JP2004132014A - Catching detector for swing door and swing door with the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a catching detector for an automatic swing door at a low cost having high performance and high reliability. <P>SOLUTION: The catching detector has a switch-output storage means in which a door open/close range is partitioned into a plurality of sections and combinations of the on/off states of a plurality of switches corresponding to each section are set, a section discriminating means in which the section in which the door is moved is discriminated from combinations of the detected switch on/off states and the storage means, a section moving-time measuring means in which a door moving time between the section is measured and a catching discriminating means in which catching is discriminated when the moving time between the section exceeds a specified moving time, and rapidly detects door catching. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an automatic swing door pinch detection device.
[0002]
[Prior art]
Conventionally, for example, an automatic swing door has been generally used for a micro bus or the like. Such an automatic swing door is designed to be opened and closed by a motor.For example, when the vehicle is stopped on a steep slope, when opening the door after fully closing the door, or when closing the door after fully opening the door, it is large. It is necessary to drive the motor with torque. Furthermore, even in the normal door closing operation, when the door is fully closed, the door latch completely engages the striker of the vehicle body panel against the reaction force of the weather strip around the door so that the door latch is completely closed immediately before the door is fully closed. It is also necessary to drive the motor with torque.
[0003]
Furthermore, when a person or an object is caught in the door while the door is being opened or closed, it is necessary to detect this immediately and stop the door drive motor.
[0004]
A door opening / closing control device for controlling the torque of the motor according to the opening degree of the door as described above is conventionally known.
[0005]
As an example, when the vehicle is stopped on a slope, the moving direction and the moving speed of the sliding door due to its own weight are obtained by using a rotary encoder for motor control, and the degree of inclination of the vehicle is calculated based on the calculated direction and the corresponding degree. 2. Description of the Related Art A door opening / closing control device that performs door opening / closing speed control is known (for example, see Patent Document 1).
[0006]
This door opening and closing control device detects the rotation direction of the rotary encoder, that is, the moving direction of the sliding door, from the phase relationship of the two-phase pulse signal output from the rotary encoder, and counts the number of clock pulses between interrupt pulses. It recognizes the speed of the sliding door. Then, the inclination of the sliding door when the vehicle is stopped is obtained by obtaining the acceleration of the sliding door from these detection results, which is useful for controlling the opening and closing speed of the sliding door.
[0007]
On the other hand, a door opening / closing device that includes two motors, a main motor and an auxiliary motor, and performs door opening / closing speed control instead of using such a rotary encoder is also known (for example, see Patent Document 2).
[0008]
The door opening and closing device includes an operation switch for instructing opening and closing of a vehicle door, a main motor that rotates forward and backward in response to the operation of the operation switch, and a detection unit that detects a state immediately before closing of the vehicle door. A switch and an auxiliary motor for driving the door together with the main motor in a closing direction of the vehicle door in response to the detection of the state of the detection switch.
[0009]
Then, as shown in FIG. 10, the state in which the door intermediate switch is turned off from the on state (from the fully opened state of the door) to the fully closed state of the door (the fully closed switch on state). (A state immediately before the door is completely closed) is detected, and the auxiliary motor is driven in addition to the main motor as an acceleration section from this time to the door being fully closed, and the door is moved at a higher speed than other sections. . Then, the door latch is securely engaged with the striker of the vehicle body panel by the acceleration operation of the door.
[0010]
[Patent Document 1]
JP-A-10-280805 (page 5, FIG. 9)
[Patent Document 2]
JP-A-2-47377 (pages 25-26, FIG. 1)
[Problems to be solved by the invention]
The former automatic door opening / closing control device includes a rotary encoder. The rotary encoder counts the number of clock pulses between rising pulses to detect the motor rotation speed, and monitors pulse changes according to the motor rotation direction. Since the rotation direction of the motor is detected, the structure is complicated and the cost is high.
[0011]
On the other hand, the latter door opening and closing device must be provided with an auxiliary motor for door acceleration in addition to the main motor, which is costly as in the case of using a rotary encoder.
[0012]
There is also an auto-closure mechanism that closes the door latch to the full latch (full lock) position when the door comes to the half-latch (half-lock) position with respect to the panel on the vehicle body side. The cost is higher than those of the two conventional examples.
[0013]
Furthermore, in order to quickly detect a state in which the door has caught a person or an object in these door opening / closing control devices, the door opening / closing speed is constantly measured using, for example, a rotary encoder. A structure for judging the pinching is considered. However, it is not preferable to use a rotary encoder because it causes a high cost.
[0014]
On the other hand, the structure in which the door is accelerated by using the auxiliary motor immediately before the door is closed is merely for ensuring the door to be closed, and cannot detect the door entrapment at the same time. Similarly, the door auto-closure mechanism is only for ensuring the closing of the door, and cannot detect the door jamming at the same time.
[0015]
SUMMARY OF THE INVENTION It is an object of the present invention to provide an inexpensive, high-performance, and highly reliable automatic swing door jam detection device.
[0016]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, a pinching detection device for a swing door according to claim 1 of the present invention divides a door opening / closing range from a fully opened state to a fully closed state into a plurality of sections, and the plurality of sections hold the door fully open. A section, an acceleration section before the door is fully closed, and an intermediate section between the door fully-open holding section and the acceleration section before the door is completely closed, wherein the intermediate section is further provided with a plurality of sections separated by predetermined distances Switch output storage means in which a different combination of switch outputs is set for each section so that one of the sections is specified by a combination of on / off states of a plurality of switches corresponding to each section; A section discriminating means for discriminating to which section a door has moved from a combination of on / off states detected by a plurality of switches and a switch output storage means; And the section travel time measuring means for measuring, when the travel time of the interval exceeds a predetermined moving time, is characterized in that a pinching determination means determines that entrapment.
[0017]
Since the door opening / closing section is divided to determine a section by a combination of switches, and when a predetermined time set for each section has elapsed, it is determined to be a pinch. It is possible to easily and reliably detect the entrapment without using an expensive encoder.
[0018]
In addition, the pinching detection device for a swing door according to claim 2 of the present invention divides a door opening / closing range from a fully open state to a fully closed state into a plurality of sections. An acceleration section, an intermediate section between the door fully-open holding section and an acceleration section before the door is fully closed, are provided, and the intermediate section is further provided with a plurality of sections separated by predetermined distances, and corresponds to each section. A switch output storage unit in which a different combination of switch outputs is set for each section so that one of the sections is specified by the combination of the on / off states of the plurality of switches, and an on / off state detected by the plurality of switches. A section discriminating means for discriminating to which section the door has moved from the combination of the OFF state and the switch output storage means, and a motor drive current value and a duty set for each section; When the product of the I ratio has continued for the predetermined period of time with more than a predetermined value in one of sections it is characterized in that a pinching determination means determines that entrapment.
[0019]
A section is determined by a combination of switches that divide the door opening / closing section, and a pinch is determined when the product of the motor drive current value and the duty ratio set for each section exceeds a predetermined value for a predetermined time. I did it. That is, since the door jam is detected by estimating the output (torque) of the drive motor and observing the sharp rise, the door jam can be quickly determined without waiting for the time required for passage through the section. In this way, the early detection of the pinching of the door without waiting for the passage of the section is particularly advantageous in a place where the section passage time is long, such as a middle section of the door opening degree.
[0020]
Furthermore, since the trapping can be detected quickly, the time during which a person or an object is trapped in the door can be shortened as much as possible. Further, it is possible to easily and reliably detect the pinching of the door with an inexpensive configuration without using an encoder.
[0021]
In addition, the pinching detection device for a swing door according to claim 3 of the present invention divides a door opening / closing range from a fully open state to a fully closed state into a plurality of sections. An acceleration section, an intermediate section between a door fully open holding section and an acceleration section before the door is fully closed, are provided, and the intermediate section is further provided with a plurality of sections separated by predetermined distances. A switch output storage unit in which a different combination of switch outputs is set for each section so that one of the sections is specified by a combination of on / off states of a plurality of corresponding switches; A section discriminating means for discriminating to which of the sections the door has moved from the combination of the OFF state and the switch output storage means, and a section moving time for measuring the door moving time of each section; When the measuring means and the section discriminating means determine that the door is in the intermediate section, when the moving time of any section in the intermediate section exceeds a predetermined moving time, it is determined that the door is in the middle section. The product of the motor drive current value and the duty ratio set for each of the sections exceeds a predetermined value in any of the sections, and includes a pinch determining means for determining that the pinch is continued when the product continues for a predetermined time. When the section discriminating means determines that the door is in the pre-fully-closed acceleration section, when the moving time of the pre-fully-closed acceleration section exceeds a predetermined moving time, it is determined that the jamming is detected.
[0022]
In the acceleration section, the door lock device reliably locks the door against the reaction force of the weather strip provided at the door opening and the reaction force due to the compression of the cabin air generated when the door is closed, Accelerate and close the door. Therefore, the speed is high in the acceleration section, and the section elapsed time is short. For this reason, in this section, it is determined that the door is caught using only the door passage time as a threshold.
[0023]
On the other hand, since the intermediate section has a long section elapsed time and is divided into a plurality of sections, the duty ratio and the current value are read, and the calculation of the entrapment determination based on the product of the two and the time for controlling the result by feeding back the result are performed. For this reason, it is possible to determine whether the door has been caught from two surfaces, that is, the product of the duty ratio and the current value and the elapsed time of the section, and improve the detection accuracy.
[0024]
A swing door according to a fourth aspect of the present invention is provided so as to correspond to the entrapment detection device according to the first aspect and the plurality of sections according to the first aspect, and the on / off switch of the entrapment detection device is provided. It is characterized by comprising a plurality of switches for notifying the state and a motor for moving the door to a plurality of sections.
[0025]
Since it is possible to judge whether the door is caught simultaneously with the door opening / closing control only by using a plurality of switches, it is possible to provide an inexpensive and highly reliable swing door.
[0026]
A swing door according to a fifth aspect of the present invention is provided so as to correspond to the pinch detection device according to the second aspect, and a plurality of sections according to the second aspect. A plurality of switches for notifying the state and a drive motor driven and controlled by the motor drive current value and the duty ratio according to claim 2 to move the door to a plurality of sections are provided.
[0027]
If multiple switches are used and the product of the motor drive current value and the duty ratio exceeds a certain value, it is possible to determine that the door is jammed. Can be provided.
[0028]
A swing door according to a sixth aspect of the present invention is provided corresponding to the pinch detection device according to the third aspect and a plurality of sections according to the third aspect. It is characterized by comprising a plurality of switches for informing the state, and a drive motor that is driven and controlled by the motor drive current value and the duty ratio and moves the door to a plurality of sections.
[0029]
By changing the method of detecting the pinch of the door for each section, it is possible to provide a highly reliable swing door that performs the optimum pinch detection according to the characteristics of each section.
[0030]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an automatic swing door jam detection device according to an embodiment of the present invention will be described with reference to the drawings.
[0031]
First, the structure of the automatic swing door will be described.
[0032]
As shown in FIGS. 1 and 2, an automatic swing door (hereinafter simply referred to as a “door”) 1 includes, for example, a front pillar 4 and a rear pillar forming an entrance / exit having a step 3 one step lower than a floor 2 of a microbus. The door 1 moves parallel to the vehicle body from the fully closed door position that is provided at the door opening between the doors 5 and closes the door opening, and reaches the fully opened door position located on the rear outside of the door opening. I have. That is, when the door is fully closed, the door 1 is in close contact with a door pillar (a front pillar 4 and a rear pillar 5 and the like) via a weather strip (not shown) (see a two-dot chain line in FIG. 1). At a fixed distance from the vehicle (see a solid line in FIG. 1). A checker (not shown) is provided at the door fully open position, and holds the door 1 open at the door fully open position. When the door is fully opened, the door 1 is held over the checker, and when the door is closed, the door 1 is first passed over the checker to perform the closing operation.
[0033]
The door 1 is connected to the vehicle body via U-shaped main links 10 and 20 and a bar-shaped sub-link 30. The main links 10 and 20 are composed of two substantially U-shaped links connecting the door side link fixing shaft 40 and the vehicle body side link fixing shaft 50 shown in FIG. A stopper 22 made of rubber is provided at the tip of the stopper 22 and contacts the door panel. Both ends of the door side link fixing shaft 40 are rotatably supported by brackets 41 and 42 attached to the door panel. On the other hand, the vehicle body side link fixed shaft 50 is also rotatably supported at both ends by brackets 51 and 52 (see FIG. 2) attached to the vehicle body. Further, a fixed end arm 23 is further provided near the protruding portion of the lower main link 20, and is rotatably connected to one end of a door opening / closing rod 24 via a ball joint 25.
[0034]
One end of the sub-link 30 is rotatably mounted on a bracket 31 provided in front of the lower end of the door (on the front pillar 4 side of the vehicle body), and the other end is rotatably mounted on the back surface of the step 3 via a bracket (not shown). ing.
[0035]
On the other hand, a door opening / closing motor drive unit box 6 is provided behind the step 3, and the other end of the door opening / closing rod 24 is connected to a motor drive shaft 64 (see FIG. 2) protruding from the drive unit box 6. . A part of the door opening / closing rod 24 is provided with a screw portion 24a for adjusting the length and a nut 24b (see FIG. 3).
[0036]
As shown in FIG. 2, the door 1 has an inner handle 1a for manual operation and a lock lever 1b inside the door, and an outer handle (not shown) outside the door. In addition, a guard bar 2a for protecting passengers is provided on the floor 2 of the vehicle body near the door.
[0037]
The door 1 is provided with a door lock device provided with a latch and a pole (not shown) before and after the door 1. The front pillar 4 and the rear pillar 5 of the vehicle body are provided with a striker (not shown) that engages with the latch. When the latch of the door 1 is engaged with the striker of the vehicle body panel, the pawl is caught by the step of the latch and prevents the latch from rotating in the direction of releasing the engagement with the striker. It is for locking with.
[0038]
On the other hand, at the door fully open position, a checker (not shown) provided on the door 1 enters the inside of the rear pillar 5 of the vehicle body panel, and the door is fully opened by the elastic force of the rubber provided on the checker. The checker prevents the door 1 from closing due to its own weight when the door is fully opened, for example, when the vehicle stops on a steep slope.
[0039]
Subsequently, the door opening / closing motor drive unit box (hereinafter simply referred to as “drive unit box”) 6 will be described. The drive unit box 6 is a drive device for automatically moving the door 1, and as shown in FIG. 3 with the internal structure exposed, a drive motor 61, a power unit 62 including a gear box and a controller box, and a power unit 62. And a motor drive shaft 64 protruding upward from the power unit 62. The automatic / manual switch 63 is a switch for automatically opening and closing the door 1 or opening and closing the door 1 manually. As described above, the end of the door opening / closing rod 24 is rotatably attached to the motor drive shaft 64 via the drive link 28 and the ball joint 29 (see FIG. 4).
[0040]
As shown in FIG. 4, a cam 65 is fixed to a part of the motor drive shaft 64, and three limit switches 71 to 73 for detecting a door intermediate position which are turned on / off by the cam 65 are provided. ing. The cam 65 is composed of two cam plates integrally formed of resin, and convex portions 65a, 65b, 65c for operating a limit switch are formed at predetermined positions in the circumferential direction of each cam plate over a predetermined range.
[0041]
As the three limit switches 71 to 73 for detecting the door middle position, so-called known object presence / absence detection limit switches are used, and the detection end rollers 71a and 72a of the first switch 71 and the second switch 72 are arranged in the cam circumferential direction. At a predetermined distance from the lower cam plate 65d, and slides in contact with the lower cam plate 65d, and the detection end roller 73a of the third switch 73 slides in place with the convex portions 65a, 65b of the upper cam plate 65u projecting upward from the lower cam plate 65d. The switches are in dynamic contact, and each switch is turned on / off in a different combination for each divided area at a door intermediate position described later.
[0042]
Next, a circuit configuration of the door opening / closing control device 100 that controls the opening / closing speed of the door 1 will be described with reference to a block diagram of FIG.
[0043]
The circuit of the door opening / closing control device 100 includes a door opening / closing control CPU (ECU) 101, a door lock / unlock drive unit 110 electrically connected to the CPU, and enclosed by a dashed line in the figure, and also electrically connected to the CPU. A door opening / closing drive unit 120 enclosed by a two-dot chain line in FIG.
[0044]
The door opening / closing control CPU 101 controls the driving of the drive motor 61 in accordance with a flowchart for detecting door jamming, which will be described later, and stores a switch output storing a switch output for each section of the door opening / closing section divided into a plurality of sections. Means (memory), section discriminating means for discriminating the degree of opening of the door 1 from the switch output storage means and the output of the switch, section moving time measuring means (timer) for measuring the door moving time in the section, section moving time measuring means And a product of the motor drive current value and the duty ratio measured in the step (a) and the duration and a continuation time.
[0045]
On the other hand, the door lock / unlock drive unit 110 receives power from the ignition 131. The door lock / unlock drive unit 110 includes a motor 111, a door unlock relay 112, and a door lock relay 113. The on / off of these relays 112, 113 changes the rotation direction of the motor 111. It has become. Further, the motor 111 is provided with a door lock detection switch 114 and a door unlock detection switch 115. The motor 111 plays a role of setting the latch to a lockable state or an unlocked state with respect to the striker. In other words, the pawl engaged with the latch can be forcibly disengaged by the operation of the motor 111, whereby the door 1 is selectively brought into a lockable state or a released state.
[0046]
In addition to the switches 114 and 115 provided on the motor 111, a door lock switch 116 is provided on the rear pillar side of the vehicle body, and a door switch 117 is provided on the vehicle body front pillar side of the door 1. You can check the status.
[0047]
On the other hand, the door opening / closing drive unit 120 is provided with a drive motor 61, and supplies power of 24 V or 12 V according to the vehicle type from the battery 132 to the drive motor 61. The door opening / closing drive unit 120 includes an automatic / manual switch 63 for automatic / manual switching of the door, the above-described three limit switches 71 to 73 for detecting the door intermediate position, and a switch from a fully closed and fully opened door. A buzzer 122 that emits an alarm sound just before the door opening / closing drive, and opening / closing operation of the door 1 only while the door 1 is being pushed in any direction (only when the switch contact is connected to the OPEN or CLOSE side), An automatic door switch 123 for stopping the opening / closing operation is provided. Further, the door opening / closing drive unit 120 is provided with a vehicle speed sensor 124. When a predetermined vehicle speed is detected, automatic opening / closing of the door 1 is disabled, and safe door opening / closing control is performed.
[0048]
The automatic door switch 123 has its open side and closed side conductively connected to two motor relays 125 and 126 respectively connected to the drive motor 61, and changes the rotation direction of the drive motor 61 by selecting the automatic door switch 123 to change the rotation direction of the door 1. The opening and closing direction can be selected.
[0049]
Next, the relationship between the detection states of the three door intermediate position detection limit switches 71 to 73 and the door open / close position will be described with reference to FIG.
[0050]
The door opening / closing position includes a door fully open section between symbols AB shown in FIG. 6, a door fully open holding section between symbols BC (section passing over a checker), and an intermediate section shown between symbols CD, that is, a checker. , A door intermediate section between the point at which the door departs from the door pillar and the point at which the door closing speed is accelerated, an acceleration section before the door is fully closed, which indicates an acceleration range for closing the door indicated by a symbol DE, and a symbol E-. The section is divided by a fully closed section between doors F. Then, the door intermediate section is equally divided by the first intermediate position, the second intermediate position, and the third intermediate position, so that the intermediate section has four equal distances (sections). Is further divided into
[0051]
Note that, in the door fully open holding section, the drive motor 61 is driven with a duty ratio of 30% and a torque slightly larger than the normal torque in order to remove the door checker from the rear pillar 5. In a door intermediate section including four areas, the drive motor 61 is driven at a normal torque with a duty ratio of 15% so that the door 1 normally passes through each area in 0.7 seconds. Further, in the acceleration section before the door is fully closed, the motor is driven with a maximum torque of 100% duty in order to securely engage the latch of the door 1 with the striker of the vehicle body.
[0052]
Subsequently, the correlation between the on / off state of the door switches 116 and 117 and the limit switches 71 to 73 for detecting the door intermediate position and the positional relationship of the door 1 will be described. In FIG. 6, 1 is shown when each switch is on, and 0 when each switch is off. Further, here, a description will be given of the state change of each switch in the process from the fully opened state of the swing door 1 to the fully closed state. First, when the door 1 is in the fully open section AB (area 0), the door switch is 0, the switch 1 is 1, the switch 2 is 0, and the switch 3 is 1. Subsequently, assuming that a change in the state of the switch in the case of shifting to the door fully open holding section BC (area 1) is (door switch, switch 1, switch 2, switch 3), in area 1 of the door fully open holding section, The state of the switch becomes (0, 0, 0, 1). When the door 1 is further closed, the door 1 reaches the intermediate section CD. The intermediate section CD is divided into four equal areas in advance as described above. Then, in the first area 2, the state change of each switch is (0, 0, 0, 0). In the following area 3, the state change of each switch is (0, 0, 1, 0). Then, the state change of the switch in the subsequent area 4 is (0, 0, 1, 1). Further, in the last area of the door intermediate section, that is, area 5, the state change of each switch is (0, 1, 1, 1). Subsequently, when reaching the acceleration section DE before fully closing the door 1 immediately before the door 1 is closed, the state of each switch changes to (0, 1, 1, 0) as shown in the area 6. When the door 1 is in the fully closed section, the state change of each switch is (1, 1, 1, 0) as shown in the area 7. As described above, there is no area where the state change of each switch is the same in all areas from area 0 to area 7, and the state change due to the combination of 0 and 1 output from each switch is determined in a predetermined order. It is changing sequentially and uniquely. Therefore, when a switch state combination that is not in such a combination occurs or when the combination is correct but the switch state change does not occur in the order described above, one of the door switches 116 and 117 and the limit switches 71 to 73 is used. The switch can be determined to be faulty.
[0053]
Note that when the door 1 is opened from the fully closed state of the door, the state changes of the respective switches sequentially change in a pattern opposite to that described above, and therefore, as shown in FIG. Similarly, when there is a switch state combination that is not included in the combination or when the combination is correct but the switch state change does not occur in the reverse order (from right to left as shown in FIG. 6), the door switches 116, 117, Any one of the limit switches 71 to 73 can be determined to have failed.
[0054]
Next, a door entrapment detection routine performed by the CPU 101 will be described with reference to a flowchart.
[0055]
As shown in FIG. 7, when the door entrapment detection routine is started (Step S200), it is determined whether or not the door open / close switch 123 is turned on (Step S201). If the door open / close switch 123 is off, the current measurement is stopped (step S290), the time measurement is stopped (step S291), and the motor is stopped (step S292), as shown in FIG. Is ended (step S293).
[0056]
When the door opening / closing switch (auto door switch) 123 is on in step S201 of FIG. 7, the current is measured (step S202), the time is measured (step S203), and the motor is output (step S204). Here, the duty of the motor is controlled, and the duty is always monitored.
[0057]
Next, it is determined whether or not there is a section change (step S205). The presence or absence of this section change is determined by checking whether the on / off state change of the door switches 116 and 117 and the three door intermediate position detection limit switches 71 to 73 has changed according to the combination of the switch outputs shown in FIG. Can be easily determined.
[0058]
If there is a section change in step S205, the measurement counter is cleared (step S221), and the process returns to step S201. If there is no section change, it is determined whether or not the section is other than the pre-full-close acceleration section (step S206). Here, when it is determined that the section is the pre-fully-closed acceleration section, it is determined whether or not 0.5 seconds have elapsed as shown in FIG. 8 (step S231). That is, the elapsed time in the section measured here is treated as a pinch detection parameter in the acceleration section before the door is fully closed.
[0059]
Here, the reason why the threshold value of the judgment is set as short as 0.5 second is that the reaction force of the weather strip provided at the door opening and the closing of the door as described above in the acceleration section before the door is fully closed. In order to reliably lock the door with the door lock device against the reaction force caused by the compression of the cabin air that sometimes occurs, the door is set to the maximum torque that can be output by the drive motor 61, accelerated, and the door is closed. For this reason, in the acceleration section, since the motor 61 is driven at the 100% duty ratio and the maximum torque, the section elapsed time is originally short, and the threshold value is also shortened.
[0060]
If 0.5 seconds have elapsed in step S231 in FIG. 8, it is determined that the door is jammed because it takes too much time to pass the section despite the acceleration section before the door is fully closed as shown in FIG. 9 (step S212). ), The current measurement is stopped (step S290), the time measurement is stopped (step S291), the motor is stopped (step S292), and the entrapment detection routine is ended (step S293).
[0061]
On the other hand, if the section is other than the acceleration section before the door is fully closed in step S206 shown in FIG. 7, it is determined whether or not the door 1 is in the fully open holding section (step S207). If the door 1 is in the fully open holding section, it is determined whether or not 3.0 seconds have elapsed as shown in FIG. 8 (step S211), and if not, step S201 shown in FIG. Return to That is, the elapsed time in the section measured here is treated as a pinch detection parameter in the door fully open holding section.
[0062]
On the other hand, if 3.0 seconds have elapsed in step S211 shown in FIG. 8, it is determined that the door has been jammed in FIG. 9 (step S212) because the section time sufficiently taken in the fully open holding section has further elapsed (step S212). It stops (step S290), stops time measurement (step S291), stops the motor (step S292), and ends the entrapment detection routine (step S293). In this pinch determination step, in addition to the pinch of the door, the door checker that holds the door fully open may not come off.
[0063]
The reason why the threshold value for the determination is set to 3.0 seconds in step S211 is that the opening and closing speed of the door 1 is not as high in the door fully open holding section as in the acceleration section before the door is fully closed.
[0064]
On the other hand, if the door 1 is not in the fully open holding section in step S207 shown in FIG. 7, it is determined that the door 1 is in the middle section, the duty ratio is read (step S207A), and the current value × the duty ratio is calculated (step S208). . This duty ratio is the duty ratio at the time of measuring the current value, and the current value × the duty ratio is expressed as a first parameter of the detection of entrapment in the door middle section. Then, as shown in FIG. 8, it is determined whether or not this value is 800 or more (step S209). If the value is 800 or more, it is determined whether or not this state has continued for 24 milliseconds (step S241). . That is, the duration is expressed as the second parameter of the detection of the pinch in the door middle section.
[0065]
Note that the threshold value 800 relating to the first parameter and the threshold value 24 ms relating to the second parameter are sandwiched, and after the current value × duty ratio rises sharply, the door which can move relatively slowly in the closing direction is somewhat soft. This is a value suitable for detecting the case where the object is sandwiched by 1, and is a threshold value used for judging a person or an object.
[0066]
If this time has continued for 24 milliseconds or longer, for example, it is determined that a person, luggage, or the like has been caught, and it is determined that the door has been caught (step S243), and the current measurement is stopped as shown in FIG. 9 (step S290). ), The time measurement is stopped (step S291), the motor is stopped (step S292), and the entrapment detection routine is ended (step S293). That is, regardless of which section of the intermediate section the door 1 is in, the opening and closing of the door 1 is stopped simultaneously with the detection of the pinch.
[0067]
On the other hand, if the first parameter value is 800 or more in step S241 shown in FIG. 8 but this state is not continued for 24 milliseconds, it is determined whether the first parameter value is 1000 or more (step S210). If it is determined that the value is 1000 or more, it is determined whether this state has continued for 12 milliseconds (step S242). In this case, when 12 milliseconds continue, the current value × the duty ratio suddenly becomes a high value by being pinched, and when the door does not move, the opening and closing operation of the door 1 cannot be performed suddenly. It is determined that the door is trapped even if the duration is shorter than the 24 milliseconds used in step S241 described above, assuming that something hard is trapped or that there is some mechanical failure such as mechanical assault of the door 1 (step S243).
[0068]
Then, as shown in FIG. 9, the current measurement is stopped (step S290), the time measurement is stopped (step S291), the motor 61 is stopped (step S292), and the door entrapment detection routine ends.
[0069]
Note that, in the present invention, the term “sandwich” referred to in step S243 is used as a jam in a broad sense including an operation malfunction due to the door 1 abutting or the like.
[0070]
On the other hand, if the first parameter value does not exceed 800 in step S209, it is determined in step S210 whether or not the duration time has passed 3.0 seconds after No (step S211). If it is determined, the process returns to step S201. Also, if the first parameter value exceeds 1000 in step S242 but this state does not continue for 12 milliseconds, it is determined whether the duration time has elapsed 3.0 seconds (step S211). If it is determined that the time has not elapsed, the process returns to step S201. Note that these states mean that the door 1 passes through the intermediate section of the door opening as usual, and no trouble such as pinching occurs.
[0071]
On the other hand, if the duration time of 3.0 seconds has elapsed in step S211, it is determined that there is some abnormality in opening and closing the door 1 and it takes time. In this case as well, it is determined that the door is trapped in a broad sense as shown in FIG. 9. (Step S212), the current measurement is stopped (Step S290), the time measurement is stopped (Step S291), the motor is stopped (Step S292), and the door entrapment detection routine is ended (Step S293).
[0072]
Note that the above-described flowchart is shown as an example for realizing the object of the present invention, and it is needless to say that a flowchart different from the above-described flowchart may be considered without departing from the present invention.
[0073]
Further, although the so-called limit switches are used as the three switches for detecting the door intermediate position, it is needless to say that other types of on / off switches for detecting the presence or absence of an object may be used. .
[0074]
【The invention's effect】
As described above, the pinching detection device for a swing door according to claim 1 of the present invention determines a section by a combination of switches by dividing a door opening / closing section, and elapses a predetermined time set for each section. Since it is determined that entrapment has occurred, it is possible to judge according to different speed control for each section, and entrapment can be easily and reliably detected without using an expensive encoder.
[0075]
Further, the swing door entrapment detection device according to claim 2 of the present invention performs section discrimination by combining a switch to divide a door open / close section, and determines a motor drive current value and a duty ratio set for each section. When the state where the product exceeds a predetermined value continues for a predetermined period of time, it is determined that the product is pinched. That is, since the door jam is detected by estimating the output (torque) of the drive motor and observing the sharp rise, the door jam can be quickly determined without waiting for the time required for passage through the section. In this way, the early detection of the pinching of the door without waiting for the passage of the section is particularly advantageous in a place where the section passage time is long, such as a middle section of the door opening degree.
[0076]
Furthermore, since the trapping can be detected quickly, the time during which a person or an object is trapped in the door can be shortened as much as possible. Further, it is possible to easily and reliably detect the pinching of the door with an inexpensive configuration without using an encoder.
[0077]
In the swing door pinch detection device according to the third aspect of the present invention, the acceleration section has a high speed and the section elapsed time is short. For this reason, in this section, it is determined that the door is caught using only the door passage time as a threshold.
[0078]
On the other hand, since the elapsed time in the intermediate section is long, it is possible to determine the pinching of the door from two aspects of the product of the duty ratio and the current value and the elapsed time of the section, and to improve the detection accuracy.
[0079]
Further, the swing door according to the fourth aspect of the present invention can provide an inexpensive and highly reliable swing door because it is possible to judge whether or not the door is caught simultaneously with the door opening / closing control only by using a plurality of switches. Can be.
[0080]
In the swing door according to the fifth aspect of the present invention, when a plurality of switches are used and the product of the motor drive current value and the duty ratio exceeds a certain value, it can be determined that the door is jammed. A highly reliable swing door that performs this pinch detection simultaneously with the opening / closing control of the door can be provided.
[0081]
Further, the swing door according to the sixth aspect of the present invention applies a highly reliable swing door that performs optimal pinch detection according to the characteristics of each section by changing the method of detecting the pinch of the door for each section. be able to.
[Brief description of the drawings]
FIG. 1 is a plan view showing a door structure of a swing door opening / closing speed control device according to an embodiment of the present invention, in which a body panel portion is cut away.
FIG. 2 is a perspective view showing the door structure of FIG. 1 from the vehicle floor side.
FIG. 3 is a diagram showing an internal structure of a door opening / closing motor drive unit box shown in the door structure of FIG. 1;
FIG. 4 is a detailed perspective view showing the vicinity of a drive shaft of the door opening / closing motor drive unit box of FIG. 3;
FIG. 5 is a circuit diagram of a door opening / closing drive unit of the swing door opening / closing speed control device according to the embodiment of the present invention.
6 is a state change diagram showing ON / OFF of a door switch and a door intermediate position detection switch in FIG. 5 according to a door opening / closing degree.
FIG. 7 is a flow chart showing the detection of entrapment by the entrapment detection device for a swing door according to one embodiment of the present invention.
FIG. 8 is a flowchart following FIG. 7;
FIG. 9 is a flowchart following FIG. 8;
FIG. 10 is a time chart for explaining the opening / closing control of a conventional door opening / closing device.
[Explanation of symbols]
1 Auto swing door
1a Inner handle
1b Lock lever
2 floors
2a Guard bar
3 steps
4 Front pillar
5 Rear pillar
6 drive unit box
10 Upper main link
20 Lower main link
21 Projection
22 stopper
23 Fixed end arm
24 Door opening and closing rod
24a screw part
24b nut
25 Ball joint
28 Drive Link
29 Ball joint
30 sublinks
31 bracket
40 Door side link fixing shaft
41, 42 Bracket
50 Body side link fixing shaft
51, 52 Bracket
61 Drive motor
62 power unit
63 Auto / Manual switch
64 motor drive shaft
65 cams
65d lower cam plate
65u Upper cam plate
65a, 65b, 65c convex part
71-73 Limit switch
71a, 72a, 73a Detection end roller
100 Door opening and closing control device
101 CPU for door opening / closing control
110 Door lock / unlock drive unit
111 motor
112 Door unlock relay
113 Door Lock Relay
114 Door lock detection switch
115 Door unlock detection switch
116 Door (lock) switch
117 Door switch
120 Door open / close drive unit
122 Buzzer
123 Door open / close switch
124 vehicle speed sensor
125, 126 Motor relay
131 Ignition
132 battery

Claims (6)

Divide the door opening and closing range from fully open to fully closed into multiple sections,
The plurality of sections are provided with a door fully-open holding section, an acceleration section before the door is completely closed, and an intermediate section between the door fully-open holding section and the acceleration section before the door is completely closed, wherein the intermediate section further includes a predetermined distance. There are multiple sections that are separated for each,
Switch output storage means in which a different combination of switch outputs is set for each section, so that one of the sections is specified by a combination of on / off states of a plurality of switches corresponding to each section;
Section determination means for determining which of the sections the door has moved from the combination of on / off states detected by the plurality of switches and the storage means;
Section movement time measurement means for measuring the door movement time of the section,
An entrapment detection device for a swing door, comprising: an entrapment determination unit that determines an entrapment when the travel time of the section exceeds a predetermined travel time. Divide the door opening and closing range from fully open to fully closed into multiple sections,
The plurality of sections are provided with a door fully-open holding section, an acceleration section before the door is completely closed, and an intermediate section between the door fully-open holding section and the acceleration section before the door is completely closed, wherein the intermediate section further includes a predetermined distance. There are multiple sections that are separated for each,
Switch output storage means in which a different combination of switch outputs is set for each section, so that one of the sections is specified by a combination of on / off states of a plurality of switches corresponding to each section;
Section determination means for determining which of the sections the door has moved from the combination of on / off states detected by the plurality of switches and the storage means;
When the product of the motor drive current value and the duty ratio set for each of the sections exceeds a predetermined value in any of the sections and continues for a predetermined time, a pinch determination unit that determines that the pinch has occurred is provided. Detection device for swing doors. Divide the door opening and closing range from fully open to fully closed into multiple sections,
The plurality of sections are provided with a door fully-open holding section, an acceleration section before the door is completely closed, and an intermediate section between the door fully-open holding section and the acceleration section before the door is completely closed, wherein the intermediate section further includes a predetermined distance. There are multiple sections that are separated for each,
A switch output storage unit in which a different combination of switch outputs is set for each section so that one of the sections is specified by a combination of on / off states of a plurality of switches corresponding to the plurality of sections;
Section determination means for determining which of the sections the door has moved from the combination of on / off states detected by the plurality of switches and the storage means;
A section movement time measuring means for measuring a door movement time of each section,
When the section discriminating means determines that the door is in the intermediate section, when the moving time of any section in the intermediate section exceeds a predetermined moving time, it is determined that the door is pinched, and each of the intermediate sections is determined. The product of the motor drive current value and the duty ratio set for each section includes a pinch determination unit that determines a pinch when the product exceeds a predetermined value in any of the sections and continues for a predetermined time,
The entrapment determination unit further determines that entrapment occurs when the section determination unit determines that the door is in the pre-fully-closed acceleration section and the movement time of the fully-closed acceleration section exceeds a predetermined movement time. A trapping detection device for a swing door. 2. A pinch detection device according to claim 1, a plurality of switches provided corresponding to a plurality of sections according to claim 1, which notify the pinch detection device of an on / off state of a switch, and a door in the plurality of sections. And a motor for moving the door. 3. The pinch detection device according to claim 2, and a plurality of switches provided corresponding to the plurality of sections according to claim 2 to notify the pinch detection device of an on / off state of the switch. A swing door, comprising: a drive motor that is driven and controlled by a motor drive current value and a duty ratio and moves the door to the plurality of sections. 4. The pinch detection device according to claim 3, and a plurality of switches provided corresponding to the plurality of sections according to claim 3 to notify the pinch detection device of the on / off state of the switch. A swing door, comprising: a drive motor that is driven and controlled by a motor drive current value and a duty ratio and moves the door to the plurality of sections.

Images