JP5540913B2 - Door opening and closing drive device - Google Patents

Description

  The present invention relates to a door opening / closing drive device that opens and closes a door.

  Conventionally, as a door opening / closing drive device, for example, a device described in Patent Document 1 is known. This device opens and closes the door by operating a handle provided on the door, and stops the door at a desired opening and closing position (half-open position) by operating the handle in a direction opposite to the operation direction during the opening and closing operation of the door. Is.

JP-A-11-44155

By the way, in patent document 1, since it is necessary to touch a handle | steering_wheel in the operation of the opening / closing operation | movement of a door, the convenience, such as a hand becoming dirty, was impaired.
An object of the present invention is to provide a door opening / closing drive device that can improve convenience when the door is automatically opened and closed.

In order to solve the above-mentioned problems, the invention according to claim 1 is directed to a drive unit that opens and closes a door, an image acquisition unit installed on the door or a holding member of the door, and an image acquired by the image acquisition unit. A recognition means for recognizing a pattern of the image, and drive control of the drive means so that the door starts an opening / closing operation when the recognition means recognizes a predetermined object to be discriminated by the pattern. And two image acquisition means are arranged at different positions, and the recognition means individually recognizes images captured by the two image acquisition means. And a position detecting means for detecting the position of the discrimination object based on the two discrimination objects recognized by the recognition means, and the control means is configured to detect the discrimination by the recognition means. Based on the position of the discrimination target detected by the position detection means at a second timing after the first timing when the target is pattern-recognized, the door stops the opening / closing operation. The gist is to drive control the driving means .

  According to this configuration, when the user causes the image acquisition unit to photograph the discrimination target, the discrimination unit recognizes the pattern, and the control unit starts the opening / closing operation of the door. The driving means is driven and controlled. Thus, since the user can open and close the door without touching the door, convenience can be improved.

  According to this configuration, for example, when the user moves the determination target object according to the required opening / closing amount or opening / closing position of the door between the first and second timings, the position is determined at the second timing. Based on the position of the discrimination target detected by the detection stage, the drive means is drive-controlled by the control means so that the door stops the opening / closing operation. In this way, the user can open and close the door to a required opening / closing amount or opening / closing position by moving / adjusting the position of the discrimination target object between the first and second timings.

According to a second aspect of the present invention, in the door opening and closing drive device according to the first aspect of the present invention, the door opening / closing drive device further includes an identification unit that identifies a specific operation pattern of the discrimination target pattern recognized by the recognition unit. The gist of the invention is to drive-control the drive means so that the door starts an opening / closing operation when a specific operation pattern of the discrimination target is identified by the identification means.

  According to this configuration, unless the user operates the discrimination target according to the specific operation pattern, the door does not start the opening / closing operation. Therefore, the door is opened / closed by any person who does not know the operation pattern. Can be prevented.

The invention according to claim 3 is the door opening / closing drive device according to claim 1 or 2 , further comprising communication means for performing ID authentication by wireless communication with a portable device carried by a user, wherein the control means The gist is that when the authentication by the communication means is established, the drive means is drive-controlled so that the door starts an opening / closing operation.

  According to this configuration, unless the user (regular user) carrying the portable device is in the vicinity, the door does not start opening / closing operation, so the door is opened / closed in the absence of the user. Can be prevented.

  According to the present invention, it is possible to provide a door opening / closing drive device capable of improving convenience when the door is automatically opened and closed.

1 is a schematic diagram of a vehicle to which an embodiment of the present invention is applied. The block diagram which shows the electric constitution of the same embodiment. The block diagram which shows the electric constitution of the same embodiment. The flowchart which shows the control aspect of the embodiment.

Hereinafter, an embodiment in which the present invention is applied to a power slide door system of a vehicle such as an automobile will be described with reference to the drawings.
As shown in FIG. 1, a slide door 2 as a door is supported on a side portion of a vehicle body 1 such as an automobile via an appropriate support member (not shown) so as to be movable in the front-rear direction. The sliding door 2 opens and closes the opening for getting on and off as it moves in the front-rear direction.

  A first camera 3 and a second camera 4 are installed in the slide door 2 as image acquisition means disposed at the front and rear thereof. These first and second cameras 3 and 4 have the same performance (image sensor, lens, photographing range, etc.) and photograph the outside of the vehicle facing the slide door 2. Image ranges A1 and A2 photographed by the cameras 3 and 4 are set so as to be symmetric with respect to a straight line along the vehicle width direction, and adjacent sides of the image ranges A1 and A2 partially overlap. For example, the discrimination objects O having predetermined shapes carried by the user by the first and second cameras 3 and 4 (here, shapes drawn in a star shape on a surface extending substantially parallel to the slide door 2) are respectively provided. When the image is taken, as shown in FIG. 1, the discrimination objects OG1 and OG2 captured at different positions on the images G1 and G2 of the first and second cameras 3 and 4 are acquired. This is because the viewpoints (lenses) of the first and second cameras 3 and 4 are different from each other.

  Next, the electrical configuration of the power sliding door system will be described with reference to the block diagrams of FIGS. As shown in FIG. 2, a door ECU (Electronic Control Unit) 10 as a control means installed in the vehicle body 1 is configured mainly by, for example, a micro controller (MCU), and is also installed in the vehicle body 1. It is electrically connected to a power slide door device 20 as a driving means. The power slide door device 20 is linked to the slide door 2 via an appropriate transmission mechanism (not shown), and electrically opens and closes the slide door 2.

  That is, the power slide door device 20 includes a door motor 21, an electromagnetic clutch 22, and a pair of pulse sensors 23. The door ECU 10 controls the opening / closing operation of the sliding door 2 by drivingly controlling the door motor 21. Further, the door ECU 10 controls the driving of the electromagnetic clutch 22 to switch the power transmission between the door motor 21 and the slide door 2 between connection and disconnection (connection / non-connection). This is to realize a smooth opening / closing operation by connecting the power transmission only when the sliding door 2 is electrically opened / closed and by connecting the power transmission to a disconnected state when manually opening / closing the sliding door 2. . Further, the door ECU 10 determines the rotation direction (forward rotation or reverse rotation), rotation amount and rotation speed of the door motor 21, that is, the open / close position of the slide door 2, based on the pair of pulse signals with different phases output from both pulse sensors 23. And the opening and closing speed is detected. The door ECU 10 controls the opening / closing operation of the slide door 2 by the power slide door device 20 based on the pulse signal from each pulse sensor 23.

  The door ECU 10 is electrically connected to a latch mechanism (not shown) that holds the slide door 2 in a fully closed state or a fully open state, and a release motor 12 and a closer motor 13 that are linked via an appropriate transmission mechanism. ing. The release motor 12 transmits the power to the latch mechanism, thereby releasing the holding of the slide door 2 in the fully closed state or the fully open state by the latch mechanism. Thereby, the slide door 2 will be in an openable state or a closeable state. On the other hand, the closer motor 13 transmits the power to the latch mechanism, thereby holding the slide door 2 in the half door state in the fully closed state by the latch mechanism.

  Further, the door ECU 10 is electrically connected to an in-vehicle device 31 as a communication means mounted on the vehicle body 1. The in-vehicle device 31 constitutes a wireless communication system with the portable device 36 carried by the user, and the user of the vehicle carrying the portable device 36 approaches a certain area with respect to the vehicle. At this time, when the collation of the ID signal with the portable device 36 matches, it is authenticated that the user (regular user) has approached the vehicle. And the vehicle equipment 31 transmits the authenticated result to door ECU10.

  The door ECU 10 is electrically connected to an image ECU 40 mounted on the vehicle body 1. The image ECU 40 is electrically connected to the first and second cameras 3 and 4, respectively, and performs image processing on video signals transmitted from the first and second cameras 3 and 4. And image ECU40 transmits the result of image processing to door ECU10.

  Specifically, as shown in FIG. 3, the image ECU 40 includes a first image processing unit 41 and a second image processing unit 42 that are electrically connected to the first and second cameras 3 and 4, respectively, and a determination unit 43. And a distance detection unit 44. The first image processing unit 41 includes a preprocessing unit 46, a feature extraction unit 47, a matching unit 48, and a model 49.

  The preprocessing unit 46 binarizes, converts the video signal V1 transmitted from the first camera 3 into a line figure, and outputs it to the feature extraction unit 47. The feature extraction unit 47 obtains numerical data (feature vector) necessary for matching, and outputs this to the matching unit 48 as an input pattern. The matching unit 48 compares the input pattern with the standard pattern of the discrimination object O registered in advance in the model 49, and discriminates the discrimination object OG1 on the image G1 (recognition means). Then, the matching unit 48 outputs the determination result (the presence / absence of the determination target object OG1) to the determination unit 43. At this time, the matching unit 48 outputs the position P1 (see FIG. 1) of the discrimination target object OG1 on the image G1 to the distance detection unit 44.

  The second image processing unit 42 is also configured in the same manner as the first image processing unit 41, and based on the video signal V2 transmitted from the second camera 4, the determination result of the determination object OG2 on the image G2. (Presence / absence of discrimination object OG2) is output to discrimination unit 43, and position P2 (see FIG. 1) of discrimination object OG2 on image G2 is output to distance detection unit 44. Needless to say, the various processes performed by the first and second image processing units 41 and 42 are performed at a timing substantially synchronized with each other.

  The determination unit 43 generates a determination signal indicating that the determination target object O is present when information indicating that the determination target objects OG1 and OG2 are present is output from both the first and second image processing units 41 and 42. This is output to the door ECU 10. On the other hand, the determination unit 43 determines that there is no determination object O when information indicating that there is no determination object OG1, OG2 is output from at least one of the first and second image processing units 41, 42. A signal is generated and output to the door ECU 10.

  The distance detection unit 44 determines the position of the discrimination target object O and the displacement within a predetermined period based on the positions P1 and P2 of the discrimination target objects OG1 and OG2 output from the first and second image processing units 41 and 42, respectively. Detect the amount. That is, as shown in FIG. 1, when the discrimination target object O at the position P is photographed by the first camera 3, the position on a straight line (hereinafter referred to as the first specific line L <b> 1) connecting the first camera 3 and the position P. Is a position P1 on the image G1. Similarly, when the discrimination target object O at the position P is photographed by the second camera 4, the position on a straight line connecting the second camera 4 and the position P (hereinafter referred to as the second specific line L2) is on the image G2. It becomes position P2. Since the position P that is the intersection of the first and second specific lines L1 and L2 is only one place in the three-dimensional space, by specifying the first and second specific lines L1 and L2 based on the positions P1 and P2, The position P can be detected. The image ECU 40 (distance detection unit 44) stores in advance a first and second specific lines L1 and L2 corresponding to arbitrary positions P1 and P2 in its built-in memory. The position P is detected by obtaining the first and second specific lines L1, L2 and their intersections based on P2 (position detecting means).

  Specifically, the distance detection unit 44 performs the first and second predetermined timings (first timing) when the determination unit 43 determines that there is the determination target object O, for example, after the authentication by the in-vehicle device 31 is established. The initial position Ps of the discrimination target O is detected at the timing when the positions P1 and P2 are first output from the image processing units 41 and 42, and the discrimination target is detected at a predetermined timing (second timing) after a predetermined time has elapsed. The moving position Pm of O is detected. Then, the distance detection unit 44 detects a displacement amount Δ of the discrimination target O along the opening / closing direction (that is, the front-rear direction) of the slide door 2 based on the initial position Ps and the movement position Pm (displacement detection unit). This is output to the door ECU 10. The door ECU 10 stores the displacement amount Δ output from the distance detection unit 44 in its built-in memory.

  When the discrimination signal indicating that there is the discrimination target O is output from the discrimination unit 43 while the authentication by the in-vehicle device 31 is established while the slide door 2 is stopped, the door ECU 10 outputs the discrimination target O. Therefore, the power slide door device 20 is driven and controlled so that the slide door 2 starts the opening / closing operation. At this time, if the displacement amount Δ of the determination target object O is output from the distance detection unit 44 (if the displacement amount Δ is stored), the door ECU 10 determines that the opening / closing amount of the slide door 2 associated with the opening / closing operation is the above-described amount. The power slide door device 20 is driven and controlled so that the sliding door 2 stops the opening / closing operation by matching the displacement amount Δ. If the displacement amount Δ of the discrimination target O is not output from the distance detection unit 44 (if the displacement amount Δ is not stored), the door ECU 10 causes the slide door 2 to reach the fully open position or the fully closed position. Thus, the power sliding door device 20 is driven and controlled so that the sliding door 2 stops the opening / closing operation.

  Here, the drive control aspect of the power slide door apparatus 20 by the door ECU 10 or the like will be described. For convenience, description of drive control modes of the release motor 12 and the closer motor 13 by the door ECU 10 is omitted. Needless to say, the drive control of the release motor 12 and the closer motor 13 is performed in conjunction with the opening / closing operation of the slide door 2 according to the door state.

  When the user causes the first and second cameras 3 and 4 to photograph the discrimination target object O, the image ECU 40 recognizes the pattern of the discrimination target object O, and the door ECU 10 powers the slide door 2 to start the opening / closing operation. The sliding door device 20 is driven and controlled. At this time, if the user moves the determination object O in accordance with the required opening / closing amount of the slide door 2 within a certain period (within the first and second timings), the image ECU 40 detects the displacement amount Δ. Then, the power slide door device 20 is driven and controlled so that the door ECU 10 stops the opening / closing operation of the slide door 2 by the corresponding opening / closing amount.

  Next, the drive control mode of the power slide door device 20 by the door ECU 10 will be described in accordance with the flowchart of FIG. This process is started by receiving the result of ID authentication with the portable device 36 from the in-vehicle device 31 in the fully closed state of the slide door 2.

  When the processing shifts to this routine, it is determined whether there is a determination object O based on a determination signal from the image ECU 40 (S1). Then, after it is determined that there is a determination target object O, it is determined whether or not an elapsed time after the determination target object O is determined exceeds a certain time (S2). Then, after it is determined that the predetermined time has passed, it is determined whether or not the displacement amount Δ is detected in the image ECU 40 (S3).

  Here, if it is determined that the displacement amount Δ is detected, the power slide door device 20 is driven and controlled so that the sliding door 2 starts opening / closing operation, and the opening / closing amount of the sliding door 2 is set to the displacement amount Δ. The power sliding door device 20 is driven and controlled so that the sliding door 2 stops the opening / closing operation by matching (S4). On the other hand, when it is determined that the displacement amount Δ is not detected, the power slide door device 20 is driven and controlled so that the slide door 2 starts to open and close, and the slide door 2 is set to the fully open position or the fully closed position. The power sliding door device 20 is driven and controlled so that the sliding door 2 stops the opening / closing operation by reaching (S5). And if the process of S4 or S5 is completed, the subsequent process will be complete | finished.

As described above in detail, according to the present embodiment, the following effects can be obtained.
(1) In this embodiment, when the user causes the first and second cameras 3 and 4 to photograph the discrimination object O, the image ECU 40 recognizes the discrimination object O and the door ECU 10 moves the slide door 2 to the pattern. The power slide door device 20 is driven and controlled to start the opening / closing operation. Thus, since the user can open and close the slide door 2 without touching the slide door 2, the convenience can be improved.

  (2) In the present embodiment, for example, the determination object O is moved along the opening / closing direction of the sliding door 2 by the amount that the user wants to open / close the sliding door 2 within a certain period (within the first and second timings). When moved, the image ECU 40 (distance detection unit 44) detects the displacement amount Δ of the discrimination object O at this time. Then, when the opening / closing amount of the sliding door 2 due to the opening / closing operation coincides with the displacement amount Δ of the determination object O, the power slide door device 20 is driven and controlled by the door ECU 10 so that the sliding door 2 stops the opening / closing operation. The Thus, the user can open and close the slide door 2 by a required opening and closing amount by adjusting the displacement amount Δ of the discrimination target O along the opening and closing direction of the sliding door 2.

  (3) In the present embodiment, unless the user carrying the portable device 36 (regular user) is in the vicinity, the sliding door 2 does not start the opening / closing operation, so that the sliding door 2 is in the absence of the user. Opening and closing can be prevented.

  (4) In this embodiment, since it is not necessary to detect the focal lengths of the first and second cameras 3 and 4 in order to detect the position P of the discrimination target O, these first and second cameras 3 and 4 The structure can be simplified, and as a result, the cost can be reduced.

  (5) In this embodiment, the door can be stopped at a desired opening / closing position (half-open position) by adjusting the displacement amount Δ of the discrimination target O. The amount can be reduced and the intrusion of rainwater can be suppressed.

In addition, you may change the said embodiment as follows.
In the embodiment, the door is set such that the slide door 2 stops at the open / close position corresponding to the movement position Pm of the discrimination target object O regardless of the initial position Ps of the discrimination target object O detected first by the image ECU 40. The power sliding door device 20 may be driven and controlled by the ECU 10. That is, the distance detection unit 44 of the image ECU 40 is changed to output the movement position Pm to the door ECU 10 instead of the displacement amount Δ. On the other hand, the door ECU 10 stores in advance a position in which the slide door 2 is stopped corresponding to the movement position Pm (for example, an opening / closing position where the front end edge of the slide door 2 matches the movement position Pm). . Then, the door ECU 10 drives and controls the power slide door device 20 so that the sliding door 2 stops the opening / closing operation when the sliding door 2 reaches the stop position corresponding to the movement position Pm with the opening / closing operation.

  In this case, for example, when the user moves the determination object O in accordance with a required opening / closing position of the sliding door 2 within a certain period (within the time of the first and second timings), the sliding door 2 is moved along with the opening / closing operation. When the power reaches the stop position corresponding to the movement position Pm, the power slide door device 20 is driven and controlled by the door ECU 10 so that the sliding door 2 stops the opening / closing operation. Thus, the user can open and close the slide door 2 to the required opening and closing position by moving and adjusting the movement position Pm of the discrimination target object O.

  In the embodiment, the movement of the determination target object O when the sliding door 2 is stopped according to the required opening / closing amount or opening / closing position may be performed after the opening / closing operation of the sliding door 2 is started.

  In the embodiment, the first camera 3 and the second camera 4 may be general-purpose cameras for photographing such as a CCD camera or a CMOS camera, or serve as a heat source for an infrared camera (night vision camera) or a human body. It may be an infrared sensor (thermal imaging apparatus) that detects an object.

  In the embodiment described above, the opening / closing operation of the slide door 2 may be started when the discrimination object O is recognized within the detection range registered in advance by the user, for example. In this case, the position of the discrimination object O when the opening / closing operation of the slide door 2 is started can be limited, and the discrimination door O, that is, the user is still far away from the slide door 2 while the slide door 2 is still in the state. It is possible to prevent the opening / closing operation from starting.

  In the embodiment, the shape of the discrimination target O registered in advance in the image ECU 40 is an example. Further, the discrimination target O is not limited to an object, and may be, for example, a user's human body (hand or the like).

  In the above-described embodiment, a specific operation pattern of the discrimination target object O recognized by the image ECU 40 (the first and second image processing units 41 and 42) (for example, a horizontal motion of the discrimination target object O) is identified. An identification means may be provided. And when the said operation | movement pattern is identified by the identification means, you may drive-control the power slide door apparatus 20 by door ECU10 so that the sliding door 2 may start opening / closing operation | movement. The specific operation pattern can be identified by using a continuous shape change of the discrimination target object O such as an object or a human body registered in advance. By changing in this way, unless the user operates the discrimination target O in a specific operation pattern, the slide door 2 does not start the opening / closing operation. Therefore, the slide door 2 is opened by any person who does not know the operation pattern. Opening and closing can be prevented.

  In the embodiment, at least one of the first and second cameras 3 and 4 may be installed in the vehicle body 1 as a holding member as long as the outside of the vehicle facing the slide door 2 can be photographed. That is, the installation position of the image acquisition means (the first and second cameras 3 and 4) may be an appropriate position where the discrimination object O carried by the user can be photographed.

In the embodiment, a power slide door system that performs only one of the opening operation and the closing operation of the sliding door 2 by the pattern recognition of the discrimination target O may be used.
-In the said embodiment, when the pattern recognition of the discrimination | determination target object O is completed, or when the detection of displacement amount (DELTA) (movement position Pm) is completed, it alert | reports to a user with a suitable alerting means (a lamp | ramp, a speaker, etc.). It is more preferable.

The present invention may be applied to, for example, a swing-type vehicle door or an automatic door installed in a building.
Next, the technical idea that can be grasped from the above embodiment and other examples will be described below.

(B) pre-SL based on the position of the discrimination object detected to each of the position detecting means in the first and second timing, the along the closing direction of the door between said first and second timing Displacement detection means for detecting the amount of displacement of the discrimination target,
The control means drives and controls the drive means so that the door stops the opening / closing operation when the opening / closing amount of the door accompanying the opening / closing operation matches the detected displacement amount of the discrimination target. the shall be the feature. According to this configuration, when the user moves the discrimination target object along the opening / closing direction of the door by the amount that the user wants to open / close the door between the first and second timings, the displacement detection means The amount of displacement of the discrimination object is detected. Then, when the opening / closing amount of the door accompanying the opening / closing operation coincides with the detected displacement amount of the discrimination target, the driving unit is driven and controlled by the control unit so that the door stops the opening / closing operation. The Thus, the user can open / close the door by a required opening / closing amount by adjusting the displacement amount of the discrimination target object along the opening / closing direction of the door.

(B) pre-Symbol position detecting means, based on the position on the image of the pattern recognized two of said determination object by recognizing means, you and detecting a position of該判another object.

  O ... Discrimination target, 1 ... Vehicle body (holding member), 2 ... Sliding door (door), 3 ... First camera (image acquisition means), 4 ... Second camera (image acquisition means), 10 ... Door ECU ( Control means), 20 ... power slide door device (drive means), 31 ... in-vehicle device (communication means), 36 ... portable machine, 40 ... image ECU (recognition means, position detection means, identification means)

Claims (3)

Driving means for opening and closing the door;
Image acquisition means installed on the door or a holding member of the door;
Recognition means for recognizing a pattern of the image taken by the image acquisition means;
Control means for drivingly controlling the drive means so that the door starts opening / closing operation when the recognition means recognizes a pattern of a predetermined user discrimination object;
Two of the image acquisition means are arranged at different positions,
The recognizing unit individually recognizes a pattern of each image captured by the two image acquiring units,
Based on the two discrimination objects pattern-recognized by the recognition means, comprising position detection means for detecting the position of the discrimination object;
The control means is based on the position of the discrimination target detected by the position detection means at a second timing after the first timing when the discrimination target is recognized by the recognition means. A door opening / closing drive device, wherein the drive means is drive-controlled so that the door stops the opening / closing operation. In the door opening and closing drive device according to claim 1 ,
Comprising identification means for identifying a specific operation pattern of the discrimination target pattern recognized by the recognition means,
The control means drives and controls the drive means so that the door starts an opening / closing operation when a specific operation pattern of the discrimination target is identified by the identification means. apparatus. In the door opening and closing drive device according to claim 1 or 2 ,
Comprising a communication means for performing ID authentication by wireless communication with a portable device carried by the user;
The door opening / closing drive apparatus, wherein the control means drives and controls the drive means so that the door starts an opening / closing operation when authentication by the communication means is established.

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