JP2022056977A - Moving body moving device - Google Patents

Abstract

To provide a moving body moving device which can continue to move a moving body even if the voltage value of a battery power supply that supplies power to a drive unit that moves the moving body via a control unit drops instantaneously while the moving body undergoes a movement.SOLUTION: A moving body moving device includes a back door, a drive unit for moving the back door, a battery power source for supplying electric power to the drive unit, a rotation sensor for detecting at least the position of the back door, and a control unit for controlling the drive unit by feedback control so that the moving speed of the back door according to the position of the back door becomes a predetermined target moving speed, in which the control unit is capable of determining whether or not a foreign object is caught by the back door on the basis of the moving speed of the back door, and executes, when an operation amount by the control unit reaches a predetermined value set in advance, a determination prohibition control for prohibiting the determination of whether or not the foreign object is caught for a predetermined time set in advance or until the operation amount becomes equal to or less than the predetermined value.SELECTED DRAWING: Figure 6

Description

The present invention relates to a mobile moving device.

As an example of a moving body moving device that moves a moving body by driving a driving unit, for example, there is a door opening / closing device in which a back door at the rear of the vehicle is used as a moving body and the back door is automatically opened / closed.
In such a moving body moving device, the rotation speed of the drive motor provided in the driving unit is controlled by a control unit including an ECU (Electronic Control Unit) or the like based on a predetermined target moving speed law set in advance. , The driving motor is rotationally driven in the forward rotation direction or the reverse rotation direction to execute the moving operation of the moving body (see, for example, "Patent Document 1").

Specifically, in the target movement speed law, the movement speed targeted by the moving body (hereinafter referred to as "target moving speed") is set in advance according to the position of the moving moving body. The control unit performs feedback control by comparing the target moving speed with the actual moving speed of the moving body (hereinafter referred to as "actual moving speed") at predetermined timings, and operates, for example, a duty ratio or the like. The moving operation of the moving body is executed while adjusting the voltage value applied to the drive motor by appropriately displacing the amount.
Further, when the control unit detects a momentary decrease in the actual moving speed of a moving body moving in the closed direction, for example, the control unit moves due to a foreign object being caught by the moving body or contact with an obstacle or a person. It is determined that the movement of the body has been hindered, and the movement of the moving body is stopped or moved in the opposite direction.

Then, by controlling the moving motion of the moving body by using such a control method, in the above-mentioned moving body moving device, the rated conditions assumed in advance (for example, the ambient temperature, the tilt angle of the vehicle, and the tilt angle of the vehicle, and As long as the moving operation of the moving object is executed under (within the usable range of the voltage applied to the control unit), the ambient temperature, the tilt angle of the vehicle, the voltage applied to the control unit, etc. Even if it fluctuates to some extent, it is possible to always execute the moving operation of the moving body at a moving speed (or moving time) with respect to substantially the same position.

By the way, since the voltage of the battery power supply is applied to the drive motor of the drive unit within the range of the voltage supplied to the control unit in terms of control, the voltage value of the power supplied to the control unit is exceeded. , It is difficult to apply a voltage to the drive motor.
Therefore, the actual moving speed of the moving body by the driving unit can be changed within the range of the voltage value applied to the driving motor from the battery power supply, that is, the voltage value supplied to the control unit.
Therefore, the upper limit value of the target moving speed in the target moving speed law can be set within the range of the voltage value supplied to the control unit, and it is difficult to set the upper limit value beyond the range of the voltage value.
Therefore, regarding the range of the voltage value supplied to the control unit, various presumed usage conditions, that is, the ambient temperature, the tilt angle of the vehicle, the weight of the moving body, and the moving body to be set are set. In consideration of the target moving speed of the moving body and the like, it is preset in a range in which the driving unit can be driven so that the moving operation of the moving body can be executed without any problem.

Japanese Unexamined Patent Publication No. 2009-46864

In the state before starting the moving operation of the moving body, the voltage value supplied to the control unit is within a predetermined range, but it may suddenly decrease during the moving operation of the moving body.
For example, when the voltage value of the battery power supply drops instantaneously due to the start of the engine or the like during the moving operation of the moving body, the voltage value supplied to the control unit also drops instantaneously accordingly.
In such a case, even if an attempt is made to control the actual moving speed of the moving body so as to maintain the maximum in accordance with the target moving speed, as described above, the voltage value supplied to the control unit is exceeded. Since it is difficult to apply a voltage from the battery power source to the drive motor of the drive unit, the actual moving speed of the moving body is instantaneously lower than the target moving speed.
As a result, the control unit erroneously determines that the movement of the moving body is hindered due to the pinching of a foreign object by the moving body, the contact with an obstacle or a person, etc., on condition that the actual moving speed of the moving body decreases. There is a problem that the moving operation of the moving body is stopped or moved in the opposite direction.

An object of the present invention is to move a moving body even when the voltage value of a battery power source that supplies electric power to a driving unit that moves the moving body via a control unit drops instantaneously during the moving operation of the moving body. It is an object of the present invention to provide a moving body moving device capable of continuing the moving movement of the body.

The problem to be solved by the present invention is as described above, and next, the means for solving this problem will be described.

That is, the mobile body moving device according to the present invention includes a moving body, a driving unit for moving the moving body, a battery power source for supplying electric power to the driving unit, and at least a sensor for detecting the position of the moving body. A moving body including a control unit that controls the driving unit by feedback control so that the moving speed of the moving body becomes a predetermined target moving speed rule according to the position of the moving body detected by the sensor. In the moving device, the control unit can determine whether or not a foreign object is caught by the moving body or the movement of the moving body is hindered by the contact of an obstacle or a person, and the operation amount by the control unit is determined in advance. When the set predetermined value is reached, the moving body pinches the foreign object or hinders the movement of the moving body for a predetermined period of time or until the operation amount becomes the predetermined value or less. Execution of the judgment prohibition control that prohibits the judgment about the presence or absence.

As the effect of the present invention, the following effects are exhibited.
That is, according to the moving body moving device according to the present invention, the voltage value of the battery power supply that supplies electric power to the driving unit that moves the moving body via the control unit drops instantaneously during the moving operation of the moving body. Even if this is the case, the moving motion of the moving body can be continued.

It is a figure which showed the schematic structure of the vehicle which provided the moving body moving device which concerns on one Embodiment of this invention. It is a figure for demonstrating the operation of the mobile body moving device which concerns on one Embodiment of this invention, and is the figure which looked at the rear part of the vehicle equipped with the moving body moving device from the side. It is a figure which showed the whole structure of a drive part. It is a figure which showed the control system of the mobile moving apparatus which concerns on one Embodiment of this invention by a block diagram. It is a figure which showed the relationship between the door opening degree of the back door, and a door speed at the time of opening and closing of a back door by a graph. In the moving body moving device according to the embodiment of the present invention, the voltage value of the battery power supply, the duty ratio output by the control unit, the door speed of the back door, and the pinch detection when cranking occurs when the back door is opened or closed. It is a figure which showed the relationship between the detection state and the elapsed time by a graph, respectively. In the conventional mobile moving device, when cranking occurs when opening and closing the back door, the voltage value of the battery power supply, the duty ratio output by the control unit, the door speed of the back door, and the detection state of pinch detection, and the progress. It is a figure which showed the relationship with time by a graph.

Next, the mobile moving device 1 according to the embodiment of the present invention will be described with reference to FIGS. 1 to 6.
Regarding the following description, for convenience, the vertical direction, the front-rear direction, and the left-right direction of the vehicle 100 are defined and described by the directions of the arrows shown in FIGS. 1 and 2.
Further, the direction of the arrow A shown in FIG. 3 is defined as the advancing direction of the operating member 22A in the drive unit 2, and the direction opposite to the direction of the arrow A is defined as the retracting direction of the operating member 22A in the drive unit 2. Describe.

[Overall configuration of mobile moving device 1]
First, the overall configuration of the mobile moving device 1 will be described with reference to FIGS. 1, 2, and 4.
The mobile body moving device 1 in the present embodiment is a device that moves a moving body, which is an object, in a predetermined direction by a drive unit including a drive motor.
As an example of such a moving body moving device 1, for example, in the vehicle body 101 of the vehicle 100 as shown in FIG. 1, a back door 102 that opens and closes an opening 101a (see FIG. 2) on the rear rear surface is used as a moving body. An example is a back door opening / closing device that moves (rotates) the back door 102 in the vertical direction.

The configuration of the moving body moving device 1 is not limited to the back door opening / closing device in the present embodiment. For example, on the side surface of the vehicle body 101, a slide door provided so as to be slidable in the front-rear direction is opened / closed. It can also be used as a sliding door opening / closing device.
Further, the moving body moving device 1 is, for example, a shutter, a sliding door, a hinged door installed in a structure such as a store or a garage, or a foldable eave placed above an opening in front of the structure. It can also be used as an opening / closing device.
That is, the moving body moving device 1 according to the embodiment of the present invention is not limited to the back door opening / closing device that opens / closes the back door 102 as described above, and moves an article or a structure that is a moving object up and down. It can be applied to various devices that move in a direction, a left-right direction, or an oblique direction.

The moving body moving device 1 mainly includes a back door 102, which is an example of a moving body, a driving unit 2 for moving the back door 102 in the opening direction and the closing direction, and a control unit 5 for controlling the driving of the driving unit 2. It includes a battery power source 3 (see FIG. 4) that supplies electric power to the drive unit 2 via the control unit 5, a rotation sensor 4 (see FIG. 5) provided in the drive unit 2, and the like.

As shown in FIG. 2, the back door 102 is provided so as to be movable (rotatable) in the vertical direction with respect to the vehicle body 101 of the vehicle 100 via a hinge 103 or the like at the upper end portion.
Further, the drive unit 2 is configured such that a member on the tip side (specifically, an actuating member 22A described later) can move forward and backward in the length direction, and is arranged on both left and right sides of the rear portion of the vehicle body 101 (FIG. See 1).
The details of the configuration of the drive unit 2 will be described later.

The two drive units 2 are rotatably connected to the back door 102 on both the left and right sides of the rear portion of the vehicle 100.
Specifically, the drive unit 2 is rotatably connected to the vehicle body 101 via the second connecting unit 27 of the holding member 22B described later. Further, the drive unit 2 is rotatably connected to the back door 102 via the first connecting unit 26 of the operating member 22A that advances and retreats relative to the holding member 22B.

In FIG. 4, as will be described later, the battery power supply 3 is connected to the voltage detection circuit unit 52 of the control unit 5, supplies electric power to the drive unit 2 via the control unit 5, and is connected to the operation control unit 8. Then, when the engine starting operation (hereinafter, appropriately referred to as "cranking operation") is executed, electric power is supplied to the starter motor 9, which is an example of the engine starting unit, via the operation control unit 8.

As the battery power source 3, a known power source can be used, and a direct current voltage (current) is typically output, but the battery power source 3 is not limited to this.
For example, the battery power supply 3 may output a pulse voltage (current) that is pulse width modulated (PWM), or a voltage (current) that changes with time, such as an AC voltage (current).
When the battery power supply 3 outputs a voltage (current) that changes with time, the measured voltage measured by the voltage detection circuit unit 52 is an effective voltage value.

The rotation sensor 4 is an example of a sensor that detects at least the position of the back door 102, and in the present embodiment, the moving speed of the back door 102 (hereinafter, appropriately referred to as “door speed”) and the moving direction (opening direction). Or the closing direction) and the position (hereinafter, appropriately referred to as "door opening") are detected.
Further, the rotation sensor 4 can transmit information on the door opening degree and the door speed to the control unit 5 as a detection unit for the door opening degree and the door speed in the moving back door 102.

The rotation sensor 4 includes, for example, a disk penetrating the drive shaft 21a (see FIG. 3) of the electric motor 21 provided in the drive unit 2, magnets arranged on the disk at different intervals in the circumferential direction, and the said magnet. It is composed of Hall elements and the like arranged at positions facing the magnet.

Then, when the electric motor 21 operates and the drive shaft 21a is rotated, the Hall element captures the magnet that moves with the rotation of the drive shaft 21a and pulses at a cycle corresponding to the rotation speed of the drive shaft 21a. Output a signal.

The pulse signal output from the Hall element is sent to the control unit 5.
Then, the control unit 5 to which the pulse signal is input detects the rotation speed of the electric motor 21, that is, the door speed of the back door 102, based on the cycle of the pulse signal.

Further, the control unit 5 detects the rotation direction of the electric motor 21, that is, the moving direction (opening direction or closing direction) of the back door 102 based on the appearance timing of the pulse signal input from the Hall element. ..

Further, the control unit 5 integrates the pulse signal starting from the time when the back door 102 reaches the reference position (fully open position P1 or fully closed position P2; see FIG. 2), thereby opening the door of the back door 102. Is designed to be detected.
Here, the "fully open position P1" means a position in which the back door 102 is in the "open position" state in which the back door 102 is completely opened. Further, the "fully closed position P2" means a position in which the back door 102 is in a completely closed "closed position" state.

The configuration of the rotation sensor 4 is not limited to this embodiment, and may be configured by, for example, a resolver, a rotary encoder, or the like.
Further, the rotation sensor 4 may be configured by a proximity sensor, an overcurrent displacement sensor, a photoelectric sensor, a laser sensor, or the like.
Further, the door speed and the moving direction (opening direction or closing direction) of the back door 102 may be grasped based on the voltage value, the current value, or the like supplied to the electric motor 21.

The control unit 5 controls and monitors each unit of the mobile moving device 1.
The control unit 5 is composed of an ECU or the like, and has a calculation processing unit 51, a voltage detection circuit unit 52 connected to the battery power supply 3, and a voltage detection circuit unit 52 for measuring the voltage value of the battery power supply 3 supplied to the control unit 5.

The arithmetic processing unit 51 is composed of a CPU (Central Processing Unit), and has a control signal arithmetic unit 51C (see FIG. 5) including a ROM (Read Only Memory), a RAM (Random Access Memory), and the like.
Then, the arithmetic processing unit 51 reads a program according to the processing content from the ROM, develops it in the RAM, and executes various controls in cooperation with the expanded program.
The details of the configuration of the arithmetic processing unit 51 will be described later.

The voltage detection circuit unit 52 is configured as, for example, a so-called bridge circuit composed of a plurality of resistors.
Further, the voltage detection circuit unit 52 is connected to the arithmetic processing unit 51 on one side and to the battery 3 on the other side.

Then, the control unit 5 detects the voltage value of the battery power supply 3 supplied to the electric motor 21 of the drive unit 2 via the control unit 5 by the voltage detection circuit unit 52, and performs PI control as described later. Perform feedback control.

In the moving body moving device 1 having the above configuration, for example, when the operating member 22A of the driving unit 2 advances in response to a control signal from the control unit 5, the back door 102 is lowered by the operating member 22A. It is pushed up from and moves in the opening direction.
Further, when the operating member 22A of the driving unit 2 retracts in response to the control signal from the control unit 5, the back door 102 moves in the closing direction according to the operation of the operating member 22A.

In this embodiment, the two drive units 2 are driven in the same direction in synchronization with each other (specifically, the two actuating members 22A advance or retract in the same direction). However, it is not limited to this.
That is, with respect to the vehicle body 101, the back door 102 moves in the opening direction (movement in the direction in which the opening 101a is in the open state) and moves in the closing direction (movement in the direction in which the opening 101a is in the closed state). As long as it is possible to move), for example, a configuration in which these two drive units 2 are driven in different directions in synchronization with each other (specifically, a configuration in which the two actuating members 22A advance or retract in different directions). ), Or the two drive units 2 may be driven by different drive amounts (specifically, the movement amounts of the two actuating members 22A are different from each other). ..

Further, in the present embodiment, two drive units 2 are provided, but the present invention is not limited to this.
For example, one of the drive units 2 can be replaced by a support unit having a configuration in which the electric motor 21 as a power source is omitted from the configuration of the drive unit 2, a damper mechanism, or the like.
That is, the mobile body moving device 1 may be provided with at least one drive unit 2.

[Structure of drive unit 2]
Next, the details of the configuration of the drive unit 2 will be described with reference to FIG.
The drive unit 2 is composed of a rod-shaped actuator that can be expanded and contracted, and has a drive main body portion arranged on one side in the axial direction and an advancing / retreating portion provided on the other side in the axial direction so as to be able to appear and disappear from the drive main body portion. It is composed of.
Further, the drive unit 2 is rotatably connected to the vehicle body 101 (see FIG. 2) on one end side of the drive main body unit, and the back door 102 (see FIG. 2) is rotatably connected to the other end side of the advance / retreat portion. 2) and rotatably connected.

The drive unit 2 is configured to be expandable and contractible by converting the rotational motion of the drive motor or the like into a linear motion in the axial direction and causing the advancing / retreating portion to appear and disappear with respect to the drive main body portion.
In the drive unit 2 having such a configuration, the back door 102 is moved toward the fully open position P1 (see FIG. 2) by advancing the advancing / retreating unit toward the other side in the axial direction with respect to the drive main body unit. It will be moved.
Further, the back door 102 is moved toward the fully closed position P2 (see FIG. 2) by retracting the advancing / retreating portion toward one side in the axial direction with respect to the drive main body portion.

The structure, shape, arrangement position, and the like of the drive unit 2 are not particularly limited to the present embodiment as long as the back door 102 can be opened and closed.
For example, the drive unit 2 includes an arm that rotates in the vertical direction, and the arm has a rotation shaft at one end and is connected to the back door 102 at the other end. The back door 102 may be moved in the open direction or the closed direction by rotating the arm.

The drive unit 2 is, for example, a housing 22 together with an electric motor 21 which is a power source, an actuating member 22A which operates in an advancing / retreating direction (a direction parallel to the direction of arrow A in FIG. 3) by driving the electric motor 21, and an actuating member 22A. The holding member 22B, the urging member 23 for urging the operating member 22A with respect to the holding member 22B, the spindle 24 rotated by the drive of the electric motor 21, and the like are provided.
Further, the operating member 22A has a spindle nut 25 or the like that is screwed with the spindle 24.
Here, in the present embodiment, the electric motor 21, the holding member 22B, the urging member 23, the spindle 24, etc. correspond to the drive main body portion, and the operating member 22A, the spindle nut 25, etc. correspond to the advancing / retreating portion. ..

In the following description, the direction side (direction side of arrow A) in which the operating member 22A is relatively separated from the holding member 22B is appropriately described as "advancement direction side", and the operating member 22A is relative to each other. The side in the direction (opposite direction of the arrow A) that is close to each other is appropriately referred to as "backward side".

The actuating member 22A is made of a bottomed cylindrical member having an open end surface on one side in the axial direction, and the closed end surface 22A1 is provided with a first connecting portion 26 made of, for example, a ball joint.
Then, the actuating member 22A is rotatably connected to the mounting member (not shown) provided on the back door 102 via the first connecting portion 26.

The configuration of the first connecting portion 26 is not limited to the configuration directly connected to the back door 102 as shown in the present embodiment, and is not limited to a configuration that is directly connected to the back door 102, for example, another mechanism such as a link mechanism or the like. It may be configured to be connected to the back door 102 via.

On the other hand, the holding member 22B is made of a bottomed cylindrical member whose end surface on the other side in the axial direction is an open surface, and its inner diameter is set larger than the outer diameter of the operating member 22A.
Further, the closed end surface 22B1 of the holding member 22B is provided with a second connecting portion 27 made of, for example, a ball joint, as in the case of the first connecting portion 26 described above, and the holding member is provided via the second connecting portion 27. The 22B is rotatably connected to a mounting member (not shown) provided at the rear of the vehicle body 101.

The configuration of the second connecting portion 27 is not limited to the configuration that is directly connected to the rear portion of the vehicle body 101 as shown in the present embodiment, and is not limited to the configuration that is directly connected to the rear portion of the vehicle body 101. It may be configured to be connected to the rear part of the vehicle body 101 via a mechanism.

Both the operating member 22A and the holding member 22B are arranged coaxially, and the operating member 22A is configured to be movable relative to the holding member 22B inside the holding member 22B.

Here, the internal space of the holding member 22B is the closed end surface side space portion 22B3 located on the closed end surface 22B1 side and the open surface side space portion provided on the open surface side by the partition wall portion 22B2 provided in parallel with the closed end surface 22B1. It is isolated from 22B4.
Further, by inserting one end of the actuating member 22A into the inside of the holding member 22B, the inner space portion 22A2 of the actuating member 22A is in a state of communicating with the open surface side space portion 22B4. There is.
As described above, the space portion 29 defined with respect to the outside of the housing 22 by the actuating member 22A and the holding member 22B includes the first space portion 29A composed of the closed end face side space portion 22B3, the open surface side space portion 22B4, and the space portion 29. It is composed of a second space portion 29B composed of an inner space portion 22A2.

Then, the electric motor 21 is arranged in the first space portion 29A of the housing 22 with the drive shaft 21a facing the operating member 22A side (advancement direction side).
Further, as will be described later, the second space portion 29B of the housing 22 has a hollow cylindrical shape that regulates the displacement of the operating member 22A in the axial direction together with the urging member 23, the spindle 24, the spindle nut 25, and the like. The rotation restricting member 28 is arranged coaxially with the holding member 22B.

The rotation restricting member 28 is arranged in the space portion 22B4 on the open surface side of the holding member 22B, outside the radial direction of the operating member 22A, and coaxially with the operating member 22A.
Further, the rotation restricting member 28 is fixed to the partition wall portion 22B2 of the holding member 22B at the end portion on the receding direction side.

A slit 28a extending in the axial direction is provided on the outer peripheral surface of the rotation restricting member 28.
On the other hand, on the outer peripheral surface of the operating member 22A, a convex portion 22A3 that can be fitted with the slit 28a is provided at an end portion on the receding direction side.

The actuating member 22A is configured to be slidable in the axial direction with respect to the rotation restricting member 28 while the convex portion 22A3 is fitted into the slit 28a of the rotation restricting member 28.
As a result, the actuating member 22A is configured to be able to reliably move relative to the holding member 22B in the axial direction while being restricted from being displaced in the axial direction.

The urging member 23 is composed of, for example, an elastic member made of a coil spring, and its outer diameter is set smaller than the inner diameter of the operating member 22A, while the inner diameter thereof is outside the spindle 24 and the spindle nut 25. It is set large enough compared to the diameter.

Then, the urging member 23 is arranged coaxially with the operating member 22A (or the holding member 22B) in the second space portion 29B.
Further, the urging member 23 abuts on the partition wall portion 22B2 of the holding member 22B at one end (in the present embodiment, the end on the receding direction side), and the other end (the present embodiment). In the end portion on the advance direction side), the actuating member 22A is arranged in contact with the closed end surface 22A1.
As a result, the operating member 22A is always urged by the urging member 23 so as to move toward the advancing direction side in the axial direction with respect to the holding member 22B.

The urging member 23 has one end fixed to the partition wall 22B2 of the holding member 22B and the other end fixed to the closed end surface 22A1 of the operating member 22A so as to generate a predetermined urging force in the axial direction. May be good.

The spindle 24 is made of a round bar-shaped member, and a convex male screw portion 24a formed spirally in the axial direction is provided on the outer peripheral surface thereof.

The spindle 24 is arranged in the second space portion 29B so as to be located coaxially with the drive shaft 21a of the electric motor 21 and inside the urging member 23 in the radial direction.
Further, the spindle 24 is rotatably supported in the axial direction at the end portion 24b on the retracting direction side via the first bearing member 11 fixed to the partition wall portion 22B2, and is supported at the end portion 24c on the advancing direction side. The inner peripheral surface of the spindle nut 25, which will be described later, is rotatably supported in the axial direction via a second bearing member 12 that is slidable in the axial direction.

The spindle 24 is connected to the drive shaft 21a of the electric motor 21 at the tip of the end portion 24b via a commercially available shaft joint 13.
As a result, electric power is supplied to the electric motor 21 from the battery power supply 3 (see FIG. 4) based on the control signal from the control unit 5 (see FIG. 4) described later, and when the drive shaft 21a is rotationally driven, the spindle 24 Is rotated in the axial direction following the drive shaft 21a.

The spindle nut 25 is made of a hollow cylindrical member, and is arranged so as to be located coaxially with the spindle 24 and inside the urging member 23 in the radial direction in the inner space portion 22A2 of the operating member 22A.
Further, on the inner peripheral surface of the spindle nut 25, a female screw portion 25a formed spirally in the axial direction is provided at an end portion on the receding direction side.

Then, the spindle nut 25 is screwed to the male screw portion 24a of the spindle 24 via the female screw portion 25a at one end (end in the retracting direction), and the other end (advancement direction side). Is fixed to the closed end surface 22A1 of the actuating member 22A.
As a result, when the spindle 24 is rotated in the axial direction by the drive of the electric motor 21, the spindle nut 25 is rotated relative to the spindle 24 and moves in the axial direction of the spindle 24 together with the operating member 22A.

Specifically, when the spindle 24 is rotated to a predetermined side in the axial direction, the spindle nut 25 moves together with the operating member 22A toward the advance direction side in the axial direction of the spindle 24.
Further, when the spindle 24 is rotated to the side opposite to the predetermined side in the axial direction, the spindle nut 25 moves together with the operating member 22A to the retracting direction side in the axial direction of the spindle 24.

When the electric motor 21 is driven in the drive unit 2 having the above configuration, the spindle 24 is rotated in the axial direction, and the operating member 22A moves in the axial direction via the spindle nut 25.
That is, by driving the electric motor 21, the advancing / retreating portion moves in the axial direction with respect to the driving main body portion.

As described above, the actuating member 22A constituting the advancing / retreating portion is provided with the first connecting portion 26 connecting to the back door 102. Therefore, as the advancing / retreating portion moves, the back door 102 opens or closes. The back door 102 can be positioned at the fully open position P1 or the fully closed position P2.

Further, the back door 102 has a configuration in which the back door 102 is screwed with the spindle 24 constituting the drive main body portion via the spindle nut 25 constituting the advancing / retreating portion, and the drive main body is interposed via the operating member 22A constituting the advancing / retreating portion. The urging member 23 constituting the portion always urges the portion in the opening direction.
Therefore, the back door 102 does not move in the closing direction unless there is an external factor even if it is in the fully open position P1 or the position in the middle of movement. In other words, the drive unit 2 is configured to be able to hold the back door 102, which is a moving body, at an intermediate position between the fully open position P1 and the fully closed position P2.

Further, the electric motor 21 is in a free state when the power is turned off.
When the electric motor 21 is in the free state, the back door 102 supported by the drive unit 2 can be manually moved.
That is, when a load is applied to the back door 102 and the operating member 22A connected to the back door 102 is to be moved in the axial direction, the spindle 24 follows the movement of the spindle nut 25 in the axial direction. Since the back door 102 rotates in the axial direction in a free state, the back door 102 can be manually moved in the open direction or the closed direction.

[Structure of arithmetic processing unit 51]
Next, the details of the configuration of the arithmetic processing unit 51 included in the control unit 5 will be described with reference to FIG.
In addition, in this embodiment, as described above, two drive units 2 are provided, but since the control systems of these two drive units 2 have the same configuration as each other, in FIG. 4, FIG. For simplification, only one drive unit 2 will be described.

As described above, the arithmetic processing unit 51 is provided in the control unit 5 and controls and monitors the drive of each drive unit 2.
The arithmetic processing unit 51 includes a signal input unit 51A electrically connected to the rotation sensor 4 and the operation SW7, a signal output unit 51B electrically connected to the electric motor 21, and these signal input units 51A and a signal output unit. After being electrically connected to 51B and the voltage detection circuit unit 52 and performing arithmetic processing based on the signals input from the signal input unit 51A and the voltage detection circuit unit 52, the signal based on the calculation result is transmitted to the signal output unit 51B. It is composed of a control signal calculation unit 51C or the like to output.

Here, the operation SW7 includes a first contact and a second contact (not shown), and includes, for example, a button type SW operated by a pressing / pulling operation, a lever type SW operated by a tilting operation in a predetermined direction, and the like. The first contact and the second contact are configured to switch between the ON state and the OFF state in conjunction with the operation state of the unit (not shown).

Further, in the present embodiment, when the first contact is turned on, the electric motor 21 of the drive unit 2 is driven so as to move the back door 102 toward the opening direction, while the above-mentioned When the second contact is turned on, the electric motor 21 of the drive unit 2 is configured to move the back door 102 toward the closing direction.
Therefore, for the driver of the vehicle 100, the back door 102 can be opened by operating the operation unit in the direction in which the first contact is turned on, and the second contact is turned on. The back door 102 can be closed by operating the operation unit in the above direction.

Then, the control signal calculation unit 51C, which has input the start signal of the opening / closing operation of the back door 102 from the operation SW7 via the signal input unit 51A, immediately outputs the operation signal to the signal output unit 51B based on the start signal. It controls the opening / closing operation of the back door 102.

The control signal calculation unit 51C stores in advance a program for executing PI (Proportional Integral) control, which is a kind of feedback control, and a digital map regarding the target speed of the back door 102.
Here, the digital map constitutes a "target moving speed rule" in which the moving speed (door speed) of the back door 102 is predetermined according to the position (door opening degree) of the moving back door 102. , The control signal calculation unit 51C is set to execute the calculation process based on these programs and the digital map.

Further, the signal output unit 51B is composed of a PWM circuit, a motor drive circuit composed of a power semiconductor driven by the PWM circuit, and the like, and shifts the duty ratio of the PWM circuit based on the signal input from the control signal calculation unit 51C. Thereby, the rotation speed of the electric motor 21 is controlled (PWM control is performed).

Then, a pulse signal output from the rotation sensor 4 is input to the signal input unit 51A, and the signal input unit 51A has an actual moving speed (door speed) of the back door 102 and the actual moving speed (door speed) of the back door 102 based on the input pulse signal. The actual speed signal and the actual position signal indicating the positions (door openings) are output to the control signal calculation unit 51C.

The control signal calculation unit 51C, which has input the actual speed signal and the actual position signal output from the signal input unit 51A, sets the actual moving speed (door speed) of the back door 102 at the position (door open) based on these signals. The control signal to be output to the electric motor 21 is calculated in order to reach the target speed in (degree).

Specifically, the control signal calculation unit 51C executes calculation processing based on a program and a digital map (target movement speed rule) stored in advance, and with respect to a reference signal corresponding to the target speed of the back door 102. A control signal is output obtained by adding or subtracting a correction amount obtained by multiplying the difference between the actual moving speed (door speed) of the back door 102 and the target speed by a predetermined proportional term constant.

Then, the signal output unit 51B inputting the control signal output from the control signal calculation unit 51C changes the duty ratio d of the PWM circuit based on the control signal, so that the operation amount by the control unit 5, that is, the said The voltage value of the battery power supply 3 applied to the electric motor 21 via the control unit 5 (= (voltage value Vo of the battery power supply applied via the control unit 5) × duty ratio d%) is displaced by the electric motor. The rotation speed of 21 is controlled.

As described above, in the moving body moving device 1 of the present embodiment, the moving speed of the back door 102 becomes a predetermined target moving speed rule according to the position of the back door 102 detected by the rotation sensor 4. The drive unit 2 (more specifically, the electric motor 21) is controlled by feedback control, and the control unit 5 causes the control signal calculation unit 51C to displace the duty ratio d to control the drive unit 2 (more specifically, the electric motor 21). The voltage value Vo applied to the electric motor 21 from the battery power supply 3 is displaced via the control unit 5, and the drive of the electric motor 21 is PWM controlled.

On the other hand, the actual moving speed (actual speed) of the back door 102 is instantaneously reduced with respect to the moving back door 102, and the rate of change of the moving speed (deceleration with respect to the moving speed before deceleration). When the rotation sensor 4 detects that the later moving speed ratio) is less than or equal to a predetermined ratio, the control unit 5 causes the control signal calculation unit 51C to pinch a foreign object by the back door 102 or an obstacle. It is determined that the movement of the back door 102 has been hindered by contact with a person or a person, and the duty ratio d is immediately displaced to 0% to stop the movement of the back door 102 in an emergency.
That is, in the moving body moving device 1 of the present embodiment, the control signal calculation unit 51C of the control unit 5 causes the back door 102 to pinch a foreign object or contact an obstacle or a person based on the moving speed of the back door 102. It is possible to determine whether or not the movement of the back door 102 is obstructed by the above.

The method of feedback control by the control unit 5 is not limited to the PI control described above, and for example, a PID (Proportional Integral Differential) control aimed at further improving the response time may be adopted. Further, the drive control method of the electric motor 21 is not limited to PWM control, and other drive control methods such as VFM control may be adopted.

By the way, the signal input unit 51A is connected to an operation control unit 8 composed of another ECU or the like so that electronic information can be telecommunications, and the operation control unit 8 cranks and starts the ignition SW6 and the engine. It is electrically connected to the cell motor 9 to be operated.

The operation control unit 8 is an example of a command unit that sends a command to start operation to the starter motor 9, and controls and monitors the operation of the entire vehicle 100.
Further, the ignition SW6 includes a third contact and a fourth contact (not shown), one of which is connected to the power supply line and the other terminal is the operation control unit. It is connected to the arithmetic processing unit (not shown) of 8.

The states of the third contact and the fourth contact are switched between an ON state and an OFF state according to the operation position of the ignition key (not shown).
For example, when the engine of the vehicle 100 is stopped, the ignition key is operated to the "OFF position", whereby the third contact and the fourth contact are both in the OFF state (open state).
Further, when the engine of the vehicle 100 is maintained in the operating state, the ignition key is operated to the "ON position", whereby the above-mentioned third contact and fourth contact are both turned on (closed state). ..
Further, when the engine of the vehicle 100 is started from the stopped state (that is, when the cranking operation is executed), the ignition key is operated to the "START position", whereby the above-mentioned third contact is turned off. Moreover, the above-mentioned fourth contact is turned on.

The above-mentioned third contact and fourth contact each transmit an L level (low voltage) signal to the arithmetic processing unit (not shown) of the operation control unit 8 in the OFF state, and in the ON state. H level (high voltage) signal is transmitted.

Then, the operation control unit 8, in which the ignition key is operated to the "START position" and the signal instructing the start start of the engine is input, immediately sends a command to start the operation to the starter motor 9 and performs the cranking operation of the starter motor 9. At the same time, electronic information indicating that "the starter motor 9 is executing the cranking operation" is input to the control signal calculation unit 51C via the signal input unit 51A.

In the present embodiment, the operation control unit 8 and the signal input unit 51A of the control unit 5 are connected to each other so as to be able to communicate electronic information with each other, but the present invention is not limited to this, and the cell motor 9 is not limited thereto. And the signal input unit 51A of the control unit 5 may be connected to each other so that electronic information can be telecommunications.
In this case, when the cranking operation of the starter motor 9 is started by the operation control unit 8, the electronic information that "the starter motor 9 is executing the cranking operation" is transmitted from the starter motor 9 to the signal input unit 51A. It is directly telecommunications and input to the control signal calculation unit 51C.

[Control method of mobile moving device 1]
Next, the control method of the mobile moving device 1 in the present embodiment will be described with reference to FIGS. 2, 4 to 7.

When the operation SW7 (see FIG. 4) is operated, the mobile body moving device 1 controls the drive of the drive unit 2 by the control unit 5 according to the operation state of the operation SW7, and the back door 102 (FIG. 2). ) Performs the open / close operation.
For example, as shown in FIGS. 2 and 4, when the operation SW7 is operated while the back door 102 is held at the fully open position P1, the above-mentioned second contact (not shown) is turned on. The control unit 5 controls the drive of the electric motor 21 in the drive unit 2 so as to move the back door 102 toward the fully closed position P2.
Further, when the operation SW7 is operated and the above-mentioned first contact (not shown) is turned on while the back door 102 is held at the fully closed position P2, the control unit 5 is moved to the fully open position P1. The drive of the electric motor 21 in the drive unit 2 is controlled so as to move the back door 102 toward it.

Then, for example, when the back door 102 is moved from the fully open position P1 to the fully closed position P2 to close the back door 102, the moving speed (door speed) of the back door 102 has reached the back door 102. It is controlled by the control unit 5 as follows according to the position (door opening degree).

That is, as shown in FIG. 5, the moving speed (door speed) of the back door 102 is until the back door 102 reaches the position X1 separated by a predetermined distance from the fully open position P1 toward the fully closed position P2 side. , It is controlled by the control unit 5 so that it gradually rises with a constant acceleration.

Further, after the back door 102 reaches the position X1, the moving speed (door speed) of the back door 102 reaches the position X2 separated by a predetermined distance from the fully closed position P2 toward the fully open position P1 side. During that time, the control unit 5 controls the speed to be a predetermined speed V [mm / sec].

Then, after the back door 102 reaches the position X2, the moving speed (door speed) of the back door 102 is gradually decelerated (acceleration of a negative value) until it reaches the fully closed position P2. It is controlled by the control unit 5 so as to descend to.

When the back door 102 is moved from the fully closed position P2 to the fully open position P1 to open the back door 102, the back door 102 is closed as compared with the case where the back door 102 is closed. Since only the moving direction of 102 is different and the speed control method of the moving speed (door speed) by the control unit 5 is substantially the same, the description of the description is omitted.

As described above, the control of the movement speed (door speed) of the back door 102 by the control unit 5 is executed by the feedback control by the PI control, and the control unit 5 changes the duty ratio d. The moving speed of the back door 102 ( Door speed) is controlled.
Then, using such feedback control by PI control, a digital map (target moving speed rule) in which the moving speed (door speed) of the back door 102 is predetermined according to the position (door opening) of the back door 102. By controlling the drive of the drive unit 2, that is, the rotation speed of the electric motor 21, the door speed (movement speed) of the back door 102 is ideally closer to the digital map (target movement speed law). It is controlled by the control unit 5 so as to have a speed.

By the way, in FIG. 4, when the ignition SW6 is operated while the control unit 5 is executing the opening / closing operation of the back door 102, the engine starting operation (cranking operation) by the operation control unit 8 is preferentially executed. ..

For example, while the closing operation of the back door 102 is being executed, the ignition SW6 is operated to turn off the above-mentioned third contact (not shown) and turn on the above-mentioned fourth contact (not shown). After that, when these states continue for a predetermined time, the operation control unit 8 determines that the cranking operation of the engine has started, immediately supplies electric power to the starter motor 9 to rotate the crankshaft, and causes the engine to rotate. Start the cranking operation.
On the other hand, when the cranking operation of the engine is started, the voltage value Vo of the battery power supply 3 applied to the electric motor 21 via the control unit 5 immediately begins to decrease.

Here, FIG. 7 shows the voltage value (unit: [v]) of the battery power supply 3 applied to the electric motor 21 via the control unit 5 in the conventional mobile body moving device, and the control signal calculation unit 51C (FIG. 4). The duty ratio (unit: [%]) output by (see), the moving speed of the back door 102 (door speed) (unit: [mm / sec]), the detection state of pinch detection, and the elapsed time (unit:). It is a graph which showed the relationship with [sec]) in order from the top.

As shown in this figure, for example, when the cranking operation of the engine is started by the operation control unit 8 at the elapsed time T1 [sec], the voltage of the battery power supply 3 applied to the electric motor 21 via the control unit 5 The value (hereinafter, appropriately referred to simply as “voltage value of battery power supply 3”) immediately decreases from the third voltage value Vo3 [v] when the engine is stopped (or during normal operation).

When the voltage value of the battery power supply 3 drops, the control unit 5 immediately increases the duty ratio by feedback control in order to maintain the door speed of the back door 102, that is, the rotation speed of the electric motor 21 at a predetermined rotation speed, and is electrically operated. The actual voltage value applied to the motor 21 is increased.
That is, for example, the control unit 5 immediately increases the duty ratio that has been increased or decreased near d1 [%] (0 <d1 <100) before the engine cranking operation is started.

After that, when the voltage value of the battery power supply 3 further decreases and the voltage value reaches the vicinity of the first voltage value Vo1 [v] (Vo1 <Vo3) in the elapsed time T2 [sec], the duty ratio is no longer set. Even if it is 100%, it becomes difficult to maintain the rotation speed of the electric motor 21 at a predetermined rotation speed, the actual voltage value applied to the electric motor 21 begins to decrease, and the door speed of the back door 102 becomes. It starts decelerating from the third door speed V3 [mm / sec], which is the target moving speed.
In a normal case, when the door speed is decelerated with respect to the target moving speed, the control unit 5 immediately increases the duty ratio in order to increase the actual voltage value applied to the electric motor 21, but the duty ratio is increased. Has already reached the upper limit of 100%, so that it is impossible to increase it any further, and the performance limit is interrupted.

Then, the door speed of the back door 102 is further reduced, for example, at the elapsed time T3 [sec], the first door after deceleration with respect to the rate of change of the door speed (third door speed V3 [mm / sec] before deceleration). When the speed V1 [mm / sec] ratio) is equal to or less than a predetermined ratio, the control unit 5 states that the back door 102 is caught by a foreign object or the movement of the back door 102 is hindered by the contact of an obstacle or a person. By erroneous determination, the detection state of pinch detection is turned ON, the duty ratio output from the control signal calculation unit 51C is displaced to 0 [%], and the moving operation (closing operation) of the back door 102 is urgently stopped.

As described above, in the conventional moving body moving device, when the signal instructing the start start of the engine is sent to the operation control unit 8 while the control unit 5 is executing the closing operation of the back door 102, the control unit 5 Is mistaken for the fact that the door speed of the back door 102 slows down due to the voltage drop of the battery power supply 3, which causes the back door 102 to pinch foreign matter or hinder the movement of the back door 102 due to the contact of an obstacle or a person. Upon determination, the opening / closing operation of the back door 102 may be controlled so as to be immediately stopped in an emergency.

Therefore, in the moving body moving device 1 in the present embodiment, as shown below, the foreign matter is caught by the back door 102 only for a predetermined fixed time or until the operation amount becomes a predetermined value or less. Alternatively, by executing the determination prohibition control that prohibits the determination of whether or not the movement of the back door 102 is obstructed, it is possible to prevent the misjudgment of the pinch detection based on the voltage drop of the battery power supply 3 as much as possible, and suddenly urgently. It is configured to be controlled by the control unit 5 so that the opening / closing operation of the back door 102 is continued without stopping.

Specifically, FIG. 6 shows a voltage value (unit: [v]) of the battery power supply 3 applied to the electric motor 21 via the control unit 5 in the mobile body moving device 1 of the present embodiment, and a control signal calculation. The duty ratio (unit: [%]) output by the unit 51C (see FIG. 4), the moving speed of the back door 102 (door speed) (unit: [mm / sec]), and the detection state of pinch detection. It is a graph which showed the relationship with the elapsed time (unit: [sec]) in order from the top.

As shown in this figure, for example, when the cranking operation of the engine is started at the elapsed time T1 [sec] during the closing operation of the back door 102, the voltage value of the battery power supply 3 is stopped (or the engine is stopped). , During normal operation), the voltage immediately drops from the third voltage value Vo3 [v].

When the voltage value of the battery power supply 3 drops, the control unit 5 immediately increases the duty ratio by feedback control in order to maintain the door speed of the back door 102, that is, the rotation speed of the electric motor 21 at a predetermined rotation speed, and is electrically operated. The actual voltage value applied to the motor 21 is increased.
That is, for example, the control unit 5 immediately increases the duty ratio that has been slightly increased or decreased near d1 [%] (0 <d1 <100) before the engine cranking operation is started.

After that, the voltage value of the battery power supply 3 continues to decrease, and when the voltage value reaches the vicinity of the first voltage value Vo1 [v] (Vo1 <Vo3) in the elapsed time T2 [sec], the duty ratio is no longer 100. %, It becomes difficult to maintain the rotation speed of the electric motor 21 at a predetermined rotation speed, the actual voltage value applied to the electric motor 21 begins to decrease, and the door speed of the back door 102 becomes a target. It starts decelerating from the third door speed V3 [mm / sec], which is the moving speed.

Then, the door speed of the back door 102 is decelerated to the first door speed [mm / sec] at which the above-mentioned rate of change is equal to or less than a predetermined ratio in the elapsed time T3 [sec]. In, the opening / closing operation of the back door 102 is continued by executing the determination prohibition control described later.

On the other hand, the voltage value of the battery power supply 3 continues to decrease even after the elapsed time T2 [sec] has passed, and after reaching a certain voltage value, it starts to increase, and the elapsed time T4 [sec] is described above. It recovers to the vicinity of the first voltage value of Vo1 [v].
Further, at the time point of the elapsed time T2 [sec], the control unit 5 increases the duty ratio to 100 [%], but it is applied to the electric motor 21 as the voltage value of the battery power supply 3 decreases. The actual voltage value also continues to decrease, and the door speed of the back door 102 becomes much lower than the third door speed V3 [mm / sec].
As a result, the door speed of the back door 102 begins to increase as the voltage value of the battery power supply 3 turns to an increasing tendency, but at the elapsed time T4 [sec], the third door speed is still V3 [mm / sec]. It has not reached, and has reached the vicinity of the second door speed V2 [mm / sec] (V2 <V3).
Therefore, the control unit 5 maintains the duty ratio at 100 [%] even after the elapsed time T4 [sec] has passed.

The voltage value of the battery power source 3 once recovered to the vicinity of the first voltage value Vo1 [v] then gradually increases and recovers to the vicinity of the second voltage value Vo2 [v] (V1 <V2 <V3).
Further, since the duty ratio is still maintained at 100 [%], the door speed of the back door 102 also gradually increases as the voltage value increases.

Then, when the door speed of the back door 102 recovers to the vicinity of the third door speed V3 [mm / sec] at the elapsed time T5 [sec], the control unit 5 begins to reduce the duty ratio from 100 [%]. The speed is slightly increased or decreased near d2 [%] (d1 <d2 <100) corresponding to the second voltage value Vo2 [v].

After that, when the cranking operation of the engine is completed at the elapsed time T6 [sec], the voltage value of the battery power supply 3 increases again, and at the elapsed time T7 [sec], the third engine is stopped (or during normal operation). It recovers to the voltage value Vo3 [v].

On the other hand, when the voltage value of the battery power supply 3 increases in the elapsed time T6 [sec], the control unit 5 maintains the door speed of the back door 102 near the third door speed V3 [mm / sec]. Further lower the duty ratio.
Then, when the voltage value of the battery power supply 3 recovers to the third voltage value Vo3 [v] in the elapsed time T6 [sec], the control unit 5 again slightly increases or decreases the duty ratio near d1 [%]. The door speed of the back door 102 is maintained near the third door speed V3 [mm / sec].

By the way, in the present embodiment, from the time when the operation amount by the control unit 5 reaches a preset predetermined value to the time when the operation amount becomes equal to or less than the predetermined value, foreign matter is caught by the back door 102 or is inserted. The determination prohibition control for forcibly prohibiting the determination as to whether or not the movement of the back door 102 is obstructed is executed.
Here, the operation amount means the actual voltage value applied to the electric motor 21 on the premise of feedback control, and the voltage value of the battery power supply 3 applied to the electric motor 21 via the control unit 5. It is indicated by the product (Vo [V] × d [%]) of Vo and a duty ratio d that can be varied between 0 [%] and 100 [%].
Further, in the present embodiment, the above-mentioned predetermined value is set in advance to, for example, a voltage value actually applied to the electric motor 21 when the duty ratio d is 100 [%].

Therefore, the above-mentioned determination prohibition control is executed from the elapsed time T2 [sec] when the duty ratio reaches 100 [%] to the elapsed time T5 [sec] when the duty ratio starts to decrease from 100 [%]. During this time, a control is executed in which the determination as to whether or not the back door 102 is caught in a foreign object or the movement of the back door 102 is hindered is set as a mask time forcibly prohibited.

As a result, in the case of the conventional moving body moving device, the door speed of the back door 102 becomes the first door speed [mm / sec] at which the above-mentioned rate of change is equal to or less than a predetermined ratio in the elapsed time T3 [sec]. By decelerating to, the control unit 5 erroneously determines that a foreign object is caught by the back door 102 or the movement of the back door 102 is hindered by the contact of an obstacle or a person, and the movement operation of the back door 102 ( In the moving body moving device of the present embodiment, the control unit 5 temporarily controls the above-mentioned determination prohibition during the period from the elapsed time T2 [sec] to the elapsed time T5. Therefore, the moving operation (closing operation) of the back door 102 is continued without making such an erroneous determination.

In the present embodiment, the timing for canceling the determination prohibition control is the timing when the operation amount becomes equal to or less than the predetermined value again, that is, the elapsed time T5 [sec] when the duty ratio becomes less than 100 [%]. However, it is not limited to this.
That is, when the cranking operation of the engine is started during the closing operation of the back door 102 by the control unit 5, the operation amount is increased to a predetermined value (duty ratio is increased to 100 [%]). The time from the time T2 [sec]) to the timing when the operation amount becomes equal to or less than the predetermined value (the elapsed time T5 [sec] when the duty ratio becomes less than 100 [%]) is grasped in advance, and the time elapses. This may be the timing for canceling the above-mentioned determination prohibition control.
That is, from the time when the operation amount by the control unit 5 reaches a preset predetermined value, whether or not foreign matter is caught by the back door 102 or the movement of the back door 102 is hindered for a predetermined period of time. The judgment prohibition control for forcibly prohibiting the judgment may be executed.

Further, in the present embodiment, the above-mentioned predetermined value is set to the voltage value actually applied to the electric motor 21 when the duty ratio is 100 [%], but is limited to this. is not.
That is, with respect to the voltage value set as the above-mentioned predetermined value, at least any voltage value when the duty ratio is d1 [%] or more before the engine cranking operation is started is adopted. It is also good.

Further, in the present embodiment, the timing for starting and the timing for releasing the determination prohibition control are both applied to the same predetermined value (for example, when the duty ratio is 100 [%], the electric motor 21 is actually applied. The determination is made based on the voltage value to be determined), but the determination is not limited to this, and the determination may be made based on predetermined values different from each other.
That is, if the predetermined value of the operation amount for determining the timing to "release" the determination prohibition control is equal to or less than the predetermined value of the operation amount for determining the timing to "start" the determination prohibition control, any predetermined value is specified. A value may be selected, and for the voltage value set as a predetermined value when the above-mentioned determination prohibition control is "released", at least the duty ratio da [%] "starts" the above-mentioned determination prohibition control. The duty ratio of the voltage value set as a predetermined value at the time of the operation may be less than or equal to db [%] (da ≦ db).

[Control method for executing determination prohibition control (separate embodiment)]
By the way, when the signal instructing the start of engine start is sent to the operation control unit 8 during the closing operation of the back door 102, the control for executing the determination prohibition control for prohibiting the determination of the presence or absence of pinching. Regarding the method, as described above, a control method mainly based on the operation amount of the control unit 5 (that is, the actual voltage value applied to the electric motor 21 on the premise of feedback control) (hereinafter, “this implementation”. It is not limited to "determination prohibition control in the form"), and is not limited to, for example, the voltage value of the battery power supply 3 applied to the electric motor 21 via the control unit 5 (that is, the voltage value before the feedback control is executed). ) May be used as a control method for executing the determination prohibition control (hereinafter, referred to as “determination prohibition control in another embodiment”).

That is, in FIG. 4, a threshold value α [v] for the voltage value of the battery power supply 3 is preset in the arithmetic processing unit 51 of the control unit 5, and the battery power supply 3 measured by the voltage detection circuit unit 52. When the voltage value becomes equal to or less than the threshold value α [v], the control unit 5 executes the determination prohibition control.

Here, in FIG. 6, the preset voltage value threshold value α [v] is set to at least the third voltage value Vo3 [v] of the battery power supply 3 during engine stop or normal operation. Any voltage value between the voltage value of the battery power supply 3 and the voltage value of the battery power source 3 at which the rate of change of the door speed of the door 102 is equal to or less than a predetermined ratio can be arbitrarily set. Sets the first voltage value Vo1 [v] to the threshold value α [v], which makes it difficult to maintain the rotational speed of the electric motor 21 at a predetermined rotational speed even if the duty ratio is set to 100% by feedback control. are doing.

As described above, in the determination prohibition control in another embodiment, when the voltage value of the battery power supply 3 (that is, the voltage value before the feedback control is executed) becomes equal to or less than the predetermined threshold value α [v], the control unit 5 Immediately executes the determination prohibition control, so that it is immediately sandwiched without waiting for a determination based on the actual voltage value applied to the electric motor 21 on the premise of feedback control, which is the operation amount of the control unit 5. It is possible to prohibit the determination of the presence or absence of the back door 102, prevent the erroneous determination of pinching more accurately, and continue the moving operation of the back door 102.

As a determination prohibition control in another embodiment, when the control unit 5 detects that the starter motor 9 (see FIG. 4) is in the operating state via the signal input unit 51A, it is controlled under the condition. The unit 5 may start the mask time for forcibly turning off the detection state of the pinch detection and execute the determination prohibition control.
That is, when the cell motor 9 or the operation control unit 8 receives electronic information indicating that the cell motor 9 is executing the cranking operation, the control unit 5 may execute the determination prohibition control.

By having such a configuration, it is possible to more reliably grasp the timing at which the cranking operation of the engine is started, and the voltage value of the battery power supply 3 drops instantaneously due to the start of the engine or the like, resulting in pinching. It is possible to surely prevent erroneous determination of the presence or absence of the back door 102 and continue the moving operation of the back door 102.

[effect]
As described above, the moving body moving device 1 in the present embodiment includes a back door (moving body) 102, a driving unit 2 for moving the back door 102, a battery power supply 3 for supplying electric power to the driving unit 2, and at least. The movement speed (door speed) of the back door 102 according to the position of the rotation sensor (sensor) 4 that detects the position of the back door 102 and the position of the back door 102 detected by the rotation sensor 4 becomes a predetermined target movement speed rule. As described above, it is a moving body moving device including a control unit 5 that controls the drive unit 2 by feedback control (in this embodiment, PWM control).

Then, the control unit 5 can determine whether or not foreign matter is caught by the back door 102 or the movement of the back door 102 is hindered by the contact of an obstacle or a person, and the operation amount by the control unit 5 (in the present embodiment). , The actual voltage value applied to the electric motor 21 on the premise of feedback control) is a preset predetermined value (in the present embodiment, when the duty ratio is 100 [%], the electric motor is actually used. (Voltage value applied to 21), a preset fixed time (in this embodiment, a preset mask time), or until the operation amount becomes equal to or less than the predetermined value ( In the present embodiment, the determination is prohibited for prohibiting the determination as to whether or not the elapsed time T2 [sec] to the elapsed time T5 [sec]), the foreign matter being caught by the back door 102, or the movement of the back door 102 is hindered. Take control.

With such a configuration, according to the mobile body moving device 1 of the present embodiment, even during the opening / closing operation (moving operation) of the back door (moving body) 102, the voltage value of the battery power supply 3 is instantaneously changed. Even when the voltage is lowered, it is possible to prevent erroneous determination that pinching has occurred and continue the opening / closing operation (moving operation) of the back door 102.

That is, when the voltage value of the battery power source 3 that supplies electric power to the drive unit 2 via the control unit 5 drops instantaneously, the control unit 5 immediately displaces the duty ratio to 100% and the back door 102. The actual door speed (actual speed) of is controlled so as to be maintained at the maximum according to the target movement speed.
Then, the control unit 5 forcibly determines the presence or absence of pinching while supplying the voltage value of the battery power source 3 having the duty ratio of 100 [%] as the actual voltage value applied to the electric motor 21. As a result, the opening / closing operation (moving operation) of the back door 102 can be continued.

Further, in the moving body moving device 1 of the present embodiment, the control unit 5 of the electric motor 21 has a voltage value of the battery power supply 3 set to a predetermined threshold value α [v] (for example, even if the duty ratio is set to 100% by feedback control). When the voltage becomes equal to or less than the first voltage value Vo1 [v]), which makes it difficult to maintain the rotation speed at a predetermined rotation speed, the determination prohibition control is executed.

By having such a configuration, in the moving body moving device 1 of the present embodiment, the determination based on the actual voltage value applied to the electric motor 21 is premised on the feedback control which is the operation amount of the control unit 5. On the condition that the voltage value of the battery power supply 3 becomes equal to or less than a predetermined threshold value α [v] without waiting for, the determination of the presence or absence of pinching is immediately prohibited. The determination can be prevented and the opening / closing operation (moving operation) of the back door (moving body) 102 can be continued.

Further, in the moving body moving device 1 of the present embodiment, the control unit 5 sends an operation start command to the starter motor (engine starting unit) 9 for cranking and starting the engine (not shown) and the starter motor 9. When the cell motor 9 or the operation control unit 8 is connected to the control unit 8 so as to be able to communicate with each other and receives electronic information indicating that the cell motor 9 is executing the cranking operation, the determination prohibition control is executed. do.

By having such a configuration, the determination of the presence or absence of pinching is prohibited only when the voltage value of the battery power supply 3 drops instantaneously due to the start of the engine or the like, and the back door (moving body) 102 The opening / closing operation (moving operation) can be continued.

1 Mobile moving device 2 Drive unit 3 Battery power supply 4 Rotation sensor (sensor)
5 Control unit 8 Command unit 9 Starter motor (engine starting unit)
102 Backdoor (mobile body)

Claims (3)

With a mobile body
The drive unit that moves the moving body and
A battery power supply that supplies power to the drive unit,
At least a sensor that detects the position of the moving object and
A moving body including a control unit that controls the driving unit by feedback control so that the moving speed of the moving body becomes a predetermined target moving speed rule according to the position of the moving body detected by the sensor. It ’s a mobile device,
The control unit
It is possible to determine whether or not the moving body is caught by a foreign object or the movement of the moving body is hindered by the contact of an obstacle or a person.
When the operation amount by the control unit reaches a preset predetermined value,
For a predetermined period of time, or until the operation amount becomes equal to or less than the predetermined value.
Execution of a determination prohibition control that prohibits determination as to whether or not a foreign object is caught by the moving object or the movement of the moving object is hindered.
Mobile body moving device. The control unit
When the voltage value of the battery power supply becomes equal to or less than a predetermined threshold value,
Executing the determination prohibition control,
The mobile moving device according to claim 1. The control unit
It is telecommunications-enabled with an engine starter that cranks and starts the engine, and a commander that sends an operation start command to the engine starter.
When the electronic information indicating that the cranking operation is being executed is received from the engine starting unit or the command unit, the determination prohibition control is executed.
The mobile moving device according to claim 1 or 2.

Images