JP7387861B2 - Railway vehicle side sliding door control device - Google Patents

Railway vehicle side sliding door control device Download PDF

Info

Publication number
JP7387861B2
JP7387861B2 JP2022197728A JP2022197728A JP7387861B2 JP 7387861 B2 JP7387861 B2 JP 7387861B2 JP 2022197728 A JP2022197728 A JP 2022197728A JP 2022197728 A JP2022197728 A JP 2022197728A JP 7387861 B2 JP7387861 B2 JP 7387861B2
Authority
JP
Japan
Prior art keywords
door
side sliding
sliding door
bag
entrapment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2022197728A
Other languages
Japanese (ja)
Other versions
JP2023017084A (en
Inventor
慶太 中岸
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kawasaki Railcar Manufacturing Co Ltd
Original Assignee
Kawasaki Railcar Manufacturing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kawasaki Railcar Manufacturing Co Ltd filed Critical Kawasaki Railcar Manufacturing Co Ltd
Priority to JP2022197728A priority Critical patent/JP7387861B2/en
Publication of JP2023017084A publication Critical patent/JP2023017084A/en
Application granted granted Critical
Publication of JP7387861B2 publication Critical patent/JP7387861B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Power-Operated Mechanisms For Wings (AREA)

Description

本開示は、鉄道車両の側引戸制御装置に関する。 The present disclosure relates to a side sliding door control device for a railway vehicle.

都会の通勤車両のように乗車率が非常に高くなる鉄道車両では、側引戸の近くに人や物が位置するため、側引戸が開動作して戸袋に収納される際に、物体（例えば、カバンや衣服等）が側引戸に引き摺られて戸袋に巻き込まれる可能性がある。そのため、現状の鉄道車両では、側引戸に注意書きステッカーを貼ることで乗客の注意を促している。また、側引戸窓構造を平滑化することで戸袋への物体の巻込み防止を図ることも提案されている（例えば、特許文献１参照）。 In railway vehicles where the ridership is very high, such as urban commuter vehicles, people and objects are located near the side sliding doors, so when the side sliding doors open and are stored in the door pockets, objects (e.g. Bags, clothes, etc.) may be dragged along the side sliding door and become entangled in the door pocket. For this reason, current railway vehicles have warning stickers attached to the side sliding doors to alert passengers. It has also been proposed to smooth the side sliding door window structure to prevent objects from getting caught in the door pocket (for example, see Patent Document 1).

特許第３６２１７３３号公報Patent No. 3621733

しかし、側引戸が開動作する際の戸袋への物体の巻込みに対する対策を施しても、予想外の使用態様等によって戸袋巻込みが発生する可能性はある。そのため、戸袋への物体の巻込みが発生したら、それを迅速に検出して対処することが望まれる。
また、側引戸の開動作時に戸袋巻込みの発生が検出された場合に、戸袋巻込みを解消するために側引戸を閉側に戻す制御を行うと、乗客が予期しない側引戸の動作により、側引戸に別の物体（例えば、カバンや衣服等）が挟まれる戸挟みが発生する可能性が生じる。 However, even if measures are taken to prevent objects from getting caught in the door bag when the side sliding door opens, there is a possibility that objects will get caught in the door bag due to unexpected usage conditions. Therefore, if an object becomes entangled in the door pocket, it is desirable to quickly detect and deal with it.
In addition, when the occurrence of door bag entrapment is detected during the opening operation of the side sliding door, if control is performed to return the side sliding door to the closed side in order to eliminate the door bag entrapment, the side sliding door may operate unexpectedly by the passenger. There is a possibility that another object (for example, a bag, clothes, etc.) may be caught in the side sliding door.

そこで本発明の一態様は、戸袋巻込みを容易に解消でき且つその解消時に戸挟みが発生することを防止することを目的とする。 SUMMARY OF THE INVENTION Accordingly , an object of the present invention is to easily eliminate the entrapment in the door bag and to prevent the occurrence of the entrapment in the door bag.

本開示の一態様に係る鉄道車両の側引戸制御装置は、鉄道車両の乗降口を開閉する側引戸を駆動するアクチュエータを制御する装置であって、前記側引戸を開くときに戸袋に物体が巻き込まれる戸袋巻込みが発生したことを検出する戸袋巻込み検出部と、前記戸袋巻込みの発生が検出されると、前記側引戸が開閉自在になるように前記アクチュエータをフリー状態にする制御部と、を備える。
前記構成によれば、戸袋巻込み発生時にアクチュエータがフリー状態にされて側引戸が開閉自在になるので、戸袋巻込みを人間が手動で解消することができる。しかも、戸袋巻込みを自動で解消することはせず、側引戸を閉側に戻す制御は行われないので、側引戸に別の物体が挟まれる戸挟みが発生することも防止できる。 A side sliding door control device for a railway vehicle according to an aspect of the present disclosure is a device that controls an actuator that drives a side sliding door that opens and closes an entrance/exit of a railway vehicle, in which an object is caught in a door bag when the side sliding door is opened. a door bag entrapment detection unit that detects the occurrence of door bag entrapment, and a control unit that sets the actuator to a free state so that the side sliding door can be freely opened and closed when the occurrence of the door bag entrapment is detected. , is provided.
According to the above configuration, when the door bag becomes entangled, the actuator is set to a free state and the side sliding door can be freely opened and closed, so that a person can manually eliminate the door bag entanglement. Moreover, since the door bag entrapment is not automatically resolved and the side sliding door is not controlled to return to the closed side, it is possible to prevent the occurrence of door jamming in which another object is caught in the side sliding door.

本開示の一態様によれば、戸袋巻込みを容易に解消でき且つその解消時に戸挟みが発生することを防止できる。 According to one aspect of the present disclosure , it is possible to easily eliminate the entrapment in the door bag , and to prevent the occurrence of the door jam when the entrapment is eliminated.

実施形態に係る鉄道車両のドア装置及びその近傍を示す側面図である。FIG. 2 is a side view showing a door device for a railway vehicle and its vicinity according to an embodiment. （Ａ）は正常な開動作時のアクチュエータを示す模式図、（Ｂ）は正常な閉動作時のアクチュエータを示す模式図、（Ｃ）は開動作における戸袋巻込み検出時のアクチュエータを示す模式図である。(A) is a schematic diagram showing the actuator during normal opening operation, (B) is a schematic diagram showing the actuator during normal closing operation, and (C) is a schematic diagram showing the actuator when detecting entrapment in the door bag during opening operation. It is. 図１に示す戸袋巻込み検出装置のブロック図である。FIG. 2 is a block diagram of the door bag entrapment detection device shown in FIG. 1. FIG. 図３に示す戸袋巻込み検出装置の処理内容を説明するフローチャートである。4 is a flowchart illustrating the processing contents of the door bag entrapment detection device shown in FIG. 3. FIG. 正常な戸開動作時における加速度（絶対値）の時系列データのグラフである。It is a graph of time series data of acceleration (absolute value) during normal door opening operation. 戸袋巻込みが発生した戸開動作時における加速度（絶対値）の時系列データのグラフである。It is a graph of time series data of acceleration (absolute value) during a door opening operation when door bag entrapment occurs. 変形例に係る図３相当の図面である。4 is a drawing corresponding to FIG. 3 according to a modified example.

以下、図面を参照して実施形態を説明する。 Hereinafter, embodiments will be described with reference to the drawings.

図１は、実施形態に係る鉄道車両１のドア装置３及びその近傍を示す側面図である。図１に示すように、鉄道車両１は、乗降口２ａ（ドア開口部）が形成された側構体２と、乗降口２ａを開閉するための両開き式のドア装置３とを備える。ドア装置３は、互いに近接及び離反してスライド開閉する第１側引戸１１及び第２側引戸１２を有する。第１側引戸１１及び第２側引戸１２の戸先には、第１弾性部材１３及び第２弾性部材１４（戸先ゴム）がそれぞれ取り付けられている。第１側引戸１１及び第２側引戸１２は、開動作時には側構体２に設けられた戸袋２ｂに収容される。 FIG. 1 is a side view showing a door device 3 and its vicinity of a railway vehicle 1 according to an embodiment. As shown in FIG. 1, the railway vehicle 1 includes a side structure 2 in which a doorway 2a (door opening) is formed, and a double door device 3 for opening and closing the doorway 2a. The door device 3 has a first side sliding door 11 and a second side sliding door 12 that slide toward and away from each other to open and close. A first elastic member 13 and a second elastic member 14 (door tip rubber) are attached to the tips of the first side sliding door 11 and the second side sliding door 12, respectively. The first side sliding door 11 and the second side sliding door 12 are housed in a door pocket 2b provided in the side structure 2 during the opening operation.

第１側引戸１１及び第２側引戸１２の上部には、それぞれ滑車４が取り付けられている。滑車４は、乗降口２ａの上方に設置されたガイドレール５に案内される。第１側引戸１１及び第２側引戸１２の上方には、ブラケット６を介して第１側引戸１１及び第２側引戸１２をスライド開閉するためのアクチュエータ７が設置されている。本実施形態のアクチュエータ７は、圧縮空気を用いて駆動する空気式アクチュエータであるが、モータを用いて駆動する電動式アクチュエータであってもよい。アクチュエータ７の配置や側引戸１１，１２の案内機構等は、種々のものが考えられ、これに限定されるものではない。 A pulley 4 is attached to the upper part of the first side sliding door 11 and the second side sliding door 12, respectively. The pulley 4 is guided by a guide rail 5 installed above the entrance 2a. An actuator 7 for slidingly opening and closing the first sliding door 11 and the second sliding door 12 via the bracket 6 is installed above the first sliding door 11 and the second sliding door 12 . The actuator 7 of this embodiment is a pneumatic actuator driven using compressed air, but may be an electric actuator driven using a motor. Various arrangements of the actuator 7, guide mechanisms for the side sliding doors 11 and 12, etc. can be considered, and are not limited to these.

第１側引戸１１には、第１加速度センサ３１が取り付けられている。第２側引戸１２には、第２加速度センサ３２が取り付けられている。第１加速度センサ３１及び第２加速度センサ３２は、第１側引戸１１及び第２側引戸１２のスライド方向（即ち、車両長手方向）の加速度を検出するように設置されている。第１加速度センサ３１及び第２加速度センサ３２は、側引戸制御装置４０に通信可能に接続されている。第１加速度センサ３１及び第２加速度センサ３２は、側引戸制御装置４０に対して無線接続又は有線接続のいずれかの態様で接続されている。 A first acceleration sensor 31 is attached to the first sliding door 11 . A second acceleration sensor 32 is attached to the second sliding door 12 . The first acceleration sensor 31 and the second acceleration sensor 32 are installed to detect the acceleration of the first side sliding door 11 and the second side sliding door 12 in the sliding direction (that is, the longitudinal direction of the vehicle). The first acceleration sensor 31 and the second acceleration sensor 32 are communicably connected to the side sliding door control device 40. The first acceleration sensor 31 and the second acceleration sensor 32 are connected to the side sliding door control device 40 in either a wireless connection or a wired connection.

図２（Ａ）は、正常な開動作時のアクチュエータ７を示す模式図である。図２（Ｂ）は、正常な閉動作時のアクチュエータ７を示す模式図である。図２（Ｃ）は、開動作における戸袋巻込み検出時のアクチュエータ７を示す模式図である。図２（Ａ）に示すように、アクチュエータ７は、空気圧シリンダ２０、切替弁２１及び逃がし弁２２を備える。空気圧シリンダ２０は、ピストンによって互いに仕切られた第１室Ｓ１及び第２室Ｓ２を有する。切替弁２１は、空気ダメ（空気圧力源）からの圧縮空気を第１室Ｓ１に導き且つ第２室Ｓ２を大気開放する第１状態（図２（Ａ））と、空気ダメからの圧縮空気を第２室Ｓ２に導き且つ第１室Ｓ１を大気開放する第２状態（図２（Ｂ））とに択一的に切り替え可能に構成されている。 FIG. 2(A) is a schematic diagram showing the actuator 7 during normal opening operation. FIG. 2(B) is a schematic diagram showing the actuator 7 during normal closing operation. FIG. 2(C) is a schematic diagram showing the actuator 7 at the time of detecting the door bag getting caught in the opening operation. As shown in FIG. 2(A), the actuator 7 includes a pneumatic cylinder 20, a switching valve 21, and a relief valve 22. The pneumatic cylinder 20 has a first chamber S1 and a second chamber S2 separated from each other by a piston. The switching valve 21 operates in a first state (FIG. 2A) in which compressed air from the air tank (air pressure source) is guided to the first chamber S1 and the second chamber S2 is opened to the atmosphere, and in a first state (FIG. 2(A)) in which compressed air from the air tank (air pressure source) is guided to the first chamber S1 and the second chamber S2 is opened to the atmosphere. It is configured to be able to be alternatively switched to a second state (FIG. 2(B)) in which the air is introduced into the second chamber S2 and the first chamber S1 is opened to the atmosphere.

即ち、図２（Ａ）に示すように、切替弁２１が前記第１状態になって第１室Ｓ１が加圧されると、空気圧シリンダ２０によって側引戸１１，１２が開動作するように駆動される。図２（Ｂ）に示すように、切替弁２１が前記第２状態になって第２室Ｓ２が加圧されると、空気圧シリンダ２０によって側引戸１１，１２が閉動作するように駆動される。なお、空気圧シリンダ２０は、流体圧シリンダであれば空気以外の流体を利用したものでもよい。 That is, as shown in FIG. 2(A), when the switching valve 21 enters the first state and the first chamber S1 is pressurized, the pneumatic cylinder 20 drives the side sliding doors 11 and 12 to open. be done. As shown in FIG. 2(B), when the switching valve 21 enters the second state and the second chamber S2 is pressurized, the side sliding doors 11 and 12 are driven to close by the pneumatic cylinder 20. . Note that the pneumatic cylinder 20 may be a fluid pressure cylinder that uses a fluid other than air.

逃がし弁２２は、空気圧シリンダ２０の少なくとも第１室Ｓ１に接続されている。本実施形態では、逃がし弁２２が切替弁２１よりも空気ダメ側に配置されているため、逃がし弁２２は、切替弁２１の状態によって第１室Ｓ１及び第２室Ｓ２に択一的に接続可能である。逃がし弁２２は、空気ダメと切替弁２１とを連通させて第１室Ｓ１及び第２室Ｓ２のいずれか一方を空気ダメに連通させた正常状態（図２（Ａ）（Ｂ））と、第１室Ｓ１及び第２室Ｓ２の両方が大気開放された非常状態（図２（Ｃ））とに択一的に切り替え可能に構成されている。即ち、逃がし弁２２が前記非常状態になった場合、空気圧シリンダ２０がフリー状態になり、側引戸１１，１２が開閉自在になる。 The relief valve 22 is connected to at least the first chamber S1 of the pneumatic cylinder 20. In this embodiment, the relief valve 22 is disposed on the air waste side than the switching valve 21, so the relief valve 22 is selectively connected to the first chamber S1 and the second chamber S2 depending on the state of the switching valve 21. It is possible. The relief valve 22 is in a normal state (FIGS. 2A and 2B) in which the air dam and the switching valve 21 are communicated with each other, and either the first chamber S1 or the second chamber S2 is communicated with the air dam (FIGS. 2A and 2B). Both the first chamber S1 and the second chamber S2 are configured to be able to be alternatively switched to an emergency state (FIG. 2(C)) in which they are opened to the atmosphere. That is, when the relief valve 22 enters the emergency state, the pneumatic cylinder 20 becomes free, and the side sliding doors 11 and 12 can be opened and closed.

なお、この構成の場合、戸開動作時（第１室Ｓ１の加圧時）も戸閉動作時（第２室Ｓ２の加圧時）も、逃がし弁２２を非常状態に切り替えることで空気圧シリンダ２０をフリー状態にできるが、逃がし弁２２を切替弁２１と第１室Ｓ１との間に介在させて、戸開動作時（第１室Ｓ１の加圧時）のみ空気圧シリンダ２０をフリー状態にできる構成としてもよい。また、逃がし弁２２を設ける代わりに、切替弁２１が、前記第１状態及び前記第２状態に加え、第１室Ｓ１及び第２室Ｓ２を大気開放する第３状態を更に備え、前記第１～第３状態を択一的に切り替え可能にした構成としてもよい。即ち、切替弁２１が逃がし弁を兼ねてもよい。 In addition, in the case of this configuration, by switching the relief valve 22 to the emergency state, the pneumatic cylinder 20 can be in the free state, but by interposing the relief valve 22 between the switching valve 21 and the first chamber S1, the pneumatic cylinder 20 can be in the free state only when the door is opened (when the first chamber S1 is pressurized). It is also possible to have a configuration that allows this. Moreover, instead of providing the relief valve 22, the switching valve 21 further includes a third state in which the first chamber S1 and the second chamber S2 are opened to the atmosphere in addition to the first state and the second state, ~ It is also possible to have a configuration in which the third state can be selectively switched. That is, the switching valve 21 may also serve as a relief valve.

図３は、図１に示す側引戸制御装置４０のブロック図である。図３に示すように、側引戸制御装置４０は、第１側引戸１１及び第２側引戸１２を駆動するアクチュエータ７の制御等を行う装置である。側引戸制御装置４０は、ハードウェア面において、プロセッサ、揮発性メモリ、不揮発性メモリ及びＩ／Ｏインターフェース等を有する。側引戸制御装置４０は、機能面において、戸袋巻込み検出部４１、制御部４２及び出力部４３を有する。戸袋巻込み検出部４１及び制御部４２は、不揮発性メモリに保存されたプログラムに基づいてプロセッサが揮発性メモリを用いて演算処理することで実現される。出力部４３は、Ｉ／Ｏインターフェース等により実現される。 FIG. 3 is a block diagram of the side sliding door control device 40 shown in FIG. 1. As shown in FIG. 3, the side sliding door control device 40 is a device that controls the actuator 7 that drives the first side sliding door 11 and the second side sliding door 12. In terms of hardware, the side sliding door control device 40 includes a processor, volatile memory, nonvolatile memory, I/O interface, and the like. In terms of functionality, the side sliding door control device 40 includes a door bag entrapment detection section 41, a control section 42, and an output section 43. The door bag entrapment detection unit 41 and the control unit 42 are realized by a processor performing arithmetic processing using volatile memory based on a program stored in nonvolatile memory. The output unit 43 is realized by an I/O interface or the like.

戸袋巻込み検出部４１は、第１側引戸１１及び第２側引戸１２を開くときに戸袋２ｂに物体（例えば、カバンや衣服等）が巻き込まれたことを検出するための装置である。戸袋巻込み検出部４１は、加速度取得部４４及び判定部４５を有する。加速度取得部４４は、第１加速度センサ３１及び第２加速度センサ３２の検出信号を受信し、第１側引戸１１のスライド方向の加速度と第２側引戸１２のスライド方向の加速度とを算出する。 The door bag entrapment detection unit 41 is a device for detecting that an object (for example, a bag, clothes, etc.) is caught in the door bag 2b when the first side sliding door 11 and the second side sliding door 12 are opened. The door bag entrapment detection unit 41 includes an acceleration acquisition unit 44 and a determination unit 45. The acceleration acquisition unit 44 receives the detection signals of the first acceleration sensor 31 and the second acceleration sensor 32, and calculates the acceleration of the first side sliding door 11 in the sliding direction and the acceleration of the second side sliding door 12 in the sliding direction.

判定部４５は、第１側引戸１１及び第２側引戸１２の開動作の後期において、加速度取得部４４で取得された加速度の絶対値の時系列データにおける最大値Ａmaxが所定の閾値Ａthよりも大きいと、戸袋巻込みが発生したと判定する。本実施形態では、判定部４５は、第１加速度センサ３１から取得される加速度の時系列データと、第２加速度センサ３２から取得される加速度の時系列データとの両方についてそれぞれ判定を行い、各時系列データのいずれか一方でも最大値Ａmaxが閾値Ａthよりも大きいとの条件が成立すると、戸袋巻込みが発生したと判定する。なお、判定部４５は、第１側引戸１１又は第２側引戸１２のいずれか一方のみの加速度データに基づいて判定を行ってもよい。 The determination unit 45 determines that the maximum value A max in the time series data of the absolute value of the acceleration acquired by the acceleration acquisition unit 44 is a predetermined threshold value A th in the latter half of the opening operation of the first side sliding door 11 and the second side sliding door 12. If it is larger than , it is determined that door bag entrapment has occurred. In this embodiment, the determination unit 45 determines both the acceleration time series data acquired from the first acceleration sensor 31 and the acceleration time series data acquired from the second acceleration sensor 32, and If the condition that the maximum value A max is larger than the threshold value A th in any one of the time-series data is satisfied, it is determined that door bag entrapment has occurred. Note that the determination unit 45 may make the determination based on the acceleration data of only either the first side sliding door 11 or the second side sliding door 12.

制御部４２は、戸袋巻込み検出部４１によって戸袋巻込みの発生が検出されると、側引戸１１，１２が開閉自在になるようにアクチュエータ７をフリー状態にする。具体的には、制御部４２は、戸袋巻込みの発生が検出されると、逃がし弁２２を非常状態に切り替えて空気圧シリンダ２０の第１室Ｓ１及び第２室Ｓ２を大気開放する。なお、本実施形態では、戸袋巻込みが発生した側引戸１１，１２のみ開閉自在になるように、側引戸１１，１２のアクチュエータ７をフリー状態にすべく１つの空気圧シリンダ２０のみ大気開放しているがそれに限らない。例えば、戸袋巻込みの発生が検出されると、それが検出された側引戸が設けられた鉄道車両１の全ての側引戸がフリー状態になるようにしてもよいし、特定の複数の側引戸がフリー状態になるようにしてもよい。 When the door bag entrapment detection section 41 detects the occurrence of door bag entrapment, the control section 42 sets the actuator 7 in a free state so that the side sliding doors 11 and 12 can be freely opened and closed. Specifically, when the occurrence of entrapment in the door bag is detected, the control unit 42 switches the relief valve 22 to an emergency state and opens the first chamber S1 and the second chamber S2 of the pneumatic cylinder 20 to the atmosphere. In this embodiment, only one pneumatic cylinder 20 is opened to the atmosphere in order to free the actuator 7 of the side sliding door 11, 12 so that only the side sliding door 11, 12 where the door bag entrapment has occurred can be opened and closed. Yes, but not limited to that. For example, when the occurrence of door bag entrapment is detected, all the side sliding doors of the railway vehicle 1 equipped with the side sliding door in which it has been detected may be set to a free state, or a specific plurality of side sliding doors may be set to a free state. may be in a free state.

出力部４３は、戸袋巻込み検出部４１において戸袋巻込み発生が検出されると、警報装置５０に警報信号を出力する。警報装置５０は、側引戸制御装置４０から警報信号を受信すると、表示や音等によって運転士等に戸袋巻込みが発生した旨を報知する。 The output unit 43 outputs an alarm signal to the alarm device 50 when the door bag entrapment detection unit 41 detects the occurrence of the door bag entrapment. When the alarm device 50 receives the alarm signal from the side sliding door control device 40, it notifies the driver and the like that the door bag has been caught in the vehicle through display, sound, or the like.

図４は、図３に示す側引戸制御装置４０の処理内容を説明するフローチャートである。図５は、正常な戸開動作時における加速度（絶対値）の時系列データのグラフである。図６は、戸袋巻込みが発生した戸開動作時における加速度（絶対値）の時系列データのグラフである。なお、図６は、戸袋巻込み発生時の加速度を取得するために、厚さ約８mmの発泡ポリエチレン製シートを戸袋に巻き込ませることで戸袋巻込みを模擬した際の実験データである。以下、図２及び３の構成や図５及び６のグラフを適宜参照しながら、図４のフローチャートに沿って戸袋巻込み検出の処理の流れを説明する。なお、以下では説明の便宜上、第１側引戸１１の加速度についてのみ説明するが、第２側引戸１２の加速度についても同様である。 FIG. 4 is a flowchart illustrating the processing content of the side sliding door control device 40 shown in FIG. 3. FIG. 5 is a graph of time series data of acceleration (absolute value) during normal door opening operation. FIG. 6 is a graph of time series data of acceleration (absolute value) during a door opening operation in which door bag entrapment occurs. Note that FIG. 6 shows experimental data obtained when a door bag entrapment was simulated by wrapping a foamed polyethylene sheet approximately 8 mm thick in the door bag in order to obtain the acceleration when the door bag entrapment occurred. Hereinafter, the flow of the door bag entrapment detection process will be described along the flowchart of FIG. 4, with appropriate reference to the configurations of FIGS. 2 and 3 and the graphs of FIGS. 5 and 6. Note that, for convenience of explanation, only the acceleration of the first side sliding door 11 will be described below, but the same applies to the acceleration of the second side sliding door 12.

ドア装置３のアクチュエータ７に側引戸１１，１２の開動作の指令があると、加速度取得部４４は、第１加速度センサ３１の検出値を継続的に受信して加速度を算出する（ステップＳ１）。判定部４５は、加速度取得部４４で算出された加速度の絶対値の時系列データにおいて、加速が発生したか否かを判定する（ステップＳ２）。例えば、図５及び６の例では、時刻ｔ1よりも前の時点では、側引戸１１が閉じた状態で静止して加速度の絶対値がゼロであるため、ステップＳ２においてＮｏと判定される。他方、時刻ｔ1の時点では、側引戸１１の開動作が開始して加速度の絶対値がゼロよりも大きくなるため、ステップＳ２においてＹｅｓと判定される。 When the actuator 7 of the door device 3 receives a command to open the side sliding doors 11 and 12, the acceleration acquisition unit 44 continuously receives the detection value of the first acceleration sensor 31 and calculates the acceleration (step S1). . The determination unit 45 determines whether acceleration has occurred in the time series data of the absolute value of acceleration calculated by the acceleration acquisition unit 44 (step S2). For example, in the examples shown in FIGS. 5 and 6, before time t1 , the side sliding door 11 is closed and stationary, and the absolute value of the acceleration is zero, so the determination in step S2 is No. On the other hand, at time t1 , the opening operation of the side sliding door 11 starts and the absolute value of the acceleration becomes greater than zero, so the determination in step S2 is Yes.

ステップＳ２でＹｅｓと判定されると、判定部４５は、加速度取得部４４で算出された加速度の絶対値の時系列データにおいて、加速度がゼロに収束したか否かを判定する（ステップＳ３）。具体的には、判定部４５は、加速度の絶対値の時系列データにおいて、加速度がゼロ又はゼロ近傍である状態が所定時間（例えば、０．５秒）にわたって継続すると、加速度がゼロに収束したと判断する（ステップＳ３）。例えば、図５及び６の例では、時刻ｔ4の時点では、第１側引戸１１の開動作が完了（静止）して加速度の絶対値が継続的にゼロ又はゼロ近傍の値になっているため、ステップＳ３においてＹｅｓと判定される。 If it is determined Yes in step S2, the determination unit 45 determines whether or not the acceleration has converged to zero in the time series data of the absolute value of acceleration calculated by the acceleration acquisition unit 44 (step S3). Specifically, in the time series data of the absolute value of acceleration, the determination unit 45 determines that if the state in which the acceleration is zero or near zero continues for a predetermined period of time (for example, 0.5 seconds), the acceleration has converged to zero. (Step S3). For example, in the examples shown in FIGS. 5 and 6, at time t4 , the opening operation of the first side sliding door 11 is completed (standing still), and the absolute value of the acceleration is continuously at zero or a value near zero. Therefore, the determination in step S3 is Yes.

ステップＳ３でＹｅｓと判定されると、判定部４５は、加速度がゼロに収束した時点（時刻ｔ4から前の時間に遡って最初に現れるピーク値を特定する（ステップＳ４）。例えば、図５及び６の例では、時刻ｔ3において当該ピーク値Ａmaxが特定される。判定部４５は、当該ピーク値Ａmaxを側引戸１１の開動作の後期における最大加速度とみなす。このようにすれば、開動作中の側引戸１１に物体が当たって側引戸１１のスライド速度が変動することで、側引戸１１の開動作に要する時間が一定でなくても、側引戸１１の開動作の後期における加速度の時系列データの最大値を適切に把握することができる。 If it is determined Yes in step S3, the determination unit 45 specifies the peak value that first appears from the time when the acceleration converges to zero (time t4 ) (step S4). For example, in FIG. In the example of and 6, the peak value A max is specified at time t 3. The determination unit 45 regards the peak value A max as the maximum acceleration in the latter half of the opening operation of the side sliding door 11. , because the sliding speed of the side sliding door 11 fluctuates due to an object hitting the side sliding door 11 during the opening operation, even if the time required for the opening operation of the side sliding door 11 is not constant, the time required for the opening operation of the side sliding door 11 in the latter half of the opening operation of the side sliding door 11 changes. The maximum value of acceleration time series data can be appropriately grasped.

次いで、判定部４５は、ピーク値Ａmaxが所定の閾値Ａthよりも小さいか否かを判定する（ステップＳ５）。閾値Ａthは、開動作時に戸袋巻込みが発生せずに正常に開動作が完了したときのピーク値よりも大きい値である。即ち、図５に示すように、正常な開動作の場合には、ピーク値Ａmaxが閾値Ａthよりも小さくなる。 Next, the determining unit 45 determines whether the peak value A max is smaller than a predetermined threshold value A th (step S5). The threshold value A th is a value larger than the peak value when the opening operation is normally completed without any entrapment in the door bag during the opening operation. That is, as shown in FIG. 5, in the case of normal opening operation, the peak value A max is smaller than the threshold value A th .

他方、図６に示すように、戸袋巻込み発生時には、ピーク値Ａmaxが閾値Ａthよりも大きくなる。具体的には、側引戸１１の開動作中に戸袋巻込みが生じると、物体が側引戸１１と共に戸袋２ｂに巻き込まれ始める初期段階に抵抗が一旦生じる。そして、物体が戸袋２ｂに巻き込まれた後に当該抵抗が軽減されて側引戸１１が完全開位置に到達することで、抵抗エネルギーが解放されて加速する効果によって完全開位置への到達時に側引戸１１に生じるショック（加速度）が増加する。なお、閾値Ａthの決定に際しては、正常時のピーク値Ａmaxと戸袋巻込み発生時のピーク値Ａmaxとを予め実験で取得し、両者の中間の値を閾値Ａthに設定するとよい。 On the other hand, as shown in FIG. 6, when door bag entrapment occurs, the peak value A max becomes larger than the threshold value A th . Specifically, when the door bag gets caught during the opening operation of the side sliding door 11, resistance is generated at an initial stage when the object starts to be caught in the door bag 2b together with the side sliding door 11. Then, after the object is caught in the door bag 2b, the resistance is reduced and the side sliding door 11 reaches the fully open position, and the resistance energy is released and the side sliding door 11 accelerates when it reaches the fully open position. The shock (acceleration) generated increases. When determining the threshold value A th , it is preferable to obtain the peak value A max during normal operation and the peak value A max at the time of door bag entrapment in advance through an experiment, and set a value between the two as the threshold value A th .

ステップＳ５でＹｅｓと判定されると、側引戸１１，１２の開動作において戸袋２ｂに物体（例えば、カバンや衣服等）が巻き込まれる戸袋巻込みが発生しているため、制御部４２は、逃がし弁２２を駆動して前記非常状態（図２（Ｃ））に切り替え、空気圧シリンダ２０の加圧側の第１室Ｓ１を大気開放させる（ステップＳ６）。これにより、空気圧シリンダ２０がフリー状態になって側引戸１１，１２が開閉自在になり、人間が手で側引戸１１，１２をスライドさせることできる。また、戸袋巻込みの発生が検知されると（ステップＳ５：Ｙｅｓ）、出力部４３から警報装置５０に警報信号を送信し、警報装置５０が表示や音等によって運転士等に戸袋巻込み発生を報知する（ステップＳ７）。 If it is determined as Yes in step S5, the controller 42 controls the door bag 2b to get caught in the door bag 2b when the side sliding doors 11 and 12 open. The valve 22 is driven to switch to the emergency state (FIG. 2(C)), and the first chamber S1 on the pressure side of the pneumatic cylinder 20 is opened to the atmosphere (step S6). As a result, the pneumatic cylinder 20 becomes free and the side sliding doors 11 and 12 can be opened and closed freely, allowing a person to slide the side sliding doors 11 and 12 by hand. Further, when the occurrence of the door bag entrapment is detected (step S5: Yes), an alarm signal is transmitted from the output unit 43 to the alarm device 50, and the alarm device 50 alerts the driver etc. to the door bag entanglement by a display or sound. (Step S7).

このように、戸袋巻込み発生時にアクチュエータ７がフリー状態にされて側引戸１１，１２が開閉自在になるので、戸袋巻込みを人間が手動で解消することが可能になる。しかも、戸袋巻込みを自動で解消することはせず、側引戸１１，１２を閉側に戻す制御は行われないので、側引戸１１，１２に別の物体が挟まれる戸挟みが発生することも防止される。また、戸袋巻込みが発生した側引戸１１，１２のみを開閉自在にすることで、巻込みが発生していない側引戸で新たな戸袋巻込みや戸挟みが発生することも防止される。 In this way, when the door bag becomes entangled, the actuator 7 is set to a free state and the side sliding doors 11, 12 can be opened and closed, so that it becomes possible for a person to manually eliminate the door bag entanglement. Moreover, since the door bag entrapment is not automatically resolved and the side sliding doors 11 and 12 are not controlled to return to the closed side, door jamming in which another object is caught between the side sliding doors 11 and 12 may occur. is also prevented. Further, by allowing only the side sliding doors 11 and 12 where the door bag has become trapped to open and close, it is also possible to prevent a new door bag from being caught or jammed in the door at the side sliding door where the door bag has not become trapped.

ステップＳ５でＮｏと判定されると、一応は戸袋巻込みが発生していないと考えられるが、念のため戸袋巻込み検出のためのサブ判定を行う。即ち、判定部４５は、先ず前記加速度の絶対値の時系列データにおいて側引戸１１の開動作の基準時点からピーク値Ａmaxの時点ｔ3までに要した戸開動作時間Ｔを特定する（ステップＳ８）。 If the determination in step S5 is No, it is considered that no entrapment has occurred in the door bag, but just to be sure, a sub-determination is performed to detect entrapment in the door bag. That is, the determination unit 45 first specifies the door opening operation time T required from the reference time of the opening operation of the side sliding door 11 to the time t 3 of the peak value A max in the time series data of the absolute value of the acceleration (step S8).

ここで、側引戸制御装置４０は、側引戸１１、１２の開動作中において完全開位置に到達する前の中間時点ｔ2において減速するようにアクチュエータ７を制御する。そこで、本実施形態では、判定部４５は、前記加速度の絶対値の時系列データにおける当該減速によるピークＰを検出することで中間時点ｔ2を特定し、中間時点ｔ2を前記基準時点とする。 Here, the side sliding door control device 40 controls the actuator 7 to decelerate at an intermediate time t 2 before reaching the fully open position during the opening operation of the side sliding doors 11 and 12. Therefore, in the present embodiment, the determination unit 45 identifies the intermediate time t 2 by detecting the peak P due to the deceleration in the time series data of the absolute value of the acceleration, and sets the intermediate time t 2 as the reference time. .

即ち、判定部４５は、側引戸１１の開動作の基準時点ｔ2からピーク値Ａmaxの時点ｔ3までに要した時間を戸開動作時間Ｔとして特定する（ステップＳ８）。そして、判定部４５は、戸開動作時間Ｔが所定時間Ｔthよりも長いか否かを判定する（ステップＳ９）。所定時間Ｔthは、開動作時に戸袋巻込みが発生せずに正常に開動作が完了したときの基準時点ｔ2からピーク値Ａmaxの時点ｔ3までに要する時間よりも短い。即ち、図５に示すように、正常な開動作の場合には、戸開動作時間Ｔが所定時間Ｔthよりも短くなる。ステップＳ９でＮｏと判定されると、戸開動作時間Ｔにも異常は認められないため、ステップＳ６，Ｓ７をスキップしてそのまま終了する。 That is, the determination unit 45 specifies the time required from the reference time t 2 of the opening operation of the side sliding door 11 to the time t 3 of the peak value A max as the door opening operation time T (step S8). Then, the determining unit 45 determines whether the door opening operation time T is longer than the predetermined time T th (step S9). The predetermined time T th is shorter than the time required from the reference time t 2 to the time t 3 of the peak value A max when the opening operation is normally completed without any entrapment in the door bag during the opening operation. That is, as shown in FIG. 5, in the case of a normal opening operation, the door opening operation time T is shorter than the predetermined time T th . If it is determined No in step S9, no abnormality is recognized in the door opening operation time T, so steps S6 and S7 are skipped and the process ends.

他方、図６に示すように、戸袋巻込み発生時には、戸開動作時間Ｔが正常時よりも長くなる。具体的には、側引戸１１の開動作中に戸袋巻込みが生じると、物体が側引戸１１と共に戸袋２ｂに巻き込まれ始める初期段階に抵抗が一旦生じる。そして、物体が戸袋２ｂに巻き込まれた後に当該抵抗が軽減されて側引戸１１が完全開位置に到達することで、抵抗エネルギーが解放されて加速する効果によって完全開位置への到達時に側引戸１１に生じるショック（加速度）が増加する。なお、所定時間Ｔthの決定に際しては、正常時の基準時点ｔ2からピーク値Ａmaxの時点ｔ3までに要する時間と、戸袋巻込み発生時の基準時点ｔ2からピーク値Ａmaxの時点ｔ3までに要する時間とを予め実験で取得し、両者の中間の値を所定時間Ｔthに設定するとよい。 On the other hand, as shown in FIG. 6, when the door bag becomes entangled, the door opening operation time T becomes longer than when it is normal. Specifically, when the door bag gets caught during the opening operation of the side sliding door 11, resistance is generated at an initial stage when the object starts to be caught in the door bag 2b together with the side sliding door 11. Then, after the object is caught in the door bag 2b, the resistance is reduced and the side sliding door 11 reaches the fully open position, and the resistance energy is released and the side sliding door 11 accelerates when it reaches the fully open position. The shock (acceleration) generated increases. In addition, when determining the predetermined time T th , the time required from the reference time t 2 in normal conditions to the time t 3 of the peak value A max , and the time required from the reference time t 2 to the time of the peak value A max when a door bag entrapment occurs It is preferable to obtain the time required until t 3 in advance by experiment, and set a value between the two as the predetermined time T th .

側引戸１１の開動作中に戸袋巻込みが生じると、物体が戸袋２ｂに巻き込まれ始める初期段階に抵抗が生じるため、側引戸１１が完全開位置に到達するまでに余分に時間が掛かることになる。よって、側引戸１１の開動作の基準時点ｔ2から開動作の後期における最大加速度の時点ｔ3までに要した戸開動作時間Ｔが所定時間Ｔthよりも長い場合に、戸袋巻込みが発生している可能性が高いと判断できる。ステップＳ９でＹｅｓと判定されると、戸袋巻込みが発生している可能性があるため、ステップＳ６，Ｓ７を実行する。 If the door bag gets caught during the opening operation of the side sliding door 11, resistance will occur at the initial stage when the object starts to get caught in the door bag 2b, so it will take extra time for the side sliding door 11 to reach the fully open position. Become. Therefore, if the door opening operation time T required from the reference time t 2 of the opening operation of the side sliding door 11 to the time t 3 of the maximum acceleration in the latter half of the opening operation is longer than the predetermined time T th , door bag entrapment occurs. It can be concluded that there is a high possibility that If it is determined Yes in step S9, there is a possibility that the door bag has been caught in the door, so steps S6 and S7 are executed.

以上のように、本実施形態では、加速度を参照したメイン判定（ステップＳ５）のみならず開動作の時間を参照したサブ判定（ステップＳ９）も用いることで、戸袋巻込みの検出可能性が高められる。なお、判定部４５は、ステップＳ８，Ｓ９を省いた処理を実施する構成としてもよい。 As described above, in this embodiment, by using not only the main judgment (step S5) that refers to acceleration but also the sub-judgment (step S9) that refers to the time of the opening operation, the possibility of detecting entrapment in the door bag is increased. It will be done. Note that the determination unit 45 may be configured to perform processing without steps S8 and S9.

また、本実施形態では、戸開動作時間Ｔの基準時点が中間時点ｔ2とされるため、当該基準時点を開動作の開始時点ｔ1とする場合に比べ、側引戸１１の動作時間の監視対象から開動作初期が除外される。これにより、開動作初期における戸袋巻込みとは異なる外乱を排除でき、戸袋巻込みの検出精度が向上する。なお、戸開動作時間Ｔの基準時点を開動作の開始時点ｔ1としてもよい。 In addition, in this embodiment, since the reference point in time for the door opening operation time T is set at the intermediate time point t 2 , the operation time of the side sliding door 11 is monitored more easily than in the case where the reference point is set at the start time t 1 of the opening operation. The initial opening operation is excluded from the target. This makes it possible to eliminate disturbances different from the door bag entrapment at the initial stage of the opening operation, and improve the detection accuracy of the door bag entrapment. Note that the reference time point of the door opening operation time T may be set to the start time point t1 of the opening operation.

なお、図７に変形例として示すように、側引戸１１，１２を駆動するアクチュエータは、流体圧シリンダの代わりに電動モータ１０７を用いたものであってもよい。その場合、制御部４２は、戸袋巻込み検出部４１によって戸袋巻込みの発生が検出されると、電動モータ１０７の回路をオープンにし、側引戸１１，１２を開閉自在にするとよい。そうすれば、側引戸１１，１２が電動モータ１０７により駆動される電動式である場合にも、戸袋巻込みの解消と戸挟み発生の防止とを好適に実現できる。 In addition, as shown as a modification in FIG. 7, the actuator for driving the side sliding doors 11 and 12 may use an electric motor 107 instead of a fluid pressure cylinder. In that case, when the occurrence of door bag entrapment is detected by the door bag entrapment detection section 41, the control section 42 may open the circuit of the electric motor 107, so that the side sliding doors 11 and 12 can be opened and closed. By doing so, even when the side sliding doors 11 and 12 are electrically driven by the electric motor 107, it is possible to appropriately eliminate the entrapment of the door bag and prevent the occurrence of the door jamming.

なお、本発明は前述した実施形態に限定されるものではなく、その構成を変更、追加、又は削除することができる。例えば、判定部４５は、加速度がゼロに収束した時点から前の時間に遡って最初に現れるピーク値を最大加速度として特定する代わりに、側引戸の開動作開始時点から開動作完了時点までの期間の後期として、当該期間のうち開動作完了時点から前に遡った所定割合区間の加速度を対象として最大加速度を特定してもよい。またドア装置３は、両開き式ではなく片開き式であってもよい。また、戸袋巻込み検出部４１は、加速度や開動作の時間を参照して戸袋巻込みを判定する態様に限られず、側引戸１１，１２の開動作時に戸袋２ｂに物体が進入したことを物理的に検出するセンサ（例えば、光センサ）により戸袋巻込みの発生を検出してもよい。 Note that the present invention is not limited to the embodiments described above, and the configuration can be changed, added, or deleted. For example, instead of specifying as the maximum acceleration the peak value that first appears from the time when the acceleration converges to zero, the determination unit 45 specifies the period from the start of the opening operation of the side sliding door to the time when the opening operation is completed. As the latter half of the period, the maximum acceleration may be specified by targeting the acceleration in a predetermined percentage section that goes back from the time when the opening operation is completed in the period. Moreover, the door device 3 may be a single-opening type instead of a double-opening type. Further, the door bag entrapment detection unit 41 is not limited to determining whether the door bag is caught in the door bag by referring to the acceleration or the time of the opening operation, but can physically detect that an object has entered the door bag 2b during the opening operation of the side sliding doors 11, 12. Occurrence of entrapment in the door bag may be detected by a sensor (for example, an optical sensor) that detects the situation.

１ 鉄道車両
２ａ 乗降口
２ｂ 戸袋
７ アクチュエータ
１１ 第１側引戸
１２ 第２側引戸
２０ 空気圧シリンダ
２２ 逃がし弁
４０ 側引戸制御装置
４１ 戸袋巻込み検出部（戸袋巻込み検出装置）
４２ 制御部
４４ 加速度取得部
４５ 判定部
Ｓ２ 第２室
Ｓ１ 第１室
Ｔ 戸開動作時間 1 Railway vehicle 2a Entrance/exit 2b Door bag 7 Actuator 11 First side sliding door 12 Second side sliding door 20 Pneumatic cylinder 22 Relief valve 40 Side sliding door control device 41 Door bag entrapment detection unit (door bag entrapment detection device)
42 Control section 44 Acceleration acquisition section 45 Judgment section S2 Second room S1 First room T Door opening operation time

Claims (1)

鉄道車両の乗降口を開閉する側引戸を駆動するアクチュエータを制御する装置であって、
前記側引戸を開くときに戸袋に物体が巻き込まれる戸袋巻込みが発生したことを検出する戸袋巻込み検出部と、
前記戸袋巻込みの発生が検出されると、前記側引戸が開閉自在になるように前記アクチュエータをフリー状態にする制御部と、を備え、
前記アクチュエータは、前記側引戸の開動作のために加圧される第１室と、前記側引戸の閉動作のために加圧される第２室とを有する流体圧シリンダと、前記流体圧シリンダの前記第１室に接続された逃がし弁と、を含み、
前記制御部は、前記戸袋巻込みの発生が検出されると、前記逃がし弁を駆動して前記第１室を開放する、鉄道車両の側引戸制御装置。 A device for controlling an actuator that drives a side sliding door that opens and closes an entrance/exit of a railway vehicle,
a door bag entrapment detection unit that detects occurrence of door bag entrapment in which an object is caught in the door bag when opening the side sliding door;
a control unit that, when the occurrence of the door bag entrapment is detected, sets the actuator to a free state so that the side sliding door can be freely opened and closed ;
The actuator includes a fluid pressure cylinder having a first chamber pressurized for opening the side sliding door and a second chamber pressurized for closing the side sliding door; a relief valve connected to the first chamber of the
A side sliding door control device for a railway vehicle, wherein the control unit drives the relief valve to open the first chamber when the occurrence of the door bag entrapment is detected.
JP2022197728A 2018-12-27 2022-12-12 Railway vehicle side sliding door control device Active JP7387861B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2022197728A JP7387861B2 (en) 2018-12-27 2022-12-12 Railway vehicle side sliding door control device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018245148A JP7222705B2 (en) 2018-12-27 2018-12-27 Door bag entrapment detection device for railway vehicle
JP2022197728A JP7387861B2 (en) 2018-12-27 2022-12-12 Railway vehicle side sliding door control device

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
JP2018245148A Division JP7222705B2 (en) 2018-12-27 2018-12-27 Door bag entrapment detection device for railway vehicle

Publications (2)

Publication Number Publication Date
JP2023017084A JP2023017084A (en) 2023-02-02
JP7387861B2 true JP7387861B2 (en) 2023-11-28

Family

ID=71448010

Family Applications (2)

Application Number Title Priority Date Filing Date
JP2018245148A Active JP7222705B2 (en) 2018-12-27 2018-12-27 Door bag entrapment detection device for railway vehicle
JP2022197728A Active JP7387861B2 (en) 2018-12-27 2022-12-12 Railway vehicle side sliding door control device

Family Applications Before (1)

Application Number Title Priority Date Filing Date
JP2018245148A Active JP7222705B2 (en) 2018-12-27 2018-12-27 Door bag entrapment detection device for railway vehicle

Country Status (1)

Country Link
JP (2) JP7222705B2 (en)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009120056A (en) 2007-11-15 2009-06-04 Fuji Electric Systems Co Ltd Door safety support device for vehicle
JP2010053528A (en) 2008-08-26 2010-03-11 Fuji Electric Systems Co Ltd Apparatus for controlling electrically-driven door

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0596373U (en) * 1992-06-02 1993-12-27 日本車輌製造株式会社 Door pocket pull-in detection device for vehicle sliding doors
JP2553204Y2 (en) * 1993-01-07 1997-11-05 株式会社ナブコ Door fastening device for railway vehicle doors

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009120056A (en) 2007-11-15 2009-06-04 Fuji Electric Systems Co Ltd Door safety support device for vehicle
JP2010053528A (en) 2008-08-26 2010-03-11 Fuji Electric Systems Co Ltd Apparatus for controlling electrically-driven door

Also Published As

Publication number Publication date
JP2020104689A (en) 2020-07-09
JP2023017084A (en) 2023-02-02
JP7222705B2 (en) 2023-02-15

Similar Documents

Publication Publication Date Title
JP2015529589A (en) Method for controlling the adjustment action of a vehicle closing element with collision avoidance for a lock area and an anti-pinch system
US10464399B2 (en) Vehicle window opening device
KR20190022852A (en) Anti-pinch protection device for automotive side doors
US3916567A (en) Obstruction sensor for pneumatic door operator
WO2013125490A1 (en) Opening/closing body control device for vehicle
KR101106475B1 (en) Pinch protection method and device for a motor-driven closing system
JP2007315069A (en) Vehicular automatic opening-closing device
JP6689069B2 (en) Door pinch detection device and sliding door device
JP7387861B2 (en) Railway vehicle side sliding door control device
KR20180136510A (en) Control device and method for recognizing motion disorder of driving device
JP2010053528A (en) Apparatus for controlling electrically-driven door
JP2010236292A (en) Catching detector and catching detection method
TWI695792B (en) Door entrapment detector and door opening-closing device
JP2012158922A (en) Opening and closing control device of automatic door and method for measuring opening and closing force of door
JP2016159847A (en) Door catching detection device
JP7181788B2 (en) Traction detection device for railway vehicles
JP6810000B2 (en) Pinching detection device
JP4234465B2 (en) Elevator door control device
JP3597115B2 (en) Vehicle door closing device
EP3489446B1 (en) Door entrapment detector and door opening-closing device
WO2018150784A1 (en) Pinching detection device
US20240125161A1 (en) Method and system for motor-driven assistance of the movement of a vehicle door
KR100227358B1 (en) Door safety device for a bus
JP4155025B2 (en) Opening and closing body control device
JP6988742B2 (en) Opening / closing member control device and motor with control device

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20221212

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20221212

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20230905

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20230911

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20231114

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20231115

R150 Certificate of patent or registration of utility model

Ref document number: 7387861

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150