WO2011052152A1

WO2011052152A1 - Caught object detection method, setting method for caught object detection device, caught object detection device, and open/close control device

Info

Publication number: WO2011052152A1
Application number: PCT/JP2010/006151
Authority: WO
Inventors: 藤井俊兵; 舘上徹
Original assignee: マブチモーター株式会社
Priority date: 2009-10-29
Filing date: 2010-10-15
Publication date: 2011-05-05
Also published as: CN102575494B; CN102575494A; JP2011094370A; BR112012010193A2

Abstract

Disclosed is a method for detecting foreign objects caught in an opening and closing device that moves an opening and closing body by driving a motor. In detection mode, foreign objects caught in the opening and closing device are detected by comparing the signal changes and threshold value that are correlated with the rotating speed of the motor. In setting mode, the respective amounts of motor rotation used for the opening and closing body to reach a first position and a second position, which differs from the first position, from a prescribed reference position by means of driving the motor are detected; and a settings value, which was calculated on the basis of the displacement between the first position and the second position of the opening and closing body and the difference between the amounts of motor rotation respectively detected at the first position and the second position, is set as the threshold value.

Description

Pinching detection method, pinching detection device setting method, pinching detection device, opening / closing control device

The present invention relates to an opening / closing control device for a member that is opened / closed by power, for example, an opening / closing control device for a vehicle power window or a sunroof.

In recent years, in a power window of an automobile, a control device is known that automatically controls the movement of the door glass to open the door glass when the door glass sandwiches some foreign object when closing the door glass.

In order to realize such a control device, since the characteristics of the power window to be controlled are different for each vehicle type, it is necessary to set parameters of these various characteristics in the control device as different data for each vehicle type. Therefore, it is necessary to prepare a control device for each vehicle type, and there are problems such as a decrease in productivity and complicated inventory management.

As a solution to such a problem, Patent Document 1 discloses a power window control device including a registration unit that can register parameters necessary for power window opening / closing control in an internal storage unit by external signal input. Has been.

Japanese Patent Laid-Open No. 2003-3068

However, the above-described control device requires a special inspection machine and wireless communication means, and there are restrictions on the location and timing of parameter registration.

The present invention has been made in view of such circumstances, and an object of the present invention is to provide a technique capable of easily setting values relating to the operation of an opening / closing body such as a power window.

In order to solve the above problem, a pinching detection method according to an aspect of the present invention is a foreign object pinching detection method in an opening / closing device that drives a motor to move an opening / closing body, and in the detection mode, the rotation speed of the motor Is compared with a threshold value to detect a foreign object caught in the switchgear. In the setting mode, the motor is driven to move the switchgear from the predetermined reference position to the first position and the first position. The amount of rotation of the motor until reaching a second position different from the first position is detected, the amount of displacement between the first position and the second position of the opening / closing body, the first position and the second position A setting value calculated based on the difference in the rotation amount of the motor detected at each position is set as a threshold value.

According to this aspect, it is possible to calculate the threshold value used for detecting foreign object pinching at a necessary timing. Therefore, for example, a threshold value can be set at the stage of manufacturing the switchgear, or a new threshold can be reset when the switchgear is replaced or repaired.

In the setting mode, an object having the first thickness is inserted between the opening / closing body and the abutting portion against which the opening / closing body abuts during a normal closing operation, and the opening / closing body is moved to move the first thickness object to the opening / closing body. The amount of rotation of the motor detected in a state sandwiched between the abutting portion is defined as the amount of rotation of the motor until the opening / closing body reaches the first position. The rotation amount of the motor detected in a state where an object having a second thickness different from the thickness of 1 is inserted, the opening / closing body is moved, and the object having the second thickness is sandwiched between the opening / closing body and the abutting portion, The amount of rotation of the motor until the opening / closing body reaches the second position may be used. Thereby, a 1st position and a 2nd position can be easily prescribed | regulated by pinching the object of known thickness between an opening-and-closing body and an abutting part.

The first thickness object and the second thickness object may be one object having different thicknesses depending on directions. Alternatively, the first thickness object and the second thickness object may be one object having different thicknesses depending on the location. As a result, the two positions can be easily defined simply by changing the sandwiching direction or the sandwiching position of one object.

Another aspect of the present invention is a method for setting a pinch detection device. This method is a setting method of a foreign object pinching detection device in an opening / closing device that drives a motor to move the opening / closing body, and the opening / closing body is different from the first position and the first position by driving the motor. The amount of rotation of the motor until reaching position 2 is detected, the amount of displacement between the first position and the second position of the opening / closing body, and the rotation of the motor detected at the first position and the second position, respectively. A set value is calculated on the basis of the difference between the amounts, and the set value is set as a threshold value for detecting foreign object pinching by comparing with a change in signal correlated with the rotational speed of the motor.

Still another aspect of the present invention is a pinch detection device. This device is a foreign object pinching detection device in an opening / closing device that moves an opening / closing body by driving a motor, and includes a rotation speed calculating unit that calculates a rotation speed of the motor based on a signal accompanying rotation of the motor, and an opening / closing body. Compares the change in the rotation speed of the motor and the threshold value in the detection mode to store the threshold value for detecting the trapping of foreign objects by comparing the change in the rotation speed of the motor with the movement of the motor. A determination unit that determines whether the foreign matter is caught in the opening / closing device, and a driving unit that drives the motor until the opening / closing body moves to at least a first position and a second position different from the first position in the setting mode. In the setting mode, a motor rotation amount calculation for detecting the rotation amount of the motor until the opening / closing body moves to the first position and the second position based on a signal accompanying the rotation of the motor. And the difference between the displacement amount between the first position and the second position of the opening / closing body and the rotation amount of the motor detected at each of the first position and the second position in the setting mode. And a setting unit that sets the calculated setting value as a threshold value.

The driving unit may stop or reverse the driving of the motor when a foreign object is detected. Thereby, it is prevented that the further load is applied with respect to the foreign material pinched | interposed. In addition, when reversing the driving of the motor, it is preferable that the opening / closing body is opened by 50 mm or more.

The setting unit may be configured to be able to set various load values in accordance with the standard as a pinching load when a foreign object is pinched. Thereby, it becomes possible to detect the trapping of the foreign matter at a safer stage.

Still another aspect of the present invention is an open / close control device. This device includes a motor and the above-described pinching detection device.

A rotation detection sensor for detecting a pulse signal accompanying the rotation of the motor may be further provided. Thereby, the rotation amount of the motor can be detected with high accuracy.

It should be noted that an arbitrary combination of the above-described components and a conversion of the expression of the present invention between a method, an apparatus, a system, and the like are also effective as an aspect of the present invention.

According to the present invention, it is possible to easily set a value related to the operation of the opening / closing body.

It is a schematic diagram which shows the structure of the power window system which concerns on this Embodiment. It is a perspective view of the output shaft vicinity of the motor which concerns on this Embodiment. It is a block diagram which shows the structure of the pinching detection apparatus which concerns on this Embodiment. FIG. 4A and FIG. 4B are diagrams showing the relationship between the position of the door glass and the rotation speed of the motor when a foreign object is caught while the door glass is closed. It is a flowchart which shows the pinching detection method in the detection mode which concerns on this Embodiment. It is a schematic diagram which shows an example of the setting method which concerns on this Embodiment. It is a performance diagram in a general DC motor. It is a flowchart which shows the threshold value setting method in the setting mode which concerns on this Embodiment. FIG. 9A to FIG. 9E are diagrams sequentially illustrating the operation of opening and closing the door glass in the setting mode. FIG. 10A is a diagram showing a configuration for detecting the rotation of the motor based on a change in drive current. FIG. 10B is a diagram showing a change in current over time.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and repeated descriptions are omitted as appropriate. Moreover, the structure described below is an illustration and does not limit the scope of the present invention at all.

The technology for detecting the inclusion of a foreign object according to the present invention is applied to an opening / closing device that moves a switching body by driving a motor, and is applicable to, for example, a power window system or a sunroof of a vehicle. Below, the case where it applies to the power window system of a motor vehicle is demonstrated.

(Configuration of power window system)
First, an outline of the configuration of the power window system will be described. FIG. 1 is a schematic diagram showing a configuration of a power window system according to the present embodiment. FIG. 2 is a perspective view of the vicinity of the output shaft of the motor according to the present embodiment.

As shown in FIG. 1, the power window system 10 includes a motor unit 12, a regulator 14, a door glass 16 as an opening / closing body, and a frame 18 that supports the door glass 16 so as to be slidable.

The motor unit 12 includes a motor main body 20, a worm gear 22 attached to the output shaft of the motor main body 20, a worm wheel 24 that realizes a predetermined reduction ratio by a combination of the worm gear 22, and a pinch detection device described later. Prepare. As shown in FIG. 2, the motor body 20 is provided with a hall sensor 26 and a sensor magnet 28 at the base of the output shaft 20a to which the worm gear 22 is attached. The hall sensor 26 outputs a pulse signal synchronized with the rotation of the motor by the sensor magnet 28. The driving force (rotational force) of the motor unit 12 is transmitted to the drum 30 of the regulator 14 via the worm gear 22 and the worm wheel 24. Although the description of the coupling mechanism between the worm wheel 24 and the drum 30 is omitted, any configuration may be used as long as the force can be transmitted to some extent.

The regulator 14 includes a drum 30, a wire 32 that is pulled in both directions as the drum 30 rotates, a carrier plate 34 that is fixed to the door glass 16, and a guide member 36 that guides the carrier plate 34. The carrier plate 34 is fixed to the wire 32. Thus, when the motor unit 12 is driven based on an operation or signal from the outside, the rotation is transmitted to the drum 30, the wire 32 moves in either direction, and the door is fixed to the carrier plate 34. The glass 16 moves up and down (opens and closes).

(Pinch detection device)
The power window system 10 described above includes a pinching detection device for detecting a pinch when a foreign object is pinched between the door glass 16 and the frame 18 when the door glass 16 is opened and closed. FIG. 3 is a block diagram showing a configuration of the pinch detection device according to the present embodiment.

The pinch detection device 38 includes a motor drive circuit 40 that drives the motor main body 20, a rotation speed calculation circuit 42 that calculates the rotation speed of the motor based on the output signal of the hall sensor 26, and switch operations of the driver and passengers. A switch input circuit 44 to which signals are input, a communication circuit 46 that communicates with other devices of the vehicle and the outside of the vehicle, and a microcomputer that controls the driving of the motor body 20 in accordance with signals of various sensors and various switch operations. 48. The microcomputer 48 includes a central processing unit (CPU) and a storage unit such as a ROM or a RAM that stores or temporarily stores operation programs and various setting values.

(Pinch detection method)
Next, a pinching detection method in the power window system described above will be described. FIG. 4A and FIG. 4B are diagrams showing the relationship between the position of the door glass and the rotation speed of the motor when a foreign object is caught while the door glass is closed. When the closing operation of the door glass 16 is instructed by the switch operation, the microcomputer 48 receiving the signal through the switch input circuit 44 drives the motor body 20 by the motor driving circuit 40. At that time, if there is no abnormality in the power window system 10, the rotation speed of the motor body 20 becomes a constant speed S ₀ as shown in FIG. 4A until the upper end of the door glass 16 hits the frame 18. However, if a foreign object is sandwiched between the door glass 16 and the frame body 18 before the upper end of the door glass 16 normally hits the frame body 18, the rotational speed of the motor body 20 is rapidly reduced.

Therefore, the microcomputer 48 determines that foreign matter is caught when the difference between the reduced rotational speed S ₁ of the motor body 20 and the constant speed S ₀ at normal time exceeds a predetermined threshold Y. When the rotation speed is detected by the Hall sensor 26, the change in the rotation speed becomes a waveform as shown in FIG. In such a case, S ₀ may be calculated as an average rotational speed by calculation from the number of rotations of the motor during a predetermined detection time and the detection time.

FIG. 5 is a flowchart showing a pinching detection method in the detection mode according to the present embodiment. Such a detection mode is started, for example, by operating a switch with an auto function that automatically closes the glass door. When the processing by the detection mode is started, the microcomputer 48, the reference rotational speed S ₀ of the motor load from the storage unit (S10). As described above, the reference rotation speed S ₀ may be stored as a design value in advance in the storage unit, but a value calculated by the rotation speed calculation circuit 42 immediately after the processing is started is used. Also good.

Thereafter, the microcomputer 48 detects the rotational speed _{S 1} again motor (S12). If a limit signal indicating that the upper end of the door glass 16 has successfully hit the frame 18 is detected at that time (Yes in S14), the motor is stopped (S16), and the processing in the detection mode is terminated. To do. On the other hand, when the limit signal is not detected (No in S14), the microcomputer 48 determines whether or not the change S ₀ -S _{1 in} the rotation speed of the motor is larger than the threshold value Y (S18). When the change S ₀ -S _{1 in} the rotation speed of the motor is equal to or less than the threshold value Y (No in S18), the process returns to S12. On the other hand, if the change S ₀ -S ₁ in the motor rotation speed is larger than the threshold value Y (Yse in S18), the microcomputer 48 determines that there is a foreign object caught and controls the motor drive circuit 40 to control the motor. Is reversed (S20), and the process in the detection mode is terminated. Thereby, it is prevented that the further load is applied with respect to the foreign material pinched | interposed.

By the way, when the power window system 10 is to be configured by combining the motor unit 12 with various regulators 14 as a product, the threshold value Y stored in the storage unit of the microcomputer 48 is always a fixed value. Depending on the type of system and individual differences, the pinch detection accuracy may vary. For this reason, when the motor unit 12 is combined with a different regulator, it is considered to rewrite the threshold value Y stored in the pinching detection device 38 accordingly.

Therefore, as a result of intensive studies by the present inventors, a technology that can easily set and rewrite such a threshold value has been devised. The principle will be described below.

(Setting mode)
First, the principle of a method for setting a threshold value according to a setting mode in the pinch detection apparatus according to the present embodiment will be described. In the following, a DC motor will be described as an example, but other types of motors may be used as long as the motor has a correlation between the rotation speed and the torque.

FIG. 6 is a schematic diagram illustrating an example of a setting method according to the present embodiment. As shown in FIG. 6, the object X is sandwiched between the door glass 16 and the frame 18, and the motor pulse counts P 1 and P 2 are measured at the upper end of the door glass 16 at positions A 1 and A 2. 26 to detect. Here, the pulse count is obtained by detecting how many times the motor has rotated from an arbitrary reference position as a zero point. In the present embodiment, the pulse count in a state where the upper end of the door glass 16 abuts against the frame 18 is set to zero.

The object X according to the present embodiment is a rectangular parallelepiped having different widths W1 and W2 (W1> W2). Further, when the object X is sandwiched between the door glass 16 and the frame 18, the stopping position of the door glass 16 does not greatly deviate from the positions A 1 and A 2 if the sandwiching load is the same (there is reproducibility). It is good that it is such hardness. From this point of view, a material close to a rigid body is more preferable, but it may be better to have a certain degree of elasticity in consideration of the impact on the door glass when the door glass 16 hits the object X and the sudden braking applied to the motor. . In addition, the object X is preferably made of a material and a structure that have a smaller difference in elastic modulus depending on the sandwiched direction. Urethane is used as the object X according to the present embodiment.

The microcomputer 48 obtains the values of the pulse counts P1 and P2 based on the signal from the hall sensor 26, and sets the thickness difference D [m] = W1−W2 set in advance based on the shape of the object X, It is acquired from the outside via a communication means or from a storage unit. Therefore, the amount of movement H of the door glass 16 per pulse is expressed by Equation (1).
H = D / (P1-P2) Formula (1)

When the reduction ratio of the motor unit 12 is N and the number of pulses detected when the rotation shaft of the motor body 20 moves one rotation, the drum 30 that rotates in synchronization with the worm wheel 24 makes one rotation. The number of pulses of the motor detected at 1 is N pulses. Therefore, the amount of movement of the door glass 16 when the drum 30 makes one rotation is expressed by Expression (2).
N × H = N × D / (P1-P2) Expression (2)

In the wire regulator shown in FIG. 6, when the diameter of the drum 30 is L [m], the movement amount of the wire 32 when the drum 30 rotates once, that is, the movement amount of the door glass 16 is πL [m]. This is equal to N × H shown in Equation (2). That is, the relationship shown in Expression (3) is established.
N × D / (P1−P2) = πL (3)

Next, when the diameter of the drum 30 is L, since the distance from the center of the motor output shaft to the power point is L / 2, the torque of the motor output shaft is T [N · m], which is generated at that time. When the force is F, the relationship shown in Expression (4) is established.
F = 2 × T / L (4)

A general DC motor has a correlation between torque and rotation speed. FIG. 7 is a performance diagram in a general DC motor. In such a DC motor, as shown in FIG. 7, when the motor speed changes ΔS (= S ₀ -S ₁ ), the torque change generated by the motor is ΔT (T ₁ -T ₀ ). Become. Therefore, based on the correlation between the torque and the rotational speed shown in FIG. 7, assuming that the no-load rotational speed is N ₀ [rpm] and the stationary torque is Ts [N · m], the torque change ΔT can be expressed by the following formula ( 5).
ΔT = (S ₀ −S ₁ ) × (Ts / N ₀ ) (5)

Therefore, when Expression (3), Expression (4), and Expression (5) are considered, the relationship shown in Expression (6) is established.
F = (S ₀ −S ₁ ) × (Ts / N ₀ ) × 2π × (P1−P2) / (N × D) (6)
Here, F corresponds to the sandwiching load. The sandwiching load F is a load that is assumed to act on the sandwiched foreign matter, and is determined as appropriate within a range in which malfunction prevention and safety are compatible. When the target sandwiching load F is small, a malfunction occurs due to disturbance such as crossing or vibration of each component of the power window system 10, for example, a state in which the door glass 16 reverses even though no foreign matter is sandwiched. Can occur. On the other hand, when the target sandwiching load F is large, there is a possibility that the load applied to the foreign matter becomes excessive before the door glass 16 is reversed.

Therefore, in the pinching detection device 38 according to the present embodiment, the target value of the pinching load is defined in consideration of these circumstances, and the motor speed change ΔS (= S ₀ -S _{1) at} which the pinching load is generated. ) Is set as the threshold value Y. Specifically, the microcomputer 48 sets a threshold value Y that determines that there is a pinch when the pinch load is 100 N or more when a foreign object is pinched. If more importance is placed on safety, the microcomputer 48 may set a threshold value Y such that it is determined that there is a pinch when the pinch load is 80 N or more when a foreign object is pinched. As a result, the pinching detection device 38 can detect the pinching of foreign matter at a safer stage.

Next, the threshold setting procedure in the setting mode will be described. FIG. 8 is a flowchart showing a threshold setting method in the setting mode according to the present embodiment. FIG. 9A to FIG. 9E are diagrams sequentially illustrating operations for opening and closing the door glass 16 in the setting mode.

The pinch detection device 38 according to the present embodiment shifts to the setting mode by receiving a signal of a predetermined operation using a switch included in the power window system 10 via the switch input circuit 44 (S30). As shown in FIG. 9A, the predetermined operation is performed by operating the Auto switch and the Close switch of the power window system 10 to press the upper end of the door glass 16 against the frame 18 for a predetermined time. Next, the Auto switch and the Open switch are operated to open the door glass 16, and the lower end of the door glass 16 is pressed against the frame body 18 for a predetermined time (see FIGS. 9B and 9C). . Thereby, the pinch detection device 38 is shifted to the setting mode.

Next, positioning is performed by pressing the object X with a hand so that the object X is in a predetermined direction and is in contact with the upper end of the frame 18. Then, the door glass 16 is raised from the lowest point of the movable range of the door glass 16 (for example, the lowest point of the regulator, which corresponds to a predetermined reference position in the present embodiment) to the first position. At this time, the object X is sandwiched between the door glass 16 and the frame 18 (FIG. 9D). The pinch detection device 38 detects the pulse count of the motor during this time (S32). Next, the door glass 16 is lowered again to the lowest point of the movable range of the door glass 16. Next, the object X is positioned by pressing it with a hand or the like so as to contact the upper end of the frame 18 in a predetermined direction different from FIG. Then, the door glass 16 is raised from the lowest point of the movable range of the door glass 16 to the second position. At this time, the object X is sandwiched between the door glass 16 and the frame body 18 (FIG. 9E). The pinch detection device 38 detects the pulse count of the motor during this time (S34). Note that the order of sandwiching the object X in each direction may be reversed.

The microcomputer 48 calculates a threshold value Y corresponding to S ₀ -S ₁ based on the detected pulse counts P 1 and P 2 and the equation (6) (S 36), and uses this value as a new threshold value Y. Is set in the storage unit (S38). With such a setting mode, the threshold value Y can be easily set. Further, in the above-described method, as shown in the equation (6), the parameter regarding the shape of the regulator is not included. That is, the motor unit 12 according to the present embodiment can easily set or update the threshold value Y even when applied to the power window system 10 whose regulator shape is unknown. Can be.

The present invention will be described below in light of the above contents.

The pinch detection device 38 is a foreign object pinch detection device 38 in the power window system 10 that moves the door glass 16 by driving the motor. The pinch detection device 38 calculates the rotation speed of the motor based on the signal detected by the hall sensor 26. In the detection mode, the speed calculation circuit 42, a storage unit for storing a threshold value Y for detecting the inclusion of a foreign object by comparing with a change ΔS in the rotational speed of the motor accompanying the movement of the door glass 16, In the setting mode, the determination unit that compares the rotation speed change ΔS with the threshold value Y to determine whether the foreign object is caught in the power window system 10, and in the setting mode, the door glass 16 is at least the first position and the first position. A motor drive circuit 40 that drives the motor until it moves to a different second position, and in the setting mode, the door glass A motor rotation amount calculation unit that detects a pulse count of the motor until the 16 moves to the first position and the second position based on the signal of the hall sensor 26, and in the setting mode, the first of the door glass 16 A set value calculated based on the displacement amount D between the position and the second position and the difference between the pulse count differences (P1−P2) of the motor detected at the first position and the second position, respectively. A setting unit that sets the threshold value Y. The microcomputer 48 according to the present embodiment functions as a storage unit, a determination unit, a motor rotation amount calculation unit, and a setting unit.

The pinch detection device 38 can calculate the threshold value Y used for detecting the pinch of foreign matter at a necessary timing. Therefore, for example, the threshold value Y can be set when the power window system 10 is manufactured, or the threshold value Y can be newly set when a part of the power window system 10 is replaced or repaired.

The present invention can also be regarded as a foreign object pinching detection method in the power window system 10 that moves the door glass 16 by driving the motor body 20. According to this method, in the detection mode, the change ΔS in the rotation speed of the motor and the threshold value Y are compared to detect the foreign object being caught in the power window system 10, and in the setting mode, the motor body 20 is driven. And detecting the pulse count of the motor until the door glass 16 reaches the first position and the second position different from the first position, and the first position and the second position of the door glass 16 are detected. A set value calculated based on the amount of displacement D between the motor and the difference (P1−P2) in the motor pulse count detected at the first position and the second position can be set as the threshold value Y. it can.

In the pinching detection method described above, in the setting mode, an object having a first thickness is inserted between the door glass 16 and the frame 18 against which the door glass 16 abuts during normal closing operation, and the door glass 16 is moved. The pulse count of the motor detected with the object having the first thickness sandwiched between the door glass 16 and the frame 18 is taken as the motor pulse count until the door glass 16 reaches the first position. In addition, an object having a second thickness different from the first thickness is inserted between the door glass 16 and the frame 18, the door glass 16 is moved, and the object having the second thickness is moved to the door glass 16 and the frame 18. The pulse count of the motor detected in a state sandwiched between the two may be the pulse count of the motor until the door glass 16 reaches the second position. Accordingly, the first position and the second position can be easily defined by sandwiching the object X having a known thickness between the door glass 16 and the frame 18.

The object having the first thickness and the object having the second thickness may be combined with one object having a rectangular parallelepiped shape. Alternatively, the object having the first thickness and the object having the second thickness may be combined with one object having a conical shape. As a result, the two positions can be easily defined simply by changing the sandwiching direction or the sandwiching position of one object.

The present invention is not limited to the above-described embodiments, and various modifications such as design changes can be added to the embodiments based on the knowledge of those skilled in the art, and such modifications are added. Examples may also be included within the scope of the present invention.

In the above embodiment, the configuration using the hall sensor 26 as the rotation detection sensor for detecting the pulse signal accompanying the rotation of the motor is described, but the configuration is not limited to this configuration. FIG. 10A is a diagram showing a configuration for detecting the rotation of the motor based on a change in drive current. FIG. 10B is a diagram showing a change in current over time. In this way, the pinching detection device 38 itself detects a change in the drive current, and calculates the rotation speed and rotation speed of the motor body 20, thereby omitting components such as the Hall sensor 26 and the sensor magnet 28. Thus, the motor unit 12 can be reduced in size and cost.

10 power window system, 12 motor unit, 14 regulator, 16 door glass, 18 frame, 20 motor body, 20a output shaft, 22 worm gear, 24 worm wheel, 26 hall sensor, 28 sensor magnet, 30 drum, 32 wire, 34 carrier plate, 36 guide member, 38 detection device, 40 motor drive circuit, 42 rotation speed calculation circuit, 44 switch input circuit, 46 communication circuit, 48 microcomputer.

The present invention can be used for an opening / closing control device for a member that is opened and closed by power. For example, the present invention can be used in a vehicle power window or sunroof opening / closing control device.

Claims

A method for detecting pinching of foreign matter in an open / close device that moves an open / close body by driving a motor,
In the detection mode, the change of the signal correlated with the rotational speed of the motor is compared with the threshold value to detect the foreign object caught in the switchgear,
In the setting mode, the motor is driven to detect the rotation amount of the motor until the opening / closing body reaches the first position and the second position different from the first position from the predetermined reference position,
Calculated based on the amount of displacement between the first position and the second position of the opening / closing body and the difference in rotation amount of the motor detected at the first position and the second position, respectively. Set the set value as the threshold value,
A pinch detection method characterized by the above.
In the setting mode,
An object having a first thickness is inserted between the opening / closing body and an abutting portion against which the opening / closing body abuts during a normal closing operation, and the opening / closing body is moved so that the first thickness object is moved to the opening / closing body and the opening / closing body. The amount of rotation of the motor detected in a state of being sandwiched between the abutting part and the amount of rotation of the motor until the opening / closing body reaches the first position,
Next, an object having a second thickness different from the first thickness is inserted between the opening / closing body and the abutting portion, and the opening / closing body is moved to move the object having the second thickness to the opening / closing body. And the amount of rotation of the motor detected in a state sandwiched between the abutting portion and the amount of rotation of the motor until the opening / closing body reaches the second position,
The pinch detection method according to claim 1.
The pinching detection method according to claim 2, wherein the first thickness object and the second thickness object are one object having different thicknesses depending on directions.
The pinching detection method according to claim 2, wherein the first thickness object and the second thickness object are one object having different thicknesses depending on locations.
A method for setting a foreign object pinching detection device in an opening / closing device that moves a switching body by driving a motor,
Detecting the amount of rotation of the motor until the opening and closing body reaches a second position different from the first position and the first position by driving the motor;
A set value is calculated based on the amount of displacement between the first position and the second position of the opening / closing body and the difference in the rotation amount of the motor detected at each of the first position and the second position. And
The set value is set as a threshold value for detecting foreign object pinching by comparing with a change in the rotational speed of the motor.
A method for setting a pinch detection device characterized by the above.
A foreign object pinching detection device in an opening / closing device that moves an opening / closing body by driving a motor,
A rotation speed calculation unit for calculating the rotation speed of the motor based on a signal accompanying the rotation of the motor;
A storage unit for storing a threshold value for detecting the inclusion of a foreign object by comparing with a change in the rotational speed of the motor accompanying the movement of the opening and closing body;
In the detection mode, a determination unit that compares the change in the rotation speed of the motor and the threshold value to determine whether the foreign matter is caught in the switchgear;
In the setting mode, a drive unit that drives the motor until the opening / closing body moves to at least a first position and a second position different from the first position;
In the setting mode, a motor rotation amount calculation unit that detects a rotation amount of the motor until the opening / closing body moves to the first position and the second position based on a signal accompanying rotation of the motor,
In the setting mode, a difference between a displacement amount of the first position and the second position of the opening / closing body, and a rotation amount of the motor detected at each of the first position and the second position; A setting unit that sets a setting value calculated based on the threshold value;
A pinch detection device comprising:
The pinching detection device according to claim 6, wherein the driving unit stops or reverses the driving of the motor when the pinching of a foreign object is detected.
A motor,
The pinch detection device according to claim 6 or 7,
Opening and closing control device.
The opening / closing control device according to claim 8, further comprising a rotation detection sensor for detecting a pulse signal accompanying rotation of the motor.