WO2012086555A1 - 開閉部の挟み込み判定装置、その装置を備えた車両および開閉部の挟み込み判定方法 - Google Patents
開閉部の挟み込み判定装置、その装置を備えた車両および開閉部の挟み込み判定方法 Download PDFInfo
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- WO2012086555A1 WO2012086555A1 PCT/JP2011/079243 JP2011079243W WO2012086555A1 WO 2012086555 A1 WO2012086555 A1 WO 2012086555A1 JP 2011079243 W JP2011079243 W JP 2011079243W WO 2012086555 A1 WO2012086555 A1 WO 2012086555A1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/14—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring distance or clearance between spaced objects or spaced apertures
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
- E05F15/41—Detection by monitoring transmitted force or torque; Safety couplings with activation dependent upon torque or force, e.g. slip couplings
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03J—TUNING RESONANT CIRCUITS; SELECTING RESONANT CIRCUITS
- H03J7/00—Automatic frequency control; Automatic scanning over a band of frequencies
- H03J7/02—Automatic frequency control
- H03J7/04—Automatic frequency control where the frequency control is accomplished by varying the electrical characteristics of a non-mechanically adjustable element or where the nature of the frequency controlling element is not significant
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03J—TUNING RESONANT CIRCUITS; SELECTING RESONANT CIRCUITS
- H03J7/00—Automatic frequency control; Automatic scanning over a band of frequencies
- H03J7/02—Automatic frequency control
- H03J7/04—Automatic frequency control where the frequency control is accomplished by varying the electrical characteristics of a non-mechanically adjustable element or where the nature of the frequency controlling element is not significant
- H03J7/08—Automatic frequency control where the frequency control is accomplished by varying the electrical characteristics of a non-mechanically adjustable element or where the nature of the frequency controlling element is not significant using varactors, i.e. voltage variable reactive diodes
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
- E05Y2400/10—Electronic control
- E05Y2400/32—Position control, detection or monitoring
- E05Y2400/334—Position control, detection or monitoring by using pulse generators
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
- E05Y2400/10—Electronic control
- E05Y2400/32—Position control, detection or monitoring
- E05Y2400/334—Position control, detection or monitoring by using pulse generators
- E05Y2400/336—Position control, detection or monitoring by using pulse generators of the angular type
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
- E05Y2400/10—Electronic control
- E05Y2400/32—Position control, detection or monitoring
- E05Y2400/334—Position control, detection or monitoring by using pulse generators
- E05Y2400/34—Pulse count limit setting
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
- E05Y2400/10—Electronic control
- E05Y2400/36—Speed control, detection or monitoring
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
- E05Y2400/10—Electronic control
- E05Y2400/52—Safety arrangements associated with the wing motor
- E05Y2400/53—Wing impact prevention or reduction
- E05Y2400/54—Obstruction or resistance detection
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
- E05Y2400/10—Electronic control
- E05Y2400/52—Safety arrangements associated with the wing motor
- E05Y2400/53—Wing impact prevention or reduction
- E05Y2400/54—Obstruction or resistance detection
- E05Y2400/56—Obstruction or resistance detection by using speed sensors
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- E—FIXED CONSTRUCTIONS
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- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
- E05Y2400/10—Electronic control
- E05Y2400/52—Safety arrangements associated with the wing motor
- E05Y2400/53—Wing impact prevention or reduction
- E05Y2400/54—Obstruction or resistance detection
- E05Y2400/56—Obstruction or resistance detection by using speed sensors
- E05Y2400/564—Obstruction or resistance detection by using speed sensors sensing motor speed
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Type of wing
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Type of wing
- E05Y2900/531—Doors
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Type of wing
- E05Y2900/55—Windows
Definitions
- the present invention relates to a pinch determination device for an opening / closing unit, a vehicle including the device, and a pinch determination method for an opening / closing unit.
- the power window device can open and close the window that is the opening and closing part of the vehicle by operating the switch, but there is a safety device that prevents a large force from being applied when the body is pinched when the window is closed.
- Patent Document 1 Japanese Patent Laid-Open No. 2007-126960 calculates a change amount of the rotation speed based on the current value and the past value of the motor rotation speed, and detects pinching using the change amount. Is described.
- FIG. 21 is a diagram for explaining the configuration of a conventional power window device 90.
- An operation switch 93, a motor drive circuit 94, a motor 95 for each window, a rotary, are connected to a power window control unit 92 connected to a battery 91 of the vehicle.
- Encoders 96, load sensors 97, temperature sensors 98, acceleration sensors 99 are connected.
- the power window control unit 92 outputs a signal to the motor drive circuit 94 so as to supply electric power to the motor 95 provided in the window designated by the input of the operation switch 93, and the motor drive circuit 94 outputs the signal to the motor 95. Supply power.
- the rotary encoder 96 rotates, and the power window control unit 92 inputs a signal from the rotary encoder 96 to obtain the rotational speed of the motor 95 and further calculates the displacement amount of the window opened and closed by the motor 95. , Perform feedback control.
- by comparing the past rotational speed of the motor 95 stored in advance with the current rotational position when pinching occurs, danger can be avoided by, for example, reversely rotating the motor 95. .
- the power window device 90 includes various kinds of sensors such as a load sensor 97, a temperature sensor 98, and an acceleration sensor 99 in order to operate reliably. Sensors are attached and these are used as determination criteria, and using a large number of sensors 97 to 99 has a problem that the number of parts increases. As the number of sensors 97 to 99 increases, the labor required for attaching these sensors 97 to 99 and adjusting the set position increases, and there is a problem that the manufacturing cost increases. In particular, in the case of using a sensor that outputs an analog value, an A / D converter for digital conversion for signal processing is required, which has caused an increase in cost.
- the signal processing performed using the output values of the sensors 97 to 99 becomes more complicated, so that an advanced information processing device such as a microcomputer is used for the power window device 90. It becomes necessary to perform signal processing, and it is necessary to create a program for performing complicated signal processing and input this program. Furthermore, the signal processing by the information processing apparatus not only causes a time delay, but also may cause problems such as runaway due to noise, thereby reducing the operation reliability.
- the rotation speed of the motor 95 of the power window device 90 mounted on the vehicle greatly varies with the variation of the power supply voltage, but the windows are often opened and closed at the same time.
- the power supply voltage is significantly reduced due to the internal resistance of the battery 91, etc., and the rotational speed of each motor 95 may be slow only by that.
- the load of the battery 91 increases due to a device that requires a large current during operation, such as the electric power steering 91R, and the voltage fluctuation becomes so intense.
- the present invention has been made in consideration of the above-mentioned matters, and it is possible to reliably determine pinching without causing malfunction even in a vehicle in which fluctuations in power supply voltage are severe even though the configuration is extremely simple. It is an object of the present invention to provide a pinch determination device for an opening / closing unit, a vehicle including the device, and a pinch determination method for an opening / closing unit.
- a first invention includes a sensor that detects a displacement amount of an opening / closing part of a vehicle that is opened and closed by a motor, a time measuring part that measures a relative time adjusted in accordance with a change in power supply voltage, An opening / closing part pinching determination device is provided, comprising: a pinching determination unit that determines whether a foreign object is pinched in the opening / closing part based on a change in relative speed obtained from a change in the displacement amount based on relative time. (Claim 1)
- the battery which is the power source of the vehicle, not only fluctuates the electromotive voltage depending on the state of charge, but also drops a voltage due to resistance such as electric wires in addition to its internal resistance when a large current is flowing.
- the time measurement unit measures the relative time adjusted according to the fluctuation of the power supply voltage, if this relative time is used as a reference, the influence of the reduction in the rotation speed of the motor accompanying the reduction in the power supply voltage Can be canceled.
- the amount of adjustment of the relative time that is adjusted according to the fluctuation of the power supply voltage can be arbitrarily selected according to the characteristics of the motor.
- the change in the displacement amount based on the relative time is It is conceivable to obtain the relative opening / closing part moving speed (in this specification, this is referred to as relative speed) by calculating the relative time counted while detecting a minute predetermined displacement of the opening / closing part. ).
- the amount of minute displacement that can be detected by the sensor is smaller than the amount of displacement of the opening / closing unit that moves within the relative time, the change in the displacement amount based on the relative time is within the relative time. It is conceivable that the amount of displacement of the open / close portion is obtained as a relative speed.
- the relative time means a time axis adjusted according to the power supply voltage in order to make the change due to the load system constant, and the speed obtained on the time axis of the relative time is the relative speed. It is.
- the threshold used for the determination of relative acceleration can be referred to as a relative acceleration threshold.
- the opening / closing section The relative speed of can always be constant. Therefore, since the relative speed of a motor with the same load does not change when pinching does not occur, a strict threshold value is set unconditionally depending on the relative speed change without performing complicated calculation processing as in the past. Can be determined. Therefore, when pinching occurs regardless of the level of the power supply voltage, this can be detected with almost no impact on the pinched body.
- the pinch detection threshold is changed with respect to the position of the opening / closing part, for example, the pinch detection is made insensitive when the opening / closing part is fully open, and the pinch detection is determined as it approaches the fully closed state. It is also possible to set the threshold of strict so that it reacts sensitively.
- the length of the relative time adjusted with respect to the voltage fluctuation is preferably finely adjusted according to the characteristics of the motor.
- the rotation speed becomes slower. Does not appear greatly, and the length of the relative time may be adjusted almost linearly with respect to the power supply voltage.
- P MVT 2
- the function of the relative speed Vt adjusted so as to receive the same level of impact as an ergonomic human sense (for example, an optimal power product of 1 to 2 of the relative speed Vt) is constant.
- the relative time may be adjusted.
- the pinch determination device for the opening / closing part of the present invention is versatile without selecting a motor.
- the manufacturing cost of the pinching determination device for the opening / closing unit that performs pinching determination with high accuracy can be kept low.
- the reliability is increased accordingly.
- Software that can be executed by the arithmetic processing unit such as a microcomputer as well as the hardware including the processing unit such as an arithmetic circuit for the calculation process of the relative speed and / or the determination process for determining the pinching from the change in the relative speed It goes without saying that the processing may be performed in a distributed manner by a plurality of processing units connected by communication means.
- the opening / closing section in this specification is not only a glass window provided on the side surface of the vehicle, but also a roof window and a rear window provided on the roof portion of the vehicle. It may be a tailgate or a trunk room door provided behind the vehicle.
- the sensor detects the amount of displacement of the opening / closing part.
- a rotary encoder provided in the motor can be configured as simple as possible, so that the manufacturing cost can be reduced.
- An encoder that generates a single-phase pulse by directly detecting the displacement of the part itself, a signal processing circuit that generates a pulse equivalent to a pulse encoder using a voltage or current ripple supplied to the motor, and an analog signal output By using a potentiometer such as a linear displacement sensor, the current position can be accurately determined.
- the sensor is a potentiometer, it may be combined with an AD converter to obtain a digital signal indicating the current position of the opening / closing unit.
- the current position of the opening / closing unit can be obtained by integrating measured values of the rotation angle. Further, the obtained position information of the opening / closing unit may be stored in a non-volatile memory such as an EEP-ROM when the power is turned off, and read out from the non-volatile memory again when the power is turned on, so that the information is held even in the power-off state. .
- the non-volatile memory in the present invention means a memory that retains stored contents even when the stored power is turned off, and is a volatile memory that becomes non-volatile by being backed up by a secondary power source such as a battery or a large-capacity capacitor. RAM). Further, the accumulated position information accumulated at the time of power-off may be held by backing up an accumulation circuit for accumulating the current position by the secondary power source.
- the time measuring unit is a voltage-controlled oscillator that transmits a reference pulse having a frequency lowered due to a decrease in power supply voltage
- the pinching determination unit is a reference pulse count value measured while the sensor detects a minute displacement of the opening / closing unit.
- the relative time of the opening / closing part is used as the relative speed of the opening / closing part, and when the change is equal to or greater than the threshold value (claim 2), the relative time can be measured by the period of the reference pulse, This can be used as a ruler.
- VCO voltage controlled oscillator
- FIG. 22 is a diagram showing the relationship between the power supply voltage and the rotation speed of the motor.
- the horizontal axis represents the power supply voltage of the battery
- the vertical axis represents the reference pulse count and VCO measured while the opening / closing part is slightly displaced. It is a figure which shows an oscillation frequency.
- the oscillation frequency of the reference pulse is fixed as shown by reference symbol A
- the number of rotations of the motor is low, so that the time for detecting the minute displacement of the opening / closing part becomes long.
- the number of reference pulses counted in the meantime is large, and the higher the power supply voltage, the higher the number of rotations of the motor.
- the relationship shown by the reference C becomes the square of the relative speed Vt as shown by the reference D. It is more preferable to adjust so that. In addition, if there is a more ergonomic relationship, it can be adjusted so that the function of the relative speed Vt becomes constant.
- the pinching determination unit includes an adjustment circuit that measures the magnitude of the current flowing through the motor and finely adjusts the relative time according to the magnitude of the current (Claim 3)
- the magnitude of the current flowing through the motor Is measured by a current measuring unit, for example, and by adjusting the relative time in the direction of increasing the relative speed in accordance with the magnitude of the current, the fluctuation of the rotational speed due to the fluctuation of the current flowing through the self-motor is taken into consideration. It can be corrected.
- the sensor is a pulse generator that generates a one-phase pulse by the rotation of a motor, and includes a closed position detection switch that detects a closed state of the open / close unit and its vicinity, and the pinch determination unit has a current position in the vicinity of a reference position
- the direction determination can be performed based on the polarity of the power supply voltage to the motor, and the minuteness of the opening / closing part required by the pulse generator provided in the motor It is possible to obtain the current position of the opening / closing part by integrating the displacement.
- the position of the opening / closing part can be adjusted to the reference position by detecting the closed position by the closed position detection switch and the current position can be calculated from the direction determination and the displacement amount, when the current position is in the vicinity of the reference position It is determined whether or not this is to be pinched by the closed position detection switch, and pinch determination can be performed only when it is not near the reference position.
- the closed position detection switch detects that the opening / closing part is at the reference position, it is generally possible to use an expensive Hall IC (a magnetic field detection switch which is an example of a proximity magnetic sensor using the Hall effect) without using an expensive Hall IC.
- a limit switch may be used.
- a limit switch that can detect disconnection is required instead of the number of pulses, so the closed position detection switch can output a gray code of 2 bits or more. It is preferable.
- the closed position detection switch may be a linear displacement sensor having an analog element such as a variable resistor that varies depending on the position of the opening / closing part near the reference position.
- the configuration is such that the pinching determination is not performed when it is detected by the closing position detection switch that the position is close to the reference position of the opening / closing part, the current position of the opening / closing part is stored, or the output of the opening / closing part is Since it is not necessary to calculate the current position, the circuit of the pinch detection device for the opening / closing part is simplified accordingly.
- the pinching determination can be performed locally and the wiring is simplified accordingly.
- the pulse generator is a signal processing circuit that generates a pulse in accordance with the rotation angle of the motor by extracting a ripple generated in the voltage or current supplied to the motor (Claim 5)
- the motor is a rotary encoder
- the rotation angle of the motor can be detected and the displacement amount of the opening / closing part can be calculated accordingly, so that the manufacturing cost can be reduced accordingly.
- the pinch determination unit is a unit that is interposed in a circuit between the open / close operation switch of the open / close unit and the motor, and includes a power supply connection unit for measuring the voltage of the circuit power supply and a motor connection unit (claim). In 6), this unit can be easily attached to an existing switching control device.
- a second aspect of the present invention is an opening / closing part control device that includes the opening / closing part pinching determination device according to the first aspect of the present invention, performs pinching determination when closing the opening / closing part, and slightly releases the opening / closing part when the pinching is determined.
- a vehicle provided.
- the vehicle performs a more strict pinching determination, and when the pinching occurs, the opening / closing part can be slightly opened.
- the shock given to the body etc. when pinching occurs can be kept constant, so it is extremely safe Yes.
- the pinch detection threshold is changed with respect to the position of the opening / closing part, for example, the pinch detection is made insensitive when the opening / closing part is fully open, and the pinch detection is determined as it approaches the fully closed state. It is also possible to set the threshold of strict so that it reacts sensitively.
- a third invention is a pinching determination method for determining pinching in an opening / closing part of a vehicle that opens and closes by rotation of a motor, and detects a displacement amount according to the movement of the opening / closing part and becomes long according to a power supply voltage by an arithmetic unit.
- An opening / closing part pinching determination method characterized by determining a relative speed change from the amount of displacement with a relative time adjusted as described above as a rule and comparing the relative speed change with an acceleration threshold value to determine whether a foreign object is pinched. provide. (Claim 8)
- the relative speed change is obtained using a relative time adjusted according to the power supply voltage by a calculator as a rule, even if the number of rotations of the motor fluctuates due to fluctuations in the power supply voltage, the speed obtained using this relative time as a rule is It can be relatively constant. Therefore, it is possible to perform the pinching determination more reliably by setting the acceleration threshold for pinching determination with respect to this relative speed.
- the calculation of the relative acceleration change and the comparison with the acceleration threshold can be easily performed using a calculator, a comparator, or the like.
- the motor is reversely rotated in a direction in which the opening / closing part is slightly opened.
- a voltage-controlled oscillator is used to generate a low-frequency oscillation signal as the power supply voltage decreases, and the relative time is measured by the period of this oscillation signal, and counted while the opening / closing part is displaced by a minute predetermined displacement amount.
- the relative acceleration is obtained by the reciprocal of the number of oscillation signals (Claim 9)
- VCO voltage controlled oscillator
- the time can be reliably obtained by the period of the transmission signal (or a constant multiple thereof).
- the relative time is finely adjusted so as to increase as the current flowing through the motor increases (Claim 10)
- the relative time can be corrected in consideration of minute fluctuations due to the current flowing through the motor. .
- the closed state of the opening / closing part is detected by the gray code of the closing position detection switch, the position of the opening / closing part is adjusted to the reference position by detecting the closing position, the direction is determined by the polarity of the voltage supplied to the motor, and the decoder provided in the motor
- the current position is calculated by counting pulses generated with the rotation of the motor and the pinching determination is performed only when the current position is not in the vicinity of the reference position (Claim 11)
- only the closed position detection switch is used. Therefore, it is not necessary to use an expensive magnetic sensor, and the manufacturing cost can be reduced accordingly. Since the pinch determination of the opening / closing part can be accurately performed by a simpler method, it is not necessary to communicate the current position of the opening / closing part with an ECU for controlling the opening / closing part, and local processing can be performed.
- the rotational speed of the motor that drives the opening / closing part of the vehicle to increase / decrease due to fluctuations in the power supply voltage of a battery or the like mounted on the vehicle
- the change (relative speed) of the displacement amount of the opening / closing part based on the adjusted relative time is not affected by the voltage fluctuation, and the inclusion of the foreign object can be reliably detected by the change of the relative speed.
- FIG. 10 is a diagram for explaining the operation of the pinch determination device for the opening / closing unit, 10 (A) for explaining the backup operation, and 10 (B) for explaining the restore operation.
- FIG. 10 is a diagram for explaining the operation of the pinch determination device for the opening / closing unit, 10 (A) for explaining the backup operation, and 10 (B) for explaining the restore operation.
- 11 is a diagram for explaining the operation of the pinch detection device of the opening / closing section in comparison with the conventional method
- 11 (A) to 11 (C) show the speed detection method of the conventional method
- 11 (D) to 11 (F ) Is a diagram showing a relative speed detection method according to the present invention. It is a figure which shows the whole structure of the clamping determination apparatus of the said opening / closing part. It is a figure which shows the modification of the clamping determination apparatus of the said opening / closing part. It is a figure which shows the opening / closing part control apparatus which attached the clamping determination apparatus of the opening / closing part of 3rd Embodiment.
- FIG. 1 It is a figure which shows the clamping determination apparatus of the said opening / closing part, and the clamping determination method of an opening / closing part. It is a figure explaining the fully closed operation in the state where a power supply voltage is high. It is a figure explaining the fully closed operation in the state where a power supply voltage is low. It is a figure which shows the opening / closing part control apparatus which attached the clamping determination apparatus of the opening / closing part of 4th Embodiment. It is a figure explaining the structure of the clamping determination apparatus of the said opening / closing part. It is a figure which shows the example of the signal processing of the clamping determination apparatus of the said opening / closing part. It is a figure explaining the structure of the conventional power window apparatus. It is a figure which shows the relationship between a power supply voltage and the rotational speed of a motor.
- FIG. 1 shows a vehicle 2 equipped with a pinch detection device 1 for an opening / closing part of the present invention.
- the vehicle 2 is provided with slide doors 3A on both side surfaces of the rear part, and in addition to the front driver seat side door and the passenger seat side door, the rear left and right slide doors 3A are respectively provided with windows 3B.
- the roof is provided with a roof window 3C that can be opened and closed.
- the sliding door 3A is configured to be displaceable in the left-right direction
- the window 3B is displaceable in the up-down direction
- the roof window 3C is displaceable in the front-rear direction.
- the pinch detection device 1 for the opening / closing part of the present embodiment includes sliding door control, power window control, sunroof control (sunroof window opening / closing control), power tailgate control (tailgate opening / closing control), power trunk control (trunk room Each ECU (Electronic Control Unit) that performs open / close control is provided.
- the ECU equipped with the opening / closing part pinching determination device 1 instantaneously determines this pinching when the passenger has caught a body or the like in the opening / closing part 3, and the opening / closing part 3 is slightly opened. Or drive to release the pinching.
- the electromotive voltage fluctuates depending on the amount of charge, and when a large current flows through another electric load, the power supply voltage greatly fluctuates due to the internal resistance of the battery Bat, electric wires or other resistance loss, Since the power supply voltage is about 8 to 15 V, the operating speed may be significantly reduced when the opening and closing parts 3 are simultaneously opened and closed. It is possible to more accurately determine the pinching without being affected by a decrease in the operating speed of the opening / closing unit 3 due to voltage fluctuation.
- the vehicle 2 provided with the window pinching determination device 1 of the present embodiment is excellent in safety by determining pinching with less impact even if the user accidentally pinches the body between the opening and closing part 3. Therefore, the user can use the vehicle 2 with peace of mind.
- the details of the pinching determination device 1 of the opening / closing part and the details of the pinching determination method of the opening / closing part will be described later.
- FIG. 2 is a diagram showing a configuration of a power window device 10 that controls opening and closing of the window 3B as an example of an opening and closing unit control device to which the opening and closing unit pinching determination device 1 is attached.
- the power window device 10 various configurations are conceivable, but in this embodiment, the guide rail 11 whose longitudinal direction is vertical and fixed to the door can be moved up and down along the guide rail 11.
- a sliding body 12 supporting the lower end of the window 3B, a wire 14 wound around a pulley 13 disposed above and below the guide rail 11 and partially connected to the connecting portion 12A of the sliding body 12,
- a motor 15 that supplies power for opening and closing the window 3B by rotating the wire 14 and a power window control function for controlling the opening and closing of the window 3B by supplying power to the motor 15 and rotating it forward and backward.
- the ECU 16 includes an opening / closing operation switch 17 that allows the user to input an opening / closing operation.
- the pinch determination device 1 of the opening / closing part of the present invention may operate independently of the ECU 16 having the power window control function, and in this case, the ECU 16 can be omitted.
- the opening / closing operation switch 17 includes four buttons 17A respectively corresponding to the left and right windows 3B on the front and rear sides. That is, although not shown in order to simplify the drawing, each of the four windows 3B... Is formed with the respective members 11 to 15 and the pinch detection device 1 of the opening / closing part, and each window 3B. Can be operated separately. For this reason, when the operator operates all the buttons 17A at the same time, the motors 15 of all the windows 3B ... rotate at the same time, and the load applied to the battery Bat increases, so the power supply voltage drops. As a result, the rotational speed of each motor 15 becomes slow.
- FIG. 3 is a diagram for explaining the configuration of the opening / closing part pinching determination device 1 according to the present embodiment, thereby explaining the pinching determination method of the opening / closing part.
- the motor 15 generates an A-phase pulse Pa and a B-phase pulse Pb whose phases are different by 90 degrees by rotation thereof, thereby outputting a 2-bit gray code to detect a displacement amount of the window 3B.
- Encoders 15A and 15B are provided.
- Reference numeral 20 denotes a direction / position detection unit that detects the rotation direction and rotation angle by these pulses Pa and Pb and detects the position of the window 3B by integration thereof
- 21 denotes a voltage measurement unit that measures the power supply voltage Vb
- 22 flows to the motor.
- a current measuring unit 23 that measures the motor current Im is a voltage-controlled oscillator that oscillates a reference pulse Pm having a frequency reduced by a decrease in the power supply voltage Vb (the period of this pulse becomes a relative time for calculating the relative speed).
- VCO time measuring unit
- 24 measures the time during which the window 3B is slightly displaced by the rise of the A-phase pulse Pa, and counts the number of the reference pulses Pm during this time.
- a relative acceleration threshold value setting unit for setting a threshold value 26 is a comparison unit for performing pinching determination by comparing the relative acceleration and the acceleration threshold value, and 27 is a time when it is determined that pinching has occurred by the comparator and This is a logic operation unit that outputs a pinching determination signal Out when the direction / position detector 20 determines that it is not immediately before closing in the closing direction of the window 3B.
- the comparison unit 26 and the logical operation unit 27 are pinching determination units that determine whether a foreign object has been pinched.
- the ECU 16 includes a processing unit 16A that outputs an opening / closing signal S1 to the window 3B in accordance with the operation of the button 17A, and a driver 16B that supplies electric power to the motor 15 in a direction controlled by the opening / closing signal S1.
- the processing unit 16A when the pinching determination signal Out is output from the logic operation unit 27, reverses the rotation direction of the motor 15 to slightly reverse the pinching state (in this embodiment, the reverse rotation control unit R1). This is realized by executing the reverse rotation processing program by the processing unit 16A, and drives the window 3B in the opening direction for several hundred milliseconds to several seconds after the determination signal Out is input. .
- FIG. 4 is a diagram illustrating a more detailed configuration of the pinch determination device 1 of the opening / closing unit.
- the processing unit 16A inputs a window control unit P that generates a control signal to the opening and closing unit in accordance with the operation of the button 17A, and measures the time of several hundred to several seconds by inputting the pinching determination signal Out.
- a timer Ra and a reverse rotation portion Rb for driving the window 3B in the opening direction while the timer Ra measures the time are provided.
- the direction / position detection unit 20 uses a phase difference between the pulses Pa and Pb to determine the rotation direction d of the motor 15 and the pulse Pa in the forward and reverse directions indicated by the rotation direction d. And a current position detection unit 20B that detects the current position L of the opening / closing unit 3B by integrating the counted values.
- the current position detection unit 20B takes a backup of the current position (position information) of the counting unit 3B when the power supply to the pinch determination device 1 of the switching unit is interrupted, and when the power supply is resumed.
- a non-volatile memory M for recovering position information using the backup 8 is provided.
- the VCO 23 includes an adjustment circuit 23A that finely adjusts the cycle (relative time) of the reference pulse Pm in accordance with the magnitude of the current Im measured by the current measuring unit 22.
- the acceleration threshold value setting unit 24 counts the reference pulse Pm for each cycle of the pulse Pa, thereby obtaining a counter 24A for obtaining the reciprocal (1 / Vt) of the relative speed Vt, and an output (1 / Vt) of the counter 24A.
- a subtraction processing unit 24D for obtaining a change in relative speed (1 / Vt) for ⁇ t seconds (this is referred to as relative acceleration a in the following specification).
- the moving average calculators 24B and 24C may calculate the moving average after first converting the output (1 / Vt) of the counter 24A into the relative speed Vt. That is, it can be said that the relative acceleration a is a change in the relative speed Vt within the minute time ⁇ t regardless of whether it is an inverse number or not.
- the relative acceleration threshold value setting unit 25 adjusts the threshold value according to the position information L. That is, the relative acceleration threshold is adjusted so that the relative acceleration threshold is insensitive when the window 3B is close to full open, and the threshold is determined to be more sensitive as the window 3B approaches full close.
- the relative acceleration threshold when the user's arm or face is pinched when the window 3B is closed, the pinch can be detected quickly only by a speed change that does not cause the user to feel an impact, In a state where the window 3B is almost fully open, it is possible to prevent the pinching from being determined only by generating a slight resistance.
- the reference pulse Pm is output using the measured value of the power supply voltage Vb by utilizing the VCO 23, and the relative time indicated by one period of the reference pulse Pm is taken as a rule to determine the displacement amount of the window 3B.
- the relative speed can be stabilized without being affected by fluctuations in the power supply voltage Vb, as indicated by reference numeral C in FIG. Therefore, accurate pinching determination can be performed by determining the pinching of the foreign matter using the change in relative speed, that is, the relative acceleration.
- the power supply voltage Vb is lowered when a large current flows through the electric load Ld, but the pinching determination is not affected by this.
- FIG. 5 is a diagram showing an example of signals at various parts when the motor 15 rotates at a high speed when the power supply voltage Vb is 15 V.
- FIG. 6 shows a case where the motor 15 operates at a low speed when the power supply voltage Vb is 10 V. It is a figure which shows the example of the signal of each part in the case of rotating by. 5 and 6, the graphs indicated by reference numerals 30 and 31 are values obtained by counting the number of the reference pulses Pm during a minute time measured by one period of the A-phase pulse Pa. Means the reciprocal (1 / Vt) of the relative speed Vt.
- ⁇ 1 and ⁇ 2 are one cycle of the pulse Pa
- C1 and C2 are count values of the reference pulse Pm counted during the one cycle ⁇ 1 and ⁇ 2
- Ap1 and Ap2 are approximate curves that smooth the count values C1 and C2.
- Vr1 and Vr2 indicate the difference between the count values (reciprocal of relative speed 1 / Vt, 1 / (Vt ⁇ t)) C1 and C2 during one cycle of the pulse Pa.
- the slopes of the approximate curves Ap1 and Ap2 seem to be different, but the differences Vr1 and Vr2 between one cycle ⁇ 1 and ⁇ 2 of the pulse Pa are almost the same, and this is taken as the relative acceleration.
- each of the members 20 to 27 can be easily formed by simple hardware, not only can the manufacturing cost be reduced, but also signal processing can be performed instantaneously and affected by noise and the like. In this way, it is possible to stabilize the operation of the pinch detection device 1 at the opening / closing part.
- each of the units 20 to 27 may be realized by a program that can be executed by the arithmetic processing unit in the power window control ECU 16.
- FIG. 7 and 8 are diagrams showing examples of the wavelength (relative time) of the reference pulse Pm adjusted in accordance with the magnitude of the current Im flowing through the motor 15.
- Pm2 is an adjustment circuit 23A due to the current Im flowing through the motor 15.
- the output pulse of the VCO 23 T1 is a relative time consisting of one cycle of the output pulse Pm1
- T2 is a relative time consisting of one cycle of the output pulse Pm2.
- T2 T1> T1
- the relative times T1 and T2 can be adjusted in the direction of increasing the relative speed. Even if the rotational speed fluctuates due to this, the fluctuation can be corrected.
- FIG. 9 is a diagram illustrating a configuration of the pinch determination device 40 of the opening / closing unit according to the second embodiment
- FIGS. 10 and 11 are diagrams illustrating the operation of the pinch determination device 40.
- the portions denoted by the same reference numerals as those in FIGS. 1 to 8 are the same or equivalent members, and thus detailed description thereof is omitted.
- the pinch detection control of each open / close section 3 is configured to be collectively controlled by the vehicle body control ECU, the motor detection pulse necessary for the control and the power supply voltage closest to the motor 15 are transmitted to the vehicle body control ECU.
- the pulse detection error, the actual voltage value, and the read A / D conversion value are affected by the influence of wiring impedance and external noise. In addition to the above error, there were problems such as an increase in body harness.
- an inexpensive communication logic IC is mounted on each open / close unit 3, and a method of transmitting the motor 15 detection pulse necessary for control and the power supply voltage closest to the motor 15 to the vehicle body control ECU by serial communication is also conceivable.
- Inexpensive logic ICs do not have an A / D converter, so an external A / D converter and interface are required, resulting in increased component costs and cost reduction by eliminating the need for a microcomputer. The effect of will fade.
- a non-volatile memory is mounted on the logic IC for backup of the current position when the power is turned off, there is a problem that the cost further increases.
- the second embodiment has been made paying attention to such a conventional problem, and the purpose thereof is to perform the pinch detection control of the vehicle opening / closing unit 3 collectively by the vehicle body control ECU, and each opening / closing unit.
- the present invention provides a control device for an opening / closing section that is equipped with an inexpensive communication logic IC and does not require an A / D converter, instead of requiring the dedicated microcomputer 3.
- the sandwiching determination device 40 for the opening / closing section includes an opening / closing section control unit 40 ⁇ / b> A disposed in the immediate vicinity of the motor 15 disposed in each opening / closing section 3 of the vehicle 2, and the opening / closing section control unit. And a vehicle body control ECU 40B that is connected to 40A and performs centralized control of pinching determination.
- the sensors 15A and 15B are rotation detecting means (rotary encoder) that outputs a pulse synchronized with the rotation of the motor 15, and the time measuring unit 23B converts the fluctuation of the power supply voltage in the immediate vicinity of the motor 15 into a relative change in frequency.
- Voltage-frequency conversion means (VCO) for outputting the reference pulse Pm generated in this manner.
- the opening / closing unit control unit 40A includes a one-chip logic IC 43 including a calculation unit 41 and a sensor-side communication unit 42.
- the calculation unit 41 uses the reference pulse Pm as a count clock to control the rotary encoders 15A and 15B.
- a speed detection unit 41A that calculates the relative speed Vt of the opening / closing unit 3 from the output pulses Pa and Pb, a movement direction detection unit 41B that determines a movement direction (motor rotation direction) d from the output pulses Pa and Pb, and an output pulse Pa , Pb to obtain a current position L, and a current position detector 41C.
- the sensor side communication unit 42 performs DC power line communication (DC-PLC: Power Line Communication), and a transmission unit 42T for superimposing the information Vt, d, L on the power line 44 of the logic IC 43;
- a receiving unit 42 ⁇ / b> R that receives control signals C and L superimposed on the power supply line 44. That is, in this embodiment, the power line 44 functions as a communication line.
- the vehicle body control ECU 40B performs the pinching determination based on the control-side communication unit 45 that can receive the relative speed Vt while being connected to the sensor-side communication unit 42 by the communication line 44, and the received change in the relative speed Vt.
- a pinch determination unit 46 is provided.
- Reference numeral 47 denotes a current position storage unit (nonvolatile memory) that performs backup by storing the current position L of the opening / closing unit 3 received via the control side communication unit 45.
- FIG. 10 is a diagram for explaining the operation of the pinch determination device 40 for the opening / closing part in the present embodiment.
- the ignition is turned off as a trigger (step Sb1)
- the current position detection unit 41C transmits the current position L via the sensor side communication unit 42
- the control side communication unit 45 A backup operation for storing the received current position L in the nonvolatile memory 47 is performed (step Sb2), and the backup operation is terminated (step Sb3), so that the current position L is backed up in the nonvolatile memory 47 while the ignition is off. be able to.
- the current position L is always transmitted by the current position detection unit 41C.
- the backup operation in step Sb2 always stores the currently received current position L when the ignition is turned off. Further, backup of the current position L is performed by a non-volatile memory 47 (not shown).
- the non-volatile memory 47 may be a volatile memory that is always energized.
- step Sr1 the ignition-on is triggered as a trigger (step Sr1), and the current position L stored in the nonvolatile memory is transmitted via the control-side communication unit 45 and the sensor-side communication unit 42.
- the current position L received by the current position detector 41C is restored to perform a restore operation (step Sr2), and the restore operation can be terminated (step Sr3).
- each opening / closing unit control unit 40A does not need to hold the current position L, and the configuration of the opening / closing unit control unit 40A is simplified accordingly. can do.
- FIG. 11 compares the relative speed Vt output from the opening / closing part control unit 40 with the speed measured by the conventional method.
- FIG. 11A shows a state in which the voltage supplied to the motor 14 is in a normal state.
- 11B shows measured values of the speed of the conventional method when the voltage supplied to the motor 14 is high
- FIG. 11C shows the measured value of the speed of the conventional system when the voltage supplied to the motor 15 is low
- FIG. 11 (E) shows the relative speed when the voltage supplied to the motor 14 is high
- FIG. 11 (F) shows the measurement of the relative speed when the voltage supplied to the motor 15 is low. It is a figure which shows a value.
- the reference pulse Pm generated by converting the fluctuation of the power supply voltage closest to the motor into a relative change in frequency is used as the count clock from the output pulse Pa (or Pb) of the rotation detecting means 15A, 15B to the opening / closing unit 3.
- the count number of the reference pulse Pm counted in one cycle (or half cycle) of the output pulse Pa is the reciprocal of the relative velocity Vt.
- the number of counts obtained by using the reference pulse Pm is a constant of 10 counts even if the rotation speed of the motor 15 changes with the fluctuation of the power supply voltage. Value.
- the clock Clk transmitted at a constant frequency is used as a reference, the speed varies with the variation of the power supply voltage. In the present embodiment, further simplification is achieved by using the count number as the relative speed Vt.
- the vehicle body control ECU 40B obtains the relative speed Vt based on the count number, so that the change in the rotation speed of the motor 15 due to the influence of the fluctuation of the power supply voltage can be cancelled. It is possible to accurately determine the pinching from the speed change.
- the pinching determination unit 46 since the current position L and the moving direction d of the opening / closing unit 3 can be received, the pinching determination unit 46 has a relative speed Vt in the position and moving direction d of the opening / closing unit 3 in which foreign objects may be pinched. When this occurs, it is possible to immediately determine that the jamming has occurred and transmit a control signal C for reversing the motor 15 to the opening / closing part control unit 40A of the opening / closing part 3.
- the opening / closing unit control unit 40A that has received the control signal C can send it to the driver 16B to drive the motor 15 in reverse. That is, since the occurrence of pinching can be immediately detected and the opening / closing part 3 can be moved in the reverse direction, the pinched foreign matter can be safely removed. Further, all communication between the opening / closing part control unit 40A and the vehicle body control ECU 40B is a digital signal, and since there is no need to perform analog conversion, there is almost no influence from disturbance noise, and no malfunction can be achieved. In addition, it is not necessary to use an A / D converter, and the manufacturing cost of each open / close unit control unit 40A can be reduced as much as possible.
- FIG. 12 is a diagram showing a configuration of the entire vehicle 2 by the pinch detection device 40 for the opening / closing part of the present embodiment.
- one vehicle body control ECU 40B is connected to a plurality of opening / closing part control units 40A, and each opening / closing part control unit 40A is connected to the motor 15 of the corresponding opening / closing part 3.
- the signals communicated between each opening / closing unit control unit 40A and the vehicle body control ECU 40B are all the same signals Vt, d, L, and C, and the pinch determination unit 46 uses an information processing device (microcomputer) as an arithmetic processing unit.
- the non-volatile memory 47 has only to store the current positions L of all the open / close units 3 in one memory, the configuration can be simplified.
- FIG. 13 is a view showing a modification of the second embodiment. 13 is different from that shown in FIG. 9 in that a current position storage unit 47 ′ is provided on the opening / closing unit control unit 40A side, and the current position storage unit 47 ′ is backed up by a battery Bat (that is, non-volatile). Memory).
- a battery Bat that is, non-volatile. Memory
- the sensor outputs the rotation detection means 15A.15A that outputs the pulses Pa and Pb synchronized with the rotation of the motor 15. 15B
- the time measuring unit is a voltage-frequency conversion means 23B that outputs a reference pulse Pm generated by converting a fluctuation in the power supply voltage closest to the motor 15 into a relative change in frequency, and the reference pulse Pm
- the sensor side communication unit 42 that calculates and transmits the relative speed Vt of the opening / closing unit 3 from the output pulses Pa and Pb of the rotation detection means 15a and 15b as a count clock, and is connected to the sensor side communication unit 42 by the communication line 44.
- the control side communication unit 45 capable of receiving the relative speed Vt in a state, and the pinch determination unit 46 performs the pinch determination based on the received change in the relative speed Vt.
- the vehicle speed control ECU 40B transmits the corrected relative speed Vt and the current position L of the opening / closing section 3 to the vehicle control ECU 40B. By performing the write detection control, it is possible to reduce the cost of the dedicated microcomputer or external A / D converter as required.
- the pinch determination unit 46 provided in one vehicle body control ECU 40B is connected to the plurality of rotation detection units 15a and 15b and the voltage-frequency conversion unit 23B via the communication line 44, and pinching in the plurality of opening / closing units 3 is performed.
- information on a plurality of opening / closing sections 3 of the vehicle 2 is sent from the logic IC 43 having a communication function to the vehicle body control ECU 40B, and the jamming detection control of all the opening / closing sections 3 is performed by one unit.
- the centralized control by the vehicle body control ECU 40B eliminates the need for a dedicated microcomputer for each open / close unit 3, and thus further reduces the cost.
- the sensor-side communication unit 42 and the control-side communication unit 45 perform DC power line carrier communication using a power line as a communication line by superimposing a signal on the power line 44,
- the connection of the opening / closing part control unit 40A is simplified, and not only can the manufacturing cost be reduced, but also the construction of wiring and the like is facilitated.
- a current position detection unit 41C that obtains a current position L of the opening / closing unit 3 by counting the pulses Pa and Pb is provided, and the current position detection unit 41C determines the current position L as the sensor side when the ignition is turned off.
- a current position storage unit 47 that stores the current position L received via the control side communication unit 45 in a nonvolatile memory is provided. The current position stored in the non-volatile memory is transmitted via the control side communication unit 45, and the current position detection unit 41C is based on the information received via the sensor side communication unit 42.
- the opening / closing section control unit 40A includes a current position detection section 41C that obtains the current position L of the opening / closing section by counting the pulses Pa and Pb.
- the current position detection section 41C is non-volatile by energization even when the ignition is off.
- the current position L is backed up by the memory 47 ′ provided with the current position L, the current position L can be backed up by supplying power only to the minimum required memory 47 ′ in each opening / closing unit control unit 40A.
- FIG. 14 is a diagram showing an example in which the opening / closing unit pinching determination device 50 according to the third embodiment is provided in the power window device 10, and FIG. 15 is a diagram showing a detailed configuration of the pinching determination device 50 of the opening / closing unit. 17 is a diagram for explaining the operation of the pinch determination device 50 of these opening / closing sections.
- the portions denoted by the same reference numerals as those in FIGS. 1 to 13 are the same or equivalent members, and thus detailed description thereof is omitted.
- 16C is an operation signal output unit that outputs an opening / closing operation signal for the window 3B in accordance with an operation input of the operation switch 17A, and 51 is used to detect the closed state of the window 3B using a contact portion 52 provided on the wire 14.
- Closed position detection switch (limit switch) that outputs a limit signal Lm using a 2-bit gray code
- 53 is an encoder that is provided in the motor 15 and outputs a one-phase pulse Pc
- 54 is a reference point position using the limit signal Lm.
- Reference point position detection unit 55 for detecting the relative acceleration Vt is a relative acceleration calculation unit for obtaining the relative velocity Vt of the window 3B from the pulse Pc and the reference pulse Pm.
- the relative acceleration calculator 55 can also determine the direction based on the pulse Pc and the polarity of the voltage supplied to the motor 15 and calculate the current position by counting the reference pulse Pm.
- the pinching determination device 50 for the opening / closing portion having the above-described configuration can detect the closed state of the window 3B and the vicinity thereof by the closing position detection switch 51, the pinching determination is not performed when the window 3B is in the vicinity of the closed state. Thus, it is possible to perform the pinching determination only when the current position of the window 3B is not in the vicinity of the reference position.
- the closing position detection switch 51 outputs a limit signal Lm using a 2-bit gray code, disconnection can be detected, so that the origin position can be detected more reliably.
- the closed position detection switch 51 may be an analog potentiometer.
- the pinch determination device 50 for the opening / closing part of the present embodiment can perform the closing position detection switch 51 that the window 3B is in the close position and its vicinity, the pinch determination device 50 for the opening / closing part is the upper information processing. Since it is not necessary to input the position of the window 3B from the apparatus, local processing can be performed.
- FIG. 16 is a diagram showing an example of signals of each part when the opening / closing part 3b is closed when the motor 15 rotates at high speed when the power supply voltage Vb is 15V
- FIG. 17 shows the signal of the power supply voltage Vb of 10V.
- the graphs indicated by reference numerals 56 and 57 are values obtained by counting the number of the reference pulses Pm indicating the relative time during one period of the pulse Pc
- Lma and Lmb are 2-bit values. This is the limit signal Lm.
- the window 3B When the window 3B is in the closed state and in the vicinity thereof by the limit signal Lm, the window 3B can be completely closed by not performing the pinching determination.
- the fully closed state may be detected by detecting the closed end of the window 3B by the closed position detection switch 41.
- FIG. 18 is a diagram showing an example in which the opening / closing unit pinching determination device 60 according to the fourth embodiment is provided in the power window device 10
- FIG. 19 is a diagram showing a detailed configuration of the pinching determination device 60 of the opening / closing unit
- FIG. It is a figure which shows the ripple which arises in the electric current Ir which flows into the motor 15 by rotation of the motor 15.
- FIGS. 18 to 20 the portions denoted by the same reference numerals as those in FIGS. 1 to 17 are the same or equivalent members, and detailed description thereof will be omitted.
- 16D is a motor drive circuit that supplies electric power Pw that drives the motor 15 in accordance with an operation input of the operation switch 17A, and 61 is connected to the motor drive circuit 16D and extracts a ripple generated in the current Im flowing through the motor 15.
- a signal processing circuit 62 comprising a filter circuit that generates a pulse Pc equivalent to the pulse encoder in accordance with the rotation angle of the motor 15, 62 confirms the polarity of the power Pw supplied from the output of the motor drive circuit 16D
- the direction / position detection circuit for checking the rotation direction of the motor 15 and calculating the current position L of the window 3B by counting the output pulses Pc of the signal processing circuit 61, and 63 indicates the reference pulse Pm and the current position L.
- the relative accelerometer computing units 63 and 64 that calculate relative acceleration using the pinch judgment are performed.
- a reverse rotation control section for moving the reverse rotation is allowed by the window 3B the rotation by the motor 15 a predetermined time in an opening direction when it is.
- 65 is a power supply connection part connected to a power supply
- 66 is a switch connection part connected to the motor drive circuit 16D
- 67 is a motor connection part for connecting the motor 15. That is, the window pinching determination device 60 according to the present embodiment is unitized by the connecting portions 65 to 67 and is interposed between the operation switch 17A and the motor 15, thereby determining the window pinching determination for the existing window 3B. It can be carried out. Since the motor 15 does not require a pulse encoder, the pinch determination device 60 for the opening / closing part can be easily attached to an existing vehicle.
- a pinch determination device for an opening / closing part cancel the fluctuation of the motor rotation speed due to the voltage fluctuation, and then pinch by the amount of change in the motor rotation speed. Therefore, with a very simple circuit configuration and / or software processing, the motor rotation speed change due to voltage fluctuation is not erroneously detected as foreign object pinching, and the pinching determination can be performed reliably. Used for opening and closing parts of vehicle windows, sliding doors, roof windows and the like.
- Opening / closing section pinching determination device 2 Vehicle 3 Opening / closing section 3A Sliding door 3B Window 3C Roof window 10
- Power window device (opening / closing section control device) 15
- Motor 15A Sensor (encoder) DESCRIPTION OF SYMBOLS
- Opening / closing part control apparatus 17
- Operation switch 22 Adjustment circuit 23 Voltage control oscillator 51 Closed position detection switch 61
- Signal processing circuit 65 Power supply connection part 67 Motor connection part Vb Power supply voltage T1, T2 Relative time
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Abstract
Description
2 車両
3 開閉部
3A スライドドア
3B 窓
3C ルーフ窓
10 パワーウィンドウ装置(開閉部制御装置)
15 モータ
15A センサ(エンコーダ)
16 開閉部制御装置
17 操作スイッチ
22 調整回路
23 電圧制御発振器
51 閉鎖位置検出スイッチ
61 信号処理回路
65 電源接続部
67 モータ接続部
Vb 電源電圧
T1,T2 相対時間
Claims (11)
- モータにより開閉する車両の開閉部の変位量を検出するセンサと、電源電圧の変動に合わせて調節された相対時間を計測する時間計測部と、この相対時間を基準にした前記変位量の変化から求めた相対速度の変化によって前記開閉部での異物の挟み込みを判定する挟み込み判定部を備えることを特徴とする開閉部の挟み込み判定装置。
- 前記時間計測部は電源電圧の低下によって引き下げた周波数の基準パルスを発信する電圧制御発振器であり、前記挟み込み判定部はセンサが開閉部の微小変位を検出する間に計測された基準パルスの計数値の逆数を開閉部の相対速度として、その変化が閾値以上になったときに挟み込みを判定するものである請求項1に記載の開閉部の挟み込み判定装置。
- 前記挟み込み判定部はモータに流れる電流の大きさを測定し、この電流の大きさに合わせて前記相対時間を微調整する調整回路を備える請求項1又は2に記載の開閉部の挟み込み判定装置。
- 前記センサがモータの回転により一相のパルスを発生するパルス発生器であり、開閉部の閉状態およびその近傍を検知する閉鎖位置検出スイッチを備え、前記挟み込み判定部は現在位置が基準位置の近傍でない場合にのみ挟み込み判定を行うものである請求項1~請求項3のいずれか1項に記載の開閉部の挟み込み判定装置。
- 前記パルス発生器がモータに給電する電圧または電流に生じるリプルを抽出することによりモータの回転角度に合わせたパルスエンコーダと同等のパルスを生成する信号処理回路である請求項4に記載の開閉部の挟み込み判定装置。
- 前記挟み込み判定部は、開閉部の開閉操作スイッチとモータとの間の回路に介在し、回路電源の電圧を計測するための電源接続部と、モータ接続部とを備えるユニットである請求項1~請求項5のいずれか1項に記載の開閉部の挟み込み判定装置。
- 請求項1~請求項6のいずれか1項に記載の開閉部の挟み込み判定装置を搭載して、開閉部を閉鎖するときに挟み込みの判定を行い、挟み込みを判定した時には開閉部を少し解放させる開閉部制御装置を備えた車両。
- モータの回転によって開閉する車両の開閉部における挟み込みを判定する挟み込み判定方法であって、開閉部の移動に合わせて変位量を検出し、演算器によって電源電圧に合わせて長くなるように調節した相対時間を物差しにして前記変位量から相対速度変化を求め、この相対速度変化を加速度閾値と比較することにより異物の挟み込みを判定することを特徴とする開閉部の挟み込み判定方法。
- 電圧制御発振器を用いて電源電圧の低下に伴って低い周波数の発振信号を発生させて、この発振信号の周期により相対時間を計測し、開閉部が微小の所定変位量だけ変位する間に計数する発振信号の数の逆数によって前記相対加速度を求める請求項8に記載の開閉部の挟み込み判定方法。
- 前記相対時間をモータに流れる電流の増加に伴って長くなるように微調整する請求項8または請求項9に記載の開閉部の挟み込み判定方法。
- 開閉部の閉状態を閉鎖位置検出スイッチのグレイコードによって検出し、この閉鎖位置の検出によって開閉部の位置を基準位置に調整し、モータへの給電電圧の極性による方向判定およびモータに設けたデコーダの回転に伴って生じるパルスの計数によって現在位置を算出し、この現在位置が基準位置の近傍でない場合にのみ前記挟み込み判定を行う請求項8~請求項10のいずれか1項に記載の開閉部の挟み込み判定方法。
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JP2012549780A JP5398920B2 (ja) | 2010-12-24 | 2011-12-16 | 開閉部の挟み込み判定装置、その装置を備えた車両および開閉部の挟み込み判定方法 |
CN201180038682.XA CN103124827B (zh) | 2010-12-24 | 2011-12-16 | 开关部的夹入判定装置、具有该装置的车辆以及开关部的夹入判定方法 |
US13/808,312 US9121687B2 (en) | 2010-12-24 | 2011-12-16 | Pinch detection device at opening/closing section, vehicle having the device, and method for detecting pinch at the opening/closing section |
EP11851402.5A EP2657442A4 (en) | 2010-12-24 | 2011-12-16 | Trapping determination device for opening/closing section, vehicle with same, and trapping determination method for opening/closing section |
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JP2010-287046 | 2010-12-24 | ||
JP2010287046 | 2010-12-24 |
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PCT/JP2011/079243 WO2012086555A1 (ja) | 2010-12-24 | 2011-12-16 | 開閉部の挟み込み判定装置、その装置を備えた車両および開閉部の挟み込み判定方法 |
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US (1) | US9121687B2 (ja) |
EP (1) | EP2657442A4 (ja) |
JP (1) | JP5398920B2 (ja) |
CN (1) | CN103124827B (ja) |
WO (1) | WO2012086555A1 (ja) |
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Also Published As
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JPWO2012086555A1 (ja) | 2014-05-22 |
US9121687B2 (en) | 2015-09-01 |
US20130106435A1 (en) | 2013-05-02 |
CN103124827B (zh) | 2015-06-03 |
JP5398920B2 (ja) | 2014-01-29 |
EP2657442A4 (en) | 2017-12-13 |
CN103124827A (zh) | 2013-05-29 |
EP2657442A1 (en) | 2013-10-30 |
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