JPH1181794A - Method and device for detecting catching of power window device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect the catching of a window extremely minutely with high accuracy without increasing the memory capacity of a memory. SOLUTION: The detecting device for the catching of a power window device has a window open-close motor 4, a motor driving section 3, a pulse generating section 5, an MCU 2 and a manually operated switch 1, and the MCU 2 detects a parameter value displaying motor load applied to a window when the window is opened and closed, compares the parameter value and a preset reference central value and decides the catching of the window when the parameter value is deviated from the reference central value by considerable quantity. The whole moving range of the window is divided equally into a plurality of divided moving regions at that time, reference central values are set at every divided moving region, the reference central values set in the divided moving regions are used in the first-half regions of the divided moving regions, and a supplementary reference central value obtained by levelling the reference central values set in the divided moving regions and the reference central values set in the divided moving regions continuing to the divided moving regions is employed in the second-half regions of the divided moving regions.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and a device for detecting pinching of a power window device, and more particularly, to detecting a pinching of an object while opening and closing a window by increasing the storage capacity of a memory. The present invention relates to a method and an apparatus for detecting pinching of a power window device, which can be performed very finely and accurately.

[0002]

2. Description of the Related Art Hitherto, various types of power window devices for automobiles have been known for detecting pinching of a window. One example of such a device is disclosed in Japanese Patent Application Laid-Open No. 61-60981. Some are window devices.

The power window device disclosed in Japanese Patent Application Laid-Open No. 61-60981 uses a motor load current value as a parameter value for detecting the pinching of a window. Is divided into a plurality of divided moving regions, a reference current value indicating whether or not a window is pinched is preset for each divided moving region, and a detected motor load current value ( The former is compared with the reference current value (the latter) set in the divided moving area, and it is determined that the window has been pinched when the former greatly exceeds the latter.

[0004] In this case, the power window device disclosed in the above-mentioned Japanese Patent Application Laid-Open No. 61-60981 moves (opens and closes) the window when setting a reference current value for each of a plurality of divided moving regions.
During the operation, the setting is performed based on the peak value of the motor load current obtained when the window is not pinched in the divided moving area.

[0005]

The power window apparatus disclosed in Japanese Patent Application Laid-Open No. 61-60981 is intended to divide the entire moving range of the window when there is a demand to increase the detection accuracy of the pinching of the window. If the number of divided moving areas is increased, the demand can be achieved for the time being. However, if the number of divided moving areas is increased, the reference center set for the divided moving areas is set. The number of data, such as the number of values and the number of motor load current values detected for each divided movement area, increases, and the storage capacity of the memory for storing such data increases. As a result, the entire power window device becomes large. In addition to the scale, there is a problem that the manufacturing cost increases.

An object of the present invention is to solve such a problem, and an object of the present invention is to detect a pinching of a window with high precision and extremely finely without increasing the storage capacity of a memory. It is an object of the present invention to provide a method and a device for detecting a possible entrapment of a power window device.

[0007]

In order to achieve the above object, a method for detecting pinching of a power window device according to the present invention comprises the steps of:
CU, hereinafter referred to as MCU), detects a parameter value indicating the motor load applied to the window, compares the detected parameter value with a preset reference median value, and when the parameter value deviates considerably from the reference median value. It is determined that the window has been pinched, and the entire moving range of the window is divided into a plurality of divided moving regions, and a reference median is set for each divided moving region, and the first or second half of each divided moving region is set. The region includes a first unit that uses a complemented reference median obtained by averaging a reference median set in the divided moving region and a reference median set in an adjacent divided moving region.

According to another aspect of the present invention, a pinch detection device for a power window device includes a window opening / closing motor, a motor driving unit, a pulse generation unit corresponding to the rotation of the motor, an MCU having a memory, a manual operation unit. When the window is opened and closed, the MCU detects a parameter value indicating the motor load applied to the window, compares this parameter value with the preset reference median value, and deviates the parameter value from the reference median value by a considerable amount. When the window is pinched, the internal memory stores a reference median value set for each divided moving area when the entire moving range of the window is divided into a plurality of divided moving areas. And a window movement position storage for storing position data indicating a window movement position. The MCU detects from the position data that the window is in the first half area of each divided moving area, and when the reference median value of the immediately preceding divided moving area is larger, the MCU Find the supplementary reference median by averaging the reference median set in and the reference median set in the previous divided moving area, or detect that the window is in the second half area of each divided moving area and When the reference median value of the immediately following divided moving area is larger, the complemented median value obtained by averaging the reference median value set for the divided moving area and the reference median value set for the subsequent divided moving area. And a second means for determining whether the window is pinched by using the median value of the complementing reference.

According to the first means, in each of the plurality of divided moving areas obtained by dividing the entire moving range of the window, the determination of the sandwiching of the window in a half area of the divided moving area is set in the divided moving area. Complementary reference median that averages the set reference median and the reference median set in the adjacent divided movement area can be used to detect window entrapment with high accuracy and precision become.

According to the second means, a reference median value storage area and a position data storage area are provided in the internal memory of the MCU, and each of a plurality of divided moving areas obtained by equally dividing the entire moving range of the window is provided. , The determination of the sandwiching of the window in the first half area is set in the divided moving area,
Using the reference median value read from the reference value storage area, the determination of the sandwiching of the window is set in the divided movement area, and the reference median value read from the reference value storage area and the adjacent divided movement area are set. Since the supplemental reference median obtained by averaging the reference median read from the value storage area is used in at least a half of the divided movement area, without increasing the storage capacity of the internal memory,
It becomes possible to detect the pinching of the window with high accuracy and extremely finely.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In one embodiment of the present invention, a method for detecting pinching of a power window device includes a motor that opens and closes a window via a window driving mechanism during driving, a motor driving unit that drives the motor, It includes a pulse generator that generates a pulse corresponding to the rotation of the motor, an MCU that performs overall control and drive processing, and an operation switch that manually operates the opening and closing of the window. The MCU controls the window through the motor driver. When opening and closing, a parameter value indicating the motor load applied to the window is detected, and the detected parameter value is compared with a preset reference median value. The motor is determined to have been pinched, and the motor is stopped or reversely driven via the motor drive unit. The entire moving range of the command is divided into a plurality of divided moving areas, and a reference median is set for each divided moving area, and the first central area of each divided moving area uses the reference median set for the divided moving area. For at least a half of each divided moving area, a complementary reference median obtained by averaging the reference median set for the divided moving area and the reference median set for the adjacent divided moving area is used. .

[0012] In another embodiment of the present invention,
The pinch detection device of the power window device is a motor that opens and closes the window via a window drive mechanism when driving, a motor drive unit that drives the motor, a pulse generator that generates pulses corresponding to the rotation of the motor, An MCU having an internal memory for performing various control driving processes and storing various data, and an operation switch for manually operating the opening and closing of the window.
At U, a parameter value indicating the motor load applied to the window is detected, and the detected parameter value is compared with a preset reference median value. When the parameter value deviates considerably from the reference median value, the window is pinched. It is determined that there was, and the motor is stopped or reversely driven via the motor drive unit, and the internal memory is
A reference median storage area for storing a reference median set for each divided moving area when the entire moving range of the window is divided into a plurality of divided moving areas, and a window for storing position data indicating a moving position of the window. A moving position storage area, wherein the micro control unit detects that the window is in the first half area of each of the divided moving areas by reading out the position data, and detects the reference median set in the immediately preceding divided moving area. Is larger, the reference median set in the divided moving area and the reference median set in the immediately preceding divided moving area are averaged to obtain a complementary reference median, or the window is moved by each divided moving area. If it is detected in the latter half of the area and the reference median of the immediately following divided movement area is larger, the reference median set for that divided movement area and the subsequent minutes Seeking a complementary base value obtained by averaging the reference median is set to the moving area, and performs the window of pinching determined using the complementary base value.

According to one embodiment of the present invention, a reference median is set in each of a plurality of divided moving regions obtained by dividing the entire moving range of the window, and a first half region is set in each of the plurality of divided moving regions. The determination of the pinching of the window is performed using the reference median set in the divided moving area, and the determination of the pinching of the window in at least half of the area is determined by the reference median set in the divided moving area. The average of the reference median set in the divided moving area to be set and the complemented reference median obtained are used, so that the detection of the pinching of the window can be performed with high accuracy, and the detection can be performed very finely. be able to.

According to another embodiment of the present invention,
A reference value storage area and a position data storage area are provided in the internal memory of the MCU, and a reference median value is set in each of a plurality of divided moving areas obtained by dividing the entire moving range of the window. In each of the above, the determination of the sandwiching of the window in the first half area is performed using the reference median value set in the divided moving area and read from the reference value storage area, and the determination of the sandwiching of the window in at least half of the area A reference median value set in the divided movement area and read from the reference value storage area,
It is set in an adjacent divided movement area, and is performed using the reference median value of complementation obtained by averaging the reference median value read from the reference value storage area, without increasing the storage capacity of the internal memory. In addition, the detection of the pinching of the window can be performed with high accuracy and can be performed very finely.

[0015]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing a power window device in which a method for detecting pinching of a power window device according to the present invention is performed.

As shown in FIG. 1, the power window device includes a switch device 1 and a micro control unit (MC).
U) 2, a motor drive unit 3, a motor 4, a pulse generator 5, a pull-up resistor 6, a voltage dividing resistor 7, and a pulse transmission line 8.

FIG. 2A is a structural diagram showing the principle of pulse generation of a pulse generator used in the power window device shown in FIG. 1, and FIG.
FIG. 3 is a waveform diagram showing a two-phase square wave pulse generated from a pulse generator.

[0019] As shown in FIG. 2 (a), the pulse generator 5 includes a rotary body 5 _1, and a Hall element 5 _2, 5 _3.

[0020] The switch device 1 includes the three switches ₁ 1, 1 _2, 1 ₃ which is operated separately. Among these switches 1 ₁ to 1 _3, switch 1 ₁ is intended to command the window rising (closing) operation, the switch 1 ₂ is for commanding the window of lowering (opening) operation Only when the switches 1 ₁ and 1 ₂ are operated, the window moves in the designated direction.
_1, stopping one _second operation, also stops movement of the window. Switch 1 ₃ is for commanding the automatic continuation of the operation, when operated simultaneously the switch 1 ₃ and the switch 1 _1, begins the window is raised (closed) operates as described above, then switch 1 ₃ and also to stop the operation of the switch 1 _1, increase the window (closing) operation continues and the window is stopped when it reaches the top of the window frame. Further, when simultaneous operation of a switch 1 ₃ and the switch 1 _2, also has a window as described above begin to descend (open) operation, then, be stopped operation of the switch 1 ₃ and the switch 1 _2,
The lowering (opening) operation of the window is continued and stops when the window reaches the bottom of the window frame.

The MCU 2 includes a control / arithmetic unit 9 and a memory 1
0, a motor drive voltage detector 11, a pulse edge counter 12, and a timer 13. Among these components, the control / arithmetic unit 9 generates a control signal corresponding to the operation state of the switch device 1, supplies the control signal to the motor 4 via the motor drive unit 3, and controls the motor 4. Drive to rotate, and at the same time, motor drive voltage detector 1
1 and performs predetermined data processing and data calculation based on data supplied from the pulse edge counter 12 or data stored in the memory 10, and controls the rotation state of the motor 4 via the motor drive unit 3. I do. Memory 1
0, base value storing area 10 _1, reference tolerance value storage area 10 _2, a torque data addition value storage area 10 _3, starting cancellation storage area 1 _4, divided travel region in the number of torque data storage area 10 _5, the total torque data ₇ consisting of a number storage area 10 ₆ and a window movement position storage area 10 7
There are two storage areas and two time tables including a first time table 10 ₈ and a second time table 10 ₉ . Note that these seven storage areas 10 _{1 to} 10 ₁
It will be described later ₇ and the storage contents in these two time tables 10 ₈ to 10 _9. The motor drive voltage detection unit 11 detects a divided voltage representing the vehicle-mounted power supply (battery) voltage obtained at the voltage dividing point of the voltage dividing resistor 7. The pulse edge counter 12 detects a pulse edge of the two-phase square wave pulse supplied from the pulse generator 5.

The motor drive unit 3 includes a control signal inversion 2.
Inverter 3 ₁ , 3 ₂ and motor rotation forward,
Reversing, two relays 3 _3, 3 ₄ switched set to one of the stops, and a two diodes 3 _5, 3 ₆ for spark prevention, according to the state of the control signal supplied from the MCU2 The motor 4 is driven to rotate.

The motor 4 has a rotating shaft connected to a window of the vehicle via a window drive mechanism (not shown). When the motor rotates, for example, when the motor rotates in the forward direction, the window closes, and when the motor rotates in the reverse direction, the window closes. open.

The pulse generator 5 is directly mounted on the motor 4 and is mounted on the rotating shaft of the motor 4 as shown in FIG. 2 (a). There the rotary body 5 ₁ which is magnetized, near the circumferential portion of the rotary body 5 _1, arranged Hall element to generate a two-phase pulses having different phase by 90 ° from each other during rotation of the motor 4 5 is provided with a _2, 5 _3. When the motor 4 rotates, and the rotation corotating element 5 ₁ by the rotation, as shown in FIG. 2 (b), 2 pieces of Hall elements 5 _2, 5 ₃ of the rotating body 5 ₁ magnetized min , And two Hall elements 5 ₂ and 5 ₃ each output a two-phase square wave pulse which is one cycle when the motor 4 makes one rotation and is shifted by １ ／ cycle from each other.

The pull-up resistor 6 is composed of three parallel coupling resistors connected between the output of the switch device 1, the input of the MCU 2, and the 5V power supply.
_1, 1 _2, supplies the power supply voltage (5V) 1 ₃ of the non-operation state to the input of the MCU 2.

The voltage dividing resistor 7 is mounted on a vehicle power supply (battery).
And two resistors connected in series between the ground and the ground. The connection point of these resistors is connected to the motor drive voltage detector 1 of the MCU 2.
Connected to 1.

The pulse transmission line 8 includes two pull-up resistors connected between the output of the pulse generator 5 and the 5 V power supply, a capacitor connected between the output and the ground, a synchronous output and the MCU 2. The two-phase square wave pulse output from the pulse generator 5 is transmitted to the pulse edge counter 12, comprising two series resistors connected between the pulse edge counter 12 and the input of the pulse edge counter 12.

When the motor 4 rotates and the window is opened and closed, the two-phase square wave pulse generated by the pulse generator 5 is supplied to the MCU 2 via the pulse transmission line 8. At this time, the pulse edge counter 12
Each pulse edge (rising and falling) of the square wave pulse is detected, and an edge detection signal is supplied to the control / calculation unit 9 each time the pulse edge arrives. Control / arithmetic unit 9
Measures the supply timing of the edge detection signal by the timer 13, and measures the arrival time interval between one edge detection signal and one subsequent edge detection signal (hereinafter, this is referred to as edge interval data). It should be noted that one piece of this edge interval data is obtained every time the motor 4 makes a quarter turn.

In the power window apparatus shown in FIG. 1, a motor load torque value is used as a detection parameter to detect the presence or absence of pinching in the window. Set by torque. The power window device shown in FIG. 1 divides the entire window movement region (the movement region between the fully open position and the fully closed position) into a plurality based on the count number counted each time the edge interval data arrives. Divided divided movement regions are set, and a preset reference median value and reference allowable value of the motor load torque are set for each divided movement region.

FIG. 3 shows the reference median value of the motor load torque and the motor load torque set in each of the divided moving regions when the entire window moving region in the power window device shown in FIG. 1 is divided into 36 divided moving regions. FIG. 4 is a characteristic diagram showing an example of a reference allowable value, and FIG.
In one of the six divided movement areas, 3
FIG. 14 is a characteristic diagram illustrating an example of a state in which the second edge interval data arrives.

In FIG. 3, the vertical axis represents the motor load torque, and the horizontal axis represents the count number counted each time the edge interval data arrives when the window moves from the fully open position to the fully closed position. The lower step-like characteristic (S) is the reference median value of the motor load torque, and the upper step-like characteristic (A) is the reference allowable value of the motor load torque (more precisely, the reference median value + the reference allowable value). The solid line (M) shows the process curve of the motor load torque when no object is caught in the window, and the one-dot chain line (H) shows that the object is caught in the window. 7 is a history curve of the motor load torque when the motor is turned on.
In FIG. 4, the vertical axis indicates the value of the edge interval data, and the horizontal axis indicates the count number counted for each arrival of the edge interval data when the window moves from the open position to the closed position. An example in the case where noise is added is shown.

Here, the reference median value of the motor load torque shown in FIG. 3 is the motor load torque value required for the movement of the window when there is no substantial pinching in the window. Is the weight of the window, the mechanical frictional force between the window and the sash is measured as the motor load torque, and is determined based on the torque value already measured when there is no pinching, and the window moves. Every time the reference median is updated to a new reference median, that is, learning is performed. As will be described later, the motor load torque is calculated from the edge interval data and the motor drive voltage. One edge interval data is obtained each time the motor 4 rotates 1/4, and the window is set. When the range from the fully open position to the fully closed position is moved, that is, when the 36 divided movement regions are moved, 32 edge interval data are obtained in each divided movement region. Interval data will be obtained.

Incidentally, the reference median value of the motor load torque used in the power window device of the present embodiment is different between the first half region and the second half region of each divided moving region, as will be described later in detail. For the first half area of each divided moving area, the reference median set in the divided moving area is used as it is as the reference median, and the latter half area of each divided moving area is A complementary reference median obtained by averaging the reference median set in the moving area and the reference median set in the subsequent divided moving area is used as the reference median.

The reference allowable value of the motor load torque shown in FIG. 3 is independent of the position of the divided moving area.
A constant value, which is generally determined by a standard or the like, a value obtained by converting the maximum allowable force that can be applied to a sandwiched object when a window is jammed into a motor torque,
A value obtained by adding some correction to the value is used.

Next, FIGS. 5 and 6 are flowcharts showing the outline of the operation when detecting the pinching of a window using the power window device shown in FIG.

FIG. 7 is a characteristic diagram showing an example of a setting state of the reference median value and the complementation reference median value of the motor load torque in a part of the divided moving region of the power window device shown in FIG.

In FIG. 7, the ordinate represents the motor load torque, and the abscissa represents the divided moving area represented by the number of counts when the window moves from the fully open position to the fully closed position. Is the reference median value of the motor load torque in each divided movement region, the lower dotted line characteristic (H) is the supplementary reference median value of the motor load torque in each divided movement region, and the upper dotted line staircase. The state characteristic (A) is a reference allowable value of the motor load torque (accurately,
(Reference median + reference allowance or complementary reference median + reference allowance).

The operation of the power window device shown in FIG. 1 will be described with reference to the flowcharts shown in FIGS.

First, prior to describing the operations of the flowcharts shown in FIGS. 5 and 6, the power window device performs the following operations.

[0040] That is, one switch in the switch device 1, for example, by operating the switch 1 _1, the input of MCU2 connected to the switch 1 ₁ is changed to the ground potential from the 5V potential. The control / calculation unit 9 of the MPU 2 supplies a control signal for rotating the motor 4 in the forward direction to the motor control unit 3 in response to the input ground potential, and the motor control unit 3 The relays 3 ₃ and 3 ₄ are switched to rotate the motor 4 in the forward direction. When the motor 4 rotates in the forward direction, the window moves in a closing direction via a window driving mechanism connected to the motor 4. In addition, the rotation of the motor 4 causes the pulse generator 5 attached to the motor 4 to generate a two-phase square wave pulse, and the generated two-phase square wave pulse is sent to the pulse edge counter 12 of the MCU 2 via the pulse transmission line 8. Supplied.

[0041] Here, when stopping the operation of the switch 1 _1, the input of MCU2 connected to the switch 1 ₁ is changed to 5V potential from the ground potential. Control / arithmetic unit 9 of MPU 2
Supplies a control signal for stopping the rotation of the motor 4 to the motor control unit 3 in response to the input 5V potential, and the motor control unit 3 responds to this control signal by turning on the two relays 3 ₃ and 3 ₄ . The switching is performed, the power supply to the motor 4 is stopped, and the rotation of the motor 4 is stopped. When the rotation of the motor 4 stops, the operation of the window drive mechanism connected to the motor 4 stops, and the window stops at the current position.
When the rotation of the motor 4 is stopped, the generation of the two-phase square wave pulse by the pulse generator 5 attached to the motor 4 also stops, and the two-phase square wave pulse is not supplied to the pulse edge counter 12 of the MCU 2.

Next, another switch in the switching device 1, for example, by operating the switch 1 _2, as in the case described above, the input of MCU2 connected to the switch 1 ₂ is changed to the ground potential. The control / calculation unit 9 of the MPU 2 sends the motor 4 to the motor control unit 3 in response to the input ground potential.
Supply a control signal to rotate the motor in the reverse direction,
Switches the two relays 3 ₃ and 3 ₄ in response to this control signal, and rotates the motor 4 in the reverse direction. When the motor 4 rotates in the opposite direction, the window is moved in the opening direction via a drive mechanism connected to the motor 4. Also in this case, when the motor 4 rotates, the pulse generator 5 attached to the motor 4 generates a two-phase square wave pulse, and the generated two-phase square wave pulse is transmitted to the MCU via the pulse transmission line 8.
2 is supplied to the pulse edge counter 12.

[0043] Thereafter, when stopping the operation of the switch 1 _2, when co-operating with the switch 1 ₁ and the switch 1 _3, also operates in the case of simultaneous operation of the switch 1 ₂ and the switch 1 _3, each operation of the above The same operation as described above is performed, or an operation according to each of the above-described operations is performed.

When such an operation is performed, first,
In step S1, the control / arithmetic unit 9 of the MCU 2
The pulse edge counter 12 determines whether the pulse edge of the two-phase square wave pulse supplied from the pulse generator 5 has been detected. When it is determined that the pulse edge has been detected (Y), the process proceeds to the next step S2,
On the other hand, when it is determined that the pulse edge has not been detected yet (N), step S1 is repeatedly executed.

Next, in step S2, when the pulse edge counter 12 detects a pulse edge, the control / arithmetic unit 9 determines, based on the count of the timer 13, the time when the previous pulse edge was detected and the current pulse edge. The edge interval data representing the time interval from the detection time is acquired.

Next, in step S3, the control / arithmetic unit 9 determines whether or not the acquired edge interval data is longer than a specified time (for example, 3.5 msec).
It is determined whether the data is regular edge interval data or noise. When it is determined that the edge interval data is longer than the specified time (Y), the next step S
4 and the edge interval data is less than the specified time,
That is, when it is determined that the noise is noise (N), the process returns to the first step S1, and the operations after the step S1 are repeatedly executed. In this determination, when noise is superimposed and added to the edge interval data, it is determined that the data is normal edge interval data.

Subsequently, in step S4, the control / calculation section 9 acquires the divided voltage detected by the voltage dividing resistor 7 in the motor driving voltage detecting section 11 as the motor driving voltage E.

Subsequently, in step S5, the control / calculation unit 9 performs a calculation using the obtained motor drive voltage E and the edge interval data Pw to obtain the motor load torque T.
Calculate c. The calculation of the motor load torque Tc is performed based on the following equation (1). That is,

[0049]

(Equation 1)

[0050] In this case, the first time table _107, the first half term of Equation (1) {kt · (E / Rm) -Tm},
That is, the motor drive voltage dependent term to indicate calculation results of E is stored in correspondence with the value of each motor driving voltage E, The second time table _108, the formula (1)
{(Ke · kt) / (Rm · Pw)}, that is,
The calculation result indicating the dependent term of the edge interval data Pw is stored in correspondence with the value of each edge interval data Pw.
When calculating the read from the motor driving voltage E and the edge interval data Pw measured in the time, the calculation results indicating the dependence terms of motor drive voltage E corresponding to the values from the first time table _108, the edge Interval data P
The calculation result indicating the dependent term of w is stored in the second time table 10 ₉
And calculates the motor load torque Tc using the read calculation result.

Next, in step S6, the control / calculation unit 9 determines whether or not the operation at the time of starting the motor 4 has been completed.
That is, it is determined whether or not the startup cancellation is completed.
Then, when it is determined that the operation at the time of startup has been completed (Y), the process proceeds to the next step S7. On the other hand, when it is determined that the operation at the time of startup has not been completed (N), the first step is performed. Returning to S1, the operations after step S1 are repeatedly executed.

Here, the reason for judging whether or not the operation at the time of starting the motor 4 is completed is as follows.
Since there is a stage where the internal torque of the motor 4 changes from a maximum state to a steady state, if the jamming is determined based on the motor torque value measured at this time, a large motor load torque value is used to measure the window. If this large motor torque value is used to update the reference median value, the new reference median value will not match the actual situation. This is because it may be set to a value.

For this reason, if it is determined that the operation at the time of starting the motor 4 has not been completed, the motor torque value averaging process for updating the reference median value is not performed as described later. In this case, the determination as to whether or not the operation at the start of the motor 4 is completed is made based on a period from the detection of the first pulse edge to the detection of a predetermined number of pulse edges. If the startup behavior is not completed, that effect the start cancellation storage area 10 ₄ in the memory 10 is stored, the storage times are the procedure is cleared after a predetermined number of times.

[0054] Then, in step S7, the controller 9, by comparison between the number stored in the counted number and the window moving position storage area ₁₀₇ of the timer 13, the first half of the divided travel region window positions which Whether the window is located in the first half area of the divided moving area is searched for the area or the second half area. read base value corresponding to the moving region (second base value) from the base value storing area 10 _1, on the other hand, if a second half region of the divided moving region in which the window position, corresponding to the divided travel region read base value (first base value) and base value corresponding to the divided moving region subsequent to the (second base value) from the base value storing area 10 _1. As shown in FIG. 7, the first half area and the second half area of the divided moving area are each equally divided into two divided moving areas.

In the following step S8, the control / calculation section 9 compares the first reference median with the second reference median.
If the first reference median is smaller than the second reference median, the first
An average value of the reference median value and the second reference median value is obtained, and a complementary reference median value is calculated.

Subsequently, in step S9, the control / calculation section 9 compares the motor load torque Tc calculated in step S5 with the reference median value or the supplementary reference median value. In this comparison, if the first reference median is larger than the second reference median, the motor load torque Tc and the reference median (first reference median) corresponding to the divided moving area are compared. results in comparison with the no involvement in the divided travel region read from the reference tolerance value storage area 10 ₂ obtained by adding a fixed reference allowable value, while the first base value described above is smaller than the second reference median If was made and the motor load torque Tc, a complementary base value calculated in step S8, the reference allowable value read from the reference tolerance value storage area 10 ₂ in comparison with those obtained by adding.

Next, in step S10, the control / arithmetic unit 9 sets the motor load torque Tc calculated in the currently measured divided moving region to a reference allowable value as the reference median value set in the divided moving region. It is determined whether the sum is within a range of a value obtained by adding the reference allowable value to the added value or the complementary reference median value (permissible reference value). When it is determined that the motor load torque Tc is within the range of the allowable reference value (Y), the process proceeds to the next step S11. On the other hand, when the motor load torque Tc exceeds the range of the allowable reference value. When it is determined (N), the process proceeds to another step S19.

Next, in step S11, the control
Computing unit 9 adds all the motor load torque Tc calculated in one of the divided travel region in the current measurement, and stores the torque data addition value storage area 10 _3.

In the following step S12, the control / calculation section 9 counts the number of all motor load torques Tc obtained in one currently measured divided movement area, and stores the torque data number storage area in the divided movement area. Store in 10 ₅ .

Subsequently, in step S13, the control
Calculation unit 9 counts the number of all the motor load torque Tc obtained to one divided travel region in the current measurement from the window of the fully open position, and stores the total number of torque data storage area 10 _6.

Next, in step S14, controller 9, the determination of the current divided travel region of the window from the total number of torque data stored in the total number of torque data storage area 10 _6.

Next, in step S15, the control
The calculation unit 9 determines whether the current divided moving area of the window has moved from one divided moving area to the next divided moving area based on the determination in step S14. When it is determined that the divided moving area of the window has moved to the next divided moving area (Y), the process proceeds to the next step S16,
On the other hand, when it is determined that the divided moving area of the window has not yet moved to the next divided moving area (N), the process returns to the first step S1, and the operations after step S1 are repeatedly executed.

In step S16, the control / calculation section 9 sets a new reference median value in the one divided moving region from the value of the motor load torque Tc calculated in the one divided moving region. The setting of the new reference median value uses an average value of the motor load torque Tc calculated based on the respective edge interval data obtained in the one divided movement area. As shown in (1), if one edge interval data (pulse count number 75) is only noise, the data is rejected in step S3, and this noise is used for calculating the average value of the motor load torque Tc. Even if the noise is superimposed on one edge interval data (pulse count number 84) and becomes a large value, the value of the motor load torque Tc calculated based on the large value and other values Since many values of the motor load torque Tc are averaged, even if there is a large edge interval data value on which noise is superimposed, a new reference median value is obtained. It will not be guided to the wrong value.

Subsequently, in step S17, the control
The arithmetic unit 9 stores the reference median newly set in step S16 in the reference median storage area 10 in the memory 10.
Write ₁ in place of the previous reference median.

Next, in step S18, the control
Calculation unit 9, averaging processing area in the memory 10 used to determine the average value of the motor load torque Tc, i.e. the torque data addition value storage area 10 ₃ and the divided travel region in the number of torque data storage area 10 ₅ Is initialized.
When this initialization is performed, the process returns to the first step S1, and
Again, the operation after step S1 is repeatedly executed.

[0066] The repetition of operation in such a flow chart, the driving of the motor 4 by the operation of such switch 1 ₁ or the switch 1 ₂ is stopped, or the movement of the window is performed to stop or, in step S19 to be described later When the pinching of the window is detected, the driving of the motor 4 is stopped, and the movement of the window is stopped or the motor 4 is driven to rotate in the opposite direction, and the movement of the window is reversed. Done.

In step S19, the control / arithmetic unit 9 supplies a control signal to the motor control unit 3 to
Switch the three relays 3 ₃ , 3 ₄ to stop the movement of the window by stopping the rotation of the motor 4, or to rotate the rotation of the motor 4 in the opposite direction to the rotation direction of the window to stop the movement of the window. It moves in the direction opposite to the previous direction and operates to protect the object sandwiched between the windows from damage.

In this flowchart, steps S2 to S6 are data acquisition operations for acquiring edge interval data, and steps S7 and S8 are operations for calculating a complementary reference median. Steps S9 and S10 are an entrapment determination operation process for judging the entrapment of the object in the window, and Steps S11 to S18 are an operation process of updating the reference median value of the motor load torque, Step S19 is an operation process of stopping the driving of the motor or stopping the driving of the motor for inverting the driving.

In this case, in the power window device shown in FIG. 1, the operation according to the flowcharts shown in FIGS. 5 and 6 is executed, and at that time, the window moves from the fully open position to the fully closed position, When the window is not pinched during the movement, a characteristic as shown by a solid line (M) in FIG. 4 is obtained as the motor load torque, and the motor load torque in all the divided movement regions is equal to each divided movement region. It does not exceed the value obtained by adding the reference allowable value to the set reference median value.

On the other hand, when the window moves from the intermediate position in the direction of the fully closed position, and the window is pinched during the movement, the motor load torque has a characteristic as shown by the dashed line (H) in FIG. Is obtained, and the motor load torque in the divided moving region in which the entrapment has occurred exceeds the value obtained by adding the reference allowable value to the reference median value set in the divided moving region.

As described above, according to the pinch detection method of the power window device and the detection device used in the first embodiment, the reference median storage area 10 ₁ and the window movement position storage area 10 ₇ are stored in the memory 10 of the MCU 2. In each of the plurality of divided moving regions obtained by dividing the entire moving range of the window, the determination of the sandwiching of the window in at least one of the first half and the second half of the divided moving region is set in the divided moving region, Since the reference median value read from the median value storage area 10 ₁ and the reference median value set in the adjacent divided movement area and read from the reference value storage area 10 ₁ are averaged, a complementary reference median value is used. In addition, the detection of the pinching of the window is performed with high accuracy and extremely finely without increasing the storage capacity of the memory 10. Door can be.

As a modification of the above embodiment, the first half area of the divided moving area is uniquely defined as the reference median value corresponding to the divided moving area, and the first half area of the divided moving area is divided into the divided moving area and the subsequent divided moving area. A supplemented reference median obtained by averaging the reference medians respectively corresponding to the moving regions may be used for determining whether the window is sandwiched.

[0073]

As described above, according to the pinching detection method of the power window device according to the present invention, the reference median value is set in each of the plurality of divided moving regions obtained by dividing the entire moving range of the window. In each of the divided moving areas, the first half of the divided moving area, the determination of the sandwiching of the window in at least one of the second half area,
Since the reference median value set in the divided moving area and the reference median value set in the adjacent divided moving area are averaged and the complemented median value is used, detection of window entrapment is performed with high accuracy. And can be performed very finely.

Further, according to the pinch detection device of the power window device according to the present invention, the internal memory of the MCU has:
A reference value storage area and a position data storage area are provided, and a reference median value is set in each of a plurality of divided movement areas obtained by equally dividing the entire movement range of the window,
In each of the plurality of divided moving regions, the micro control unit detects that the window is in the first half region of each divided moving region by reading the position data, and the reference median value of the immediately preceding divided moving region is larger. At some point, a supplementary reference median obtained by averaging the reference median set in the divided moving area and the reference median set in the immediately preceding divided moving area is obtained, or the window is set in the latter half of each divided moving area. Is detected, and when the reference median of the divided moving area immediately after is larger, the reference median set for the divided moving area and the reference median set for the subsequent divided moving area are Find the average median of the complementing criterion,
Since the judgment of the pinching of the window is performed by using the median value of the complementing criterion, the pinching of the window can be detected with high accuracy without increasing the storage capacity of the internal memory, and at the same time, it is extremely detailed. There is an effect that can be performed.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a power window device in which a method for detecting pinching of a power window device according to the present invention is performed.

FIG. 2 is a structural diagram of a pulse generation principle of a pulse generator used in the power window device shown in FIG. 1 and a waveform diagram showing a two-phase square wave pulse generated from the pulse generator.

FIG. 3 shows an example of a reference median value and a reference allowable value of a motor load torque set in each divided moving region when the entire moving region of the window in the power window device shown in FIG. 1 is divided into a plurality of divided moving regions. FIG.

FIG. 4 is a characteristic diagram showing an example of a state in which a plurality of edge interval data arrives in one of the plurality of divided moving areas shown in FIG.

FIG. 5 is a first half of a flowchart showing a schematic operation process when window entrapment detection is performed using the power window device shown in FIG. 1;

FIG. 6 is a latter half of a flowchart showing a schematic operation process when window entrapment is detected using the power window device shown in FIG. 1;

FIG. 7 is a characteristic diagram showing an example of a setting state of a reference median value and a complementation reference median value of a motor load torque in a part of a divided movement region of the power window device shown in FIG.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Switch device 1 ₁ , 1, ₂ , ₃ switch 2 Micro control unit (MCU) 3 Motor drive unit 3 ₁ , 3 ₂ Inverter 3 ₃ , 3 ₄ Relay 3 ₅ , 3 ₆ Diode 4 Motor 5 Pulse generator 5 ₁ rotation Body 5 ₂ , 5 ₃ Hall element 6 Pull-up resistor 7 Voltage divider 8 Pulse transmission line 9 Control / calculation unit 10 Memory 10 ₁ Reference central value storage area 10 ₂ Reference allowable value storage area 10 ₃ Torque data added value storage area 10 ₄ Start cancel storage area 10 ₅ Torque data number storage area in divided movement area 10 ₆ Total torque data number storage area 10 ₇ Window movement position storage area 10 ₈ First time table 10 ₉ Second time table 11 Motor drive voltage detector 12 Pulse edge counter 13 Timer

Claims (2)

[Claims] 1. A motor for opening and closing a window via a window driving mechanism when driving, a motor driving unit for driving the motor, a pulse generating unit for generating a pulse corresponding to the rotation of the motor, and overall control. A micro-control unit for performing a driving process, and an operation switch for manually operating the opening and closing of the window, wherein the micro-control unit includes a motor load applied to the window when the window is opened and closed via the motor driving unit. Is detected, and the detected parameter value is compared with a preset reference median value. When the parameter value deviates from the reference median value by a considerable amount, it is determined that the window has been pinched. And a power window device for stopping or reversely driving the motor via the motor driving unit. In the penetration detection method, the entire moving range of the window is divided into a plurality of divided moving regions, and the reference median is set for each of the divided moving regions. A pinching detection method for a power window device, wherein a complementary reference median obtained by averaging a reference median set in a divided moving area and a reference median set in an adjacent divided moving area is used. 2. A motor for opening and closing a window via a window driving mechanism at the time of driving, a motor driving unit for driving the motor, a pulse generating unit for generating a pulse corresponding to the rotation of the motor, and overall control. A micro control unit having an internal memory for performing drive processing and storing various data, and an operation switch for manually operating the opening and closing of the window, and a motor that is added to the window in the micro control unit when the window is opened and closed. A parameter value indicating a load applied is detected, the detected parameter value is compared with a preset reference median value, and when the parameter value deviates from the reference median value by a considerable amount, a window is pinched. Judge,
A pinch detection device of a power window device that stops driving or reversely drives the motor via the motor driving unit, wherein the internal memory is configured to divide the entire moving range of the window into a plurality of divided moving regions. A reference median storage area for storing a reference median value set for each divided movement area, and a window movement position storage area for storing position data indicating a movement position of the window, wherein the microcontroller includes: By reading out the position data, it is detected that the window is in the first half area of each of the divided moving areas, and when the reference median of the immediately preceding divided moving area is larger, the reference set in the divided moving area is set. Find a complementary reference median by averaging the median and the reference median set in the previous divided movement area, or the window is When it is detected that it is in the latter half area of the divided moving area and the reference median of the immediately following divided moving area is larger, the reference moving average set in the divided moving area and the subsequent divided moving area are set. An interpolating reference median obtained by averaging the interpolated reference median and determining the entrapment of the window by using the interpolated median reference.