JP2587723B2 - Vehicle door re-opening / closing control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention is provided with a door pinching prevention function of detecting that a person or an object is caught and reopening / closing the door when the door of the vehicle is closed. The present invention relates to a vehicle door re-opening / closing control device.

[Conventional technology]

In a railway vehicle door opening and closing control device, when a person or an object is caught between doors or between a door and a door frame when the door is closed, this is detected and the door is temporarily closed. It is indispensable to install a so-called door-jam prevention mechanism, which is opened and the door-jam state is eliminated, and then closed again.

As a door pinch prevention mechanism in such a door opening and closing control device, for example, as shown in Japanese Patent Application Laid-Open No. 58-210266,
A door pinch prevention mechanism for a vehicle door that opens and closes the door with a motor can be presented. In the door opening / closing control device disclosed herein, as shown in FIG. 9, the motor 3 is rotated by the operation of the motor control relay 2 cooperating with the power supply 1 to open or close the vehicle door 4, and Tachometer 8 with rupture disk 7 interposed between light source 5 and sensor 6
Is attached to the shaft of the motor 3, the tachometer 8 is connected to the door controller 9, and the tachometer output signal on the input 10 is sent to the door controller 9. The tachometer 8 detects a decrease in the speed of the motor 3, activates the door control relay 11, and determines the operation of the motor control relay 2 via the limit switch 12. The vehicle control device 13 generates one of a door open command signal and a door close command signal to the motor control relay 2, and energizes the motor control relay 2 by the door open command signal to open the vehicle door 4.
In response to the door closing command signal, the motor control relay 2 is demagnetized and the vehicle door 4 is closed. Motor control relay 2
Supplies the ground input 14 to the door control device 9, and when a door closing command signal is given by the vehicle control device 13, the motor control relay 2 removes the ground input 14 and starts the operation of the door control device 9. Let it.

In the above description, when there is an obstacle in the moving path of the vehicle door 4 and the speed of the motor 3 falls below a predetermined threshold, the door control device 9 controls the motor 3 via the door control relay 11 and Is reopened for a predetermined time and then moves in the closing direction again.

[Problems to be solved by the invention]

However, this door opening / closing control device performs a door jam detection by setting a threshold value for the motor rotation speed, and is superior to the former door jam prevention mechanism in terms of durability and theoretical reliability. However, in the case of a motor, there is an inverse relationship between the rotation speed and the rotation torque, that is, the closing movement speed and the closing movement torque. In a region where the closing movement speed is high, the closing movement torque becomes small, so that the frictional resistance is applied to the door by wind pressure or the like. When actuated, the closing speed changes significantly. As a result, if the threshold value for door jam detection is set to be high, the closing movement speed immediately falls below the threshold, and the door jam detection mechanism malfunctions.

Therefore, the threshold value must be set low in the high-speed range of the closing movement speed, and there is a surface lacking safety in that the door-jam prevention mechanism does not operate unless the closing-movement speed is significantly reduced by the jamming of the door.

The present invention has been made focusing on the above circumstances,
It is an object of the present invention to provide a highly safe vehicle door re-opening / closing control device capable of automatically detecting the pinching of a door and automatically re-opening / closing the door during the entire door closing operation. .

[Means for solving the problem]

Thus, the vehicle door re-opening / closing control device according to the first invention which has achieved the above object is, as shown in FIG. 1, a vehicle door re-opening / closing control device for driving the door to open and close by a pneumatic cylinder 15. An encoder 16 installed in the pneumatic cylinder 15 for generating a pulse signal in accordance with the movement of the door, a position detecting means 17 for detecting a movement position of the door by a pulse signal from the encoder 16, and a pulse from the encoder. A speed detecting means 18 for detecting a moving speed of the door based on a signal transmission interval, and a reference speed having a reference speed according to a moving area of the door, and setting the reference speed according to a position signal from the position detecting means 17 A setting unit 19, a comparison unit 21 that compares the speed data from the speed detection unit 18 with the set reference speed data from the reference speed setting unit 19, and outputs an open / close signal to the door open / close control unit 20. Yes As shown in FIG. 2, a vehicle door re-opening / closing control device according to a second invention is a correction means for learning and setting the reference speed by a predetermined number of door closing operations in addition to the basic configuration. 25, this correction means 25, while counting the number of corrections during the door closing operation,
This correction number is equal to or less than the arbitrary number, and the determination unit 22 that outputs a correction signal by determining that the door stroke amount at the time of the door closing operation is equal to or more than a predetermined amount, and receives the correction signal, A calculation storage unit 23 that calculates the moving speed at the time of the door closing operation to obtain an actual moving speed and stores the actual moving speed up to the arbitrary number of times, and the calculation storage unit 23 at the end of each door closing operation. And a correction operation unit 24 that calculates the actual moving speed of each time held in 23 and the reference speed stored in advance and outputs a new reference speed.

[Action]

According to the configuration of the first invention, the door is the pneumatic cylinder 15
In addition to the opening and closing drive, the position detecting means 17 and the speed detecting means 18 can detect the position and the moving speed of the door by a pulse signal from the encoder 16 installed on the pneumatic cylinder 15. Then, the reference speed setting unit 19 sets a reference speed serving as a criterion for the detection of the pinch detection according to the position signal from the position detection unit 17, so that the comparison unit 21 compares the speed data from the speed detection unit 18 with the speed data. The set reference speed data from the reference speed setting unit 19 is compared, the presence or absence of a door jam is determined based on the comparison result, and an open / close signal can be output to the door open / close control unit 20.

In the door pinch prevention mechanism, the present invention uses the pneumatic cylinder 15 as the door opening / closing drive means, but the driving torque in the pneumatic cylinder 15 corresponds to the product of the area of the piston and the surface pressure applied thereto, Unlike motor-driven vehicle doors, drive torque is not affected by drive speed. Therefore, the door can be driven with a high torque even in a region where the closing movement speed is high, and the closing movement speed does not greatly decrease due to disturbance. it can. Thus, the occurrence of a door jam can be detected with good accuracy, and the door can be opened and closed again, thereby protecting the passenger from danger due to excessive door jam.

In addition, in the second invention, in addition to the above configuration, in order to more accurately set the reference speed, the reference speed of the determination unit 22, the operation storage unit 23, the correction operation unit 24, etc. Correction means 25 that sets learning by the number of times of closing the door is provided,
The determination unit 22 counts the number of corrections during the door closing operation, and the number of corrections is equal to or less than the arbitrary number of times,
In addition, a correction signal is output when it is determined that the door stroke amount at the time of the door closing operation is equal to or more than a predetermined amount. On the other hand, the operation storage unit
23 receives the correction signal, calculates the moving speed at the time of the door closing operation to obtain the actual moving speed, and stores the actual moving speed up to the arbitrary number of times. Then, the correction calculation unit 24 calculates the actual movement speed of each time held in the calculation storage unit 23 and the previously stored reference speed in each door closing operation, and outputs a new reference speed. By repeating the above-described correction operation a predetermined number of times, a reference speed suitable for the standard closing state of the vehicle door can be set, and the re-opening / closing operation can be performed more accurately by detecting the door jam.

〔Example〕

Prior to the description of the re-opening / closing control device according to the present invention, a general configuration of a vehicle door opening / closing device to which the present invention is applied will be described.

As shown in FIG. 3, the door opening / closing device includes a pneumatic cylinder 15, which drives the door, a speed adjusting unit 26, an opening / closing control unit 27, and the like, and an air passage connecting the pneumatic cylinder 15 and a pressure air source 28.
A pressure reducing valve 30, a door cock 31, a filter 32, and the like are interposed in 29.

The speed adjusting unit 26 is provided in the passages 33 and 34 of the pneumatic cylinder 15,
Cushion adjustment throttle sections 35, 35a and check valves 36, 36a, respectively,
It is connected to the speed adjustment diaphragms 37 and 37a.

In the above door opening and closing device, the switching of the switching valve 39 by the solenoid valve 38 moves the hollow piston 40 and the small piston 41 of the pneumatic cylinder 15 to open and close the door. The opening / closing speed is adjusted by adjusting the speed
7,37a, and the cushion adjustment throttle unit 35,35
The moving speed adjustment immediately before the stop of the opening / closing operation is performed by a.

The standard closing speed change by such a door opening and closing device is, for example, as shown by a solid line in FIG. 4, and the moving region can be divided into an acceleration region, a constant (high) speed region, a deceleration region, and a cushion region. it can. In the illustrated example, the stroke at the fully closed position is “0”, and the fully opened position is “650”. Then, the door starts the closing operation while being accelerated from the fully open position, and when the door reaches a constant speed (high-speed VH) range, the door is rapidly closed while maintaining the speed. When the vehicle reaches the deceleration region, the speed is reduced until the vehicle reaches a predetermined low speed VL at a predetermined deceleration rate, and in the cushion region, the door is gradually closed while maintaining the low speed to reach the fully closed position. . The present invention detects a door jam in response to a change in closing speed at the time of the door closing operation, and an encoder is mounted on a pneumatic cylinder 15 for opening and closing the door.
16 is installed, the position of the door and the actual moving speed of the door are detected by a pulse signal from the encoder 16, and the reference speed for detecting the pinching of the door is determined according to each moving area as shown by the broken line in FIG. When the setting is made and the actual moving speed is lower than the reference speed, it is determined that a door jam has occurred and the door is opened and closed again.
Here, the reference speeds V1 and V2 are used as reference closing speeds (VH and VL).
The standard is to set it so that it is 80%.
Further, the reference speed in the acceleration region is set to 1/2 of the reference speed in the high speed region, and the reference speed is reduced at a constant deceleration rate from V1 to V2 in the deceleration region. Further, insensitive sections are provided between a stroke of 50 mm from the fully open position and before the fully closed position. In addition to the above-described comparative control of the closing speed, in the moving region except the deceleration region, a reference deceleration is set for each region, and when the actual deceleration becomes larger than the reference deceleration, a deceleration for detecting that a door jam has occurred is detected. Speed comparison control can be performed.

Next, a reopening / closing control device according to an embodiment for performing the above reopening / closing control will be described. As shown in FIG. 5, the reopening / closing control device is installed on a double-opening vehicle door 4a, 4b. In the rack and pinion mechanism that opens and closes the air cylinder 15 and the doors 4a and 4b in both directions, a rotary encoder 16 coaxially mounted on the pinion, a re-opening / closing control unit 43 incorporated in the microcomputer, a door opening / closing relay (door opening / closing relay) The re-opening / closing control unit 43 includes a speed detection unit 18 that receives a pulse signal from the encoder 16 to detect a speed,
Position detection means to detect the position by the pulse signal from 16
17, a moving speed comparison unit 21a, a deceleration comparison unit 45, a re-opening / closing timer 46 and a determining unit 22, a calculation storage unit 23, a correction unit 25 including a correction calculation unit 24, and the like. Is
Signals from a door close switch 47, an automatic / manual changeover switch 48, and an open / close command switch 49 are input. Timer 46
, A timer adjustment knob 50; a correction means 25, a high-speed area reference speed adjustment knob 51; a cushion area reference speed adjustment knob.
52 are installed respectively. In the present embodiment, the reference speed setting unit and the reference deceleration setting unit are respectively
a and the deceleration comparing section 45.

Next, the operation of the re-opening and closing control device 43 will be described according to a flowchart showing the microcomputer program of FIGS. 6 and 7.First, after turning on the power in step S1,
In step S2, it is detected that the door is at the closed position, the stroke is set to "0", and the microcomputer starts outputting flicker at a frequency of 1 KHZ. Next, in Step S3, after inputting the reference speed value and the timer value provisionally set by the adjustment knobs 50, 51, 52 as initial setting values, Step S4
Then, the process enters a correction loop indicated by S16. In this loop, first, in step S4, it is determined whether the operation of the door is in the opening stroke or the closing stroke. If it is determined that the vehicle is in the opening stroke, the opening is set in step S5, and the process returns to step S4. In this correction loop, the tentatively set reference speed value is learned and set by an arbitrary number of door closing operations after the power is turned on, and the opening and closing speed of the door changes with the ambient temperature and aging. This is performed for the purpose of guaranteeing that the speed is different from time to time by adjusting the speed adjusting unit 26. As a result, the actual moving speed can be made closer to the reference speed value, and the safety can be further improved. On the other hand, when it is determined that the vehicle is in the closing stroke, the closing is set in step S6, and the determinations in steps S7 and S8 are performed. That is, in step S7, it is determined whether or not the number of corrections is ten, and if the determination is NO, the process proceeds to step S8 to know whether or not the door has been sufficiently opened by the current door opening and closing operation, Here, it is determined whether or not the maximum stroke is 600 or more. If YES is determined in step S8, the process proceeds to step S9, and the correction flag is set to "1". On the other hand, if YES is determined in step S7, it means that the number of corrections has reached the specified number of 10, and step S8
If the determination is NO, it means that the door was not opened sufficiently due to reversal of the operation during the operation, etc., so in these cases, it is not necessary or not possible to adopt the correction data. Proceeding to step S10, the correction flag is “0”
Is set to

When the correction flag is set in step S9 or S10, the process proceeds to step S11, and it is determined whether a door closing switch or a stroke based on a pulse signal is used as the fully closed position dead zone detecting means. Incidentally, whether the door has reached the fully closed position can also be detected by a door closing switch that operates when the door is fully closed. Here, when the door closing switch is employed, the process proceeds to step S12, and it is determined whether the door closing switch is on or off. If the door closing switch is on, the process proceeds to step S14, and the correction flag is set to “1”. Or “0”. On the other hand, when the stroke based on the pulse signal is adopted in step S11, the process proceeds to step S13, where it is determined whether or not the stroke pulse indicating the position of the door is 3 or less. If it can be considered that the position is in the fully closed position), the process proceeds to step S14. When the correction flag is determined to be "1" in step S14, the process proceeds to step S15, and after correcting the reference speed value, returns to step S4. Meanwhile, in step S14, the correction flag is set to "0". If "" is determined, the process returns to step S4.

Here, as shown in FIG. 8, the contents of the correction in step S15 are based on the read value of the initial setting value from step S3 and the calculation and storage value of the actual moving speed in the current correction loop based on the following equation. It calculates and outputs a new reference speed.

(Example of calculation formula) Initial value a: Constant (high) speed area, b: Cushion area Actual moving speed An: Constant (high) speed area, Bn: Cushion area (where n indicates the number of corrections) Calculation of new reference speed Constant (high) speed area A '= [a + (Al + ... + An)] / (n + 1) Cushion area B' = [b + (B1 + ... + Bn) / (N + 1) On the other hand, if the door has not reached the fully closed position and is determined to be off in step S12 or NO in step S13, the process proceeds to step S16, and the automatic operation mode or the manual operation mode is performed. Is determined. Here, when it is determined that the operation mode is the automatic operation mode, the process enters a door-jam detection loop shown in steps S17 to S26. In step S17, the stroke is 50 mm from the fully closed door position where the stroke is
It is determined whether or not the area is in a small area. If the determination is YES, steps S18 to S24 sequentially determine or determine which moving area is located. That is, if it is determined in step S18 that the vehicle is in the acceleration region, if it is determined in step S19 that the vehicle is in the constant (high) speed region, or if it is determined in step S2 that
If it is determined in step 1 that the vehicle is in the cushion area, the process proceeds to step S22, and a deceleration determination is performed. Here, when the deceleration is larger than the reference deceleration set value Vα of each area due to the pinch of the door, that is, when it is determined as YES,
Proceed to step S24 to stop the output flicker,
An open command is issued to the door open / close relay (door open / close control unit) 44.

On the other hand, when the deceleration is determined to be small and NO in step S22, and when it is determined to be NO in steps S18 and S19 and it is determined that the vehicle is in the deceleration range (YES) in step S20, the process proceeds to step S23. Then, it is determined whether the closing speed is lower than the reference speed for each moving area set in the correction loop. If the determination is YES, step S24
And the same processing as above is performed.On the other hand, if the determination is NO, no door jam has occurred, so step S4
Return to

After the output flicker is stopped in step S24, it is determined whether or not the set time set by the timer 46, that is, the open command continuation time has been completed, in order to eliminate the door jam in step S25, and the open command time is set. If the time has not been reached, that is, if NO, step S25 is looped and the open state is maintained. On the other hand, in step S25,
If it is determined to be ES, output flicker is restarted in step S26, a close command is sent again to the door open / close relay 44, and the reopen / close control process returns to step S4.

As described above, in the entire stroke of the door closing operation, by setting the reference speed close to the closing movement speed and performing the re-opening / closing control, it is possible to detect the door jam with high accuracy and re-open / close the door, A highly safe vehicle door can be provided.

In particular, in the above embodiment, an output flicker always occurs at 1 KHz from the microcomputer, and an open command is issued by stopping the output flicker. Therefore, even if a microcomputer abnormality, a microcomputer power cutoff, a relay power cutoff, a failure of an output electric component, or the like occurs, the output pulse disappears, an open command is output, and a failure in the door entrapment prevention mechanism occurs. It will fulfill the safety function. When the microcomputer fails, the vehicle reopening / closing function is set to the manual mode, and the function of the reopening / closing control unit is stopped.

〔The invention's effect〕

The present invention is configured as described above, and performs position detection and speed detection by a pulse signal from an encoder installed in a pneumatic cylinder, and based on a position signal, a reference speed provided according to a door moving area. The selected speed is compared with the detected speed value. If the detected speed value is lower than the reference speed, it is determined that the door is jammed, and the door can be opened and closed again. In particular, since a pneumatic cylinder is used as the door driving means, the driving torque of the door can be maintained high even in a high-speed range, and fluctuations in the closing speed due to disturbance can be suppressed. Therefore, it is possible to set the reference speed, which is a criterion for the detection of door jam, to a value close to the standard closing speed, and when the door jam occurs, the closing speed immediately falls below the reference speed, and the door jam is detected. The door can be opened and closed again with high precision detection.

Further, in setting the reference speed, a correction means for learning and setting the reference speed by a predetermined number of times of closing the door, comprising a determination unit, a calculation storage unit, and a correction calculation unit, is used.
By repeating the door closing operation an arbitrary number of times, it is possible to set the reference speed most suitable for the standard closing state of the door,
The re-opening / closing control can be performed by more accurately detecting the detection of the door jam.

[Brief description of the drawings]

FIG. 1 is a functional block diagram showing the configuration of the first invention, FIG. 2 is a functional block diagram showing the configuration of the second invention, FIG. 3 is an air circuit diagram of the door opening / closing device, and FIG. FIG. 5 is an explanatory diagram showing a re-opening / closing control device according to the embodiment, and FIGS. 6 and 7 are flowcharts showing an example of a program stored in a microcomputer incorporated in the re-opening / closing control device. FIG. 8 is a flowchart showing the contents of the correction program, and FIG. 9 is a block diagram showing a conventional example. 15: Pneumatic cylinder 16: Encoder 17: Position detecting means 18: Speed detecting means 19: Reference speed setting unit 20: Door opening / closing control unit 21: Comparison unit 22: Judgment unit 23: Calculation storage Unit 24: Correction calculation unit 25: Correction means

Claims (2)

(57) [Claims] 1. A re-opening / closing control device for a vehicle door for driving a door to open and close by a pneumatic cylinder, wherein the encoder is installed in the pneumatic cylinder and generates a pulse in accordance with the movement of the door, and a pulse from the encoder. Position detecting means for detecting the moving position of the door by, and speed detecting means for detecting the moving speed of the door by a pulse from the encoder,
A reference speed setting unit that has a reference speed corresponding to the moving area of the door and sets the reference speed in accordance with a position signal from the position detection unit; and a speed data and a reference speed setting unit from the speed detection unit. And a comparison unit for comparing the set reference speed data and outputting an opening / closing signal to the door opening / closing control unit. 2. A correction means for learning and setting the reference speed by an arbitrary number of door closing operations set in advance, wherein the correcting means counts the number of corrections during the door closing operation, and the number of corrections is set to A determination unit that outputs a correction signal when it is determined that the door stroke amount during the door closing operation is equal to or less than an arbitrary number and that the door stroke amount is equal to or more than a certain amount; A calculation storage unit that calculates the speed to obtain an actual movement speed and stores the actual movement speed up to the arbitrary number of times; and an actual movement held in the calculation storage unit at the end of each door closing operation. The vehicle door re-opening / closing control device according to claim 1, further comprising a correction operation unit that calculates the speed and a pre-stored reference speed to output a new reference speed.