JP6512276B2 - Opening and closing body control device and control method therefor - Google Patents

Description

  The present invention relates to an opening / closing body control device and a control method thereof, and in particular, when operating in a direction to open an opening / closing body (for example, window glass) of a vehicle (that is, to lower the window glass) An opening / closing body control device capable of releasing the entrainment entrained between the housing portion (e.g., a belt molding) and the control method thereof.

Conventionally, in a power window device of a vehicle provided with a foreign object pinching prevention function, there are many things related to the pinching prevention when the window glass is closed (that is, the window glass is raised) (see, for example, Patent Document 1).
That is, a control device such as a conventional power window device has a pinching prevention function of detecting pinching when foreign matter is pinched at the time of closing operation, and reversing the window glass by reversely driving the motor.

  However, when the window glass is opened, since the belt molding itself is caught by the window glass, the load on the motor is greater than usual, and the motor is damaged and the motor is damaged and abnormal noise is generated. And the operation speed is slow. Further, when foreign matter is caught between the belt molding and the window glass, there is a problem that the foreign matter is damaged.

On the other hand, there is a disadvantage that if the window glass is simply raised when it is caught between the window glass and the belt molding, pinching between the upper portion of the window frame and the window glass occurs. The
In order to solve this, there has been proposed a technology for stopping the drive of the motor or automatically driving the motor in the direction to close the window glass when the entrainment is detected (see Patent Document 2).

Although the technology of this patent document 2 is effective as what prevents entrainment, there is a demand that an occupant wants to release entrainment while confirming a situation, and a technology satisfying such an occupant's demand is desired. There is.
In addition, in a system that has a pinch prevention function but does not have a roll prevention function, if a passenger causes the window glass to close (rise) in a state in which the arm or the like is rolled up, the roll is rolled up. There is a possibility that the pinching prevention function may be erroneously operated due to the load fluctuation of an object, and it may be caught again at the time of reverse opening operation (descent).

JP, 2007-9573, A (page 4, FIG. 4) JP, 2011-122369, A

An object of the present invention is to provide an open / close control apparatus and control method capable of releasing the entrainment while the occupant confirms the situation after detecting the entrainment of foreign matter while stopping the driving of the motor while moving the window glass. It is.
Another object of the present invention is an opening / closing body control device having a pinching prevention function, and an opening / closing body control device capable of preventing the occurrence of winding again due to a malfunction of the pinching prevention function after winding. It is to provide.

According to the opening / closing body control device of the present invention, the object is an opening / closing body control device having an opening / closing body driven by operation of the operation switch and a function of releasing the pinch when foreign matter is caught in the opening / closing body. A drive motor for opening and closing the opening and closing body, an operation switch for instructing the driving motor to open and close the opening and closing body, and control means for controlling the operation of the drive motor. Operating state detection means for outputting an operating state detection signal according to the operating state of the driven opening / closing body, and the movement to the opening / closing body while the opening / closing body is moved based on the operating state detection signal It is a winding detection means which detects winding of a foreign substance, and when the opening and closing body is moving to the open side and the rotational speed of the drive motor for driving the opening and closing body is decreasing, winding of the foreign matter Included And a said trapping detection means for detecting, said control means, said trapping detection unit, when detecting entrapment of the foreign object, the power supply to the drive motor to stop the progression of entrainment of the foreign substance When the drive signal from the operation switch for instructing the drive of the closing body to the closing side is received after the limitation of the power supply, the opening / closing body is restricted in a state where a predetermined operation is restricted. This is solved by, after supplying electric power to the drive motor to drive to the closing side, removing the restriction or monitoring the presence or absence of the detection of the winding under a predetermined condition.

As described above, in the present invention, the control means supplies the power to the drive motor so as to stop the progress of the inclusion of the foreign object when the inclusion detection means detects the inclusion of the foreign object during the movement of the opening / closing member to the open side. As a result, it is possible to stop the progress of inclusion of foreign matter during the opening (lowering) operation of the window glass.
In addition, when the control means receives a drive signal from the operation switch instructing the drive of the opening / closing body to the closing side after the restriction of the power supply, the opening / closing body is closed with the predetermined operation being restricted. Since power is supplied to the drive motor so as to be drivable, the occupant can release the entrainment while confirming the situation, not by the automatic entrainment release function. Further, by appropriately defining the predetermined operation to be restricted, it is possible to prevent an erroneous operation or the like of the pinching prevention function at the time of releasing the winding.
Further, since the progress of the entrainment can be stopped, it is possible to prevent the foreign matter from being damaged due to the progress of the entrainment, and at the same time, it is possible to prevent further abnormality of the system such as abnormal noise generation and operation speed decrease .
Also, the trapping detection unit, after the rotational speed difference is a variation amount of the rotation speed of the drive motor during the movement of the closing body to the open side exceeds the variation determination threshold, the rotational speed difference It is preferable to detect the inclusion of the foreign matter when the accumulated value exceeds the inclusion determination threshold.

  At this time, the apparatus further comprises pinch detection means for detecting pinching of the foreign object in the opening and closing body based on the operation state detection signal, and the predetermined operation is performed when the pinch detection unit detects pinch of the foreign substance. Preferably, the control means is a pinching prevention operation for causing the open / close member to reversely operate by reversely driving the drive motor. Since it is comprised in this way, it becomes possible to prevent that a pinching prevention function is malfunctioning by the load fluctuation | variation of the thing wound in at the time of winding cancellation | release, and being caught again.

  Further, a pinch detection means for detecting pinching of the foreign object in the open / close body based on the operation state detection signal is further provided, preferably the predetermined operation is a continuous drive operation of the open / close body to the closing side. It is. With this configuration, the opening and closing body does not automatically continue closing operation regardless of the condition of being caught up, and it becomes possible to release the winding-in due to the closing of the opening and closing body under the control of the occupant. The occupant can release the entrainment while checking the entrainment situation.

  Furthermore, it is preferable that the predetermined operation is a pinch release operation in which the open / close member operated to the closing side operates to the opening side. Since it is comprised in this way, at the time of winding cancellation | release, it is judged as pinching by the load fluctuation | variation of the wound-in thing, pinching cancellation | release operation is performed, and it becomes possible to prevent winding-up again.

  Furthermore, it is preferable that the predetermined operation is an operation of the opening / closing body on the closing side beyond a predetermined operation time. With such a configuration, the opening / closing body does not automatically continue closing operation regardless of the condition of being caught, and it becomes possible to release the winding-in due to the closing of the opening / closing member under the control of the occupant, and the condition of being caught The passenger can release the entrainment while checking the

  Preferably, the predetermined operation is an operation of the opening / closing member on the closing side beyond a predetermined movement distance. With such a configuration, the opening / closing body does not automatically continue closing operation regardless of the condition of being caught, and it becomes possible to release the winding-in due to the closing of the opening / closing member under the control of the occupant, and the condition of being caught The passenger can release the entrainment while checking the

Furthermore, it is preferable that the pinching prevention operation is restricted only until a predetermined time passes or a predetermined distance is moved after the opening / closing body starts operating to the closing side. With this configuration, after the opening / closing body starts to move to the closing side, after the predetermined time has passed or after the predetermined distance is moved, the pinching prevention function is recovered, so pinching occurs newly after the winding is released. When this happens, a new pinch can be detected.
In the predetermined condition, when a command to drive the closing side by the operation switch is stopped, a predetermined time is set after the continuous driving operation of the opening / closing body to the closing side is restricted. It is preferable that the moving distance to the closing side of the opening and closing body reaches a predetermined distance when elapsed or after the continuous drive operation of the opening and closing body to the closing side is restricted. It is.

Further, according to the control method of the opening and closing body of the present invention, the problem is a drive motor for opening and closing the opening and closing body, and a drive signal for instructing the drive motor to open or close the opening and closing body. An operation switch for outputting the control signal, a control means for controlling the operation of the drive motor, an operation state detection means for outputting an operation state detection signal according to the operation state of the opening / closing body driven by the drive motor. It is an entrapment detection means which detects the winding-in of the foreign substance to the opening and closing body during movement to the opening side of the opening and closing body based on an operation state detection signal, and the opening and closing body is moving to the opening side when the rotational speed of the drive motor which drives the opening and closing member is reduced, and the trapping detection means for detecting the entrainment of the foreign matter, during said movement of said movable member on the basis of the operating state detection signal A pinch detection means for detecting pinching of a foreign object into a closed body, and it is driven while operating the operation switch, or continuously operated even if the operation switch is released by operating the operation switch to a predetermined position It is a control method of an opening and closing body which cancels pinching when foreign matter is pinched by the opening and closing body to be driven, and the control means is the opening operation of the opening and closing body, the winding detection means detects the foreign matter The first step of limiting the power supply to the drive motor so as to stop the progress of the inclusion of the foreign matter when the entrainment is detected, and the instruction to drive the opening / closing member to the closing side after the restriction of the power supply Power is supplied to the drive motor to drive the open / close member in the closing side in a state where a predetermined operation is restricted when the drive signal from the operation switch is received. Under a predetermined condition, and a second step for monitoring whether the detection of either releasing the trapping said constraints are solved by providing a.

As described above, in the present invention, the control means supplies the power to the drive motor so as to stop the progress of the inclusion of the foreign object when the inclusion detection means detects the inclusion of the foreign object during the movement of the opening / closing member to the open side. As a result, it is possible to stop the progress of inclusion of foreign matter during the opening (lowering) operation of the window glass.
In addition, when the control means receives a drive signal from the operation switch instructing the drive of the opening / closing body to the closing side after the restriction of the power supply, the opening / closing body is closed with the predetermined operation being restricted. After power is supplied to the drive motor to drive the vehicle, the restriction is released or the presence or absence of the detection of the winding-in is monitored under predetermined conditions. It is possible to release the entrainment while confirming the situation. Further, by appropriately defining the predetermined operation to be restricted, it is possible to prevent an erroneous operation or the like of the pinching prevention function at the time of releasing the winding.

According to the opening / closing body control device and the control method of the same of the present invention, the control means causes the progress of the inclusion of the foreign matter when the inclusion detection means detects the inclusion of the foreign matter during the movement of the opening / closing body to the open side. Since the power supply to the drive motor is restricted so as to stop, it is possible to stop the progress of the inclusion of foreign matter when the window glass is opened (lowered).
In addition, when the control means receives a drive signal from the operation switch instructing the drive of the opening / closing body to the closing side after the restriction of the power supply, the opening / closing body is closed with the predetermined operation being restricted. Since power is supplied to the drive motor so as to be drivable, the occupant can release the entrainment while confirming the situation, not by the automatic entrainment release function. Further, by appropriately defining the predetermined operation to be restricted, it is possible to prevent an erroneous operation or the like of the pinching prevention function at the time of releasing the winding.

It is an explanatory view of an opening and closing body control device concerning one embodiment of the present invention. It is an electric block diagram of the opening-closing body control apparatus of FIG. It is cross-sectional explanatory drawing by III-III of FIG. It is explanatory drawing of a winding determination process. It is a processing flow figure of a roll-in judging. It is a processing flow figure of processing of entrainment cancellation mode. It is a processing flow figure of processing of a roll release mode concerning other embodiments. It is a processing flow figure of processing of a roll release mode concerning further another embodiment. It is a processing flow figure of processing of a roll release mode concerning further another embodiment.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The configurations, procedures, and the like described below do not limit the present invention, and it goes without saying that various modifications can be made in accordance with the spirit of the present invention.
1 to 9 relate to an embodiment of the present invention, and FIG. 1 is an explanatory view of a switch control device, FIG. 2 is an electrical configuration view of the switch control device of FIG. 4 is an explanatory view of a winding determination process, FIG. 5 is a process flow diagram of a winding determination, FIG. 6 is a process flow diagram of a process in a winding release mode, and FIG. 7 is another embodiment. The processing flow diagram of the processing of the unwinding release mode, FIG. 8 is the processing flow diagram of the processing of the unwinding release mode according to the further embodiment, and FIG. 9 is the processing of the processing of the unwinding release mode according to the further embodiment FIG.

Below, one Embodiment of the power window apparatus as an opening-closing body control apparatus of this invention is described.
FIG. 1 is an explanatory view of a power window device 1 (hereinafter referred to as “apparatus 1”) of the present embodiment, FIG. 2 shows its electrical configuration, and FIG. 3 is a cross-sectional explanatory view according to III-III in FIG. The apparatus 1 according to the present embodiment moves the window glass (opening / closing body) 11 disposed in the door 10 of the vehicle up and down (opens / closes) by rotational driving of a motor 20 which constitutes a part of the driving means 2. . The apparatus 1 includes, as main components, a drive unit 2 for opening and closing the window glass 11, a control unit 3 for controlling the operation of the drive unit 2, and an operation switch 4 for instructing an operation of the occupant.

  The door 10 is a window which is lowered between the outer panel 15 disposed on the vehicle exterior side (outside in the vehicle width direction) at the lower side portion thereof and the inner panel 16 disposed on the vehicle compartment side (inside of the vehicle width direction). A storage space for storing the glass 11 is provided. A window frame (glass frame) 12 is provided at the upper part of the door 10, and the window glass 11 appears in the window frame 12 from the inside of the storage space over the lower frame portion of the window frame 12 Operate.

  Belt moldings (belt moldings) 13 and 14 as sealing members are attached to the lower frame portion of the window frame 12. The belt molding comprises an outer molding 13 and an inner molding 14, the outer molding 13 is fixed to the upper part of the outer panel 15, and the inner molding 14 is fixed to the upper part of the inner panel 16.

  The window glass 11 passes through the gap between the outer molding 13 and the inner molding 14 and moves up and down in the window frame 12. Sealing projections 13a, 13b, 14a, 14b are formed on the outer molding 13 and the inner molding 14, respectively, and the sealing projections 13a, 13b, 14a, 14b are formed on the glass surface of the window glass 11. It comes in pressure contact elastically.

  Further, a weather strip (upper molding) (not shown) is similarly mounted on the upper frame portion of the window frame 12 as a seal member. The weather strip is formed with a downwardly open groove at its lower end portion. The groove is formed so that the upper end of the window glass 11 can be inserted by a predetermined length, and the glass surface of the upper end portion of the inserted window glass 11 is elastically pressed against the inner wall of the groove ing.

In the present embodiment, the window glass 11 moves up and down along a rail (not shown) between an upper fully closed position (upper end) X1 and a lower fully open position (lower end) X2.
The driving means 2 of this embodiment includes a motor 20 having a speed reducing mechanism fixed to the door 10, an elevation arm 21 having a fan-shaped gear 21a driven by the motor 20, and an elevation arm 21 so as to cross and pivot. The main components include a driven arm 22 supported, a fixed channel 23 fixed to the door 10 and a glass side channel 24 integral with the window glass 11. The elevating arm 21, the driven arm 22, the fixed channel 23 and the glass side channel 24 constitute a driving mechanism of the driving means 2.

  The motor 20 according to the present embodiment receives power supply from the control means 3 to energize the windings of the rotor, thereby generating a magnetic attraction between the rotor and the stator having the magnet, thereby causing the rotor to rotate. Is configured to rotate forward and reverse. In the driving means 2 of the present embodiment, when the lift arm 21 and the driven arm 22 swing according to the rotation of the motor 20, the respective end portions of these are subjected to slide regulation by the channels 23 and 24 and driven as an X link. And raise and lower the window glass 11.

  The motor 20 of the present embodiment is integrally provided with a rotation detection device 27 as work state detection means. The rotation detection device 27 outputs a pulse signal (operation state detection signal) synchronized with the rotation of the motor 20 to the control means 3. The rotation detection device 27 of the present embodiment is configured to detect a magnetic change of a magnet rotating with the output shaft of the motor 20 with a plurality of Hall elements. With such a configuration, the rotation detection device 27 outputs a pulse signal synchronized with the rotation of the motor 20. That is, the pulse signal is output for each predetermined movement amount of the window glass 11 or for each predetermined rotation angle of the motor 20. Thereby, the rotation detection device 27 can output a signal corresponding to the movement which is an example of the operating state of the window glass 11 substantially proportional to the rotational speed of the motor 20. The control means 3 counts pulse edges from the pulse signal from the rotation detection device 27 and detects the position of the window glass 11 from the pulse count value. In the present embodiment, the rotation detection device 27 and the control means 3 constitute an operation state detection means.

  In the present embodiment, the rotation detection device 27 employs a Hall element. However, the present invention is not limited to this, and an encoder may be adopted as long as the rotation of the motor 20 can be detected. Further, in the present embodiment, in order to detect the rotation of the output shaft of the motor 20 according to the movement of the window glass 11, the rotation detection device 27 is integrally provided to the motor 20, but the present invention is not limited thereto. The position of the window glass 11 may be detected directly by means.

The control means 3 of this embodiment comprises a controller 31 and a drive circuit 32. Electric power necessary for operation is supplied to the controller 31 and the drive circuit 32 from the battery 5 mounted on the vehicle.
The controller 31 of the present embodiment is configured by a microcomputer including a memory such as a CPU, a ROM, a RAM, an input circuit, an output circuit, and the like. The CPUs are connected to one another via a memory, an input circuit, and an output circuit via a bus. Not limited to this, the controller 31 may be configured by a DSP or a gate array.

  The controller 31 normally or reversely rotates the motor 20 via the drive circuit 32 based on the operation signal from the operation switch 4 to open and close the window glass 11. The controller 31 also detects the position of the window glass 11 based on the pulse signal received from the rotation detection device 27, and drives the motor 20 via the drive circuit 32 according to the detected position of the window glass 11. Adjust the size. Specifically, the magnitude of the drive voltage or the magnitude of the duty ratio is adjusted in the case of PWM control. This adjusts the motor output.

  The drive circuit 32 of the present embodiment is configured of an IC having a FET, and switches the polarity of power supply to the motor 20 based on an input signal from the controller 31. That is, when the drive circuit 32 receives a forward rotation command signal from the controller 31, it supplies power to the motor 20 to rotate the motor 20 in the forward rotation direction, and receives a reverse rotation command signal from the controller 31. Supplies power to the motor 20 so as to rotate the motor 20 in the reverse rotation direction. When the rotation stop command signal is received from the controller 31, the power supply to the motor 20 is stopped. The drive circuit 32 may be configured to switch the polarity using a relay circuit. Also, the drive circuit 32 may be incorporated in the controller 31.

  The controller 31 detects the rising portion and falling portion (pulse edge) of the pulse signal from the input pulse signal, and calculates the rotation speed (rotation period) of the motor 20 based on the interval (period) of the pulse edges. At the same time, the rotational direction of the motor 20 is detected based on the phase difference of each pulse signal. That is, the controller 31 indirectly calculates the moving speed of the window glass 11 based on the rotational speed (rotational cycle) of the motor 20, and specifies the moving direction of the window glass 11 based on the rotational direction of the motor 20. . The controller 31 also counts pulse edges. This pulse count value is added / subtracted along with the opening / closing operation of the window glass 11. The controller 31 specifies the open / close position of the window glass 11 by the magnitude of the pulse count value.

That is, in the present embodiment, the window glass 11 can be driven with the fully closed position X1 as a reference position. When the fully closed position X1 is used as the reference position, the pulse count value is set to be "0" at the fully closed position X1. Then, after setting the pulse count value to be “0” at the reference position as described above, the pulse is generated when the window glass 11 is moved to one end side of the operation area (operation section), for example, the full open position X2. Every time a signal is received, the pulse count value is incremented by one, and when the window glass 11 is moved to the other end side of the operation area, that is, toward the fully closed position X1, the pulse count value is decremented by one each time a pulse signal is received.
The window glass 11 may be driven with the fully open position X2 as a reference position. In this case, the pulse count value is set to "0" at the fully open position X2, and the pulse count value is incremented when the window glass 11 is moved in the direction of the fully closed position X1, and the fully open position The pulse count value may be decremented while the window glass 11 is moving in the X2 direction.

The operation switch 4 of the present embodiment is configured of a swing type switch capable of two-step operation, and has an open switch, a close switch, and an auto switch. When the occupant operates the operation switch 4, a command signal for opening and closing the window glass 11 is output to the controller 31.
Specifically, when the operation switch 4 is operated in one step toward one end, the open switch is turned on, and the window glass 11 is normally opened (that is, opened only while operating) and operated in the opening direction The controller 31 outputs a normal open command signal to the controller 31. In addition, when the operation switch 4 is operated one step to the other end side, the close switch is turned on, and a normal close command signal for a normal close operation of the window glass 11 (that is, a close operation only while operating) Output to 31

  When the operation switch 4 is operated in two steps toward one end, the open switch and the auto switch are both turned on to automatically open the window glass 11 (that is, the operation to open just before the fully open position X2 even if the operation is stopped) And an auto open command signal for operating in the opening direction to the controller 31. When the operation switch 4 is operated in two steps toward the other end, the close switch and the auto switch are both turned on, and the window glass 11 is closed automatically (that is, closed to the position just before the fully closed position X1 even if the operation is stopped). An auto close command signal for operation is output to the controller 31.

The controller 31 drives the motor 20 through the drive circuit 32 during the normal open command signal from the operation switch 4 (while the operation switch 4 is operated), and the window glass 11 is normally opened. Let On the other hand, while the controller 31 receives the normal closing command signal from the operation switch 4 (while the operation switch 4 is operated), the controller 31 drives the motor 20 through the drive circuit 32 to normally operate the window glass 11 Close operation.
In addition, when the controller 31 receives an auto-opening command signal from the operation switch 4, the controller 31 drives the motor 20 via the drive circuit 32 to cause the window glass 11 to perform an auto-opening operation just before the fully open position X2. On the other hand, when the controller 31 receives the auto close command signal from the operation switch 4, the controller 31 drives the motor 20 via the drive circuit 32 to cause the window glass 11 to perform the auto close operation just before the fully closed position X1.

The controller 31 monitors the presence or absence of pinching by the window glass 11 when the window glass 11 is closed (normal closing operation and automatic closing operation). That is, when pinching occurs, the moving speed (rising speed) of the window glass 11 and the rotational speed of the motor 20 associated therewith decrease (the rotation cycle becomes longer). For this reason, the controller 31 of the present embodiment constantly monitors the fluctuation of the rotational speed of the motor 20.
The controller 31 according to the present embodiment first detects the start of pinching based on the fluctuation of the rotational speed of the motor 20 (that is, the rising speed of the window glass 11), and then detects the start of pinching and then determines the rotational speed When it is detected that quantitative fluctuation has occurred, it is determined (decided) that pinching has occurred.

  When the pinching is determined, the controller 31 performs control by the pinching prevention function. That is, the motor 20 is reversed to release the foreign matter pinched by the window glass 11, and the pinch release (open operation) control after pinch detection is performed to open the window glass 11 by a predetermined amount. In addition, even if it determines with pinching, even if it stops the action | operation of the motor 20 and stops the further closing operation of the window glass 11, even if it controls so that the foreign material pinched by the window glass 11 can be released. Good.

The controller 31 in the present embodiment monitors the presence or absence of the winding by the window glass 11 when the window glass 11 is opened (normal opening operation and automatic opening operation). That is, when the entrainment occurs, the moving speed (falling speed) of the window glass 11 and the rotation speed of the motor 20 decrease in relation to this (the rotation cycle becomes longer). For this reason, the controller 31 of the present embodiment constantly monitors the fluctuation of the rotational speed of the motor 20.
The controller 31 of the present embodiment first detects the start of winding between the window glass 11 and the belt moldings 13 and 14 based on the fluctuation of the rotational speed of the motor 20 (that is, the descending speed of the window glass 11). Next, when it is detected that the rotation speed has fluctuated by a predetermined amount since the start of winding is detected, it is determined (fixed) to be winding.

Then, when the entrainment is determined, the controller 31 causes the motor 20 to release the foreign object entrained between the window glass 11 and the belt moldings 13 and 14, ie, to operate to stop the advancement of the entrainment. The supply of electric power to the motor 20 is controlled to stop the operation of the motor 20, and the opening operation (descent) of the window glass 11 is stopped (rolling-in progress stop processing).
If the operation of the motor 20 is simply reversed to raise the window glass 11 when the entrainment is detected (confirmed), pinching between the window glass 11 and the upper portion of the window frame 12 may occur. Therefore, the occupant is allowed to release the entrainment while confirming the situation.
In this embodiment, when the trapping prevention function works, the state is stored, and when there is a closing operation request by the operation switch 4 in the next operation, the following control is implemented alone or in combination. Prevents re-engagement at the closing operation after it occurs.
(1) Deactivation of the pinch prevention function, (2) Prohibition of the auto closing operation by the auto switch, (3) Prohibition of the pinch release function by the opening operation after pinch detection (4) ) Closed side actuation time limit, (5) Closed side actuation amount limited.
As described above, the controller 31 specifies the position of the window glass 11 by the size of the pulse count value.

  Next, based on FIG. 4, an outline process of the winding determination in the device 1 of the present embodiment will be described. In the power window device 1 of the present embodiment, the controller 31 calculates the rotation speed ω of the motor 20 based on the pulse signal received from the rotation detection device 27 and stores the calculated rotation speed ω in the RAM. FIG. 4A shows the fluctuation state of the rotational speed ω calculated in this manner. The vertical axis in FIG. 4A corresponds to the motor rotational speed, and the horizontal axis corresponds to the pulse count number. The example of FIG. 4 (A) is a condition where the rotational speed ω of the motor 20 is decelerating from the middle due to entrainment. Data line A1 shows a situation in which a hard thing is involved and rotation speed ω decreases at a large deceleration rate, and data line B1 is involved in a soft thing and rotation speed ω decreases at a small deceleration rate Indicates the situation. FIGS. 4B and 4C correspond to the case where the hard data lines A2 and A3 are involved, and correspond to the case where the soft data lines B2 and B3 are involved.

  Then, in the device 1 of this embodiment, the movement speed fluctuation value calculation is performed by the CPU (not shown), but based on the data of the rotation speed ω, the current rotation speed ω and the rotation speed ω before several pulse edges are The difference in rotational speed Δω is calculated. That is, the fluctuation value of the current rotational speed ω with respect to the rotational speed ω several pulse edges before is calculated. The rotational speed difference Δω corresponds to the rate of change of the rotational speed (moving speed) (or corresponds to the amount of change or change in rotational speed from several pulse edge before). FIG. 4B shows the fluctuation state of the rotational speed difference Δω. In FIG. 4A, it can be seen that the absolute value of the rotational speed difference Δω is larger in the data line A1 than in the data line B1.

  Then, first, the controller 31 as an entrapment detection unit that detects the start of entrainment determines whether the rotation speed difference Δω calculated in this manner exceeds the fluctuation determination threshold α. When the variation determination threshold value α is exceeded, it is determined that the entrainment has started. In FIG. 4B, the start of winding is detected at points P1 and P2, respectively. However, at this point in time, since the entrainment has not been determined, the motor 20 continues to rotate, and the window glass 11 continues to descend (open operation). The fluctuation determination threshold α is set such that the rotational speed difference Δω generated thereby exceeds this value even when the device 1 involves soft things (for example, a lip portion of a belt molding). Be done.

  In this way, once the start of entrainment is detected, in the device 1, the controller 31 that determines entrainment determines the cumulative value of the rotational speed difference Δω from this time point (that is, the change amount of the rotational speed ω) It is determined whether the roll-in determination threshold value β has been exceeded. Then, when the amount of change of the rotational speed ω exceeds the winding determination threshold value β, the winding is detected (confirmed). FIG. 4C shows the fluctuation of the cumulative value of the rotational speed difference Δω. The controller 31 determines (confirms) entrainment when the accumulated value exceeds the entrainment determination threshold value β.

  As described above, when the accumulated value of the rotational speed difference Δω (that is, the amount of change in the rotational speed ω) after the start of the entrainment is detected, the entrainment is detected when the entrainment determination threshold β is exceeded. Instead of (determining), the accumulated value of the rotational speed difference Δω for a predetermined period after the start of entrainment is detected, or the accumulated value of the rotational speed differences Δω for a predetermined number of pieces (that is, the rotation in these cases) When the rate of change of the speed ω exceeds the winding determination threshold value β, the winding may be detected (confirmed).

As described above, in the device 1 of the present embodiment, two threshold values are set, but one fluctuation determination threshold value α is set for the rotational speed difference Δω, and the other winding judgment The threshold value β is set with respect to the amount of change of the rotational speed ω (the sum of the rotational speed difference Δω), and the determination targets are different.
Then, in the device 1 of the present embodiment, it is not determined that winding has actually occurred by the duration after the rotational speed difference Δω exceeds the fluctuation determination threshold value α, the number of pulse signals, etc., but the rotational speed The amount of fluctuation of the rotational speed ω after the difference Δω exceeds the fluctuation determination threshold value α determines the roll-in.

Therefore, in the device 1 of the present embodiment, when the foreign matter is caught, the winding load does not become too large, so that the winding can be determined without damaging the wound foreign matter.
Further, in the device 1 of the present embodiment, even when a soft one is involved, the rotational speed difference Δω exceeds the fluctuation determination threshold α at a relatively early stage, so that the amount of change thereafter is the involvement judgment threshold. The entrainment is determined when β is exceeded. In this case, for example, because the lip portion of the belt molding is soft, the rotation speed difference Δω does not become a small value (a large value as an absolute value), but once it exceeds the fluctuation determination threshold value α, Since the accumulation of the rotational speed difference Δω is started, it is possible to reliably determine the involvement when the accumulated value exceeds the involvement determination threshold β.

Also, even when medium hardness is involved, as in the case where soft one is involved, the difference in rotational speed Δω at an early stage exceeds the fluctuation determination threshold α, and the cumulative value of rotational speed difference Δω is accumulated. Is started, so that the roll-in can be reliably determined when this value exceeds the roll-up judgment threshold value β.
As described above, in the device 1 of the present embodiment, regardless of the hardness and softness of the rolled-in material, the rolling-in can be reliably determined with a low load.

  In addition, when the window glass 11 moves, the rotational speed of the motor 20 is affected by the sliding resistance and the external factor, even if there is no winding. Even if the rotational speed difference Δω exceeds the fluctuation determination threshold α due to such an influence, if the accumulated value of the rotational speed difference Δω subsequently does not exceed the involvement judgment threshold β, the involvement is determined. Since there is no, even if the fluctuation determination threshold value α is set to a value for when a soft one is involved, it is possible to reliably detect the start of entrapment without causing an erroneous determination.

Further, since the pinching determination in the power window device 1 of the present embodiment is also performed by the same process as the winding determination, the description will be omitted.
In the pinching determination, the controller 31 as pinching detection means for detecting the start of pinching determines whether or not the calculated rotational speed difference Δω exceeds the fluctuation judging threshold α ′, and the fluctuation judging threshold α ′. If it exceeds, it is determined that the pinching has started.

Next, the entrainment determination and release process of the controller 31 of the present embodiment will be described based on FIG.
First, when the controller 31 according to the present embodiment receives the normal opening command signal or the auto opening command signal from the operation switch 4, the controller 31 drives the motor 20 via the drive circuit 32 to drive the window glass 11 downward (step S1). .
Next, the rotational speed data of the motor 20 is updated based on the pulse signal received from the rotation detection device 27 (step S2). Specifically, the controller 31 first processes the pulse signal received from the rotation detection device 27 to detect a pulse edge. Then, every time a pulse edge is detected, the pulse width (time interval) T between the pulse edge detected last time and the pulse edge detected this time is calculated and sequentially stored in the memory.

  In the present embodiment, the pulse width T is sequentially updated every time a new pulse edge is detected, and the latest four pulse widths T (0) to T (3) are stored. That is, when a pulse edge is detected, the pulse width T (0) is newly calculated, and the previous pulse widths T (0) to T (2) are shifted by one, and the pulse widths T (1) to T are respectively calculated. It stores as (3) and erases the previous pulse width T (3).

Then, the controller 31 calculates the rotation speed ω from the reciprocal of the sum (pulse period P) of the pulse widths T of n pulse edges continuous in time. The rotational speed ω is a value proportional to the actual rotational speed.
In the present embodiment, the (average) rotation speed ω (0) is calculated by the pulse widths T (0) to T (3) from the current pulse edge to the four pulse edges before. Then, when the next pulse edge is detected, the rotational speed ω (0) is updated by the newly calculated pulse widths T (0) to T (3). At this time, the previous rotational speed ω (0) is stored as the rotational speed ω (1). Thus, the latest eight rotation speeds ω (0) to ω (7) are updated in the controller 31 each time a pulse edge is detected (for each predetermined movement amount or for each predetermined rotation angle). Always stored. As described above, by calculating the rotation speed ω using the plurality of pulse widths T, it is possible to cancel the variation of the sensor duty of each pulse signal output to be received and to calculate the rotation speed in which the error fluctuation is canceled.

  Next, the controller 31 calculates an (average) rotational speed difference (rotational speed change rate) Δω from the rotational speed ω (step S3). Specifically, with the rotational speeds ω (0) to ω (3) as the current block data and the rotational speeds ω (4) to ω (7) as the previous block data, the sum of the data in each block is subtracted. ing. That is, the rotational speed difference Δω is calculated by subtracting the sum of the rotational speeds ω (0) to ω (3) from the sum of the rotational speeds ω (4) to ω (7), and each time a pulse edge is detected It is updated every predetermined movement amount or every predetermined rotation angle). The calculated value may be divided by the number of data (4 in the present embodiment) obtained by adding the calculated value. As described above, the phase difference between the rotational speeds ω can be canceled by calculating the rotational speed difference Δω by the plurality of rotational speeds ω.

Then, the controller 31 of the present embodiment adds the calculated rotational speed difference Δω with reference to the predetermined position of the window glass 11 (step S4). By accumulating the rotational speed difference Δω every time it is calculated, the difference of the rotational speed ω with respect to the reference position is calculated.
Next, the controller 31 performs a determination process of the winding start (step S5). Specifically, when the rotational speed difference Δω exceeds the fluctuation determination threshold value α to the negative side, it is determined that the entrainment is started, and when it is not exceeded, it is not determined that the entrainment is started.
If it is determined that the winding-up is started (step S5; presence), the process proceeds to step S7. On the other hand, when it is not determined that the winding-up is started (step S5; no), setting of the accumulated value of the rotational speed difference Δω and the initial value to the winding-up judgment threshold value β is performed in step S6. Specifically, the accumulated value of the rotational speed difference Δω calculated in step S4 is set to the initial change amount S ₀ of the rotational speed ω, and the winding determination threshold value β is returned to the normal value not increased. Be

Then, in step S7, calculation processing of the change amount S of the rotational speed ω is performed. Specifically, the controller 31 determines the rotational speed calculated in step S4 from the initial change amount S ₀ of the rotational speed ω (cumulative value of the rotational speed difference Δω) which is set in step S6 immediately before it is determined that winding is started. By subtracting the accumulated value of the difference Δω, the change amount S of the rotational speed ω (the accumulated value of the rotational speed difference Δω) after the start of winding is calculated. As a result, it is possible to reliably calculate the change in rotational speed (that is, the rolling load) due to the rolling.

  In the present embodiment, the difference between the reference value and the change amount is calculated to calculate the change amount of the rotational speed ω after the start of winding, but the present invention is not limited to this, and when the start of winding is not detected, the rotation is The accumulated value of the speed difference Δω is initialized, and when the winding start is detected, the rotation speed difference Δω is accumulated only for the portion after the winding start detection, thereby not changing the amount of change of the rotation speed ω May be calculated.

Next, the controller 31 determines whether the change amount S of the rotational speed ω calculated in step S7 exceeds the winding determination threshold value β (step S8).
When it is determined that the change amount S of the rotational speed ω exceeds the winding determination threshold value β (Yes at step S8), the drive of the motor 20 is stopped, and the descent drive of the window glass 11 is stopped (step S9). Next, the process proceeds to the winding release mode (step S10), and the process ends.
On the other hand, when it is determined that the change amount S of the rotational speed ω does not exceed the winding determination threshold value β (step S8; no), the process ends.

Next, based on FIG. 6, the process (step S10) in the unwrapping mode will be described.
When it is determined in step S8 of the winding determination process shown in FIG. 5 that winding is determined to be present, that is, when it is determined that winding is determined, the driving of the motor 20 is stopped, and then the winding release mode process of FIG.
In the unwinding release mode of FIG. 6, in order to prevent re-engagement caused by the erroneous operation of the pinch prevention function, the invalidation control of the pinch prevention function and the inhibition control of the automatic closing operation are performed, and simultaneously, the closing command signal from the operation switch 4 When it receives, the reverse driving control of the window glass 11 is performed to release the winding.

First, the controller 31 disables the auto-close operation at the same time as disabling the pinch prevention function (step S21).
In this step, in order to limit the time for which the invalidation state of the pinching prevention function and the inhibition state of the automatic closing operation are continued, counting of a predetermined specified time t1 and a predetermined distance L1 is started. The prescribed time t1 is set in advance to a timer (not shown), the prescribed distance L1 is set in advance to a value corresponding to the pulse count value, and the set value is stored in a memory such as a ROM. When the process of step S21 is executed, the timer (not shown) is set to start timing, and at the same time the pulse count value is incremented or decremented by 1 each time a pulse signal is received to start measurement of the rising distance of the window glass 11. Do.

Next, it is determined whether the close switch of the operation switch 4 has been turned on by determining whether a normal close command signal has been received from the operation switch 4 (step S22).
When the closing switch of the operation switch 4 is not turned on (step S22; No), it is determined again whether the closing switch of the operation switch 4 is turned on (step S22). That is, step S22 is repeated until the normal close command signal is received from the operation switch 4.

When the closing switch of the operation switch 4 is turned on (step S22; Yes), the motor 20 is driven via the drive circuit 32, and the window glass 11 is driven to ascend (step S23). By the upward driving of the window glass 11, the inclusion of foreign matter is released.
Next, it is determined whether the close switch of the operation switch 4 has been turned off by determining whether the normal close command signal from the operation switch 4 has stopped (step S24).
When the closing switch of the operation switch 4 is not turned off (step S24; No), the operation switch 4 drives the motor 20 via the drive circuit 32 as it is kept turned on and raises the window glass 11 It drives (step S23). That is, step S23 and step S24 are repeated until it is detected that the normal closing command signal has stopped in step S24.
When the closing switch of the operation switch 4 is turned off (step S24; Yes), the driving of the motor 20 is performed via the driving circuit 32, assuming that the occupant determines that the inclusion of the foreign matter has been released by the ascent of the window glass 11. It stops and the raising drive of the window glass 11 is stopped (step S25), and it returns to the entrainment determination processing shown in FIG.
In addition, if it is detected that the specified time t1 after execution of step S21 has elapsed or that the rising distance of the window glass 11 has reached the specified distance L1 by the measurement of the timekeeping and the rising distance started in step S21, Cancel the invalidation state of the prevention function and the inhibition state of the automatic closing operation.

In the process of the winding release mode (step S10), the controller 31 may perform the process of FIG. 7 instead of the process of FIG.
When it is determined in step S8 of the winding determination processing shown in FIG. 5 that winding is determined to be present, that is, when it is determined that winding is determined, the driving of the motor 20 is stopped, and then the winding release mode process of FIG.
In the entrainment release mode of FIG. 7, in order to prevent entrapment again due to the erroneous operation of the entrapment prevention function, the inhibition control of the entrapment release (open operation) operation function after the entrapment detection and the inhibition control of the auto closing operation are simultaneously performed. When the open command signal is received from the operation switch 4, the reverse drive control of the window glass 11 is performed to release the winding.

The controller 31 first prohibits the operation of releasing the pinch (opening operation) after the detection of pinching, and at the same time prohibits the automatic closing operation (step S31).
In this step, counting of the predetermined time t2 and the predetermined distance L2 which are predetermined in advance is started in order to limit the time for which the inhibition of the pinch release (open operation) operation and the automatic closing operation is continued after pinch detection. The prescribed time t2 is set in advance to a timer (not shown), the prescribed distance L2 is set in advance to a value corresponding to the pulse count value, and the set value is stored in a memory such as a ROM. When the process of step S31 is executed, a timer (not shown) is set to start timing, and at the same time the pulse count value is incremented or decremented by 1 each time a pulse signal is received to start measurement of the rising distance of the window glass 11. Do.
Next, it is determined whether the close switch of the operation switch 4 has been turned on by determining whether a normal close command signal has been received from the operation switch 4 (step S32).
When the closing switch of the operation switch 4 is not turned on (step S32; No), it is determined again whether the closing switch of the operation switch 4 is turned on (step S32). That is, step S32 is repeated until the normal close command signal is received from the operation switch 4.

When the closing switch of the operation switch 4 is turned on (step S32; Yes), the motor 20 is driven via the drive circuit 32, and the window glass 11 is driven to ascend (step S33). By the upward driving of the window glass 11, the inclusion of foreign matter is released.
Next, it is determined whether pinching has occurred or the close switch of the operation switch 4 has been turned off (step S34).
In this step, it is judged that the pinching starts when the rotational speed difference Δω exceeds the fluctuation judgment threshold value α ′ as the judgment of the presence or absence of pinching occurrence, and it is judged that the pinching is started if it does not exceed do not do.

If neither pinching nor the closing switch of the operation switch 4 is turned off (Step S34: No), the motor 20 is driven via the drive circuit 32 to drive the window glass 11 to ascend (Step S33). That is, step S33 and step S34 are repeated until it is detected in step S34 that either the occurrence of pinching or the stop of the normal closing command signal is detected.
If pinching occurs or the closing switch of the operation switch 4 is turned off (step S34; Yes), if the closing operation is continued further due to pinching, other foreign matter is between the window glass 11 and the window frame 12 The driving of the motor 20 is stopped via the driving circuit 32, assuming that there is a risk of a secondary damage being pinched, or that the occupant has determined that the inclusion of foreign matter has been released by the ascent of the window glass 11. Then, the upward driving of the window glass 11 is stopped (step S35), and the process returns to the winding determination process shown in FIG.
In addition, if it is detected that the specified time t2 after execution of step S31 has elapsed or that the rising distance of the window glass 11 has reached the specified distance L2 by the measurement of the timekeeping and the rising distance started in step S31, Release the prohibited state of pinch release (open operation) operation and auto close operation after detection.

In the process of the winding release mode (step S10), the controller 31 may perform the process of FIG. 8 instead of the process of FIG.
When it is determined in step S8 of the winding determination process shown in FIG. 5 that winding is determined to be present, that is, when it is determined that winding is determined, the driving of the motor 20 is stopped, and then the winding release mode process of FIG.
In the unwinding release mode of FIG. 8, in order to prevent the entrapment again due to the erroneous operation of the pinch prevention function, the invalidation control of the pinch prevention function and the limitation control of the closing actuation amount are performed, and simultaneously the closing command signal from the operation switch 4 When it receives, the reverse driving control of the window glass 11 is performed to release the winding.

First, at the same time as disabling the pinching prevention function, the controller 31 performs a closing operation amount limitation process (step S41).
In the closing operation amount limiting process, a predetermined time is set in advance as a specified time t in a timer (not shown) as the closing operation amount for reversely driving the motor 20 at the time of the detection of the winding. This setting value is stored in a memory such as a ROM.
Further, in this step, in order to limit the time for which the invalidation state of the pinch prevention function and the restriction state of the closing operation amount are continued, counting of the predetermined time t3 and the predetermined distance L3 which are predetermined is started. The prescribed time t3 is set in advance to a timer (not shown), the prescribed distance L3 is set in advance to a value corresponding to the pulse count value, and the set value is stored in a memory such as a ROM. When the process of step S41 is executed, a timer (not shown) is set to start timing, and at the same time the pulse count value is incremented or decremented by 1 each time a pulse signal is received to start measurement of the upward distance of the window glass 11. Do.
Next, it is determined whether the close switch of the operation switch 4 has been turned on by determining whether a normal close command signal has been received from the operation switch 4 (step S42).
When the closing switch of the operation switch 4 is not turned on (Step S42; No), it is determined again whether the closing switch of the operation switch 4 is turned on (Step S42). That is, step S42 is repeated until the normal closing command signal is received from the operation switch 4.

When the closing switch of the operation switch 4 is turned on (step S42; Yes), after setting a timer (not shown) and starting timekeeping, the motor 20 is driven through the drive circuit 32 to drive the window glass 11 upward. (Step S43). By the upward driving of the window glass 11, the inclusion of foreign matter is released.
Then, it is determined whether the closing switch of the operation switch 4 is turned off or, based on the count value of the timer, whether a predetermined time t predetermined by the timer has elapsed (step S44).

When the closing switch of the operation switch 4 is not turned off and the specified time t has not elapsed (step S44; No), the motor 20 is turned on via the drive circuit 32 assuming that the operation switch 4 remains turned on. It drives and raises the window glass 11 (step S43). That is, step S43 and step S44 are repeated until it is detected in step S44 that the closing switch is off or the specified time t has elapsed.
When the closing switch of the operation switch 4 is turned off or when the specified time t elapses (step S44; Yes), the occupant determines that the inclusion of the foreign matter has been released by the ascent of the window glass 11, or the foreign matter is involved The driving of the motor 20 is stopped via the drive circuit 32 and the rising driving of the window glass 11 is stopped (step S45), as shown in FIG. The processing returns to the winding determination processing.
In addition, if it is detected that the specified time t3 after execution of step S41 has elapsed or that the rising distance of the window glass 11 has reached the specified distance L3 by the measurement of the timekeeping and the rising distance started in step S41, Release the ineffective state of the prevention function and the limited state of the closing operation amount.

In the process of the winding release mode (step S10), the controller 31 may perform the process of FIG. 9 instead of the process of FIG.
When it is determined in step S8 of the winding determination process shown in FIG. 5 that winding is determined to be present, that is, when it is determined that winding is determined, the driving of the motor 20 is stopped, and then the winding release mode process of FIG.
In the entrainment release mode of FIG. 9, in order to prevent the entrapment again due to the erroneous operation of the entrapment prevention function, the inhibition control of the entrapment release (open operation) operation function after the entrapment detection and the restriction control of the closing operation amount are performed simultaneously. When the closing command signal is received from the operation switch 4, the reverse driving control of the window glass 11 is performed to release the winding.

The controller 31 first prohibits the pinch release (open operation) operation after the pinch detection, and at the same time, performs restriction processing of the closing operation amount (step S51).
In the closing operation amount limiting process, a predetermined distance is set in advance as a prescribed distance L at a value corresponding to the pulse count value as the closing operation amount for reversely driving the motor 20 at the time of the winding detection. The setting value is stored in advance in a memory such as a ROM.
In this step, counting of a predetermined time t4 and a predetermined distance L4 which are predetermined in advance is started in order to limit the time for continuing the pinch release (open operation) operation and the limitation state of the closing operation amount after the pinch detection. The prescribed time t4 is set in advance to a timer (not shown), the prescribed distance L4 is set in advance to a value corresponding to the pulse count value, and the set value is stored in a memory such as a ROM. When the process of step S51 is executed, a timer (not shown) is set to start timing, and at the same time the pulse count value is incremented or decremented by 1 each time a pulse signal is received to start measurement of the rising distance of the window glass 11. Do.
Next, it is determined whether the close switch of the operation switch 4 has been turned on by determining whether a normal close command signal has been received from the operation switch 4 (step S52).
When the closing switch of the operation switch 4 is not turned on (step S52; No), it is determined again whether the closing switch of the operation switch 4 is turned on (step S52). That is, step S52 is repeated until the normal close command signal is received from the operation switch 4.

When the closing switch of the operation switch 4 is turned on (Step S52; Yes), the motor 20 is driven via the drive circuit 32, and the window glass 11 is driven to ascend (Step S53). During the upward driving, the pulse count value is incremented or decremented by one each time a pulse signal is received, and the upward distance of the window glass 11 is measured. By the upward driving of the window glass 11, the inclusion of foreign matter is released.
Next, it is determined whether pinching has occurred or the specified distance L has risen (step S54).
In this step, it is judged that the pinching starts when the rotational speed difference Δω exceeds the fluctuation judgment threshold value α ′ as the judgment of the presence or absence of pinching occurrence, and it is judged that the pinching is started if it does not exceed do not do.
In addition, when the pulse count value incremented or decremented during the upward driving of the window glass 11 reaches the specified distance L, it is determined that the specified distance L has been increased.

If there is no occurrence of pinching and the defined distance L has not risen (step S54; No), the motor 20 is driven via the drive circuit 32 to drive the window glass 11 upward (step S53). That is, step S53 and step S54 are repeated until it is detected in step S54 that either the occurrence of pinching or the increase of the prescribed distance L is detected.
If pinching has occurred or the specified distance L has risen (step S54; Yes), if the closing operation is continued further due to pinching, another foreign matter is pinched between the window glass 11 and the window frame 12 and the secondary damage Drive the motor 20 through the drive circuit 32 as if there is a risk of having the problem or if the window glass 11 has been raised a sufficient distance for releasing the inclusion of foreign matter, the window glass The upward driving of 11 is stopped (step S55), and the process returns to the winding determination process shown in FIG.
In addition, if it is detected that the specified time t4 after execution of step S51 has elapsed or that the rising distance of the window glass 11 has reached the specified distance L4 by the measurement of the timekeeping and the rising distance started in step S51, Release the restricted state of the pinch release (open operation) operation and the closing operation amount after detection.

In the above embodiment, the fluctuation determination threshold value α and the winding determination threshold value β are constant values regardless of the position of the window glass 11. However, the present invention is not limited thereto. You may
Further, in the above embodiment, entrainment and pinching are detected by the change of the rotational speed ω of the motor 20 calculated based on the pulse signal (operation state detection signal) received from the rotation detection device 27, but the window glass The operating state, such as whether or not 11 has come into contact with foreign matter, may be detected not only based on the change in the speed of the window glass 11 or the change in the rotational speed ω of the motor 20 but also based on the current value flowing in the winding of the motor 20 it can.
For example, when pinching occurs, a load is applied to the motor 20, current increases, and voltage decreases. Therefore, the controller 31 checks whether the current change amount exceeds the threshold, and if it exceeds, the power change It is possible to detect pinching by checking if the amount exceeds a threshold. In this case, the current value and the voltage value output to the controller 31 correspond to the operation state detection signal in the claims.
In the above embodiment, the open / close controller has been described as the power window device 1 of a vehicle, but the open / close controller is applicable to all devices for opening / closing driving members such as a sunroof opening / closing device or slide door opening / closing device. It is possible.

1. Power window device (opening / closing body control device) 2. Drive means 3. Control means
4. Operation switch, 5. Battery, 10. Door, 11. Window glass, 12. Window frame,
13 .. Outer mall (belt molding), 13a, 13b .. seal projection,
14. Inner mall (belt molding), 14a, 14b .. seal projection,
15 .. Outer panel, 16 .. Inner panel,
20 .. Motor, 21 .. Lifting arm, 21a .. Gear, 22 .. Driven arm,
23. Fixed channel, 24. Glass side channel,
27 .. Rotation detection device, 31 .. controller, 32 .. drive circuit

Claims (10)

An opening / closing body control device having an opening / closing body driven by operation of the operation switch and a function of releasing the pinching when foreign matter is caught in the opening / closing body,
A drive motor for opening and closing the opening and closing body;
Operation switch for instructing the drive motor to open or close the open / close body, control means for controlling the operation of the drive motor, and an operation state according to the operation state of the open / close body to be driven and operating condition detecting means for outputting a detection signal, a trapping detection means for detecting the entrainment of the foreign matter into the opening and closing member during the movement to the open side of the closing body on the basis of the operating state detection signal, the And an entrainment detection unit that detects entrainment of the foreign matter when the open / close member is moving to the open side and the rotational speed of the drive motor that drives the open / close member is decreasing .
The control means limits the power supply to the drive motor so as to stop the progress of the inclusion of the foreign matter when the inclusion detection means detects the inclusion of the foreign matter, and the restriction is made after the restriction of the power supply. Power is supplied to the drive motor to drive the opening / closing body to the closing side in a state where a predetermined operation is restricted, when receiving a drive signal from the operation switch instructing the opening / closing body to the side An open / close controller according to claim 1, wherein after the supply, the restriction is released or the presence or absence of the detection of the winding is monitored under predetermined conditions. The entrainment detection means determines whether the accumulated value of the rotational speed difference is an accumulated value after the rotational speed difference which is the change amount of the rotational speed of the drive motor while the open / close member is moving to the open side if it exceeds the trapping determination threshold value, the opening and closing member control device according to claim 1, characterized in that for detecting the entrainment of the foreign substance. It further comprises pinch detection means for detecting pinching of the foreign matter into the open / close body based on the operation state detection signal,
The predetermined operation is a pinching prevention operation in which the control unit reversely operates the drive motor to reversely operate the open / close member when the pinch detection unit detects pinch of the foreign matter. The opening / closing body control device according to claim 1 or 2 . The open / close control apparatus according to any one of claims 1 to 3 , wherein the predetermined operation is a continuous drive operation of the open / close member on the closing side. 5. The open / close controller according to claim 3 , wherein the predetermined operation is a pinch release operation in which the open / close member driven to the close side operates to the open side. The open / close controller according to any one of claims 1 to 5 , wherein the predetermined operation is an operation of the open / close member on the closing side exceeding a predetermined operation time. The open / close controller according to any one of claims 1 to 6 , wherein the predetermined operation is an operation of the open / close member on the closing side exceeding a predetermined movement distance. 4. The control according to claim 3 , wherein the pinching prevention operation is restricted only until a predetermined time elapses or a predetermined distance is moved after the opening and closing body starts operating to the closing side. apparatus. The predetermined condition is that when a command to drive the closing side by the operation switch is stopped, a predetermined time has elapsed after the continuous driving operation of the opening / closing body to the closing side is restricted. When or the movement distance of the opening / closing body to the closing side after the continuous drive operation of the opening / closing body to the closing side is restricted is a time when a predetermined distance is reached. The opening / closing body control device according to any one of claims 1 to 8 . A drive motor for opening and closing the opening / closing body, an operation switch for outputting a drive signal instructing the drive motor to drive the opening / closing side of the opening / closing body, and control means for controlling the operation of the drive motor Operating state detecting means for outputting an operating state detection signal corresponding to the operating state of the opening / closing body driven by the drive motor, and during movement of the opening / closing body on the basis of the operation state detection signal It is an entrapment detection means which detects the entrapment of the foreign material to the opening and closing body, and the opening and closing body is moving to the open side, and when the rotational speed of the drive motor which drives the opening and closing body is falling. It includes said trapping detection means for detecting the entrainment of the foreign substance, and entrapment detection means for detecting the entrapment of foreign object into the opening and closing member based on said operating state detection signal, the operation switch An open / close member that releases pinching when foreign matter is pinched by the open / close member that is continuously driven even if the operation switch is released by operating the operation switch to a predetermined position or by operating the operation switch to a predetermined position Control method of
A first step of controlling power supply to the drive motor so as to stop the progress of the inclusion of the foreign matter when the inclusion detection means detects the inclusion of the foreign matter;
When the drive signal from the operation switch for instructing the drive of the closing body to the closing side is received after the restriction of the power supply, the closing body is closed in a state where a predetermined operation is restricted. A second step of releasing the restriction or monitoring the presence or absence of the winding-in under predetermined conditions after supplying power to the driving motor to drive the motor; How to control the body.

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