Moving body control device

A moving body control device that controls a moving body that moves by a rotation of a motor, the moving body control device comprising:

• a pinching detecting unit that detects pinching of an object due to a movement of the moving body based on a change in a physical quantity indicating a rotation state of the motor;
• and
• wherein the pinching detecting unit is configured to:
• determine that the pinching of the object has occurred in a case in which a first difference of the physical quantity in a predetermined first period, the first difference being a current difference indicating a change in a motor current in the predetermined first period or a rotation speed difference indicating a change in a rotation speed of the motor in the predetermined first period, is equal to or greater than a first threshold value and a tendency of a change in the physical quantity in the predetermined first period is a monotonous increase or a monotonous decrease;
• calculate a difference between a value of the physical quantity at a beginning of the predetermined first period and a value of the physical quantity at an end of the predetermined first period as the first difference,
• calculate, for each of a plurality of second periods obtained by dividing the predetermined first period, a difference between a value of the physical quantity at a beginning of a second period and a value of the physical quantity at an end of the second period as each of a plurality of second differences,
• determine that the tendency of the change in the physical quantity in the predetermined first period is the monotonous increase or the monotonous decrease in a case in which a ratio of the second differences 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,
• lower a value of the first threshold value in response to the detection of the tendency of the monotonous increase or the monotonous decrease of the physical quantity continues for the period longer than the predetermined first period, and
• calculate a tendency score SC, which indicates the tendency of the change in the physical quantity in the predetermined first period, and
• determine that the pinching of the object has occurred based on the tendency score;
• and
• a control unit that controls stopping or reversing of the motor based on the determination that the pinching of the object has occurred.