JP2004316087A - Moving device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve a problem that an opening/closing door such as a sliding door 2 put in door closing operation hits a human body in the vicinity because the opening/closing door conventionally continues the door closing operation even if detaching a hand to avoid a pinch when the contact of an object such as the hand cannot be detected by a pressure sensor 3 disposed at the opening/closing door. <P>SOLUTION: This moving device is constituted to control a driving means 20 to reverse the moving direction of the sliding door 2 when an object detecting means 8 disposed at the sliding door 2 detects the contact of the object or the detachment of the contact object. Even if the contact object is soft or the contact of the object cannot be detected in the middle of the door closing operation of the sliding door 2 due to the slow speed of a moving body, the reversing control of drive of the sliding door 2 is performed upon detecting the detachment of the object by the object detecting means 8. Safety can thereby be improved. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
TECHNICAL FIELD The present invention relates to a mobile device having a safety function against unnecessary contact of an object.
[0002]
[Prior art]
A conventional moving device will be described with reference to FIGS. 7 is an external view of an automobile equipped with a slide door, and FIG. 8 is a cross-sectional view taken along line AA of FIG. In the drawing, 1 is a body side body (passenger seat side door portion in FIG. 7), 2 is a slide door, 3 is a pressure-sensitive sensor, 4 is a support portion for supporting the pressure-sensitive sensor 3 on the slide door 2, and 5 6 is a flange. The pressure-sensitive sensor 4 has a plurality of electrodes disposed to face each other, and detects contact of an object by contact between the electrodes due to pressing when the object comes into contact with the pressure-sensitive sensor 3. is there. The slide door 2 is driven by an electric motor (not shown) and control means for controlling the electric motor.
[0003]
With this configuration, when an object is pinched between the pressure-sensitive sensor 3 and the body 1 when the slide door 2 performs the closing operation, the electrodes of the pressure-sensitive sensor 3 come into contact with each other due to the pressing caused by the object being pinched. The contact of the object is detected by the conduction, and the object is released from being pinched by reversing the slide door by reversing the electric motor by the control means (see Patent Document 1).
[0004]
As another conventional moving device, there is also a device in which a pressure sensor similar to the above is disposed around a tailgate of an automobile. When the tailgate performs a door closing operation by an electric motor, the pressure sensor and the body are moved. When the object is caught between the two, the object is released from being caught by reversing the electric motor and reversing the tailgate when the object is caught by the pressure sensor (see Patent Document 2).
[0005]
[Patent Document 1]
JP-A-2002-235480
[Patent Document 2]
JP 2002-322875 A
[0006]
[Problems to be solved by the invention]
However, in the conventional moving device described in Patent Literature 1, when an object that comes into contact with the pressure sensor 3 is soft like a human hand or an arm, the object comes into contact with the slide sensor 2 during closing of the slide door 2. In this case, since the object side is pushed in and deformed, sufficient pressure is not applied to the pressure-sensitive sensor 3, and a situation has occurred in which the door closing operation is continued without detecting contact with the object. This situation becomes more remarkable because the greater the height of the flange 6, the more the object receives pressure from the flange 6.
[0007]
Therefore, in order to prevent the object from being caught between the pressure-sensitive sensor 3 and the sliding door 2 and the body by proceeding with the door closing operation as it is, the object may be detached from the pressure-sensitive sensor 3 before being caught. Unless the sensor 3 detects the contact, the sliding door 2 continues the closing operation even after the detachment of the object. For example, when the human body is in the vicinity of the sliding door 2, even if the hand is released from the pressure-sensitive sensor 3, There has been a problem that another part of the human body comes into unnecessary contact with or is pinched by the slide door 2.
[0008]
In addition, in the conventional moving device described in Patent Literature 2, for example, when the door closing operation is started in a state where an object such as a human hand is in contact with the periphery of the tailgate, a touching place is located above the tailgate. Since the moving speed is low near the center of rotation, that is, near the center of rotation, sufficient pressure is not applied to the electrodes of the pressure-sensitive sensor unless the hands are unnaturally stuck. There has been a situation in which the door closing operation is continued without detecting the contact of the door.
[0009]
Therefore, in order to avoid pinching between the body and the body, the object may be separated from the pressure-sensitive sensor before being pinched, as in the conventional moving device described in Patent Literature 1. Unless it is detected, the tailgate continues to close the door even after the object is removed.For example, if the human body is under the tailgate that is closing, the head of the human body is removed even if the hand is released from the pressure sensor. There is a problem in that the part or the like hits the tailgate unnecessarily.
[0010]
An object of the present invention is to solve such a conventional problem, and an object of the present invention is to provide a moving device that safely controls a moving object even when the contacting object is soft or the speed of the moving object is low.
[0011]
[Means for Solving the Problems]
In order to solve the above-described problems, the present invention provides an object detection method, wherein an object detection unit disposed on a moving body detects contact of an object, or stops moving of the moving body when detecting detachment of the contacted object. Alternatively, the driving means is controlled to reverse the moving direction of the moving body. According to this configuration, for example, even if the contact of the object is not detected during the closing operation of the moving object because the contacting object is soft or the speed of the moving object is slow, the separation of the object is detected by the object detection unit. Since the movement of the moving body is stopped or the moving direction of the moving body is reversed, safety is improved.
[0012]
BEST MODE FOR CARRYING OUT THE INVENTION
In order to solve the above-mentioned problem, the invention according to claim 1 is based on the object moving means when the object detecting means disposed on the moving body detects contact of the object or detects separation of the contacted object. Or controls the driving means to reverse the moving direction of the moving body. According to this configuration, for example, even if the contact of the object is not detected during the closing operation of the moving object because the contacting object is soft or the speed of the moving object is slow, the separation of the object is detected by the object detection unit. Since the movement of the moving body is stopped or the moving direction of the moving body is reversed, safety is improved.
[0013]
According to a second aspect of the present invention, in the moving device according to the first aspect, the object detecting means detects a contact or detachment of the object based on an output signal of the flexible piezoelectric sensor and the piezoelectric sensor. And a flexible piezoelectric sensor is used. Therefore, when the electrode is bent as in a conventional electrode contact type pressure-sensitive sensor, the electrodes do not come into contact and erroneous detection is performed. Can be freely arranged along the shape of the object, the degree of freedom of arrangement can be improved, and the contact or detachment of the object can be detected even at the bent portion, so that the reliability is improved.
[0014]
According to a third aspect of the present invention, in the moving device according to the second aspect, when the amplitude of the output signal of the piezoelectric sensor is out of a preset range, the detecting unit detects whether the object contacts or separates. If the polarity of the output signal of the piezoelectric sensor changes due to conditions such as the bending state of the piezoelectric sensor, the polarization direction, the allocation of the electrodes (which is the reference potential), the supporting direction of the piezoelectric sensor, etc. When the amplitude of the output signal of the piezoelectric sensor is out of the preset range, it is determined that either the contact or the detachment of the object has occurred. Therefore, the safety control of the moving body can be performed irrespective of the above conditions. It becomes.
[0015]
According to a fourth aspect of the present invention, in addition to the moving apparatus according to any one of the first to third aspects, the moving body is preferably a sliding door, a tailgate, a trunk lid, a lifting window, a sunroof, or a truck of an automobile. An opening / closing wing, and at least one opening / closing door such as a door of a building or an elevator, a shutter, etc., which detects the contact or detachment of an object with these opening / closing doors and controls the driving of the opening / closing doors safely. be able to.
[0016]
According to a fifth aspect of the present invention, there is provided the vehicle according to any one of the first to third aspects, wherein the moving body is a traveling vehicle having a bumper, and an object detecting unit is provided in the bumper. Disposed on a bumper of a traveling vehicle as a moving body, and can detect the contact or detachment of an object with the bumper to safely control the traveling of the traveling vehicle.
[0017]
Further, according to the invention of claim 6, especially when the object detecting means detects contact or detachment of an object, the driving means stops the movement of the moving body, particularly for the moving device according to any one of claims 1 to 5, Alternatively, it has a notifying means for notifying that the moving direction of the moving body is reversed, and it is possible to alert surrounding people by the notification, so that the reliability and convenience of the device are further improved.
[0018]
【Example】
An embodiment of the present invention will be described below with reference to FIGS.
[0019]
(Example 1)
The first embodiment will be described with reference to FIGS. 1 to 5 and FIG. Embodiment 1 shows a case where the moving device of the present invention is applied to a sliding door of an automobile.
[0020]
FIG. 1 is a cross-sectional view of the moving device according to the first embodiment at a position corresponding to line AA in FIG. FIG. 1 shows a state in which the sliding door is completely closed, and the upper side of the drawing is the vehicle interior side and the lower side is the vehicle exterior side.
[0021]
First, the configuration of the moving device according to the first embodiment of the present invention is as follows. 1, reference numeral 1 denotes a vehicle body-side body (an end of a passenger seat side door in FIG. 7), and reference numeral 2 denotes a sliding door as a moving body. Reference numeral 7 denotes a vehicle body side body, and reference numeral 8 denotes contact detection means, which has a flexible cable-shaped piezoelectric sensor 9 and a supporting portion 10 which supports the piezoelectric sensor 9 and is made of an elastic body. As the elastic body, a synthetic rubber such as EPDM or a thermoplastic elastomer may be used. The piezoelectric sensor 9 is inserted into an insertion hole provided near the tip of the support 10. When inserting, a lubricant such as zinc stearate is applied to the insertion hole or the surface of the piezoelectric sensor 9 to facilitate insertion.
[0022]
The support 10 has more flexibility than the piezoelectric sensor 9. In addition, the provision of the hollow portion 11 in the support portion 10 makes it easier for the piezoelectric sensor 9 to be deformed by pressing when the object comes into contact with the object detection means 8. Note that a configuration may be employed in which the hollow portion 11 is not provided in the support portion 10 and the piezoelectric sensor 9 is made more flexible by using a foamed resin or the like. The support portion 10 is mounted on the mounting portion 12 with, for example, a double-sided tape. At the time of mounting, the mounting portion 12 is mounted on the mounting portion 12 with a double-sided tape while the support portion 10 is arranged along a convex guide portion 13 provided along the end of the mounting portion 12. The mounting portion 12 is fixed to the end of the slide door 2 with screws or the like. Note that the support portion 10 may be directly fixed to the end of the slide door 2 with a double-sided tape, and the mounting portion 12 is not required, so that the apparatus can be rationalized.
[0023]
FIG. 2A is a configuration diagram of the piezoelectric sensor 9, and FIG. 2B is a cross-sectional view taken along line BB of FIG. 2A. As shown in FIG. 2A, the piezoelectric sensor 9 is provided at a tip end thereof, and includes a resistor enclosing portion 15 enclosing a resistor for detecting disconnection and short-circuit of the piezoelectric sensor, a cable-shaped sensing portion 16, A detection unit 17 including a filter, an amplifier, a comparator, a disconnection / short detection circuit, etc., not shown, a power supply and a code 18 for outputting a detection signal, and a connector 19 for connecting to a control unit 22 described later. ing.
[0024]
As shown in FIG. 2 (b), the sensing unit 16 concentrically forms a center electrode 16a, a composite piezoelectric layer 16b obtained by mixing a rubber elastic body with a sintered powder of piezoelectric ceramic, an outer electrode 16c, and a coating layer 16d. And molded into a cable shape. As the rubber elastic body, for example, chlorinated polyethylene is used. The sensing unit 16 is manufactured by the following steps. First, a chlorinated polyethylene sheet and (40 to 70) vol% piezoelectric ceramic (here, lead zirconate titanate) powder are uniformly mixed in a sheet shape by a roll method. After finely cutting this sheet into pellets, these pellets are continuously extruded together with the center electrode 16a to form the composite piezoelectric layer 16b. Then, a pseudo electrode is brought into contact with the outside of the composite piezoelectric layer 16b, and a DC high voltage of (5 to 10) kV / mm is applied between the center electrode 16a and the pseudo electrode, whereby polarization of the composite piezoelectric layer 16b is performed. Is After polarization, the outer electrode 16c is wound around the composite piezoelectric layer 16b. Finally, the coating layer 16d is continuously extruded around the outer electrode 16b. Since the composite piezoelectric layer 16b is made of chlorinated polyethylene, a vulcanization step necessary for producing general synthetic rubber is not required.
[0025]
In the resistor enclosing portion 15, a disconnection / short detection resistor (not shown) is connected between the center electrode 16a and the outer electrode 16b. In the detection unit 17, the above-described filter, amplifier, comparator, disconnection / short detection circuit, and the like are implemented as a custom IC. In order to prevent electrical noise, noise suppression components such as an EMI filter and a feedthrough capacitor are used for the input unit on the sensing unit 16 side of the detection unit 17, the power supply input unit on the cord 18 side, and the output unit of the detection signal. I have. The outer periphery of both the resistor enclosing portion 15 and the detecting portion 17 is covered with a conductor, and the conductor, the outer electrode 16c and the ground side of the power supply are conducted, and the entire piezoelectric sensor 9 is shielded. Has become.
[0026]
Further, the filter removes unnecessary signals caused by vibration of the body of the automobile from the output signal of the piezoelectric sensor 9 and is specific to the output signal of the piezoelectric sensor 9 generated when the piezoelectric sensor 9 is deformed by contact with an object. It has a filtering characteristic that extracts only frequency components. In order to determine the filtering characteristics, the filtering characteristics may be optimized in consideration of the vibration characteristics of the vehicle body. Specifically, it is desirable to use a low-pass filter that extracts a signal component of about 10 Hz or less in order to remove vibrations caused by the opening / closing operation of an engine, a vehicle, or a door of an automobile. Further, the filter may include a notch filter that removes only a component of a vibration caused by an opening / closing operation of an engine, a vehicle, or a door of an automobile.
[0027]
FIG. 3 is a block diagram of the mobile device according to the first embodiment of the present invention. As shown in the drawing, reference numeral 20 denotes a driving unit including an electric motor for driving the slide door 2, reference numeral 21 denotes a notification unit, and reference numeral 22 denotes a control unit that controls the driving unit 20 and the notification unit 21 based on an output signal of the object detection unit 8.
[0028]
Next, the operation will be described. FIG. 4 is a characteristic diagram showing the output signal V from the piezoelectric sensor 9, the detection output J of the detection unit 17, and the voltage Vm applied to the driving means 20 of the moving device of the first embodiment. As shown in the figure, when the voltage Vd is applied to the driving means at time t1 due to the closing operation of the user, the sliding door 2 starts the closing operation. At the time of the door closing operation by the driving means 20, an alarm may be generated from the control means 22 for calling attention.
[0029]
Next, when an object comes into contact with the end of the electric slide door 2 during the door closing operation, the object comes into contact with the object detection means 8 disposed at the end of the electric slide door 2, and the object is pressed by the support unit 10 and Applied to the piezoelectric sensor 9. Since the support portion 10 has more flexibility than the piezoelectric sensor 9, the support portion 10 is compressed and deformed by pressing around the place where the object contacts, and the hollow portion 11 is crushed. Accordingly, the piezoelectric sensor 9 also bends and deforms around the place where the object comes into contact with the support portion 10.
[0030]
At this time, when an object comes into contact as shown in FIG. 4, a signal (a signal component larger than the reference potential V0 in FIG. 4) according to the acceleration of the deformation of the piezoelectric sensor 9 is output from the piezoelectric sensor 9 by the piezoelectric effect. You. At this time, if the piezoelectric sensor 9 is simply disposed at the end of the slide door 2, the deformation of the piezoelectric sensor 9 at the time of contact is slight, but in the case of the present embodiment, the support 10 is 9, the supporting portion 10 has a hollow portion 11, and the supporting portion 10 is compressed at the time of contact, so that the deformation of the piezoelectric sensor 9 increases. As described above, the piezoelectric sensor 9 obtains a large deformation amount, and the acceleration, which is the second derivative of the deformation amount, also increases. As a result, the output signal of the piezoelectric sensor 9 also increases. As a result, it becomes easier to distinguish between the signal component at the time of the original contact and the signal component due to external vibration or electrical noise, the accuracy of the determination at the time of the contact determination is increased, and erroneous determination is eliminated.
[0031]
The detection unit 17 outputs Lo when there is no contact with the object, but determines that contact has occurred if the positive amplitude (V−V0) of V from V0 due to the contact with the object is equal to or greater than D0, and time t2. Output a Hi signal as a judgment output. The Hi signal is continued while the amplitude (V-V0) is equal to or greater than D0.
[0032]
When there is a Hi signal from the object detecting means 8, the control means 22 stops the application of the voltage of + Vd to the driving means 20, applies the voltage of -Vd for a certain period of time to open the slide door 2 by a certain distance, and performs the contact operation. To release. In this case, the door opening operation may be performed until the slide door 2 is completely opened. When the control unit 22 receives a Hi signal from the object detection unit 8, the notification unit 21 generates a predetermined audio signal stored in advance. As this audio signal, for example, a message such as “The slide door is opened because contact was detected” is generated. Note that the notification means 21 may also be used as a speaker of a car navigation device or a car audio device, for example.
[0033]
At V in FIG. 4, a signal component on the negative side of V0 is generated. This is because the contact of the object is detected, the slide door 2 is opened for a certain distance, and the object is detached from the object detection means 8. This is an output signal generated from the piezoelectric sensor 9 when performing the operation. That is, when the object is detached from the object detection means 8, there is no pressing due to the contact, so that the elastically deformed support portion 10 is restored, and at the same time, the deformation of the piezoelectric sensor 9 is also restored. Then, when the deformation of the piezoelectric sensor 9 is restored, an output signal having a polarity opposite to that at the time of contact with the object is generated. This is due to the known characteristics of the piezoelectric effect.
[0034]
Next, an operation in the case where a soft object such as a hand slowly comes into contact with the object detection means 8 during the closing operation of the slide door 2 and then releases the contact will be described. FIG. 5 is a characteristic diagram showing the output signal V from the piezoelectric sensor 9, the detection output J of the detection unit 17, and the voltage Vm applied to the driving means 20 at that time.
[0035]
As shown in FIG. 5, when the voltage Vd is applied to the driving means at time t4 due to the closing operation of the user, the sliding door 2 starts the closing operation. At the time of the door closing operation by the driving means 20, an alarm may be generated from the control means 22 for calling attention.
[0036]
If a hand contacts the end of the electric slide door 2 during the door closing operation, the object detection means 8 and the hand come into contact with each other, and the pressure due to the contact of the object is applied to the support 10 and the piezoelectric sensor 9. At this time, when a soft object such as a hand slowly comes into contact with the object detection means 8 at time t5, the acceleration of the deformation of the piezoelectric sensor 9 is small, and therefore, as shown in FIG. May not occur. In this case, the detecting unit 17 determines that there is no contact with the object and outputs Lo, and the voltage of Vd is continuously applied to the driving means, and the sliding door 2 continues the closing operation.
[0037]
On the other hand, since the user keeps pushing his hand against the slide door 2, he notices that unnecessary contact has occurred, and his hand is released from the object detection means 8 before the hand is caught between the body 1 and the slide door 2. Let it. At this time, a signal V is generated on the negative side of V0 as shown in FIG. This is due to the known characteristics of the piezoelectric effect as described above. At this time, in the above-mentioned detachment, the hand often detaches quickly to avoid pinching, so that the elastically deformed support portion 10 is suddenly restored, and at the same time, the deformation of the piezoelectric sensor 9 is also suddenly restored. . Therefore, the acceleration when the deformation of the piezoelectric sensor 9 is restored increases, and the amplitude of the signal generated on the negative side from V0 also increases in proportion to the acceleration, and the amplitude (V0−V) in the negative direction from V0 increases. D0 or more.
[0038]
If the negative amplitude (V0−V) of V from V0 in the negative direction due to the separation of the hand is equal to or greater than D0, the detection unit 17 determines that separation has occurred, and outputs a Hi signal as a determination output at time t6. The Hi signal is continued while the amplitude (V0-V) is equal to or greater than D0.
[0039]
When the control unit 22 receives the Hi signal, the application of the voltage of + Vd to the driving unit 20 is stopped, and the voltage of -Vd is applied for a certain time to open the slide door 2 by a certain distance. In this case, the door opening operation may be performed until the slide door 2 is completely opened. In addition, when the control unit 22 receives the Hi signal from the object detection unit 8, the notification unit 21 generates the same predetermined audio signal as described above.
[0040]
Note that if the object detection means 8 is depressed by intentionally clasping the hand before being pinched, a large acceleration is applied to the piezoelectric sensor 9, so that the detection unit 17 detects the contact of the object and performs the same operation as described above. The reversing control of the slide door 2 is performed by the control means 22.
[0041]
Also, if the sliding door 2 does not detect the detachment of the object that was in contact during the closing operation, or if the object is in contact with the body 1, the sliding door 2 continues the closing operation so that the sliding door 2 continues to close. An object is sandwiched between the sliding doors 2. At this time, the pressure applied to the object detecting means 8 is due to the inertial force due to the weight of the sliding door 2, so that the object is contacted during the closing operation of the sliding door 2 more than when the object contacts. large. Therefore, the acceleration of the deformation of the object detecting means 8 and the piezoelectric sensor 9 also increases, and a sufficiently large signal having an amplitude of D0 or more in FIG. 4 is output from the piezoelectric sensor 9. Contact can be reliably detected. The door opening operation after the contact detection is the same as the operation described above.
[0042]
The detection unit 17 forms an electric circuit with a system of a power supply, a predetermined resistor, a center electrode 16a, a disconnection / short detection resistor, and an outer electrode 16c (ground). The center electrode 16a is disconnected from the resistor. -The voltage value is obtained by dividing the power supply voltage with the short detection resistor. Therefore, when at least one of the center electrode 16a and the outer electrode 16c is disconnected, the voltage Vi of the input unit to which the center electrode 16a is connected in the detection unit 17 becomes equal to the power supply voltage. When the center electrode 16a and the outer electrode 16c are short-circuited, Vi becomes the ground potential.
[0043]
The disconnection / short detection circuit mounted on the detection unit 17 detects such a behavior of Vi to detect disconnection and short-circuit of the piezoelectric sensor 9, and when the disconnection or short-circuit is detected, the detection unit 17 continues the Hi signal. Output. When a Hi signal is continuously input from the detection unit 17 for a predetermined time, the control unit 22 determines that a disconnection or short-circuit abnormality has occurred in the piezoelectric sensor 9 and, for example, displays an abnormality display on the operation panel in the driver's seat. At the same time, the power supply to the drive means 20 is prohibited, and the slide door 2 is switched to be opened and closed manually.
[0044]
According to the above operation, according to the moving device of the first embodiment, even if the contact of the object is not detected during the closing operation of the slide door 2 (moving object) due to the softness of the contacting object or the slow speed of the moving object, When the detachment of the object is detected by the object detecting means 8, the driving of the slide door 2 (moving body) is controlled, so that the safety is improved.
[0045]
Further, since the flexible piezoelectric sensor 9 is used, if the electrode is bent as in a conventional electrode contact type pressure-sensitive sensor, the electrodes do not come into contact with each other and erroneous detection does not occur. Can be freely arranged along the shape of the object, the degree of freedom of arrangement can be improved, and the contact or detachment of the object can be detected even at the bent portion, so that the reliability is improved.
[0046]
Also, when the object detecting means detects the contact or detachment of the object, the driving means stops the movement of the moving body, or notifies the user or the surrounding people by notifying that the moving direction of the moving body is reversed. Therefore, the reliability and convenience of the device are further improved.
[0047]
In the first embodiment, the moving body is a sliding door of a car. However, the moving body is a tailgate, a trunk lid, an elevating window, a sunroof, an opening / closing wing for a truck bed, and a door of a building or an elevator. At least one opening / closing door such as a shutter may be used, and the driving of the opening / closing door can be safely controlled by detecting contact or detachment of an object from / to these opening / closing doors.
[0048]
Further, the detection unit may detect contact or detachment of the object based on the polarity and amplitude of the output signal of the piezoelectric sensor, and may output different detection signals for the detection of contact and detachment. With this configuration, for example, when contact with an object is detected, the control unit reversely drives the moving body to open the door until the door is completely opened, and when detection of detachment of the object, the moving unit is controlled by the control means. After reversing or stopping for a predetermined time, the door may be closed again, or if the moving body detects contact with the object before starting the door opening operation, the door opening operation of the moving body is detected until the detachment of the object is detected. The driving method of the moving body can be diversified, for example, such that the configuration is not performed, and the usability and safety can be further improved.
[0049]
In the first embodiment, the object detecting unit detects the contact of the object, or controls the driving unit to reverse the moving direction of the moving body when detecting the detachment of the contacting object. The object detection means may detect the contact of the object, or stop the movement of the moving body when detecting the separation of the contacted object.
[0050]
In the first embodiment, when the sliding door 2 comes into contact with an object during the closing operation, the driving of the sliding door 2 is controlled safely. For example, the object detecting means is also provided at the rear end of the sliding door 2. 8, when the sliding door 2 comes into contact with an object during the opening operation, such as performing the same safety control when the sliding door 2 comes into contact with the object at the rear end during the opening operation. It is also possible to adopt a configuration in which similar safety control is performed.
[0051]
(Example 2)
A second embodiment will be described with reference to FIG. FIG. 6 is an external view of the mobile device according to the second embodiment. The second embodiment is different from the first embodiment in that the moving body is a traveling vehicle 24 having a bumper 23, and that the object detecting means 8 is provided in the bumper 23.
[0052]
With this configuration, the object detection means 8 detects contact of an object while the traveling vehicle 24 is traveling, or stops traveling of the traveling vehicle 24 when the detachment of the contacted object is detected, or The traveling direction of the traveling vehicle 24 is reversed for a predetermined time. Further, when the contact of an object is detected before the traveling vehicle 24 starts traveling, the traveling vehicle 24 may not travel until the detachment of the object is detected. With the above configuration, the traveling of the traveling vehicle 24 can be safely controlled by detecting the contact or detachment of the object from the bumper 23.
[0053]
The present embodiment can be applied to all traveling vehicles to which a bumper can be attached, such as various self-propelled carts such as automobiles, automatic guided vehicles, golf carts, and the like.
[0054]
(Example 3)
The invention of the third embodiment will be described below. This embodiment is different from the first and second embodiments in that the detecting unit 17 determines that either the contact or the detachment of the object has occurred when the amplitude of the output signal of the piezoelectric sensor 9 is out of a preset range. Is to do. Specifically, in the characteristic diagram of V in FIG. 5, if the absolute value | V−V0 | of the amplitude of V from V0 is equal to or greater than D0, it is determined that either contact or separation has occurred. A Hi signal is output as the judgment output. As an actual circuit, the above processing may be performed using a window comparator.
[0055]
At the time of contact or detachment, the polarity of V with respect to V0 may change depending on conditions such as the bending state and the polarization direction of the piezoelectric sensor 9, the assignment of electrodes (which is used as a reference potential), the supporting direction of the piezoelectric sensor 9, and the like. In order to cope with this, the detecting unit 17 determines that either the contact or the separation has occurred based on the absolute value of the amplitude of V from V0. As a result, contact and separation cannot be detected separately, but safety control of the moving body can be performed without being affected by the above conditions.
[0056]
In the above-described first to third embodiments, a traveling vehicle having an opening / closing door and a bumper of an automobile or the like is used as a moving body. For example, various driving units of a machine tool, an arm of a robot, an elevating storage device, The present invention can be applied to other various moving objects.
[0057]
【The invention's effect】
As is apparent from the above embodiment, according to the moving device of the present invention, for example, the contacting object is soft or the speed of the moving object is slow, so that the contact of the object cannot be detected during the closing operation of the moving object. Even if the object detecting means detects the detachment of the object, the movement of the moving body is stopped or the moving direction of the moving body is reversed, so that the safety is improved.
[Brief description of the drawings]
FIG. 1 is a cross-sectional view of a moving device according to a first embodiment at a position corresponding to line AA in FIG. 7;
FIG. 2A is a configuration diagram of a piezoelectric sensor of the device.
(B) Sectional view taken along line BB in (a).
FIG. 3 is a block diagram of the apparatus.
FIG. 4 is a characteristic diagram showing an output signal V from a piezoelectric sensor, a detection output J of a detection unit, and a voltage Vm applied to a driving unit when the device detects contact with an object.
FIG. 5 is a characteristic diagram showing an output signal V from a piezoelectric sensor, a detection output J of a detection unit, and a voltage Vm applied to a driving unit when the device detects separation of an object.
FIG. 6 is an external view of a mobile device according to a second embodiment of the invention.
FIG. 7 is an external view of an automobile equipped with a sliding door as a conventional moving device.
FIG. 8 is a cross-sectional view of the conventional moving device taken along line AA of FIG. 7;
[Explanation of symbols]
2 sliding door (moving body)
8 Object detection means
9 Piezoelectric sensor
17 Detector
20 Driving means
21 Notification means
22 Control means
23 bumper
24 Traveling vehicles (moving objects)

Claims (6)

An object detection unit that detects contact with an object, a moving body provided with the object detection unit, a driving unit that drives the moving body, and a control unit that controls the driving unit, the control unit includes: A moving device that stops the movement of the moving body or reverses the moving direction of the moving body when the contact of the object or the detachment of the contacted object is detected by the object detecting means; . 2. The moving device according to claim 1, wherein the object detection unit includes a flexible piezoelectric sensor and a detection unit that detects contact or detachment of the object based on an output signal of the piezoelectric sensor. The moving device according to claim 2, wherein the detection unit determines that one of contact and detachment of the object has occurred when the amplitude of the output signal of the piezoelectric sensor falls outside a preset setting range. The moving body is a sliding door, a tailgate, a trunk lid, a lifting window, a sunroof, an opening / closing wing for a truck bed, and at least one opening / closing door such as a door of a building or an elevator, a shutter, and the like. The mobile device according to any one of claims 3 to 7. The object detection device according to any one of claims 1 to 3, wherein the moving object is a traveling vehicle having a bumper, and the object detection means is provided in the bumper. 6. The information processing apparatus according to claim 1, further comprising a notification unit configured to notify that the driving unit stops moving the moving body or reverses the moving direction of the moving body when the object detecting unit detects contact or detachment of the object. The mobile device according to claim 1.

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