JP2004100388A - Door opening/closing control device and door opening/closing control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a door opening/closing control device which controls the movement of an electric sliding door so as to detect a foreign matter without abutting on the foreign matter or without imposing a large impact on the same even if the door abuts on the same at the time of closing the door, and to provide a door opening/closing control method. <P>SOLUTION: When beams emitted from light emitting portions of photoelectric sensors 15, 16 are reflected by the foreign matter and received by light receiving portions of the photoelectric sensors 15, 16, respectively, a microcomputer 24 determines that the foreign matter is detected. A foreign matter detection range 102 by the photoelectric sensor 16 is outside of a foreign matter detection range 101 by the photoelectric sensor 15 with respect to a chassis. The end face 102A of the outer range 102 by the photoelectric sensor 16 is set at a location higher than the end face 101A of the inner range 101 by the photoelectric sensor 15, i.e. the photoelectric sensor 16 has a shorter effective detection distance, and therefore erroneous detection is prevented. The control device and the control method of the present invention are applicable to the electric sliding door. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a door opening / closing control device and method, for example, to a door opening / closing control device and method suitable for use in opening / closing control of an electric sliding door of an automobile.
[0002]
[Prior art]
Some automobiles, such as wagons, vans, and recreational vehicles, employ so-called slide doors that open and close by sliding along the front-back direction of the vehicle body (moving direction of the automobile).
[0003]
Some of such slide doors employ a door opening / closing control device that automates the opening / closing operation by the driving force of a motor.
[0004]
By the way, as a conventional door opening / closing control device, for example, as shown in FIG. 1, a contact sensor 2 is provided on an end surface 1A of a door 1 in order to detect that a foreign object is caught when closing the door. It has been proposed that when an object comes into contact with the type sensor 2, it is determined that a foreign object has been caught, and the movement of the door is controlled (for example, see Patent Document 1).
[0005]
[Patent Document 1]
JP 2002-4714 (FIG. 1)
[0006]
[Problems to be solved by the invention]
However, in the device of Patent Literature 1, when an object comes into contact with the contact sensor 2, it is determined that a foreign object is caught, and the operation of the door is stopped. Therefore, the foreign object cannot be detected without contacting the door. There were challenges. For this reason, when a part of the body is pinched, there is a problem that pain or injury may occur.
[0007]
The present invention has been made in view of such a situation, and detects a foreign object before contacting the door and stops moving the door, or even if the foreign object contacts the door, a large impact is applied to the foreign object. This allows the door to stop moving without giving.
[0008]
[Means for Solving the Problems]
A door opening / closing control device according to the present invention includes a first light-emitting portion provided near a first light-emitting portion of light in a first detection range generated by a first light-emitting portion provided near an end surface of a movable door. And the second light-emitting unit provided near the end face of the door is located outside the first detection range and shorter than the first detection range. Detecting means for detecting light in a detection range of the second light-emitting unit provided near the second light-emitting unit; and a first obtaining unit for obtaining a detection result of the object provided on a fixed reference plane. A second acquisition unit that acquires a detection result by the detection unit that detects a contact; a detection unit that detects a position of a movable door; a first acquisition result that is acquired by the first acquisition unit; The second acquisition result acquired by the means, and the second acquisition result acquired by the detection means. Based on the position of the door, characterized in that it comprises a control means for controlling the movement of the door.
[0009]
In the door opening / closing control device according to the present invention, the light in the first detection range generated by the first light emitting unit provided near the end face of the movable door is the second light provided near the first light emitting unit. The detection result obtained by the first light receiving unit is obtained, and the second light emitting unit provided near the end face of the door is generated outside the first detection range and shorter than the first detection range. A detection result by the second light receiving unit provided near the second light emitting unit for detecting light in the second detection range is acquired as a first acquisition result. A detection result provided by the detection unit provided on the fixed reference surface and detecting contact with an object is output as a second acquisition result. Further, the position of the movable door is detected. The movement of the door is controlled based on the first acquisition result, the second acquisition result, and the position of the door.
[0010]
Therefore, the foreign matter can be reliably detected without the foreign matter coming into contact with the door and without giving a large impact to the foreign matter even if it does. Further, when foreign matter is detected, control can be performed to stop the movement of the door. As a result, the risk of injury to the user is reduced.
[0011]
The first acquisition unit, the second acquisition unit, the detection unit, and the control unit are realized by, for example, a microcomputer executing a predetermined program.
[0012]
The first light emitting unit and the second light emitting unit are configured by, for example, light emitting diodes that emit light. The first light receiving unit and the second light receiving unit are configured by a photosensor such as a photodiode or a phototransistor. The first light emitting unit and the first light receiving unit can be integrated as a photoelectric sensor. Similarly, the second light emitting unit and the second light receiving unit can be integrated as a photoelectric sensor.
[0013]
The first obtaining unit obtains a detection result obtained by a first light receiving unit disposed outside the first light emitting unit, and further obtains a detection result from a second light emitting unit disposed outside the first light receiving unit. The detection result by the second light receiving unit arranged outside can be obtained.
[0014]
As a result, foreign matter can be detected without malfunction.
[0015]
Selecting means for selecting a first acquisition result by the first acquisition means or a second acquisition result by the second acquisition means based on a distance of the end face of the door from a reference plane; Can control the movement of the door based on the first acquisition result or the second acquisition result selected by the selection means.
[0016]
The selection means is realized by, for example, a microcomputer that executes a program.
[0017]
Thus, regardless of the distance of the end face of the door from the reference plane, the foreign object can be accurately detected and the movement of the door can be controlled.
[0018]
Comparing means for comparing the first acquisition result with a predetermined reference value is further provided, and the control means can acquire the comparison result of the comparing means as the first acquisition result.
[0019]
As a result, occurrence of malfunction can be suppressed.
[0020]
A third obtaining unit that obtains a detection result of the light generated by the first light emitting unit or the second light emitting unit by the first light receiving unit or the second light receiving unit in the learning mode; and a third obtaining unit. Storage means for storing the detection result obtained by the first acquisition means, and the comparison means uses the value corresponding to the detection result obtained by the third acquisition means stored in the storage means as a reference value, Can be compared with the result.
[0021]
Thereby, a predetermined reference value corresponding to the position of the door can be obtained. As a result, accurate detection can be performed irrespective of the variation among the devices.
[0022]
The third acquisition unit is realized by, for example, a microcomputer that executes a program. The storage means is constituted by, for example, an EEPROM. In addition, the storage means can be constituted by a storage unit such as a hard disk which can hold data even when the power is turned off.
[0023]
In the diagnosis mode, a range determination unit that determines whether a detection result obtained by the first light receiving unit and a detection result obtained by the second light receiving unit exceed a predetermined range, and contact between the detection unit and the object. May be further provided with an object determining means for determining whether or not the object has been detected, a presenting means for presenting a warning based on the determination by the range determining means and the determination by the object determining means.
[0024]
This makes it possible to self-diagnose whether or not the device has a failure. Further, when a failure occurs in the device, a warning can be given to the user.
[0025]
The range determining unit, the object determining unit, and the presenting unit are configured by, for example, a microcomputer that executes a program.
[0026]
According to the door opening / closing control method of the present invention, the first light-emitting portion provided near the first light-emitting portion of the light in the first detection range generated by the first light-emitting portion provided near the end surface of the movable door is provided. And the second light-emitting unit provided near the end face of the door is located outside the first detection range and shorter than the first detection range. A first acquisition step of detecting a light in a detection range of the second light-receiving unit provided near the second light-emitting unit, and an object provided on a fixed reference plane. A second acquisition step of acquiring a detection result by a detection unit that detects a contact, a detection step of detecting a position of a movable door, a first acquisition result acquired by the processing of the first acquisition step, and a second acquisition step. The second acquisition result acquired by the processing of the acquisition step , And based on the detected position of the door by the process of detection step, characterized in that it comprises a control step for controlling the movement of the door.
[0027]
In the door opening / closing control method according to the present invention, the light in the first detection range generated by the first light emitting unit provided near the end face of the movable door is the second light provided near the first light emitting unit. The detection result obtained by the first light receiving unit is obtained, and the second light emitting unit provided near the end face of the door is generated outside the first detection range and shorter than the first detection range. A detection result by the second light receiving unit provided near the second light emitting unit for detecting light in the second detection range is acquired as a first acquisition result. A detection result provided by the detection unit provided on the fixed reference surface and detecting contact with an object is acquired as a second acquisition result. Further, the position of the movable door is detected. The movement of the door is controlled based on the first acquisition result, the second acquisition result, and the position of the door.
[0028]
Therefore, as in the case of the door opening / closing control device of the present invention, it is possible to reliably detect foreign matter without malfunction. Further, when foreign matter is detected, the movement of the door can be controlled.
[0029]
The first acquisition step includes, for example, an acquisition step of acquiring a signal from the first light receiving unit and the second light receiving unit by a microcomputer. It comprises an acquiring step of acquiring by a computer. Further, the detection step includes, for example, a detection step of counting a pulse signal generated in conjunction with the movement of the door by a microcomputer and detecting a position of the door, and the control step includes a microcomputer that drives a door driving motor. The control step is controlled by the following.
[0030]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 2 shows a configuration of an embodiment of a system including a door opening / closing control device to which the present invention is applied. As shown in the figure, in this system, a motor 13 for moving the door, an encoder 12 for outputting a pulse in conjunction with the rotation of the motor 13, a door closing switch 14 for detecting that the door is completely closed, The photoelectric sensors 15 and 16 mounted on the door side and the contact type sensor 17 mounted on the vehicle body side are connected to the door opening / closing control device 11.
[0031]
The door opening / closing control device 11 includes a memory 21 for storing information, an I / O interface unit 22 for controlling driving of the motor 13, and a learning mode operated by a user when the door opening / closing control device 11 executes a learning mode process. The switch 23, an I / O interface unit 25 for driving the photoelectric sensors 15 and 16, an A / D converter 26 for converting an analog signal input from the photoelectric sensors 15 and 16 into a digital signal, and an output from the contact sensor 17. An I / O interface unit 27 for transmitting signals to the microcomputer 24 and a microcomputer 24 for executing various processes based on programs are provided.
[0032]
The microcomputer 24 recognizes how much the motor 13 has rotated by counting the pulses output from the encoder 12, and detects the movement position of the door based on the count value. The microcomputer 24 detects that there is a foreign object between the door and the vehicle body based on a signal input from the A / D converter 26. The microcomputer 24 drives the motor 13 via the I / O interface unit 22 and drives the light emitting units 41 and 51 of the photoelectric sensors 15 and 16 via the I / O interface unit 25.
[0033]
The microcomputer 24 includes a signal value output from the photoelectric sensors 15 and 16 and a count value of a pulse generated in synchronization with the rotation of the motor 13 output from the encoder 12 (or a count value generated based on the count value). An EEPROM (Electrically Erasable and Programmable Read Only Memory) 31 for storing the position data indicating the moving position of the door.
[0034]
The photoelectric sensor 15 includes a light emitting unit 41 that generates light and a light receiving unit 42 that receives the reflected light. Similarly, the photoelectric sensor 16 is provided with a light emitting unit 51 that generates light and a light receiving unit 52 that receives the reflected light.
[0035]
FIG. 3 shows an example of mounting positions of the door close switch 14, the photoelectric sensors 15, 16 and the contact type sensor 17. In this example, the door close switch 14 is attached to an upper portion on the reference surface 92A of the vehicle body 92. The reference surface 92A is a fixed surface that comes into contact with the end surface 91A of the door 91 when the door 91 moves with respect to the vehicle body 92 and is closed. When the door 91 is completely closed (when the end surface 91A comes into contact with the reference surface 92A), the door closing switch 14 is turned on, and when the door 91 is opened even a little, it is turned off.
[0036]
The photoelectric sensors 15 and 16 are attached to an upper portion of an end surface 91A of the door 91. The photoelectric sensor 15 can detect a foreign substance existing in the range 101. The photoelectric sensor 16 can detect a foreign substance existing in the range 102.
[0037]
The contact sensor 17 is attached to the reference surface 92A of the vehicle body 92 in a vertical direction. The contact-type sensor 17 has a length substantially corresponding to a height L from an upper end surface 81A of the boarding opening 81 of the vehicle body 92 to a lower end surface 81B of the boarding opening 81 of the vehicle body 92, and is vertically mounted. .
[0038]
In this example, the range 101 in which the photoelectric sensor 15 can detect a foreign object is such that the width in the traveling direction of the automobile (the width in the direction parallel to the paper surface in FIG. 3) is below the boarding opening 81 of the vehicle body 92. In the vicinity of the end face 81B, the distance from the end face 91A of the door 91 to the horizontal direction (to the left in FIG. 3) is 10 cm. The optical axis 101B is set so as to be inclined by an angle α in the traveling direction of the vehicle with respect to the vertical direction.
[0039]
The width in the vehicle traveling direction of the range 102 in which the photoelectric sensor 16 can detect a foreign object is substantially the same as the range 101 of the photoelectric sensor 15. Similarly, the optical axis 102B of the photoelectric sensor 16 is also inclined at an angle α in the traveling direction of the vehicle with respect to the vertical direction, like the optical axis 101B of the photoelectric sensor 15 (accordingly, when viewed from the side of the vehicle, (Set so as to overlap with the optical axis 101B).
[0040]
When a foreign object exists in the range 101 where the photoelectric sensor 15 can detect the foreign object, light generated from the light emitting unit 41 is reflected by the foreign object and received by the light receiving unit 42 of the photoelectric sensor 15. If there is no foreign matter or if there is a foreign matter outside the range 101 in which the photoelectric sensor 15 can detect the foreign matter, the reflected light does not return to the light receiving unit 42 or even if it does, Therefore, the light receiving unit 42 cannot detect the foreign matter.
[0041]
Similarly, when a foreign object exists in the range 102 where the photoelectric sensor 16 can detect the foreign object, light generated from the light emitting unit 51 is reflected by the foreign object and received by the light receiving unit 52 of the photoelectric sensor 16. If there is no foreign matter or if there is a foreign matter outside the range 102 in which the photoelectric sensor 16 can detect the foreign matter, the reflected light does not return to the light receiving unit 52 or even if it does, Therefore, the light receiving unit 52 cannot detect the foreign matter.
[0042]
When the door 91 moves in the direction of arrow F in FIG. 3 and the end surface 91A of the door 91 approaches a distance of 10 cm or less from the reference surface 92A of the vehicle body 92, when the foreign matter comes into contact with the contact sensor 17, Is detected.
[0043]
In this example, after the motor 13 stops, the distance that the door 91 moves due to inertia is set to 10 cm, and the range in which the photoelectric sensor can detect a foreign substance is set to 10 cm (at the end face 81B), but the motor 13 stops. Thereafter, the distance that the door 91 moves due to inertia varies depending on the characteristics of the motor 13, the driving mechanism of the door 91, and the like. Therefore, the photoelectric sensor can detect foreign matter according to the characteristics of the motor 13, the driving mechanism of the door 91, and the like. The range may be changed.
[0044]
FIG. 4 is a view of the end surface 91A of the door 91 as viewed from the traveling direction of the vehicle in the opposite direction (to the right in FIG. 3). The photoelectric sensors 15 and 16 are mounted on the upper part of the door 91 (almost at the same height as the upper end surface 81A of the boarding opening 81 of the vehicle body 92) in a horizontal direction.
[0045]
In the case of this example, the photoelectric sensor 15 is mounted inside the vehicle body 92, and the photoelectric sensor 16 is mounted outside the vehicle body 92. The range 102 in which the photoelectric sensor 16 can detect foreign matter is set outside the vehicle body 92 than the range 101 in which the photoelectric sensor 15 can detect foreign matter.
[0046]
If the entire end face 91A of the door 91 can be detected by one photoelectric sensor 18, the result is as shown in FIG. That is, the line 103L on the left side of the range 103 in the drawing needs to be located on the left side of the point 91PL protruding on the leftmost side of the door 91, and the line 103R on the right side of the range 103 protrudes on the rightmost side of the door 91. It must be located to the right of the point 91PR. As a result, the width of the range 103 becomes considerably large.
[0047]
Therefore, near the lower portion of the door 91, the photoelectric sensor 18 may erroneously detect a person's foot 122 or the like outside the vehicle body 92 as a foreign object, and as a result, the door may not be able to be closed.
[0048]
Therefore, in the present invention, as shown in FIG. 4, by using two photoelectric sensors and making the effective distance of the outer photoelectric sensor shorter than the effective distance of the inner photoelectric sensor, the occurrence of such a malfunction can be prevented. Has been prevented.
[0049]
That is, as shown in FIG. 4, the optical axis 102B of the light generated by the light emitting unit 51 of the photoelectric sensor 16 is shifted outward by the angle θ from the optical axis 101B of the light generated by the light emitting unit 41 of the photoelectric sensor 15. ing. In other words, the range 102 in which foreign matter is detected by the photoelectric sensor 16 is set outside the range 101 in which foreign matter can be detected by the photoelectric sensor 15.
[0050]
The range 101 alone cannot cover the entire end surface 91A of the door 91. Similarly, only the range 102 cannot cover the entire end surface 91A of the door 91. Therefore, the photoelectric sensor 15 and the photoelectric sensor 16 are respectively set so as to cover the entire end face 91A of the door 91 in the range 101 and the range 102.
[0051]
That is, in FIG. 4, the left line 102L of the range 102 is not located on the left side of the protrusion 91PL projecting to the leftmost side of the door 91, but the left line 101L of the range 101 is It is located on the left side of the part 91PL. Further, the right line 101R of the range 101 is not located on the right side of the protrusion 91PR that protrudes to the far right of the door 91, but the right line 102R of the range 102 is located on the right side of the protrusion 91PR. .
[0052]
The lower end surface 101A of the range 101 where the photoelectric sensor 15 can detect foreign matter is set closer to the ground 121 than the lower end surface 102A of the range 102 where the foreign matter can be detected by the photoelectric sensor 16. This is because if the lower end surface 102A of the area 102 where the foreign matter is detected by the photoelectric sensor 16 is set to be closer to the ground 121, the photoelectric sensor 16 is moved to the vehicle body similarly to the case described above with reference to FIG. This is because an object such as a person's foot 122 near the object 92 may be erroneously detected as a foreign object, and as a result, the door may not be able to be closed.
[0053]
Conversely, the range 101 is set so that the end face 101A is slightly lower than the end face 81B so that foreign substances can be detected up to the lower end face 81B (car floor) of the boarding gate 81. Is set to
[0054]
As described above, the two photoelectric sensors 15 and 16 are used so that a foreign substance existing between the end surface 91A of the door 91 and the reference surface 92A of the vehicle body 92 can be accurately detected.
[0055]
FIG. 6 is a diagram showing a more accurate positional relationship between the photoelectric sensors 15 and 16. The photoelectric sensors 15 and 16 are mounted above the end face 91A of the door 91, that is, near the end face 81A above the entrance 81 of the vehicle body 92. The photoelectric sensors 15 and 16 are mounted at substantially the same height in the horizontal direction so that the light-emitting units 41 and 51 and the light-receiving units 42 and 52 face downward.
[0056]
The photoelectric sensor 15 is mounted such that the light receiving unit 42 is located on the right side of the light emitting unit 41. Similarly, the photoelectric sensor 16 located outside the photoelectric sensor 15 is attached such that the light receiving unit 52 is located on the right side of the light emitting unit 51.
[0057]
Next, a process for closing the door 91 will be described with reference to the flowchart of FIG. This process is started when a door close switch (not shown) is operated by the user.
[0058]
In step S1, the microcomputer 24 drives the motor 13 via the I / O interface unit 22, and rotates in the direction in which the door 91 closes (the direction of arrow F in FIG. 3). When the motor 13 rotates, the encoder 12 generates a pulse in synchronization with the rotation. Then, in step 2, the microcomputer 24 acquires the pulse output from the encoder 12, and counts the pulse in step S 3 to detect the position of the door 91. That is, when the door 91 moves from the open position (the moving end point in the direction indicated by the arrow R in FIG. 3) in the direction indicated by the arrow F, the moved position corresponds to the pulse count value. The moving position of 91 can be detected.
[0059]
Next, proceeding to step S4, the microcomputer 24 drives the light emitting units 41 and 51 of the photoelectric sensors 15 and 16 via the I / O interface unit 25 to emit light.
[0060]
In step S5, the microcomputer 24 determines whether or not the end surface 91A of the door 91 is at least 10 cm away from the reference surface 92A of the vehicle body 92 (the pulse count value corresponds to 10 cm (prestored in the EEPROM 31)). If it is determined that the distance is 10 cm or more, the process proceeds to step S6 to acquire signals from the light receiving units 42 and 52 of the photoelectric sensors 15 and 16 on the door side. In step S7, the microcomputer 24 compares the signal value (light receiving level) acquired in step S6 with a reference value (light receiving level) at the current door position. This reference value corresponds to a value learned by a learning process shown in a flowchart of FIG.
[0061]
Thereafter, the process proceeds to step S8, and the microcomputer 24 determines whether or not the value of the signal acquired in step S6 is equal to or greater than the reference value as a result of the comparison in step S7. That is, when no foreign matter is detected, the process returns to step S1, and the subsequent processes are repeatedly executed.
[0062]
On the other hand, when a foreign substance exists in the range 101 or the range 102, light reflected by the foreign substance is incident on at least one of the light receiving units 42 and 52. As a result, at least one of the outputs of the light receiving units 42 and 52 becomes larger than the reference value. Therefore, in step S8, when it is determined that the value of the signal obtained in the processing in step S6 is equal to or greater than the reference value, the microcomputer 24 determines that a foreign object has been detected, proceeds to step S12, and stops the motor 13.
[0063]
The door 91 further moves about 10 cm after the stop of the driving of the motor 13 is commanded. At this time, the door 91 may come into contact with the foreign matter, but since the door 91 is being braked, the possibility that a large impact is applied to the foreign matter is reduced.
[0064]
On the other hand, in step S5, it is determined that the end surface 91A of the door 91 is not more than 10 cm away from the reference surface 92A of the vehicle body 92, that is, the end surface 91A of the door 91 is less than 10 cm from the reference surface 92A of the vehicle body 92. In this case, the microcomputer 24 proceeds to step S9, and acquires a signal from the contact sensor 17 via the I / O interface unit 27 instead of the photoelectric sensors 15 and 16 up to that point. That is, the sensor is switched from the photoelectric sensors 15 and 16 to the contact sensor 17.
[0065]
In step S10, the microcomputer 24 determines whether or not a detection signal indicating that foreign matter has been detected in step S9 has been obtained. If it is determined that the signal acquired in step S9 is not a detection signal indicating that a foreign object has been detected, that is, if no foreign object has been detected, the microcomputer 24 proceeds to step S11 and turns on the door closing switch 14. Is determined. If it is determined that it is not in the ON state (the door 91 is not yet completely closed), the process returns to step S1, and the subsequent processing is repeatedly executed.
[0066]
If it is determined in step S11 that the door close switch 14 is in the ON state, that is, if no foreign matter is detected and the door 91 is completely closed, the microcomputer 24 proceeds to step S12, and switches the motor 13 to Stop.
[0067]
If it is determined in step S10 that the signal acquired in step S9 is a detection signal indicating that foreign matter has been detected, that is, if foreign matter has been detected, the microcomputer 24 proceeds to step S12 and stops the motor 13. .
[0068]
That is, if there is no foreign substance, or even if it is present, if it is not in contact with the contact-type sensor 17, there is no object contacting the contact-type sensor 17, so that a detection signal indicating that foreign substance has been detected is not obtained. On the other hand, when a foreign substance is present, the foreign substance comes into contact with the contact-type sensor 17, so that a detection signal indicating that the foreign substance has been detected is obtained. At this time, the motor 13 is stopped.
[0069]
In this way, if a foreign object is present between the vehicle body 92 and the door 91 while the door 91 is being moved in the closing direction (the direction indicated by the arrow F in FIG. 3), the foreign object may be in contact with the door 91 before the door 91 contacts the door 91. Or, even if the contact is made, the movement of the door 91 can be stopped without giving a large impact to the foreign matter.
[0070]
When the contact sensor 17 is omitted, when the end surface 91A of the door 91 approaches the reference surface 92A of the vehicle body 92, the light received by the light receiving portions 42 and 52 of the photoelectric sensors 15 and 16 on the door side is reflected by the foreign matter. It is difficult to discriminate whether the received light is received or reflected by the reference surface 92A of the vehicle body 92.
[0071]
For this reason, in the present invention, when the distance between the end surface 91A of the door 91 and the reference surface 92A of the vehicle body 92 is less than 10 cm, the light generated by the light emitting units 41 and 51 is reflected by the foreign matter to the light receiving unit 42. , 52 is switched to a foreign object detection method by detecting whether or not a foreign object has contacted the contact sensor 17. Thus, even when the end surface 91A of the door 91 and the reference surface 92A of the vehicle body 92 approach each other, the door opening / closing control device 11 can detect foreign matter and control the movement of the door without malfunction.
[0072]
Next, the learning mode process will be described with reference to the flowcharts of FIGS. This process is started when the learning mode switch 23 in FIG. 2 is turned on by the user.
[0073]
In step S31, the microprocessor 24 rotates the motor 13 in the direction in which the door 91 opens (the direction indicated by the arrow R in FIG. 3), proceeds to step S32, and acquires a pulse from the encoder 12. Then, the process proceeds to step S33, where the microcomputer 24 counts the pulses and detects the position of the door 91.
[0074]
In step S34, the microcomputer 24 determines whether or not the position of the door 91 is in the fully opened state. If it is determined that the door is not in the fully opened state, the microcomputer 24 returns to step S31 and repeats the subsequent processing.
[0075]
In step S34, when it is determined that the position of the door 91 is fully open (when it is determined that the door 91 has reached the reference position in the opening direction), the microcomputer 24 proceeds to step S35 and stops the motor 13. Let it. Then, the process proceeds to step S36, where the microcomputer 24 drives the light emitting units 41 and 51 to emit light, proceeds to step S37, and rotates the motor 13 in a direction in which the door 91 closes (a direction indicated by an arrow F in FIG. 3). Let it. Proceeding to step S38, the microcomputer 24 acquires the pulse from the encoder 12, counts the pulse, and detects the position of the door 91 in step S39. Then, the process proceeds to step S40, where the microcomputer 24 acquires detection signals from the light receiving units 42 and 52 of the photoelectric sensors 15 and 16.
[0076]
In step S41, the microcomputer 24 stores the value of the detection signal (light receiving level) acquired in step S40 in the EEPROM 31 in association with the current position of the door 91 detected in step S39. The value stored here or a value obtained by performing a predetermined weighting on the value is the reference value described above. That is, the value corresponding to the detection signal obtained in step S40 is used as the reference value in step S8 in FIG.
[0077]
However, the process of step S8 in FIG. 7 is executed only when the end surface 91A of the door 91 is separated from the reference surface 92A of the vehicle body 92 by 10 cm or more. Therefore, after the end surface 91A of the door 91 approaches the distance of less than 10 cm from the reference surface 92A of the vehicle body 92, the value of the detection signal (light receiving level) acquired in step S40 is different from the reference value in step S8 in FIG. No.
[0078]
In step S42, the microcomputer 24 determines whether or not the door closing switch 14 is ON. If it is determined that the door closing switch 14 is not ON, the microcomputer 24 returns to step S37 and performs the subsequent processing. Execute repeatedly.
[0079]
If it is determined in step S42 that the door closing switch 14 is ON, that is, if the door 91 is completely closed, the microcomputer 24 determines in step S43 that the light receiving sections 42 of the photoelectric sensors 15 and 16 , 52 from the detection signal. Then, the process proceeds to step S44, and the microcomputer 24 stores the value of the signal acquired in step S43 as a detection signal value at the position where the door 91 is closed. The value stored here is used in a diagnosis mode process of FIG. 10 described later. In step S45, the microcomputer 24 stops the motor 13.
[0080]
In this manner, when there is no foreign matter between the door 91 and the vehicle body 92, how the values of the detection signals from the light receiving units 42 and 52 of the photoelectric sensors 15 and 16 change according to the change in the position of the door 91. Can be stored in the door opening / closing control device 11 in advance.
[0081]
Further, when the door 91 is closed, the reference value stored (learned) in step S41 is compared with the signal values obtained from the light receiving units 42 and 52 of the photoelectric sensors 15 and 16 on the door side. The opening / closing control device 11 can detect a foreign object without malfunction and control the movement of the door 91.
[0082]
Next, the diagnosis mode processing will be described with reference to the flowchart in FIG. This process is started when the user operates the input unit (not shown) to instruct a self-diagnosis.
[0083]
In step S61, the microcomputer 24 determines whether or not the door closing switch 14 is on, and if it is determined that the door is on, that is, if it is determined that the door is completely closed, Proceeding to S62, the light emitting units 41 and 51 are driven to emit light. Then, the process proceeds to step S63, where the microcomputer 24 acquires the detection signals from the light receiving units 42 and 52 of the photoelectric sensors 15 and 16 and the detection signal from the contact type sensor 17.
[0084]
In step S64, the microcomputer 24 determines whether or not the value of the detection signal acquired from the light receiving units 42 and 52 of the photoelectric sensors 15 and 16 is within a normal value range.
[0085]
If the door is completely closed, the possibility that foreign matter exists between the door 91 and the vehicle body 92 is extremely low. Therefore, when the value of the detection signal acquired from the light receiving units 42 and 52 of the photoelectric sensor is significantly different from the reference value stored in step S44 of the flowchart of FIG. You.
[0086]
If it is determined in step S64 that the value is not within the normal range, the microcomputer 24 proceeds to step S65 and presents a warning by sounding a warning sound or turning on a warning lamp.
[0087]
In step S64, when it is determined that the value of the detection signal acquired from the light receiving units 42 and 52 of the photoelectric sensors 15 and 16 is within a normal value range, the microcomputer 24 proceeds to step S65, and proceeds to step S65. It is determined whether there is a detection signal from the sensor 17.
[0088]
As described above, when the door is completely closed, there is a very low possibility that foreign matter exists between the door 91 and the vehicle body 92. Therefore, when the detection signal is obtained from the contact sensor 17, it is determined that the contact sensor 17 is abnormal.
[0089]
If it is determined in step S65 that a detection signal indicating that a foreign object has been detected from the contact sensor 17 has been input, the microcomputer 24 proceeds to step S66 to sound a warning sound, turn on a warning lamp, or the like. And present a warning.
[0090]
If it is determined in step S65 that a detection signal indicating that a foreign object has been detected from the contact sensor 17 has not been input, the microcomputer 24 determines that the device is normal and does not present a warning. The process ends.
[0091]
If it is determined in step S61 that the door close switch 14 is not in the ON state (the door 91 is open), the diagnostic mode process is not executed.
[0092]
In this way, it is possible to confirm whether or not the door opening / closing control device has a failure. Further, when there is a failure, it is possible to warn the user.
[0093]
Note that the steps of executing a series of processes described above in the present specification include, in addition to processes performed in chronological order according to the described order, not only chronological processes but also parallel or individual execution. This includes the processing to be performed.
[0094]
In the above, the case where the opening and closing of the electric sliding door is controlled has been described as an example. However, the present invention is also applicable to the case where the opening and closing of a power window, an electric sunroof, and other doors are controlled.
[0095]
【The invention's effect】
As described above, according to the present invention, a door opening / closing control device capable of controlling the movement of a door without giving a large impact to a foreign object even if the door does not contact the foreign object or even if the door comes into contact is realized. can do. In particular, it is possible to realize a door opening / closing control device that is small and easy to attach.
[Brief description of the drawings]
FIG. 1 is a perspective view showing a configuration example of a conventional door opening / closing control device.
FIG. 2 is a block diagram showing a configuration of an embodiment of a door opening / closing control device to which the present invention is applied.
FIG. 3 is a side view showing a mounting position of the photoelectric sensor and the contact sensor of FIG. 2;
4 is a cross-sectional view illustrating a detection range of a foreign substance by the photoelectric sensor of FIG. 2;
FIG. 5 is a cross-sectional view showing a detection range of a foreign substance by one photoelectric sensor.
FIG. 6 is a perspective view showing a positional relationship of the photoelectric sensor of FIG. 2;
FIG. 7 is a flowchart illustrating a process of closing a door of the door opening and closing control device of FIG. 2;
FIG. 8 is a flowchart illustrating a learning mode process of the door opening / closing control device of FIG. 2;
FIG. 9 is a flowchart illustrating a learning mode process of the door opening / closing control device of FIG. 2;
FIG. 10 is a diagram illustrating a diagnostic mode process of the door opening / closing control device of FIG. 2;
[Explanation of symbols]
11 Door opening and closing control device
12 Encoder
13 Motor
15, 16 Photoelectric sensor
17 Contact type sensor
24 Microcomputer
31 EEPROM
41, 51 light emitting unit
42, 52 light receiving section

Claims (7)

In a door opening and closing control device for controlling opening and closing of a door,
Obtaining a detection result of light in a first detection range generated by a first light emitting unit provided near an end surface of a movable door by a first light receiving unit provided near the first light emitting unit. And a second light emitting portion, which is generated outside the first detection range and is shorter than the first detection range, generated by a second light emitting portion provided near the end face of the door. A first acquisition unit for acquiring a detection result by a second light receiving unit provided near the second light emitting unit;
A second acquisition unit that is provided on a fixed reference plane and acquires a detection result by a detection unit that detects contact with an object;
Detecting means for detecting the position of the movable door;
The door acquisition unit acquires the first acquisition result acquired by the first acquisition unit, the second acquisition result acquired by the second acquisition unit, and the position of the door detected by the detection unit. And a control means for controlling the movement of the door. The first obtaining unit obtains a detection result obtained by a first light receiving unit disposed outside the first light emitting unit, and obtains the second light emission disposed outside the first light receiving unit. The door opening / closing control device according to claim 1, wherein a detection result obtained by the second light receiving unit disposed further outside the unit is obtained. Selecting means for selecting the first acquisition result by the first acquisition means or the second acquisition result by the second acquisition means based on a distance of the end face of the door from the reference plane; In addition,
The door according to claim 1, wherein the control unit controls the movement of the door based on the first acquisition result or the second acquisition result selected by the selection unit. Opening and closing control device. A comparing unit that compares the first acquisition result with a predetermined reference value;
4. The door opening / closing control device according to claim 3, wherein the control unit acquires a comparison result of the comparison unit as the first acquisition result. In learning mode,
A third obtaining unit configured to obtain a detection result of the light generated by the first light emitting unit or the second light emitting unit by the first light receiving unit or the second light receiving unit;
Storage means for storing the detection result obtained by the third obtaining means,
2. The method according to claim 1, wherein the comparing unit compares the first acquisition result with a value corresponding to the detection result acquired by the third acquisition unit stored in the storage unit as the reference value. 5. The door opening / closing control device according to 4. In diagnostic mode,
Range determination means for determining whether or not the detection result by the first light receiving unit in a state where the door is closed, and the detection result by the second light receiving unit exceed a predetermined range set in advance;
The apparatus further includes: an object determination unit configured to determine whether contact with an object has been detected by the detection unit; a determination unit configured to determine whether the object has been contacted; and a presentation unit configured to provide a warning based on the determination performed by the object determination unit. The door opening / closing control device according to any one of claims 1 to 5, wherein In a door opening and closing control method of a door opening and closing control device that controls opening and closing of a door,
Obtaining a detection result of light in a first detection range generated by a first light emitting unit provided near an end surface of a movable door by a first light receiving unit provided near the first light emitting unit. And a second light emitting portion, which is generated outside the first detection range and is shorter than the first detection range, generated by a second light emitting portion provided near the end face of the door. A first obtaining step of obtaining a detection result by a second light receiving unit provided near the second light emitting unit;
A second acquisition step of acquiring a detection result by a detection unit that detects contact of an object, provided on a fixed reference plane;
A detecting step of detecting a position of the movable door;
A first acquisition result acquired by the processing of the first acquisition step, a second acquisition result acquired by the processing of the second acquisition step, and a position of the door detected by the processing of the detection step Controlling the movement of the door based on the control method.

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