JP4971214B2 - Opening / closing member control device and opening / closing device - Google Patents

Description

  The present invention relates to an opening / closing device for opening / closing an opening / closing member for opening / closing an opening by a driving force of a motor or the like.

  2. Description of the Related Art Conventionally, some automobile vehicles include an electric slide door device that opens and closes a doorway by sliding a door panel (opening / closing member) provided on a side in a vehicle front-rear direction by a driving force of a motor. . For example, in the electric sliding door device described in Patent Document 1, the door panel is fixed to the vehicle body via a guide rail extending in the front-rear direction of the vehicle, and a cable is connected to the door panel from the front-rear direction of the vehicle. Yes. When this cable is actuated by the driving force of the motor, the door panel is slid and guided by the guide rail.

  In addition, the electric sliding door device includes a foreign object detection device that detects a foreign object adjacent to the front end of the door panel in order to prevent foreign objects from being sandwiched between the front end of the door panel and the peripheral edge of the entrance / exit. Things are common. As such a foreign object detection device, a sensor electrode is arranged at the front end of the door panel, and when the door panel is closed, the capacitance between the object in front of the door panel and the sensor electrode is detected, and the detected static electricity is detected. What detects a foreign object close to the front end portion of a door panel based on the electric capacity is known. This kind of foreign object detection device compares the capacitance detected using the sensor electrode with a preset threshold value, and approaches the front end of the door panel when the detected capacitance exceeds the threshold value. It is configured to determine that there is a foreign object to be performed. When it is determined that there is a foreign object, the door panel is moved toward the fully open position.

  By the way, when the door panel in the closing operation approaches the fully closed position, since the sensor electrode approaches the center pillar of the vehicle body, the value of the capacitance detected using the sensor electrode increases rapidly. Therefore, in the electric sliding door device, in order to prevent the center pillar from being detected as a foreign object, a threshold is set according to the position of the door panel so that the door panel increases as it approaches the fully closed position, The difference between the capacitance value detected when there is no foreign object between the peripheral portion of the entrance and the entrance and the threshold value is made substantially constant. For example, the electric sliding door device described in Patent Document 1 includes a Hall IC that outputs a pulse signal corresponding to the rotation amount of the output shaft of the motor, and the position of the door panel based on the pulse signal output by the Hall IC. And the presence or absence of a foreign object close to the front end of the door panel is determined by comparing a threshold value corresponding to the detected position of the door panel with a capacitance value detected using the sensor electrode. .

In general, the mechanism for transmitting the driving force of the motor to the door panel has mechanical rattling. Therefore, when the vehicle inclines forward and downward, the door panel is urged toward the fully closed position by its own weight, and is moved to the fully closed position within the range of mechanical rattling. Then, the actual position of the door panel is shifted to the fully closed position side from the position of the door panel detected based on the pulse signal from the Hall IC. As a result, when the door panel is closed near the fully closed position where the capacitance increases due to the sensor electrode approaching the center pillar, a threshold smaller than the threshold corresponding to the actual door panel position is used. Therefore, the presence or absence of a foreign object close to the front end of the door panel is determined, so that the capacitance value exceeds the threshold value even though no foreign object is present, and the center pillar may be erroneously detected as a foreign object. There is. On the other hand, when the vehicle inclines backward and downward, the door panel is urged toward the fully open position by its own weight, and is moved to the fully open position within the range of mechanical rattling. Then, the actual position of the door panel is shifted to the fully open position side from the position of the door panel detected based on the pulse signal from the Hall IC. For this reason, when the door panel is closed near the fully closed position in the absence of a foreign object close to the front end of the door panel, a threshold value corresponding to the position of the door panel detected based on the pulse signal and a sensor electrode are used. The difference from the detected capacitance value increases. As a result, the detection sensitivity of a foreign object close to the door panel is lowered. Therefore, the electric sliding door device described in Patent Document 1 includes an inclination sensor that detects the inclination of the vehicle, and changes the threshold value according to the inclination of the vehicle.
JP 2007-23585 A

  However, even when the vehicle is in the same tilt state, the amount of positional deviation between the position of the door panel detected based on the Hall IC pulse signal and the actual position of the door panel is not always equal. Also, depending on the assembly accuracy of the electric slide door device, the actual door panel position and the door panel position detected based on the Hall IC pulse signal may be slightly shifted from the beginning. Therefore, even when the threshold value is changed according to the vehicle inclination detected by the inclination sensor, it is difficult to always set the threshold value to a value corresponding to the actual door panel position. There is a possibility that the detection accuracy is lowered.

  The present invention has been made in view of such circumstances, and its purpose is to control the opening / closing member that can suppress a decrease in the detection accuracy of the foreign matter due to the positional deviation of the opening / closing member due to mechanical rattling. To provide a device and a switchgear.

  In order to solve the above-mentioned problem, the invention according to claim 1 is characterized in that the opening / closing member provided in the body to be opened / closed has a fully opened position for opening the opening provided in the body to be opened / closed and all members for closing the opening. An opening / closing member control device for opening / closing an opening / closing member via a driving means according to a distance between a closing end of the opening / closing member and an object adjacent to the closing end. A detection sensor for outputting a detection value based on the detected signal, a signal output means for outputting a position signal corresponding to the movement of the opening / closing member, a position recognition means for recognizing the position of the opening / closing member based on the position signal, First storage means for storing the detection value of the detection sensor corresponding to the position of the opening / closing member as a reference value, and the opening / closing operation based on the position signal in a state where the reference value is stored in the first storage means. The detection sensor corresponding to the position of the member Second storage means for storing the detected value of the memory as a stored value, and a threshold value for determining the presence or absence of a foreign object close to the closed side end set according to the position of the opening and closing member, A determination unit that compares a threshold value with the detection value and determines the presence or absence of the foreign object adjacent to the closed side end according to the comparison result, a storage content of the first storage unit, and a storage of the second storage unit The gist of the invention is that it includes correction means for comparing the contents and correcting the position of the opening / closing member recognized by the position recognition means in accordance with the comparison result.

  According to this configuration, the reference value stored in the first storage unit is the detection value of the detection sensor corresponding to the position of the opening / closing member, and the storage value stored in the second storage unit is based on the position signal. It is a detection value of the detection sensor corresponding to the position of the opening and closing member. Therefore, by comparing the stored contents of the first storage means with the stored contents of the second storage means, the detection stored as the reference value in the first storage means when the opening / closing member is disposed at an arbitrary position. It is possible to detect a displacement amount between the position of the opening / closing member corresponding to the value and the position of the opening / closing member based on the position signal corresponding to the detection value stored as the stored value in the second storage means. Therefore, the actual position of the opening / closing member is grasped by correcting the position of the opening / closing member recognized by the position recognition means according to the result of comparing the stored contents of the first storage means and the storage contents of the second storage means. can do. Since the threshold value is set according to the position of the opening / closing member, the presence / absence of a foreign object close to the closed end of the opening / closing member is determined using the threshold value corresponding to the actual position of the opening / closing member. Can do. As a result, it is possible to suppress a decrease in foreign matter detection accuracy due to the positional deviation of the opening and closing member due to mechanical rattling. Further, since it is not necessary to use a special sensor such as an inclination sensor in order to detect a deviation between the position of the opening / closing member recognized by the position recognition means and the actual position of the opening / closing member, the manufacturing cost increases. It is suppressed. In the present invention, “comparison” is not limited to directly comparing two values but includes processing and comparing two values.

  In the invention according to claim 2, the opening / closing member provided in the body to be opened / closed is between a fully open position for opening the opening provided in the body to be opened / closed and a fully closed position for closing the opening. An opening / closing member control device for opening / closing operation via a driving means, wherein the detection value is based on a detection signal corresponding to a distance between a closed end of the opening / closing member and an object adjacent to the closed end. A sensor for outputting a position signal, a signal output means for outputting a position signal corresponding to the movement of the opening / closing member, a position recognition means for recognizing the position of the opening / closing member based on the position signal, and a position of the opening / closing member. A first storage means for storing the corresponding detection value of the detection sensor as a reference value; and the reference value stored in the first storage means and the position corresponding to the position of the opening / closing member based on the position signal. The detected value of the detection sensor is stored as a stored value. A second storage means that stores the threshold value, and a threshold value for determining the presence or absence of a foreign object close to the closed side end set according to the position of the opening and closing member, and comparing the threshold value and the detection value Then, the determination means for determining the presence / absence of the foreign matter adjacent to the closed side end according to the comparison result, the storage content of the first storage means and the storage content of the second storage means are compared, and the comparison result Accordingly, the gist of the present invention is to include a correction unit that corrects the position of the opening / closing member stored in the first storage unit.

  According to this configuration, the reference value stored in the first storage unit is the detection value of the detection sensor corresponding to the position of the opening / closing member, and the storage value stored in the second storage unit is based on the position signal. It is a detection value of the detection sensor corresponding to the position of the opening and closing member. Therefore, by comparing the stored contents of the first storage means with the stored contents of the second storage means, the detection stored as the reference value in the first storage means when the opening / closing member is disposed at an arbitrary position. It is possible to detect a displacement amount between the position of the opening / closing member corresponding to the value and the position of the opening / closing member based on the position signal corresponding to the detection value stored as the stored value in the second storage means. Further, since the threshold value is a value corresponding to the position of the opening / closing member, the opening / closing stored in the first storage means according to the result of comparing the storage contents of the first storage means and the storage contents of the second storage means. By correcting the position of the member, the threshold corresponding to the position of the opening / closing member based on the position signal can be set as a threshold corresponding to the actual position of the opening / closing member. As a result, by using a threshold value corresponding to the actual position of the opening / closing member, it is possible to determine the presence or absence of a foreign object that is close to the closed end of the opening / closing member, and the position of the opening / closing member due to mechanical rattling It is possible to suppress a decrease in the detection accuracy of the resulting foreign matter. Further, since it is not necessary to use a special sensor such as an inclination sensor in order to detect a deviation between the position of the opening / closing member recognized by the position recognition means and the actual position of the opening / closing member, the manufacturing cost increases. It is suppressed. In the present invention, “comparison” is not limited to directly comparing two values but includes processing and comparing two values.

  In the invention according to claim 3, the opening / closing member provided in the body to be opened / closed is between a fully open position for opening the opening provided in the body to be opened / closed and a fully closed position for closing the opening. An opening / closing member control device for opening / closing operation via a driving means, wherein the detection value is based on a detection signal corresponding to a distance between a closed end of the opening / closing member and an object adjacent to the closed end. A sensor for outputting a position signal, a signal output means for outputting a position signal corresponding to the movement of the opening / closing member, a position recognition means for recognizing the position of the opening / closing member based on the position signal, and a position of the opening / closing member. A first storage means for storing the corresponding detection value of the detection sensor as a reference value; and the reference value stored in the first storage means and the position corresponding to the position of the opening / closing member based on the position signal. The detected value of the detection sensor is stored as a stored value. A second storage means that stores the threshold value, and a threshold value for determining the presence or absence of a foreign object close to the closed side end set according to the position of the opening and closing member, and comparing the threshold value and the detection value Then, the determination means for determining the presence / absence of the foreign matter adjacent to the closed side end according to the comparison result, the storage content of the first storage means and the storage content of the second storage means are compared, and the comparison result According to the present invention, the gist is provided with correction means for correcting the position of the opening / closing member corresponding to the threshold value.

  According to this configuration, the reference value stored in the first storage unit is the detection value of the detection sensor corresponding to the position of the opening / closing member, and the storage value stored in the second storage unit is based on the position signal. It is a detection value of the detection sensor corresponding to the position of the opening and closing member. Therefore, by comparing the stored contents of the first storage means with the stored contents of the second storage means, the detection stored as the reference value in the first storage means when the opening / closing member is disposed at an arbitrary position. It is possible to detect a displacement amount between the position of the opening / closing member corresponding to the value and the position of the opening / closing member based on the position signal corresponding to the detection value stored as the stored value in the second storage means. Further, since the threshold value is a value corresponding to the position of the opening / closing member, the reference value corresponds to the threshold value. Accordingly, the threshold value corresponding to the position of the opening / closing member based on the position signal is corrected by correcting the position of the opening / closing member in the threshold value according to the result of comparison between the storage content of the first storage means and the storage content of the second storage means. Can be set as a threshold according to the actual position of the opening and closing member. As a result, by using a threshold value corresponding to the actual position of the opening / closing member, it is possible to determine the presence or absence of a foreign object that is close to the closed end of the opening / closing member, which can cause a positional deviation of the opening / closing member due to mechanical rattling. It is possible to suppress a decrease in the detection accuracy of the resulting foreign matter. Further, since it is not necessary to use a special sensor such as an inclination sensor in order to detect a deviation between the position of the opening / closing member recognized by the position recognition means and the actual position of the opening / closing member, the manufacturing cost increases. It is suppressed. In the present invention, “comparison” is not limited to directly comparing two values but includes processing and comparing two values.

  According to a fourth aspect of the present invention, in the opening / closing member control device according to any one of the first to third aspects, the first storage means sets the reference value to the closed end and the closed side. The gist is that the opening / closing member is memorized when the opening / closing member is closed in a state where the foreign matter does not exist between the peripheral portion of the opening facing the side end.

  According to this configuration, even if the detection value of the detection sensor when the opening / closing member is closed is different for each object to be opened / closed, the detection value corresponding to each object to be opened / closed is used as the reference value. It can be stored in one storage means.

  According to a fifth aspect of the present invention, in the opening / closing member control apparatus according to any one of the first to fourth aspects, the correction means is previously smaller than a range from the fully closed position to the fully opened position. The gist is to compare the storage content of the first storage means and the storage content of the second storage means over a set search range.

  According to this configuration, the reference value over the entire movement region of the opening / closing member from the fully open position to the fully closed position stored in the first storage means is compared with the stored value stored in the second storage means. Thus, the load on the correction means can be reduced.

  According to a sixth aspect of the present invention, in the opening / closing member control apparatus according to the fifth aspect, the search range is smaller than a range from the fully closed position to the fully open position and is present in the driving means. Its gist is that it is set in a range that is equal to or greater than the maximum positional deviation amount.

  According to this configuration, the position of the opening / closing member based on the position signal is shifted from the actual position of the opening / closing member by the maximum amount of displacement due to mechanical rattling that exists in the driving means. In addition, the correction unit can compare the storage content of the first storage unit and the storage content of the second storage unit corresponding to the search range, and appropriately perform correction according to the maximum positional deviation amount.

  According to a seventh aspect of the present invention, there is provided an opening / closing member that is opened / closed between a fully open position that opens an opening provided in a body to be opened and closed and a fully closed position that closes the opening, and a driving force of a drive motor The gist of the present invention is to provide an opening / closing device comprising a driving means for transmitting the opening / closing member to the opening / closing member and the opening / closing member control device according to any one of claims 1 to 6.

According to this configuration, in the opening / closing device, it is possible to suppress a decrease in the detection accuracy of the foreign matter due to the positional deviation between the actual position of the opening / closing member and the position of the opening / closing member based on the position signal.
The invention according to claim 8 is the opening / closing apparatus according to claim 7, wherein the body to be opened / closed is a vehicle body, and the opening / closing member has an entrance / exit as the opening provided on a side of the vehicle body. The gist of the invention is that the door panel is slidably moved in the front-rear direction of the vehicle body to be opened and closed.

  According to this configuration, in an opening / closing device provided with a door panel that is slidably moved to open and close the entrance / exit provided on the side of the vehicle, the position shift between the actual door panel position and the position of the door panel based on the position signal. It is possible to suppress a decrease in the detection accuracy of the resulting foreign matter.

  ADVANTAGE OF THE INVENTION According to this invention, the opening / closing member control apparatus and opening / closing apparatus which can suppress the fall of the detection precision of the foreign material resulting from the position shift of the opening / closing member by mechanical rattling can be provided.

DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, an embodiment of the invention will be described with reference to the drawings.
FIG. 1 is a perspective view showing a vehicle 2 equipped with an electric sliding door device (opening / closing device) 1. As shown in FIG. 1, the vehicle 2 includes a vehicle body 3 made of a conductive metal material. On the left side surface of the vehicle body 3, an entrance / exit 4 is formed as a rectangular opening. The entrance / exit 4 is opened / closed by a door panel 5 formed of a conductive metal material and having a rectangular shape corresponding to the entrance / exit 4. Further, as shown in FIG. 2, a front passenger door panel 6 having conductivity is provided in front of the passenger door 4, and the door panel 5 in a state in which the passenger door 4 is closed and the front passenger door panel 6 are connected to each other. In the middle, a conductive center pillar 7 is provided so as to extend in the vertical direction of the vehicle 2.

  As shown in FIG. 1, the door panel 5 is attached to the vehicle body 3 so as to be movable in the front-rear direction via an operating mechanism 11 in order to open and close the entrance / exit 4, and the door panel 5 has a latch or the like. A locking mechanism (not shown) is provided. This lock mechanism is incapable of moving the door panel 5 with respect to the vehicle body 3 when the door panel 5 is in a state of closing the entrance / exit 4 (that is, when the door panel 5 is disposed at the fully closed position Pc (see FIG. 2)). It is for fixing as much as possible. In the vicinity of the lock mechanism, half latch detection means (not shown) configured by a limit switch or the like is provided, and the half latch detection means detects half latch when the lock mechanism is in a half latch state. The signal is output to the control circuit device 71 (see FIG. 4) of the electric sliding door device 1.

  The operating mechanism 11 includes an upper rail 12, a lower rail 13, a center rail 14 provided on the vehicle body 3, and an upper arm 15, a lower arm 16, and a center arm 17 provided on the door panel 5 side.

  The upper rail 12 and the lower rail 13 are respectively provided at an upper part and a lower part of the entrance / exit 4 in the vehicle 2, and extend along the front-rear direction of the vehicle 2. The center rail 14 is provided at a substantially central portion of a portion of the vehicle 2 that is behind the entrance / exit 4 and extends along a substantially front-rear direction of the vehicle 2. Each of the rails 12 to 14 is linearly formed along the front-rear direction of the vehicle 2 from the rear end toward the front end side, and is curved so that the front end side faces the vehicle interior side from the middle.

  The arms 15 to 17 are fixed at predetermined positions on the upper, lower, and central portions of the door panel 5 on the vehicle interior side. The upper arm 15 is connected to the upper rail 12, the lower arm 16 is connected to the lower rail 13, the center arm 17 is connected to the center rail 14, and the arms 15 to 17 are connected to the rails 12 to 12. 14, the vehicle 2 can move in the front-rear direction.

  The lower arm 16 is moved in the front-rear direction by driving the drive mechanism 21. More specifically, a drive pulley 22 and a driven pulley 23 of the drive mechanism 21 that rotate about the vertical axis of the vehicle 2 are provided at a position closer to the vehicle interior side than the lower rail 13. An endless belt 24 is stretched around the driving pulley 22 and the driven pulley 23, and the end of the lower arm 16 is fixed to the endless belt 24.

  As shown in FIGS. 1 and 4, a slide actuator 25 constituting the drive mechanism 21 is connected to the drive pulley 22. The slide actuator 25 is disposed on the vehicle interior side, and includes a slide motor 26 and a speed reduction mechanism (not shown) that reduces the rotation of the slide motor 26 and transmits it to the drive pulley 22. When the slide motor 26 is driven and the drive pulley 22 rotates, the endless belt 24 is driven to rotate, the lower arm 16 moves in the front-rear direction, and the door panel 5 slides in the front-rear direction.

  A position detection device 27 that detects the rotation of the slide motor 26 is disposed in the slide actuator 25. The position detection device 27 is, for example, a permanent magnet provided to rotate integrally with a rotation shaft (not shown) of the slide motor 26 or a reduction gear (not shown) constituting the reduction mechanism, and opposed to the permanent magnet. The Hall IC outputs a pulse signal corresponding to a change in the magnetic field of the permanent magnet due to rotation of the permanent magnet as a rotation detection signal (position signal). Incidentally, since the door panel 5 is operated by the driving force of the slide motor 26, the rotation detection signal is a signal corresponding to the position and the movement amount of the door panel 5. The rotation detection signal switches its potential level from H (high potential) level to L (low potential) level or from L level to H level each time the door panel 5 moves a predetermined distance.

  A closer actuator 28 constituting the drive mechanism 21 is disposed in the door panel 5. The closer actuator 28 includes a closer motor 29 and a speed reduction mechanism (not shown) for reducing the rotation of the closer motor 29. When the closer motor 29 is driven, the door panel 5 is moved to a position where the lock mechanism can be locked.

  Further, the electric sliding door device 1 includes an operation switch 31 that is electrically connected to the control circuit device 71. When the operation switch 31 is operated to open the entrance 4 by a passenger or the like of the vehicle 2, the operation switch 31 outputs an open signal indicating that the door panel 5 is slid to open the entrance 4. Output to the control circuit device 71. On the other hand, when the operation switch 31 is operated so as to close the entrance / exit 4 by a passenger or the like, the operation switch 31 provides a control signal for closing the door panel 5 so as to close the entrance / exit 4. Output to the device 71. The operation switch 31 is provided in a predetermined part (dashboard or the like) in the vehicle interior, a surface of the door panel 5 on the vehicle interior side, a portable item (not shown) carried along with the ignition key, and the like.

  In addition, the electric sliding door device 1 includes a foreign matter detection device 41 for detecting the conductive foreign matter X1 and the foreign matter X2 (see FIG. 2) that are not present between the door panel 5 and the entrance 4. In addition, the foreign object detection device 41 includes a sensor main body 42, an ON-OFF detection unit 43, and a capacitance detection circuit 44.

  As shown in FIG. 2, the cable-shaped sensor main body 42 is disposed along the front end portion in the traveling direction when the door panel 5 is closed, that is, along the front end portion 5 a of the door panel 5. The sensor body 42 has a length in the longitudinal direction substantially equal to the length in the vertical direction of the front end portion 5a of the door panel 5 and is formed of an insulating resin material (rubber, elastomer, etc.). It is accommodated in the holding member (not shown), and is fixed to the front end portion of the door panel 5 through the holding member.

  As shown in FIG. 3A, the insulating layer 51 provided at the center of the sensor body 42 is formed of an elastically deformable insulator (soft rigid resin material, rubber, etc.) having insulating properties and resilience. In addition, it has a long and substantially cylindrical shape. A spacing hole 51 a extending along the longitudinal direction of the insulating layer 51 is formed at the radial center of the insulating layer 51. The spacing hole 51 a is formed by separating the spacing recesses 51 b to 51 e that are recessed toward the radially outer side at four locations that are equiangularly spaced in the circumferential direction in the cross section along the radial direction of the insulating layer 51. By forming the shape connected by the portions, the cross-sectional shape in the direction orthogonal to the longitudinal direction of the insulating layer 51 forms a cross shape. The separation hole 51a extends along the longitudinal direction of the insulating layer 51 so that the four separation recesses 51b to 51e are spiral.

  In addition, inside the insulating layer 51, electrode lines 52a to 52d held by the insulating layer 51 are arranged. Each of the electrode wires 52a to 52d includes a flexible central electrode 53 formed by twisting conductive thin wires, and a cylindrical conductive coating layer 54 that has conductivity and elasticity and covers the outer periphery of the central electrode 53. It is composed of And each electrode line 52a-52d is arrange | positioned between the four space | gap recessed parts 51b-51e of the insulating layer 51 so that the spiral along the space | interval recessed parts 51b-51e may be made, respectively. In addition, the electrode lines 52 a to 52 d are embedded in the insulating layer 51 with a little more than half in the circumferential direction between the spaced recesses 51 b to 51 e.

  As shown in FIG. 4, the electrode line 52a and the electrode line 52c are conductive at one end in the longitudinal direction (the right end in FIG. 4), and the electrode line 52b and the electrode line 52d are also one end in the longitudinal direction (FIG. 4). In the right end). The electrode line 52c and the electrode line 52d are electrically connected via the resistor 55 at the other end in the longitudinal direction (the left end in FIG. 4). Further, the other end in the longitudinal direction of the electrode line 52b (the left end in FIG. 4) is connected to the ground GND (grounded to the vehicle body 3), and the other end in the longitudinal direction of the electrode line 52a (FIG. 4). (The left end portion) is electrically connected to the ON-OFF detector 43. Then, power is supplied to the electrode line 52 a via the control circuit device 71 and the ON-OFF detector 43.

  As shown in FIG. 3A, a sensor electrode 56 having conductivity is provided on the outer periphery of the insulating layer 51. The sensor electrode 56 has a cylindrical shape and covers the insulating layer 51 from one end to the other end in the longitudinal direction. The outer periphery of the sensor electrode 56 is covered with a cylindrical outer skin 57. The outer skin 57 is made of an insulating material, is elastically deformable, and has a length in the longitudinal direction equal to the length in the longitudinal direction of the insulating layer 51.

  As shown in FIG. 4, the ON-OFF detection unit 43 comes into contact with the foreign body X1 and X2 (see FIG. 2) that exist between the door body 5 and the periphery of the entrance / exit 4 together with the sensor body 42. The pressure sensor which detects X1 and X2 is comprised. This ON-OFF detector 43 is connected to the ground GND.

  Here, in a normal state in which no pressing force is applied to the sensor body 42 (the state shown in FIG. 3A), the current supplied to the electrode line 52a is transmitted from the electrode line 52a through the electrode lines 52c and 52d. When flowing to the electrode line 52b, the current flows through the resistor 55. On the other hand, for example, when a pressing force is applied to the sensor body 42 from the direction of the arrow α (when the state shown in FIG. 3B is reached), the outer skin 57, the sensor electrode 56, and the insulating layer 51 are elastically deformed, so One of the electrode lines 52c and one of the electrode lines 52b and 52d come into contact with each other and are short-circuited. Then, the current flowing from the electrode line 52a to the electrode line 52b via the electrode lines 52c and 52d flows without passing through the resistor 55, and becomes a voltage value between the electrode line 52a and the ground GND in a normal state. In contrast, the voltage value between the electrode line 52a and the ground GND changes. The ON-OFF detection unit 43 detects a change in the voltage value between the electrode line 52a and the ground GND at this time, and selects one of the electrode line 52a and the electrode line 52c, and any of the electrode line 52b and the electrode line 52d. A contact detection signal indicating that the voltage value has changed is output to the control circuit device 71 based on the fact that one of them is in contact and short-circuited with each other. For example, the ON-OFF detection unit 43 has a threshold value set based on a voltage value between the electrode line 52a and the ground GND in a normal state, and between the detected electrode line 52a and the ground GND. When the voltage value exceeds the threshold value, a contact detection signal is output. When the pressing force on the sensor body 42 is removed, the outer skin 57, the sensor electrode 56, and the insulating layer 51 are restored, and the electrode lines 52a to 52d are also restored and become non-conductive.

  The capacitance detection circuit 44 is electrically connected to the sensor electrode 56, and detects the conductive foreign matter X1 existing between the door electrode 5 and the periphery of the entrance / exit 4 together with the sensor electrode 56 in a non-contact manner. An electrostatic capacity type proximity sensor is configured. The capacitance detection circuit 44 is disposed in the door panel 5 and is electrically connected to the control circuit device 71. The capacitance detection circuit 44 detects the capacitance between the sensor electrode 56 and an object (the ground, the center pillar 7, the passenger side door panel, the conductive foreign object X1, etc.) adjacent to the sensor electrode 56. To do. In other words, the electrostatic capacitance detection circuit 44 detects the electrostatic potential at the sensor electrode 56 based on an electrical signal (detection signal) that is input from the sensor electrode 56 of the sensor body 42 and that corresponds to the distance between the sensor electrode 56 and the object. Detect capacity. Then, the electrostatic capacitance detection circuit 44 outputs the detected electrostatic capacitance (detection value) to the control circuit device 71.

  The electric sliding door device 1 of the present embodiment is controlled by a control circuit device 71. The control circuit device 71 has a function as a microcomputer including a storage device 71a such as a ROM (Read Only Memory) and a RAM (Random Access Memory). The control circuit device 71 is disposed, for example, in the vicinity of the slide motor 26 and receives drive power from the battery 72 of the vehicle 2.

  The control circuit device 71 includes a slide actuator 25 and a closer actuator 28 based on various signals input from the half latch detection means, the position detection device 27, the operation switch 31, the ON-OFF detection unit 43, and the capacitance detection circuit 44. To control. That is, the control circuit device 71 slides to open the door panel 5 to the fully open position Po when the open signal is input from the operation switch 31 and to close the door panel 5 to the fully closed position Pc when the close signal is input. The motor 26 is controlled. Further, when the half latch detection signal is input during the closing operation of the door panel 5, the control circuit device 71 controls the closer motor 29 to move the door panel 5 to a position where locking by the lock mechanism is possible.

  Further, when a closing signal is input from the operation switch 31, the control circuit device 71 drives the ON-OFF detection unit 43 and receives a contact detection signal from the ON-OFF detection unit 43 during the closing operation of the door panel 5. When the input is made, the slide motor 26 is reversed and the door panel 5 is slid toward the fully open position Po by a predetermined amount.

  In addition, the control circuit device 71 includes a counter circuit (not shown), and the counter circuit counts the rising and falling edges of the rotation detection signal. In the present embodiment, the counter circuit counts the rise and fall of the rotation detection signal so that the number of pulses is added when the door panel 5 is opened, and the number of pulses when the door panel 5 is closed. Is counted so that the rotation detection signal rises and falls.

  4 and 5, the control circuit device 71 associates the detection value input from the capacitance detection circuit 44 when the door panel 5 is closed with the position of the door panel 5 based on the rotation detection signal. And stored in the storage device 71a. Specifically, when the control circuit device 71 detects that the number of pulses of the rotation detection signal has changed when the door panel 5 is closed, the control circuit device 71 sets the detected value input from the capacitance detection circuit 44 at that time to the number of pulses at that time. Correspondingly, the stored value (shown by a solid line in FIG. 5) is stored in the storage device 71a.

  The control circuit device 71 performs an initialization operation when the electric sliding door device 1 starts to be used. This initialization operation is actually performed from the fully open position Po to the fully closed position Pc in the state where the foreign objects X1 and X2 do not exist between the front end portion 5a of the door panel 5 and the peripheral edge portion of the entrance / exit 4 facing the front end portion 5a. The door panel 5 is closed and the detection value output from the capacitance detection circuit 44 is stored in the storage device 71a as a reference value corresponding to the number of pulses of the rotation detection signal. Specifically, every time the number of pulses of the rotation detection signal changes during the initialization operation, the control circuit device 71 associates the number of pulses at that time with the detection value input from the capacitance detection circuit 44 at that time. And stored in the storage device 71a as a reference value. Since the reference value has the number of pulses of the rotation detection signal from the fully open position Po, which is the start point of the closing operation, to the fully closed position Pc, which is the end point of the closing operation, the number of pulses of the rotation detection signal at the reference value Is a value indicating the actual position of the door panel 5. Therefore, the reference value is information corresponding to the actual position of the door panel 5.

  The control circuit device 71 includes a foreign object proximity determination circuit 71 b that constitutes a proximity sensor together with the capacitance detection circuit 44 and the sensor electrode 56. The foreign object proximity determination circuit 71b is a threshold value for comparison with the detection value input from the capacitance detection circuit 44 in order to detect the conductive foreign object X1 (see FIG. 2) that is close to the front end 5a of the door panel 5. I have Th. The foreign object proximity determination circuit 71b compares the detected value with the expression position Th and determines that there is a foreign object X1 close to the front end 5a of the door panel 5 when the detected value exceeds the threshold Th, and the front end A foreign object detection signal indicating that there is a foreign object X1 close to 5a is output. When a foreign object detection signal is output from the foreign object proximity determination circuit 71b during the closing operation of the door panel 5, the control circuit device 71 reverses the slide motor 26 and slides the door panel 5 by a predetermined amount toward the fully open position Po. Let

  The threshold value Th (illustrated by a broken line in FIG. 5) is set according to the position of the door panel 5, and foreign matter is present between the front end portion 5a of the door panel 5 and the peripheral portion of the entrance / exit facing the front end portion 5a. The difference from the capacitance detected by the capacitance detection circuit 44 in the state where X1 does not exist is set to be constant. Looking at the waveform of the reference value as an example, the capacitance detected by the capacitance detection circuit 44 ranges from the fully closed position Pc to a predetermined position closer to the fully opened position Po than the fully closed position Pc. It can be seen that when 5 is closed, the value is almost constant. After the door panel 5 in the closing operation exceeds the predetermined position, the electrostatic capacity detected by the electrostatic capacity detection circuit 44 has a reference value of 2 as the door panel 5 approaches the fully closed position Pc. It turns out that it becomes large like a quadratic function. Therefore, for the range from the fully open position Po to the predetermined position that is closer to the fully open position Po than the fully closed position Pc, the threshold Th is detected when there is no foreign object X1 close to the front end 5a of the door panel 5. It is set to a constant value larger than the capacitance detected by the circuit 44. For the range from the predetermined position to the fully closed position Pc, the threshold Th is the capacitance detected by the capacitance detection circuit 44 when there is no foreign object X1 close to the front end 5a of the door panel 5. It is set to be larger as it approaches the fully closed position Pc.

  Further, the control circuit device 71 detects the positional deviation amount d of the position of the door panel 5 based on the rotation detection signal with respect to the actual position of the door panel 5 due to mechanical rattling that exists in the operating mechanism 11 and the drive mechanism 21. Is configured to detect. In this embodiment, this positional deviation amount d is a difference obtained by subtracting the number of rotation detection signal pulses in the stored value from the number of rotation detection signal pulses in the reference value when the door panel 5 is disposed at an arbitrary position. It corresponds to.

  Here, the detection of the positional deviation amount d will be described in detail. Based on the stored contents of the storage device 71a, the control circuit device 71 compares the waveform of the stored value until the door panel 5 is closed from the fully closed position Pc with the waveform of the reference value, and the waveform of the stored value is A part that matches the waveform of the reference value is searched, and a positional deviation amount d is calculated based on the search result. The waveform of the stored value is compared with the waveform of the reference value by comparing the stored value up to the position where the door panel 5 is closed from the fully closed position Pc over a preset search range H (see FIG. 6A). The waveform is shifted by one pulse at a time, and at each position, it is determined whether or not the waveform of the stored value until the door panel 5 is closed from the fully closed position Pc matches the waveform of the reference value.

  The search range H is set over a predetermined number of pulses on the fully open position Po side and a predetermined number of pulses on the fully closed position Pc side with reference to the number of pulses of the rotation detection signal at the latest stored value during the closing operation. It is set over the range. In the present embodiment, the search range H is set equal to the maximum amount of positional deviation caused by mechanical rattling that exists in the operating mechanism 11 and the drive mechanism 21. The maximum positional deviation amount is the distance from the position of the door panel 5 when it is maximally shifted to the fully closed position Pc side to the position of the door panel 5 when it is maximally shifted to the fully open position Po side. The value is equal to the number of pulses N (N is a positive integer) of the rotation detection signal corresponding to the distance. Accordingly, the number of pulses corresponding to the maximum amount of displacement to the fully closed position Pc side of the door panel 5 during the initialization operation is “n1 (n1 is a positive integer)”, and the fully open position Po side of the door panel 5 during the initialization operation. Assuming that the number of pulses corresponding to the maximum position shift amount to “n2 (n2 is a positive integer)”, the search range H is n2 on the fully open position Po side with reference to the number of pulses of the rotation detection signal in the latest stored value. The pulse is in the range of n1 pulse on the fully closed position Pc side.

  For example, as shown in FIGS. 5 and 6A, when the door panel 5 is disposed at the door position P1 (the door position based on the rotation detection signal) during the closing operation of the door panel 5, the rotation detection signal at the door position P1. Is set to “M1 (M1 is a positive integer)”, the control circuit device 71 first stores the waveform of the stored value from the fully open position Po to the door position P1 and the number of pulses from the fully open position Po (M1-n1). ) Based on the reference value up to the door position is determined to determine whether or not both waveforms match. FIG. 6A shows a state in which both compared waveforms match. “Match” means that the waveform of the stored value falls within a preset allowable range based on the waveform of the reference value (similar) in addition to the complete match. If the two waveforms match, the positional deviation amount d is considered to be a “−n1” pulse.

  Next, the control circuit device 71 shifts the waveform of the stored value from the reference value waveform by one pulse toward the fully closed position Pc, and from the fully open position Po to the door position based on the number of pulses (M1-n2-1). The waveform of the reference value is compared with the waveform of the stored value from the fully open position Po to the door position P1, and it is determined whether or not both waveforms match. As described above, the control circuit device 71 shifts the stored value waveform by one pulse toward the fully closed position Pc with respect to the reference value waveform by the same number as the pulse number N included in the search range H, and Each time the waveform is shifted, it is determined whether the waveform of the stored value matches the waveform of the reference value. When the compared waveform of the stored value matches the waveform of the reference value, the waveform of the stored value is shifted from the latest number of pulses of the rotation detection signal recognized by the control circuit device 71 (ie, M1). Since the number of minutes of pulses is considered to correspond to the positional deviation amount d, the control circuit device 71 stores the number of pulses shifted to the latest number of pulses in the storage device 71a, and stores the stored pulses. The positional deviation amount d is calculated from the number of. For example, a moving average is used to calculate the positional deviation amount d. Then, the control circuit device 71 corrects the latest number of pulses of the rotation detection signal by the calculated positional deviation amount d. This correction is performed by adding the positional deviation amount d to the latest number of pulses (that is, M1) of the rotation detection signal. Then, the control circuit device 71 calculates the position of the door panel 5 based on the corrected pulse number of the rotation detection signal, and corresponds to the threshold value Th corresponding to the calculated position of the door panel 5 and the pulse number M1 (door position P1). The detected value is compared, and the presence / absence of the foreign matter X1 adjacent to the front end portion 5a of the door panel 5 is determined.

  In the vicinity of the door position P1, the detected value is a substantially constant value. Therefore, it is considered that the waveform of the stored value is almost the same as the waveform of the reference value compared over the search range H. Therefore, the calculated positional deviation amount d is a value similar to the maximum positional deviation amount that is maximally deviated from the actual position of the door panel 5 toward the fully closed position Pc (or the fully opened position Po). However, since the threshold value Th corresponding to the vicinity of the door position P1 is also a substantially constant value, the number of pulses of the rotation detection signal is corrected by the positional deviation amount d, and the door panel is based on the corrected number of pulses of the rotation detection signal. Even when the position 5 is calculated and the threshold value Th corresponding to the calculated position of the door panel 5 is used, the detection accuracy of the foreign object X1 close to the front end portion 5a of the door panel 5 is kept constant.

  Next, as shown in FIG. 5 and FIG. 6B, even when the door panel 5 is closed to, for example, the door position P2, the control circuit device 71 is configured so that the door panel 5 is disposed at the door position P1. Similarly, on the basis of the number of pulses of the latest recognized rotation detection signal, the door is opened after the door panel 5 starts to be closed over a search range H in which n2 pulses are on the fully open position Po side and n1 pulses are on the fully closed position Pc side. The waveform of the stored value until it is arranged at the position P2 is shifted by one pulse and compared with the waveform of the reference value to determine whether or not they match. FIG. 6B shows a state in which the waveform of the stored value matches the waveform of the reference value. Then, the control circuit device 71 calculates the positional deviation amount d based on the determination result.

When the door panel 5 is closed to the door position P2, the center pillar 7 and the sensor electrode 56 are closed.
The detection value starts to increase under the influence of proximity to the. Therefore, the range in which the waveform of the stored value coincides with the waveform of the reference value becomes narrower than when the door panel 5 is closed near the door position P1. Therefore, the difference between the calculated positional deviation amount d and the actual positional deviation amount with respect to the actual position of the door panel 5 becomes small.

  Next, as shown in FIGS. 5 and 6C, even when the door panel 5 is moved to, for example, the door position P3, the control circuit device 71 is the same as when the door panel 5 is disposed at the door position P1. Further, over the search range H, the waveform of the stored value from the start of the closing operation of the door panel 5 to the placement at the door position P3 is shifted by one pulse and compared with the waveform of the reference value. Make a decision. FIG. 6C illustrates a state in which the waveform of the stored value matches the waveform of the reference value. Then, the control circuit device 71 calculates the positional deviation amount d based on the determination result.

  When the door panel 5 is closed to the door position P3, the detection value starts to increase rapidly under the influence of the proximity of the center pillar 7 and the sensor electrode 56. Accordingly, the range in which the waveform of the stored value coincides with the waveform of the reference value is further narrowed compared to the case where the door panel 5 is closed near the door position P2, and the calculated positional deviation amount d is the actual door panel. The actual positional deviation amount with respect to the position 5 substantially coincides. Therefore, since the actual position of the door panel 5 can be grasped by correcting the latest number of pulses of the rotation detection signal by the calculated positional deviation amount d, a threshold value corresponding to the actual position of the door panel 5 is obtained. It is possible to detect the foreign object X1 that is close to the front end portion 5a using Th. Therefore, the foreign object X1 can be detected with higher accuracy in a range where the foreign object X1 is likely to be caught by the proximity of the front end portion 5a of the door panel 5 and the peripheral portion of the entrance / exit 4.

  The control circuit device 71 performs the above-described misregistration calculation process every time the number of pulses of the rotation detection signal changes during the closing operation of the door panel 5. Here, with reference to the flowchart of the positional deviation calculation process shown in FIG. 7, a procedure for realizing the positional deviation correction will be described.

  In step S1, the control circuit device 71 sets the variable P as “the current door position based on the rotation detection signal−n1” and sets the variable S as the amount of movement of the door panel 5 from the start of the closing operation. This variable S corresponds to the number of pulses subtracted since the closing operation of the door panel 5 is started.

  Next, in step S2, the control circuit device 71 uses a plurality of (three in the present embodiment) variables A and 3 for comparing the stored value stored after the door panel 5 closing operation is started and the reference value. B and C are calculated. A is a value obtained by subtracting a stored value at the number of pulses before Ma from the latest stored value, and B is a value obtained by subtracting a stored value at the number of pulses before Mb from the latest stored value. Value. Ma and Mb are positive integers smaller than the number of pulses of the rotation detection signal when the door panel 5 is disposed at the fully open position Po, and are set to, for example, Ma = 3 and Mb = 5. C is a value obtained by subtracting a stored value when the latest closing operation is started from the latest detected value, and is a change amount of the stored value after the closing operation is started (see FIG. 5). ).

  Next, in step S3, the control circuit device 71 sets the variable Y for counting the same number as the number of pulses for the search range H (that is, N times) to “0” and proceeds to step S4. In step S4, if Y <N, that is, if N is a number in the range of 0 to (N-1) (step S4: YES), the number of pulses included in the search range H is determined. In order to search for a place that matches the waveform of the reference value by shifting the waveform of the stored value from the reference value waveform after the closing operation of the door panel 5 is started in the same number N times. move on.

  In step S5, the control circuit device 71 calculates three variables a, b, and c based on reference values for comparison with A, B, and C. a is a value obtained by subtracting a reference value when the number of pulses is (P + Ma) from a reference value when the number of pulses is P, and b is a value obtained by subtracting the number of pulses from the reference value when the number of pulses is P ((P + Ma)). It is a value obtained by subtracting the reference value at the time of (P + Mb). C is a value obtained by subtracting the reference value when the number of pulses is (P + S) from the reference value when the number of pulses is P.

  Next, in step S6, the control circuit device 71 determines whether or not (αa1 <A−a <αa2) is satisfied in order to compare A with a. This is an operation for determining whether or not A and a match. When (αa1 <A−a <αa2) is satisfied, the control circuit assumes that A and a match. The device 71 proceeds to step S7. On the other hand, if (αa1 <A−a <αa2) is not satisfied, the control circuit device 71 proceeds to step S10 on the assumption that A and a do not match. Αa1 and αa2 are integers satisfying αa1 <αa2, and are set to αa1 = −2 and αa2 = 2, for example.

  In step S7, the control circuit device 71 determines whether or not (αb1 <B−b <αb2) is satisfied in order to compare B and b. This is an operation for determining whether or not B and b match. When (αb1 <B−b <αb2) is satisfied, the control circuit assumes that B and b match. The device 71 proceeds to step S8. On the other hand, if (αb1 <B−b <αb2) is not satisfied, the control circuit device 71 proceeds to step S10 on the assumption that B and b do not match. Αb1 and αb2 are integers satisfying αb1 <αb2, and are set to αb1 = −2 and αb2 = 2, for example.

  In step S8, the control circuit device 71 determines whether or not (αc1 <C−c <αc2) is satisfied in order to compare C and c. This is an operation for determining whether or not C and c match. When (αc1 <C−c <αc2) is satisfied, the control circuit assumes that C and c match. The device 71 proceeds to step S9. On the other hand, if (αc1 <C−c <αc2) is not satisfied, the control circuit device 71 proceeds to step S10 on the assumption that C and c do not match. Αc1 and αc2 are integers satisfying αc1 <αc2, and are set to αc1 = −2 and αc2 = 2, for example.

  In step S9, the control circuit device 71 sets P_SUB [Y] = Y. That is, when all of A and a, B and b, and C and c match (that is, when it is found that the waveform of the stored value after the start of the closing operation matches the waveform of the reference value), the control circuit The device 71 stores the value of Y at that time in the array P_SUB [Y]. Then, the control circuit device 71 proceeds to step S11.

  In step S10, the control circuit device 71 stores in the array P_SUB [Y] a value obtained by adding n1 to the position shift amount d calculated immediately before. That is, when any one of A and a, B and b, and C and c does not match (when the waveform of the stored value does not match a part of the waveform of the corresponding reference value), A value obtained by adding n1 to the previously calculated positional deviation amount d is stored in the array P_SUB [Y], and the process proceeds to step S11.

In step S11, the control circuit device 71 sets P = (P + 1) and N = (N + 1) and proceeds to step S4.
In step S4, when Y <N is not satisfied (step S4: NO), the control circuit device 71 starts the closing operation by repeating steps S5 to S11 by the same number as the number of pulses N in the search range H. The capacitance (detection value) waveform after being shifted is shifted by one pulse at a time, and when the comparison between the capacitance waveform and the reference value waveform is completed up to a point shifted by the number of pulses in the search range, step S12 is performed. Proceed to

  In step S12, the control circuit device 71 calculates the positional deviation amount d and ends the positional deviation calculation process. In the present embodiment, the positional deviation amount d is calculated by calculating the moving average of the array P_SUB [Y]. Then, the control circuit device 71 corrects the latest pulse number of the rotation detection signal by adding the calculated displacement d to the pulse number of the rotation detection signal.

  FIG. 8 is a flowchart showing overall processing performed by the control circuit device 71. This process is performed when a control device (not shown) of the vehicle 2 receives a signal instructing locking / unlocking of the door panel 5 transmitted from an electronic key constituting an electronic key system mounted on the vehicle 2. This is performed when the door panel 5 may be opened and closed.

  In step S21, the control circuit device 71 may not perform the initialization operation at this time, so the misregistration amount d is set to “0”. Next, in step S22, the control circuit device 71 proceeds to step S21 when the door panel 5 is not closed (step S22: NO), and when the door panel 5 is closed (step S22: YES). Advances to step S23.

  In step S23, the control circuit device 71 recognizes the current capacitance value (detection value) output from the capacitance detection circuit 44, and proceeds to step S24. In step S24, the control circuit device 71 recognizes the current door position based on the rotation detection signal, that is, the current number of pulses of the rotation detection signal, and proceeds to step S25.

  In step S25, the control circuit device 71 completes the initialization operation for storing the detection values corresponding to the number of pulses of the rotation detection signal from the fully open position Po to the fully closed position Pc in the storage device 71a (step S25). : YES), the process proceeds to step S26. If the initialization operation is not completed (step S25: NO), the process proceeds to step S27 to perform the initialization operation.

  In step S27, the control circuit device 71 determines whether or not the position of the door panel 5 has changed, that is, whether or not the number of pulses of the rotation detection signal has changed. Then, when the number of pulses of the rotation detection signal has changed (step S27: YES), the control circuit device 71 proceeds to step S28, and the number of pulses of the rotation detection signal (that is, the rotation recognized in step S24). The detection value input from the capacitance detection circuit 44 in correspondence with the number of pulses of the detection signal (that is, the detection value recognized in step S23) is stored in the storage device 71a, and the process proceeds to step S29.

  On the other hand, when the number of pulses of the rotation detection signal has not changed (step S27: NO), the control circuit device 71 determines whether or not the door panel 5 is stopped in step S30, that is, whether the closing operation has been completed. If the door panel 5 is not stopped (step S30: NO), the process proceeds to step S29. If the door panel 5 is stopped, the control circuit device 71 assumes that the closing operation has been completed, completes the initialization operation in step S31, and proceeds to step S29. Note that whether or not the door panel 5 is stopped is determined based on the current value of the current supplied to the slide motor 26, for example.

  In step S29, the control circuit device 71 proceeds to step S22 so that a foreign object detection signal indicating that there is a foreign object X1 close to the front end 5a of the door panel 5 is not output from the foreign object proximity determination circuit 71b.

  In step S26, the control circuit device 71 determines whether or not the position of the door panel 5 has changed, that is, whether or not the number of pulses of the rotation detection signal has changed. If the number of pulses of the rotation detection signal has changed (step S26: YES), the control circuit device 71 proceeds to step S32, performs the above-described positional deviation calculation process, and proceeds to step S33. On the other hand, when the number of pulses of the rotation detection signal has not changed (step S26: NO), the control circuit device 71 proceeds to step S33.

  In step S33, the control circuit device 71 compares the threshold value Th with the threshold value Th recognized in step S23 in the foreign object proximity determination circuit 71b, and proceeds to step S34. In step S34, based on the comparison result in step S33, if the detected value does not exceed the threshold value Th (step S34: NO), the control circuit device 71 proceeds to step S29, where the detected value decreases the threshold value Th. If it exceeds (YES in Step S34), a foreign object detection signal is output from the foreign object proximity determination circuit 71b in Step S35, and the process proceeds to Step S22.

As described above, the present embodiment has the following effects.
(1) The reference value is the number of pulses of the rotation detection signal when the door panel 5 is closed from the fully open position Po to the fully closed position Pc during the initialization operation, and the electrostatic capacity detected by the capacitance detection circuit 44. This is information with a clear relationship between the capacitance (that is, the capacitance between the sensor electrode 56 and an object close to the sensor electrode 56), and is information according to the actual position of the door panel 5. The stored value is information indicating the relationship between the number of rotation detection signal pulses during the closing operation and the capacitance detected by the capacitance detection circuit 44. Accordingly, by comparing the waveform of the reference value based on the stored contents of the storage device 71a with the waveform of the stored value, the rotation when the door panel 5 is arranged at the same position during the initialization operation and the ongoing closing operation. It is possible to detect a deviation in the number of pulses of the detection signal (that is, a positional deviation amount d). Therefore, by correcting the number of pulses of the latest rotation detection signal according to the result of comparing the waveform of the reference value and the waveform of the stored value, the actual door panel 5 of the door panel 5 is corrected based on the corrected number of pulses of the rotation detection signal. The position can be grasped. That is, even if there is a deviation between the position of the door panel 5 based on the rotation detection signal and the actual position of the door panel 5 due to mechanical rattling that exists in the operating mechanism 11 and the drive mechanism 21, The actual position of the door panel 5 can be grasped. Since the threshold value Th is set according to the position of the door panel 5, the presence or absence of the foreign object X1 adjacent to the front end portion 5a of the door panel 5 is determined using the threshold value Th corresponding to the actual position of the door panel 5. can do. As a result, it is possible to suppress a decrease in the detection accuracy of the foreign matter X1 due to the positional deviation of the door panel 5 due to mechanical rattling that exists in the operation mechanism 11 and the drive mechanism 21. Further, the control circuit device 71 responds to the positional deviation amount d calculated by comparing the reference value stored in the storage device 71a during the initialization operation with the stored value stored in the storage device 71a during the ongoing closing operation. Then, the number of pulses of the latest rotation detection signal is corrected, and the actual position of the door panel 5 is grasped based on the corrected number of pulses of the rotation detection signal. For this reason, even when the degree of mechanical rattling increases due to deterioration over time, it is possible to detect the displacement d.

  (2) Since it is not necessary to use a special sensor such as an inclination sensor in order to detect the positional deviation amount d between the position of the door panel 5 based on the rotation detection signal and the actual position of the door panel 5, the manufacturing cost is reduced. Increase is suppressed.

  (3) The reference value used in the positional deviation calculation process is actually the door panel in a state in which no foreign matter X1, X2 exists between the front end portion 5a of the door panel 5 and the peripheral portion of the entrance 4 facing the front end portion 5a. 5 is closed and stored in the storage device 71a. Accordingly, when the door panel 5 is closed in a state where the foreign matter X1, X2 does not exist between the front end portion 5a of the door panel 5 and the peripheral portion of the entrance / exit 4 facing the front end portion 5a, the capacitance detection circuit 44. Even when the value of the capacitance detected in (i.e., the detected value) is different for each vehicle 2, the reference value corresponding to each vehicle 2 can be stored in the storage device 71a.

  (4) A comparison between the waveform of the reference value for calculating the positional deviation amount d and the waveform of the stored value is performed over the search range H every time the number of pulses of the rotation detection signal changes during the closing operation of the door panel 5. The stored value waveform is shifted with respect to the reference value waveform one pulse at a time. Therefore, the load on the control circuit device 71 can be reduced compared to the case where the waveform of the stored value is shifted by one pulse from the fully closed position Pc to the fully open position Po and the waveform of the reference value is compared with the waveform of the stored value. it can.

  (5) The search range H is set equal to the maximum amount of positional deviation caused by mechanical rattling that exists in the operating mechanism 11 and the drive mechanism 21. Accordingly, when the position of the opening / closing member based on the rotation detection signal is shifted from the actual position of the door panel 5 by the maximum position shift amount due to mechanical rattling existing in the operation mechanism 11 and the drive mechanism 21. Even in such a case, the control circuit device 71 can detect the maximum positional deviation amount d and appropriately correct the position of the door panel 5 based on the rotation detection signal according to the maximum positional deviation amount d. Can do.

  (6) The reference value for detecting the displacement d in comparison with the waveform of the stored value is that no foreign matter X1, X2 exists between the front end 5a of the door panel 5 and the peripheral edge of the entrance 4 The number of pulses of the rotation detection signal when the door panel 5 is closed from the fully open position Po to the fully closed position Pc and the capacitance detected by the capacitance detection circuit 44 (ie, the sensor electrode 56 and the sensor electrode 56) It is sufficient that the relationship with the capacitance between adjacent objects is clear. Therefore, the initialization operation for storing the reference value can be performed regardless of the state (inclination or the like) of the vehicle 2. Therefore, when performing the initialization operation, it is not necessary to put the vehicle 2 in a specific state (horizontal state or the like), so that the initialization operation can be easily performed.

In addition, you may change embodiment of this invention as follows.
In the embodiment described above, the present invention is embodied in the electric slide door device 1 that opens and closes the entrance 4 provided on the left side surface of the vehicle 2 by sliding the door panel 5 by the driving force of the slide motor 26. However, the present invention may be applied to an opening / closing device other than the sliding door device 1 of the above embodiment as long as the opening / closing device opens and closes the door by moving the door panel by the driving force of the drive motor. For example, the present invention may be embodied in an opening / closing device that opens and closes an opening provided at the rear of a vehicle with a flip-up back door.

  In the above embodiment, the search range H is set equal to the maximum amount of positional deviation caused by mechanical rattling that exists in the operating mechanism 11 and the drive mechanism 21. However, the size of the search range H is not limited to this. The search range H may be set to a range smaller than the range from the fully closed position Pc to the fully open position Po and equal to or larger than the maximum positional deviation amount of the door panel 5.

  In the above-described embodiment, the reference value is the actual closing operation of the door panel 5 in the state where the foreign objects X1 and X2 do not exist between the front end portion 5a of the door panel 5 and the peripheral portion of the entrance / exit 4 facing the front end portion 5a. The capacitance value detected by the capacitance detection circuit 44. However, the capacitance detection circuit 44 is actually operated by closing the door panel 5 in a state where the foreign objects X1 and X2 do not exist between the front end portion 5a of the door panel 5 and the peripheral portion of the entrance / exit 4 facing the front end portion 5a. It is also possible to conduct an experiment for measuring the capacitance at, and store a value set based on the experimental result in the storage device 71a as a reference value. In this case, the initialization operation becomes unnecessary.

  In the above embodiment, if the reference value waveform does not match the stored value waveform in step S10 of the positional deviation calculation process, the control circuit device 71 displays the positional deviation amount d calculated immediately before in the array P_SUB [ Y]. However, the control circuit device 71 stores only Y when the waveform of the reference value matches the waveform of the stored value in the array P_SUB [Y], and when calculating the positional deviation amount d, the control circuit device 71 uses the array P_SUB [Y ] May be divided by the number of stored data.

  In the above embodiment, in step S12 of the positional deviation calculation process, the control circuit device 71 obtains a moving average of the array P_SUB [Y] in order to calculate the positional deviation amount d. However, the calculation for calculating the positional deviation amount d is not limited to the moving average but may be a square average or the like.

  In the above embodiment, the control circuit device 71 calculates three variables A to C in order to compare the waveform of the reference value and the waveform of the stored value in step S2 of the positional deviation calculation process. There may be four or more variables. In this case, the number of pulses corresponding to the stored value to be subtracted from the latest stored value is set to a value different from Ma and Mb, and the variables a to c calculated in step S2 are four or more according to the variables A to C. do it.

  In the above embodiment, the control circuit device 71 corrects the number of pulses of the latest rotation detection signal according to the positional deviation amount d, and calculates the position of the door panel 5 based on the corrected number of pulses of the rotation detection signal. Yes. However, the control circuit device 71 calculates the movement distance of the door panel 5 corresponding to the positional deviation amount d, and the position of the door panel 5 calculated based on the number of pulses of the latest rotation detection signal according to the calculated movement distance. May be corrected.

  In the above embodiment, the control circuit device 71 is configured to correct the number of pulses of the latest rotation detection signal according to the positional deviation amount d. However, the control circuit device 71 may be configured to correct the number of pulses of the rotation detection signal at the reference value according to the positional deviation amount d. In this case, the control circuit device 71 corrects the number of pulses of the rotation detection signal corresponding to the detection value at the reference value so as to be shifted by the positional deviation amount d. When corrected in this way, the reference value is information corresponding to the position of the door panel 5 from the fully open position Po to the fully closed position Pc, and the threshold value Th is also the position of the door panel 5 from the fully open position Po to the fully closed position Pc. Therefore, if the position of the door panel 5 at the reference value is shifted by the positional deviation amount d, the position of the door panel 5 corresponding to the threshold Th is the amount of movement of the door panel 5 corresponding to the positional deviation amount d. Will be shifted. Accordingly, the position of the door panel 5 at the reference value stored in the storage device 71a (that is, the rotation stored during the initialization operation) according to the displacement d calculated by comparing the waveform of the reference value and the waveform of the stored value. By correcting the number of pulses based on the detection signal), the threshold Th corresponding to the position of the door panel 5 based on the latest number of pulses of the rotation detection signal can be made to correspond to the actual position of the door panel 5. As a result, it is possible to determine the presence / absence of the foreign object X1 in proximity to the front end portion 5a of the door panel 5 using the threshold value Th corresponding to the actual position of the door panel 5. As a result, it is possible to suppress a decrease in the detection accuracy of the foreign matter X1 due to the positional deviation of the door panel 5 due to mechanical rattling. Moreover, the same effect as (2) of the said embodiment can be acquired.

  Further, the control circuit device 71 may be configured to correct the position of the door panel 5 corresponding to the threshold Th according to the positional deviation amount d. In this case, the control circuit device 71 corrects the position of the door panel 5 at the threshold value Th so as to be shifted by the moving distance of the door panel 5 corresponding to the positional shift amount d (see the two-dot chain line in FIG. 5). The control circuit device 71 uses the threshold Th corresponding to the position of the door panel 5 calculated based on the number of pulses of the latest rotation detection signal in the foreign object proximity determination circuit 71b (the threshold in which the position of the door panel 5 is corrected). Thus, it is determined whether or not there is a foreign object X1 adjacent to the front end 5a of the door panel 5. Since the threshold value Th is a value corresponding to the position of the door panel 5, the reference value and the threshold value Th correspond to each other. Therefore, by correcting the position of the door panel 5 at the threshold value Th corresponding to the reference value according to the result of comparing the waveform of the reference value and the waveform of the stored value, the door panel 5 based on the number of pulses of the latest rotation detection signal. The threshold value Th corresponding to the position of is the threshold value Th corresponding to the actual position of the door panel 5. Therefore, it is possible to determine the presence / absence of the foreign object X1 in proximity to the front end portion 5a of the door panel 5 using the threshold value Th corresponding to the actual position of the door panel 5. As a result, it is possible to suppress a decrease in the detection accuracy of the foreign matter X1 due to the positional deviation of the door panel 5 due to mechanical rattling. In addition, the same function and effect as (2) of the above embodiment can be obtained.

The threshold value Th may be set so as to correspond to the number of pulses of the rotation detection signal from the fully open position Po to the fully closed position Pc at the reference value.
In the above embodiment, the sensor main body 42 is disposed along the front end portion 5a of the door panel 5, but may be disposed at the peripheral portion of the entrance / exit 4 facing the front end portion 5a.

  In the above embodiment, the Hall IC is used for the position detection device 27, but any sensor other than the Hall IC may be used as the position detection device as long as the sensor generates a pulse signal as the slide motor 26 rotates. May be.

  In the above embodiment, the electrostatic capacitance between the sensor main body 42 arranged along the front end 5a of the door panel 5 and the object close to the front end 5a of the door panel 5 is obtained by the capacitance detection circuit 44. The detected value is used as a reference value and a stored value. However, a sensor capable of outputting a detection value corresponding to the distance from the object close to the front end 5a of the door panel 5 in addition to the capacitance between the door panel 5 and the object close to the front end 5a. Instead of the capacitance detection circuit 44, the electric sliding door device 1 may be provided.

The perspective view of the vehicle provided with the electric slide door apparatus. The side view of the vehicle provided with the electric slide door apparatus. (A) And (b) is sectional drawing of a sensor main body. The block diagram which shows the electric constitution of an electric slide door apparatus. The graph which shows the relationship between the position of a door panel based on a rotation detection signal, and a detected value. (A)-(c) is explanatory drawing for demonstrating position shift calculation processing. The flowchart which shows a position shift calculation process. The flowchart which shows the integrated processing which a control circuit apparatus performs.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Electric sliding door apparatus as an opening / closing device, 3 ... Vehicle body as a to-be-opened / closed body, 4 ... Entrance / exit as an opening part, 5 ... Door panel as an opening / closing member, 5a ... Front end part as a closed side part, 11 ... Actuating mechanism constituting driving means, 21 ... driving mechanism constituting driving means, 26 ... slide motor as driving motor, 27 ... position detecting device as signal output means, 42 ... sensor body constituting detecting sensor, 44 ... Capacitance detection circuit constituting detection sensor, 71... Control circuit device as position recognition means and correction means, 71 a... Storage device as first storage means and second storage means, 71 b. Circuit, H ... Search range, Pc ... Fully closed position, Po ... Fully open position, Th ... Threshold, X1 ... Foreign matter.

Claims (8)

To open and close the opening / closing member provided on the body to be opened / closed between the fully opened position for opening the opening provided on the body to be opened and the fully closed position for closing the opening via the driving means. The opening / closing member control device of
A detection sensor that outputs a detection value based on a detection signal according to a distance between a closed end of the opening and closing member and an object close to the closed end;
Signal output means for outputting a position signal according to the movement of the opening and closing member;
Position recognition means for recognizing the position of the opening and closing member based on the position signal;
First storage means for storing the detection value of the detection sensor corresponding to the position of the opening / closing member as a reference value;
Second storage means for storing the detection value of the detection sensor corresponding to the position of the opening / closing member based on the position signal as a stored value in a state where the reference value is stored in the first storage means;
A threshold for determining the presence / absence of a foreign object close to the closed side end set in accordance with the position of the opening / closing member; the threshold is compared with the detection value; and the closing is performed in accordance with the comparison result. A determination means for determining the presence or absence of the foreign matter adjacent to the side end;
Correction means for comparing the storage contents of the first storage means and the storage contents of the second storage means and correcting the position of the opening / closing member recognized by the position recognition means according to the comparison result;
An opening / closing member control device comprising: To open and close the opening / closing member provided on the body to be opened / closed between the fully opened position for opening the opening provided on the body to be opened and the fully closed position for closing the opening via the driving means. The opening / closing member control device of
A detection sensor that outputs a detection value based on a detection signal according to a distance between a closed end of the opening and closing member and an object close to the closed end;
Signal output means for outputting a position signal according to the movement of the opening and closing member;
Position recognition means for recognizing the position of the opening and closing member based on the position signal;
First storage means for storing the detection value of the detection sensor corresponding to the position of the opening / closing member as a reference value;
Second storage means for storing the detection value of the detection sensor corresponding to the position of the opening / closing member based on the position signal as a stored value in a state where the reference value is stored in the first storage means;
A threshold for determining the presence / absence of a foreign object close to the closed side end set in accordance with the position of the opening / closing member; the threshold is compared with the detection value; and the closing is performed in accordance with the comparison result. A determination means for determining the presence or absence of the foreign matter adjacent to the side end;
A correction unit that compares the storage content of the first storage unit and the storage content of the second storage unit and corrects the position of the opening and closing member stored in the first storage unit according to the comparison result;
An opening / closing member control device comprising: To open and close the opening / closing member provided on the body to be opened / closed between the fully opened position for opening the opening provided on the body to be opened and the fully closed position for closing the opening via the driving means. The opening / closing member control device of
A detection sensor that outputs a detection value based on a detection signal according to a distance between a closed end of the opening and closing member and an object close to the closed end;
Signal output means for outputting a position signal according to the movement of the opening and closing member;
Position recognition means for recognizing the position of the opening and closing member based on the position signal;
First storage means for storing the detection value of the detection sensor corresponding to the position of the opening / closing member as a reference value;
Second storage means for storing the detection value of the detection sensor corresponding to the position of the opening / closing member based on the position signal as a stored value in a state where the reference value is stored in the first storage means;
A threshold for determining the presence / absence of a foreign object close to the closed side end set in accordance with the position of the opening / closing member; the threshold is compared with the detection value; and the closing is performed in accordance with the comparison result. A determination means for determining the presence or absence of the foreign matter adjacent to the side end;
Correction means for comparing the storage contents of the first storage means and the storage contents of the second storage means and correcting the position of the opening / closing member corresponding to the threshold value according to the comparison result;
An opening / closing member control device comprising: In the opening-and-closing member control device according to any one of claims 1 to 3,
The first storage means closes the open / close member with the reference value in a state in which the foreign matter is not present between the closed end and the peripheral portion of the opening facing the closed end. An opening / closing member control device, which stores the information when stored. In the opening-and-closing member control device according to any one of claims 1 to 4,
The correction means compares the contents of the first storage means with the contents of the second storage means over a preset search range smaller than the range from the fully closed position to the fully open position. An opening / closing member control device. In the opening-and-closing member control device according to claim 5,
The search range is set to a range that is smaller than a range from the fully closed position to the fully open position and equal to or greater than a mechanical maximum displacement amount existing in the driving means. apparatus. An opening and closing member that is opened and closed between a fully opened position that opens an opening provided in the body to be opened and a fully closed position that closes the opening;
Drive means for transmitting the drive force of the drive motor to the opening and closing member;
The opening / closing member control device according to any one of claims 1 to 6,
A switchgear characterized by comprising: The switchgear according to claim 6,
The body to be opened and closed is a vehicle body,
The opening / closing device, wherein the opening / closing member is a door panel that is slidably moved in the front-rear direction of the vehicle body so as to open and close an entrance / exit as the opening provided on a side of the vehicle body.

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