(12) United States Patent
`Terashima
`
`111111
`
`1111111111111111111111111111111111111111111111111111111111111
`US006274947Bl
`US 6,274,947 Bl
`Aug. 14,2001
`
`(10) Patent No.:
`(45) Date of Patent:
`
`(54) POWER WINDOW CONTROLLER HAVING
`FUNCTION TO PREVENT PINCHING
`
`5,983,567 * 11/1999 Mitsuda ................................... 49/26
`
`FOREIGN PATENT DOCUMENTS
`
`(75)
`
`Inventor: Noriaki Terashima, Okazaki (JP)
`
`(73) Assignee: Denso Corporation, Kariya (JP)
`
`( * ) Notice:
`
`Subject to any disclaimer, the term of this
`patent is extended or adjusted under 35
`U.S.C. 154(b) by 0 days.
`
`(21) Appl. No.: 09/314,879
`
`(22) Filed:
`
`May 19, 1999
`
`(30)
`
`Foreign Application Priority Data
`
`May 20, 1998
`
`(JP) ................................................. 10-138748
`
`Int. Cl? ........................................................ H02P 3/00
`(51)
`(52) U.S. Cl. ............................. 307/10.1; 49/28; 318/266;
`318/282; 318/408
`(58) Field of Search .............................. 307/10.1; 49/349,
`49/28, 26; 318/266, 282, 468, 469, 476,
`456
`
`(56)
`
`References Cited
`
`U.S. PATENT DOCUMENTS
`5,404,673 * 4/1995 Takeda et a!.
`......................... 49/349
`5,530,329 * 6/1996 Shigematsu et a!. ................ 318/476
`5,650,698 * 7/1997 Ito eta!. .............................. 318/282
`5,977,732 * 11/1999 Matsumoto .......................... 318/456
`
`5/1994 (JP) .
`6-123188
`7/1997 (JP) .
`2553373
`* cited by examiner
`Primary Examiner-Albert W. Paladini
`(74) Attorney, Agent, or Firm-Pillsbury Winthrop LLP
`
`(57)
`
`ABSTRACT
`
`A controller for a power window detects a pinching situation
`where an obstacle is pinched or sandwiched between a frame
`of a window and a window glass sliding upward. External
`disturbances such as changes of motor terminal voltage are
`also detected, and effects thereof on detecting the pinching
`situation are eliminated. The motor rotational speed varia(cid:173)
`tion rates (R) are calculated based on the motor speed (V) in
`each measuring section divided out from a closing stroke of
`the power window. The variation rates (R) memorized in a
`previous closing stroke are used to adjust a threshold value
`(TH) for finding the pinching situation in a following closing
`stroke. The motor speed variation rate (R) is compared with
`the adjusted threshold value (TH'), and the pinching situa(cid:173)
`tion is found out when the speed variation rate (R) in a
`deceleration direction exceeds the adjusted threshold value
`(TH'). When the pinching situation is found, the motor is
`stopped, and then the motor is driven to lower the power
`window.
`
`8 Claims, 6 Drawing Sheets
`
`2
`
`1
`
`4 OPERATION
`5 SIGNAL
`
`6
`
`7
`
`8
`
`q
`
`MOTOR
`TERMINAL
`VOLTAGE
`
`DOOR
`SIGNAL
`
`VEHICLE
`SPEED
`
`BNA/Brose Exhibit 1034
`IPR2014-00416
`Page 1
`
`

`

`1--"
`~
`""-l
`~
`\o
`~
`""-l
`'N
`0'1
`rJ'l
`
`e
`
`0'1
`
`"""" 0 ......,
`~ ......
`'JJ. =(cid:173)~
`
`""""
`N c c
`""""
`~,J;;..
`~
`~
`
`~ = ......
`~ ......
`~
`•
`\Jl
`d •
`
`l MOTOR lr
`, 1
`I
`I
`I DRIVER
`: .. MOTOR
`
`'
`
`1
`
`2
`
`CONTROLLER
`
`RATE
`VARIATION 351 PINCHING
`·)
`34
`
`~
`
`32' MOTOR
`
`RG. 1 /3:CONTROLLER
`
`~
`DETERMINATION
`
`ADJUSTMENT
`THRESHOLD
`
`TH'f
`
`37\
`
`Gn
`
`40
`
`A.
`
`RAM -B r
`
`RAM-A
`
`T
`
`ADDRESS
`MEMORY
`44)
`
`MEMORY MEMORY
`
`w
`r
`
`~
`
`42
`41
`POSITION ~ TIMING ~ CALCULATION
`
`('
`3q
`-THRESHOLD I TH
`
`,---------------------~---------------1
`
`L------------------------------------J
`I
`I
`I
`I I
`
`I
`
`-
`
`Gmax
`
`43
`
`EEPROM 1
`r
`
`'
`
`q ~VEHICLE l ~ EX. DISTURBANCE
`
`~ffD
`
`~
`
`-----, DOOR ~
`
`361
`
`V
`
`OPERATION
`
`"
`1st ROTATION
`\
`5 L SIGNAL
`4 OPERATION I 31: WINDOW
`
`1
`
`PULSE
`
`I ~ WINDOW
`il
`l
`38
`i
`v
`SPEED
`i 33' MOTOR
`I
`i
`
`I
`\
`I l . 45
`I
`l
`
`1
`1
`I
`I
`1
`i
`
`I
`
`I
`
`SIGNAL
`
`r
`
`8
`
`VOLTAGE
`TERMINAL
`
`7 '-1 MOTOR
`
`2nd ROTATION
`r
`\
`6
`
`PULSE
`
`~
`
`BNA/Brose Exhibit 1034
`IPR2014-00416
`Page 2
`
`

`

`Aug. 14, 2001
`
`Sheet 2 of 6
`
`US 6,274,947 Bl
`
`U.S. Patent
`FIG. 2
`
`0
`100
`200
`WINDOW POSITION Po(mm)
`
`EEfflOM
`MAX <GO,G1··· Gn)
`
`RAM-A
`
`RAM-B
`
`GO
`G1
`G2
`G3
`G4
`
`G7
`G6
`GS
`G4
`
`RG. 3
`
`RG.4
`
`NO ADJUSTMENT
`
`R
`
`COPEN)
`
`I
`I
`I
`I
`Po=O
`(CLOSED)
`
`BNA/Brose Exhibit 1034
`IPR2014-00416
`Page 3
`
`

`

`U.S. Patent
`
`Aug. 14, 2001
`
`Sheet 3 of 6
`
`US 6,274,947 Bl
`
`FIG. 5
`YES
`
`S110
`
`STOP
`WINDOW
`
`NO
`
`S130
`
`YES
`STOP & REVERSE
`MOTOR
`
`BNA/Brose Exhibit 1034
`IPR2014-00416
`Page 4
`
`

`

`Aug.14, 2001
`
`Sheet 4 of 6
`
`US 6,274,947 Bl
`
`U.S. Patent
`RG. 6
`
`NO
`
`NO
`
`Gn -+R
`
`DECREMENT Pt
`Pt-+Pt-1
`
`5206
`
`5208
`
`5210
`
`5212
`
`5214
`
`MEMORIZE Gn
`IN RAM-A
`
`INCREMENT Ct
`Ct~Ct+1
`
`SET Pt
`ACCORDING TO Po
`
`INITIALIZE
`Gn~o
`
`5220
`
`5222
`
`5224
`
`5226
`
`BNA/Brose Exhibit 1034
`IPR2014-00416
`Page 5
`
`

`

`U.S. Patent
`RG. 7
`
`Aug. 14, 2001
`
`Sheet s of 6
`
`US 6,274,947 Bl
`
`STORE Gn IN RAM-B
`
`5134
`
`NO
`
`READ OUT Gn
`FROM RAM-A
`
`S308
`
`S304
`RESET
`Ct-+0
`
`S310
`S312
`NO
`
`S314
`
`S316
`
`S318
`
`DECREMENT
`Ct-Ct-1
`
`RENEW ADDRESS IN
`RAM-A & RAM-8
`
`NO
`
`S320
`
`RESET Mt-0
`
`S324
`
`BNA/Brose Exhibit 1034
`IPR2014-00416
`Page 6
`
`

`

`1--"
`~
`""-l
`~
`\o
`~
`""-l
`'N
`0'1
`rJ'l
`
`e
`
`0'1
`0 ......,
`0'1
`~ .....
`'JJ. =(cid:173)~
`
`'"""'
`N c c
`'"""'
`~,J;;..
`~
`~
`
`~ = ......
`~ ......
`~
`•
`\Jl
`d •
`
`5414
`
`TH'( n) = TH + Ginax
`
`___ .......__ __ ..c....,
`
`I TH( n) =TH+Gmax
`
`TH'(n) = TH+Gn
`
`L. 5412
`
`FROM EEPROM
`READ Gmax
`
`II
`
`r--------1'--------L...wS416 I
`
`FROM EEPROM
`READ Gmax
`
`FROM RAM-B
`READ Gn
`
`FIG. 8
`
`5400
`
`5126
`
`BASED ON V
`CALCULATE TH
`
`CALCULATE
`
`TH&TH'
`
`BNA/Brose Exhibit 1034
`IPR2014-00416
`Page 7
`
`

`

`US 6,274,947 Bl
`
`5
`
`10
`
`2
`approaches to the fully closed position, because the pinching
`situation (wherein some obstacles are pinched or sand(cid:173)
`wiched between an upper frame of the window and a sliding
`window glass) mostly occurs at a window position close to
`the fully closed position. Rotational speed V of the motor is
`detected by counting pulses fed from the motor to the
`controller. When the power window is operated in the
`closing direction, motor speed variation rates R are calcu(cid:173)
`lated several times in each measuring section based on the
`motor speed V. Also, a threshold value TH which is inversely
`proportional to the motor speed V is calculated.
`A highest value Gn among variation rates R in each
`measuring section is selected as a representing variation rate
`in that measuring section n. The variation rate R is set as a
`15 positive value when the motor is decelerating, while it is set
`as a negative value when the motor is accelerating. In
`selecting the highest value Gn from among the variation
`rates R in each measuring section, the variation rates having
`a negative value are precluded. The controller also includes
`20 a function to detect external disturbances such as changes of
`a voltage supplied to the motor. The highest value Gn in each
`measuring section is not memorized when such disturbances
`are detected to eliminate influence of such disturbances in
`finding the pinching situation. Also, the highest value Gn is
`25 not memorized when the power window is not successfully
`closed due to occurrence of the pinching situation.
`The highest value Gn representing the motor speed varia(cid:173)
`tion in each measuring section is memorized during a
`previous closing operation of the power window, and the
`30 memorized value Gn is used to adjust the threshold value TH
`during a following closing operation of the power window.
`That is, an adjusted threshold value TH'(n) in a given
`measuring section n is calculated according to a formula:
`TH'(n)=TH+Gn. The pinching situation is found out in each
`35 measuring section when the variation rate R becomes larger
`than the adjusted threshold value TH'(n), i.e., R> TH'(n).
`When the pinching situation is found, the motor is once
`stopped and then the power window is lowered to prevent
`further pinching. In addition, a maximum value Gmax
`40 among the values Gn is stored in a non-volatile memory to
`use it in place of the value Gn in adjusting the threshold
`value TH when no Gn is available in a previous window
`closing operation.
`Thus, the pinching situation is detected without fail while
`45 eliminating the influence of the external disturbances. The
`function of pinching prevention is easily included in the
`controller without making the controller large in size and
`without substantially increasing a program size in the micro(cid:173)
`computer. The motor speed variation rateR may be adjusted
`50 in lieu of the threshold value TH with the value Gn memo-
`rized in a previous window closing operation. The same
`results are obtained in this manner, too.
`Other objects and features of the present invention will
`become more readily apparent from a better understanding
`of the preferred embodiment described below with reference
`to the following drawings.
`
`1
`POWER WINDOW CONTROLLER HAVING
`FUNCTION TO PREVENT PINCHING
`
`CROSS-REFERENCE TO RELATED
`APPLICATION
`
`This application is based upon and claims benefit of
`priority of Japanese Patent Application No. Hei-10-138748
`filed on May 20, 1998, the content of which is incorporated
`herein by reference.
`
`BACKGROUND OF THE INVENTION
`
`1. Field of the Invention
`The present invention relates to a control device for a
`power window or a sliding roof for an automotive vehicle,
`more particularly to such a control device that includes a
`function to prevent a foreign object from being pinched or
`sandwiched between a window frame and a sliding window
`glass.
`2. Description of Related Art
`A control device of this kind 1s disclosed in JP-Y2-
`2553373, for example. In this control device, a rotational
`speed variation rate of a motor that actuates a power window
`is calculated and stored in a memory. A predictive rotational
`speed is determined from the stored speed variation rate and
`a preceding rotational speed. If a presently detected rota(cid:173)
`tional speed is lower than the predictive rotational speed, it
`is determined that a foreign object is pinched or sandwiched
`between a window frame and a sliding glass that is traveling
`in a direction to close the window. When such pinching is
`detected, the window glass is lowered to open the window.
`The rotational speed of the motor, however, is affected by
`not only pinching but also other factors such as a terminal
`voltage of the motor and ambient temperature. Accordingly,
`the conventional control device in which detection of pinch(cid:173)
`ing solely depends on the predictive motor speed and the
`detected motor speed is not able to eliminate influence of
`other factors. Therefore, accuracy of the pinching detection
`is not sufficiently high. It may be possible to enhance the
`detection accuracy by storing data showing relation between
`the motor speed and other external factors in a microcom(cid:173)
`puter and modifying the motor speed based on the stored
`data. However, there is a problem that the control circuit
`becomes complex and a program size becomes large.
`
`SUMMARY OF THE INVENTION
`
`The present invention has been made in view of the
`above-mentioned problem, and an object of the present
`invention is to provide an improved controller for a power
`window, which is able to detect accurately a situation where
`a foreign object is pinched or sandwiched between a window
`frame and an upwardly traveling window glass, eliminating
`influence of other factors. Another object of the present
`invention is to provide such a controller that accurately 55
`detects the pinching situation without increasing a controller
`size and a control program size. A further object of the
`present invention is to provide a method of controlling the
`power window operation in which the pinching situation is
`accurately detected.
`A power window is driven by an electric motor controlled
`by a controller including a microcomputer. A power window
`stroke from a fully open position to a fully closed position
`is divided into plural measuring sections, and the window
`position is detected by a limit switch or by counting pulses
`indicating the window position. Preferably, the measuring
`sections are more finely divided as the window position
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`FIG. 1 is a block diagram showing a whole structure of a
`60 power window controller according to the present invention;
`FIG. 2 is a graph showing a measuring section distance in
`terms of a traveling distance of a window glass;
`FIG. 3 is a diagram showing memory addresses where
`data representing rotational speed variation rates are memo-
`65 rized or stored;
`FIG. 4 is a graph showing a rotational speed variation rate
`of a motor and its threshold value versus a window position;
`
`BNA/Brose Exhibit 1034
`IPR2014-00416
`Page 8
`
`

`

`US 6,274,947 Bl
`
`3
`FIG. 5 is a flowchart showing a main routine of a power
`window control process;
`FIG. 6 is a flowchart showing a sub-routine for memo(cid:173)
`rizing the rotational speed variation rate in a memory;
`FIG. 7 is a flowchart showing a sub-routine for storing the
`rotational speed variation rate in a designated address of a
`memory; and
`FIG. 8 is a flowchart showing a sub-routine for calculating
`and adjusting the threshold value of the rotational speed
`variation rate.
`
`DETAILED DESCRIPTION OF 1HE
`PREFERRED EMBODIMENT
`
`5
`
`4
`detected at present, and Vb is a motor speed detected at a
`time preceding the present measurement by a predetermined
`short period of time. As understood from the formula, R is
`a positive value if the motor speed V is decreasing, while R
`is a negative value if the motor speed V is increasing.
`The portion 35 detects the pinching situation by compar(cid:173)
`ing the speed variation rate R with an adjusted threshold
`value TH' (described later) when the window is moving
`upward in a predetermined region of the window position.
`10 That is, pinching is detected when the speed variation rateR
`is larger than the adjusted threshold value TH', i.e., R>TH'.
`In other words, if the motor speed Vis decreasing with a rate
`higher than a threshold level, then it is determined that there
`exists a pinching situation. The speed variation rate R is
`15 calculated according to the formula, R=(Vb-Vp )Np, as
`mentioned above. If some external disturbance is included in
`the motor speed V, it is most probable that a similar
`disturbance is included in both Vb and Vp. Therefore,
`influence of such external disturbance is not high, as long as
`an amount of the disturbance changes rapidly. However, in
`case the disturbance included in Vb and Vp is much
`different, such disturbance has to be eliminated in a manner
`described later.
`The threshold value calculator 36 calculates the threshold
`value TH based on the motor speed V according to the
`following formula: TH a lN. The threshold value TH is set
`lower as the motor speed becomes higher, so that pinching
`is detected earlier at a higher speed, because it takes a longer
`time to stop the motor due to its inertia force. The window
`position calculator 38 determines a present window position
`based on the first rotation pulse 5 and second rotation pulse
`6. More particularly, a window position counter PO is reset
`to zero when the window reaches a fully closed position (an
`uppermost position) and incremented as the window moves
`downward. On the other hand, the window position counter
`PO is decremented when the window moves upward. When
`the limit switch is used for generating the second rotation
`pulse 6, the window position counter PO is reset to zero at
`a time the limit switch is turned on. Up or down movement
`of the window is judged from a direction of current supplied
`to the motor.
`The portion 45 detects changes of the motor terminal
`voltage, a door position and a vehicle speed based on the
`respective signals 7, 8 and 9 fed to the portion 45. The
`45 portion 39 sets timing for memorizing the data in the
`RAM-A In this embodiment, a total traveling distance of
`the window (a distance from the fully closed position to the
`fully open position) is divided into plural measuring
`sections, and the data representing each measuring section
`50 are memorized in the RAM-A The distance of each mea-
`suring section varies from several millimeters to several
`centimeters according to the window position, as shown in
`FIG. 2. The measuring section distance at a vicinity of the
`fully closed position (PO=O) is the shortest, and it becomes
`gradually longer. At the fully closed position, the measuring
`section distance is set at the longest. This is because it is
`necessary to detect the traveling speed of the window more
`frequently as the window approaches the fully closed posi(cid:173)
`tion to surely avoid the pinching situation.
`The portion 40 calculates values to be memorized in the
`RAM-A based on the speed variation rate R fed from the
`motor speed variation rate calculator 34. That is, the portion
`40 selects the highest variation rate among plural variation
`rates R fed in each measuring section. The highest variation
`rate in a given section "n" is denoted as Gn. If any one of
`the variation rate R is negative in a given measuring section
`(that is, the motor speed is increasing), such a negative R is
`
`20
`
`A preferred embodiment of the present invention will be
`described with reference to the drawings. FIG. 1 is a block
`diagram showing a structure of the power window controller
`which includes a function to prevent a foreign object from
`being pinched or sandwiched between a window frame and
`a window glass traveling upward. The foreign object
`includes part of a passenger body, such as an arm or fingers.
`The power window is driven by an electric motor which is
`controlled by the controller shown in FIG. 1. When some(cid:173)
`thing is about to be pinched or sandwiched by the power
`window during its upward or closing motion, the movement 25
`of the window is stopped and then the window is opened.
`The power window system includes a motor 1 for opening
`and closing the window, a motor driver 2 for supplying
`power to the motor 1, and a controller 3 that includes a
`microcomputer for controlling the motor driver 2. Various 30
`signals are fed to the controller 3. The signals include: an
`operation signal 4 indicating the power window movement,
`i.e., STOP, UP and DOWN; a first rotation pulse 5 generated
`at every predetermined angle of motor rotation; a second
`rotation pulse 6 generated 90-degree apart from the first 35
`rotation pulse 5 or generated by a limit switch when the
`window glass reaches a vicinity of a closing position; a
`signal 7 indicating a motor terminal voltage; a door signal 8
`indicating that a door is closed; and a vehicle speed signal
`9. Since devices generating those signals, the motor 1 and 40
`the motor driver 2 are all conventional and known, only
`details of the controller 3 will be described below.
`As shown in FIG. 1, the controller 3 is composed of: a
`portion 31 for receiving the window operation signal 4; a
`motor controller 32; a motor speed calculator 33; a motor
`speed variation rate calculator 34; a portion 35 for deter(cid:173)
`mining a pinching situation; a threshold value calculator 36;
`a threshold value adjuster 37; a window position calculator
`38; a portion 39 for setting memory timing; a portion 40 for
`calculating values to be memorized; a RAM-A (a random
`access memory-A) 41; a RAM-B 42; an EEPROM memory
`43; a portion 44 for setting memory addresses; and a portion
`45 for determining external disturbance.
`The portion 31 receives the window operation signal 4
`and indicates opening, closing or stopping of the power 55
`window. The motor controller 32 determines power to be
`supplied to the motor 1 via the motor driver 2, based on
`signals from the portion 31 or 35. The motor controller 32
`stops the motor 1 and then drives the motor 1 to lower the
`window when the portion 35 detects a pinching situation. 60
`The motor speed calculator 33 calculates rotational speed V
`of the motor 1 by counting the number of the first pulses 5
`fed in a predetermined period of time. The motor speed
`variation rate calculator 34 calculates a motor speed varia(cid:173)
`tion rate R from the motor speed V. The motor speed 65
`variation rate R is calculated according to the following
`formula: R=(Vb-Vp)/Vp, where Vp is a motor speed
`
`BNA/Brose Exhibit 1034
`IPR2014-00416
`Page 9
`
`

`

`US 6,274,947 Bl
`
`5
`
`5
`regarded as zero. This means that the largest deceleration
`rate in the measuring section "n" is selected as Gn repre(cid:173)
`senting the speed variation rate in that measuring section. It
`is avoided that the pinching detection becomes too sensitive
`to be affected by the external disturbance by neglecting the
`negative R in selecting Gn.
`The highest speed variation rate Gn for each measuring
`section is memorized in the RAM-A41 as FIFO format data,
`as shown in FIG. 3. At least several highest variation rates
`Gn at a vicinity of the fully closed window position are
`memorized in this manner, even if a memory capacity is not
`sufficiently large. The portion 44 sets addresses in the
`RAM-B 42. Each Gn is stored in the address corresponding
`to the window position, as shown in FIG. 3, when the
`window reaches the fully closed position. If the window
`could not be fully closed, the Gn data are not stored in the
`RAM-B. That is, GO, Gl, G2 ... Gn are stored in this order,
`beginning with the address corresponding to the fully closed
`window position (PO=O). To eliminate influence of the
`external disturbance, Gn is not stored if a signal indicating
`an external disturbance is fed to RAM-B from the distur(cid:173)
`bance determining portion 45.
`The highest Gmax is selected among Gn stored in the
`RAM-B when there is no external disturbance and is written
`in the EEPROM memory 43. The written Gmax serves to
`adjust the threshold value 1H when no Gn is available at a
`time such as when the power source is newly connected to
`the motor. Gn stored in the RAM-B and Gmax written in the
`EEPROM are replaced with new data every time the win(cid:173)
`dow is fully closed and fed to the threshold value adjuster
`37.
`The threshold value adjuster 37 adjusts the threshold
`value 1H with Gn when there is no external disturbance and
`with Gmax when there is external disturbance. That is, the
`adjusted threshold value 1H'(n) for each measuring section
`is calculated according to the following formula: 1H'(n)=
`TH+Gn (or Gmax) In other words, the threshold value TH
`calculated based on the motor speed V is adjusted in each
`measuring section with Gn which is stored in the preceding
`power window operation where there is no external distur(cid:173)
`bance. It is possible to modify the foregoing adjusting
`formula into a formula: 1H'(n)=TH+kGn, where k is a
`constant value. When the microcomputer is reset, TH is
`adjusted with Gmax in place of Gn because no Gn is stored.
`When the microcomputer is operated first time, TH is
`adjusted with a value pre-stored in the ROM because no
`other data are available.
`The motor speed variation rate R calculated in a given
`measuring section is compared with the adjusted threshold
`value TH'(n) in that section, and it is determined that there
`is a pinching situation if R> TH'(n). Since the speed variation
`rate R at a present window operation is compared with the
`threshold value TH' which is adjusted with the highest
`variation rate Gn at a preceding window operation in which
`the window is successfully closed, the present variation rate
`R does not exceed TH' even if it instantaneously fluctuates
`in a small range. An exemplary graph showing R and TH'
`versus the window position PO is shown in FIG. 4. Thus, the
`pinching situation is properly detected while avoiding a false
`detection. Since storing Gn in the RAM-B is prohibited 60
`when the external disturbance is detected, disturbance
`effects on the adjusted threshold value TH' are eliminated.
`Since Gmax stored in the EEPROM 43 is used in adjusting
`the threshold value when no Gn is stored, there is no need
`to initialize the computer when it is reset.
`Referring to FIGS. 5-8, processing routines in the micro(cid:173)
`computer will be described. First, a main routine shown in
`
`6
`FIG. 5 will be explained. At step SlOO, whether a DOWN
`switch is ON or not (whether there is a command to open the
`window) is determined. If the DOWN switch is ON, the
`window is lowered at step Sl02. At step Sl04, whether the
`first rotation signal 5 is fed or not is determined. If there is
`the first rotation signal 5, the window position counter PO is
`incremented at step Sl06. If there is no first rotation signal
`5, the routine returns to step SlOO. If there is no DOWN
`command at step SlOO, whether an UP command (a com-
`10 mand to close the window) exists or not is determined at step
`Sl08. If there is no UP command, the window operation is
`stopped at step SUO, and the routine returns to step SlOO. If
`there is the UP command, the window is operated in the
`closing direction at step Sl12.
`At step Sl14, whether the first rotation pulse 5 is fed or
`15 not is determined. If there is the first rotation pulse, the
`window position counter PO is decremented at step Sl16,
`and then whether the limit switch is turned ON or not is
`determined at step Sl18. If the limit switch is not turned ON,
`the motor rotational speed V is calculated based on the
`20 frequency of the first pulse at step Sl20. Then, the speed
`variation rate R is calculated based on the motor speed V at
`step Sl22. Then, the variation rate R is memorized in the
`RAM-A through a sub-routine Sl24 (details are shown in
`FIG. 6). Then, the threshold value 1H and the adjusted
`25 threshold value TH' are calculated through a sub-routine
`Sl26 (details are shown in FIG. 8). Then, the variation rate
`R is compared with the adjusted threshold value TH' at step
`Sl28. IfR~1H', the routine returns to SlOO. IfR>TH', it is
`determined that pinching occurred, and the operation of the
`30 window is stopped and the window is lowered by a prede(cid:173)
`termined distance at step Sl30. Then, the routine returns to
`step SlOO. On the other hand, if it is determined that the limit
`switch in ON at step Sl18, the window position counter PO
`is reset to zero at step Sl32, and then Gn for each measuring
`35 section is stored in the RAM-B through a sub-routine Sl34
`(details are shown in FIG. 7). Then, the routine returns to
`SlOO, and repeats the same process.
`Referring to FIG. 6, the sub-routine 124 for memorizing
`Gn will be explained. At step S200, whether the variation
`40 rate R calculated at step Sl22 is negative (R ~ 0) or positive
`(R>O) is determined. If R is negative, i.e., the motor speed
`is increasing, the variation rate R is set to zero (0) at step
`S202, and if R is positive, i.e., the motor speed is decreasing,
`the original R is used as R at step S204. At step S206,
`45 whether R is larger than Gn previously memorized or not is
`determined. If R is larger than the previous Gn, the previous
`Gn is renewed to a new Gn that is equal to R at step S208.
`If R is not larger than the previous Gn, the previous Gn is
`kept as it was. Then, a pulse counter Pl (explained later) is
`50 decremented at step S210. At step S212, whether the pulse
`counter Pl is zero or not is determined. If Pl is not zero, i.e.,
`if measuring in a present measuring section is not
`completed, the sub-routine returns to the main routine. If Pl
`is zero, i.e., if measuring in the present measuring section is
`55 completed, the address of the RAM-A is renewed by one
`address at step S214. At step S216, whether the address in
`the RAM-A comes to the last address or not is determined.
`If the address is not the last one, the sub-routine moves to
`step S220. If the address is the last one, the address is
`renewed to the first address at step S218. Then, Gn is
`memorized in the designated address of the RAM-A at step
`S220. Then, a counter Cl indicating the number of memo(cid:173)
`rized data (Gn) is incremented to select the next measuring
`section at step S222. Then, an initial count corresponding to
`65 the selected next measuring section is set in the pulse
`counter Pl at step S224. Then, Gn is reset to zero at step
`S226, and the sub-routine returns to the main routine.
`
`BNA/Brose Exhibit 1034
`IPR2014-00416
`Page 10
`
`

`

`US 6,274,947 Bl
`
`7
`Now, the function of the pulse counter Pl will be
`described. The pulse counter Pl is a counter to indicate the
`number of calculation and judgement of the speed variation
`rate R in each measuring section. A predetermined initial
`count is set in the pulse counter Pl at the beginning of every 5
`measuring section. The count in the pulse counter Pl is
`decreased in accordance with the upward movement of the
`window, i.e., according to the count of the window position
`counter PO. The pulse counter Pl is decremented every time
`the first rotation pulse 5 is fed, corresponding to the upward
`movement of the window at step Sl12 and the determination
`at step Sl14.
`Referring to FIG. 7, the sub-routine Sl34 will be
`described. This sub-routine starts after the window position
`counter PO is reset to zero at step Sl32 in FIG. 5. At step 15
`S300, whether the limit switch is ON or not is determined.
`If the limit switch is not ON, the sub-routine returns to the
`main routine. If the limit switch is ON, whether there is
`external disturbance during the present upward movement of
`the window is determined at step S302. If there is the 20
`disturbance, the counter Cl is reset to zero at step S304, and
`the sub-routine returns to the main routine. If there is no
`disturbance, whether there is a reverse movement of the
`window due to detection of pinching or not is determined at
`step S306. If there is the reverse movement, the counter Cl 25
`is reset to zero at step S304, and the sub-routine returns to
`the main routine. That is, if the external disturbance or the
`pinching is found during the present upward movement of
`the window, Cl is set to zero and no data is memorized. If
`no pinching is found at step S306, Gn corresponding to the 30
`present measuring section is read out from the RAM-A at
`step S308, and the read out Gn is stored in the RAM-Bat an
`address corresponding to Cl at step S310.
`At step S312, whether the present Gn is larger than Ml (a
`previously stored Gn) or not is determined. If the present Gn 35
`is larger than Ml, Ml is renewed to Gnat step S314. If not,
`Ml is kept as it was. The counter Cl is decremented at step
`S316, and then the address of the RAM-A and RAM-B is
`renewed for processing Gn in the next measuring section at
`step S318. Steps S308 to S318 are repeated until the counter 40
`Cl becomes zero. That is, the same process is repeated until
`all the Gn for every measuring section are stored. At step
`S320, whether the counter Cl is zero or not is determined.
`After the counter Cl reaches zero, Gmax that is the maxi(cid:173)
`mum among all the Gn is written in the EEPROM 43 at step 45
`S322. The previously stored Ml is reset to zero at step S324,
`and the sub-routine returns to the main routine.
`Referring to FIG. 8, the sub-routine Sl26 for calculating
`the threshold value TH and the adjusted threshold value TH'
`will be described. At step S400, the threshold value TH that 50
`is proportional to lN (V is the motor speed) is calculated
`from a map pre-installed in the microcomputer. At step
`S402, whether the speed variation rate Gn is stored in the
`RAM-B 42 is determined. If Gn is stored in the RAM-B, the
`address in the RAM-B corresponding to the present mea- 55
`suring section is designated at step S404. Then, Gn is read
`out from the designated address at step S406. At step S408,
`the adjusted threshold value TH'(n) is calculated according
`to the formula: TH'(n)=TH+Gn, and the sub-routine returns
`to the main routine. If it is determined that there is no Gn 60
`data at step S402, whether the maximum variation rate
`Gmax is written in the EEPROM 43 or not is determined at
`step S410. If no Gmax is written in the EEPROM 43, G'max
`preset in the ROM is read out at step S412. At step S414, the
`adjusted threshold value TH'(n) is calculated according to 65
`the formula: TH'(n)=TH+G'max, and the sub-routine returns
`to the main routine. If the Gmax is found in the EEPROM
`
`8
`43 at step S410, Gmax is read out at step S416. Then, the
`adjusted threshold value TH'(n) is calculated according to
`the formula: TH'(n)=TH+Gmax at step S418, and the sub(cid:173)
`routine returns to the main routine.
`Though the pinching situation is determined by compar-
`ing the motor speed variation rate R with the adjusted
`threshold value TH'(n) in the embodiment described above,
`it is a