Mobile control device

Abstract

To accurately detect catching even when a movable body or an object is soft, or even when it makes relief action of avoiding the catching.SOLUTION: A movable body controller comprises: a catching detector that detects the catching of an object on the basis of a change of motor current; and a control part that controls a motor action on the basis of a detection result of the catching detector. The catching detector determines that the catching of the object has occurred when a difference Δ I of motor current I in a predetermined period T is a threshold value α or more, and when the tendency of a change of the motor current I in the period T is a monotonous increment. Further, the catching detector can detect the catching of the case when a relief action is made by decreasing the threshold value α down to α' when the tendency of a monotonous increment of the motor current I has continued for a period X longer than the period T.SELECTED DRAWING: Figure 9

Description

[Technical field]

[0001] The present invention relates to a device for controlling a moving object such as an electrically operated seat installed in a vehicle, and more particularly to a moving object control device having a function for detecting the entrapment of a foreign object. [Background technology]

[0002] Some vehicles, such as automobiles, are equipped with an electrically operated seat that moves forward and backward by the rotation of a motor. Conventionally, when adjusting the forward and backward position of such an electrically operated seat, the seat position is adjusted by manually operating an operating unit provided near the seat to move the seat forward or backward. Meanwhile, in recent years, vehicles have been introduced that have a function that allows a seat position that matches the user's preferences to be registered in advance, identifies the user when getting in, and automatically moves the seat to a seat position that corresponds to the user.

[0003] In a vehicle equipped with the above-mentioned automatic seat position adjustment function, if the front seat automatically moves backwards when there is a person or object between the front and rear seats, the person or object may be trapped between the front and rear seats, threatening safety. A similar situation can also occur with a manual power seat. For this reason, the seat control device is required to have a function to quickly detect the occurrence of entrapment and stop or reverse the motor to eliminate the entrapment.

[0004] When pinching occurs, the current flowing through the motor increases and the rotation speed of the motor decreases as the load applied to the motor increases. Therefore, by detecting the change (difference) in physical quantity such as the motor current or rotation speed over a predetermined period and comparing the detected value with a threshold value, it is possible to determine whether pinching has occurred. Patent documents 1 to 4 disclose techniques for detecting pinching based on such changes in physical quantity.

[0005] However, since vehicle seats generally use soft cushioning, it takes time from when an entrapment occurs until the entrapment is detected. This will be explained with reference to FIG.

[0006] Fig. 11 shows a state in which an occupant's legs F are caught between the front seat S1 and the rear seat S2. This type of entrapment occurs, for example, when the seat S1 is moved backward and the seat S2 is moved forward at the same time. When the front seat S1 is moved backward a distance d1 from the initial position shown by the dashed dotted line to the position shown by the solid line, the legs F are caught between the seats S1 and S2. In addition to human legs, a human torso, luggage, animals, etc. may also be caught.

[0007] However, because sheet S1 is flexible, the motor load is insufficient at the position indicated by the solid line in Fig. 11, and pinching is not detected. After this, a depression occurs in sheet S1 at the pinched portion indicated by K, and sheet S1 retreats a further distance d2 and stops at the position indicated by the dashed line. At this position, the motor load increases, the motor current difference value becomes equal to or exceeds the threshold, and pinching is detected.

[0008] 11, pinching cannot be detected at the solid line position where the sheet S1 has moved a distance d1, but can be detected at the dashed line position where the sheet S1 has moved a distance d1+d2. For this reason, in order to accurately detect pinching, it is necessary to set a long period for calculating the motor current difference value. However, if this calculation period is long, pinching becomes easier to detect, but on the other hand, the possibility of false pinching detection due to disturbance also increases.

[0009] Here, the case where the seat is flexible has been described, but even if the seat is rigid, the same thing can happen when a soft object is caught in the seat. Patent Document 5 shows a seat control device that can appropriately detect the pinching of an object when the object is caught in the soft part of the seat. Patent Documents 6 to 10 show power window devices that can accurately detect the pinching of a soft object in a vehicle window.

[0010] On the other hand, when the front seat moves backward and hits the legs of an occupant in the back seat, the occupant may twist his / her lower body to avoid being pinched (hereinafter referred to as "escape movement"). This will be explained with reference to Figure 12.

[0011] FIG. 12 is a schematic diagram showing an occupant seated in a seat as seen from above. In the normal state (a), the legs F of the occupant P seated in the rear seat S2 are separated from the front seat S1. When the front seat S1 moves back from this state and hits the legs F of the occupant P as shown in (b), the occupant P twists his lower body in an instant to avoid being pinched, tilting his legs F against the seat S1 as shown in (c). After that, as shown in (d), the seat S1 moves further back together with the displacement of the legs F while still in contact with the legs F, causing the legs F to become pinched. However, since the seat S1 follows the displacement of the legs F, the motor load is insufficient as in the case of FIG. 11, and pinching cannot be detected. [Prior art documents] [Patent documents]

[0012] [Patent Document 1] JP2019-27247A [Patent Document 2] JP 2005-290691 A [Patent Document 3] JP2016-14292A [Patent Document 4] JP2007-56620A [Patent Document 5] JP 2007-131138 A [Patent Document 6] JP 2010-119210 A [Patent Document 7] Japanese Patent Application Publication No. 8-149871 [Patent Document 8] Japanese Patent Application Publication No. 8-4416 [Patent Document 9] JP 2001-248358 A [Patent Document 10] Japanese Patent Application Publication No. 7-158338 Summary of the Invention [Problem to be solved by the invention]

[0013] To provide a moving body control device capable of accurately detecting pinching even when the moving body or object is soft or when an escape action is performed to avoid pinching. [Means for solving the problem]

[0014] The mobile object control device according to the present invention is a device for controlling a mobile object that moves by the rotation of a motor, and includes an entrapment detection unit that detects an object being entrapped due to the movement of the mobile object based on a change in a physical quantity that indicates a rotation state of the motor, and a control unit that controls the operation of the motor based on the detection result of the entrapment detection unit. The entrapment detection unit determines that an object is entrapped when a first difference in the physical quantity in a predetermined first period is equal to or greater than a first threshold value (first condition) and the change in the physical quantity in the first period tends to monotonically increase or decrease (second condition). Furthermore, the entrapment detection unit lowers the value of the first threshold value when the tendency of the physical quantity to monotonically increase or decrease continues for a period longer than the first period.

[0015] In this way, for example, in the case of pinching by a flexible sheet, both the first and second conditions are satisfied and pinching can be detected, whereas in the case of disturbance, the second condition is not satisfied and it is possible to avoid erroneous pinching determination. Also, even if an escape action is taken to avoid pinching, it is possible to detect pinching by lowering the value of the first threshold.

[0016] In the present invention, after lowering the first threshold, the pinch detection unit may return the first threshold to its original value when the physical quantity no longer shows a monotonically increasing or decreasing tendency.

[0017] In the present invention, the pinch detection unit may calculate a first difference, which is a difference between each physical quantity at the beginning and end of a first period, and for each of a plurality of second periods obtained by dividing the first period, calculate a second difference, which is a difference between each physical quantity at the beginning and end of the second period, and if a proportion of the second differences that are equal to or greater than a second threshold value among the plurality of second differences is equal to or greater than a third threshold value, it may determine that the tendency of change in the physical quantity in the first period is a monotonically increasing or decreasing.

[0018] In the present invention, when the first difference is ΔI, the second difference is ΔIs(m), the first threshold is α, the second threshold is β, the third threshold is γ, and the number of ΔIs(m) that is equal to or greater than β among M ΔIs(m) in a first period is N, the pinch detection unit may calculate a propensity score SC that represents a tendency of change in the physical quantity in the first period by SC=N / M, and determine that pinch of an object has occurred if ΔI≧α and SC≧γ are satisfied.

[0019] In this case, the entrapment detection unit may determine that an object has been entrapped when the relationship between M and N is M=N, ΔI≧α, and SC=1.

[0020] The physical quantity in the present invention may be the current flowing through the motor, or may be the rotation speed of the motor.

[0021] The moving object in the present invention may be a seat of a vehicle or a window of a vehicle. Effect of the Invention

[0022] According to the present invention, even when the moving body or object is soft or when an escape action is performed to avoid being caught, it is possible to accurately detect the presence of the entrapment. [Brief description of the drawings]

[0023] [Figure 1] 1 is a block diagram of an electric seat system including a seat control device according to a first embodiment of the present invention. [Diagram 2]1A and 1B are schematic diagrams illustrating the principle of distinguishing between entrapment and disturbance. [Diagram 3] 13 is a graph illustrating a current difference, a trend difference, and a trend score, and their threshold values. [Figure 4] 11 is a graph illustrating a method for calculating a current difference and a trend difference. [Diagram 5] 13 is a graph showing changes in each trend difference. [Figure 6] 13 is a graph showing changes in motor current, current difference, and tendency score when a disturbance is present; [Figure 7] 11 is a graph showing changes in motor current, current difference, and tendency score in a normal case. [Figure 8] 13 is a graph showing changes in motor current, current difference, and tendency score when an escape movement is performed. [Figure 9] 13 is a graph illustrating a change in the current difference threshold when an escape operation is performed. [Figure 10] FIG. 6 is a block diagram of an electric seat system including a seat control device according to a second embodiment of the present invention. [Figure 11] FIG. 13 is a diagram showing a state in which flexible sheets are sandwiched. [Figure 12] 13A and 13B are diagrams illustrating a state of entrapment caused by an escape operation. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0024] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals. In the following, a vehicle seat is taken as an example of a moving body, and the present invention will be described as being applied to a seat control device.

[0025] 1 shows a seat control device 1 according to a first embodiment of the present invention, and an example of an electric seat system 100 using the same. The electric seat system 100 is installed in a vehicle such as a four-wheeled automobile, and includes a seat control device 50, an operation unit 5, a motor current detection unit 6, a motor speed detection unit 7, a motor 8, a slide mechanism 9, and a seat 20. The seat 20 is an electric seat driven by the motor 8 and the slide mechanism 9.

[0026] The operation unit 5 is composed of switches and the like for manually operating the operation of the seat 20. The motor current detection unit 6 detects the motor current flowing through the motor 8. The motor speed detection unit 7 detects the rotational speed of the motor 8. The motor 8 is a motor for moving the seat 20 in direction a (front-rear direction). The slide mechanism 9 is connected to the motor 8 and the seat 20, and converts the rotational motion of the motor 8 into linear motion, moving the seat 20 a predetermined distance in direction a.

[0027] The seat control device 1 includes a control unit 1, a motor drive unit 2, and a threshold value storage unit 3. The control unit 1 is configured with a CPU and the like, and controls the overall operation of the seat control device 50.

[0028] The control unit 1 is equipped with a pinch detection unit 4. The function of this pinch detection unit 4 is actually realized by software. A method for detecting pinch will be described in detail later. The motor drive unit 2 is composed of a circuit that generates a drive signal (e.g., a PWM signal) for rotating the motor 8. The threshold memory unit 3 stores thresholds α, α', β, and γ that the pinch detection unit 4 uses to determine whether or not an object is pinched between sheets. These thresholds will also be described in detail later.

[0029] Next, the basic principle of pinch detection according to the present invention will be described with reference to Fig. 2. Fig. 2(a) shows an example of the change in motor current and current difference when pinch occurs, and Fig. 2(b) shows an example of the change in motor current and current difference when disturbance occurs. The horizontal axis of each figure is the count value of pulses output from a rotation sensor (not shown) attached to the motor 8, and corresponds to the moving distance of the seat 20 (the same applies to Figs. 3 to 9 described later). Note that the motor current and current difference actually fluctuate minutely as shown in Fig. 3, but are shown in a simplified manner in Fig. 2.

[0030] In Fig. 2(a), period T is a unit interval for pinch determination, and the presence or absence of pinch is determined based on the change in motor current within period T. Period T gradually shifts in time to the right in the figure, and each time it shifts, the presence or absence of pinch during period T is determined. Period T corresponds to the "first period" in this invention.

[0031] Now, if pinching occurs at the first point n' of the period T, the load on the motor 8 starts to increase from this point, and the motor current also increases accordingly. As the rate of increase in the motor current increases over time, the current difference, which indicates the change in the motor current per unit time, also increases. Therefore, the first condition for pinching determination is that the current difference ΔIa at the last point n of the period T is equal to or greater than the current difference threshold α. However, with only this first condition, if a disturbance occurs during the period T as shown in FIG. 2(b), and the current difference ΔIb at point n is equal to or greater than the current difference threshold α, it will be erroneously determined that pinching has occurred, even though it is a disturbance.

[0032] Therefore, in the present invention, in the case of pinching, as shown in Fig. 2(a), the motor current increases monotonically during the period T, whereas in the case of disturbance, as shown in Fig. 2(b), the motor current does not increase monotonically (it fluctuates) during the period T. This is taken into consideration, and the second condition for pinching determination is that the motor current increases monotonically during the period T. Then, when both the first and second conditions are met, it is determined that pinching has occurred.

[0033] As a result, in the case of the disturbance in Fig. 2(b), the first condition is satisfied but the second condition is not satisfied, so that it is not determined that there is an entrapment, and erroneous determination can be avoided. Furthermore, in the present invention, the accuracy of the entrapment detection is improved by determining whether the change in the motor current during the period T is monotonically increasing or not using a unique method described below.

[0034] Next, a specific method for detecting entrapment according to the present invention will be described with reference to FIGS.

[0035] Fig. 3 is a diagram for explaining parameters used in pinching determination. In Fig. 3(a), the motor current I, current difference ΔI, current difference threshold α, and period T are the same as those explained in Fig. 2. The current difference threshold α corresponds to the "first threshold" in the present invention. In addition to these, the present invention uses new parameters, namely, trend difference ΔIs(m), trend difference threshold β, trend score SC, and trend score threshold γ.

[0036] The trend difference ΔIs(m) is calculated as the difference between the motor current I at the start and end of each of a plurality of periods (only one period W is shown in FIG. 3(a)) obtained by dividing the period T. The details of this will be explained using FIG. 4.

[0037] In FIG. 4, the period T is divided into seven parts, and multiple (six here) periods W1 to W6 are set within the period. These periods W1 to W6 correspond to the "second period" in the present invention. The width of each of the periods W1 to W6 is the same, and is twice the division width Z (W1 to W6 = 2Z). Furthermore, each of the periods W1 to W6 is set with a shift of Z. The trend difference ΔIs(m) is a collective term for the six trend differences ΔIs(1) to ΔIs(6) calculated for each period, and is calculated by the following formula: ΔIs(m)=I(n-[m-1]×Z)-I(n-[m-1]×ZW) ···(1)

[0038] The trend difference ΔIs(1) is the trend difference in period W1, and is calculated as the difference between the motor current (current at point c) at the beginning (n-2Z) of period W1 and the motor current (current at point a=I(n)) at the end (n) of period W1. In other words, when m=1 and W=W1 in the above formula (1), the trend difference ΔIs(1) is ΔIs(1)=I(n)-I(n-W1) It becomes.

[0039] The trend difference ΔIs(2) is the trend difference in period W2, and is calculated as the difference between the motor current (current at point d) at the beginning of period W2 (n-3Z) and the motor current (current at point b) at the end of period W2 (nZ). In other words, when m=2 and W=W2 in the above formula (1), the trend difference ΔIs(2) is expressed as follows: ΔIs(2)=I(nZ)-I(nZ-W2) It becomes.

[0040] The trend difference ΔIs(3) is the trend difference in period W3, and is calculated as the difference between the motor current (current at point e) at the beginning of period W3 (n-4Z) and the motor current (current at point c) at the end of period W3 (n-2Z). In other words, when m=3 and W=W3 in the above formula (1), the trend difference ΔIs(3) is expressed as follows: ΔIs(3)=I(n-2Z)-I(n-2Z-W3) It becomes.

[0041] The trend difference ΔIs(4) is the trend difference in period W4, and is calculated as the difference between the motor current (current at point f) at the beginning of period W4 (n-5Z) and the motor current (current at point d) at the end of period W4 (n-3Z). In other words, when m=4 and W=W4 in the above formula (1), the trend difference ΔIs(4) is expressed as follows: ΔIs(4)=I(n-3Z)-I(n-3Z-W4) It becomes.

[0042] The trend difference ΔIs(5) is the trend difference in period W5, and is calculated as the difference between the motor current (current at point g) at the beginning of period W5 (n-6Z) and the motor current (current at point e) at the end of period W5 (n-4Z). In other words, when m=5 and W=W5 in the above formula (1), the trend difference ΔIs(5) is expressed as follows: ΔIs(5)=I(n-4Z)-I(n-4Z-W5) It becomes.

[0043] The trend difference ΔIs(6) is the trend difference in period W6, and is calculated as the difference between the motor current (current at point h=I(n')) at the beginning (n') of period W6 and the motor current (current at point f) at the end (n-5Z) of period W6. In other words, when m=6 and W=W6 in the above formula (1), the trend difference ΔIs(6) is ΔIs(6)=I(n-5Z)-I(n-5Z-W6) It becomes.

[0044] When the six trend differences ΔIs(1) to ΔIs(6) are calculated in the period T in the above manner, the period T is shifted to the right by a predetermined amount in FIG. 4, and in the new period T after the shift, the six trend differences ΔIs(1) to ΔIs(6) are calculated in the same manner as described above. FIG. 3(b) shows how the trend differences ΔIs(m) calculated sequentially in this manner change. The trend difference threshold value β is a threshold value set for this trend difference ΔIs(m) and corresponds to the "second threshold value" in the present invention. In FIG. 5(a) to (f), the trend differences in FIG. 3(b) are shown as independent trend differences ΔIs(1) to ΔIs(6). Note that the scales of the vertical and horizontal axes in FIG. 5 are different from those in FIG. 3(b).

[0045] By comparing each of the trend differences ΔIs(1) to ΔIs(6) with the trend difference threshold β, it is possible to grasp the trend of change in the motor current I during the period T. For example, as shown in FIG. 5, if the trend differences ΔIs(1) to ΔIs(6) are all equal to or greater than the threshold β at time n, this indicates that the motor current I is monotonically increasing during the period T (minor fluctuations in the current are ignored). On the other hand, if, among the trend differences ΔIs(1) to ΔIs(6), for example, there are three differences equal to or greater than the threshold β and there are three differences less than the threshold β, this indicates that the motor current I is fluctuating during the period T.

[0046] Therefore, in the present invention, a propensity score SC calculated for each period T based on the trend difference ΔIs(m) is used as a parameter representing the tendency of change in the motor current I during the period T. When the number of ΔIs(m) that is equal to or greater than the threshold value β among the M trend differences ΔIs(m) during the period T is N, the propensity score SC is calculated by the following formula. SC=N / M (2) The propensity score threshold γ in FIG. 3(a) is a threshold set for this propensity score SC, and corresponds to the “third threshold” in the present invention.

[0047] When the trend differences ΔIs(1) to ΔIs(6) mentioned above are all equal to or greater than the threshold β, then in formula (2) above, M = 6, N = 6, so the propensity score SC is SC = 1. On the other hand, when there are three trend differences equal to or greater than the threshold β, then in formula (2), M = 6, N = 3, so the propensity score SC is SC = 0·5. Also, when there are no trend differences equal to or greater than the threshold β, then in formula (2), M = 6, N = 0, so the propensity score SC is SC = 0.

[0048] Thus, the propensity score SC is in the range of 1≧SC≧0, and the closer SC is to 1, the stronger the monotonically increasing tendency of the motor current I. Therefore, by comparing the propensity score SC with the propensity score threshold γ, if SC≧γ, it can be considered that the motor current increases monotonically in the period T as shown in FIG. 2(a), and the second condition for pinching determination described above is satisfied. In the example of FIG. 3(a), at the time point n, the current difference ΔI is equal to or greater than the threshold α (ΔI≧α), and the propensity score SC is equal to or greater than the propensity score threshold γ (SC≧γ), so both the first and second conditions are satisfied, and it is determined that pinching has occurred.

[0049] When pinching is detected, the control unit 1 causes the motor drive unit 2 to stop or reverse the rotation of the motor 8, thereby eliminating the pinched state.

[0050] FIG. 6 shows an example of changes in the motor current I, current difference ΔI, and propensity score SC when there is a disturbance. A disturbance occurs when the load applied to the motor through the seat increases, for example, when an occupant sitting in the seat shakes his or her body. In FIG. 6, the disturbance causes the current difference ΔI to exceed the threshold value α, but since the change in the motor current I is not monotonically increasing, the propensity score SC does not exceed the threshold value γ. Therefore, although the first condition described above is satisfied, the second condition is not satisfied, and therefore even if the load on the motor increases, it is not erroneously determined that entrapment has occurred.

[0051] FIG. 7 shows an example of changes in the motor current I, current difference ΔI, and propensity score SC in a normal case where there is neither pinching nor disturbance. In this case, the motor current I fluctuates little, so the current difference ΔI does not exceed the threshold value α. In addition, the motor current I does not increase monotonically over a long period of time, so the propensity score SC does not exceed the threshold value γ. Therefore, neither the first nor the second condition is satisfied, so pinching is not detected.

[0052] As described above, in this embodiment, when the current difference ΔI is equal to or greater than the current difference threshold α (first condition) and the propensity score SC is equal to or greater than the propensity score threshold γ (second condition), it is determined that pinching has occurred. The propensity score SC represents the tendency of change in the motor current I in the period T, and the value of the propensity score SC differs between when a disturbance is applied and when pinching has occurred. Therefore, in the case of a disturbance, even if the first condition is satisfied, the second condition is not satisfied, so that it is possible to avoid erroneous determination that pinching has occurred even when the motor current I has fluctuated significantly due to a disturbance. As a result, even if the period T for calculating the difference ΔI of the motor current I is set long in order to ensure detection of pinching by the flexible sheet 20, it is possible to clearly distinguish between disturbance and pinching, and to suppress erroneous detection of pinching.

[0053] However, the problem remains that the above-mentioned criteria alone cannot guarantee reliable detection of entrapment when an "escape action" such as that shown in Fig. 12 is performed. This will be described below.

[0054] FIG. 8 shows an example of changes in the motor current I, the current difference ΔI, and the tendency score SC when an escape operation is performed. In this case, in FIG. 12, when the occupant P tilts his / her leg F to avoid being pinched, the seat S1 moves back while following the displacement of the leg F, so that the reaction force that the seat S1 receives from the leg F does not increase suddenly. Therefore, the load applied to the motor 8 does not increase suddenly either, so the motor current I increases gradually as shown in the range Q in FIG. 8. As a result, the increase in the current difference ΔI is also gradual.

[0055] In the example of Fig. 8, during the period T, the motor current I shows a tendency to monotonically increase (minor fluctuations are ignored), and the propensity score SC maintains SC = γ, so the second condition (SC ≥ γ) described above is met. However, since the current difference ΔI increases slowly, the current difference ΔI does not reach the threshold value α during the period T, and the first condition (ΔI ≥ α) described above is not met. Therefore, even though pinching occurs due to an escape operation, pinching cannot be detected.

[0056] Therefore, in the present invention, when the second condition, SC≧γ, is met, i.e., when the monotonically increasing trend of the motor current I continues for a period longer than the period T, the value of the current difference threshold α used in the first condition is lowered so that pinching due to the escape operation can be detected.

[0057] In detail, as shown in FIG. 9, when the state where the propensity score SC is SC=γ continues for the period X from time t1 to time t2, the pinch detection unit 4 lowers the value of the current difference threshold from α to α' at time t2 (α>α'). Time t1 is the time when the propensity score SC becomes SC=γ, and the period X is longer than the period T (X>T). Since the current difference threshold is lowered from α to α' at time t2, the current difference ΔI exceeds the threshold α', and at this point, both the first condition (ΔI≧α') and the second condition (SC≧γ) are satisfied, and pinch is detected. As a result, the motor 8 is stopped or reversed, and the pinch state is resolved. After that, when the propensity score SC becomes γ>SC at time t3 after the passage of time, the pinch detection unit 4 returns the current difference threshold from α' to the original value α.

[0058] In this manner, according to this embodiment, even if the occupant P performs an escape action to avoid being trapped, it is possible to detect the entrapment by lowering the value of the current difference threshold α. Note that the motor current I may show a gradual increasing tendency not only in the case of an escape action but also in the case of a soft seat or a soft object being trapped, so the present invention is also effective in such cases.

[0059] Fig. 10 shows an example of a seat control device 60 according to a second embodiment of the present invention and an electric seat system 200 using the same. In Fig. 10, two entrapment detectors 4a, 4b, two motor current detectors 6a, 6b, two motor speed detectors 7a, 7b, two motors 8a, 8b, and a reclining mechanism 10 are provided. The other configurations are the same as in Fig. 1, so a description of the parts that overlap with Fig. 1 will be omitted.

[0060] In FIG. 10, a seat portion 20a of an electrically powered seat 20 is moved in a direction a by a first motor 8a and a slide mechanism 9, and a backrest 20b of the seat 20 is tilted in a direction b by a second motor 8b and a reclining mechanism 10.

[0061] The first motor driving unit 2a and the second motor driving unit 2b drive the first motor 8a and the second motor 8b, respectively. The first motor current detection unit 6a and the second motor current detection unit 6b detect the motor currents flowing through the first motor 8a and the second motor 8b, respectively. The first motor speed detection unit 7a and the second motor speed detection unit 7b detect the rotation speeds of the first motor 8a and the second motor 8b, respectively. The first pinch detection unit 4a detects the pinch of an object when the seat 20 moves in the a direction based on the current detected by the first motor current detection unit 6a. The second pinch detection unit 4b detects the pinch of an object when the backrest 20b tilts in the b direction based on the current detected by the second motor current detection unit 6b.

[0062] In the second embodiment, based on the same principle as in the first embodiment, the first pinch detector 4a detects pinching of an object due to the movement of the seat 20, and the second pinch detector 4b detects pinching due to the inclination of the backrest 20b. When either of the pinch detectors 4a, 4b detects pinching, the control unit 1 causes the motor drive units 2a, 2b to stop or reverse the first motor 8a or the second motor 8b, thereby eliminating the pinched state.

[0063] In the second embodiment, the thresholds α, α', β, and γ stored in the threshold storage unit 3 may be set separately for the first and second entrapment detection units 4a and 4b, respectively.

[0064] In the present invention, various embodiments other than those described above can be adopted.

[0065] For example, in Fig. 9, the current difference threshold α is lowered by one step to α', but the current difference threshold α may be lowered in two steps by lowering the current difference threshold from α to α' when the state of SC≧γ (monotonically increasing trend) continues for a certain period of time, and then lowering the current difference threshold from α' to α'' (α>α'>α'') when the state of SC≧γ continues for another certain period of time. Also, the current difference threshold α may be lowered in three or more steps.

[0066] In the above embodiment, an example has been given in which pinching is detected based on the motor current detected by the motor current detection units 6, 6a, and 6b. However, pinching may also be detected based on the frequency of ripples contained in the motor current.

[0067] Furthermore, the physical quantity for detecting pinching is not limited to the current or frequency, but may be the rotation speed of the motor detected by the motor speed detectors 7, 7a, and 7b. In this case, when pinching occurs, the rotation speed of the motor decreases, and the difference in the rotation speeds shows a monotonous decreasing tendency during the period T in FIG. 2(a).

[0068] Furthermore, in order to determine whether the current or the rotation speed is monotonically increasing or decreasing during the period T, other mathematical methods may be used instead of the above formulas (1) and (2).

[0069] In addition, in the above embodiment, in Figures 1 and 10, an example was given in which the motor drive units 2, 2a, 2b are provided in the seat control device 50, 60, but these motor drive units 2, 2a, 2b may also be provided outside the seat control device 50, 60.

[0070] 1 and 10, the motors 8, 8a, 8b are provided outside the seat control device 50, 60, but these motors 8, 8a, 8b may be provided in the seat control device 50, 60.

[0071] Furthermore, while the above embodiment has been described as an example of a seat control device equipped in a vehicle, the present invention can also be applied to a power window device that opens and closes a vehicle window using a motor, and can also be applied to a mobile object control device used in fields other than vehicles. [Explanation of symbols]

[0072] 1. Control section 2 Motor drive unit 3. Threshold memory 4. Entrapment detection unit 6 Motor current detection section 7 Motor speed detector 8 Motor 20 seats (mobile) 50, 60 Seat control device (mobile body control device) I Motor current ΔI current difference ΔIs(m) Trend difference SC Propensity Score T Period (1st Period) W1~W6 period (2nd period) X period (longer than the first period) α, α' Current difference threshold (first threshold) β Trend difference threshold (second threshold) γ Propensity score threshold (third threshold)

Claims

1. A device for controlling a moving object that moves by rotation of a motor, comprising: a pinching detection unit that detects pinching of an object due to movement of the moving body based on a change in a physical quantity that represents a rotation state of the motor; A control unit that controls the operation of the motor based on a detection result of the pinch detection unit, The pinching detection unit is determining that the object is trapped when a first difference in the physical quantity during a predetermined first period is equal to or greater than a first threshold value and a change in the physical quantity during the first period tends to monotonically increase or decrease; A mobile object control device comprising: a control unit for controlling a moving object, the control unit being configured to control a moving object based on a detected value of the first threshold value;

2. 2. The mobile object control device according to claim 1, The pinching detection unit is 2. A mobile object control device comprising: a control unit for controlling a moving body, the control unit being configured to, when a physical quantity no longer shows a tendency to monotonically increase or decrease after the first threshold value is lowered, return the first threshold value to its original value.

3. 3. The mobile object control device according to claim 1, The pinching detection unit is A difference between each physical quantity at the beginning and end of the first period is calculated as the first difference; calculating, for each of a plurality of second periods obtained by dividing the first period, a difference between each physical quantity at the beginning and end of the second period as a second difference; A mobile body control device characterized in that, when a ratio of second differences that are equal to or greater than a second threshold value among the plurality of second differences is equal to or greater than a third threshold value, the device determines that the trend of change in the physical quantity during the first period is a monotonically increasing or decreasing.

4. The mobile object control device according to claim 3, When the first difference is ΔI, the second difference is ΔIs(m), the first threshold is α, the second threshold is β, the third threshold is γ, and the number of ΔIs(m) that is equal to or greater than β among M ΔIs(m) in the first period is N, The pinching detection unit is A propensity score SC representing a tendency of change in the physical quantity in the first period, SC=N / M Calculated by A mobile body control device characterized in that, when ΔI≧α and SC≧γ are established, it is determined that the object has been pinched.

5. The mobile object control device according to claim 4, The pinching detection unit is A mobile object control device, characterized in that, when the relationship between M and N is M=N, and ΔI≧α and SC=1 are established, it is determined that the object has been pinched.

6. 6. The mobile object control device according to claim 1, 13. A mobile object control device, wherein the physical quantity is a current flowing through the motor or a rotation speed of the motor.

7. 7. The mobile object control device according to claim 1, The moving object control device is characterized in that the moving object is a seat of a vehicle or a window of a vehicle.

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