JPS61126281A - Safety control apparatus of opening and closing body in car - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Application of the Invention) The present invention relates to an electronically controlled safety device in an automatic opening/closing control device for opening/closing bodies such as windows and doors of automobiles.

(Prior Art) A conventional automatic opening/closing control device for an opening/closing body in an automobile uses a DC motor as a power source and a direct limit control in which a microswitch is placed directly in the operating range of the opening/closing body as a position detection means, or An electric control device that converts the operating range of the opening/closing body into the movement of a cam and performs limit control using a cam, which is linked to a microswitch, is mainly used.

Direct limit control is possible because microswitches are placed directly within the mechanism of the opening/closing body, such as the close detection point, the close detection point, and the detection point of important parts during opening/closing.

The electrical wiring becomes long, which makes workability difficult, making maintenance and inspection difficult, and there are problems with watertightness of the electrical system.

Additionally, limit control using cams reduces the total stroke of the controlled opening/closing body's operating range to the cam's operating range, so installation of each controlled opening/closing body requires on-site adjustment to suit the current situation. At the same time, the resolution of the limit operating point is reduced due to the reduction in the actual operating dimensions, and highly accurate adjustment is required in view of the operating dimensions of the cam.

Furthermore, by using a position detection encoder for digital measurement as the cam part in the control using the cam, an electronic control device is created, but whether this position detection encoder is rotary or linear, the encoder is expensive. At the same time, the size becomes larger, creating a problem in storage space.

On the other hand, recent automobiles use an opening/closing body called a sliding roof, as shown in Figs. It is being

For example, the slide opening/closing mode from the fully open state shown in FIG. 4(b) to the slide fully open state shown in FIG. 4(a).

Similarly, there is a tilt opening/closing mode from the fully closed state shown in (b) to the tilted fully open state shown in (c).

In addition, in Figures 3 and 4, (A) is the roof of the car, (B
) is the frame of the opening/closing mechanism, (C) is the sliding roof, (D)
is the drive motor, (E) is the guard wire, (F) is the drive gear, (G) is the reducer, (H) is the control cam device, (I)
(J) is a sliding piece that can slide freely on the guide rail of the frame (B).
is a tilt lever that connects the slide roof (C) and the sliding piece (I).

The opening/closing mechanism of this sliding roof is the sliding roof (C
) The slide roof (C) is in a fully open state during the full stroke of the sliding piece (I) for opening and closing.

This fully closed position has very little margin due to the waterproofness of the slide roof (C), and accurate control of the stop position is required.Moreover, it is necessary to close from the slide open position and from the tilt open position. Since the closing direction of the slide roof CC is different depending on the case, the stopping position tends to differ depending on the history.Moreover, in order to improve safety,
It is necessary to set up a temporary stopping point slightly before the fully open position to confirm safety.

Fig. 4(d) shows a control state diagram of a conventional cam, and the control points (K) and (L) indicated by dotted lines are temporary stopping points that operate only when moving in the direction of the arrow. During direction opening control, in order to prevent the cam from stopping, the cam structure becomes complicated, and three microswitches are installed close to each other, especially near the fully open stop point (M).
There is a problem with the storage space for the microswitch, and to solve this problem, auxiliary relays or solenoids are used to control selection according to the direction of movement.

However, even if such a temporary stopping point is provided, it cannot be said that the safety of the opening/closing body driven by the DC motor is reliably ensured.

That is, in the case of an opening/closing body such as the sliding roof, the fourth
The temporary stopping point when the slide is closed from (a) to (b) in the figure is set approximately 150m in front of the front door in order to prevent the body from being pinched and strangled. In this case, there is a risk of pinching thin fingers, etc., and the same thing can be said when the tilt goes from fully open to fully open.

In particular, in the case of motor drive, a transmission mechanism with a large reduction ratio is used between the motor and the load, which is dangerous because once it is squeezed, it will not return.

(Problems to be Solved by the Present Invention) The present invention eliminates the use of cams, encoders, etc. for the part connecting the drive motor to the drive mechanism of the opening/closing body, and makes the transmission mechanism around the drive motor compact. The structure is simple, the installation space is small, and the position of the opening/closing body can be accurately controlled, and the installation of the opening/closing body in each individual vehicle can be easily adjusted on-site according to the condition. Along with this, automatic opening/closing control of the opening/closing body can be performed safely.

And, it must be done electronically.

(Technical means for solving the problem) The present invention provides a DC motor for driving opening and closing of an opening/closing body in an automobile, an applied voltage reversing means for switching the rotational direction of the DC motor to determine the moving direction of the opening/closing body, A pulse extraction means for extracting a pulse signal corresponding to the rotational speed of the DC motor from the drive current of the DC motor, and a pulse counting means for adding or subtracting the pulses obtained from the pulse extraction means according to the required movement direction of the opening/closing body. , a pulse time interval comparing means for measuring the pulse counting time interval of the pulse counting means and comparing the pulse counting time interval with a predetermined pulse time interval; and the pulse time interval comparing means.

DC motor control command means for outputting a signal to stop the rotation of a DC motor in response to a signal that determines that a pulse counting time interval is longer than a predetermined pulse time interval; and DC motor drive control means for controlling voltage application to the DC motor in accordance with the output signal of the control command means.

(Structure of the embodiment) FIG. 1 shows one embodiment of the present invention, and (1) represents 1
A chip-type microprocessor (hereinafter abbreviated as CPU) has ROM (read memory) (1a) and RA.
It has a built-in M (random access read/write memory) (lb).

The ROM (la) stores a program for executing the flowcharts shown in FIGS. 2A to 2D.

RAM (lb) is the stack area, data area, etc. required to execute the program in ROM (la).
It is also used as a counter memory, etc., and its contents are retained even when the vehicle is not in use thanks to the backup amplifier battery (2).

Note that the backup battery (2) may be replaced by an automobile battery.

The CPU (1) sends the contents of the RAM (lb) to the display means (3) using an output port (PO□) of an appropriate number of bits.
) and an output port (P
O□), and when an abnormal load occurs, the drive motor (
4) are provided with output ports (PO3) (PO4) that output a 1-bit forced reversal signal (MR) and a forced forward rotation signal (MF) for forcibly forward and reverse rotation.

Further, the CPU (1) detects the direction of the rotational force of the drive motor (4) and the operating position of the manual operation switch (5) that instructs the drive. Two input ports (p
l, ) (pIi), a 1-bit input port (To) that inputs the output pulses of the pulse detector (6) for counting the number of rotations of the drive motor (4), and commands initialization when necessary. 1-bit input port (
T1).

Further, the CPU (1) is given clock pulses of an appropriate frequency by a clock oscillator (7).

The display (3) has two alphanumeric characters representing either the opening/closing mode in the upper two digits, for example, rSDJ when opening/closing the slide between (a) and (b) in Figure 4, and (b) in the same figure.
(C) During tilt opening/closing, rTLJ is displayed, and the last three digits display a three-digit decimal number representing the percentage of the opening degree of the slide roof in each opening/closing mode.

The input port (PI,) (Pl,) is connected to the operation switch (5
) are connected to the fixed contacts (5a) (5b) of the movable contact ( 5C).

Grounded (negative power supply).

The operation switch (5) has a neutral position, and the neutral 2 position automatically returns to the neutral position when released from any of the connected positions by manual operation, and this switch (
5) is installed in the appropriate position on the operation panel of the driver's seat.
Both ends of the drive motor (4) are connected between the common connection points of the collectors of a transistor bridge (9) consisting of two sets of PNP type and NPN type transistors connected in series in a complementary manner. The emitter common connection point of PNP type transistors (9a) (9b) is connected to the positive power supply (8), and also to the same <NPN type transistor (9).
c) The emitter common connection point in (9d) is connected to ground, which is a negative power supply, via a resistor (L) with an extremely low resistance value for detecting load current.

The connection point between the resistor (R□) and the transistor bridge (6) is connected to the pulse detector (6) via the capacitor (C), and the voltage across the resistor (R1) is Through the variable resistor (V
It is amplified by an AC amplifier (6a) whose DC level is adjusted in R), and a comparator (6b) shapes the pulse-like part into a waveform, and the output pulse is sent to the input port (To) of the CPU (1). send.

The input port (T) of CPU (1) is connected to the positive power supply (8
) is connected to the connection point between the pull-up resistor (R4) and the grounded pushbutton switch (10).

The transistor bridge (9) is an applied voltage inversion circuit that electronically switches the rotation direction of the drive motor (4), and includes a pair of PNP and NPN transistors (9a) (9d) or (9b) on diagonal sides of the bridge. (9c) are turned ON and OFF at the same time, and the drive motor (
4) Control the direction of rotation and its drive.

Pair of transistors (9a) (9d) or (9b) (
9c) is a non-inverting driver (lla) (llb) and an inverting driver (llc) (
Connect the inputs of the pair of lid) in common,
NOR gates (12a) each connected to its inputs.
It is controlled by how (12b) appears.

The input of one NOR gate (12a) is connected to the output port (PO4) and the output of the NAND gate (13a), and the input of the other NOR gate (12b) is connected to the output port (PO3) and the NAND gate. (13b).

One input of the NAND gate (13a) (13b) is commonly connected to the output port (PO2), and the other input of the NAND gate (13a) is connected to the operation switch (5).
), the other input of the NAND gate (L3b) is to the fixed contact (5b) of .

It is connected to the fixed contact (5a) of the operation switch (5).

(Function of the embodiment) The drive motor (4) corresponds to the upper motor (D) for driving the opening and closing of the slide roof shown in FIGS.
) during normal rotation, the tilt is fully open (c) and fully closed (b);
The slide roof (C) is driven in the direction from fully closed (b) to fully open (a), and when the motor (4) is reversed,
It is assumed that the motor is driven in the direction (a)→(b)→(e), which is the reverse direction during normal rotation.

Note that the opening/closing style of tilt and slide is
! Regarding the rotation direction of (4), since the opening direction and the closing direction are opposite after fully closing (b), the main opening and closing is slide opening and closing, and the opening or opening direction is open during normal rotation, and the closing or closing direction is reversed. The closing direction will be explained below.

Open (normal rotation) or close (normal rotation) from the neutral position of the operation switch (5)
When the movable contact (5c) is operated in either direction (reverse rotation), the motor drive signal (MO
) reaches rLJ level (ground level), N is connected to the fixed contact (5a) (5b) which is operated and closed.
Either the AND gate (13a) or (13b)
rLJ level signal is output, and the signal is sent to the driver (llb) via the NOR gate (12a) or (L2b).
) (llc) or (lla) (lid), thereby causing the pair of transistors (9a) (9d) or (
9b) Turn on (9c) and drive motor (4)
It rotates forward or reverse depending on the operating direction of the operating switch (5).

In addition, after detecting an abnormal load and stopping the drive motor (4), the CPU (1) outputs a forward rotation force signal (MF) from the output port (POP) and a reverse rotation force signal (MF) from the output port (PO4). Selectively output one of the forced signals (MR) at the rLJ level, and then output that signal (MF) (MR)
The drive motor (4) is rotated forward or reverse through the NOR gates (12a) and (12b) regardless of the operation of the operation switch (5).

Since the drive motor (4) is a DC motor, its drive current waveform includes a pulse waveform corresponding to the rotation of the rotor that occurs when switching the commutator, and the drive current detection resistor (
The pulse waveform obtained at R1) is detected by a pulse detector (6
) is detected by CPU (1) and sent to CPU (1).
U (1) counts the number of output pulses when the motor (4) rotates.

CPU (1) when the tilt is fully open ((C) in Figure 4)
The contents of the counter memory that counts the pulses when the pulse is present are initially preset to zero. For example, by reversing the drive motor (4) to move it in the closing direction,
When the slide roof (C) is brought to the fully tilted state, and at that time, the contents of the counter memory of RAM (lb) are an unspecified value other than zero.

Activate the pushbutton switch (10) to forcibly initialize the contents of the memory to zero.

After this initialization, the number of pulses output by the motor (4) corresponds to the amount of movement of the slide roof. Note that pulse counting is performed by addition during forward rotation and subtraction during reverse rotation.

The contents of the counter memory that stored this count value (I) are:
From the current count value (I) to the fully closed position (Fig. 4 (b))
When the count value (Is) of is subtracted (I-Is) and the sign of the subtraction is negative, the CPU (1) moves the display motor of the character rTLJ to the upper two digits of the display (3), and When it is positive, the display data of the same < rSDJ is sent out.

When the sign is negative, the absolute value (I l-l5l) of the subtraction operation is the percentage (l I -
Islψ100/Is), and when the sign is positive, the difference (Io) between the value at full open (Io) and the value at full open (Is)
-Is) percentage (I l-l5l umbrella 100/l
o-l5), the CPU (1
) calculates and sends it out.

Note that the calculation of percentages is performed by an appropriate calculation program, and the display on the display (3) may not be a percentage display but a decimal representation of the counted value as it is, and furthermore, the counted value may be displayed in a graph. Alternatively, the opening degree and opening/closing style of the sliding roof may be displayed in a symbolic pattern.

On the other hand, the contents of the counter memory for counting the output pulses of the drive motor (4) are predetermined. Slide roof (C)
When the count value is at the stop point, cpU(1) outputs the output port (PO□)
Then, the transistor (9) is turned off by outputting the level of the motor drive signal (MO) to a level at which the transistor (9) turns off, for example, a level close to the ground level (hereinafter referred to as "0" or rLJ). Stop driving the motor (4).

2A to 2D show an example of a flowchart for controlling the opening and closing of the slide roof (C) by the circuit shown in FIG. 1, and FIG. 2A is a main routine.

FIG. 2B shows an opening operation routine, FIG. 2C shows a closing operation routine, and FIG. 2D shows an abnormal load operation routine.

The main routine of FIG. 2A includes steps (S2) (S3).
) to check whether initialization has been performed correctly.

Steps (S4) to (S7) are the first step (S4).
), the abnormal load flag (Fy) is checked to see if there is an abnormal load applied to the motor during the opening/closing operation, and then, in steps (S5) and (S6), whether or not the operation switch (5) has been operated is checked. and when it is in the neutral position, step (S4) to (S7)
loop.

If the operation switch (5) is operated in the open direction in step (S6), its level is checked by the signal of the input port (PIE), and if it is at the rlJ level after the operation, step (S9 ) passes control to the opening routine shown in FIG. 2B.

In step (S6), the level of the switch (5) is similarly checked by the signal of the input port (PI,) to see if it is operated in the closing direction. If the signal is at the rlJ level after being operated, step ( S10) 2nd C
Control is passed to the close actuation routine shown in the figure.

In step (S4), an abnormal load flag (Fy) of logic "1" is set when an abnormal load is detected during operation of the drive motor (4) in the opening or closing operation routine of steps (S5) and (S6). ``1), and when the flag is set, control is passed to the abnormal load routine of step (S8).

The opening operation routine of FIG. 2B includes steps (Sll) (S
Each stopping point is checked by 12).

When on a stopping point, control is passed to subsequent routines required by that stopping point.

Step (Si2
), where it is checked whether or not the motor (4) should be rotated in the same direction as the previous execution of this routine. If the previous rotation was in the opposite direction, the required delay time (1) is determined in step (S25). After a second, the process proceeds to step (514), where the transistor bridge (9) is turned on for normal rotation. This step (S13) prevents overload during rapid reverse rotation of the motor (4).

Steps (StS) to (S23) are a routine for counting and displaying the output pulses of the motor (4) and measuring the pulse time interval, and step (S17) is a routine for counting and displaying the output pulses of the motor (4) and measuring the pulse time interval. A new pulse input is input to the abnormal load detection routine of steps (S18) to (S22) to prevent multiple counting due to the program execution speed being faster than the pulse interval output by the Transfer control when there is.

Step (51g) increments the pulse count counter memory each time this step is passed.

In step (519), the time interval passing through this step is measured by a timer built in the CPU (1), and as a result, the time interval of the output pulses of the motor (4) is measured.

In step (S20), the pulse time interval data measured in step (S19) is calculated as an average value of eight pulses, for example, the number of poles of the motor (4), or an appropriate integral multiple thereof.
tx).

The pulses output by the motor (4) may vary depending on various structural non-uniformities or non-uniform electrical characteristics of the motor (4).
The individual pulse time intervals vary even when the motor (4) is rotating under a regular load.

However, if you add and average the pulse time intervals of 8 pulses for the number of poles of the motor (4), for example, for an 8-pole DC motor,
A very good agreement is obtained in the rotational speed of the motor (4).

Note that the rotation time of the motor (4) can be measured by using the added value of one rotation of the motor (4) instead of the average value (tx), and the added value is the rotation speed of the motor (4). Needless to say, they are responding.

Step (S21) compares the additive average value (tx) with a predetermined value (ty), and when it is determined that the additive average value (tx) is longer, the process proceeds to step (S22); (S22), the abnormal load detection flag (
Fy) is set (Fy = 1) L, and the motor drive control signal (MD) is set to motor stop (MD = 1),
The motor (4) is stopped and the process proceeds to step (S23).

If no abnormal load is detected, proceed directly from step (521) to step (S23), and then proceed to step (518).
) After displaying the new count value (I) obtained, the process returns to the main routine and loops the opening operation routine until the operating switch (5) is released.

In step (Sll), being at the stop point (1=Is) of the fully closed position means proceeding to step (S26),
At this stop point, check the graph (Fs) indicating that the motor (4) has stopped once, and check the graph (
When Fs) is set to rlJ, the stop point has already been stopped, so proceed to step (S27) and clear the flag (Fs) (Fs=O) to drive the L-motor (4). The process advances to step (S13) of the routine.

In step (S26), if the flag (Fs) is not set and it is the first stop point, the process advances to step (528), where the motor drive signal (MD) is set to motor stop (MD=1). , the transistor bridge (9) is turned off to stop the motor (4), and in step (529), the flag (F+) is set to "1".
” and then in step (530), the open contact is turned ON.
The routine loops until the state ends.

Since the fully open point (10) checked in step (S12) is the end of the open state of the slide roof, when it is in this fully open position, the upper drive signal (MD) is directly transmitted in step (524). is set to "1", the transistor bridge (9) is turned off, and the motor (4) is stopped.

The closing operation routine shown in FIG. 2C is the same as the algorithm of the opening operation routine described above, so detailed description thereof will be omitted.

However, in step (531), a check is provided for the stopping point (In) corresponding to the stopping point (k) shown by the dotted line of the cam in FIG. At ml11, it is temporarily stopped, and after confirming safety, it is restarted and fully closed. In addition, in the opening operation routine of FIG. 2B, in the tilt opening/closing mode from tilt open to fully closed, a stop point similar to the stop point (L) in FIG. 4 may be provided to temporarily stop the opening operation routine.

Further, in step (S39), the pulse count is decremented, whereas in step (518) of the opening operation routine,
The difference is that the number of revisions has been increased.

When the abnormal load detection flag (Fy) is set to 1 in step (S22) or (543) in the opening or closing operation routine, control is passed from the main routine to the abnormal load routine shown in FIG. 2D.

In the first step (S53) of the abnormal load routine, the state of the open contact (5a) is checked.

It is determined whether control is passed from the opening operation routine or not, and if it is true, steps (S54) to (S59)
), and if false, (S66 of step (561)
).

In step (S54), a slight delay time (t') is provided in order to forcibly rapidly reverse the motor (4), and after tj time, in step (S55), the forced reversal signal (MR) is applied to drive the motor. Set (MR=O), the motor (4) is driven in the reverse direction (closed direction) regardless of whether the operation switch (5) is open or closed.

The routine of steps (S54) to (S59) is as follows:
Mainly operates when the tilt is closed, from tilt open to fully closed.

Steps (S56) and (S57) are for driving the door in the reverse direction by a predetermined distance, and a φ loop in which the motor (4) is driven in the reverse direction until the number of pulses (IR) corresponding to the return distance is reached. When the loop is exited, the forced reversal signal (MR) is set to stop (MR=1) in step (358), and the motor (4) is stopped.

Step (S59) calculates the number of pulses (IR) corresponding to the returned distance to the count value (IR) immediately before entering the routine.
I) to correct the count value (I) to the value at the correct position, and then, in step (S60), the abnormality flag (Fy
) and return to the main routine.

Steps (S61) to (S66) are also almost the same.

In this routine, in step (S62), the forced forward rotation signal (MF) is set to motor drive (MF=O) L
, As a result, in step (S66), the number of pulses (IF
) is added.

Further, the return distance is arbitrarily set according to the opening/closing style and the position of the sliding roof,
21) and (S42) abnormal load detection setting value (ty
) (ty') may also be arbitrarily set in plural numbers depending on the condition 1 position of the sliding roof, the article expected to be caught, etc.

(Effects of the Present Invention) As described above, the present invention applies to the opening/closing operation of an opening/closing body that is automatically controlled to open/close by the DC drive motor (4).

If any abnormality occurs and the motor load fluctuates, it should be immediately detected and controlled to ensure safety. To provide a safety control device which is highly economical and does not require consideration of mounting space etc. due to an increase in the number of parts.

In addition, in the present invention, there is no need to use an encoder or a cam to detect the opening/closing position of the opening/closing body around the connection part between the drive motor (4) and the opening/closing mechanism that moves the opening/closing body. It is easy to install the drive motor, the control position of the opening and closing body is high, and the stop position can be arbitrarily determined by a software program regardless of the opening and closing mechanism.

Furthermore, the present invention allows a large number of stopping points, control points, limit values for safety control, etc. to be freely set regardless of the opening/closing style of the controlled opening/closing body, and also allows the hardware to be adjusted depending on the type of the opening/closing body. There is no need to change the hardware, and only a small part of the software is required, so it is highly economical due to compatibility between different car models, and the number of parts is small, making it a low-cost product. can provide things 6

[Brief explanation of drawings]

The figures show one embodiment of the present invention, in which Figure 1 is an electric circuit diagram of the device of the present invention, Figures 2A to 2C are flowcharts related to control of the circuit in Figure 1, and Figure 2A is a flowchart related to control of the circuit in Figure 1. shows the main routine, Figure 2B shows the open operation routine, and Figure 2C shows the close operation routine. 2D shows the abnormal load routine, FIG. 3 is a plan view showing an example of the opening/closing body controlled by the present invention, and FIG. (1) C: PU (2) Backup battery (3) Display (4) Drive motor (5) Operation switch (6) Pulse detector (
7) Clock oscillator (8) Positive power supply (9) Transistor bridge (10) Push button switch Figure 1

Claims (1)

[Claims] A DC motor for driving opening and closing of an opening/closing body in an automobile, an applied voltage reversing means for switching the rotational direction of the DC motor to determine the moving direction of the opening/closing body, and a voltage reversing means for changing the rotational speed of the DC motor from a drive current of the DC motor. A pulse extracting means for extracting a pulse signal, a pulse counting means for adding and subtracting pulses obtained from the pulse extracting means according to the required moving direction of the opening/closing body, and a pulse counting means for measuring the pulse counting time interval of the pulse counting means and counting the pulses. A pulse time interval comparing means for comparing the counting time interval with a predetermined pulse time interval, and when the pulse time interval comparing means outputs a signal determining that the pulse counting time interval is longer than the predetermined pulse time interval. , DC motor control command means for outputting a signal to stop the rotation of the DC motor in response to the signal, and DC motor drive control means for controlling voltage application to the DC motor in accordance with the output signal of the DC motor control command means. A safety control device for an opening/closing body in an automobile, comprising: