JP5477779B2 - Electric door open / close control device - Google Patents

Description

  The present invention relates to an open / close control device for an electric door such as a train door, and more specifically, a part of a human body, a luggage, etc. (hereinafter, collectively referred to as an obstacle) when a door driven by an electric motor is closed. The present invention relates to an open / close control device that can safely remove these obstacles when a pin is pinched.

If an obstacle is pinched during the closing operation of the electric door (this state is referred to as “door pinching” hereinafter), this is detected by a sensor and the thrust of the door is controlled to easily remove the obstacle. This is important for ensuring safety.
For example, in a conventional electric door opening and closing control device, when door pinching occurs, a door is provided with a thrust command value in which the strength of the door thrust is periodically repeated as shown in FIG. The door can be pushed back artificially when the thrust is weakened, making it easier to remove obstacles.

In FIG. 8, there are four parameters for repeating the strength of the thrust: strong thrust period a, weak thrust period b, strong thrust c, and weak thrust d. In the example of FIG. 8, a = 1 [sec], Thrust command values with b = 1.5 [sec], c = 100 [%], and d = 10 [%] are periodically generated until the door pinching is eliminated.
As a conventional technique for controlling opening / closing of a door using a thrust command value similar to that shown in FIG. 8 when door pinching occurs, “a control method of a vehicle door opening / closing device” according to Patent Document 1 is known.

JP 2004-242499 A (paragraphs [0046] to [0049], FIG. 8, etc.)

When the door is driven in accordance with the thrust command value shown in FIG. 8, the door can be pushed back more than necessary because the thrust of the door is weak in the weak thrust period b (= 1.5 [sec]). For this reason, when the door is largely pushed back, it takes a long time for the door to close again, which may hinder the operation such as delaying the departure of the train.
In the weak thrust period b, it is not impossible for a passenger to forcibly open the door that has been closed and forcibly get in. Accordingly, as shown in FIG. 8, the method of periodically repeating the strong thrust period a and the weak thrust period b is a control method having weak points from the viewpoint of smooth operation of the train and ensuring safety. I don't get it.

If the weak thrust period b is shortened as much as 0.2 [sec] as much as possible, the act of pushing back the door more than necessary can be prevented, but the original purpose of the obstacle sandwiched between the doors is surely It becomes difficult to remove.
Furthermore, as shown in FIG. 7, when a sufficiently long time is required to remove an obstacle, such as when the wheel 101 of the stroller 100 is caught between the door D and cannot be pulled out easily, the weak thrust period b is set. For example, it is desired to secure approximately 1 [sec] and push the door D back largely in the opening direction. In FIG. 7, f indicates the width of the door clamp (the width of the open space of the door D), and g indicates the width of the wheel 101.
As can be seen from the above description, a method of simply shortening the weak thrust period b cannot be adopted.

  Therefore, the problem to be solved by the present invention is that it is possible to reliably remove obstacles when door pinching occurs, and to prevent unreasonable boarding by pushing back the door more than necessary to ensure safety and smooth operation of the train. An object of the present invention is to provide an open / close control device for an electric door.

In order to solve the above-described problem, the invention according to claim 1 detects that an obstacle is caught in a door driven in a closing direction by an electric motor and that the door is pinched, and the strength of the door is chronologically strong. In an electric door opening / closing control device that generates a thrust command value having a value and drives the door based on the thrust command value,
Position detecting means for detecting the position of the door;
A storage means for storing a position detection value by the position detection means and a push-back allowable amount when the door is moved in the opening direction;
The door position detected when the door is detected is defined as the door pinching start position, and the door position detection value pushed back in the opening direction during the door closing operation adds the allowance for pushing back to the door pinching start position. And a thrust command generating means for generating a thrust command value that increases the thrust for moving the door in the closing direction when the value is exceeded.

  According to a second aspect of the present invention, in the electric door opening / closing control device according to the first aspect, the thrust command generation means uses the door position detection value at the timing of increasing the thrust of the thrust command value as the door. This is stored again in the storage means as the pinching start position.

  According to a third aspect of the present invention, in the electric door opening / closing control apparatus according to the first aspect, the thrust command generating means measures the number of occurrences of the door pinching, and the push back allowance is determined according to the number of occurrences. Is to increase.

  According to the present invention, it is possible to simultaneously achieve the objects of removing obstacles when door pinching occurs and preventing the door from being pushed back more than necessary. In particular, even when an obstacle with a complicated shape or structure is sandwiched between doors, it is possible to remove this obstacle quickly, safely, and reliably, contributing to smooth operation of trains, etc. It is.

It is a block diagram of the opening / closing control apparatus which concerns on embodiment of this invention. It is a wave form diagram which shows the time change of the position detection value and thrust command value in Example 1. FIG. It is a wave form diagram which shows the time change of the position detection value and thrust command value in Example 2. FIG. It is a wave form diagram which shows the time change of the position detection value and thrust command value in Example 3. FIG. 6 is a waveform diagram for explaining a problem in the third embodiment. It is a wave form diagram which shows the time change of the position detection value in Example 4, and a thrust command value. It is a top view which shows the state which the wheel of the stroller was pinched | interposed into the door. It is a wave form diagram which shows the conventional thrust command value at the time of door pinching generation | occurrence | production.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
First, FIG. 1 is a block diagram of an opening / closing control apparatus according to this embodiment.
In FIG. 1, a thrust command generator 1 generates and outputs an opening / closing operation thrust command value _Tc for an electric motor such as a door drive linear motor from an input opening / closing operation command value C. The command selector 2 normally uses the opening / closing operation thrust command value _Tc , and when a door _clamp determination signal _Obst is input from a door _clamp determination / command generator 7 described later, the door _clamp determination / command is the same. The door-pushing thrust command value T _ci from the generator 7 is selected, and the selected command value T _c or T _ci is output as the thrust command value T _m .

Driving source 3 is constituted by the power converter and the motor generates a thrust force F for opening and closing the door in accordance with thrust force command value T _m, giving the door driving mechanism 4. The door drive mechanism 4 includes a known mechanical element and a door for transmitting the thrust to the door. Reference numeral 9 denotes an adder for adding the disturbance _Td to the thrust F.

A position detector 5 attached to the door drive mechanism 4 detects the position of the door (corresponding to a drive position by an electric motor), and outputs a position detection value P _m to the door pinching determination / command generator 7. Here, the door pinching determination / command generator 7 corresponds to a thrust command generating means in the claims.
Speed detector 6 calculates the speed of the door from the position detection value P _m (corresponding to the speed of the motor) is output as the speed detection value V _m.

Tohasami judgment and command generator 7, the drive current value I of the motor exceeds a certain value, or the speed detection value V _m is below a predetermined value, the position detection value P _m is the open state of the door, in the closed state from information such as Do not change, between, detects that the obstacle door scissors caught in the door has occurred, and outputs a Tohasami decision signal O _bst, calculates Tohasami during thrust instruction value T _ci And output. The position detection value P _m when the door pinch determination signal _Obst is output is stored in the memory 8 as the door pinch start position, and a push-back allowable amount e described later is also stored in this memory 8 in advance. ing.

Next, the operation of this embodiment will be described with reference to FIGS. In these operations, the thrust command value T _m outputted from the command selector 2 are different respectively, described as Examples 1 to 4 in the following.

FIG. 2 is a waveform diagram showing temporal changes of the position detection value P _m and the thrust command value T _m corresponding to the position detection value P _m in Example 1, and corresponds to the invention according to claim 1.
A door closing operation, the Tohasami decision-command generator 7 detects the pinching door based on the driving current value I and the speed detection value V _m, and outputs a Tohasami decision signal O _bst to the command selector 2 At the same time, the position detection value P _m at that time is recorded in the memory 8 and the door clamping thrust command value T _ci is output in accordance with a preset pattern. As shown in FIG. 8, the door clamping thrust command value T _ci is given to the drive source 3 as a thrust command value T _m having the parameters of the strong thrust period a, the weak thrust period b, the strong thrust c, and the weak thrust d. Given.

Now, in the weak thrust time b in FIG. 2, when at time t ₁ position detection value P _m of the door is more than the sum of the tolerance e pushed back the door pinching starting location in memory 8, Tohasami decision-command generator 7, the door is forcibly terminated by the weak thrust period b judged to have been pushed back to a distance more than required to remove the obstruction and immediately strong thrust period Tohasami propulsive force command value to shift to a T _ci Is generated. For this reason, after time t ₁ , a thrust command value T _ci is generated such that the original weak thrust period b is shortened and instantaneously shifts to the strong thrust period a, and this thrust command value T _ci is the command selector 2 is outputted as a thrust command value T _m through.
As shown in FIG. 2, if the time t ₁ after the strong position detection value P _m thrust period within a is the smaller than the sum of the tolerance e pushed back and Tohasami starting position, time strong thrust period a is ended t ₂ The weak thrust period b starts again.
A portion a ₁ indicated by a broken line in the thrust command value T _m in FIG. 2 is a portion corresponding to the original strong thrust period a in FIG.

According to the first embodiment, by shifting the intensity thrust period a instantaneously when pushed back beyond the permissible amount e pushed back into the weak thrust period b of the thrust command value T _m occurs, the door status other than Tohasami It is possible to prohibit operations that force you to open and board. Note that the push-back allowable amount e corresponds to a moving distance necessary for removing an obstacle at least in a door-holding state.

  The first embodiment adds a function for detecting whether or not the door position (movement distance) exceeds the sum of the door pinching start position and the push back allowable amount e when the current time is the weak thrust period b. Since it is based on the principle of generating a simple thrust command value, it can be easily realized as a control device. Further, as long as the door position does not exceed the push back allowable amount e, obstacles can be removed by pushing back the door as in the conventional case.

Figure 3 is a waveform diagram showing temporal changes of the position detection value P _m and the thrust command value T _m in the second embodiment, the second embodiment also corresponds to the invention according to claim 1.
In Example 2, Tohasami decision-command generator 7, as time t ₃ after partial b ₁ in the weak thrust time b in FIG. 3, the allowable amount e position detection value P _m is pushed back and Tohasami starting position Each time the sum of the two is exceeded, a weak thrust period b is forcibly terminated and a thrust command value T _ci at the time of pinching is generated to immediately shift to the strong thrust period a, and this thrust command value T _ci is generated as a command selector. and outputs as the thrust instruction value T _m through 2. Then, time t ₄ after that, shifts to the original strength thrust period a.

According to the second embodiment, even if the position detection value P _m at time t ₃ is worked strong thrust c exceeds the sum of the tolerance e pushed back and Tohasami starting position, after which the position detection value P _m wherein Since the operation of returning to the weak thrust d is repeated if the sum is less, the door can be lightly pushed back during the period of the weak thrust d, and the obstacle can be removed during that time.
Since the time t ₃ the position detection value P _m on or after the if continues exceeds the sum of the tolerance e pushed back and Tohasami starting position for a period of strong thrust c persists, in the same manner as in Example 1 It is possible to prohibit the operation of forcing the door open.

In the second embodiment, when the thrust command value _Tm is abruptly changed as shown by the part b ₁ in FIG. 3, vibration or the like may occur due to the response characteristics of the drive source 3 and the door drive mechanism 4 in FIG. Although it is assumed, improvement can be made by a method such as setting the thrust command value T _m obtained by passing the thrust command value T _ci when the door is sandwiched through a low-pass filter.

In Examples 1 and 2, when an obstacle having a shape and structure that is difficult to pull out is sandwiched, such as the wheel 101 of the stroller 100 shown in FIG. 7, the amount of pushing back of the door necessary to remove the obstacle ( If the wheel width g-the door pinching width f) is larger than the push back allowable amount e, it is impossible to remove the obstacle.
Basically, the allowable push-back amount e is determined in advance in consideration of the shape / structure that is difficult to remove, such as the wheel 101 in FIG. 7, but it is assumed that the shape / structure is caught. It is difficult, and if the push back allowance e is set large with a certain margin, unnecessary push back cannot be prohibited.
Therefore, the third embodiment is for solving the above problem.

FIG. 4 is a waveform diagram showing temporal changes between the position detection value P _m and the thrust command value T _m in Example 3, and corresponds to the invention according to claim 2. Here, an improvement example of the above-described problem in the second embodiment is shown, but the present invention can also be applied to the first embodiment.
That is, in Examples 1 and 2, the allowable push-back amount e is defined using the door pinching start position at which door pinching is first detected as a reference value, but in Example 3, as shown in FIG. at the beginning of the original strength thrust period a position detection value P _m arrives subsequently from beyond the sum of the tolerance e pushed back and Tohasami start position within (time t _4), Tohasami judgment and command generation The container 7 again stores the door pinching start position in the memory 8.

In this case, as apparent from the comparison between FIG. 3 and FIG. 4, the position detection value P _m falls below the sum of the door pinching start position and the push back allowable amount e after time t ₄ , and then again at time t ₅ . When the above sum is exceeded, the reference value of the allowable amount e becomes (first door pinching start position + push back allowable amount e), in other words, toward the door opening direction (first door pinching start position + n × The door is allowed to move by the allowable amount of pushing back e). Here, n is plural.
Therefore, even when an obstacle having a complicated shape and structure is sandwiched between doors and is difficult to be pulled out as shown in FIG. Can be pushed back, and the problems in the first and second embodiments can be solved.

  Further, according to the third embodiment, even if the push back allowable amount e is set to be small, the door can be moved to a distance obtained by adding a multiple of the distance to the initial door clamping start position. That is, by setting the push back allowance e small, unnecessary push back can be prevented, and at the same time, the weak thrust d can be set to a smaller value. Therefore, the force required to push back the door when the door pinching occurs. Is less. For this reason, even when an obstacle such as a stroller 100 is caught and an emergency is required, it is possible to remove the obstacle by pushing back the door with a slight force, contributing to improved safety and smooth operation of the train. can do.

The fourth embodiment is a further improvement of the above-described third embodiment and corresponds to the invention according to claim 3.
According to the third embodiment, the door movement is theoretically allowed only by (first door pinching start position + n × push back allowance e), but according to the experiment of the inventor, there are problems as described below. Exists.
That is, in FIG. 5, the time t ₃ obstacles such as strollers 100 previously becomes Tohasami state (indicating the position detection value P _m in this state at A), then, even pushed back the door until the time t ₄ since the strong thrust period a from the time t ₄ is resumed, (indicating the position detection value P _m in this state at B) will door not resist the strong thrust c is moved in the closing direction, the obstacle position detection value at caught were remains P _m reverts to the original a.

In this state, when Tohasami decision-command generator 7 detects the occurrence of Tohasami based on the driving current value I _m and the speed detection value V _m such as stroller as position detection value P _{m (Fig.} 7 when the When 100 is pinched, the position of the door with the door f width f remaining, that is, the original A is re-recorded in the memory 8 as the door pinching start position. Therefore, after that, even if the push back allowable amount e is further added with A as a reference value, a sufficient amount of movement of the door is not secured, and there is a possibility that obstacles such as the stroller 100 cannot be removed.
Therefore, the fourth embodiment is for solving the above problem.

FIG. 6 is a waveform diagram showing temporal changes between the position detection value and the thrust command value in the fourth embodiment.
In FIG. 6, the time t ₄ before the operation is the same as FIGS detects the push-back position detection value P _m is in excess of the sum of the tolerance e pushed back Tohasami starting position and initial during and are than be a strong thrust c thrust command value T _m, to prohibit the push-back unreasonable.

Furthermore, in this embodiment, the door pinching determination / command generator 7 counts the number of door pinching occurrences at the timing of the start of door pinching or the start of the strong thrust c, and records it in the memory 8. Then, when the counted number of occurrences of door pinching exceeds a preset threshold value, for example, at the time t ₄ or t ₄ ′ in FIG. 6, the push back allowable amount is changed from the original e to e ₁ (where, e <e ₁ ).
By changing the push back allowance in this way, the movable distance of the door can be secured long by substantially the same action as in FIG. 4, and even when an obstacle such as the wheel 101 of the stroller 100 is sandwiched, Obstacles can be removed by pushing the door back during the weak thrust period b.

The relationship between the tolerance e ₁ pushed back after the change Tohasami occurrence count increases the tolerance push back in proportion to Tohasami number of occurrences, or pushed back when Tohasami occurrences exceeds a predetermined value Some patterns such as increasing the allowable amount are conceivable, but the appropriate pattern varies depending on the obstacle, and is not particularly limited.

  The present invention can be used not only as a train door but also as an open / close control device for an automatic door in a building such as an elevator door.

1: Thrust command generator 2: Command selector 3: Drive source (power converter and motor)
4: Door drive mechanism 5: Position detector 6: Speed detector 7: Door clamp judgment / command generator 8: Memory 9: Adder 100: Stroller 101: Wheel D: Door

Claims (3)

This thrust command value is generated by detecting that a door is caught due to an obstacle being caught in the door driven in the closing direction by the motor, and generating a thrust command value that gives the door thrust time series strength. In the electric door opening and closing control device that drives the door based on
Position detecting means for detecting the position of the door;
A storage means for storing a position detection value by the position detection means and a push-back allowable amount when the door is moved in the opening direction;
The door position detected when the door is detected is defined as the door pinching start position, and the door position detection value pushed back in the opening direction during the door closing operation adds the allowance for pushing back to the door pinching start position. A thrust command generating means for generating a thrust command value that increases the thrust for moving the door in the closing direction when the value is exceeded;
An opening / closing control device for an electric door, comprising: In the electric door opening and closing control device according to claim 1,
The electric door opening / closing control device, wherein the thrust command generating means stores the door position detection value at the timing of increasing the thrust of the thrust command value in the storage means again as the door pinching start position. . In the electric door opening and closing control device according to claim 1,
The electric door opening / closing control device characterized in that the thrust command generating means measures the number of occurrences of the door pinching and increases the allowable amount of pushing back according to the number of occurrences.

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