JPH04194184A - Reopening and reshutting controller for car door - Google Patents

Abstract

PURPOSE:To detect a door-catch with high degree of accuracy to reopen and reshut automatically a door and to promote safety by providing an encoder, position, speed detection means, reference speed setting section and comparison section, etc., to a door opening and shutting controller operated with a pneumatic cylinder. CONSTITUTION:A door is opened, shutted and driven with a pneumatic cylinder 15 and, at the same time, a door position and a moving speed are detected with pulse signals of an encoder 16 provided to the cylinder 15 through a position detecting means 17 and a speed detection means 18. A standard speed as a decision basis of door-catch detection is set in correspondence with position signals from the position detection means 17 in a reference speed setting section 19, the reference speed is compared with speed data from the speed detection means 18 by a comparison section 21 to judge on whether or no there is the door-catch, so that opening and shutting signals can be outputted to a door opening and shutting control section 20. A correction means consisting of a decision section, computing store section, correction operating section, etc., is added, and it is so constituted that the reference speed can be set more accurately.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention is equipped with a door jamming prevention function that detects that a person or object is caught during the door closing operation of a vehicle door and reopens and closes the door. The present invention relates to a re-opening/closing control device for a vehicle door.

[Conventional technology]

In the door opening/closing control device for railway vehicles, if a person or object is caught between the doors or between the door and the door frame when the door is closing, this is detected and the door is temporarily closed. It is essential to install a so-called door jamming prevention mechanism that opens the door to eliminate the jammed state and then closes the door again.

As a door jamming prevention mechanism in such a door opening/closing control device, a door jamming prevention mechanism for a vehicle side door in which the door is opened and closed by a motor can be proposed, for example, as shown in Japanese Patent Laid-Open No. 58-210266. In the door opening/closing control device disclosed herein, as shown in FIG. 9, the motor 3 is rotated by the operation of the motor control relay 2 that cooperates with the power source 1 to open or close the vehicle door 4. light source 5
A tachometer 8 with a breakable disc 7 interposed between the tachometer and sensor 6 is attached to the shaft of the motor 3, and the tachometer 8 is connected to a door control device 9, and the tachometer output signal on the input 10 is used for door control. It is being sent to device 9.

The tachometer 8 senses a decrease in the speed of the motor 3 and activates the door control relay 11, which determines the operation of the motor control relay 2 via the limit switch 12. The vehicle control device 13 generates either a door open command signal or a door close command signal to the motor control relay 2, and excites the motor control relay 2 with the door open command signal to open the vehicle door 4 and close the door. The motor control relay 2 is turned off by the closing command signal to close the vehicle door 4. The motor control relay 2 supplies the ground force 14 to the door control device 9, and when a door close command signal is given by the vehicle control device 13, the motor control relay 2 removes the ground force 14 and transfers the ground force 14 to the door control device 9. start the operation.

In the above, when there is an obstacle in the moving path of the vehicle door 4 and the speed of the motor 3 decreases below a predetermined threshold, the door control device 9 controls the motor 3 via the door control relay 11 and controls the vehicle door 4. is reopened for a predetermined period of time, and then moves in the closing direction again.

[Problem to be solved by the invention]

However, this door opening/closing control device detects door jamming by setting a threshold value for the motor rotation speed, and is superior to the former door jamming prevention mechanism in terms of durability and theoretical reliability. However, in the case of a motor, there is an inversely proportional relationship between the rotation speed and rotational torque, that is, the closing speed and the closing torque.In the region where the closing speed is high, the closing torque becomes small, so there is frictional resistance on the door due to wind pressure etc. When this happens, the closing speed changes significantly. As a result, if the threshold value for door jamming detection is set high, the closing speed will quickly fall below the threshold and the door jamming detection mechanism will malfunction.

Therefore, the threshold value must be set low in the high speed range of closing movement, and there is a lack of safety in that the door jamming prevention mechanism does not work unless the closing speed is significantly reduced due to door jamming.

The present invention has been made in view of the above-mentioned circumstances, and is a highly safe system that can detect door jamming with high accuracy and automatically reopen/close the door during the entire process of door closing operation. The object of the present invention is to provide a reopening/closing control device for a vehicle side door.

[Means to solve the problem]

The vehicle side door reopening/closing control device according to the first invention which achieves the above object is, as shown in FIG. , an encoder 16 that is installed on the pneumatic cylinder 15 and generates a pulse signal according to the movement of the door; a position detection means 17 that detects the moving position of the door based on the pulse signal from the encoder 16; and a pulse signal from the encoder. a speed detection means 18 that detects the moving speed of the door based on the signal transmission interval; and a reference speed that has a reference speed according to the moving area of the door and sets the reference speed according to the position signal from the position detection means 17. It is equipped with a setting section 19 and a comparison section 21 that compares the speed data from the speed detection means 18 and the set reference speed data from the reference speed setting section 19 and outputs an opening/closing signal to the door opening/closing control section 20. can be,
As shown in FIG. 2, the vehicle side door reopening/closing control device according to the second invention, in addition to the above basic configuration, outputs a correction signal when the door stroke amount during the door closing operation exceeds a certain level. , a determination unit 22 that counts the number of corrections; a calculation storage unit 23 that calculates the moving speed when the door is actually driven to obtain the actual moving speed, and stores the actual moving speed with the arbitrary number of times; At the end of each door closing operation, the calculation storage unit 23
a correction calculation unit 2 that calculates the actual movement speed of each time held in the previous time and a reference speed stored in advance and outputs a new reference speed;
A correction means 25 having 4 is added.

[Effect]

According to the configuration of the first invention, the door is operated by the pneumatic cylinder 15.
The pneumatic cylinder 1 is driven to open and close by the position detecting means 17 and the speed detecting means 18.
The position and moving speed of the door can be detected by a pulse signal from an encoder 16 installed at 5. Then, the reference speed setting section 19 sets a reference speed, which is a criterion for detecting door jamming, in accordance with the position signal from the position detection means 17.
The speed data from 8 and the set reference speed data from the reference speed setting section 19 are compared, and based on the comparison result, it is possible to determine the presence or absence of door jamming, and output an opening/closing signal to the door opening/closing control section 20.

In the above door jamming prevention mechanism, the present invention uses the pneumatic cylinder 15 as the door opening/closing driving means, and the driving torque in the pneumatic cylinder 15 corresponds to the product of the area of the piston and the surface pressure applied thereto. Unlike motor-driven vehicle doors, the drive torque is not affected by drive speed. Therefore, the door can be driven with high torque even in the region where the closing speed is high, and the closing speed will not be significantly reduced due to disturbances, so it is possible to set the reference speed, which is the criterion for detecting door jamming, high. can. In this way, it is possible to accurately detect the occurrence of door jamming and reopen/close the door, thereby protecting passengers from the danger of excessive door jamming.

Further, in the second invention, in addition to the above configuration, in order to more accurately set the reference speed, the determination unit 22. Arithmetic storage unit 23. A correction means 25 consisting of a correction calculation section 24 and the like is provided, and the determination section 22 issues a signal indicating that correction is possible when the amount of pulses from the encoder 16 is greater than a certain value, and counts the number of times of correction. On the other hand, the calculation storage section 23 stores the speed detection means 1
The actual moving speed of the door during the door closing operation is calculated using the speed data from 8 to obtain the actual moving speed, and the actual moving speed is stored for an arbitrary number of times. Then, the correction calculation unit 24 calculates the actual movement speed of each time held in the calculation storage unit 23 and the pre-stored reference speed in each door closing operation, and outputs a new reference speed. By repeating the above correction operation a predetermined number of times, it is possible to set a reference speed that is suitable for the standard closing state of the vehicle door, and it is possible to more accurately perform the re-closing operation based on the door jamming detection.

〔Example〕

Prior to explaining the reopening/closing control device according to the present invention, the general configuration of a vehicle door opening/closing device to which the present invention is applicable will be explained.

As shown in FIG. 3, the door opening/closing device includes a pneumatic cylinder 15 for driving the door, a speed adjustment section 26, an opening/closing control section 27, etc., and a pressure reducing valve is installed in an air passage 29 connecting the pneumatic cylinder 15 and a pressure air source 28. 30. A door cock 31° filter 32, etc. are interposed.

The speed adjustment section 26 is connected to the passage 33°3 of the pneumatic cylinder 15.
4 are connected to cushion adjusting throttle parts 35, 35a, check valves 36, 36a, and speed adjusting throttle parts 37, 37a, respectively.

In the door opening/closing device described above, by switching the switching valve 39 using the solenoid valve 38, the hollow piston 40 and the small piston 41 of the pneumatic cylinder 15 move to open and close the door. The opening/closing speed is adjusted by the speed adjusting throttle section 37.37a, and the movement speed immediately before the opening/closing operation is stopped is adjusted by the cushion adjusting throttle section 35.35a.

The standard closing movement speed change by such a door opening/closing device is, for example, as shown by the solid line in Fig. 4, and the movement area can be divided into an acceleration area, a constant (high) far area, a deceleration area, and a cushion area. can. In addition, when rotating, the stroke at the fully closed position is "0".
", and the fully open position is "650".And,
From the fully open position, the door starts to close while being accelerated, and when it reaches a constant speed (high speed V) region, the door closes rapidly while maintaining this speed (and when it reaches a deceleration region) ,
The speed is reduced at a predetermined deceleration rate until a predetermined low speed νL is reached, and in the cushion area, the door is gently closed while maintaining the low speed to reach the fully closed position.

The present invention detects a door jamming in response to a change in closing speed during the door closing operation, and an encoder 16 is installed in a pneumatic cylinder 15 that drives the door to open and close.
The position of the door and the actual moving speed of the door are detected by the pulse signal from 6, and as shown by the broken line in FIG.
A reference speed for detecting door jamming is set, and when the actual moving speed falls below the standard speed, it is determined that door jamming has occurred and the door is reopened and closed. In addition, here, the reference speed V
The standard is to set LV2 to 80% of the standard closing speed (VH, VL). Further, the reference speed in the acceleration range is set to 1/2 of the reference speed in the high speed range, and in the deceleration range, the reference speed is reduced at a constant deceleration rate from vl to v2. Further, a blind portion is provided between the stroke of 50m+++ from the fully open position and before the fully closed position. In addition to the comparative control of the closing movement speed mentioned above, excluding the deceleration region (
In the movement area, a reference deceleration can be set for each area, and deceleration comparison control can be performed to detect the occurrence of door jamming when the actual deceleration becomes larger than the reference deceleration.

Next, the reopening/closing control device according to the embodiment for carrying out the reopening/closing control described above will be explained.
As shown in the figure, a pneumatic cylinder 15 installed on the double-opening vehicle doors 4a and 4b, a rotary encoder 16 coaxially attached to the rank and pinion mechanism that opens and closes the doors 4a+4b in both directions, and a microcomputer. The reopening/closing control unit 43 includes a reopening/closing control unit 43 and a door opening/closing relay (door opening/closing control unit) 44 built into the interior. a position detection means 17 that detects the position by a pulse signal from 16; and a moving speed comparison section 21a.
, deceleration comparison unit 45, restart/close timer 46, and determination unit 2
2. It is equipped with a correction means 25 consisting of a calculation storage section 23 and a correction calculation section 24, and the reopening/closing control section 43 receives signals from a door/close switch 47, an automatic/manual changeover switch 48, and an opening/closing command switch 49. is entered. Also, timer 4
6 is provided with a timer adjustment knob 50, and the correction means 25 is provided with a high speed region reference speed adjustment knob 51 and a cushion region reference speed adjustment knob 52, respectively. In this embodiment, a reference speed setting section and a reference deceleration setting section are incorporated into the moving speed comparison section 21a and the deceleration comparison section 45, respectively.

Next, the operation of the reopening/closing control device 43 will be explained according to the flowchart showing the microcomputer program in FIGS. is detected and the stroke is set to "0", and the microcomputer starts outputting flicker at frequency IKH2. Next, in step S3, the reference speed value and timer value temporarily set using the adjustment knobs 50, 51, and 52 are input as initial setting values, and then a correction loop shown in steps S4 to 516 is entered.

In the correction loop, first, in step S4, it is determined whether the door operation is in the closing stroke or the closing stroke. If it is determined that it is in the closing stroke, an open setting is performed in step S5, and the process returns to step S4. On the other hand, if it is determined that it is in the closing stroke, the closing setting is performed in step S6, and step 57. Make the determination in S8. That is,
In step S7, it is determined whether the number of corrections is 10 times or not. If the determination is NO, the process advances to step S8 to find out whether the door has been opened sufficiently in the current door opening/closing operation. It is determined whether the maximum stroke is 600 or more.

If the determination in step S8 is YES, the process advances to step S9 and the correction flag is set to "1".

On the other hand, if it is determined as YES in step S7, it means that the number of corrections has reached the specified 10 times, and if it is determined as NO in step S8, the door is closed due to reversal of the operation in the middle, etc. In these cases, it is not necessary or impossible to employ the correction data, and the process proceeds to step S10, where the correction flag is set to 10''.

When the correction flag is set in step S9 or SIO, the process proceeds to step Sll, where it is determined whether a door closing switch or a stroke based on a pulse signal is to be used as the fully closed position dead zone detection means.

By the way, whether the door has reached the fully closed position can also be detected by the door closing switch that is activated when the door is fully closed. Here, if a door closing switch is adopted, the process proceeds to step S12, where it is determined whether the door closing switch is on or off. If the door closing switch is on, the process proceeds to step S14, where the correction flag is set to "l". or “0”. On the other hand, if the stroke based on the pulse signal is adopted in step Sll, the process advances to step S13, where it is determined whether the stroke pulse indicating the position of the door is 3 or less, and if this determination is YES (the door is (in the case where it can be considered that it is in the fully closed position), the process advances to step S14. If it is determined in step S14 that the correction flag is 1'', the process advances to step S15, where the reference speed value is corrected, and then returns to step S4;
If the correction flag is determined to be "0" in step S14, the process directly returns to step S4.

Here, the content of the correction in step 515 is as shown in FIG.
A new reference speed is calculated based on the following formula from the stored value and output.

(An example of a calculation formula) Initial value a... constant (high) speed area, b... cushion area actual moving speed Static... constant (high) speed area, Bn... cushion area (however, n is Indicates the number of corrections, l≦n≦10) New standard speed calculation constant (high) speed region 8'-(a + (AI+...+An) )/(n+1
) Cushion area ”=[b ” (B1+...10Bn))/(n+
1) On the other hand, if the door does not reach the fully closed position and it is determined to be off in step S12 or NO in step 513, the process advances to step S16 and it is determined whether the automatic operation mode or manual operation mode do. Here, if it is determined that the automatic driving mode is selected, a door jamming detection loop shown from steps S17 to 526 is entered.

In step S17, it is determined whether the stroke is in an area 50 mm smaller than the door fully open position, which is the dead zone for door jamming detection, and if the determination is YES,
In steps S18 to S24, it is sequentially judged or determined which movement area the object is in. That is, if it is determined in step S1B that it is in the acceleration region, then in step S19 the constant (
High) If it is determined that the ball is a fastball or step S2
If it is determined in step S1 that the vehicle is in the cushion region, the process proceeds to step S22, where a deceleration determination is made.

Here, if the deceleration due to door jamming is larger than the reference deceleration setting value ■α for each area, that is, if the determination is YES, the process advances to step S24, where the output cuff linker is stopped and the door opening/closing relay (door opening/closing relay) An opening command is issued to the opening/closing control section) 44.

On the other hand, if the deceleration is small and the determination is No in step S22, and the determination is NO in steps 318 and S19, the determination is that the deceleration is in the deceleration region (YES) in step S20.
), the process proceeds to step S23, where it is determined whether the closing movement speed is smaller than the reference speed for each movement region set in the correction loop. If the determination is YES, the process advances to step S24 and the same process as described above is performed, whereas if the determination is NO, no door jamming occurred and the process returns to step S4.

After stopping the output flicker in step S24, in step S25, in order to eliminate the door jamming, it is determined whether the set time set by the timer 46, that is, the opening command duration time has been completed, and the opening command time is If the set time has not been reached, that is, if the answer is NO, step S25 is looped.
The open state is maintained. - On the other hand, if the set time is completed and it is determined as YES in step S25, step S2
At 6, the output flicker is restarted, and the door opening/closing relay 44 is activated.
A close command is sent again to the step S4, and the restart/close control process proceeds to step S4.
Return to.

As mentioned above, by setting a reference speed close to the closing speed during the entire door closing operation and performing restart/closing control,
It is possible to detect door jamming with high precision and reopen/close the door.
A highly safe vehicle side door can be provided.

Particularly, in the above embodiment, an output linker is generated from the microcomputer at all times in the IK) 12, and when the output linker stops, an open command is issued. Therefore, even if an abnormality occurs in the microcomputer, the power to the microcomputer is cut off, the relay power is cut off, or an output electrical component fails, the output pulse disappears and the open command is output, causing a failure in the door jamming prevention mechanism. It will perform a safety function. In addition, in the event of a microcomputer failure, the restart/close function of the vehicle is set to manual mode, and the function of the restart/close control section is stopped.

〔Effect of the invention〕

The present invention is configured as described above, and detects the position and speed using the pulse signal from the encoder installed in the pneumatic cylinder, and also detects the reference speed set according to the door movement area based on the position signal. The speed detection value is selected and compared with the speed detection value, and if the speed detection value is lower than the reference speed, it is determined that the door has been jammed, and the door can be reopened and closed.

In particular, since a pneumatic cylinder is used as the door driving means, the door driving torque can be maintained high even in a high speed range, and fluctuations in the closing speed due to disturbances can be suppressed. Therefore, the reference speed, which is the criterion for detecting door jamming, can be set to a value close to the standard closing speed, and when door jamming occurs, the closing speed immediately drops below the standard speed, causing the door to jam. The door can be reopened and closed by detecting the movement with high precision.

In addition, when setting the reference speed, by repeating the door closing operation an arbitrary number of times using a correction means consisting of a determination section, a calculation storage section, and a correction calculation section, the reference speed that is most suitable for the standard closing movement state of the door is determined. can be set, and door jamming can be detected more accurately and reopening/closing control can be performed.

[Brief explanation of the drawing]

Fig. 1 is a functional block diagram showing the configuration of the first invention, Fig. 2 is a functional block diagram showing the configuration of the second invention, Fig. 3 is an air circuit diagram of the door opening/closing device, and Fig. 4 is a change in closing speed. FIG. 5 is an explanatory diagram showing the reopening/closing control device according to the embodiment; FIG. 6.7 is a flowchart showing an example of a program stored in a microcomputer incorporated in the reopening/closing control device; FIG. 8 is a flowchart showing the contents of the correction program, and FIG. 9 is a block diagram showing a conventional example. 15...Pneumatic cylinder 16...Encoder I7...Position detection means 18...Speed detection means 19...Reference speed setting section 20...Door opening/closing control section 21...Comparison section 22... - Judgment unit 23... Calculation storage unit 24... Correction calculation unit 25... Correction means patent applicant: Japan Air Brake Co., Ltd.
Nippon Sharyo Manufacturing Co., Ltd.

Claims (2)

[Claims] (1) A vehicle door reopening/closing control device that opens and closes the door using a pneumatic cylinder, which includes an encoder that is installed on the pneumatic cylinder and generates pulses according to the movement of the door, and an encoder that generates pulses according to the movement of the door; a position detection means for detecting the movement position of the door; a speed detection means for detecting the movement speed of the door using pulses from the encoder; and a reference speed according to the movement area of the door; a reference speed setting section that sets the reference speed according to the speed, and a comparison section that compares the speed data from the speed detection means with the set reference speed data from the reference speed setting section and outputs an opening/closing signal to the door opening/closing control section. A vehicle door reopening/closing control device comprising: (2) When the door stroke amount during door closing operation exceeds a certain level, a determination unit outputs a correction signal and counts the number of corrections, and the actual movement speed is calculated by calculating the movement speed when the door is actually driven. and a calculation storage unit that stores the actual movement speed for the arbitrary number of times, and the actual movement speed of each time held in the calculation storage unit at the end of each door closing operation and a reference speed stored in advance. 2. The vehicle door reopening/closing control device according to claim 1, further comprising a correction means having a correction calculation section that calculates a new reference speed and outputs a new reference speed.