a pulse frequency when pinching occurs when the window is near the fully closed position ( Motor rotation speed). It should be noted that the curve of f1 and the curve of f2 should originally be shifted in the time axis (horizontal axis) direction, but are drawn at the same position here for convenience of comparison. Δf1 indicates the amount of change in the pulse frequency f1, and Δf2 indicates the amount of change in the pulse frequency f2. P1 indicates a pinching load when pinching occurs near the window fully open position, and P2 indicates a pinching load when pinching occurs near the window fully closed position. β is a threshold value for detecting pinching by comparison with the change amounts Δf1 and Δf2 of the pulse frequency.

In FIG. 13, pinching has occurred at the timing t10, and thereafter, the rotational speed of the motor decreases. In order to detect pinching, it is necessary to calculate a change amount of the motor rotation speed and to compare this change amount with the threshold value β. Therefore, the difference, that is, the amount of change in the pulse frequency is calculated based on the current value of the pulse frequency and the past value at a point in time that is traced back from the present for a certain period. The change amount Δf of the pulse frequency (rotation speed) is calculated by the following equation.
Δf = f (m−a) −f (m) (1)
Here, f (m): current value of the pulse frequency at an arbitrary timing t _m , a: comparison interval of frequency difference, f (m−a): past value of the pulse frequency at a time point a backward from t _m is there. For example, when a = 6 and m = 19, the pulse frequency at timing t19 is the current value, the pulse frequency at t13 that is 6 times earlier than t19 is the past value, and the pulse frequency change Δf at t19 is From equation (1)
Δf = f (13) −f (19)
It becomes.

  The amount of change Δf of the pulse frequency at each timing obtained as described above is compared with a threshold value β, and if Δf ≧ β, it is determined that there has been pinching. Δf1 in FIG. 13 indicates the amount of change in the pulse frequency obtained from the above equation (1) when pinching occurs when the window is in the vicinity of the fully open position, and Δf2 indicates that the window is in the vicinity of the fully closed position. This shows the amount of change in pulse frequency obtained from the above equation (1) when pinching occurs at a certain time. Here, when the degree of decrease of the pulse frequency f1 is compared with the degree of decrease of the pulse frequency f2, as described above, the moving speed of the window glass is reduced in the vicinity of the fully closed position of the window, so the pulse frequency f2 is the pulse frequency f1. The degree of decrease is smaller than For this reason, the amount of change Δf2 in the pulse frequency when there is a pinch near the fully closed position of the window is smaller than the amount of change Δf1 in the pulse frequency when there is a pinch near the fully open position of the window. Therefore, when the amount of change is obtained by using, for example, a = 6 in equation (1), if Δf1, the amount of change reaches the threshold value β at t14, and pinching is detected, but if Δf2, the amount of change after t15 is saturated. Since the threshold value β is not reached, the pinching is not detected. As a result, the window glass does not reverse in the opening direction despite the occurrence of pinching, and the load applied to the pinched object may increase, leading to breakage.

  As described above, the conventional apparatus has a problem that the pinching cannot be detected when the pinching occurs near the fully closed position of the window. In addition, the method of Patent Document 2 is troublesome in that the moving region from the full opening to the full closing of the window must be divided into a plurality of values and different threshold values must be set for each region. Furthermore, in the method of Patent Document 3, since the rotational speed of the motor is forcibly reduced before the window fully closed position, there is a possibility that pinching cannot be detected normally.

  Further, the rotational speed of the motor at the time of clamping is influenced not only by the position of the window but also by other factors. For example, when the hand of an adult is pinched and when the hand of a child is pinched, the degree of decrease in the rotational speed is different because the hardness of the hand is different. Further, the rotational speed of the motor varies depending on the ambient temperature, road surface condition, secular change, and the like even if no pinching occurs. For this reason, there is a possibility that erroneous pinching determination is performed due to these factors.

  Therefore, an object of the present invention is to easily realize an opening / closing body control device that can accurately detect pinching even if the moving speed of the opening / closing body fluctuates due to various factors.

  The opening / closing body control device according to the present invention comprises a speed detection means for detecting a rotation speed of a motor for opening / closing the opening / closing body, and a rotation based on a current value and a past value of the rotation speed detected by the speed detection means. The change amount calculating means for calculating the change amount of the speed, the change amount calculated by the change amount calculating means and a predetermined threshold value are compared, and whether or not a foreign object is caught in the opening / closing body based on the comparison result is determined. A determination means for determining, a control means for controlling the motor so as to open or stop the opening / closing body, and a state of the opening / closing body, State detecting means for detecting a surrounding state. Then, the change amount calculating means selects a previous past value or a past value closer to the present as the past value of the rotation speed according to the state detected by the state detecting means, and the past value and the present value are selected. The amount of change in rotational speed is calculated using

  In the present invention, the state detecting means for detecting the opening and closing body and the surrounding state is provided, and the past value of the rotational speed is selected according to the detection result of the detecting means. By using past values or past values closer to the present, the amount of change in rotational speed can be increased or decreased, so that even if the moving speed of the switching body fluctuates due to various factors, pinching can be accurately performed. Can be detected.

  As the state detection means, for example, a position detection means for detecting the position of the opening / closing body can be used. In this case, when the position detecting unit detects that the opening / closing body has moved a predetermined distance in the direction in which the moving speed decreases, the change amount calculating unit selects a previous past value as the past value of the rotation speed, and The amount of change in rotational speed is calculated using the value and the current value. More specifically, the change amount calculating means calculates the current value of the rotational speed and the current value from the current value until the position detecting means detects that the opening / closing body has moved a predetermined distance in the direction in which the moving speed decreases. After the time point when the position detecting means detects that the opening / closing body has moved a predetermined distance in the direction of decreasing the moving speed, the amount of change in the rotating speed is calculated based on the past value at the time point back by one period T1. Then, the amount of change in the rotational speed is calculated based on the current value of the rotational speed and the past value at a time point that is back from the current value by the second period T2 (T2> T1).

  In the present invention, when the opening / closing body moves in the direction in which the moving speed decreases and reaches a predetermined position, an earlier value is selected as the past value of the rotational speed, and the amount of change in the rotational speed is calculated using this past value. Therefore, for example, by obtaining the speed change amount from the past value and the current value before the movement speed decreases, a large speed change amount can be obtained even if the movement speed of the opening / closing body is reduced. For this reason, when pinching occurs near the fully closed position of the opening / closing body, it is possible to detect the pinching by the amount of speed change reaching the threshold value, and it is possible to prevent the human body from being harmed. In addition, the window moving area can be divided into a plurality of parts and can be easily realized without the trouble of setting different threshold values for each area.

  The opening / closing body in the present invention is connected to, for example, a rotatable arm that moves in conjunction with a motor, and can be moved up and down by the rotation of the arm, and the arm rotates upward from a horizontal state. Accordingly, the opening / closing body moves from the fully open position to the fully closed position. Then, when the arm rotates by a certain amount from the horizontal state and the opening / closing body moves by a predetermined distance and approaches the fully closed position, the change amount calculation means uses the past value at the time point that is traced back by the second period. To calculate the amount of change in rotation speed.

  As the state detection means of the present invention, weight detection means for detecting the weight of the occupant can also be used. In this case, when the weight of the occupant detected by the weight detection unit is smaller than the predetermined value, the change amount calculation unit selects the previous past value as the past value of the rotational speed, and uses the past value and the current value. To calculate the amount of change in rotation speed. According to this, when the child pinches the hand, the amount of change in the rotation speed of the motor becomes large even if the threshold value is kept as it is, so that pinching can be reliably detected.

  As the state detection means of the present invention, temperature detection means for detecting the ambient temperature of the vehicle body can also be used. In this case, when the ambient temperature detected by the temperature detection unit is a high temperature that is equal to or higher than a predetermined value, the change amount calculation unit calculates an earlier past value or a past value closer to the present as the past value of the rotation speed. A change amount of the rotational speed is calculated using the past value and the current value. In addition, the change amount calculation means selects a previous past value or a past value closer to the present as the past value of the rotation speed even when the ambient temperature detected by the temperature detection means is a low temperature lower than a predetermined value. Then, the change amount of the rotational speed is calculated using the past value and the current value. According to this, even if the ambient temperature of the vehicle body becomes high or low, the amount of change in the rotational speed of the motor can be reduced to prevent erroneous determination of pinching.

  As the state detecting means of the present invention, a traveling road surface state detecting means for detecting the state of the traveling road surface can be used. In this case, the change amount calculating means selects a previous past value or a past value closer to the present as the past value of the rotation speed according to the state of the traveling road surface detected by the traveling road surface state detecting means, The amount of change in rotational speed is calculated using the past value and the current value. According to this, when the traveling road surface is a rough road, the amount of change in the rotational speed of the motor can be reduced to prevent erroneous determination of pinching.

  As the state detection means of the present invention, a secular change detection means for detecting a secular change can also be used. In this case, the change amount calculation means selects a previous past value or a past value closer to the present as the past value of the rotation speed according to the secular change detected by the secular change detection means, and the past value The amount of change in rotational speed is calculated using the current value. According to this, for example, even when the moving speed of the window fluctuates from the fully closed position to the fully open position due to secular change, it is possible to reduce the amount of change in the rotation speed of the motor and prevent erroneous determination of pinching. it can.

  According to the present invention, even when the moving speed of the opening / closing body fluctuates due to various factors, it is possible to accurately detect pinching, and it is possible to easily realize pinching detection.

  Next, an embodiment of the present invention will be described with reference to the drawings. In the following, FIGS. 1 to 4 described in the background art section are cited as embodiments of the present invention. Further, the contents described with reference to FIG. 12 also apply to the present invention.

  FIG. 1 is a block diagram showing an electrical configuration of the power window device according to the first embodiment of the present invention. 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 memory 6 stores a trapping detection threshold value β. The rotary encoder 4 and the pulse detection circuit 5 are examples of speed detection means and position detection means in the present invention, and the control unit 1 is an example of change amount calculation means, determination means, and control means in the present invention.

  FIG. 2 shows an example of the operation switch 7, and FIG. 3 shows an example of the window opening / closing mechanism, but since these have already been described, redundant description is omitted here.

  Next, the principle of the present invention will be described. In the present invention, based on the current value of the pulse frequency and the past value at a time point that has been traced back for a certain period of time, the amount of change Δf of the pulse frequency is calculated from the above equation (1), and this amount of change Δf is calculated as a threshold value. The point which determines the presence or absence of pinching compared with (beta) is the same as the past. However, conventionally, when the window glass 101 is in any position from fully closed to fully open, the period from the present to the past is always the same when obtaining the past value (a = 6 in the previous example). On the other hand, in the case of the present invention, the period from the present to the past is different between the time when the window glass 101 reaches a predetermined position near the window fully closed position and the time after the window glass 101 reaches the predetermined position.

  That is, in FIG. 5, until the window glass 101 moves from the fully open position of the window by the distance L in the closing direction (direction in which the moving speed decreases), for example, a = 6 in the formula (1), and 6 pieces from the present. A pulse frequency at a time point that is traced back by a period T1 corresponding to the timing is adopted as a past value, and a pulse frequency change Δf is calculated from the past value and the current value. On the other hand, when the window glass 101 moves in the closing direction by the distance L and approaches the window fully closed position, for example, a = 11 in the equation (1), and a period T2 (T2> T1) corresponding to 11 timings from the present. ) Is used as a past value, and the change amount Δf of the pulse frequency is calculated from the past value and the current value. The moving position of the window glass 101 can be detected based on the output pulse of the rotary encoder 4, but a dedicated position detection sensor may be provided separately from this.

FIG. 6 is a graph showing temporal changes in the motor rotation speed when a = 11. The reference numerals in the figure are the same as those described with reference to FIG. In FIG. 6, when the current timing is, for example, t19, the pulse frequency at the timing t8 that is 11 times later is the past value. In this case, the amount of change in pulse frequency is
Δf = f (8) −f (19)
This is the amount of change in the pulse frequency when going back six times from the above-mentioned t19 (a = 6)
Δf = f (13) −f (19)
It can be seen from FIG. As a result, if pinching occurs in the vicinity of the fully closed position of the window, that is, the position where the window glass 101 is raised by the distance L or more in FIG. 5, if a = 6, as described in FIG. However, the amount of change Δf2 does not reach the threshold value β and pinching is not detected. However, if a = 11, as shown in FIG. The

  Therefore, until the window glass 101 moves by the distance L, the amount of change in the pulse frequency is calculated with a = 6 in equation (1), and after the window glass 101 has moved by the distance L, a in equation (1) By calculating the amount of change in the pulse frequency as = 11, even when the window glass 101 is close to the window fully closed position, it can be accurately detected. In addition, when pinching occurs in a state in which the window glass 101 is in the vicinity of the window full open position, as described with reference to FIG. 13, even if a = 6, the pulse frequency change Δf1 reaches the threshold value β, and pinching occurs. Detected. Further, although it is conceivable that a = 11 over the entire movement region of the window glass 101, the rotational speed (pulse frequency) of the motor 3 actually varies with time even if no pinching occurs. It is not preferable to increase the value of a uniformly because the error of the speed change amount becomes large. Therefore, as in the present invention, it is possible to detect pinching while reducing the error in the speed variation amount by increasing the value a only in the vicinity of the window fully closed position where the pinching detection cannot be performed because the speed variation amount is small. It can be. It should be noted that the values of a = 6 and a = 11 given above are merely examples, and it goes without saying that the present invention is not limited to these values.

  FIG. 7 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. 8 shows a detailed procedure of the “manual closing process” in step S2 of FIG. This processing procedure is not different from the conventional one. The procedure in FIG. 8 is executed by the CPU that constitutes 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). In detecting this pinching, as described above, the change amount Δf of the pulse frequency obtained by the equation (1) is compared with the threshold value β, and if Δf ≧ β, it is determined that the pinching has occurred. In this case, the amount of change Δf1 is obtained with a = 6, and this is compared with the threshold value β. In the case of the manual closing operation, even if the pinch occurs, the window glass can be stopped by stopping the operation of the operation switch 7, and the window glass is not forcibly closed as in the case of the automatic closing operation. Therefore, it is not necessary to separately use a = 6 and a = 11. Of course, it goes without saying that the present invention may be used in a manual closing operation.

  When the object Z is caught as shown in FIG. 4 (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. Instead of opening the window 100 by reversing the motor 3, the motor 3 may be stopped so that the window 100 does not close any more.

  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 the auto-close process described later (FIG. 9) (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. 10) (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. 11) (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. 9 shows a detailed procedure of the “automatic closing process” in step S4 of FIG. This processing procedure (particularly steps S34 and S35) is a feature of the present invention. The procedure in FIG. 9 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 process proceeds to step S43, and if 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 proceeds to step S43, and if it is not completely closed (step S33: NO), It transfers to step S34 and it is determined whether the window glass 101 moved to the position of the distance L of FIG. If it has not moved to the position of the distance L (step S34: NO), step S35 is skipped and the process proceeds to step S36. Moreover, if the window glass 101 moves to the position of the distance L (step S34: YES), the process proceeds to step S35, and after changing the frequency difference comparison interval a from a = 6 (initial value) to a = 11, Control goes to step S36.

  In step S36, it is determined whether pinching has been detected. In detecting this pinching, as described above, the change amount Δf of the pulse frequency obtained by the equation (1) is compared with the threshold value β, and if Δf ≧ β, it is determined that the pinching has occurred. In this case, if the determination in step S34 is NO, the change amount Δf obtained as a = 6 is compared with the threshold value β, and if the determination in step S34 is YES, the change amount Δf obtained as a = 11 is the threshold value. Compare with β.

  As a result of the determination, if there is a pinch (step S36: YES), the motor drive circuit 2 outputs a reverse rotation signal to reverse the motor 3 and open the window 100 (step S37). Thereby, the pinching is released. Then, it is determined whether or not the window 100 is completely opened (step S38). If it is completely opened (step S38: YES), the process proceeds to step S43. If it is not completely opened (step S38: NO), step S37 is performed. Return to, and continue the reverse rotation of the motor 3. Instead of opening the window 100 by reversing the motor 3, the motor 3 may be stopped so that the window 100 does not close any more.

  When pinching is not detected in step S36 (step S36: NO), it is determined whether or not the operation switch 7 is in the manual opening MO position (step S39). If the operation switch 7 is in the manual opening MO position (step S39: YES), the process proceeds to the manual opening process described later (FIG. 10) (step S40), and if it is not in the manual opening MO position (step S39: NO), It is determined whether or not the automatic opening AO is in the position (step S41). If the operation switch 7 is in the auto-open AO position (step S41: YES), the process proceeds to an auto-open process described later (FIG. 11) (step S42). If the operation switch 7 is not in the auto-open AO position (step S41). : NO), the process returns to step S32 to continue the automatic closing operation.

  If the determination is YES in steps S31, S33, and S38, and after execution of steps S40 and S42, the process proceeds to step S43, and the frequency difference comparison interval a is changed from 11 to an initial value of 6.

  FIG. 10 shows a detailed procedure of the “manual opening process” in step S6 of FIG. This processing procedure is not different from the conventional one. The procedure of FIG. 10 is executed by the CPU that constitutes 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 at the auto-open AO position (step S55: YES), the process proceeds to an auto-open process described later (FIG. 11) (step S56), and if it is not at the auto-open AO position (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. 8) (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). If the operation switch 7 is not in the auto-close AC position (step S59). : NO), the process ends without any processing.

  FIG. 11 shows a detailed procedure of the “automatic opening process” in step S8 of FIG. This processing procedure is not different from the conventional one. The procedure in FIG. 11 is executed by the CPU that constitutes 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. 8) (step S75), and if it is 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. 9) (step S77). 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.

  As described above, in the first embodiment described above, when the moving distance of the window glass 101 in the closing direction reaches L, the previous past value is selected as the past value of the rotation speed (pulse frequency) of the motor 3. Then, the amount of change in the rotational speed is calculated using this past value. Therefore, for example, by obtaining the speed change amount from the past value and the current value before the moving speed is lowered (t1 to t9 in FIG. 6), a large speed change amount is obtained even if the moving speed of the window glass 101 is reduced. It is done. For this reason, when the trapping occurs near the window fully closed position, the speed change amount Δf2 reaches the threshold value β and it is possible to detect the trapping, and it is possible to prevent the human body from being harmed. In addition, unlike the above-mentioned Patent Document 2, it is possible to easily realize without the trouble of setting a different threshold value for each of the divided window moving areas.

  FIG. 14 is a block diagram showing an electrical configuration of a power window device according to the second embodiment of the present invention. In FIG. 14, a load sensor 8 is provided in addition to the configuration of FIG. Since the other parts are the same as those in FIG. 1, the same parts as those in FIG. The load sensor 8 is an example of the weight detection means in the present invention, and is disposed inside the vehicle seat, and detects the weight when the occupant is seated. As the load sensor 8, for example, a known sensor described in JP-A-2005-231539 can be used.

  FIG. 15 is a graph showing changes in the rotational speed of the motor 3 when an adult's hand is sandwiched between windows. FIG. 16 is a graph showing changes in the rotational speed of the motor 3 when a child's hand is sandwiched between windows. In each figure, the vertical axis represents the frequency (unit: Hz) corresponding to the motor rotation speed and the frequency difference (unit: Hz), and the horizontal axis represents the number of pulse edges corresponding to time. In each figure, the frequency difference comparison interval T is T = 6. In other words, the frequency difference is calculated as the difference between the current frequency and the past value six previous. T is the same as a in the previous equation (1). Moreover, T = 6 is an example, and is not limited thereto.

  As can be seen from the comparison between FIG. 15 and FIG. 16, when an adult's hand is pinched (FIG. 15), the skeleton of the adult hand is harder than that of a child's hand. Indicates a large downward trend. Therefore, the frequency difference value exceeds the threshold value, and it is determined that pinching has occurred. On the other hand, when a child's hand is pinched (FIG. 16), the child's hand has a softer skeleton than an adult's hand, and therefore the rotational speed (frequency) of the motor shows a gradual decreasing tendency when pinched. Therefore, since the frequency difference value is saturated before reaching the threshold value and becomes a constant value, it is not determined that pinching has occurred even though pinching has occurred.

  Therefore, in this embodiment, when the weight of the occupant detected by the load sensor 8 is smaller than a predetermined value (for example, when the detected load is 7 N / mm), the control unit 1 determines that the occupant seated on the seat is a child. The comparison interval is changed from T to T + γ, and the frequency difference is calculated. FIG. 17 is a graph showing changes in frequency difference when T = 6 and γ = 5. Here, the frequency difference is calculated as the difference between the current frequency and the past value 11 previous. Note that the value of γ = 5 is also an example, and is not limited thereto. Thus, when it is detected that the occupant is a child, an earlier past value is selected as the past value of the frequency (that is, the rotation speed), and a frequency difference ( That is, as shown in FIG. 17, even if the degree of decrease in the motor rotation speed during pinching is small, the frequency difference becomes large and exceeds the threshold value, as shown in FIG. Can be detected.

  FIG. 18 is a block diagram showing an electrical configuration of a power window device according to the third embodiment of the present invention. In FIG. 18, a temperature sensor 9 is provided in addition to the configuration of FIG. Since the other parts are the same as those in FIG. 1, the same parts as those in FIG. The temperature sensor 9 is an example of the temperature detection means in the present invention, and is provided at an appropriate location on the vehicle body so that the temperature around the vehicle can be measured. As the temperature sensor 9, a known sensor can be used.

  If the temperature around the vehicle is normal temperature, the rotation speed of the motor 3 when no pinching occurs is a pattern as shown in FIG. Hereinafter, the pattern of FIG. 23 is referred to as “pattern 1”. As shown in FIG. 23, at the normal temperature, the rotation speed (frequency) of the motor 3 is constant, and the frequency difference value does not exceed the threshold value. Therefore, as a matter of course, an erroneous determination of pinching does not occur.

  It has been experimentally confirmed that when the temperature around the vehicle becomes high, the rotational speed of the motor 3 is not constant despite the occurrence of pinching, and varies as shown in FIG. Hereinafter, the pattern of FIG. 24 is referred to as “pattern 2”. In FIG. 24, because of the sinusoidal fluctuation of the motor rotation speed, the frequency difference (indicated by ■) increases when the comparison interval is T (here, T = 3), exceeds the threshold value, and pinching occurs. Although it is not done, it is erroneously determined that the pinching has occurred.

  Therefore, in the present embodiment, when the temperature around the vehicle detected by the temperature sensor 9 is a high temperature equal to or higher than a predetermined value, the control unit 1 calculates the frequency difference by changing the comparison interval from T to T + γ. In FIG. 24, T = 3 and γ = 3, and the frequency difference (indicated by ▲) is calculated as the difference between the current frequency and the past value six times before. As described above, when it is detected that the ambient temperature is high, a previous past value is selected as the past value of the frequency (that is, the rotation speed), and the frequency difference is calculated using the past value and the current value. When calculating (that is, the amount of change in rotational speed), even if the fluctuation of the motor rotational speed is large, the frequency difference does not decrease and does not exceed the threshold value. can do.

  On the other hand, when the temperature around the vehicle becomes low, the rotational speed of the motor 3 is not constant despite the occurrence of pinching, and temporarily decreases until the window is fully opened to fully closed as shown in FIG. However, it has been experimentally confirmed that there is an increasing characteristic thereafter. Hereinafter, the pattern of FIG. 25 is referred to as “pattern 3”. In FIG. 25, due to the V-shaped fluctuation of the motor rotation speed, the frequency difference (indicated by a thin solid line) when the comparison interval is T (here, T = 3) becomes large and exceeds the threshold value, and pinching occurs. Although it is not, it is erroneously determined that the pinching has occurred.

  Therefore, in the present embodiment, when the temperature around the vehicle detected by the temperature sensor 9 is a low temperature lower than a predetermined value, the control unit 1 changes the comparison interval from T to T-α and calculates the frequency difference. In FIG. 25, T = 3 and α = 1, and a frequency difference (indicated by a bold solid line) is calculated as a difference between the current frequency and the previous value two times earlier. As described above, when it is detected that the ambient temperature is low, a past value closer to the present is selected as the past value of the frequency (that is, the rotation speed), and the frequency is determined using the past value and the present value. When the difference (that is, the amount of change in the rotational speed) is calculated, even if the fluctuation in the motor rotational speed is large, the frequency difference does not decrease and does not exceed the threshold value. Can be prevented.

  In FIG. 24, the previous past value is selected with the comparison interval being T + γ, and in FIG. 25, the past value closer to the present is selected with the comparison interval being T−α. In FIG. 24, the comparison interval may be T-α, and in FIG. 25, the comparison interval may be T + γ. The values of T, α, and γ are appropriately selected according to the motor characteristics.

  FIG. 19 is a block diagram showing an electrical configuration of a power window device according to the fourth embodiment of the present invention. In FIG. 19, an acceleration sensor 10 is provided in addition to the configuration of FIG. Since the other parts are the same as those in FIG. 1, the same parts as those in FIG. The acceleration sensor 10 is an example of a traveling road surface state detecting means in the present invention, and is provided at an appropriate location on the vehicle body so that the acceleration applied to the vehicle when traveling on a rough road can be measured. As the acceleration sensor 10, a known sensor can be used.

  If the road surface on which the vehicle is traveling is flat, the rotational speed of the motor 3 when no pinching occurs is as in the previous pattern 1 (FIG. 23). When running on flat ground, the rotational speed (frequency) of the motor 3 is constant, and the difference value of the frequency does not exceed the threshold value. Therefore, as a matter of course, an erroneous determination of pinching does not occur.

  If the road surface on which the vehicle is traveling is a rough road (such as an unpaved gravel road, a bumpy road, etc.), the rotational speed of the motor 3 is not constant despite the occurrence of pinching, and the previous pattern 2 (FIG. 24) has been experimentally confirmed. Therefore, as described with reference to FIG. 24, the frequency difference becomes large and exceeds the threshold value, and it is erroneously determined that the pinching has occurred although the pinching has not occurred.

  Therefore, in the present embodiment, when the acceleration value detected by the acceleration sensor 10 is equal to or greater than a predetermined value, the control unit 1 determines that the traveling road surface of the vehicle is a bad road, and as in the case of the third embodiment, The comparison interval is changed from T to T + γ, and the frequency difference is calculated using the previous past value. As a result, even if the fluctuation of the motor rotation speed is large, the frequency difference does not decrease and does not exceed the threshold value, so that it is not determined that pinching has occurred, and erroneous determination can be prevented.

  Here, the previous past value is selected by setting the comparison interval to T + γ, but in principle, it is also possible to select the past value closer to the present time by setting the comparison interval to T−α. The values of T, α, and γ are appropriately selected according to the motor characteristics. In FIG. 19, the acceleration sensor 10 is used as the traveling road surface state detection unit. However, instead of the acceleration sensor 10, an imaging device that images a road surface may be used, and a bad road may be detected by image processing.

  In addition, there may be a case where an erroneous determination of pinching occurs before it is determined as a rough road. In this regard, it is monitored whether the frequency difference exceeds a threshold value a certain number of times (for example, three times) within a certain period. However, if it exceeds, it may be dealt with by a method such as determining that there is pinching.

  FIG. 20 is a block diagram showing an electrical configuration of a power window device according to the fifth embodiment of the present invention. In FIG. 20, an operation counter 11 is provided in the control unit 1 in addition to the configuration of FIG. 1. Since the other parts are the same as those in FIG. 1, the same parts as those in FIG. The operation counter 11 is an example of the secular change detection means in the present invention. The initial value of the operation counter 11 is set to 0 at the time of shipment from the factory, and the counter value is incremented by +1 every time the window is opened / closed by the operation switch 7.

  If the number of days has not passed since the purchase of the vehicle, the rotational speed of the motor 3 when no pinching has occurred is as in the previous pattern 1 (FIG. 23). The rotation speed (frequency) of the motor 3 is constant, and the frequency difference value does not exceed the threshold value. Therefore, as a matter of course, an erroneous determination of pinching does not occur.

  After a certain period of time has passed since the purchase of the vehicle, the rotational speed of the motor 3 is not constant despite the fact that no pinching has occurred, and due to factors such as deterioration of parts and increase in friction, the previous pattern 2 It changes as shown in FIG. 24 and pattern 3 (FIG. 25). Further, it has been experimentally confirmed that when there are complex factors, the rotational speed of the motor 3 shows complicated fluctuations as shown in the pattern 4 in FIG. In any pattern, when the comparison interval is T, the frequency difference becomes large and exceeds the threshold value, so that it is erroneously determined that pinching has occurred although pinching has not occurred.

  Therefore, in this embodiment, when the secular change is detected based on the count value of the operation counter 11 and the count value reaches a predetermined value K (for example, K = 10000), the control unit 1 displays the pattern of the motor rotation speed. Accordingly, the comparison interval is changed from T to T + γ, or the comparison interval is changed from T to T−α, and the frequency difference is calculated using an earlier past value or a past value closer to the present. As a result, even if the fluctuation of the motor rotation speed is large, the frequency difference does not decrease and does not exceed the threshold value, so that it is not determined that pinching has occurred, and erroneous determination can be prevented.

  21 and 22 are flowcharts showing the operation of the fifth embodiment described above. FIG. 21 is a flowchart showing the basic operation and corresponds to FIG. In FIG. 21, steps for performing the same processing as in FIG. In FIG. 21, steps S1a, S3a, S5a, and S7a for adding 1 to the count value CNT of the operation counter 11 are added after steps S1, S3, S5, and S7, respectively. Therefore, 1 is added to the count value CNT of the operation counter 11 regardless of whether the operation switch 7 is operated manually closed, automatically closed, manually opened, or automatically opened. That is, every time a window opening / closing operation is performed, the count value CNT is incremented by +1.

  FIG. 22 is a flowchart showing the operation in the automatic closing process, and corresponds to FIG. In FIG. 22, steps that perform the same processing as in FIG. 9 are given the same reference numerals. FIG. 22 differs from FIG. 9 in the steps S34a, S35a, and S35b. Further, step S43 in FIG. 9 is omitted in FIG. In step S34a, it is determined whether or not the count value CNT of the operation counter 11 has reached the predetermined value K. If not (step S34a: NO), the frequency difference comparison interval is set to T (step S35b). The pinch detection is performed using the frequency difference calculated based on (step S36). The method for detecting pinching is the same as in the first embodiment. When the count value CNT of the operation counter 11 reaches the predetermined value K (step S34a: YES), the frequency difference comparison interval is changed from T to T + γ (step S35a), and the frequency difference calculated based on this is used. Then, pinching detection is performed (step S36).

  In FIG. 22, the frequency difference comparison interval is changed from T to T + γ in step S35a, but the comparison interval may be changed from T to T−α. The values of T, α, and γ are appropriately selected according to the motor characteristics. In FIG. 20, the operation counter 11 that is added by the operation of the operation switch 7 is provided. However, an operation counter that is set to an initial value K and is subtracted by the operation of the operation switch 7 is provided, and the count value becomes zero. The frequency difference comparison interval may be changed. Further, as the secular change detection means, a travel distance counter that counts the travel distance of the vehicle is provided instead of the operation counter, and the frequency difference comparison interval is changed when the travel distance reaches a certain value. Good.

  In each of the embodiments described above, the rotation speed of the motor 3 is detected based on the pulse frequency. Instead, the rotation speed may be detected based on the pulse period. Or you may make it detect a rotational speed based on the value of the electric current which flows into the motor 3. FIG. In this case, a current detection circuit may be provided as speed detection means.

  In each embodiment described above, the window glass of the vehicle is taken as an example of the opening / closing body, but the present invention can also be applied to control of the opening / closing body such as a rear door of the vehicle and a sunroof. Furthermore, the present invention can be applied not only to vehicles but also to opening / closing control of windows and doors of buildings.

It is the block diagram which showed the electrical structure of the power window apparatus which concerns on 1st Embodiment of this invention. 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. It is a figure explaining the movement position of a window glass. It is the graph which showed the example of the time change of motor rotation speed. 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 figure explaining the principle that the moving speed of a window glass becomes small near the fully closed position. It is the graph which showed the example of the time change of motor rotation speed. It is the block diagram which showed the electric constitution of the power window apparatus which concerns on 2nd Embodiment of this invention. It is the graph which showed the change of motor rotation speed when an adult's hand is pinched by a window. It is the graph which showed the change of motor rotation speed when a child's hand is pinched by a window. It is a graph at the time of changing the comparison interval of a frequency difference. It is the block diagram which showed the electric constitution of the power window apparatus which concerns on 3rd Embodiment of this invention. It is the block diagram which showed the electric constitution of the power window apparatus which concerns on 4th Embodiment of this invention. It is the block diagram which showed the electric constitution of the power window apparatus which concerns on 5th Embodiment of this invention. It is the flowchart which showed the whole operation in 5th Embodiment. It is the flowchart which showed the automatic closing operation | movement in 5th Embodiment. It is the graph which showed the characteristic (pattern 1) of the motor rotational speed. It is the graph which showed the characteristic (pattern 2) of the motor rotational speed. It is the graph which showed the characteristic (pattern 3) of the motor rotational speed. It is the graph which showed the characteristic (pattern 4) of the motor rotational speed.

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 Load sensor 9 Temperature sensor 10 Acceleration sensor 11 Operation counter 100 Window 101 Window glass 102 Window opening / closing mechanism Z Object

Claims (9)

Speed detecting means for detecting the rotational speed of a motor for opening and closing the opening and closing body;
Based on the current value and the past value of the rotational speed detected by the speed detecting means, a change amount calculating means for calculating a change amount of the rotational speed;
A determination unit that compares a change amount calculated by the change amount calculation unit with a predetermined threshold value and determines whether or not a foreign object is caught in the opening and closing body based on the comparison result;
Control means for controlling the motor to open or stop the opening and closing body when it is determined by the determination means that a foreign object has been sandwiched;
State detecting means for detecting a state of the opening / closing body or a surrounding state of the opening / closing body;
With
The change amount calculating unit selects an earlier past value or a past value closer to the present as the past value of the rotation speed according to the state detected by the state detecting unit, and the past value and the present An opening / closing body control device that calculates the amount of change in rotational speed using a value. In the opening-closing body control apparatus of Claim 1,
The state detection means is a position detection means for detecting the position of the opening / closing body,
When the position detecting unit detects that the opening / closing body has moved a predetermined distance in a direction in which the moving speed decreases, the change amount calculating unit selects a previous past value as the past value of the rotational speed, and An opening / closing body control device that calculates the amount of change in rotational speed using a past value and a current value. In the opening-closing body control apparatus of Claim 2,
The change amount calculating means determines a current value of the rotational speed and a first period from the current value until the position detecting means detects that the opening / closing body has moved a predetermined distance in a direction in which the moving speed decreases. After the time point when the position detecting means detects that the opening / closing body has moved a predetermined distance in the direction in which the moving speed decreases, the amount of change in the rotational speed is calculated based on the past value at the time point T1 back. An opening / closing body control device that calculates a change amount of a rotation speed based on a current value of the rotation speed and a past value at a time point that is back from the current value by a second period T2 (T2> T1). In the opening-closing body control apparatus of Claim 2,
The opening / closing body is connected to a rotatable arm that moves in conjunction with the motor, and is movable in the vertical direction by the rotation of the arm.
As the arm rotates upward from a horizontal state, the opening / closing body moves from a fully open position to a fully closed position,
When the arm rotates a certain amount from the horizontal state, and the opening / closing body moves by the predetermined distance and approaches the fully closed position, the change amount calculating means is past the point in time that is traced back by the second period. An opening / closing body control device that calculates the amount of change in rotational speed using a value. In the opening-closing body control apparatus of Claim 1,
The state detection means is a weight detection means for detecting the weight of an occupant,
When the weight of the occupant detected by the weight detection unit is smaller than a predetermined value, the change amount calculation unit selects a previous past value as the past value of the rotation speed, and uses the past value and the current value. The opening / closing body control device characterized in that the change amount of the rotational speed is calculated. In the opening-closing body control apparatus of Claim 1,
The state detection means is a temperature detection means for detecting the ambient temperature of the vehicle body,
When the ambient temperature detected by the temperature detection unit is a high temperature that is equal to or higher than a predetermined value, the change amount calculation unit calculates an earlier past value or a past value closer to the present as the past value of the rotation speed. An opening / closing body control device that selects and calculates the amount of change in rotational speed using the past value and the current value. In the opening-closing body control apparatus of Claim 1,
The state detection means is a temperature detection means for detecting the ambient temperature of the vehicle body,
When the ambient temperature detected by the temperature detection unit is a low temperature lower than a predetermined value, the change amount calculation unit calculates an earlier past value or a past value closer to the present as the past value of the rotation speed. An opening / closing body control device that selects and calculates the amount of change in rotational speed using the past value and the current value. In the opening-closing body control apparatus of Claim 1,
The state detecting means is a traveling road surface state detecting means for detecting the state of the traveling road surface,
The change amount calculating means selects a previous past value or a past value closer to the present as a past value of the rotational speed according to the state of the traveling road surface detected by the traveling road surface state detecting means, An opening / closing body control device that calculates the amount of change in rotational speed using the past value and the current value. In the opening-closing body control apparatus of Claim 1,
The state detection means is a secular change detection means for detecting a secular change,
The change amount calculating means selects an earlier past value or a past value closer to the present as the past value of the rotation speed according to the secular change detected by the secular change detecting means, and the past value An opening / closing body control device that calculates the amount of change in rotational speed using the current value and the current value.

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