Opening / closing body control apparatus and pinching detection method
Through the judgment of pulse signals and integral value input by the detector unit, the situation in which the window glass clamping cannot be detected in time in the prior art, and timely and accurate detection of the clamping situation is achieved, avoiding high load risks.
Patent Information
- Application Number
- JP2023183389
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2023-10-25
- Publication Date
- 2025-05-12
AI Technical Summary
In the prior art, when the external object is clamped when the detection window glass is completely closed, the clamp cannot be detected in time, resulting in the clamped object being in a high load state for a long time.
The pulse signal related to the actuator is input by the detector unit to determine whether the opening and closing body is clamped, and the clamping situation is determined by whether the pulse width of the multiple pulse signals exceeds the specified value, the number of pulse widths and the integral value of the difference.
Timely detection and accurate judgment of clamping conditions are achieved, and the risk of long-term high load of clamping objects is avoided.
Smart Images
Figure 2025072910000001_ABST
Abstract
Description
[Technical field]
[0001] The present invention relates to an opening / closing member control device and a pinch detection method. [Background technology]
[0002] Conventionally, as disclosed in Patent Document 1, a vehicle opening / closing device that detects whether a foreign object is caught by the window glass during a full-closing operation of the window glass is well known. In Patent Document 1, the pulse width of a rotation pulse output by a rotation sensor built into a motor is measured, and it is determined whether an abnormal operation is occurring due to a foreign object being caught. Then, if a foreign object is caught, the motor is driven to open the window glass. [Prior art documents] [Patent documents]
[0003] [Patent Document 1] Japanese Patent Application Publication No. 5-95694 Summary of the Invention [Problem to be solved by the invention]
[0004] However, if pinching occurs and the pinch is not detected immediately, the pinched state of the foreign object will continue for a long time, resulting in a large load being applied to the pinched object. Therefore, there has been a need to develop a technology that can detect pinching immediately when it occurs. [Means for solving the problem]
[0005] The opening / closing body control device that solves the above problem is a device that inputs a pulse signal corresponding to the operating amount of an actuator, which is the driving source for the operation of the opening / closing body, from a detection unit, and detects whether or not pinching has occurred due to the opening / closing body based on the pulse signal.The device is equipped with a measurement unit that performs a judgment to confirm whether the pulse width of the input pulse signal exceeds a specified value using multiple pulse signals with different time series and measures the number of times the pulse width exceeds the specified value, an integration unit that performs a calculation to obtain the difference between the current pulse width and the past pulse width using multiple pulse signals with different time series and accumulates these differences, and a judgment unit that determines that pinching has occurred due to the opening / closing body when the measurement value of the measurement unit exceeds a first threshold and the accumulated value of the integration unit exceeds a second threshold, and the judgment unit changes the second threshold to a lower value when a condition for changing the second threshold is satisfied in a situation where the measurement value exceeds the first threshold but the accumulated value does not exceed the second threshold.
[0006] The pinch detection method that solves the above problem is a method in which a pulse signal corresponding to the operating amount of an actuator, which is a driving source for the operation of an opening / closing body, is input from a detection unit, and the presence or absence of pinch by the opening / closing body is detected based on the pulse signal, and the computer is caused to execute a determination to confirm whether the pulse width of the input pulse signal exceeds a specified value or not, using a plurality of the pulse signals in different time series, and obtain a measurement value by measuring the number of times the pulse width exceeds the specified value; a calculation to obtain a difference between the current pulse width and the past pulse width, using the plurality of the pulse signals in different time series, and obtain an integrated value by integrating these differences; when the measurement value exceeds a first threshold value and the integrated value exceeds a second threshold value, it is determined that pinch by the opening / closing body has occurred; and when a condition for changing the second threshold value is satisfied in a situation in which the measurement value exceeds the first threshold value but the integrated value does not exceed the second threshold value, the computer is caused to change the second threshold value to a lower value. Effect of the Invention
[0007] The present invention can detect pinching with high accuracy. [Brief description of the drawings]
[0008] [Figure 1] 1 is a block diagram showing a configuration of an opening / closing member control device according to an embodiment; [Diagram 2] FIG. 4 is a waveform diagram of a pulse signal. [Diagram 3] 11 is a waveform diagram of a pulse signal whose pulse width has been expanded. [Figure 4] 11 is a graph showing the change in pulse width with respect to the open / close position. [Diagram 5] FIG. 4 is a waveform diagram showing changes in measurement values with respect to opening and closing positions. [Figure 6] FIG. 11 is a waveform diagram showing a change in an integrated value with respect to an opening / closing position. [Figure 7] FIG. 4 is a waveform diagram showing changes in measurement values with respect to opening and closing positions. [Figure 8] FIG. 11 is a waveform diagram showing a change in an integrated value with respect to an opening / closing position. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0009] Hereinafter, one embodiment of the present disclosure will be described. (Opening and closing body control device 1) As shown in FIG. 1, an opening / closing device 2 includes an opening / closing body control device 1 that controls the opening and closing operation of an opening / closing body 3. The opening / closing device 2 is mounted on, for example, a vehicle. When the opening / closing body 3 is a window, for example, the opening / closing device 2 is a power window device. The opening / closing device 2 is provided on, for example, each of a plurality of vehicle doors (not shown) mounted on the vehicle. When the vehicle has four doors, the vehicle doors include, for example, a driver's door, a passenger's door, a rear right door, and a rear left door.
[0010] The opening / closing body control device 1 includes a control unit 4 that controls the operation of the opening / closing body control device 1. A switch signal Ssw of a switch unit 5 for controlling the opening and closing operation of the opening / closing body 3 is input to the opening / closing body control device 1. The opening / closing body control device 1 opens and closes the opening / closing body 3 by driving an actuator 6 based on the switch signal Ssw input from the switch unit 5. The opening / closing body control device 1 may be provided for each vehicle door, or may be shared by multiple vehicle doors. The actuator 6 is, for example, a motor.
[0011] The control unit 4 is constructed, for example, from an MPU (Micro Processor Unit), a memory, and various devices. For example, when an open operation signal is input as a switch signal Ssw from the switch unit 5, the control unit 4 operates the actuator 6 in one direction to execute the opening operation of the opening / closing body 3. For example, when a close operation signal is input as a switch signal Ssw from the switch unit 5, the control unit 4 operates the actuator 6 in the other direction to execute the closing operation of the opening / closing body 3.
[0012] (Switch section 5) As shown in Fig. 1, the switch unit 5 is electrically connected to the opening / closing body control device 1. The switch unit 5 is, for example, a seesaw switch. In the case of the switch unit 5 being a seesaw switch, an operation of tilting the switch to one side from the neutral position is an opening operation, and an operation of tilting the switch to the other side from the neutral position is a closing operation. The switch unit 5 may be a master switch capable of opening and closing not only the opening / closing body 3 of the driver's seat but also the opening / closing bodies 3 of the other seats, or may be an individual switch capable of opening and closing only the opening / closing body 3 corresponding to the seat.
[0013] (Detection of opening / closing position of opening / closing body 3) 1, the opening / closing device 2 includes a detection unit 8 that detects the open / close position of the opening / closing body 3. The detection unit 8 in this example outputs a pulse signal Sk corresponding to the amount of operation of the actuator 6, which is the drive source for the operation of the opening / closing body 3, to the opening / closing body control device 1. The detection unit 8 may be, for example, an optical type that detects the amount of operation of the actuator 6 by emitting and receiving light, or a magnetic type that detects the amount of operation of the actuator 6 by magnetic detection.
[0014] As shown in Fig. 2, the pulse signal Sk has a pulse width Wp corresponding to the amount of operation of the actuator 6. Specifically, the pulse signal Sk has a pulse width Wp corresponding to the rotation speed of the motor. In this example, the pulse width Wp includes a width "Wp1" between edges constituting the Hi level signal of the pulse signal Sk, and a width "Wp2" between edges constituting the Lo level signal of the pulse signal Sk. In addition, in this example, "one pulse" of the pulse signal Sk is formed by one rotation of the motor.
[0015] The opening / closing body control device 1 detects the opening / closing position of the opening / closing body 3 by counting the number of pulses (specifically, the number of Hi level signals or the number of edges) of the pulse signal Sk input from the detection unit 8. Specifically, the opening / closing body control device 1 detects the opening / closing position of the opening / closing body 3, for example, by decrementing the number of detected pulses during an opening operation and incrementing the number of detected pulses during a closing operation with respect to a count value indicating the current opening / closing position of the opening / closing body 3.
[0016] (Detection of pinching in opening / closing body 3) 1, the opening / closing body control device 1 includes a pinch detection unit 9 that detects an object being pinched by the opening / closing body 3. The pinch detection unit 9 includes a measurement unit 10, an accumulating unit 11, and a determination unit 12. In this example, the pinch to be detected may be, for example, an object being pinched when the opening / closing body 3 is closed, or an object being entangled when the opening / closing body 3 is opened. Examples of objects to be detected as being pinched include a part of the user's body and clothing worn by the user.
[0017] 3, the measurement unit 10 measures the number of times that the pulse width Wp exceeds the specified value Wk in the group of pulse signals Sk input from the detection unit 8. Specifically, the measurement unit 10 executes a determination on a plurality of pulse signals Sk with different time series to confirm whether or not the pulse width Wp of the input pulse signal Sk exceeds the specified value Wk, and measures the number of times that the pulse width Wp exceeds the specified value Wk.
[0018] In this example, the measurement unit 10 repeatedly determines whether the pulse width Wp of the pulse signal Sk exceeds the specified value Wk each time the pulse signal Sk is input, and measures the number of times the pulse width Wp exceeds the specified value Wk. For example, the measurement unit 10 determines the width between edges of the pulse signal Sk as the pulse width Wp. In this way, the measurement unit 10 determines the pulse width Wp of the pulse signal Sk each time an edge of the pulse signal Sk is detected. For example, the measurement unit 10 measures the number of consecutive times the pulse width Wp exceeds the specified value Wk. In this example, the number of times the pulse width Wp exceeds the specified value Wk is calculated as the "measurement value Pc."
[0019] As shown in FIG. 4, the integrating unit 11 integrates the difference Psn (n=0, 1, ...) between the pulse width Wp of the current pulse signal Sk and the past pulse signals Sk in the signal group of pulse signals Sk input from the detecting unit 8. Specifically, the integrating unit 11 executes a calculation to obtain the difference Psn between the current pulse width Wp and the past pulse width Wp for a plurality of pulse signals Sk with different time series, and integrates these differences Psn. The integrating unit 11 in this example repeats the calculation to obtain the difference Psn between the current pulse width Wp and the past pulse width Wp every time a pulse signal Sk is input, and integrates these differences Psn. In this example, the value obtained by integrating the differences Psn is calculated as an "integrated value Pst."
[0020] 2, when the integrating unit 11 detects an edge of the pulse signal Sk, the width of the pulse waveform formed by the detected edge and the edge immediately before it is determined as the current pulse width Wp. The integrating unit 11 also determines the width of the pulse waveform formed by the edge two edges before the detected edge and the edge immediately before it as the past pulse width Wp.
[0021] For example, at time t1, the current pulse width Wp is "Pn5" and the previous pulse width Wp is "Pn7". The difference Psn between these pulse widths Wp is "Ps5". At time t2, the current pulse width Wp is "Pn1" and the previous pulse width Wp is "Pn3". The difference Psn between these pulse widths Wp is "Ps1". At time t3, the current pulse width Wp is "Pn0" and the previous pulse width Wp is "Pn2". The difference Psn between these pulse widths Wp is "Ps0".
[0022] 4, the integrating unit 11 repeats a process of finding the difference Psn (Ps0, Ps1, ...) between the current pulse width Wp formed by the detection edge and the edge immediately before it and the past pulse width Wp formed by the edge two edges before the detection edge and the edge immediately before it, and calculates the integrated value Pst by adding up these differences Psn. As described above, the integrating unit 11 finds and integrates the difference Psn between the current and past pulse widths Wp every time it detects an edge of the pulse signal Sk.
[0023] 5 and 6, the determination unit 12 detects whether or not pinching has occurred due to the opening-closing body 3, based on the measurement value Pc calculated by the measurement unit 10 and the integrated value Pst calculated by the accumulator 11. In this example, the determination unit 12 determines that pinching has occurred due to the opening-closing body 3 when the measurement value Pc of the measurement unit 10 exceeds a first threshold value Pc1 (see FIG. 5) and the integrated value Pst of the accumulator 11 exceeds a second threshold value Pst1 (see FIG. 6). When pinching due to the opening-closing body 3 is detected, the opening-closing body control device 1 reverses the opening-closing body 3.
[0024] (Change in second threshold Pst1) As shown in Fig. 7 and Fig. 8, when the condition for changing the second threshold Pst1 is satisfied under the circumstances where the measurement value Pc exceeds the first threshold Pc1 but the integrated value Pst does not exceed the second threshold Pst1, the determination unit 12 changes the second threshold Pst1 to a lower value (adjustment threshold Pst2: see Fig. 8). In this example, the condition for changing the second threshold Pst1 is that the measurement value Pc exceeds a limit value Pc2 (see Fig. 7) set to a value higher than the first threshold Pc1. In this way, when the pinch continues and the measurement value Pc exceeds not only the first threshold Pc1 but also the limit value Pc2, the second threshold Pst1 is changed to the adjustment threshold Pst2.
[0025] Next, the operation of the opening / closing body control device 1 (entrapment detection method) of this embodiment will be described. (Normal pinch detection) 5 and 6, for example, suppose that pinching occurs when the opening / closing body 3 is in the opening / closing position "X1". When pinching occurs, the upward movement of the opening / closing body 3 is restricted by the influence of the trapped object, so the operating speed of the actuator 6, i.e., the rotation speed of the motor, decreases. As a result, the pulse signal Sk changes so that the pulse width Wp increases. Therefore, the state in which the pulse width Wp exceeds the specified value Wk is periodically repeated, so the measured value Pc takes an increasing changing waveform.
[0026] 5, if the pinch is not eliminated, the measured value Pc continues to increase and eventually exceeds the first threshold value Pc1. In other words, if the pinch state continues after the pinch occurs, the measured value Pc increases and exceeds the first threshold value Pc1 at a certain timing.
[0027] Also, as shown in Fig. 6, when the pulse width Wp of the pulse signal Sk increases due to pinching, the state in which the integrated value Pst increases continues. As a result, the integrated value Pst eventually exceeds the second threshold value Pst1. In other words, if the pinched state continues after the occurrence of pinching, the integrated value Pst increases and exceeds the second threshold value Pst1 at a certain timing. In the case of Fig. 6, the integrated value Pst exceeds the second threshold value Pst1 when the opening / closing position is "X2".
[0028] When the determination unit 12 detects a state in which the measured value Pc exceeds the first threshold value Pc1 and the integrated value Pst exceeds the second threshold value Pst1, it recognizes that pinching has occurred in the opening / closing body 3. Then, when the determination unit 12 determines that pinching has occurred, the control unit 4 stops and reverses the actuator 6. That is, in the case of a closing operation, the opening / closing body 3 is switched to an opening operation at the point in time when it is determined that pinching has occurred. Thus, the pinching state caused by the opening / closing body 3 is eliminated.
[0029] (In the event of an exceptional pinch) As shown by the dashed line in Fig. 6, for example, when the opening / closing body 3 pinches an object, the measured value Pc continues to increase, but the increasing slope of the integrated value Pst may become gentle. This can occur, for example, when the pinched object is deformed, the moving opening / closing body 3 slides on the frame, or the position of the pinched object shifts. In this case, the condition for reversal is not satisfied, so the opening / closing body 3 continues to rise with the object pinched, and the object is tightly pinched.
[0030] 7 and 8, in this example, when the measurement value Pc exceeds the first threshold value Pc1 and further exceeds the limit value Pc2, the second threshold value Pst1 is changed to a lower value (adjusted threshold value Pst2). As a result, the integrated value Pst exceeds the adjusted second threshold value Pst1, and the reversal condition is met. Therefore, it is possible to reverse the opening / closing body 3 before the opening / closing body 3 strongly pinches the object, thereby preventing a large load from being applied to the pinched object.
[0031] (Effects of the embodiment) According to the configuration of the above embodiment, the following effects can be obtained. (1) The opening-closing body control device 1 receives a pulse signal Sk corresponding to the amount of operation of the actuator 6, which is the drive source for the operation of the opening-closing body 3, from the detection unit 8, and detects whether or not an object is pinched by the opening-closing body 3 based on the pulse signal Sk. The measurement unit 10 included in the opening-closing body control device 1 performs a determination on a plurality of pulse signals Sk with different time series to confirm whether or not the pulse width Wp of the input pulse signal Sk exceeds a specified value Wk, and measures the number of times the pulse width Wp exceeds the specified value Wk. The accumulator 11 included in the opening-closing body control device 1 performs a calculation on a plurality of pulse signals Sk with different time series to obtain a difference Psn between the current pulse width Wp and the past pulse width Wp, and accumulates these differences Psn. The judgement unit 12 of the opening-closing body control device 1 judges that an object is pinched by the opening-closing body 3 when the measurement value Pc of the measurement unit 10 exceeds a first threshold value Pc1 and the accumulated value Pst of the accumulator 11 exceeds a second threshold value Pst1. When the condition for changing the second threshold value Pst1 is satisfied in a situation where the measured value Pc exceeds the first threshold value Pc1 but the integrated value Pst does not exceed the second threshold value Pst1, the judgment unit 12 changes the second threshold value Pst1 to a lower value.
[0032] According to this configuration, in the case of a detection logic in which the measurement value Pc is compared with the first threshold value Pc1 and the integrated value Pst is compared with the second threshold value Pst1, for example, the pinched foreign object may be deformed or the opening / closing body 3 may move irregularly, causing the increase in the integrated value Pst to become gradual. In the case of this configuration, when the condition for changing the second threshold value Pst1 is satisfied, the second threshold value Pst1 is changed to a low value. As a result, even if the increase in the integrated value Pst becomes gradual when pinching occurs, it is possible to generate a state in which the integrated value Pst exceeds the second threshold value Pst1 by switching the second threshold value Pst1 to a low value. Therefore, even if the increase in the integrated value Pst becomes gradual, it is possible to detect pinching by changing the second threshold value Pst1. Therefore, pinching can be detected with high accuracy.
[0033] (2) The condition for changing the second threshold value Pst1 is that the measurement value Pc exceeds the limit value Pc2, which is set to a value higher than the first threshold value Pc1. With this configuration, it is possible to change the second threshold value Pst1 when the pinch continues. Therefore, unnecessary changes to the second threshold value Pst1 are unlikely to occur.
[0034] (3) The measurement unit 10 obtains the width between edges of the pulse signal Sk as the pulse width Wp. With this configuration, it is possible to obtain the measurement value Pc with high accuracy by using both the Hi level component and the Lo level component of the pulse signal Sk. This contributes to more accurate pinch detection.
[0035] (4) The measurement unit 10 measures the number of consecutive times that the pulse width Wp exceeds the specified value Wk. This configuration increases the reliability of the measurement value Pc, which further contributes to accurate pinch detection.
[0036] (5) The integrating unit 11 obtains and integrates the difference Psn between the current pulse width Wp and the past pulse width Wp every time an edge of the pulse signal Sk is detected. The current pulse width Wp is the width between the latest edge and the edge immediately preceding it. The past pulse width Wp is the width between the edge two edges before and the edge immediately preceding it. With this configuration, the difference Psn of the pulse width Wp is calculated as the difference Psn between the Hi level components of the pulse signal Sk and the difference between the Lo level components of the pulse signal Sk. Therefore, it is possible to obtain the difference Psn of the pulse width Wp with high accuracy. In this way, if the integrated value Pst is obtained from the accurate difference Psn of the pulse width Wp, it is also possible to calculate the integrated value Pst with high accuracy. This contributes to more accurate pinch detection.
[0037] (6) If the presence or absence of entrapment can be determined with high accuracy, the load (entrapment load) applied to an object entrapped by the opening / closing body 3 can be kept low. (7) When the measured value Pc continues to increase after exceeding the first threshold value Pc1 and exceeds the limit value Pc2, the second threshold value Pst1 is changed. Therefore, the second threshold value Pst1 is not changed by sudden pulse fluctuations caused by disturbances such as driving on rough roads or voltage changes. This further contributes to improving the accuracy of pinch determination.
[0038] (8) It is possible to detect pinching with high accuracy without making major changes to the conventional pinch determination logic. (Other embodiments) This embodiment can be modified as follows: This embodiment and the following modifications can be combined with each other to the extent that no technical contradiction occurs.
[0039] The action executed when pinching is detected is not limited to reversing the opening / closing body 3, but may be, for example, stopping the opening / closing body 3. In measuring the measured value Pc, the pulse width Wp to be counted may be the width of a Hi level signal, the width of a Lo level signal, or the width of one pulse. This also applies to the pulse width Wp to be counted in the calculation of the integrated value Pst.
[0040] When calculating the difference Psn in the pulse width Wp, any pulse width Wp measured in the past may be used as long as it is a pulse width Wp measured at any time relative to the current pulse width Wp.
[0041] The pulse signal Sk is not limited to a waveform in which one pulse is output for one rotation of the motor, but may be a waveform in which a plurality of pulses are output for one rotation of the motor. The measured value Pc is not limited to the number of consecutive times, and may be a number of discontinuous times by thinning out the intermediate values.
[0042] The condition for changing the second threshold value Pst1 may be, for example, that the time during which the integrated value Pst does not exceed the second threshold value Pst1 after the measured value Pc exceeds the first threshold value Pc1 is equal to or longer than a predetermined value. In other words, if the integrated value Pst does not exceed the second threshold value Pst1 even if the measured time after the measured value Pc exceeds the first threshold value Pc1 exceeds the time limit, the second threshold value Pst1 may be changed to a lower value.
[0043] The determination as to whether or not the condition for changing the second threshold value Pst1 is satisfied may be performed using, for example, a change in the voltage applied to the actuator 6 as an index. The determination as to whether or not the pulse width Wp of the input pulse signal Sk exceeds the specified value Wk is not limited to being performed every time a pulse signal Sk is input to the opening / closing body control device 1. For example, this determination may be performed only for a specific pulse signal Sk among the input pulse signals Sk. Specifically, this determination may be performed for every other pulse signal Sk. The same applies to the integration of the difference Psn.
[0044] The pinch detection is not limited to being performed when the opening / closing body 3 is closed, but may be performed when the opening / closing body 3 is opened. The opening / closing body control device 1 may be applied to things other than vehicles.
[0045] The measurement unit 10, the integration unit 11, and the determination unit 12 may be configured as [1] one or more processors that operate according to a computer program (software), or [2] a combination of such a processor and one or more dedicated hardware circuits such as an application specific integrated circuit (ASIC) that executes at least some of the various processes. The processor includes a CPU and memory such as RAM and ROM, and the memory stores program code or instructions configured to cause the CPU to execute the processes. The memory (computer-readable medium) includes any available medium that can be accessed by a general-purpose or dedicated computer. Alternatively, instead of a computer including the above processor, a processing circuit configured by one or more dedicated hardware circuits that execute all of the various processes may be used.
[0046] The measurement unit 10, the accumulator 11, and the judgment unit 12 may be configured from independent processors, or may be constructed from a processor that shares some of its functions. In this way, the measurement unit 10, the accumulator 11, and the judgment unit 12 are not limited to being independent functional blocks, and may be configured from a single functional block, or may be configured from a functional block that shares some of its functions.
[0047] Although the present disclosure has been described with reference to the embodiment, it is understood that the present disclosure is not limited to the embodiment or structure. The present disclosure also includes various modifications and modifications within the scope of equivalents. In addition, various combinations and forms, as well as other combinations and forms including only one element, more than one element, or less than one element, are also within the scope and concept of the present disclosure. [Explanation of symbols]
[0048] 1...opening / closing body control device, 3...opening / closing body, 6...actuator, 8...detection unit, 10...measurement unit, 11...accumulation unit, 12...judgment unit, Sk...pulse signal, Wp...pulse width, Wk...prescribed value, Pc...measured value, Psn...difference, Pst...accumulated value, Pc1...first threshold, Pc2...limit value, Pst1...second threshold.
Claims
1. A control device for an opening / closing body that receives a pulse signal corresponding to an amount of operation of an actuator that is a drive source for the operation of the opening / closing body from a detection unit and detects whether or not an object is pinched by the opening / closing body based on the pulse signal, a measurement unit that performs a determination as to whether or not a pulse width of the input pulse signal exceeds a specified value using a plurality of pulse signals with different time series, and counts the number of times the pulse width exceeds the specified value; an integrating unit that executes a calculation to obtain a difference between the current pulse width and the past pulse width on a plurality of pulse signals having different time series, and integrates the differences; a determination unit that determines that pinching by the opening / closing body has occurred when the measurement value of the measurement unit exceeds a first threshold value and the integrated value of the integration unit exceeds a second threshold value, The judgment unit changes the second threshold to a lower value when a condition for changing the second threshold is satisfied under a situation where the measured value exceeds the first threshold but the integrated value does not exceed the second threshold.
2. The opening / closing member control device according to claim 1 , wherein a condition for changing the second threshold value is that the measured value exceeds a limit value that is set to a value higher than the first threshold value.
3. The opening / closing member control device according to claim 1 , wherein the measurement unit determines a width between edges of the pulse signal as the pulse width.
4. The opening / closing member control device according to claim 1 , wherein the measurement unit measures the number of consecutive times that the pulse width exceeds the specified value.
5. the integrating unit determines and integrates the difference between the current pulse width and the past pulse width each time an edge of the pulse signal is detected; the current pulse width is the width between the most recent edge and the edge immediately preceding it; The opening / closing member control device according to claim 1 , wherein the past pulse width is a width between two edges prior and the edge immediately preceding the previous edge.
6. A method for detecting an obstruction by an opening / closing body, comprising: receiving a pulse signal corresponding to an amount of operation of an actuator that is a drive source for an opening / closing body from a detection unit; and detecting whether or not an object is trapped by the opening / closing body based on the pulse signal, the method comprising: determining whether or not a pulse width of the input pulse signal exceeds a specified value for a plurality of pulse signals having different time series, and calculating a measurement value by counting the number of times the pulse width exceeds the specified value; A calculation is performed on a plurality of pulse signals having different time series to obtain a difference between the current pulse width and the past pulse width, and the differences are integrated to obtain an integrated value; determining that pinching by the opening / closing body has occurred when the measured value exceeds a first threshold value and the integrated value exceeds a second threshold value; A pinch detection method that causes a computer to execute the steps of: changing the second threshold to a lower value when a condition for changing the second threshold is satisfied under a situation in which the measurement value exceeds the first threshold but the integrated value does not exceed the second threshold.
Citation Information
Patent Citations
Switching device for vehicle
JP1993095694A