JP3475726B2 - Control device for electric step - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric step for assisting an occupant in getting in and out of a vehicle, which can be manually extended or retracted when an electric drive system fails, and more particularly, The present invention relates to a control device for an electric step, which controls an extension operation or a storage operation of the step when an electric drive system fails.

[0002]

2. Description of the Related Art Conventionally, in a vehicle in which the vehicle floor is high and it is difficult to get on and off the floor surface directly from the ground surface, a step for getting on and off is provided below the door opening on the side of the vehicle. This step for getting on and off is generally a fixed type,
It is necessary to install the boarding / alighting step so that it fits within the width of the vehicle, and the fixed type is not easy to use.

Therefore, a movable step for getting on and off has been developed so that the step can be put into the vehicle width when it is extended and stored rather than the vehicle width when used. In particular, an electric step device has also been developed, which can be automatically driven by an electric motor between the extended state and the stored state of the step.

[0004]

By the way, in the above-mentioned electric step device, when the electric motor fails or is broken, the step may be stuck in the overhanging state or during the overhanging or storing. In this case, the step may project laterally from the vehicle and hinder the running of the vehicle. In addition, when the step does not move in the stored state or during extension, the step cannot be used effectively.

Therefore, in the case of such an electric step device, it is necessary to prepare some countermeasures in case of failure of the step driving motor or the like. For example, Japanese Utility Model Publication No. 6-41883 proposes such an electric step device, and further, when a step drive system (electric drive system) fails, the step can be manually moved. Although it has been proposed to deal with a failure, the conventional techniques including the technique of such publication have the following problems.

That is, when the electric drive system fails in such a step, the operator must recognize the failure.
Even if the step can be driven by the manual operation, the step driving by the electric operation is retried many times. On the other hand, it is necessary to properly judge the failure of the electric drive system in the step and notify the operator of this when the electric drive system fails.

Also, when the operator recognizes a failure,
Depending on the operator, before driving the step by the manual operation, the step driving by the electric operation may be repeated many times to try. In the event of a failure of the electric drive system of the step, it is desirable to be able to promptly guide the operator to drive the step by manual operation without repeating such useless retries.

In addition, the drive control of the step by electric is
Not only when the operator consciously performs the steps, for example, it is possible that the steps are automatically put in the retracted state while the vehicle is running. Therefore, if the electric drive system is out of order, there is a problem that the electric power storage step drive is repeatedly retried wastefully. In this respect as well, it is desirable not to repeat useless retries when the electric drive system of the step fails.

The present invention was devised in view of the above problems, and does not repeat the retry of the electric operation of the step many times when a failure occurs in the electric drive system of the step including the electric motor. It is an object of the present invention to provide a control device for an electric step, which is regulated as described above so that the operator can be prompted to store the step manually.

[0010]

In order to achieve the above-mentioned object, in the control device for an electric step according to the present invention as set forth in claim 1, the step for getting on and off is arranged below the opening of the side door of the vehicle. It can be moved to the extended state or the stored state by electric or manual operation, and the electric movement of the step is performed by controlling the drive electric motor for driving the step by the control means, and the electric operation is performed by the opening operation of the door. The motor is activated and the step is extended, and the closing operation of the door activates the electric motor to store the step.

When the overhanging operation time or storing operation time of the step exceeds a predetermined time, the control means determines that the drive system of the step including the electric motor has failed.
The energization of the electric motor is stopped, and then the energization stop state is continued. Therefore, at this time, even if the door is opened or closed, the electric motor is not activated, and the overhanging operation and the storing operation in the step are not performed.

Further, when the storage state detecting means detects that the step is manually set in the storage state in the power supply stopped state, the power supply stop is released. As a result, when the door is opened, the electric motor is activated and the step is extended, and when the door is closed, the electric motor is activated and the step is stored. In the control device for an electric step according to the present invention, the step for getting on and off the vehicle, which is arranged below the opening of the side door of the vehicle, can be moved to the extended state or the stored state electrically or manually. Is controlled by controlling the drive electric motor for driving the step, and the opening operation of the door activates the electric motor to cause the step to extend and close the door. The operation starts the electric motor to store the step.

When the overhanging operation time or storing operation time of the step exceeds a predetermined time, the control means determines that the drive system of the step including the electric motor has failed.
Stop the energization of the electric motor, and after stopping the energization,
With respect to the closing operation of the door, energization of the electric motor for the storing operation of the step is permitted a predetermined number of times, and when the closing operation of the door exceeds the predetermined number of times and when the opening operation of the door is performed. On the other hand, the energized state is continued. That is, at this time, although the storing operation of the step can be performed a predetermined number of times by the closing operation of the door, except for the storing operation of the predetermined number of times, that is, when the door closing operation exceeds the predetermined number of times. Also, with respect to the opening operation of the door, the electric motor is not started even when the door opens or closes, and the overhanging operation and the storing operation in the step are not performed.

Further, when the storage state detecting means detects that the step is manually set to the storage state at the time of stopping the energization, the stop of the energization is released. As a result, when the door is opened, the electric motor is activated and the step is extended, and when the door is closed, the electric motor is activated and the step is stored. In the electric step control device of the present invention according to claim 3, since the control means causes the failure display means to display that the electric drive system is in a failure state when the power supply to the electric motor is stopped,
The operator can we recognize this failure.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. FIGS. 1 to 15 show an electric step control device as one embodiment of the present invention. Will be described with reference to FIG. First, FIGS.
With reference to, an electric step device with a manual storage mechanism according to the present embodiment (hereinafter, also simply referred to as an electric step) will be described.

As shown in FIG. 2, this electric step device is installed at a lower portion of a door opening 30 provided on a side surface of a vehicle, and has a driving side link 11 and a driven side link 21 which operate in a substantially horizontal plane, and these. 2 includes a boarding / alighting step 23 supported by links 11 and 21, and the boarding / alighting step 23 is indicated by an arrow A1 between the extended position shown by the solid line and the storage position shown by the chain line in FIG. It can move almost horizontally. In FIG. 2, reference numeral 3
0'is a door.

FIG. 3 is a side view of the main part of the electric stepping device, and FIGS. 4 and 5 are schematic plan views of the electric stepping device. As shown in FIGS.
3 is installed on the base frame 22, and one end of each of the drive side link 11 and the driven side link 21 is rotatably supported at both ends of the base frame 22. These driving side link 11 and driven side link 2
The other end of each of the 1 is rotatably supported on the vehicle 24 side, and the driving side link 11, the driven side link 21, and the base frame 22 constitute a parallel link mechanism that operates substantially in a horizontal plane. . This allows the base frame 2
2 and the step 23 for getting on and off can be moved almost horizontally.

By the way, a shaft (step operation shaft) 1 for rotatably supporting the other end of the drive side link 11 on the vehicle 24 side.
1 is driven to rotate by an electric motor 15. By rotating the step operation shaft 10, the drive side link 11 is swung around the step operation shaft 10 and used for the base frame 22 and the boarding / alighting. The step 23 is adapted to be taken in and out in the vehicle width direction.

Here, FIG. 9 is a perspective view showing the drive system of the step-in / out step 23. The output of the electric motor 15 will be described with reference to FIG. 9 according to the transmission path of the torque from the electric motor 15. The rotation is first input to the speed reduction mechanism 43. The deceleration mechanism 43 decelerates the rotation of the electric motor 15 to a required rotation speed and inputs it to the power transmission rotary shaft 1. The deceleration mechanism 43 connects the worm 14 fixed to the output shaft 15a of the electric motor 15 and the power transmission. The worm gear 31 is rotatably supported by the rotary shaft 1 for use and meshes with the worm 14.

By the way, the worm gear 31 is not fixed to the power transmission rotary shaft 1 but is rotatably supported, and the torque limiter 3 is provided between the worm gear 31 and the power transmission rotary shaft 1. The torque that is interposed and applied to the worm gear 31 is input to the power transmission rotary shaft 1 via the torque limiter 3. In addition,
The torque limiter 3 transmits the rotation between the worm gear 31 and the power transmission rotary shaft 1 only when the torque transmitted between the worm gear 31 and the power transmission rotary shaft 1 is equal to or less than a predetermined value. When the value exceeds a predetermined value, the transmission of this rotation is cut off to prevent the electric motor 15 from being overloaded. The detailed structure of the torque limiter 3 will be described later.

Next, the rotation input to the power transmission rotary shaft 1 is transmitted to the step operation mechanism 41 from the output gear 4 fixedly concentric with the worm gear 31 on the power transmission rotary shaft 1. It has become. That is, the step operation mechanism 41 includes the rotating body 5, the rotation shaft (step operation shaft) 10 that supports the drive side link 11, and the two latch members 6 and 7.
The latch base 8 and the lock member 12 are provided.

The rotating body 5 is rotatably supported on the step operating shaft 10, and the tooth portion 5A formed on the outer periphery is meshed with the output gear 4 of the power transmitting rotary shaft 1 to transmit power. It serves as an input unit for rotation from the rotary shaft 1 for operation to the step operation mechanism 41. Further, projecting strikers 5a and 5b are provided on one surface of the rotating body 5. Further, the latch base 8 is arranged between the rotating body 5 and the drive side link 11, and is fixed to the step operation shaft 10. Figure 6
FIG. 7 is a plan view of an essential part showing the step operation mechanism 41. As shown in FIG. 6, the latch base 8 has a first latch member 6 and a second latch member 7 rotatably through shafts 6a, 7a. Installed, these latch members 6,
In the vicinity of 7, stoppers 8a and 8b are fixedly installed. The latch members 6 and 7 have hook portions 6A and 7A and convex portions 6B and 7B, respectively, and the first latch member 6 is rotated clockwise in FIG. 6 by the rotary spring 6b provided on the shaft 6a. The second latch member 7 is biased in the counterclockwise direction by the rotary spring 7b provided on the shaft 7a.

The strikers 5a and 5b of the rotating body 5 described above.
Is provided on the side of the latch base 8, and the strikers 5a and 5b come into contact with the latch members 6 and 7 to move the latch members 6 and 7 when the rotating body 5 rotates. That is, when the rotating body 5 rotates clockwise in FIG. 6, the first striker 5 a moves to the first latch member 6
The first latch member 6 is rotated counterclockwise around the shaft 6a by coming into contact with the convex portion 6B. And
When the first latch member 6 rotates counterclockwise around the shaft 6a and comes into contact with the stopper 8a, the rotating body 5 rotates integrally with the latch base 8 in the clockwise direction.

On the contrary, when the rotary body 5 rotates counterclockwise in FIG. 6, the second striker 5b comes into contact with the convex portion 7B of the second latch member 7 and the second latch member 7 is pressed.
When the second latch member 7 contacts the stopper 8b by rotating the shaft 7a in the clockwise direction around the shaft 7a, the rotating body 5 is integrated with the latch base 8 and rotates counterclockwise.

The lock member 12 is composed of the latch members 6 and 6.
7 is provided separately from the step operation shaft 10 in the rotation direction around the step operation shaft 10. This lock member 12
Includes two locking portions 12A and 12B and a stopper wall 12a,
When the latch base 8 rotates clockwise in FIG. 6, the latch base 8 comes into contact with the stopper wall 12a to stop the rotation, and the hook portion 7A of the second latch member 7 engages with the locking portion 12A. It is supposed to meet.

On the contrary, when it rotates counterclockwise, it abuts against the stopper wall 12b and stops rotating, and the hook portion 6A of the first latch member 6 engages with the locking portion 12B. . Also, on the back side of the locking portions 12A, 12B,
Step position detection circuit 13, that is, a set switch (SET SW) 13A for detecting the completion of extension in step 23
Further, a return switch (RET SW) 13B as a storage state detecting means for detecting the completion of storage in step 23 is provided, and the hook portions 6A, 7A are provided with the locking portions 12B,
When engaged with 12A, the electric motor 15 is stopped.

As described above, in this apparatus, the stepping-on / off step 23 is held by the latch mechanism in either the storage fixed state or the extended fixed state. Here, the torque limiter 3 will be described in detail with reference to FIG.
FIG. 8 is a cross-sectional view schematically showing the structure of the torque limiter 3. As shown in FIG. 7, the torque limiter 3 is a rotary member 3 fixed to the worm gear 31 and the power transmission rotary shaft 1.
The torque transmission between the worm gear 31 and the rotating member 32 is controlled by the engaging member (ball) 33 interposed between the worm gear 31 and the rotating member 32. There is.

That is, the rotary member 32 is fixed to the rotary shaft 1 for power transmission concentrically with the worm gear 31, and a plurality of spring holes 32a are formed on the rotary member 32 side. The spring 34 is first inserted in the spring hole 32a, and then the ball 33 is fitted therein. On the other hand, on the rotating member 32 side of the worm gear 31, a receiving hole 31a is provided at a position corresponding to the spring hole 32a, and a part of the ball 33 urged by the spring 34 is fitted therein.

As a result, for example, when a rotational torque is applied to the worm gear 31, the ball 33 is received from the receiving hole 31a.
Further, when the rotation torque is transmitted to the rotating member 32 side through the spring hole 32a and, for example, the rotation torque is applied to the power transmitting rotary shaft 1, the spring hole 32a of the rotating member 32 passes through the ball 33 and the receiving hole 31a to the worm gear 31. Rotational torque is transmitted.

When the torque acting between the worm gear 31 and the rotating member 32 is less than a predetermined value during the transmission of the rotational force, the ball 33 is fitted in the receiving hole 31a, and the worm gear 31 and the rotating member. Although the rotation is transmitted between the ball 32 and the worm gear 32, when a torque of a predetermined value or more acts between the worm gear 31 and the rotating member 32, the large torque causes the ball 33 to resist the urging force of the spring 34. And spring hole 3
It is adapted to be disengaged from the retracted receiving hole 31a on the 2a side so that the transmission of rotation between the worm gear 31 and the rotating member 32 is interrupted.

By the way, the power transmission rotary shaft 1 is extended below the originally necessary portion (the output gear 4 mounting portion), and the lower end portion of the rotary shaft 1 is manually rotated from the outside. There is provided a rotation operation section 42 capable of manually driving step 23. The rotary operation part 42 includes a downwardly extending portion of the power transmission rotary shaft 1 (hereinafter referred to as a manual operation shaft 2) and a rotary shaft 1 at the tip of the manual operation shaft 2.
And a nut (or bolt) 2a fixed concentrically therewith. The nut 2a is a nut (or bolt) of the same size as the tire wheel fixing nut, and has a diameter corresponding to the tire wheel fixing nut removing / attaching wrench 16 of the vehicle tool.

The control device for the electric step is provided for electrically driving the electric step device configured as described above. Here, the present control device will be described with reference to FIG. As shown in FIG. 1, the present control device includes an electronic control unit (ECU) 50 as a control unit and an ECU.
Key switch (IG1) 5 that outputs a detection signal to 50
1, a door switch 52, a main switch 53, a vehicle speed sensor 54, the step position detection circuit 13 (set switch 13A, return switch 13B) provided on the step device side, an alarm lamp 55, and a buzzer 56 built in the ECU 50. And a failure display means 57.

The door switch 52 is turned on / off in conjunction with opening / closing of a door (here, a sliding door) 30 ' ,
When the door 30 ' is opened even a little, an ON signal is output, and when it is completely closed, an OFF signal is output. Main switch 53
Is a switch for manually selecting whether to operate the electric step device. Also, the alarm lamp 55
Blinks to indicate that a failure has occurred.

In the ECU 50, input circuits 50A, 50
B, power supply circuit 50C, microcomputer (microcomputer) 50D, output circuits 50E and 50F, forward rotation switch circuit 50G, reverse rotation switch circuit 50H, and the buzzer 5 described above.
6, and a step drive circuit 58 is composed of the output circuit 50F, the forward rotation switch circuit 50G, and the reverse rotation switch circuit 50H.

The input circuit 50A includes a key switch 51,
Door switch 52, main switch 53, vehicle speed sensor 5
4, each signal is input to the input circuit 50B, each signal is input from the set switch 13A and the return switch 13B, and each signal input to these input circuits 50A and 50B is, for example, analog-digital converted. It is processed and sent to the microcomputer 50D.

In the microcomputer 50D, while the power from the battery 59 is supplied through the power supply circuit, the input circuit 50
The input signals sent from A and 50B are processed and output to output circuits 50E and 50F. In the microcomputer 50D, when the door switch 52 is turned on (that is, the door is opened) (this is only when the vehicle is stopped),
A control signal is output to the output circuit 50F in order to bring the step into an extended state, and the door switch 52 is turned off (that is, the door is closed) or the detection signal of the vehicle speed sensor 54 is equal to or more than a predetermined value (that is, the vehicle starts running). If so, a control signal is output to the output circuit 50F in order to bring the step into the stored state.

When the control signal is output in this way,
A timer (not shown) (extension operation timer or storage operation timer) is started, and within a predetermined time after the control signal is output, a desired signal (that is, extension completion) is output from the set switch 13A or the return switch 13B through the input circuit 50B. If a signal or a storage completion signal) is not input, it is determined that the electric drive system has failed, and the energization of the motor 15 is stopped. After this, one more retry is allowed for the step storage operation. For other cases, the motor 15
Stop energizing to.

When the energization of the motor 15 is stopped, a command signal is output to the output circuit 50E so that the buzzer 56 sounds and the alarm lamp 55 blinks. After that, the buzzer 56 finishes sounding, but the alarm lamp 55 continues to blink while the storage is being retried or the power to the motor 15 is stopped. Then, if step 23 is put into the retracted state by a manual operation, the stop of energization of the motor 15 is released.

Further, the microcomputer 50D controls so that only the storing operation is executed even if the main switch 53 is turned off. When the key switch 51 is turned off, a timer (key-off timer) not shown is started, and the alarm lamp 55 continues to blink for a predetermined time after the key-off.
It is designed to give an opportunity to release the power interruption by a manual storing operation.

Then, in the output circuit 50E, the buzzer 56
A warning control signal is output to the alarm lamp 5
5 outputs a lighting or blinking control signal to the output circuit 50F, and the output circuit 50F outputs the forward rotation switch circuit 50G or the reverse rotation switch circuit 50.
A switching control signal is output to H and the switch circuit 5
Electric power is supplied to the forward rotation circuit or the reverse rotation circuit configured through 0G and 50H to operate the electric motor 15.

Since the control device for the electric step as one embodiment of the present invention is configured as described above, it operates as follows. First, the mechanical operation of the electric step device with a manual storage mechanism according to the present control device will be described. In the case of normal automatic extension of this electric step device, when the electric motor 15 rotates, this rotation is output. It is transmitted to the worm gear 31 from the worm 14 fixed to the shaft 15a. Then, it is transmitted to the power transmission rotary shaft 1 via the torque limiter 3, and is output to the step operation mechanism 41 from the output gear 4 fixedly mounted on the power transmission rotary shaft 1.

In the step operation mechanism 41, the rotating body 5 rotates clockwise in FIG. 6 by the input from the output gear 4. When the rotating body 5 rotates clockwise, the striker 5a contacts the convex portion 6B of the first latch member 6 to rotate the first latch member 6 counterclockwise around the shaft 6a.
The rotated first latch member 6 contacts the stopper 8a,
A rotational force from the rotating body 5 is applied to the latch base 8, and the latch base 8 rotates together with the rotating body 5 in the clockwise direction.
Since the latch base 8 is fixed to the step operation shaft 10, the drive side link 11 whose one end is supported by the step operation shaft 10 also rotates in the clockwise direction, so that the boarding / alighting step 23 projects from the vehicle side surface 24. .

The projecting operation of the boarding / alighting step 23 is stopped by the latch base 8 coming into contact with the stopper wall 12a of the lock member 12. Then, the hook portion 7 of the second latch member 7 rotated clockwise with the latch base 8
When A is engaged with the locking portion 12A of the lock member 12 and detected by the set switch 13A, the electric motor 15 stops. At this time, the stop of the electric motor 15 is
Although it will be delayed from the rotation stop of the step operation shaft 10, a torque limiter 3 is provided between the electric motor 15 and the power transmission rotary shaft 1, and when a torque of a predetermined value or more is applied, , Rotating member 32 and worm gear 31
Since the torque transmission between and is cut off, the electric motor 15 is not overloaded.

On the contrary, in the case of automatic storage, the electric motor 1
5 rotates in the opposite direction to the automatic extension, and the output gear 4 outputs the rotation opposite to the automatic extension to the step operation mechanism 41. In the step operation mechanism 41, the rotating body 5 rotates counterclockwise in FIG. 6 by the input from the output gear 4. When the rotating body 5 rotates counterclockwise, the striker 5b abuts the convex portion 7B of the second latch member 7 to rotate the second latch member 7 clockwise about the shaft 7a and rotate the second member.
The latch member 7 comes into contact with the stopper 8b. Then, the latch base 8 is rotated by the rotating force from the rotating body 5.
And the drive side link 11 whose one end is supported by the rotating shaft 10 also rotate counterclockwise, and the step 23 for getting on and off is stored in the vehicle side surface 24.

The retracting operation of the boarding / alighting step 23 is stopped by the latch base 8 coming into contact with the stopper wall 12b of the lock member 12. Then, the hook portion 6 of the first latch member 6 rotated clockwise together with the latch base 8.
When A is engaged with the locking portion 12B of the lock member 12 and detected by the return switch 13B, the electric motor 15 stops. At this time as well, the stop of the electric motor 15 is delayed as compared with the stop of the rotation of the step operation shaft 10, as in the case of automatic extension, but a torque limiter is provided between the electric motor 15 and the power transmission rotary shaft 1. 3 is provided, the electric motor 15 is never overloaded.

Next, at the time of manual extension, the tire wheel fixing nut removal wrench 16 mounted on the vehicle is attached to the nut 2a.
9 and FIG. 8 and rotates counterclockwise, the power transmission rotary shaft 1 coaxial with the manual operation shaft 2 is rotated counterclockwise. Then, the rotation is input to the step operation mechanism 41 from the output gear 4 fixed to the power transmission rotary shaft 1, and the rotating body 5 is rotated clockwise. Then, as the rotary body 5 rotates clockwise, the drive side link 11 also interlocks and rotates clockwise, so that the boarding / alighting step 23 is extended from the vehicle side surface 24.

On the contrary, at the time of manual storage, the tire wheel fixing nut attaching / detaching wrench 16 mounted on the vehicle is attached to the nut 2a.
9 and 8, the rotary shaft 1 for power transmission coaxial with the manually operated shaft 2 is rotated clockwise. Then, the step operation mechanism 41 is moved from the output gear 4 fixedly mounted on the power transmission rotary shaft 1.
Is input to rotate the rotating body 5 counterclockwise. Then, the drive side link 11 also interlocks with the rotation of the rotating body 5 in the counterclockwise direction, and rotates in the counterclockwise direction, and the boarding / alighting step 23 is stored in the vehicle side surface 24.

On the other hand, the rotational force applied to the manual operation shaft 2 is passed through the power transmission rotary shaft 1 and the step operation mechanism 4
At the same time as being input to 1, the speed reduction mechanism 43 is normally input, and the rotational force input to the speed reduction mechanism 43 reversely operates the speed reduction mechanism 43 to rotate the electric motor 15. If there is no means for releasing the connection between the transmission rotary shaft 1 and the reduction mechanism 43, the manually operated shaft 2
A great load is always added when rotating the.

However, the worm gear 3 of the reduction mechanism 43
1 and the rotary shaft 1 for power transmission, a torque limiter 3 is provided.
Is provided, and the rotational force applied to the manual operation shaft 2 is input to the rotary member 32 of the torque limiter 3 via the power transmission rotary shaft 1 that is coaxial with the manual operation shaft 2.
When the torque acting between the rotating member 32 and the worm gear 31 exceeds a predetermined value, the ball 33 engaged with the receiving hole 31a of the worm gear 31 is disengaged, and the rotating member 3
2 can rotate freely with respect to the worm gear 31. As a result, the manually operated shaft 2 is released from the load of the electric motor 15 and the speed reduction mechanism 43, and can be easily manually rotated with a comparatively small force to carry out the manual operation of storing or projecting the boarding step 23. become able to.

The operation of the control device of the electric step, that is, the electric control of the electric step device with the manual storage mechanism, is performed, for example, when the electric power is supplied to the control device of the electric step. It is performed as shown in the flowchart of FIG. First, in FIG. 10, steps S10 to S170 show a processing flow during normal operation. When the stepping-on / off step 23 is extended from the stored state, steps S10 to S90
Up to S170, and when storing from the overhang state, the process from S100 to S170 is performed.

In the first step S10, the step position detection circuit 13 determines whether the boarding / alighting step 23 is in the stored state. When the step position detection circuit 13 detects that both the set switch 13A and the return switch 13B are off, the microcomputer 50D determines that the boarding / alighting step 23 is in the stored state, and proceeds to step S20. On the contrary, when it is determined that the boarding / alighting step 23 is not in the storage state, the process proceeds to step S100, and it is determined whether or not the boarding / alighting step 23 is in the projecting state.

First, the processing for the case where it is determined that the boarding / alighting step 23 is in the stored state will be described. In step S20, the ON / OFF of the main switch 53 is detected. Since the use of the boarding / alighting step 23 at the boarding / alighting is optional by the operator, when the main switch 53 is turned off, the boarding / alighting step 23 can be extended even if other projecting conditions are satisfied. It is not started, and the processing from step S10 to step S20 is repeated until the main switch 53 is turned on.

When the main switch 53 is turned on, the process proceeds to the next step S30, and it is determined whether or not the vehicle is stopped. This is a process for preventing the danger due to the swelling of the boarding / alighting step 23 while the vehicle is running, and the electric step device does not operate unless the vehicle becomes a certain speed or less. Here, the operating condition is that the vehicle speed signal from the vehicle speed sensor is 3 km / h or less (that is, the vehicle is stopped). The processing from step S10 to step S30 is repeated until the vehicle speed becomes 3 km / h or less.

When the vehicle speed becomes 3 km / h or less and the operating condition of the electric step device is satisfied, the process goes to step S40 to judge whether the door is opened or closed. Door switch 52 for opening and closing the door
When the door is opened, that is, when the door switch 52 is turned on from off, the step S50 is detected.
Then, the microcomputer 50D supplies power to the step drive circuit 58, and the stepping on / off step 23 starts to be extended.

When the piercing of the boarding / alighting step 23 is started, the piercing operation timer is activated in step S60, and the processes from step S70 to step S90 are repeated during the piercing operation. In step S70, step 2 for getting on and off
It is determined whether or not 3 is overhanging, and step S80
Then, the overhang operation timer is counted up, and step S
At 90, it is judged whether or not the overhang operation timer has exceeded a preset predetermined time.

Therefore, if the overhang is not completed, step S80 is performed until the overhang operation timer exceeds the predetermined time.
The overhang operation timer is incremented at. And
If it is determined in step S90 that the extension operation is not completed before the extension operation timer exceeds the predetermined time, it is considered that some failure has occurred during the extension operation of the boarding / alighting step 23, and step S180 and subsequent steps described below. The failure response processing is performed.

On the other hand, before the overhang operation timer exceeds the predetermined time set in step S90, the set switch 1
If it is detected that both the 3A and the return switch 13B are turned on, the step 2 for getting on / off the step 2
It is determined that the extension of No. 3 is completed, the power supply from the microcomputer 50D to the step drive circuit 58 is stopped, the extension operation of the boarding / alighting step 23 is completed, and the process proceeds to step S100.

In step S100, it is determined from the detection result of the step position detection circuit 13 whether or not the boarding / alighting step 23 is in the projecting state, and the step position detection circuit 13 causes the set switch 13A and the return switch 13 to operate.
When it is detected that both B are on, it is determined that the boarding / alighting step 23 is in the projecting state, and the step S110 is performed.
Proceed to.

In step S110, it is determined based on the signal from the vehicle speed sensor 54 whether the vehicle is stopped. This is a process for changing the storage process procedure depending on whether or not the vehicle is running. When the vehicle is stopped, the door is closed in step S120, and the boarding / alighting step 23 in step S130 is performed. Although the storage is started, if the vehicle is traveling, the process proceeds to step S130 without passing through step S120 and the storage of step 23 for immediate boarding / alighting is started in order to prevent the danger due to traveling with the vehicle stretched. The operating conditions of the electric step device are
The vehicle speed signal from the vehicle speed sensor is 3 km / h as in the case of overhang
The case is as follows.

By the way, in the case of the extension process of the boarding / alighting step 23, it is determined in step S20 whether the main switch 53 is on or off, and if the main switch 53 is off, another operation is performed. Even if the overhang condition is satisfied, the overhang of the boarding / alighting step 23 is not started. However, in the case of the storage process of the boarding / alighting step 23, it is dangerous to drive the car without overhanging the boarding / alighting step 23, and therefore the main switch 5
Regardless of whether the vehicle is on or off, the step 23 for getting on and off is forcibly stored when the vehicle is traveling.

If it is determined in step S110 that the vehicle is stopped, the process proceeds to step S120, in which the open / closed state of the door is determined. The opening / closing of the door is detected by the door switch 52, and when the door is closed, that is, when the door switch 52 is turned from on to off, the process proceeds to step S130, the microcomputer 50D supplies power to the step drive circuit 58, and the boarding / alighting operation is performed. The storage of step 23 is started.

When the loading / unloading step 23 is started to be stored, the storing operation timer is activated in step S140, and the steps S150 to S170 are repeated during the storing operation. In step S150, it is determined whether or not the loading / unloading step 23 is completed, in step S160, the storage operation timer is counted up, and in step S170, it is determined whether or not the storage operation timer has exceeded a preset predetermined time.

Therefore, if the storage is not completed, the storage operation timer is counted up in step S160 until the storage operation timer exceeds a predetermined time. Then, if it is determined in step S170 that the storage operation timer has exceeded the predetermined time, it is considered that some failure has occurred during the storage operation in the boarding / alighting step 23, and step S18 to be described later.
The handling processing for failure after 0 is performed.

On the other hand, the storage operation timer is set to step S170.
If it is detected that both the set switch 13A and the return switch 13B are turned off before the predetermined time set in step S50 is exceeded, it is determined in step S150 that the loading / unloading step 23 is completed, and the microcomputer 50D The power supply from the step drive circuit 58 is stopped from the step drive circuit 58, the storing operation in step 23 for boarding and alighting ends, and step S1 is performed again.
Return to 0.

On the other hand, in the failure handling processing, FIG.
As shown in FIG. 1, first, in step S180, the buzzer 56 (fault display means 57) is sounded for a fixed time, and in step S190, the alarm lamp 55 (fault display means 5).
7) is flashed to notify the driver of the failure. And
When the traveling of the vehicle is detected in step S200,
In step S220, the storage of the boarding / alighting step 23 is started again. Also, although the vehicle is stopped, step S
When it is determined in 210 that the door is closed, the loading / unloading step 23 is started to be stored again in step S220.

When the loading / unloading step 23 is started to be stored, the storing operation timer is activated in step S230, and the processing from step S190 to step S280 is repeated during the storing operation. In step S240, it is detected whether or not the loading / unloading step 23 is completed, and the storage operation timer is counted up in step S250 until the storage is completed. If the storage is not completed until it is determined in step S260 that the storage operation timer has exceeded the preset predetermined time, it is considered that the recovery from the failure state cannot be performed, and the recovery processing in step S400 and subsequent steps described later is performed.

On the other hand, when the boarding / alighting step position detection circuit 13 detects that both the set switch 13A and the return switch 13B are turned off before it is determined in step S260 that the storing operation timer has exceeded the predetermined time, in step S240. It is determined that the loading / unloading step 23 has been stored, the power supply from the microcomputer 50D to the loading / unloading step 23 drive circuit 58 is stopped, and it is determined that the failure is resolved, and the alarm lamp 55 is determined in step S270.
(Fault display means 57) is turned off. Then, the process again moves to step S10, and the extension process of step 23 for getting on and off is performed.

In step S280, it is determined whether the key switch 51 is on or off. If the key switch 51 is in the on state, the processes from step S190 to step S280 are repeated, and the key switch 51 is turned off. In addition, the processing from step S290 to step S340 is newly added to the processing from step S190 to step S280. Of these processes, the key switch 5 is used from step S290 to step S330.
The elapsed time from when 1 is turned off is measured, and if it exceeds a predetermined time, the alarm lamp 5 is activated to protect the battery 59.
5 (fault display means 57) is a process for turning off the light,
In step S340, it is determined manually whether or not the boarding / alighting step 23 is stored.

First, when the key switch 51 is turned off,
The key-off timer is started in step S300, and a flag is set in step S310 (Ft = 1). This flag is provided so as not to repeat the key-off timer start processing, and once the flag is set, the key-off timer start processing of S300 and S310 is skipped in step S290.

Then, from step S190 to step S
While the processes up to 340 are repeated, step S32
When the key-off timer is counted up at 0 and the step 23 for getting on and off is stored by manual operation before the key-off timer exceeds the predetermined time, the process moves from step S340 to step S350 and the alarm lamp 55 (fault display means 57) Is extinguished, and the process proceeds to step S10 again, and the normal extension processing of step 23 for boarding / alighting is performed. If the key-off timer exceeds the predetermined time set in step S330, the flag in step S360 is reset and the alarm lamp 55 (fault display means 57) is turned off in step S370. And
If the key switch 51 is turned on again in step S380, the process returns to step S190 to perform the failure handling process. However, if the stepping-on / off step 23 is stored manually, it is determined that the failure has recovered. Then, the process again moves to step S10, and the normal extension processing of step 23 for boarding / alighting is performed (step S390).

On the other hand, the key-off timer is set to step S330.
Before exceeding the predetermined time set in step S26,
When the storage operation timer in step 23 for getting on and off exceeds the predetermined time at 0, the supply of power from the microcomputer 50D to the step drive circuit 58 is stopped, and as shown in FIG. 12, the recovery process after step S400. Is performed. In this recovery process, first, the driver is informed again that a failure has occurred, and the buzzer 56 (failure display means 57) is sounded in step S400 in order to prompt the user to store the boarding / alighting step 23 manually. In S410, the alarm lamp 55 (fault display means 57) is made to blink.

In step S420, it is determined whether the key switch 51 is on or off. When the key switch 51 is in the on state, step S470 is used to get on / off the step 2
The alarm lamp 55 (fault display means 57) continues to blink until 3 is manually stored. Conversely, the key switch 51
When is turned off, the processes of steps S430 to S480 are newly added to the processes of steps S410 to S420. Of these processes, steps S430 to S470 are
The elapsed time after the key switch 51 is turned off is measured, and if the predetermined time set in S470 is exceeded, the alarm lamp 55 (fault display means 57) is turned off to protect the battery 59. Processing. Also,
In step S480, it is determined manually whether the boarding / alighting step 23 is stored.

First, when the key switch 51 is turned off,
A key-off timer is started in step S440, and a flag is set in step S450 (Ft = 1). This flag is provided so as not to repeat the key-off timer start processing, and once the flag is set, the key-off timer start processing of S440 and S450 is skipped in step S430.

Then, from step S410 to step S
While the processes up to 480 are repeated, step S46
When the key-off timer is counted up at 0 and the step 23 for getting on and off is stored by manual operation before the key-off timer exceeds the predetermined time, the process moves from step S480 to step S490 and the alarm lamp 55 (fault display means 57) is turned on. The light is extinguished, and the process proceeds to step S10 again to perform the normal extension processing of step 23 for getting on and off. Also,
If the key-off timer exceeds the predetermined time set in step S470, the flag in step S510 is reset and the alarm lamp 55 (fault display means 57) is turned off in step S520. Then, when the key switch 51 is turned on again in step S530, the process returns to step S410. However, when the step 23 for getting on / off the vehicle is stored by the manual operation, it is determined that the failure is recovered and the process returns to step S10. Then, the normal extension process of step 23 for boarding / alighting is performed (step S54).
0).

As described above, when a failure occurs during the bulging / storing operation, that is, when the squeezing operation timer in step S90 and the storing operation timer in step S170 have passed the predetermined time, the microcomputer 50D performs step driving. Supply of power to the circuit 58 is stopped and step S18
The failure handling processing after 0 is performed, and the timing charts of these are as shown in FIGS. 13 to 14.

FIG. 13 shows a timing chart in the case where a failure occurs during the extension operation of the boarding / alighting step 23. When the door is opened and the door switch 52 is turned on, the motor 15 is activated and the return switch 13B is turned on after a predetermined time T1 (for example, about 100 msec) has elapsed. Then, after the motor 15 is operated, a predetermined time T2
During the time (for example, about 5 seconds), set switch 1
If the 3A is not turned on, the buzzer 56 (fault display means 57) is turned on for a fixed time T3 (for example, about 5 seconds).
Sounding at the same time, alarm lamp 55 (fault display means 5 at the same time
7) blinks to notify the driver of the malfunction of the electric step device.

FIG. 14 shows a timing chart when a failure occurs during the storage operation of the boarding / alighting step 23. When the door is closed and the door switch 52 is turned off, the motor 15 is activated and the set switch 13A is turned off after a predetermined time T4 (for example, about 500 msec) has elapsed. Then, if the return switch 13B is not turned off within a certain time T5 (for example, about 5 sec) after the motor 15 is operated, the buzzer 56 is activated.
(Fault display means 57) is displayed for a fixed time T6 (for example, 5 seconds
Sounding, and at the same time, the alarm lamp 55 (fault display means 57) blinks to notify the driver of the fault of the electric step device.

In addition to these conditions, as shown in FIG. 10, in the first process in which the battery 59 is connected and the electric power is supplied to the electric step-on / off step 23 control device 50, the boarding / alighting step S10 is performed. Even when it is determined that the operation step 23 is not in the stored state and the step-in / out step 23 is not in the extended state in step S100, the step-in / out step 23 is performed while the battery 59 is disconnected. Since it is expected that some sort of failure has occurred, the failure handling processing from step S180 is performed.

FIG. 15 is a time chart showing this. As shown in FIG. 15, the set switch 13 is connected when the battery 59 is connected to the electric step-on / off step control device 50 and the state of the battery 59 is turned on.
If A is off and return switch 13B is on,
Immediately, the buzzer 56 (fault display means 57) sounds for a fixed time T7 (for example, about 5 seconds), and at the same time, the alarm lamp 55.
The (fault display means 57) is blinked to notify the occupant of the fault of the electric step device.

As described above, according to the electric step apparatus of the present embodiment, when the piercing / unloading of the stepping-in / out step 23 is not completed within a fixed time after the start of the unloading / storing, the step-in / out step 23 is performed. Since the power supply to the drive circuit 58 is stopped, it is possible to protect the motor 15 from an overload condition and prevent the occurrence of a secondary failure due to the use of the electric step device in a failure condition.

At the same time that the motor 15 is stopped, the buzzer 56 (fault display means 57) sounds and the alarm lamp 55
Since the (fault display means 57) is made to blink, it is possible to notify the occupant that a fault has occurred in the electric step device and prompt the user to store the step 23 for getting on and off by manual operation. If the door is closed again or the vehicle speed increases after the loading / unloading step is stopped due to a failure, the storing operation is retried to store the loading / unloading step 23. When the step 23 hits an obstacle outside the vehicle and the extension is stopped, the step 23 for getting on and off may be stored by the retry, which is effective.

Further, if the boarding / alighting step 23 cannot be stored even after retrying for a certain period of time, further retries are prohibited, and the buzzer 56 (fault display means 57) is sounded again and the alarm lamp 55 (fault display means 57). By blinking, it is possible to prevent a secondary failure from occurring due to useless retries, inform the occupant that a failure has occurred in the electric step device, and strongly store the step-in step 23 for manual operation. Can be urged.

The blinking of the alarm lamp 55 (fault display means 57) is interlocked with the on / off of the key switch 51. When the key switch 51 is on, it blinks constantly, but when it is off, it blinks for a certain period of time. Since the light is turned off, it is possible to prevent the battery 59 from rising due to being left for a long time with the key switch 51 turned off. Since it is less necessary to consider that the battery 59 goes up when the key switch 51 is on, the alarm lamp 55 (fault display means 57) can be constantly flashed to call the driver's attention. It is possible to prevent the vehicle from running while it is overhanging halfway.

Further, the condition of interlocking with the main switch 53 is changed in the extension and storage of the boarding / alighting step 23, the extension operates only when the main switch is on, and the storage is independent of whether the main switch is on or off. Since it is adapted to operate, it is possible for the occupant to freely extend and use the step-in / out step 23 at the time of getting on / off, and by storing the compulsory step-in / out step 23, the step-in / out step 23 can be left open. Can be prevented from running.

It should be noted that the failure display means 57 may use only one of the buzzer 56 and the alarm lamp 55, and may use other display methods such as voice display. In the present embodiment, the retry during storage is permitted only once, but the retry during storage is not permitted at all, or the retry during storage is permitted only twice or more times. May be.

[0086]

As described in detail above, according to the electric step control device of the present invention as set forth in claim 1, when the swelling operation time or the storing operation time of the step exceeds a predetermined time, the drive system of the step is driven. Since the power supply to the electric motor is stopped after the failure of the electric motor, and the power supply to the electric motor is stopped after that, the electric drive of the step is prevented from being retried wastefully many times when the drive system of the step fails. There is an effect that can be done.

Further, if the step is manually retracted when the energization is stopped, the deenergization of the electric motor is released, so that the step can be electrically driven due to, for example, a temporary failure or interference with an obstacle outside the vehicle. Even if it does not occur, there is an advantage that it is possible to easily return to the electric drive while ensuring the safety by confirming the storage of the step.

According to another aspect of the present invention, there is provided an electric stepping control device for energizing an electric motor when the step drive system or the stepping operation time exceeds a predetermined time. After that, the storing operation of the step due to the closing operation of the door is allowed a predetermined number of times, but except the storing operation of the predetermined number of times,
That is, if the closing operation of the door exceeds the predetermined number of times or the opening operation of the door is continued, the energization of the electric motor is continued. Retry is allowed within a certain limit, and while giving the operator a certain opportunity for the electric storage operation, it is possible to prevent the electric drive step from being retried wastefully many times.

Further, similarly to the first aspect, if the step is manually stored when the energization is stopped, the energization stop to the electric motor is released, so that, for example, a temporary failure or interference of an obstacle outside the vehicle, etc. Therefore, even when the electric drive of the step cannot be performed, there is an advantage that the electric drive can be easily returned to the electric drive while ensuring the safety by confirming the storage of the step.

[0090] According to the control device for an electric step of the present invention described in claim 3, during deenergization to the electric motor, so that the electric drive system by said failure display means is a fault state is displayed, The operator can recognize this failure and, for example, manually operate the step to the retracted position or the extended position to guide the operator to appropriately process the step,
Unnecessary electric operation (that is,
There is an effect that the opening / closing operation of the door for driving the step) can be suppressed.

[Brief description of drawings]

FIG. 1 is an electrical diagram illustrating a control device for an electric step according to an embodiment of the present invention.

FIG. 2 is a perspective view illustrating an installation position of an electric step device with a manual storage mechanism according to an electric step control device according to an embodiment of the present invention.

FIG. 3 is a side view of essential parts of the electric step device with the manual retracting mechanism according to the embodiment of the present invention.

FIG. 4 is a schematic plan view showing a state of the electric step device with the manual retracting mechanism according to the embodiment of the present invention when the boarding / alighting step is stored.

FIG. 5 is a schematic plan view showing a state of the electric step device with the manual retracting mechanism according to the embodiment of the present invention when the step step for boarding / alighting is extended.

FIG. 6 is a diagram showing a configuration of a step operation mechanism of an electric step device with a manual storage mechanism according to an embodiment of the present invention.
FIG.

FIG. 7 is a schematic cross-sectional view (a cross-sectional view taken along the line AA of FIG. 1) showing the configuration of the torque limiter according to the electric step device with the manual storage mechanism according to the embodiment of the present invention.

FIG. 8 is a perspective view showing an electric step device with a manual storage mechanism according to an embodiment of the present invention.

FIG. 9 is a perspective view showing an electric step device with a manual storage mechanism according to an embodiment of the present invention.

FIG. 10 is a flowchart illustrating control by a control device for an electric step as an embodiment of the present invention.

FIG. 11 is a flowchart illustrating control performed by the control device for the electric step according to the embodiment of the present invention.

FIG. 12 is a flowchart illustrating control performed by a control device for an electric step as an embodiment of the present invention.

FIG. 13 is a time chart for explaining control by the control device of the electric step as one embodiment of the present invention.

FIG. 14 is a time chart illustrating control performed by the control device for the electric step according to the embodiment of the present invention.

FIG. 15 is a time chart for explaining control by the control device of the electric step as one embodiment of the present invention.

[Explanation of symbols]

1 Power Transmission Rotating Shaft 2 Manual Operating Shaft 2a Nut 3 Torque Limiter 10 Step Operating Shaft 11 Driving Side Link 13 Step Position Detection Circuit 13A Set Switch (SET SW) 13B Return Switch (RET SW) as Storage State Detection Means 15 Electric Motor 23 Step for stepping on / off 41 Step operation mechanism 42 Rotation operation part 43 Speed reduction mechanism 50 Electronic control unit (ECU) 51 as a control means 51 Key switch 52 Door switch 53 Main switch 54 Vehicle speed sensor 57 Failure display means

Claims (3)

(57) [Claims] 1. A step for getting on and off, which is arranged below an opening of a side door of a vehicle and is movable electrically or manually into an extended state or a stored state, and an electric motor for driving which drives the step. A control unit which is provided in the electric step device and which starts the electric motor by the opening operation of the door to extend the step, and starts the electric motor by the closing operation of the door to store the step; A storage state detecting means for detecting the storage state of the step, the control means stops the energization of the electric motor when the overhang operation time or the storage operation time of the step exceeds a predetermined time, and thereafter The energization stop state is continued, and when the energization stop state detects that the step is manually set to the retracted state, the energization stop is released. A control device for an electric step, which is configured as described above. 2. A boarding / alighting step which is disposed below an opening of a vehicle side door and is movable electrically or manually into an extended state or a retracted state, and an electric motor for driving which drives the step. A control unit which is provided in the electric step device and which starts the electric motor by the opening operation of the door to extend the step, and starts the electric motor by the closing operation of the door to store the step; The storage means for detecting the storage state of the step, the control means stops the energization of the electric motor when the overhanging operation time or the storage operation time of the step exceeds a predetermined time, and After the energization is stopped, energization to the electric motor for the storing operation of the step is allowed a predetermined number of times for the closing operation of the door, and the door closing operation is performed for the predetermined number of times. When the power is exceeded and the opening operation of the door is continued, the energized state is continued, and when the stored state detecting means detects that the step is manually placed in the retracted state when the energization is stopped, A control device for an electric step, which is configured to release a stoppage of energization. 3. The electric drive system of the step further comprises a failure display means for displaying that the electric drive system is in a failure state, and the control means causes the failure display means to display the electric drive system when power supply to the electric motor is stopped. There wherein the display that the fault condition, the control apparatus for an electric step of claim 1 or claim 2, wherein.