JP7485538B2 - Door system and vehicle - Google Patents

Description

The present invention relates to a door system and a vehicle.

The so-called sliding door type is an automatic door installed on passenger transport railcars. A sliding door type door has a door body that opens and closes by sliding while being guided by, for example, a groove or rail, and a door pocket that stores the door body when the door is opened.

JP 2007-326664 A

In order to prevent foreign objects from entering the door pocket along with the door body when a sliding door is opened, there are devices that include, for example, a pressure sensor that detects the pressure from the foreign object or a drive mechanism that removes the foreign object from inside the door pocket.
However, when a pressure sensor that detects the pressure from a foreign object is provided, there is a possibility that a load may be placed on the foreign object, such as a human finger, and it may not be possible to properly determine whether or not a foreign object has been drawn into the door body based only on the magnitude of pressure. When a drive mechanism that removes foreign objects from inside the door pocket is provided, the device configuration becomes complicated, and the maintenance workload may increase.

The present invention provides a door system and vehicle that can improve the accuracy of detecting foreign objects entering the door pocket while minimizing the complexity of the configuration.

A door system according to one aspect of the present invention includes a door that enters and exits a door pocket by opening and closing, a rotating body that is disposed inside the door pocket and rotates due to the action of an external force, and an acquisition unit that acquires a state quantity related to the rotation of the rotating body in at least one of the directions of rotation of the rotating body in the direction in which the door is opened.

With this configuration, the acquisition unit can acquire the presence or absence of rotation of the rotating body due to contact with an object inside the door pocket. The rotating body can rotate around the rotation axis even with a slight external force, and it is possible to easily and accurately acquire the presence or absence of an object entering the door pocket and coming into contact with the rotating body while minimizing the load on objects such as human fingers or hands.

The above configuration may include a drive control unit that controls the operation of the door based on the acquired state quantity.

In the above configuration, the drive control unit may control the operation of the door to a first operating speed or a first operating amount when the acquired state quantity is a first value, and may control the operation of the door to a second operating speed slower than the first operating speed or a second operating amount smaller than the first operating amount when the acquired state quantity is a second value greater than the first value.

The above configuration may include a detection unit that detects whether an object has been caught between the rotating body and the door based on the acquired state quantity.

In the above configuration, the drive control unit may drive the door in a reverse direction or suppress the opening operation of the door when the detection unit detects that an object has become entangled between the rotating body and the door during the opening operation of the door.

In the above configuration, if the detection unit detects that an object has been caught between the rotating body and the door during the opening operation of the door, the drive control unit may reverse the drive of the door based on the opening degree of the door, or may suppress the opening operation of the door.

In the above configuration, the drive control unit may suppress the opening operation of the door when the opening degree is less than a predetermined opening degree, and may drive the door in a reverse direction when the opening degree is equal to or greater than the predetermined opening degree.

A door system according to another aspect of the present invention includes a door that enters and exits a door pocket by opening and closing, a rotating body that is disposed inside the door pocket and rotates under the action of an external force, an acquisition unit that acquires a state quantity related to the rotation of the rotating body in at least one of the rotation directions of the rotating body in the opening direction of the door, and an alarm unit that issues an alarm based on the acquired state quantity.

This configuration makes it possible to properly notify at least one of the people around the door and the person controlling the door operation of the presence or absence of an object entering the door pocket and coming into contact with the rotating body.

In the above configuration, the rotating body may be freely rotatable around a rotation axis along the height direction of the door.

In the above configuration, the state quantity may be the amount of rotation per unit time.

In the above configuration, the state quantity may be the torque of the rotating body.

In the above configuration, if the detection unit detects that an object has become entangled between the rotating body and the door when the door is opened, a resolution detection unit may be provided that detects the elimination of the entanglement of the object based on a state quantity related to the rotation of the rotating body in the closing direction of the door.

In the above configuration, a drive control unit is provided that suppresses the opening operation of the door based on the acquired state quantity, and the drive control unit may release the suppression of the opening operation of the door when, after suppressing the opening operation of the door, it is detected that the object has been removed from the entanglement based on the state quantity related to the rotation of the rotating body in the closing direction of the door.

In the above configuration, the acquisition unit may start acquiring the state quantity in response to an opening command that instructs the start of the door opening operation.

In the above configuration, the acquisition unit may stop acquiring the state quantity depending on whether the door is fully open.

A door system according to another aspect of the present invention includes a door that enters and exits a door pocket by opening and closing operations, a rotating body that is disposed inside the door pocket and rotates about a rotation axis along the height direction of the door by the action of an external force, an acquisition unit that acquires state quantities related to the rotation of the rotating body in at least the opening direction of the door among the rotation directions of the rotating body about the rotation axis, a detection unit that detects an object being caught between the rotating body and the door based on the acquired state quantities, and a drive control unit that, when the detection unit detects an object being caught between the rotating body and the door during the opening operation of the door, drives the door in a reverse direction or suppresses the opening operation of the door based on the acquired state quantities.

With this configuration, the acquiring unit can acquire whether or not the rotating body is rotating due to contact with an object inside the door pocket. The rotating body can rotate about the rotation axis even when an external force is slight, and it is possible to easily and accurately acquire whether or not an object has entered the door pocket and whether or not it has come into contact with the rotating body while suppressing the generation of load on objects such as human fingers or hands.
In addition, the drive control unit can accurately determine whether or not a precursor to an object being caught or entangled has occurred before the object actually gets caught or entangled, based on the state quantity related to the rotation of the rotating body, which is highly sensitive to the presence or absence of contact with the object. Furthermore, the door opening operation can be stopped or the opening speed can be reduced depending on the presence or absence of an object entering the door pocket and contacting the rotating body.

A vehicle according to another aspect of the present invention includes a vehicle body, a door that enters and exits a door pocket provided on the vehicle body by opening and closing operations, a rotor that is disposed inside the door pocket and rotates around a rotation axis along the height direction of the door by the action of an external force, an acquisition unit that acquires a state quantity related to the rotation of the rotor around the rotation axis, at least in the opening direction of the door, and a control unit that controls various devices based on the acquired state quantity.

By configuring it in this way, it is possible to provide a vehicle that can improve the accuracy of detecting foreign objects that enter the door pocket while preventing the configuration from becoming too complicated.

The door system and vehicle described above can reduce the complexity of the configuration and improve the accuracy of detecting foreign objects that enter the door pocket.

1 is a cross-sectional view of a door system mounted on a vehicle according to an embodiment of the present invention, viewed from above and below. 1 is a cutaway view of a door of a door system according to an embodiment of the present invention, showing the door and a rotating body from the opening and closing direction of the door. FIG. 4 is a flowchart showing the operation of the door system according to the embodiment of the present invention.

An embodiment of the present invention will be described with reference to the drawings.

<Door system>
Fig. 1 is a cross-sectional view of a door system 10 mounted on a vehicle 1, as viewed from the top-bottom direction. Fig. 2 is a cutaway view of a door 13 of the door system 10, showing the door 13 and a rotating body 15 as viewed from the opening/closing direction of the door 13. The top-bottom direction refers to the top-bottom direction when the vehicle 1 is placed in a state in which it can travel.
1 and 2, a door system 10 according to an embodiment is mounted on a car body 100 of a vehicle 1. The vehicle 1 is, for example, a railroad car for transporting passengers. The door system 10 is, for example, a single- or double-leaf automatic sliding door provided on the car body 100 for passengers to get on and off.
The door system 10 comprises a door pocket 11, a door 13 for entering and exiting the interior of the door pocket 11, a rotating body 15 provided inside the door pocket 11, a detection unit 17 for detecting state quantities related to the rotation of the rotating body 15, and a control device 19 for overall control of the door system 10.

The door pocket 11 is formed, for example, between a vehicle body panel 21 exposed to the outside of the vehicle 1 and an interior panel 23 inside the vehicle 1. The door pocket 11 accommodates the entire door 13 in a fully open state and at least a part of the door 13 in a fully closed state. An opening 11a for receiving the door 13 is formed in the door pocket 11. The outer shape of the opening 11a is, for example, a slit-like shape that extends in the vertical direction of the vehicle 1 and curves along the outer shape of the door 13.
The door pocket 11 accommodates the rotor 15 while exposing a part of the rotor 15 to the outside from the opening 11 a. For example, the door pocket 11 exposes about ¼ of the outer circumferential surface of the rotor 15 to the outside from the opening 11 a.

A door 13 for entering and exiting the interior of the door pocket 11 is disposed in an opening 11 a formed in the door pocket 11 .
The door 13 includes a door leaf 31 that is guided by a guide portion (not shown) such as a rail or a groove provided on the vehicle 1 and driven by a door drive portion 25 (one example of various devices in the claims) having an electric motor (not shown) such as a linear motor. The outer shape of the door leaf 31 is, for example, a plate shape that extends along the up-down direction of the vehicle 1 and curves inwardly in the width direction of the vehicle 1 at the lower side. The direction of opening and closing operation (opening and closing direction) F of the door leaf 31 is, for example, a direction along the front-rear direction of the vehicle 1.

The rotating body 15 is, for example, a cylindrical roller. The rotating body 15 is disposed inside the door pocket 11, spaced a predetermined distance inward in the width direction of the vehicle 1 from the inner surface 31A of the door leaf 31. The rotating body 15 includes, for example, a plurality of divided rotating bodies 41 connected in series. Each divided rotating body 41 includes, for example, a shaft portion 43 and an outer peripheral portion 45 that covers the outer peripheral surface of the shaft portion 43. The shaft portion 43 is formed, for example, from a metal material. The outer peripheral portion 45 is formed, for example, from an elastic material such as rubber or resin.

The rotor 15 has a support portion 47 that supports the shaft portion 43 of each divided rotor 41. Each divided rotor 41 supported by the support portion 47 rotates around the central axis of the shaft portion 43. The shaft portions 43 of any two divided rotors 41 that are aligned in the connection direction among the divided rotors 41 are integrally connected by a connecting portion 49. The connecting portion 49 is, for example, a universal joint that maintains the rotational speeds of the shaft portions 43 at the same speed. The connected divided rotors 41 rotate integrally around the central axis of each shaft portion 43.

The multiple divided rotors 41 are, for example, two divided rotors 41, a first divided rotor 41a and a second divided rotor 41b. For example, the first divided rotor 41a and the second divided rotor 41b are connected along the vertical direction of the vehicle 1 via their respective shaft portions 43. The rotation axis C1, which is the central axis of the first divided rotor 41a, extends along the vertical direction of the vehicle 1. The rotation axis C2, which is the central axis of the second divided rotor 41b, is disposed along the inner surface 31A of the door leaf 31 that is curved downward in the vertical direction of the vehicle 1.

The rotation axis C1 and the rotation axis C2 are parallel to the height direction of the door leaf 31. That is, in the case of the rotation axis C1, the height direction of the door leaf 31 is parallel to the vertical direction of the vehicle 1. In the case of the rotation axis C2, the height direction of the door leaf 31 is parallel to the direction along the inner surface 31A of the door leaf 31, which is curved relative to the vertical direction of the vehicle 1. That is, the height direction of the door leaf 31 does not completely coincide with the vertical direction of the vehicle 1 as a whole. The rotation axis C1 does not have to completely coincide with the vertical direction of the vehicle 1 either, as long as it is along the vertical direction of the vehicle 1.

The first and second divided rotors 41a and 41b, which are connected integrally, rotate around the respective rotation axes C1 and C2 due to the action of an external force. For example, the first and second divided rotors 41a and 41b rotate in the opening and closing directions of the door 13 independently of the door 13. For example, when an object such as a human finger or hand enters the door pocket 11 through the opening 11a and comes into contact with the first or second divided rotor 41a or 41b between the door leaf 31 and the rotor 15, the first and second divided rotors 41a and 41b rotate integrally in the opening direction of the door 13. For example, when an object such as a human finger or hand exits through the opening 11a of the door pocket 11 while in contact with the first divided rotor 41a or the second divided rotor 41b between the door leaf 31 and the rotor 15, the first divided rotor 41a and the second divided rotor 41b rotate together in the closing direction of the door 13.

At least one of the state quantities of the rotation of the rotating body 15 or state quantities related to the rotation detected by the detection unit 17 (an example of an acquisition unit in the claims) is, for example, at least one of the amount of rotations per unit time, the rotation speed, and the torque. For example, the detection unit 17 includes an encoder that outputs a detection signal of the rotation position of the rotating body 15 or a torque sensor that outputs a detection signal of the torque of the rotating body 15.

The control device 19 is a software function unit that functions by a processor such as a CPU (Central Processing Unit) executing a specific program. The software function unit is an ECU (Electronic Control Unit) that includes a processor such as a CPU, a ROM (Read Only Memory) that stores programs, a RAM (Random Access Memory) that temporarily stores data, and electronic circuits such as a timer. At least a part of the control device 19 may be an integrated circuit such as an LSI (Large Scale Integration).

The control device 19 (an example of the detection unit, cancellation detection unit, control unit, and drive control unit in the claims) starts detection of state quantities related to the rotation of the rotating body 15 by the detection unit 17 in response to a door open command that instructs the start of the opening operation of the door 13. In addition, the control device 19 starts receiving the detection signal output from the detection unit 17 and executing various processes based on the obtained detection signal.
The door open command is, for example, a signal input by the driver of the vehicle 1 or a signal automatically generated in response to a stopped state of the vehicle 1. The stopped state of the vehicle 1 is, for example, a state in which the speed of the vehicle 1 has decreased to zero or a state in which a predetermined time has elapsed since the speed of the vehicle 1 has decreased to zero.

When the door 13 is fully open, the control device 19 stops the detection unit 17 from detecting the state quantity related to the rotation of the rotating body 15. The control device 19 also stops receiving the detection signal output from the detection unit 17 and executing various processes based on the acquired detection signal. For example, the control device 19 determines the fully open state of the door 13 based on the driving state of the door leaf 31 by the door driving unit 25, etc.

The control device 19 judges whether or not there is a sign of an object being caught between the rotating body 15 and the door leaf 31 based on the detection signal output from the detection unit 17. For example, the control device 19 judges whether or not there is a sign of an object being caught by judging whether or not the rotating body 15 in a stopped state has rotated around each of the rotation axes C1 and C2 in the opening direction of the door leaf 31. The control device 19 judges that the rotating body 15 in a stopped state has rotated in the opening direction of the door leaf 31 when a displacement of the rotational position of the rotating body 15 occurs in the opening direction of the door leaf 31 or when a torque of the rotating body 15 occurs in the opening direction of the door leaf 31.
For example, the conditions for determining whether or not there are signs of an object being entangled are, compared to the conditions for determining whether or not an object has actually been entangled, described below, an initial state in which the rotating body 15 transitions from a stopped state to rotation, or a relatively small rotation state, etc.

For example, when the door system 10 includes an alarm unit 51 (an example of the alarm unit and various devices in the claims), the control device 19 may issue an alarm based on the detection signal output from the detection unit 17. The alarm unit 51 is, for example, a speaker, a sound source, a light, or a vibrator. The alarm unit 51 issues an alarm to at least one of a person near the door 13 and a person controlling the operation of the door 13 based on the detection signal output from the detection unit 17. For example, when the control device 19 determines based on the detection signal output from the detection unit 17 that there is a sign of an object becoming entangled between the rotating body 15 and the door leaf 31, it activates the alarm unit 51.

The control device 19 determines whether or not an object has become entangled between the rotating body 15 and the door leaf 31 based on the detection signal output from the detection unit 17. For example, the control device 19 determines whether or not an object has become entangled by determining whether or not the rotation of the rotating body 15 in the opening direction of the door leaf 31 around each of the rotation axes C1 and C2 meets specific conditions.

The specific conditions include, for example, a rotation in which a displacement in the rotation position is greater than or equal to a predetermined value, a rotation at a rotational speed greater than or equal to a predetermined value or a rotation amount per unit time greater than or equal to a predetermined value, a rotation in which a torque greater than or equal to a predetermined value is generated, a rotation that is synchronous with the opening operation of the door leaf 31 within a predetermined range, or such rotations continuing for a predetermined period of time or more.
A rotation that is synchronous with the opening operation of the door leaf 31 within a specified range is a rotation in which state quantities such as the relative speeds (moving speed and rotating speed) of the door leaf 31 and the rotating body 15, the displacement amount (moving amount and rotating amount) per unit time, torque or resistance force, etc. are approximately the same or have a specified relationship within a specified range.

The control device 19 controls the operation of the door 13 based on the detection signal output from the detection unit 17. For example, when the control device 19 determines that an object has been caught between the rotating body 15 and the door leaf 31 based on the detection signal output from the detection unit 17, the control device 19 suppresses the opening operation of the door leaf 31 by stopping the door leaf 31 or reducing the opening speed, etc. When a predetermined state related to the operation of the rotating body 15 occurs after suppressing the opening operation of the door leaf 31, the control device 19 releases the suppression of the opening operation of the door leaf 31.
The specified state corresponds to a state in which the object is no longer entangled between the rotating body 15 and the door leaf 31, and is, for example, a state after a specified time has elapsed or a state in which the rotating body 15 has rotated around each rotation axis C1, C2 in the closing direction of the door leaf 31.

<Door system operation>
Next, the operation of the door system 10 will be described.
FIG. 3 is a flow chart showing the operation of the door system 10.

First, the control device 19 determines whether or not a door open command has been issued (step S01).
If the result of this determination is "NO" (step S01: NO), the control device 19 repeats the determination process of step S01.
On the other hand, if the result of this determination is "YES" (step S01: YES), the control device 19 advances the process to step S02.
Next, the control device 19 causes the detection unit 17 to start detecting state quantities related to the rotation of the rotating body 15 (step S02).

Next, the control device 19 determines whether or not the rotating body 15 has rotated based on the detection signal output from the detection unit 17 (step S03).
If the result of this determination is "NO" (step S03: NO), the control device 19 advances the process to step S13, which will be described later.
On the other hand, if the result of this determination is "YES" (step S03: YES), the control device 19 advances the process to step S04.

Next, the control device 19 determines whether the rotation direction of the rotating body 15 is the opening direction of the door leaf 31 based on the detection signal output from the detection unit 17 (step S04).
If the result of this determination is "NO" (step S04: NO), the control device 19 advances the process to step S13, which will be described later.
On the other hand, if the result of this determination is "YES" (step S04: YES), the control device 19 advances the process to step S05.

Next, the control device 19 determines whether or not there is a sign of an object being caught between the rotating body 15 and the door leaf 31 based on the detection signal output from the detection unit 17 (step S05).
If the result of this determination is "NO" (step S05: NO), the control device 19 advances the process to step S09, which will be described later.
On the other hand, if the result of this determination is "YES" (step S05: YES), the control device 19 advances the process to step S06.
Next, the control device 19 starts the operation of the alarm unit 51 to alarm the occurrence of a sign of an object being caught between the rotating body 15 and the door leaf 31 (step S06).

Next, the control device 19 determines whether or not the warning state of an object being caught between the rotating body 15 and the door leaf 31 has been resolved based on the detection signal output from the detection unit 17 (step S07).
If the result of this determination is "NO" (step S07: NO), the control device 19 returns the process to the above-mentioned step S05.
On the other hand, if the result of this determination is "YES" (step S07: YES), the control device 19 advances the process to step S08.
Next, the control device 19 stops the operation of the alarm unit 51 that notifies the occurrence of a sign of an object being caught between the rotating body 15 and the door leaf 31 (step S08). Then, the control device 19 advances the process to step S13, which will be described later.

Next, the control device 19 determines whether or not an object has been caught between the rotating body 15 and the door leaf 31 based on the detection signal output from the detection unit 17 (step S09).
If the result of this determination is "NO" (step S09: NO), the control device 19 returns the process to the above-mentioned step S05.
On the other hand, if the result of this determination is "YES" (step S09: YES), the control device 19 advances the process to step S10.
Next, the control device 19 suppresses the opening operation of the door leaf 31 by stopping the door leaf 31 or reducing the opening speed (step S10).

Next, the control device 19 determines whether or not the object has been removed from between the rotating body 15 and the door leaf 31 based on the detection signal output from the detection unit 17 (step S11).
If the result of this determination is "NO" (step S11: NO), the control device 19 repeats the determination process of step S11.
On the other hand, if the result of this determination is "YES" (step S11: YES), the control device 19 advances the process to step S12.
Next, the control device 19 releases the restriction on the opening operation of the door leaf 31 (step S12).

Next, the control device 19 determines whether the door 13 is fully open based on the driving state of the door leaf 31 by the door driving unit 25 and the like (step S13).
If the result of this determination is "NO" (step S13: NO), the control device 19 returns the process to the above-mentioned step S03.
On the other hand, if the result of this determination is "YES" (step S13: YES), the control device 19 advances the process to step S14.
Next, the control device 19 stops the detection of the state quantity related to the rotation of the rotating body 15 by the detection unit 17 (step S14), and the control device 19 advances the process to the end.

As described above, the door system 10 includes a detection unit 17 that detects at least one of the state quantity of the rotation of the rotating body 15 in the opening direction of the door 13 and the state quantity related to the rotation of the rotating body 15. Therefore, the detection unit 17 can detect the presence or absence of rotation of the rotating body 15 due to contact with an object inside the door pocket 11. The rotating body 15 can rotate around each of the rotation axes C1, C2 even when an external force is slight, and can easily and accurately detect the entry of an object into the door pocket 11 and the presence or absence of contact with the rotating body 15 while suppressing the generation of load on objects such as a person's fingers or hands.

The door system 10 includes a control device 19 that determines whether or not an object has become entangled between the rotating body 15 and the door leaf 31 based on the detection signal from the detection unit 17. Therefore, it is possible to accurately determine whether or not an object has become entangled between the rotating body 15 and the door leaf 31 based on a state quantity related to the rotation of the rotating body 15.
The control device 19 judges whether or not there is a sign of an object being caught between the rotating body 15 and the door leaf 31 based on the detection signal from the detection unit 17. This makes it possible to accurately judge whether or not a sign of an object being caught has occurred, which is a precursor state, before the object is actually caught, based on the state quantity related to the rotation of the rotating body 15, which is highly sensitive to the presence or absence of contact with an object.

The door system 10 includes an alarm unit 51 that issues an alarm based on the detection signal from the detector 17. Therefore, the presence or absence of an object entering the door pocket 11 and contact with the rotating body 15 can be appropriately notified to at least one of a person around the door 13 and a person controlling the operation of the door 13.
The door system 10 includes a control device 19 that controls the operation of the door 13 based on the detection signal from the detection unit 17. This allows the operation of the door 13 to be appropriately controlled depending on whether an object has entered the door pocket 11 and whether or not it has come into contact with the rotating body 15.
The state quantity detected by the detection unit 17 is the amount of rotation or torque per unit time, so that the intrusion of an object into the door pocket 11 and the presence or absence of contact with the rotating body 15 can be detected with high accuracy.

The control device 19 suppresses the opening operation of the door 13 based on the detection signal from the detection unit 17. Therefore, depending on whether an object has entered the inside of the door pocket 11 and contacted the rotating body 15, the control device 19 can stop the opening operation of the door 13 or reduce the opening speed.
The control device 19 can appropriately suppress the opening operation of the door 13 based on state quantities related to at least one of the rotation of the rotating body 15 and the movement of the door leaf 31 or the torque of the rotating body 15 and the torque of the door leaf 31.

The control device 19 releases the inhibition of the opening operation of the door 13 based on the detection signal from the detection unit 17. Therefore, the inhibition of the opening operation of the door 13 can be appropriately released based on the state quantity related to the rotation of the rotating body 15 in the closing direction of the door 13 caused by the object that has come into contact with the rotating body 15 exiting from inside the door pocket 11.

The detection unit 17 starts detecting the state quantity in response to a door open command that instructs the start of an opening operation of the door 13. Therefore, it is possible to suppress unnecessary detection and prevent an increase in power consumption, compared to, for example, a case where the state quantity is detected regardless of the door open command.
The detector 17 stops detecting the state quantities in response to the fully open state of the door 13. Therefore, compared to the case where the state quantities are detected when the door 13 is fully open, for example, unnecessary detection can be suppressed and an increase in power consumption can be prevented.

The opening 11a formed in the door pocket 11 exposes, for example, about 1/4 of the outer circumferential surface of the rotating body 15 to the outside. This creates a sufficient gap between the opening 11a and the door 13, preventing objects from becoming caught between the opening 11a and the door 13.

[Modification]
The present invention is not limited to the above-described embodiment, and includes various modifications to the above-described embodiment without departing from the spirit of the present invention.
In the above embodiment, the control device 19 stops the operation of the detection unit 17 before acquiring the door open command and starts the operation of the detection unit 17 after acquiring the door open command. However, this is not limited to the above, and for example, the control device 19 may always allow the operation of the detection unit 17 regardless of whether the door open command has been acquired or not, and enable the reception of a detection signal from the detection unit 17 or the execution of various processes based on the detection signal received from the detection unit 17 after acquiring the door open command.

In the above embodiment, when the control device 19 determines that an object has become entangled between the rotating body 15 and the door leaf 31, the control device 19 suppresses the opening operation of the door leaf 31 by stopping the door leaf 31 or reducing the opening speed. However, this is not limited to this, and for example, the control device 19 may reverse the opening operation of the door leaf 31 by switching the door leaf 31 from an opening operation to a closing operation.

In the above embodiment, the control device 19 suppresses the opening operation of the door leaf 31 when it determines that an object has become entangled between the rotating body 15 and the door leaf 31. However, this is not limited to the above, and for example, the control device 19 may suppress the opening operation of the door leaf 31 when it determines that a warning sign of an object becoming entangled between the rotating body 15 and the door leaf 31 has occurred. In this case, it is possible to suppress the occurrence of entanglement, or to reduce the degree of entanglement even if entanglement does occur.

In the above embodiment, the control device 19 suppresses or reverses the opening operation of the door leaf 31 when it determines that an object has been caught between the rotating body 15 and the door leaf 31. However, this is not limited to this. For example, the control device 19 may change the control of the door leaf 31 according to information on the opening degree of the door leaf 31.
For example, when the control device 19 determines that an object has become entangled immediately after the opening operation of the door leaf 31, it may stop the opening operation of the door leaf 31, and when it determines that an object has become entangled during the opening operation of the door leaf 31, it may execute one of the following: closing the door leaf 31 (reverse drive), stopping the opening operation, and reducing the opening speed.

For example, if the opening degree of the door leaf 31 is less than a predetermined opening degree when the control device 19 determines that an object has been entangled, the control device 19 suppresses the opening operation by slowing down or stopping the opening speed of the door leaf 31. If the opening degree of the door leaf 31 is equal to or greater than the predetermined opening degree, the opening operation of the door leaf 31 may be reversed. The predetermined opening degree is, for example, about half the opening degree of the door leaf 31 compared to the full opening. In this case, it is possible to suppress the occurrence of excessive load on the entangled object while preventing the opening operation of the door leaf 31 from being suppressed too much.

For example, when the control device 19 controls the opening operation of the door leaf 31 upon determining that a warning sign of entanglement of an object has occurred, if the opening degree of the door leaf 31 is equal to or greater than a predetermined opening degree, the opening operation may be suppressed by slowing down or stopping the opening speed of the door leaf 31. In this case, it is possible to suppress delay in the opening operation of the door leaf 31 compared to, for example, reversing the opening operation of the door leaf 31.

In the above embodiment, the control device 19 determines whether or not there is a sign of an object being entangled between the rotating body 15 and the door leaf 31. However, this is not limited to the above, and for example, the control device 19 may only determine whether or not an object has actually been entangled between the rotating body 15 and the door leaf 31, without determining whether or not there is a sign of an object being entangled. In this case, for example, it is possible to prevent the opening operation of the door leaf 31 from being excessively suppressed in response to a sign of an object being entangled.

In the above embodiment, the control device 19 has been described as activating the alarm unit 51 when it determines that a sign of an object being entangled between the rotating body 15 and the door leaf 31 has occurred. However, this is not limited to the above, and for example, the control device 19 may activate the alarm unit 51 when it determines that an object has actually been entangled between the rotating body 15 and the door leaf 31, in cases where the control device 19 does not determine whether or not a sign of an object being entangled has occurred. In this case, it is possible to prevent the alarm unit 51 from operating excessively frequently.

For example, the control device 19 may activate the notification unit 51 when it is determined that a sign of entanglement of an object has occurred and when it is determined that entanglement of an object has actually occurred. In this case, the notification content of the notification unit 51 may be changed depending on the determined event (i.e., whether or not a sign of entanglement has occurred and whether or not entanglement has actually occurred). In this case, detailed notification can be performed depending on the determined event.
For example, when the control device 19 determines that an object has actually been entangled and suppresses or reverses the opening operation of the door leaf 31, the control device 19 may operate the notification unit 51 with notification content that changes according to the control content when controlling the operation of the door leaf 31. In this case, appropriate and detailed notification according to the operation of the door leaf 31 can be performed.

In the above embodiment, the control device 19 activates the alarm unit 51 when it determines that a warning of an object being entangled between the rotating body 15 and the door leaf 31 has occurred, and when the warning state is resolved, stops the operation of the alarm unit 51. However, this is not limited to the above, and for example, the control device 19 may activate the alarm unit 51 at least when the warning state is resolved and when the actual object being entangled is resolved.
For example, the control device 19 may change the content of the notification from the notification unit 51 depending on the determined event (i.e., whether the predictive state has been resolved and whether the entrapment has actually been resolved). In this case, for example, the state of the door leaf 31 can be properly and in detail notified to people around the door 13 and people controlling the operation of the door 13.

In the above embodiment, the control device 19 has been described as releasing the inhibition of the opening operation of the door leaf 31 when it determines that the entanglement of the object has been resolved after suppressing the opening operation of the door leaf 31. However, this is not limited to the above, and for example, the control device 19 may release the inhibition of the opening operation of the door leaf 31 after a predetermined time has elapsed after suppressing the opening operation of the door leaf 31. The predetermined time is, for example, the time required for the holder of the object to actively remove the entanglement of the object. In this case, by quickly releasing the inhibition of the opening operation of the door leaf 31, it is possible to prevent the delay in the opening operation of the door leaf 31 from increasing.

In the above embodiment, the multiple divided rotors 41 constituting the rotor 15 rotate integrally, and the detection unit 17 detects the rotation of the rotor 15 rotating integrally. However, this is not limited to the above, and for example, the multiple divided rotors 41 constituting the rotor 15 may rotate independently of each other, and the detection unit 17 may include multiple sensors that detect the rotation of each divided rotor 41. In this case, the multiple divided rotors 41 are arranged at different positions in the vertical direction of the vehicle 1, and the control device 19 can determine whether there is a sign of object entrapment or actual object entrapment depending on the height position of the door leaf 31 based on the detection signal output from the detection unit 17.

For example, the control device 19 may change the control of the door leaf 31 depending on the detection position of the detection unit 17 in the height direction of the door leaf 31.
For example, when the control device 19 determines that an object has been caught at a height less than a predetermined height in the height direction of the door leaf 31, the control device 19 prioritizes reversing the opening operation of the door leaf 31. When the control device 19 determines that an object has been caught at a certain height or more, the control device 19 may prioritize suppressing the opening operation of the door leaf 31. The height less than the predetermined height may be, for example, a height corresponding to a case where the holder of the object is a child, and the height equal to or greater than the predetermined height may be, for example, a height corresponding to a case where the holder of the object is an adult. In this case, for example, for a child who is relatively difficult to independently resolve the object being caught, the object can be quickly resolved by reversing the opening operation of the door leaf 31. For example, for an adult who is relatively easy to independently resolve the object being caught, the opening operation of the door leaf 31 can be prevented from being excessively suppressed by stopping the opening operation or reducing the opening speed.

For example, even if the control device 19 changes the control of the door leaf 31 according to information on the opening degree of the door leaf 31, if it determines that an object has become entangled below a predetermined height in the height direction of the door leaf 31, it may reverse the opening operation of the door leaf 31 regardless of the opening degree of the door leaf 31.

In the above embodiment, the control device 19 determines whether an object is entangled by determining whether the rotation of the rotating body 15 and the door leaf 31 in the opening direction meets a specific condition based on the detection signal output from the detection unit 17, and controls the operation of the door leaf 31. However, this is not limited to this, and for example, the control device 19 may change the control of the door leaf 31 depending on the degree (strength, etc.) of the object being entangled, which is obtained based on the detection signal output from the detection unit 17.

For example, the control device 19 determines whether a sign of entanglement of an object or actual entanglement of an object has occurred by determining whether the rotating body 15 has rotated a predetermined amount or more in the opening direction of the door leaf 31. Furthermore, when it is determined that a determination event (sign of entanglement or actual entanglement) has occurred, the control of the door leaf 31 may be changed depending on the magnitude of the torque acting on the rotating body 15 or the door leaf 31.
For example, the control device 19 may reduce the degree of suppression of the opening operation of the door leaf 31 when the torque acting on the rotating body 15 or the door leaf 31 is less than a predetermined value. When the torque acting on the rotating body 15 or the door leaf 31 is equal to or greater than a predetermined value, the control device 19 may increase or reverse the degree of suppression of the opening operation of the door leaf 31. A reduction in the degree of suppression may be, for example, a reduction in the opening speed of the door leaf 31. An increase in the degree of suppression may be, for example, a reduction in the opening speed of the door leaf 31. In this case, the door leaf 31 can be appropriately and precisely controlled according to the degree of entrapment.

For example, when the state quantity detected by the detection unit 17 is a first value, the control device 19 may control the operation of the door leaf 31 to have a first operating speed or a first operating amount, and when the state quantity is a second value greater than the first value, the control device 19 may control the operation of the door leaf 31 to have a second operating speed slower than the first operating speed or a second operating amount smaller than the first operating amount.
The amount of movement refers to the amount of physical movement of the door leaf 31 .
Here, a case will be considered in which an object is caught in the rotating body 15 when the door leaf 31 is opening.
It is assumed that when an object is caught in the rotating body 15, the object is caught further into the door pocket 11, and the rotational torque of the rotating body 15 increases. Therefore, by slowing down the opening speed of the door leaf 31 as the rotational torque of the rotating body 15 increases, it is possible to reduce the risk of, for example, damage to the object.

In the above embodiment, the door pocket 11 is described as having a portion of the rotating body 15 exposed to the outside. However, this is not limited to this, and the door pocket 11 does not have to have the rotating body 15 exposed to the outside.

In the above embodiment, the door system 10 is described as including a rotating body 15. However, this is not limited to the above, and the door system 10 may include, in addition to the rotating body 15 or regardless of the presence or absence of the rotating body 15, another rotating body that is disposed a predetermined distance outward in the width direction of the vehicle 1 from the outer surface of the door leaf 31 inside the door pocket 11, and another detection unit that detects a state quantity that correlates with the rotation of the other rotating body in the opening direction of the door leaf 31.

In the above embodiment, the rotating body 15 is, for example, a cylindrical roller. Also, the rotation axis C1 and rotation axis C2 of the rotating body 15 may be aligned along the height direction of the door leaf 31 (the vertical direction of the vehicle 1). However, this is not limited to this, and various rotating bodies can be used as the rotating body 15 as long as they rotate due to the action of an external force. For example, a sphere, a Mecanum wheel, etc. can be used as the rotating body 15.

1...vehicle, 10...door system, 11...door pocket, 13...door, 15...rotating body, 17...detection unit (acquisition unit), 19...control device (detection unit, cancellation detection unit, drive control unit, control unit), 25...door drive unit (various devices), 31...door leaf, 51...alarm unit (various devices), 100...vehicle body, C1, C2...rotation axis

Claims (17)

a door that moves into and out of a door pocket by opening and closing the door;
a rotor disposed inside the door pocket and adapted to rotate by the action of an external force;
an acquisition unit that acquires a state quantity related to rotation of the rotating body in at least the opening direction of the door among the rotation directions of the rotating body;
A door system comprising: The door system according to claim 1, further comprising a drive control unit that controls the operation of the door based on the acquired state quantity. The drive control unit is
When the acquired state quantity is a first value, the operation of the door is controlled to have a first operation speed or a first operation quantity;
3. The door system according to claim 2, wherein when the acquired state quantity is a second value greater than the first value, the operation of the door is controlled to a second operation speed slower than the first operation speed or a second operation amount smaller than the first operation amount. 4. The door system according to claim 2, further comprising a detection unit configured to detect an object being caught between the rotating body and the door based on the acquired state quantity. The door system according to claim 4, wherein the drive control unit reverses the door or inhibits the door from opening when the detection unit detects that an object has been caught between the rotating body and the door during the opening operation of the door . 5. The door system according to claim 4, wherein when the detection unit detects that an object has been caught between the rotating body and the door during the opening operation of the door, the drive control unit reverses the drive of the door or inhibits the opening operation of the door based on the opening degree of the door. The door system according to claim 6, wherein the drive control unit inhibits the opening operation of the door when the opening degree is less than a predetermined opening degree, and drives the door in a reverse direction when the opening degree is equal to or greater than the predetermined opening degree. a door that moves into and out of a door pocket by opening and closing the door;
a rotor disposed inside the door pocket and adapted to rotate by the action of an external force;
an acquisition unit that acquires a state quantity related to rotation of the rotating body in at least the opening direction of the door among the rotation directions of the rotating body;
and an alarm unit that issues an alarm based on the acquired state quantity. The door system according to any one of claims 1 to 8, wherein the rotating body is rotatable about a rotation axis along the height direction of the door. The door system according to any one of claims 1 to 9, wherein the state quantity is an amount of rotation per unit time. The door system according to any one of claims 1 to 10, wherein the state quantity is a torque of the rotating body. The door system according to claim 4, further comprising a resolution detection unit that detects the resolution of the entanglement of the object based on a state quantity related to the rotation of the rotating body in the closing direction of the door when the detection unit detects the entanglement of an object between the rotating body and the door during the opening operation of the door. a drive control unit that suppresses an opening operation of the door based on the acquired state quantity,
13. The door system according to claim 12, wherein the drive control unit, after suppressing the opening operation of the door, releases the suppression of the opening operation of the door when it is detected that the entrapment of the object has been eliminated based on a state quantity related to the rotation of the rotating body in the closing direction of the door. The door system according to claim 1 , wherein the acquisition unit starts acquiring the state quantity in response to an opening command instructing a start of an opening operation of the door. The door system according to any one of claims 1 to 14, wherein the acquisition unit stops acquiring the state quantity depending on whether the door is fully open. a door that moves into and out of a door pocket by opening and closing the door;
a rotor that is disposed inside the door pocket and that rotates about a rotation axis along a height direction of the door by the action of an external force;
an acquisition unit that acquires a state quantity related to rotation of the rotating body in at least a door opening direction among rotation directions of the rotating body around the rotation axis;
A detection unit that detects whether an object is caught between the rotating body and the door based on the acquired state quantity;
a drive control unit that drives the door in a reverse direction or suppresses the opening operation of the door based on the acquired state quantity when the detection unit detects that an object has been caught between the rotating body and the door during the opening operation of the door;
A door system comprising: The car body and
a door that moves into and out of a door pocket provided on the vehicle body by opening and closing the door;
a rotor that is disposed inside the door pocket and that rotates about a rotation axis along a height direction of the door by the action of an external force;
an acquisition unit that acquires a state quantity related to rotation of the rotating body in at least a door opening direction among rotation directions of the rotating body around the rotation axis;
A vehicle equipped with a control unit that controls various devices based on the acquired state quantities.

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