Opening / closing control device

Abstract

To enable prompt detection of pinching, even when the pinching occurs just before a fully closed position of an opening / closing body.SOLUTION: An opening / closing body control device comprises: a motor drive part that drives a motor for opening / closing an opening / closing body; a motor current detection part that detects a motor current flowing in the motor; an opening degree detection part that detects an opening degree of the opening / closing body; a threshold value calculation part that calculates a threshold value for detecting the pinching by the opening / closing body; and a pinching determination part that determines whether or not the pinching has occurred. During a closing operation of the opening / closing body, while the opening degree exceeds a reference value α, the threshold value calculation part calculates a first threshold value Th1(n) for detecting the pinching, based on a motor current I and a specified value K. When the opening degree becomes the reference value α or less during the closing operation of the opening / closing body, the threshold value calculation part calculates a tendency value R(n) indicating a decrease tendency of the motor current, and calculates a value obtained by subtracting |R(n)| from the first threshold value Th1(n), as a second threshold value Th2(n).SELECTED DRAWING: Figure 6

Description

【Technical Field】 【0001】 The present invention relates to a device for controlling an opening / closing body such as a back door provided in a vehicle, and particularly relates to a technique for quickly detecting pinching by the opening / closing body. 【Background Art】 【0002】 A back door (also called a tailgate) provided at the rear of a vehicle automatically opens and closes by the rotation of a motor. When the motor rotates in one direction, the door opens, and when the motor rotates in the other direction, the door closes. When an obstacle is pinched between the door and the vehicle body while the back door is moving in the closing direction, it becomes impossible to completely close the door, and safety is threatened if a human body is pinched. Therefore, when pinching occurs, it is necessary to quickly detect this and stop or reverse the motor. 【0003】 FIG. 9 is an example of the relationship between the opening degree of the back door (hereinafter referred to as "door opening degree") and the current flowing through the motor (hereinafter referred to as "motor current") when the back door closes from the fully open position. The horizontal axis represents the door opening degree, with the left end indicating the fully open position and the right end indicating the fully closed position. Therefore, the door opening degree increases as you go to the left on the horizontal axis, and the door opening degree decreases as you go to the right on the horizontal axis. When the back door is in the closing operation, it closes at a constant speed from the fully open position toward the fully closed position as the motor rotates. The vertical axis represents the current value of the motor current. The motor current I transiently changes at the start of the closing operation (near the fully open position), but then increases as the back door closes, and eventually reaches a constant value. Then, when the back door closes to a certain position, thereafter, as the motor load decreases, the motor current I decreases until the door reaches the fully closed position. 【0004】 Figure 10 shows the change in motor current I when an obstruction occurs just before the back door is fully closed. When an obstruction occurs, the door stops moving and the load on the motor increases, causing the motor current I to increase. When the motor current I exceeds a predetermined threshold Th, it is determined that an obstruction has occurred. When an obstruction is detected, the motor is controlled to stop or reverse the back door, thereby resolving the obstruction. Patent documents 1 and 2 disclose techniques for detecting such obstructions caused by back doors. 【0005】 In the switch control device described in Patent Document 1, the cumulative value of the change in motor load (motor current) is compared with a threshold value, and it is determined that pinching has occurred when the cumulative value exceeds the threshold value. In this document, the difference between the current value and the previous value of the motor load is calculated as the change (derivative value), and the cumulative value (integral value) of this change is compared with the threshold value. As a result, pinching is determined when the motor load exceeds the threshold value. Furthermore, in this document, the difference in the change in motor load is not considered when setting the threshold value. 【0006】 In the opening / closing control device described in Patent Document 2, the degree of opening of the back door is detected by an angle sensor, and the threshold for detecting pinching is increased when the degree of opening of the back door is large, and the threshold is decreased as the degree of opening of the back door decreases. In this document, the threshold is made variable based only on the degree of opening of the door, and the amount of change in motor load is not taken into consideration when setting the threshold. [Prior art documents] [Patent Documents] 【0007】 [Patent Document 1] Japanese Patent Publication No. 2009-161993 [Patent Document 2] Japanese Patent Publication No. 2016-65398 [Overview of the project] [Problems that the invention aims to solve] 【0008】 As shown in Figure 10, when pinching occurs, the motor current increases and is detected when it exceeds the threshold Th. However, there is a time lag t between the time pinching occurs and the time it is detected. Therefore, there is a time delay between the time pinching occurs and the motor being stopped or reversed, and the pinched state continues during this time. Furthermore, in the case of a vehicle's back door, when the door is closing and approaches the fully closed position, the motor current value decreases. Therefore, if the same threshold as when the door is open is used to detect pinching, it takes time for the motor current to exceed the threshold, resulting in a unique problem where pinching detection is further delayed. 【0009】 The object of the present invention is to provide an opening / closing body control device that can quickly detect pinching even when pinching occurs before the opening / closing body reaches its fully closed position. [Means for solving the problem] 【0010】 The opening / closing body control device according to the present invention includes a motor drive unit that drives a motor for opening and closing the opening / closing body, a motor current detection unit that detects the motor current flowing through the motor, an opening degree detection unit that detects the opening degree of the opening / closing body, a threshold calculation unit that calculates a threshold for detecting pinching by the opening / closing body based on the motor current detected by the motor current detection unit and the opening degree detected by the opening degree detection unit, and a pinching determination unit that determines whether or not pinching has occurred by the opening / closing body based on the motor current detected by the motor current detection unit and the threshold calculated by the threshold calculation unit. If the pinching determination unit determines that pinching has occurred, the motor drive unit stops or reverses the motor. During the closing operation of the opening / closing body, the threshold calculation unit calculates a first threshold for pinching detection based on the motor current and a predetermined value while the opening degree exceeds a predetermined reference value. Furthermore, during the closing operation of the opening / closing body, when the opening degree falls below a reference value, the threshold calculation unit calculates a trend value indicating the tendency for the motor current to decrease, and calculates a second threshold value for pinch detection that is smaller than the first threshold value based on the first threshold value and the trend value. 【0011】 With this type of switch control device, during the closing operation of the switch, pinching is detected based on a first threshold while the opening degree exceeds a reference value, and when the opening degree falls below the reference value, pinching is detected based on a second threshold smaller than the first threshold. As a result, the time from when pinching occurs and the motor current begins to increase until the motor current exceeds the second threshold is shorter than in conventional devices, allowing for quicker detection of pinching. Furthermore, in this invention, the second threshold is calculated using a trend value corresponding to the trend of increase or decrease in motor current, so as the trend of decrease in motor current becomes larger, the second threshold also becomes smaller accordingly. As a result, even if pinching occurs when the switch is close to the fully closed position (just before) and the motor current is low, rapid detection of pinching is possible. 【0012】 In the present invention, the threshold calculation unit may calculate a first threshold value by adding the predetermined value to the motor current at a first time point prior to the present time, calculate the difference between the motor current at the first time point and the motor current at a second time point even earlier than the first time point as a trend value, and calculate a second threshold value by subtracting the absolute value of the trend value from the first threshold value. 【0013】 In the present invention, the opening degree detection unit may detect the opening degree of the opening / closing body by counting pulses generated in synchronization with the rotation of the motor. In this case, the first time point is a time point that is set back from the current time by a predetermined number of pulses, and the second time point is a time point that is set back from the first time point by a further predetermined number of pulses. 【0014】 In the present invention, the motor current detection unit calculates a first change amount, which is the change in motor current between the current motor current and the motor current at a first time point prior to the current, and also calculates a second change amount, which is the change in motor current between the motor current at the first time point and the motor current at a second time point even earlier than the first time point. The pinch determination unit, during the closing operation of the opening / closing body, determines whether the difference between the first change amount and the second change amount exceeds a predetermined value when the opening degree falls below a predetermined reference value, and if the difference exceeds the predetermined value, it may determine that pinching has occurred by the opening / closing body. 【0015】 In the present invention, the opening and closing mechanism is typically a back door located at the rear of a vehicle. In this case, the reference value is set to the degree of opening when the back door, during the closing operation, is closed to a predetermined position just before the fully closed position. [Effects of the Invention] 【0016】 According to the present invention, it is possible to provide an opening / closing body control device that can quickly detect pinching even when pinching occurs before the opening / closing body reaches its fully closed position. [Brief explanation of the drawing] 【0017】 [Figure 1] An example of a backdoor control device according to the present invention, shown in the branch diagram. [Figure 2] This diagram shows the back door and how it opens and closes. [Figure 3] This block diagram shows the specific configuration of the threshold calculation unit (large door opening). [Figure 4] This block diagram shows the specific configuration of the threshold calculation unit (small door opening). [Figure 5] This diagram illustrates the principle of conventional pinch detection. [Figure 6] This diagram illustrates the principle of pinch detection according to the present invention. [Figure 7] This is a flowchart showing the procedure for pinch detection according to the present invention. [Figure 8]A diagram for explaining another example of the pinching detection according to the present invention. [Figure 9] A diagram showing changes in the motor current associated with the opening and closing of the back door. [Figure 10] A diagram showing changes in the motor current when pinching occurs. 【Embodiments for Carrying Out the Invention】 【0018】 Embodiments of the present invention will be described with reference to the drawings. Throughout the figures, the same parts or corresponding parts are denoted by the same reference numerals. Hereinafter, as the opening / closing body, the back door 51 of the vehicle 50 as shown in FIG. 2 will be taken as an example. 【0019】 FIG. 1 shows a system configuration for controlling the opening and closing of the back door 51. The back door control device 10 is an example of the opening / closing control device of the present invention, and includes a pinching determination unit 1, a motor drive unit 2, a threshold calculation unit 3, a motor current detection unit 4, and a door opening degree detection unit 5. The motor drive unit 2 drives a motor 24 for opening and closing the back door 51. Due to the rotation of the motor 24, a back door opening / closing mechanism 25 interlocked with the motor 24 operates, and the back door 51 performs an opening / closing operation. The motor current detection unit 4 detects the motor current flowing through the motor 24. The door opening degree detection unit 5 detects the opening degree of the back door 51 based on the output of a pulse detection unit 26 that detects a pulse generated in synchronization with the rotation of the motor 24. The threshold calculation unit 3 calculates a threshold for detecting pinching by the back door 51 based on the motor current detected by the motor current detection unit 4 and the door opening degree detected by the door opening degree detection unit 5. The pinching determination unit 1 compares the motor current detected by the motor current detection unit 4 with the threshold calculated by the threshold calculation unit 3, and determines whether pinching by the back door 51 has occurred. 【0020】 Figure 2 shows the opening and closing of the back door 51. The back door 51 is a lift-up door located at the rear of a vehicle 50, such as an automobile. The back door 51 opens by the lower end swinging upward (direction A) around a pivot axis 52 at the upper end, and closes by the lower end swinging downward (direction B). In Figure 2, the back door 51a in the fully closed position is shown by a solid line, the back door 51c in the fully open position is shown by a dashed line, and the back door 51b in an intermediate position between the fully closed and fully open positions is shown by a double dashed line. 【0021】 In Figure 1, the back door control device 10 is connected to an operation unit 21 and a communication unit 22. The operation unit 21 consists of various switches located inside the vehicle 50 (Figure 2). These switches include a back door open / close switch (not shown) for opening and closing the back door 51. The communication unit 22 consists of a communication circuit and antenna for wireless communication with a portable device 23 (remote control) carried by the user of the vehicle 50. This portable device 23 is also equipped with various switches, including a back door open / close switch (not shown). 【0022】 When the back door open / close switch is operated on the control unit 21 or the portable device 23, the motor drive unit 2 of the back door control device 10 operates, a motor drive signal is output from the motor drive unit 2, and the motor 24 rotates. For example, when the back door open / close switch is operated to "open," the motor 24 rotates forward, and the back door 51 opens in direction A in Figure 2 via the back door open / close mechanism 25. Conversely, when the back door open / close switch is operated to "close," the motor 24 rotates in reverse, and the back door 51 closes in direction B in Figure 2 via the back door open / close mechanism 25. 【0023】 Figures 3 and 4 show an example of the specific configuration of the threshold calculation unit 3 in Figure 1. For convenience, the threshold calculation unit 3 is shown as hardware here, but in reality, the functions of the threshold calculation unit 3 are implemented by software. 【0024】 The threshold calculation unit 3 is equipped with a first current storage unit 31, a second current storage unit 32, a first switch SW1, a second switch SW2, a first adder 33, and a second adder 34. The first current storage unit 31 stores the motor current (I(n-D1)) at the first time point (n-D1) which is a predetermined period (D1) prior to the current time point (n) from the motor current detection unit 4 in Figure 1. The second current storage unit 32 stores the motor current (I(n-D1-D2)) at the second time point (n-D1-D2) which is a further predetermined period (D2) prior to the first time point (n-D1) from the motor current detection unit 4. The periods D1 and D2 will be explained in detail later. 【0025】 The first adder 33 receives the current value I(n-D1) from the first current storage unit 31, the trend value R(n) output from the second adder 34, and a predetermined value K. The trend value R(n) and the predetermined value K will be explained in detail later. Based on these parameters, the first adder 33 performs calculations to calculate the threshold values ​​Th1(n) and Th2(n) for pinch detection. 【0026】 Figure 3 shows the circuit state when the door opening degree Y of the back door 51 exceeds a predetermined reference value α (Y > α). In this case, both the first switch SW1 and the second switch SW2 are in the OFF state. Therefore, in Figure 3, the second adder 34 does not operate, and the first adder 33 calculates the threshold Th1(n) using the following formula. Th1(n)=I(n-D1)+K ···(1) This threshold Th1(n) corresponds to the first threshold in the present invention. 【0027】 On the other hand, when the back door 51 closes and the door opening Y falls below the reference value α (α≧Y), the circuit transitions to the state shown in Figure 4, and both the first switch SW1 and the second switch SW2 are turned ON. As a result, the second adder 34 performs the calculation I(n-D1)-I(n-D1-D2) and outputs the result of this calculation as the trend value R(n). Therefore, in Figure 4, as a result of both the first adder 33 and the second adder 34 operating, the first adder 33 calculates the threshold Th2(n) using the following formula. Th2(n)=I(n-D1)+K+R(n) ···(2) This threshold Th2(n) corresponds to the second threshold in the present invention. 【0028】 The threshold values ​​Th1(n) and Th2(n) calculated as described above are provided to the pinch detection unit 1. The pinch detection unit 1 compares the current current I(n) input from the motor current detection unit 4 with the threshold value Th1(n) or Th2(n) according to the door opening degree Y of the back door 51, and determines whether or not pinching has occurred by the back door 51 based on the comparison result. 【0029】 Next, the principle of pinch detection according to the present invention will be explained in detail, in comparison with the conventional method. 【0030】 Figure 5 schematically illustrates the principle of pinch detection in a conventional example. As shown in the figure, the motor current I decreases as the door opening Y decreases due to the closing operation of the back door 51. However, when pinch occurs, the motor load increases, causing the motor current I to increase, and pinch is detected when the motor current I exceeds the threshold Th1. In the conventional case, the threshold Th1 is set by adding a predetermined value K to the motor current I. 【0031】 More specifically, the threshold Th1(n) at any given time n (in this case, the current time) is set as the motor current I(n-D1) at the previous first time point (n-D1), that is, the time point D1 prior to the current time n, plus a predetermined value K. Th1(n)=I(n-D1)+K ···(3) Here, D1 is the period during which a predetermined number of pulses are output from the pulse detection unit 26 in Figure 1, and K is a fixed value predetermined based on the specifications of the clamping load for each vehicle model. Note that equation (3) above is the same as equation (1) above. 【0032】 In the case of Figure 5, regardless of the change in motor current I, the threshold Th1(n) is always the motor current I(n-D1) from the previous time point plus a constant value K. Therefore, even if the motor current I decreases, the threshold Th1(n) changes while maintaining the relationship in equation (3) above. For this reason, if pinching occurs just before the fully closed position where the motor current I is small, the period ta from when the motor current I starts to increase until it exceeds the threshold Th1(n), that is, until pinching is detected, becomes longer. 【0033】 Figure 6 is a schematic diagram illustrating the principle of pinch detection in the present invention. In the present invention, as long as the door opening Y exceeds the reference value α, the threshold Th1(n) is calculated by equation (3) above, as in the conventional method. However, when the door opening Y falls below the reference value α, the threshold Th2(n) is calculated by equation (2) above, and pinch is detected using this threshold Th2(n). The reference value α is set to the door opening when the back door 51, during closing operation, is closed to a predetermined position just before the fully closed position (for example, the position of the back door 51b indicated by the dashed line in Figure 2). 【0034】 Here, the trend value R(n) in equation (2) is, as shown in Figure 6, R(n)=I(n-D1)-I(n-D1-D2) ···(4) It is calculated as follows: I(n-D1-D2) is the motor current at the second time point (n-D1-D2), which is one time point prior to the first time point (n-D1), that is, at a time point D2 prior to the first time point (n-D1). D2, like D1, is a period that contains a predetermined number of pulses output from the pulse detection unit 26, and in this embodiment, D2 = D1. 【0035】 When the door opening degree Y is less than or equal to the reference value α and the motor current I shows a decreasing trend, in equation (4), since I(n - D1) < I(n - D1 - D2), the trend value R(n) becomes a negative value (R(n) < 0). Therefore, in this case, the above equation (2) can be rewritten as follows using the absolute value |R(n)| of the trend value R(n). Th2(n) = I(n - D1) + K - |R(n)| ···(2’) 【0036】 As a result, the relationship between the threshold value Th1(n) of equation (3) and the threshold value Th2(n) of equation (2’) is Th2(n) < Th1(n). As shown in FIG. 6, the threshold value Th2(n) is smaller than the threshold value Th1(n) by |R(n)|. In other words, when the opening degree Y of the back door 51 is less than or equal to the reference value α (α ≥ Y) and the motor current I shows a decreasing trend, the threshold value decreases by the absolute value of the trend value R(n). Therefore, when pinching occurs immediately before the fully closed position, it can be seen that the period tb from when the motor current I starts to increase until it exceeds the threshold value Th2(n), that is, until pinching is detected, is shorter than the period ta in FIG. 5. 【0037】 FIG. 7 is a flowchart showing the above-described pinching detection procedure. In FIG. 7, steps S1 to S7 show the processing in the threshold calculation unit 3, and steps S8 to S11 show the processing in the pinching determination unit 1. 【0038】 In step S1, the current motor current I(n) detected by the motor current detection unit 4 is acquired from the motor current detection unit 4. In step S2, the motor current I(n - D1) at the previous time point stored in the first current storage unit 31 (FIG. 3) is read out. In step S3, the door opening degree Y is compared with the reference value α. If the door opening degree Y exceeds the reference value α (Y > α), while keeping the switches SW1 and SW2 in FIG. 3 OFF, the process proceeds to step S4, and the first threshold value for pinching detection is calculated as Th1(n) = I(n - D1) + K (the above equation (3)). 【0039】 On the other hand, if the door opening Y is less than or equal to the reference value α (α≧Y), switches SW1 and SW2 are turned ON as shown in Figure 4, and the process proceeds to step S5. In step S5, the motor current I(n-D1-D2) from two previous points in time, which is stored in the second current memory unit 32, is read out. Then, in step S6, the trend value of the motor current is calculated using the motor current I(n-D1) from one previous point in time read out in step S2 and the motor current I(n-D1-D2) from two previous points in time read out in step S5, by the formula R(n)=I(n-D1)-I(n-D1-D2) (equation (4) above). Next, in step S7, the second threshold value for pinch detection is calculated using the trend value R(n) and the predetermined value K mentioned above, by the formula Th2(n)=I(n-D1)+K-|R(n)| (equation (2') above). 【0040】 After the processing in step S4 is completed, the process proceeds to step S8, where the current motor current I(n) is compared with the first threshold Th1(n). After the processing in step S7 is completed, the process proceeds to step S8, where the current motor current I(n) is compared with the second threshold Th2(n). If the comparison in step S8 is I(n)>Th1(n) or I(n)>Th2(n), the process proceeds to step S9, where it is determined that pinch has occurred (pinch present). If the comparison in step S8 is Th1(n)≧I(n) or Th2(n)≧I(n), the process proceeds to step S10, where it is determined that pinch has not occurred (no pinch). 【0041】 Subsequently, in step S11, the determination results from steps S9 and S10 are output from the pinch detection unit 1. Based on this determination result, the motor drive unit 2 outputs a signal to stop or reverse (rotate in the direction that opens the back door 51) the motor 24 if pinching occurs. As a result, the back door 51 stops or reverses in the opening direction, and the pinching condition is released. 【0042】 As described above, in the present invention, while the back door 51 is closing, pinching is detected based on a first threshold Th1(n) as long as the door opening Y exceeds a reference value α, and when the door opening Y falls below the reference value α, pinching is detected based on a second threshold Th2(n), which is smaller than the first threshold Th1(n). Therefore, the time from when pinching occurs and the motor current begins to increase until the motor current exceeds the second threshold Th2(n) is shorter than in the conventional method, allowing for quicker detection of pinching. 【0043】 In particular, in this invention, instead of changing the threshold based solely on the degree of door opening as in Patent Document 2, a second threshold Th2(n) is calculated using a trend value R(n) corresponding to the trend of increase or decrease in motor current. Therefore, as the trend of decrease in motor current becomes larger, the threshold Th2(n) also becomes smaller accordingly. As a result, even if the back door 51 is in the closing operation and comes close to the fully closed position (just before), and pinching occurs when the motor current is small, rapid detection of pinching becomes possible. 【0044】 Next, let's consider the present invention from another perspective. As mentioned above, after the door opening Y falls below the reference value α, pinching is determined when the motor current I(n) exceeds the threshold Th2(n). That is, the conditions for determining pinching in this case are: I(n)>Th2(n) ···(5) Therefore, from equation (2) above, Th2(n) = I(n-D1) + K + R(n), so equation (5) above is I(n)>I(n-D1)+K+R(n) ···(6) This is the result. Furthermore, from equation (4) above, R(n) = I(n-D1) - I(n-D1-D2), so equation (6) above is, I(n)>I(n-D1)+K+I(n-D1)-I(n-D1-D2) ...(7) This is the result. 【0045】 In equation (7) above, if we move I(n-D1) and I(n-D1)-I(n-D1-D2) from the right-hand side to the left-hand side, {I(n)-I(n-D1)}-{I(n-D1)-I(n-D1-D2)}>K ...(8) This is the result. 【0046】 In equation (8) above, the first term on the left side, {I(n)-I(n-D1)}, is the change in motor current I(n) at the current time and the motor current I(n-D1) at the previous first time point (first change). The second term on the left side, {I(n-D1)-I(n-D1-D2)}, is the change in motor current I(n-D1) at the previous first time point and the motor current I(n-D1-D2) at the second time point two points prior (second change). Therefore, the left side of equation (8) represents the difference between the first and second changes in motor current. The predetermined value K on the right side is a threshold value for this difference. 【0047】 From the above, in the present invention, when the door opening Y is less than or equal to a reference value α, the difference between the first change amount of motor current {I(n)-I(n-D1)} and the second change amount {I(n-D1)-I(n-D1-D2)} is compared with a predetermined value K, and if the difference exceeds the predetermined value K, it can be determined that pinching has occurred by the back door 51. That is, equation (8) represents the following pinching determination formula. (First change in motor current) - (Second change in motor current) > K 【0048】 Figure 8 is a diagram for verifying equation (8) above. For convenience, we assume that pinching occurs during period D1, the motor current I increases and exceeds the threshold Th2(n), and pinching is detected at time n. In this case, the condition for detecting pinching is I(n)>Th2(n). From Figure 8, Th2(n)=I(n-D1)+K-|R(n)|, so the pinching detection condition is, I(n)>I(n-D1)+K-|R(n)| Therefore, as shown in Figure 8, |R(n)| = I(n-D1-D2)-I(n-D1), so the above pinch detection condition is I(n)>I(n-D1)+K-{I(n-D1-D2)-I(n-D1)} It can be expressed as follows. If we transform this, {I(n)-I(n-D1)}-{I(n-D1)-I(n-D1-D2)}>K This is consistent with equation (8). 【0049】 In addition to the embodiments described above, various other embodiments can be adopted in the present invention. For example, in the embodiments described above, the opening degree Y of the back door 51 is detected based on the output pulse of the pulse detection unit 26, but a sensor or switch that detects when the opening degree Y falls below a reference value α may be provided separately. 【0050】 Furthermore, in the embodiment described above, the predetermined value K in Figure 6 was kept constant regardless of whether it was before or after the reference value α, but the predetermined value K may be different before or after the reference value α. Also, the predetermined value K may be changed according to the door opening degree Y. 【0051】 Furthermore, in the embodiment described above, periods D1 and D2 in Figure 6 were set to the same length, but the lengths of periods D1 and D2 may be different. 【0052】 Furthermore, although the above-described embodiment uses a back door 51 as an example of an opening / closing body, the present invention can also be applied to devices that control opening / closing bodies such as garage gates. [Explanation of Symbols] 【0053】 1. Pinching detection unit 2. Motor drive unit 3. Threshold calculation unit 4. Motor current detection unit 5. Door opening degree detection unit (opening degree detection unit) 10. Backdoor control device (opening / closing device) 24 motors 26 Pulse detection unit 50 vehicles 51. Back door (opening / closing mechanism) I Motor current I(n) Current motor current I(n-D1) Motor current at time 1 I(n-D1-D2) Motor current at the second time point Th1(n) First threshold Th2(n) Second threshold K predetermined value R(n) Trend Value Y opening α Reference Value

Claims

[Claim 1] A motor drive unit that drives the motor for opening and closing the opening / closing body, A motor current detection unit for detecting the motor current flowing through the motor, An opening degree detection unit for detecting the opening degree of the opening / closing body, A threshold calculation unit calculates a threshold value for detecting pinching by the opening / closing body based on the motor current detected by the motor current detection unit and the opening degree detected by the opening degree detection unit, The system includes a pinch determination unit that determines whether or not pinching has occurred by the opening / closing body based on the motor current detected by the motor current detection unit and the threshold value calculated by the threshold value calculation unit, An opening / closing body control device in which, when the pinching detection unit determines that pinching has occurred, the motor drive unit stops or reverses the motor, The threshold calculation unit, During the closing operation of the opening / closing body, while the opening degree exceeds a predetermined reference value, a first threshold value for pinching detection is calculated based on the motor current and a predetermined value. A control device for an opening / closing body, characterized in that, during the closing operation of the opening / closing body, when the opening degree falls below the reference value, a trend value indicating the decreasing trend of the motor current is calculated, and a second threshold value for pinch detection, which is smaller than the first threshold value, is calculated based on the first threshold value and the trend value. [Claim 2] In the opening / closing control device according to claim 1, The threshold calculation unit, The value obtained by adding the predetermined value to the motor current at the first time point prior to the present time is calculated as the first threshold value. The difference between the motor current at the first time point and the motor current at a second time point that precedes the first time point is calculated as the trend value. An opening / closing control device characterized by calculating a second threshold value by subtracting the absolute value of the trend value from the first threshold value. [Claim 3] In the opening / closing control device according to claim 2, The opening degree detection unit detects the opening degree of the opening / closing body by counting pulses generated in synchronization with the rotation of the motor. The first time point is a time point obtained by going back from the present time by a period that includes a predetermined number of the aforementioned pulses. The opening / closing control device is characterized in that the second time point is a time point that is further back from the first time point by a period that includes a predetermined number of the aforementioned pulses. [Claim 4] A motor drive unit that drives the motor for opening and closing the opening / closing body, A motor current detection unit for detecting the motor current flowing through the motor, An opening degree detection unit for detecting the opening degree of the opening / closing body, The system includes a pinch determination unit that determines whether or not pinching has occurred by the opening / closing body based on the motor current detected by the motor current detection unit, An opening / closing body control device in which, when the pinching detection unit determines that pinching has occurred, the motor drive unit stops or reverses the motor, The motor current detection unit is The first change is calculated, which is the change in motor current at the current time compared to the first time point prior to the current time. The second change is calculated, which is the change in motor current at the first time point and the change in motor current at a second time point that precedes the first time point. The aforementioned pinching detection unit is, During the closing operation of the opening / closing body, if the opening degree falls below a predetermined reference value, it is determined whether the difference between the first change amount and the second change amount exceeds a predetermined value. An opening / closing body control device characterized in that it determines that pinching has occurred by the opening / closing body when the difference exceeds the predetermined value. [Claim 5] In the opening / closing control device according to any one of claims 1 to 4, The opening and closing mechanism is a back door located at the rear of the vehicle. The opening / closing control device is characterized in that the reference value is set to the degree of opening when the back door, during closing operation, is closed to a predetermined position just before the fully closed position.

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