JP3674978B2 - Safety control device for moving objects - Google Patents

Description

[0001]
[Industrial application fields]
The present invention relates to a safety control device for a moving body that determines, for example, a failure of a switch that detects the position of the moving body such as a vehicle power window and a sliding roof by using a pulse generated by the operation of the moving body. .
[0002]
[Prior art]
In recent years, as a safety control of a vehicle power window device, when a human body is sandwiched between a window frame and a window glass during a power window up operation, it is detected and the drive motor is reversed to lower the power window. There is something like that.
[0003]
In this control, when the window glass reaches near the top dead center of the window frame, it is necessary not to perform the above-described safety control for closing the window, and the vicinity of the dead center on the window frame is detected. One means is to use a position detection switch as disclosed in Japanese Patent Application Laid-Open No. 61-64981.
[0004]
FIG. 6 shows such a conventional safety control device. By selectively operating up / down (UP / DOWN) switches 3 and 4, the operation control unit 9 and the drive unit 10 of the control circuit 13 are used. The power window driving motor 2 is rotationally driven in the up / down direction.
[0005]
The position detection switch 5 is used to determine the pinching detection area.
In particular, when a foreign object is caught in the pinching detection area during the up operation, the load current of the motor 2 increases, so that the pinching detection unit 11 detects this, and the operation control unit 9 and the drive unit 10 are used. Thus, the drive motor 2 is reversed and the DOWN operation is performed, so that safety control is performed.
[0006]
FIG. 7 shows an operation flow of the safety control device shown in FIG.
That is, when the up switch 3 is turned on (step S1), the motor 2 starts an up operation (step S2).
[0007]
Then, after determining whether the pinching detection unit 11 has detected pinching (Step S3), the operation control unit 9 determines whether it is within the pinching detection region (Step S4).
[0008]
If it is determined in step S4 that it is within the pinching detection area, the motor 2 is reversed and the down operation is performed (step S5).
Further, when it is determined in step S4 that it is outside the pinching detection area, the motor 2 is stopped (step S6).
[0009]
By the way, as described above, the position detection switch 5 is used for determination of the pinch detection area in step S4, which is off at the upper end of the window frame (in this state, out of the pinch detection area) and is otherwise turned on ( In this state, it is assumed that it is set in advance in the door of the target vehicle so as to be within the pinching detection region (on / off may be reversed).
[0010]
However, if the position detection switch 5 fails and is turned off, the reverse down operation by the pinch detection cannot be performed even though the position detection switch 5 is originally in the pinch detection region (position detection switch = on), and the motor 2 is stopped. Therefore, it is very dangerous if the human body (especially a deadly part such as the neck) is sandwiched. Here, it is necessary to determine the failure of the position detection switch.
[0011]
[Problems to be solved by the invention]
However, in the conventional safety control device, since there is no failure determination of the position detection switch, the above-described safety control is not performed even if the window glass is other than the top dead center of the window frame due to the failure of the position detection switch or the position shift. In this state, even if the human body is sandwiched between the window glass and the window frame, the inversion down operation is not executed, which is very dangerous.
[0012]
Accordingly, the present invention has been made in view of the above points, and detects a failure of a position detection switch in advance using a signal such as a pulse generated in conjunction with the rotation of a driving motor, and thus the conventional technique. It is an object of the present invention to provide a safety control device for a moving body that can prevent the occurrence of problems caused by the above and ensure safe control.
[0013]
[Means for Solving the Problems]
According to the present invention, in order to solve the above-described problems, a moving body provided movably in a predetermined direction, a motor serving as a driving source for the moving body, motor control driving means for controlling and driving the motor, and the motor A position detection switch for detecting a predetermined position taken by the moving body in relation to the control drive means, a pulse generation means for generating a pulse corresponding to the driving of the motor, and an on / off operation of the position detection switch Pulse counting means for counting pulses from the pulse generating means, and determination means for determining normality / abnormality of the position detection switch based on the count value from the pulse counting means and a predetermined comparison reference value. comprises, together with an instruction to drive / stop of the motor relative to the motor drive control means in accordance with the determination result by the determining means, to the judging means If the determination result is abnormal, the moving body, characterized by being configured to direct the inversion control of the motor with respect to the position on the detection switch, regardless off, then the motor drive control means A safety control device is provided.
Further, according to the present invention, the predetermined comparison reference value for determining the normality / abnormality of the position detection switch in the determination means is given a predetermined range, and update, update limitation and change are selectively performed. A safety control device for a moving body is provided which is characterized in that it is set to be possible.
[0014]
Also, according to the present invention, the predetermined comparison reference value in the determination means has a predetermined width, and is set so that update, update limitation and change can be selectively performed. A safety control device is provided.
[0015]
[Action]
According to the above solution, for example, a failure or position shift of a position detection switch that detects a predetermined position of a moving body such as a window glass in a power window is detected in advance using a pulse signal generated in conjunction with the rotation of the motor. It is possible to detect and prevent an undesired situation from occurring.
[0016]
【Example】
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 shows a mobile safety control device applied to a power window control circuit as an embodiment of the present invention. Compared to the conventional circuit of FIG. 6, a fault diagnosis circuit system for a position detection switch using a pulse signal is shown. Is added.
[0017]
In FIG. 1, the motor 2 is driven by a motor drive unit 10 in the control circuit body 1 so as to rotate the moving body O in the up (UP) direction or the down (DOWN) direction.
[0018]
The up (UP) operation switch 3 gives an up (UP) operation signal to the operation control unit 9 when the operator turns on.
The down (DOWN) operation switch 4 gives a down (DOWN) operation signal to the operation control unit 9 when the operator turns on.
[0019]
The position detection switch 5 is a switch for detecting the position of the window glass as the moving body O. In this embodiment, for the sake of explanation, the position of the window glass is turned off within the pinching detection area and turned on outside the pinching detection area.
[0020]
The pulse count unit 6 counts the pulse signal from the pulse generation unit 12 and gives the value to the position detection normal / abnormal determination unit 7.
The position detection normality / abnormality determination unit 7 compares the pulse count value when the position detection switch 5 is changed with a preset pulse count reference value to determine whether the position detection switch 5 or the pulse generation unit 12 is normal or not. Abnormality is determined and a signal to that effect is given to the operation control unit 9.
[0021]
Here, the pulse count reference value has a certain range as will be described later. The range is fixed by the position detection normal / abnormality determination unit 7 or fluctuates depending on the operating state of the motor 2. It is updated when judged normal and maintained when judged abnormal.
[0022]
When the motor stops, the motor stop detection unit 8 detects the pulse signal from the pulse generation unit 12 and detects this, and gives a signal to the operation control unit 9.
The operation control unit 9 gives an up (UP) or down (DOWN) command to the motor drive unit 10 in accordance with signals from the switches 3, 4, 5 and the detection / determination units 7, 8.
[0023]
The motor drive unit 10 receives the signal from the operation control unit 9 and rotates the motor 2 in the up direction or the down direction.
The pinch detection unit 11 detects that a foreign object has been pinched between the window glass and the window frame due to the load state of the motor 2.
[0024]
The pulse generator 12 generates a pulse signal in proportion to the rotational speed of the motor.
Next, the operation of the safety control device configured as described above will be described with reference to the flowchart shown in FIG.
[0025]
Explanation of (first embodiment): Method for counting pulses in the entire range Initial setting (step S1) (the position detection switch 5 at this time is normal) If the position detection switch 5 changes state (ON → OFF or OFF → ON) during operation of the motor 2, the determination unit 7 The pulse count value (= x) of the pulse count unit 6 at that time is stored in the internal memory, and x ± α is set as a comparison reference value for determination (steps S2, S3, S4) ).
[0026]
The value of α is set to correct the count value of the pulse count unit 6 and the deviation of the position detection switch 5, the hysteresis of the position detection switch 5 and the like due to aging and operation state. It may be fixed or variable according to information from the operation control unit 9.
[0027]
2. Determination after initial setting (step S5) (1) During position normality determination During the operation of the motor 2, the count value (hereinafter PC) of the pulse count unit 6 is within the range of x ± α and within that range. When the state change of the position detection switch 5 occurs, the determination unit 7 determines that the position detection switch 5 is normal and notifies the operation control unit 9 to that effect.
[0028]
Then, the operation control unit 9 performs control corresponding thereto (determining whether or not pinching can be detected during the up operation based on the information of the position detection switch 5) (steps S6, S7, and S8).
[0029]
Further, the PC value at the time when the state of the position detection switch 5 changes is stored, and this is used as an update value, and the comparison reference value is changed from x ± α to the update value (← x) ± α (steps S9 and S10). .
[0030]
This update is performed every time the position detection switch 5 or the like is determined to be normal.
(2) At the time of position abnormality determination When the motor 2 is in operation, if the PC of the pulse count unit 6 is outside the range of x ± α, and the state change of the position detection switch 5 occurs outside the range, the determination unit 7, it is determined that the position detection switch 5 is abnormal (= abnormal position information) and notifies the operation control unit 9 to that effect.
[0031]
Then, the operation control unit 9 performs control corresponding thereto (reverse DOWN operation is performed when pinching is detected during the UP operation regardless of the state of the position detection switch 5, or the reverse DOWN operation is performed when a position abnormality is determined). (Steps S11 and S12).
[0032]
In this case, the comparison reference value x ± α is not updated (step S13).
If the PC of the pulse count unit 6 is in the range of x ± α during the motor operation, and the position detection switch 5 does not change in the range, the determination unit 7 determines that the position detection switch 5 Is determined to be abnormal, and the same control as described above is performed (steps S7, S12, S13).
[0033]
If there is no pulse output due to the failure of the pulse generation unit 12, the trigger of the position detection switch 5 is generated outside the normal determination range, so that the determination unit 7 can determine that the system has failed.
[0034]
In addition, since the pulse generator 12 (pulse count unit 6) and the position detection switch 5 perform a failure determination on the other side, system redundancy is improved.
As described above, α is fixed in advance for setting the normal determination range, but the range may be changed according to the operating state or the like.
[0035]
This is because, under an operating condition in which a pulse count deviation is likely to occur, an increase in α makes it difficult to make an erroneous determination.
In addition, the comparison reference value can always be updated with respect to the initial setting. However, if the “final update value−initial setting value” exceeds a certain level on the system, it is clearly known that there is an abnormality. May not be updated any further.
[0036]
Description of (Second Embodiment) Method of Counting Pulses within a Specific Range Initial setting (Up operation → Stop at top dead center)
As shown in FIG. 3, the pulse signal from the trigger (ON → OFF) of the position detection switch 5 during the up operation to the stop at the top dead center is counted by the pulse count unit 6 (X ₁ = 4). Is stored in the internal memory of the determination unit 7.
[0037]
At this time, the determination unit 7 sets Y ₁ = X ₁ ± α (= 4 ± 2) as a comparison reference value.
This comparison reference value range ± α is set in order to take into account pulse count errors and secular changes that do not cause safety problems.
[0038]
The initial setting may be the count value of the pulse signal from the start of the down operation from the stop state at the top dead center until the trigger (OFF → ON) of the position detection switch 5 occurs.
[0039]
2. Normal operation (Stop at top dead center → Down action → Up action)
As shown in FIG. 4, the pulse signal from the start of the down operation from the top dead center to the trigger (ON → OFF) of the position detection switch 5 is counted (X ₂ = 4) by the pulse count unit 6, and the determination unit 7 Compare with the previously set comparison reference value Y ₁ = 4 ± 2.
[0040]
Here, since the count value X ₂ (= 4) is within the range of the comparison reference value Y ₁ (= 4 ± 2), it is determined that “the position detection switch 5 is normal without positional deviation or failure”.
Further, since the comparison reference value is X ₁ = X ₂ = 4, Y ₁ = Y ₂ = 4 ± 2 is maintained.
[0041]
In addition, the pulse signal pulse count unit 6 counts (X ₃ = 5) from the trigger (ON → OFF) of the position detection switch 5 during the up operation to the stop at the top dead center. Compare with the set comparison reference value Y ₂ = 4 ± 2.
[0042]
Since the count value X ₃ (= 5) is within the range of the comparison reference value Y ₂ (= 4 ± 2), it is determined that “the position detection switch is normal without positional deviation or failure”.
The comparison reference value is updated to Y ₃ = 5 ± 2 because X ₃ = 5.
[0043]
If a significant aging change is a safety issue, an upper limit can be set for the comparison reference value (initial setting ± β, etc.) so that the comparison reference value is not updated any further.
[0044]
3. Position detection switch misalignment / failure (still off)
In this case, in the position detection switch, if the position shift occurs in the direction in which the range where no pinching is detected expands, or there is a fault in the range where pinching is not detected (failure occurs in this embodiment), there is a risk that the human body will be pinched There is. Here, the difference between the position shift and the failure of the position detection switch 5 is that, as a result, there is no trigger for the position detection switch within the comparison reference value Y as shown in FIG. Since the only difference is whether or not there is a trigger, the following description is representative of the case of positional deviation.
[0045]
(1) Detection at the time of down operation The pulse from the start of the down operation from the top dead center to the trigger (OFF → ON) of the position detection switch 5 is counted by the count pulse count unit 6 (X ₄ > 6), and the determination unit 7 Then, it is compared with the latest comparison reference value Y (here, Y ₁ = 4 ± 2).
[0046]
Here, since the count value X ₄ (> 6) is outside the range of the comparison reference value Y ₁ (= 4 ± 2) (X ₄ > Y _{1 (max)} = 6), the “position shift of the position detection switch 5”. Or, it is determined that a failure has occurred.
[0047]
Further, since the comparison reference value is not determined to be normal, Y ₁ = 4 ± 2 is maintained.
For safety, pinching detection is performed regardless of the state of the position detection switch 5.
[0048]
Thereafter, when it is determined that the position detection switch is normal by the up operation, the control returns to the normal control, and the pinching detection based on the state of the position detection switch 5 is performed.
(2) Detection at the time of up operation The pulse signal is counted by the pulse count unit 6 from the trigger (on to off) of the position detection switch during the up operation, and within the latest comparison reference value Y range by the judgment unit 7 Then, it is determined whether or not to stop at the top dead center (here, Y ₁ = 4 ± 2).
[0049]
Here, even if the comparison reference value Y ₁ (= 4 ± 2) is not within the range (X ₅ > Y _{1 (max)} = 6), the stop at the top dead center is not performed. It is determined that a positional deviation or failure has occurred.
[0050]
Further, since the comparison reference value is not determined to be normal, Y ₁ = 4 ± 2 is maintained.
For safety, pinching detection is performed regardless of the state of the position detection switch (the reverse operation is performed even at the top dead center).
[0051]
In the subsequent up operation, when it is determined that the position detection switch 5 is normal, the control returns to the normal control, and pinching detection based on the state of the position detection switch 5 is performed.
[0052]
According to the embodiment described above, the count of the pulse signal is performed only for a few moments from the trigger of the position detecting switch 5, it is not necessary to perform at all times during operation, with a small number of counters, the number of memories Therefore, it is an effective means in a control circuit having restrictions on the number of counters and the number of memories.
Further, since the count range of the pulse signal is narrow, the occurrence of pulse count errors is reduced and the detection accuracy is improved.
[0053]
【The invention's effect】
Therefore, as described in detail above, according to the present invention, the failure of the position detection switch is detected in advance using a signal such as a pulse generated in conjunction with the rotation of the driving motor, and the problem of the conventional technique is solved. It is possible to provide a safety control device for a moving body that can prevent the occurrence and ensure the safety control.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of an embodiment according to the present invention.
FIG. 2 is a flowchart for explaining the operation of the first embodiment;
FIG. 3 is a timing chart for explaining the operation of the second embodiment.
FIG. 4 is a timing chart for explaining the operation of the second embodiment.
FIG. 5 is a timing chart for explaining the operation of the second embodiment;
FIG. 6 is a block diagram showing a configuration of a conventional technique.
FIG. 7 is a flowchart for explaining the operation of the prior art.
[Explanation of symbols]
O ... moving body, 1 ... control circuit, 2 ... motor, 3 ... UP operation switch, 4 ... DOWN ... operation switch, 5 ... position detection switch, 6 ... pulse count section, 7 ... position detection normal / abnormal judgment section, 8 DESCRIPTION OF SYMBOLS: Motor stop detection part, 9 ... Operation control part, 10 ... Motor drive part, 11 ... Pinching detection part, 12 ... Pulse generation part.

Claims (2)

A movable body provided to be movable in a predetermined direction;
A motor as a drive source of the moving body;
Motor control driving means for controlling and driving the motor;
A position detection switch for detecting a predetermined position taken by the movable body in relation to the motor control drive means;
Pulse generating means for generating a pulse in response to driving of the motor;
Pulse counting means for counting pulses from the pulse generating means in conjunction with the on / off of the position detection switch;
Determination means for determining normality / abnormality of the position detection switch based on the count value from the pulse count means and a predetermined comparison reference value;
According to the determination result by the determination means, the motor control drive means is commanded to drive / stop the motor, and when the determination result by the determination means is abnormal, the position detection switch is turned on / off. The mobile body safety control device is configured to instruct the motor control driving means to invert the motor . The predetermined comparison reference value for determining normality / abnormality of the position detection switch in the determination means has a predetermined range, and is set so that updating, limiting of the update, and change are selectively possible. The safety control device for a moving body according to claim 1.

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