Door control method

Abstract

To provide a technique capable of detecting insertion of an object between a door and a door guard during door opening / closing operation.SOLUTION: This door control method is implemented by a door control device 20 that performs driving control for a door 60, the method comprising: a step S104 of detecting insertion of an object between the door 60 and a door guard during door opening / closing operation for the door 60; a step S110 of stopping the door 60 in the door opening operation without moving the door 60 in a closing direction when the insertion is detected in the step S104; and steps S114 and S102 of resuming the door opening operation for the door 60 with the lapse of a prescribed time T1 from the stop of the door 60 in the step S110.SELECTED DRAWING: Figure 3A

Description

Technical Field

[0001] The present disclosure relates to a door control method.

Background Art

[0002] For example, when the door of each vehicle constituting a train closes, if an object (e.g., a passenger's clothing or belongings) is caught between the two door panels, a door control device is disclosed that controls the door thrust so that the object in which the passenger or the like is caught can be pulled out (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, even during the door opening operation, due to the door opening operation, there is a possibility that an object may be caught by being drawn into the space between the door panel and the door pocket. Since the object can be caught at any time from the start to the end of the door opening operation, it is difficult for the door control device to detect the catching of an object during the door opening operation by focusing on the position of the door such as the door not reaching the fully closed position due to the influence of the caught object as in the case of catching an object during the door closing operation. Also, when an object is caught during the door opening operation, the door may continue to operate while dragging the caught object, so it is difficult for the door control device to detect the catching of an object during the door opening operation by focusing on the stopping of the door such as the door stopping before fully closing as in the case of catching an object during the door closing operation. Therefore, it is not possible to use the detection method for the case of catching an object during the door closing operation, and a detection method for detecting the occurrence of catching an object during the door opening operation is desired.

[0005] Therefore, in view of the above issues, the objective is to provide a technology that can detect when an object is caught between the door and the door pocket during the door opening operation. [Means for solving the problem]

[0006] To achieve the above objective, in one embodiment of this disclosure, A door control method performed by a door control device that controls the drive of a door, The first step is to detect when an object is caught between the door and the door pocket during the door opening operation, If the pinching is detected in the first step, a second step is to stop the door in the opening operation without moving the door in the closing direction, The procedure includes a third step of restarting the door opening operation after a predetermined time has elapsed since the door was stopped in the second step, A door control method is provided.

[0007] In other embodiments of this disclosure, A door control method performed by a door control device that controls the drive of a door, The first step is to detect when an object is caught between the door and the door pocket during the door opening operation, If the pinching is detected in the first step, a second step is to stop the door in the opening operation without moving the door in the closing direction, A fifth step corresponding to the pinching is performed by controlling the motor that drives the door after the door has been stopped in the second step, fruit, In the fifth step described above, the thrust of the motor is reduced to zero. , Door control method is provided . Furthermore, in yet another embodiment of this disclosure, A door control method performed by a door control device that controls the drive of a door, The first step is to detect when an object is caught between the door and the door pocket during the door opening operation, If the pinching is detected in the first step, a second step is to stop the door in the opening operation without moving the door in the closing direction, A fifth step, corresponding to the pinching, is performed by controlling the motor that drives the door after the door has been stopped in the second step, In the fifth step, the motor is output with a thrust force in the direction of closing the door, such that the door does not move. A door control method is provided.

Effect of the Invention

[0008] According to the above embodiment, it is possible to detect the sandwiching of an object between the door and the door pocket during the door opening operation.

Brief Description of the Drawings

[0009] [Figure 1] It is a diagram showing an example of the configuration of a door control system including a door control device according to the first embodiment. [Figure 2] It is a timing chart for explaining a method of detecting the sandwiching of an object during the door opening operation by the door control device according to the first embodiment. [Figure 3A] It is a flowchart schematically showing a first example of door opening control by the door control device. [Figure 3B] It is a state transition diagram regarding the movement state of the door corresponding to the first example of door opening control by the door control device. [Figure 4A] It is a flowchart schematically showing a second example of door opening control by the door control device. [Figure 4B] It is a state transition diagram regarding the movement state of the door corresponding to the second example of door opening control by the door control device. [Figure 5A] It is a flowchart schematically showing a third example of door opening control by the door control device. [Figure 5B] It is a state transition diagram regarding the movement state of the door corresponding to the third example of door opening control by the door control device. [Figure 6A] It is a flowchart schematically showing a fourth example of door opening control by the door control device. [Figure 6B] It is a state transition diagram regarding the movement state of the door corresponding to the fourth example of door opening control by the door control device. [Figure 7] It is a diagram showing an example of the configuration of a door control system including a door control device according to the second embodiment. [Figure 8] This is a timing chart for explaining a method of detecting the sandwiching of an object during the door opening operation by the door control device according to the second embodiment.

Mode for Carrying Out the Invention

[0010] Hereinafter, embodiments for carrying out the invention will be described with reference to the drawings.

[0011] <First Embodiment> First, the first embodiment of the present invention will be described.

[0012] [Configuration of Door Control System] First, referring to FIG. 1, the configuration of a door control system 1 including a door control device 20 according to the first embodiment will be described.

[0013] FIG. 1 is a diagram showing an example of the configuration of a door control system 1 including a door control device 20 according to the first embodiment. <T

[0014] In the figure, the double line represents the power transmission system, the thick solid line represents the power supply system, and the thin solid line represents the control system.

[0015] The door control system 1 is mounted on a vehicle such as a railway vehicle (train), and includes a vehicle control device 10, a door control device 20, an inverter 30, a current sensor 31, a motor 40, an encoder 41, a door opening / closing mechanism 50, and a door 60. The vehicle on which the door control system 1 is mounted may include not only a vehicle equipped with power such as a tram but also a vehicle not equipped with power (so-called passenger car), etc. Hereinafter, the vehicle on which the door control system 1 is mounted will be simply referred to as "vehicle".

[0016] The vehicle control device 10 controls the operation of the vehicle. For example, in the case of a train consisting of multiple connected vehicles, one vehicle control device 10 is installed in the driver's cab of the leading vehicle and one in the conductor's cab of the last vehicle. Also, for example, in the case of a single-car train, one vehicle control device 10 is installed in the driver's cab and one in the conductor's cab located at both ends of the vehicle in the direction of travel.

[0017] The functions of the vehicle control device 10 may be implemented arbitrarily by any hardware, software, or a combination thereof. For example, the vehicle control device 10 is mainly composed of a computer including a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), non-volatile auxiliary storage device, and various communication interfaces. The same applies to the door control device 20 below.

[0018] The vehicle control device 10 outputs a door open command to the door control device 20, or a door close command to the door 60, in response to an operation of a switch for opening or closing a door 60 (not shown) by, for example, a conductor or the like, on the switch for opening or closing the door 60.

[0019] The door control device 20 performs control to open a fully closed door 60 (hereinafter referred to as "door opening control") and control to close a fully open door 60 (hereinafter referred to as "door closing control") in response to door opening commands and door closing commands received from the vehicle control device 10. The door control device 20 includes, for example, a sequence control unit 2001, a speed pattern generation unit 2002, a speed adjustment unit 2003, a thrust adjustment unit 2004, an inverter control unit 2005, a current / thrust conversion unit 2006, a speed detection unit 2007, a position detection unit 2008, and a pinch detection unit 2009 as a functional unit realized by executing one or more programs stored in ROM or a non-volatile auxiliary storage device on the CPU. The door control device 20 also includes, for example, a storage unit 2000 as a storage area defined in a non-volatile internal memory such as an auxiliary storage device.

[0020] The inverter 30 supplies drive power to the motor 40 and drives the motor 40 under the control of the door control device 20 (specifically, the inverter control unit 2005, which will be described later). For example, the inverter 30 converts DC power supplied from a predetermined power supply device mounted on the vehicle into three-phase AC power and supplies it to the motor 40.

[0021] The current sensor 31 detects the current supplied from the inverter 30 to the motor 40. The current sensor 31 includes current sensors 31a and 31b provided on two of the three power lines (hereinafter referred to as "U-phase line," "V-phase line," and "W-phase line," respectively) that connect the inverter 30 and the motor 40, for example, on the U-phase line and the V-phase line. The current sensors 31a and 31b may be contact sensors or non-contact sensors such as current transformer type or Hall element type. The current detection signals iudet and ivdet corresponding to the currents of the U-phase line and V-phase line detected by the current sensors 31a and 31b are input to the door control device 20.

[0022] The motor 40 is, for example, a rotary three-phase AC motor, which, via the door opening / closing mechanism 50, provides thrust to the door 60 for opening and closing operations.

[0023] Furthermore, the motor 40 is not limited to a rotary type; it may be a linear motor, for example, as long as it can electrically drive the door 60. Also, two motors 40 may be provided, one for each of the two door panels of the door 60, as described later.

[0024] The encoder 41 is a known detection means that is attached, for example, to the housing of the motor 40 and detects the rotation angle (rotation position) of the motor 40. The rotation position signal PS corresponding to the rotation position of the motor 40 detected by the encoder 41 is input to the door control device 20.

[0025] The door opening and closing mechanism 50 is a mechanism that transmits the output (thrust) of the motor 40 to the door 60 and realizes the opening and closing operation of the door 60. The door opening and closing mechanism 50 includes, for example, a pinion gear section 51 and a rack gear section 52 that meshes with the pinion gear section 51.

[0026] The pinion gear section 51 is connected to the output shaft of the motor 40 and rotates in conjunction with the rotation of the motor 40.

[0027] The rack gear section 52 is provided in pairs, for example, corresponding to each of the two door panels, and is attached integrally to each of the two door panels of the door 60 above the door 60, in a manner that extends in the opening and closing direction of the door 60. The rack gear section 52 meshes with the pinion gear section 51 and converts the rotational motion of the pinion gear section 51 into linear motion in the direction of extension of the rack gear section 52, that is, in the opening and closing direction of the door 60. In other words, the rack gear section 52 moves the door 60 (door panel) in the opening and closing direction in response to the rotation of the pinion gear section 51 accompanying the rotation of the motor 40, thereby realizing door opening and closing operations.

[0028] The doors 60 are provided, for example, in one or more openings on the left and right sides of the vehicle body with respect to the direction of travel. The doors 60 are, for example, sliding doors that open and close by moving two door panels in opposing directions, and the two door panels are housed in a door pocket provided on the vehicle body when the door is open.

[0029] The sequence control unit 2001 performs sequence control related to the door opening or closing operation of the door 60 in accordance with the door opening command a or door closing command a input from the vehicle control device 10 and the door panel position information pdet corresponding to the position of the door panel of the door 60 detected by the position detection unit 2008.

[0030] For example, the sequence control unit 2001 starts sequence control of the door opening operation of the door 60 in response to the door opening command a input from the vehicle control device 10. Then, based on the door panel position information pdet, the sequence control unit 2001 understands the progress of the door opening operation of the door 60 and outputs a door control command b in accordance with a predetermined sequence, controlling the door opening operation of the door 60 until the door 60 reaches the fully open position.

[0031] Furthermore, for example, when the door 60 is opened, if the pinch detection unit 2009 detects that an object (e.g., a passenger's clothes or belongings) has been pulled between the door panel and the door pocket of the door 60, the sequence control unit 2001 performs control of the door 60 to respond to the object being pinched (hereinafter referred to as "pinch-response control").Hereafter, unless otherwise specified, "object pinching" refers to an object being pinched between the door panel and the door pocket of the door 60 during the door opening operation.Details of the pinch-response control will be described later (see Figures 3 to 6).

[0032] Furthermore, for example, the sequence control unit 2001 outputs a thrust limit value (hereinafter referred to as "thrust limit value") flimit to the door 60, which is output from the motor 40, to the speed control unit 2003 when sequence control for the door opening operation of the door 60 is started. The thrust limit value flimit is set to a predetermined value f1, which is defined in advance based on, for example, the maximum output or rated output of the motor 40 (flimit=f1).

[0033] The speed pattern generation unit 2002 outputs a speed command value vcom based on the door control command b input from the sequence control unit 2001 and the door panel position information pdet input from the position detection unit 2008. For example, the speed pattern generation unit 2002 determines the position of the door panel based on the door panel position information pdet and outputs a speed command value vcom corresponding to the position of the door panel based on a map, conversion formula, etc.

[0034] The speed control unit 2003 (an example of a speed control unit) is a controller that controls the speed of the motor 40 based on the speed command value vcom. Specifically, the speed control unit 2003 performs speed feedback control calculations to minimize the difference (deviation) between the speed command value vcom and the detected speed value of the door 60 detected by the speed detection unit 2007 (hereinafter referred to as the "speed detection value") vdet, and outputs a thrust command value fcom. At this time, the speed control unit 2003 ensures that the thrust command value fcom is less than or equal to the thrust limit value flimit. In other words, if the thrust command value fcom calculated to minimize the difference between the speed command value vcom and the speed detection value vdet exceeds the thrust limit value flimit, the speed control unit 2003 corrects the value of the thrust command value fcom to the thrust limit value flimit and outputs it. The speed control unit 2003 may be fitted with any feedback control controller, such as a PID (Proportional Integral Differential) controller. The same applies to the thrust adjustment unit 2004 below.

[0035] The thrust adjustment unit 2004 (an example of a thrust control unit) is a controller that controls the thrust of the motor 40 based on the thrust command value fcom. Specifically, the thrust adjustment unit 2004 performs thrust feedback control calculations to minimize the difference (deviation) between the thrust command value fcom and the detected thrust value fdet (hereinafter referred to as the "thrust detection value") input from the current-thrust conversion unit 2006, which is applied from the motor 40 to the door 60, and outputs an manipulated variable e to the inverter control unit 2005.

[0036] The inverter control unit 2005 controls the inverter 30 based on the manipulated variable e input from the thrust adjustment unit 2004. Specifically, the inverter control unit 2005 outputs a drive signal DS (for example, a PWM (Pulse Width Modulation) signal) to the inverter 30 to drive the inverter 30 based on the manipulated variable e.

[0037] The current-thrust conversion unit 2006 converts the current detection values ​​of the U-phase and V-phase lines detected by the current sensors 31a and 31b into the thrust detection value fdet of the motor 40, based on the current detection signals iudet and ivdet input from the current sensors 31a and 31b, using a predetermined conversion formula or map.

[0038] The speed detection unit 2007 detects the speed of the door 60 by differentiating the position information of the door 60 based on the rotational position signal PS input from the encoder 41, and outputs a speed detection value vdet.

[0039] The position detection unit 2008 detects the position of the door 60 (door panel) based on the rotational position signal PS input from the encoder 41 and outputs door panel position information pdet.

[0040] The pinch detection unit 2009 detects when an object is caught in the door 60 during the door opening operation. When the pinch detection unit 2009 detects an object being caught, it outputs a pinch signal d to the sequence control unit 2001.

[0041] The memory unit 2000 stores various information used by each of the functional units 2001 to 2009 for calculations, and each of the functional units 2001 to 2009 reads the necessary information from the memory unit 2000 as needed.

[0042] [Method for detecting objects being caught in doors during opening] Next, with reference to Figure 2, a method for detecting object entrapment during the door opening operation of the door 60 by the door control device 20 (pinch detection unit 2009) will be described.

[0043] Figure 2 illustrates the method for detecting object entrapment by the door control device 20 (entrapment detection unit 2009). Specifically, the upper part of Figure 2 is a graph showing the time variation of the velocity detection value vdet, velocity command value vcom, and thrust command value fcom when an object is entrapped, and the lower part of Figure 2 is a graph showing the time variation of the output state (presence or absence of output) of the entrapment signal d.

[0044] As shown in Figure 2, object pinching occurs at time t11.

[0045] When an object becomes trapped, the door 60 is subjected not only to steady-state forces, including kinetic friction, but also to disturbance forces corresponding to the trapped object. As a result, the disturbance forces corresponding to the trapped object reduce the speed of the door 60, and the detected speed value vdet begins to decrease from time t11 onwards.

[0046] At this time, the speed control unit 2003 increases the thrust command value fcom in order to reduce the difference (deviation) between the speed detection value vdet and the speed command value vcom. However, as described above, the thrust command value fcom is limited to less than or equal to the thrust limit value flimit, so it caps out at the thrust limit value flimit and saturates.

[0047] As a result, if the sum of the disturbance drag force due to the object being trapped and the steady-state drag force such as the kinetic friction force that occurs steadily exceeds the thrust limit value flimit, this condition will persist, and the speed of door 60 will continue to decrease. In other words, the speed detection value vdet will continue to decrease from time t11 onwards.

[0048] Therefore, the pinch detection unit 2009 can detect an object being pinched in the door 60 when the speed detection value vdet decreases by a predetermined speed reduction threshold Δvdh (>0) or more relative to the speed command value vcom (time t12).

[0049] Since object entrapment during door opening can occur at any point from the beginning to the end of door opening, it is difficult for the door control device 20 to detect object entrapment during door opening using methods that focus on the position of door 60, such as when door 60 has not reached the fully closed position due to the influence of the entrapped object, as is the case with object entrapment during door closing. Furthermore, if object entrapment occurs during door opening, door 60 may continue to operate while dragging the entrapped object, so it is difficult to detect object entrapment during door opening using methods that focus on when door 60 stops, such as when door 60 stops before it is fully closed, as is the case with object entrapment during door closing.

[0050] In contrast, in this embodiment, as described above, the door control device 20 can detect object entrapment by focusing on the decrease in speed of the door 60 corresponding to the disturbance force on the door 60 caused by object entrapment.

[0051] The speed reduction threshold Δvdh (an example of a first predetermined value) for detecting object entrapment is defined, for example, based on the magnitude of the speed command value vcom. This is because a larger speed command value vcom may result in a larger transient speed fluctuation range in the speed control system. Alternatively, the speed reduction threshold Δvdh can be defined, for example, based on the steady-state error (steady-state deviation) in the speed control system of the door 60 by the door control device 20. This is because the difference between the speed command value vcom and the speed detection value vdet, which is compared with the speed reduction threshold Δvdh, includes the steady-state error. Furthermore, the speed reduction threshold Δvdh can be defined, for example, based on the disturbance response (transient response characteristics when a temporary speed fluctuation occurs in response to a disturbance input) in the speed control system of the door 60 by the door control device 20. This is because it is necessary to distinguish between cases where a temporary speed fluctuation occurs due to a disturbance input and cases where a continuous speed reduction occurs due to object entrapment. Furthermore, the speed reduction threshold Δvdh is defined, for example, based on the magnitude of the speed fluctuation in the speed control system of the door 60 by the door control device 20. This is because the difference between the speed command value vcom and the speed detection value vdet, which is compared with the speed reduction threshold Δvdh, includes the speed fluctuation expected in the speed control system. The pinch detection unit 2009 may define the speed reduction threshold Δvdh based on at least one of the magnitude of the speed command value vcom, the steady-state error of the speed control system, the disturbance response of the speed control system, and the magnitude of the speed fluctuation in the speed control system. Specifically, the pinch detection unit 2009 may define the speed reduction threshold Δvdh based on information such as a pre-prepared map or table that takes into account at least one of the magnitude of the speed command value vcom, the steady-state error of the speed control system, the disturbance response of the speed control system, and the magnitude of the speed fluctuation in the speed control system. This suppresses false detection of object pinching.

[0052] Furthermore, as shown in Figure 2, the pinch detection unit 2009 may determine at time element τd1 (>0) that the speed detection value vdet has decreased by more than or equal to the speed reduction threshold Δvdh relative to the speed command value vcom, and detect that an object has been pinched in the door 60. In this case, time element τd1 is the delay time or waiting time until the detection of an object pinching in the door 60 is confirmed. The same applies to time element τd2, which will be described later. In other words, the pinch detection unit 2009 may detect that an object has been pinched in the door 60 if the speed detection value vdet has decreased by more than or equal to the speed reduction threshold Δvdh relative to the speed command value vcom, and that state continues for a period of time element τd1 or longer (time t13). This eliminates temporary speed fluctuations of the door 60, further suppressing false detections of object pinching.

[0053] The time element τd1 (an example of a first predetermined time) for detecting object pinching may be defined based on at least one of the following: the magnitude of the speed command value vcom, the steady-state error of the speed control system, the disturbance response of the speed control system, and the magnitude of the speed fluctuation of the speed control system, similar to the case of the speed reduction threshold Δvdh. In other words, the pinching detection unit 2009 may define the time element τd1 based on information such as a pre-prepared map or table that takes into account at least one of the following: the magnitude of the speed command value vcom, the steady-state error of the speed control system, the disturbance response of the speed control system, and the magnitude of the speed fluctuation of the speed control system. This further suppresses false detection of object pinching.

[0054] [Details of pinch-proof control] Next, we will explain the details of pinch-prevention control with reference to Figures 3 to 6.

[0055] Figure 3 (Figures 3A and 3B) illustrates a first example of door opening control by the door control device 20. Specifically, Figure 3A is a flowchart schematically showing the first example of door opening control by the door control device 20. Figure 3B is a state transition diagram relating to the movement state of the door 60 corresponding to the first example of door opening control by the door control device 20. The flowchart in Figure 3A starts, for example, when a door opening command a is received from the vehicle control device 10. The same applies to the flowcharts in Figures 4A, 5A, and 6A.

[0056] As shown in Figure 3A, in step S102, the door control device 20 (sequence control unit 2001) starts the door opening operation of the door 60 in response to the receipt of the door opening command a. Specifically, the sequence control unit 2001 outputs the door control command b to the speed pattern generation unit 2002, thereby starting the door opening operation of the door 60 based on speed feedback control by the speed adjustment unit 2003 and thrust feedback control by the thrust adjustment unit 2004. As a result, as shown in Figure 3B, the door 60 transitions from the fully closed state ST10 to the state ST11 corresponding to the door opening operation.

[0057] In step S104, the sequence control unit 2001 determines whether or not the pinch detection unit 2009 has detected an object being pinched, specifically whether or not the pinch detection unit 2009 has output a pinch signal d. If the pinch detection unit 2009 has not detected an object being pinched, the sequence control unit 2001 proceeds to step S106; if an object being pinched has been detected, the sequence control unit 2001 proceeds to step S110.

[0058] In step S106, the sequence control unit 2001 determines, based on the door panel position information pdet, whether the door panel of door 60 has reached a predetermined fully open position. If the door panel of door 60 has reached the fully open position, the sequence control unit 2001 proceeds to step S108; otherwise, it returns to step S104 and repeats the processing in steps S104 and S106.

[0059] In step S108, the sequence control unit 2001 stops (terminates) the door opening operation of the door 60 in response to the door panel of the door 60 reaching the fully open position. The sequence control unit 2001 stops, for example, the inverter 30. Then, the door control device 20 terminates this process. As a result, as shown in Figure 3B, the door 60 transitions from state ST11, which corresponds to the door opening operation, to state ST12, which corresponds to the fully open state, and stops the door opening operation (that is, the door 60 is stopped in the fully open state).

[0060] Meanwhile, in step S110, the sequence control unit 2001 temporarily stops the door opening operation of the door 60 in response to the detection of an object being caught in the door. As a result, as shown in Figure 3B, the door 60 transitions from state ST11, which corresponds to the door opening operation, to state ST13, where the door opening operation of the door 60 is stopped.

[0061] Then, in step S112, the sequence control unit 2001 sets the thrust of the motor 40 to zero. Specifically, the sequence control unit 2001 outputs a stop signal to the inverter 30, for example, to temporarily stop the inverter 30. Alternatively, the sequence control unit 2001 may set the thrust limit value flimit to zero and output it to the speed control unit 2003, and forcibly set the thrust command value fcom output from the speed control unit 2003 to zero, thereby performing zero thrust control (zero torque control) of the motor 40. As a result, as shown in Figure 3B, the door 60 transitions to state ST14 where the added thrust is off (zero).

[0062] In step S114, the sequence control unit 2001 determines whether a predetermined time Tth (an example of a third predetermined time) has elapsed after the processing in step S112 (after the thrust of the motor 40 has been reduced to zero). If the predetermined time Tth has not elapsed, the sequence control unit 2001 waits until the predetermined time Tth has elapsed, and if the predetermined time Tth has elapsed, it returns to step S102. As a result, as shown in Figure 3B, the door 60 transitions (returns) from the state ST14 where the added thrust is off (zero) to the state ST11 corresponding to the door opening operation.

[0063] Thus, in this example, the sequence control unit 2001 (an example of an object-catching control unit) stops the door opening operation of the door 60 and performs object-catching control in a manner that reduces the thrust of the motor 40 to zero for a predetermined time Tth when an object is detected as being caught by the object-catching detection unit 2009. As a result, passengers of the vehicle can remove the object (for example, clothing or luggage) caught between the door panel and the door pocket relatively easily, compared to when an opening thrust is applied to the door 60.

[0064] Furthermore, if an object becomes trapped in the door while it is closing, the two door panels of the door 60 can be moved a predetermined distance in the opening direction, allowing passengers to safely remove the object trapped in the door. However, if the same method is used when an object becomes trapped while the door is opening, safety issues may arise. Specifically, when the door 60 begins to open, passengers begin to take action to board or alight from the vehicle through the door 60, expecting the door 60 to remain open. Therefore, if the door 60 temporarily moves in the closing direction during the opening operation, there is a possibility that passengers who were moving towards the door 60 expecting it to remain open may collide with the door panels.

[0065] In contrast, in this example, since the door 60 does not move in the closing direction, the door control device 20 can ensure the safety of passengers and others.

[0066] In other words, the door control device 20 in this example can help passengers remove objects that have become trapped between the door panel and the door pocket relatively easily, while ensuring the safety of passengers.

[0067] Next, Figure 4 (Figures 4A and 4B) illustrates a second example of door opening control by the door control device 20. Specifically, Figure 4A is a flowchart that schematically shows the second example of door opening control by the door control device 20. Figure 4B is a state transition diagram relating to the movement state of the door 60 corresponding to the second example of door opening control by the door control device 20.

[0068] The pinch counter F1 is a counter that indicates the number of times pinch-response control has been executed in response to the detection of object pinching by the pinch detection unit 2009.

[0069] As shown in Figure 4A, in step S201, the door control device 20 initializes the pinch counter F1 to zero (F1=0).

[0070] The processing in steps S202 to S208 is the same as steps S102 to S108 in Figure 3A, so the explanation is omitted. Also, the states ST20 to ST22 in Figure 4B, which correspond to the processing in steps S202 to S208, are the same as states ST10 to ST12 in Figure 3B, so the explanation is omitted.

[0071] On the other hand, if the pinch detection unit 2009 detects that an object is pinched in step S204, the door control device 20 increments the pinch counter F1 by "1" in step S209 (F1 = F1 + 1) and proceeds to step S210.

[0072] The processing in steps S210 to S214 is the same as steps S110 to S114 in Figure 3A, so the explanation is omitted. Also, the states ST23 and ST24 in Figure 4B, which correspond to the processing in steps S210 to S214, are the same as states ST13 and ST14 in Figure 3B, so the explanation is omitted.

[0073] In step S214, if it is determined that a predetermined time Tth has elapsed after the processing in step S212 (after the thrust of the motor 40 has been reduced to zero), then in step S216, the sequence control unit 2001 determines whether the pinch counter F1 is less than a predetermined threshold Fth1 (a positive integer). If the pinch counter F1 is less than the predetermined threshold Fth1, the sequence control unit 2001 returns to step S202. If the pinch counter F1 is not less than the predetermined threshold Fth1, that is, if it is greater than or equal to the predetermined threshold Fth1, the process proceeds to step S218.

[0074] In step S218, the sequence control unit 2001 outputs a door control command b to the speed pattern generation unit 2002, thereby starting (restarting) the door opening operation of the door 60 based on speed feedback control by the speed adjustment unit 2003 and thrust feedback control by the thrust adjustment unit 2004, and proceeding to step S220. As a result, as shown in Figure 4B, the door 60 transitions from the state ST24 where the added thrust is off (zero) to the state ST25 corresponding to the door opening operation.

[0075] In step S220, the sequence control unit 2001 determines, based on the door panel position information pdet, whether the door panel of door 60 has reached a predetermined fully open position. If the door panel of door 60 has reached the fully open position, the sequence control unit 2001 proceeds to step S208. If it has not reached the fully open position, the process of this step is repeated until the door panel reaches the fully open position. In other words, as shown in Figure 4B, in state ST24, unlike state ST21, the door opening operation continues until the door panel of door 60 reaches the fully open position, regardless of whether or not an object is caught in the door.

[0076] Thus, in this example, the sequence control unit 2001 performs pinch-response control each time the pinch detection unit 2009 detects an object being pinched. Once the pinch-response control has been performed a number of times corresponding to a predetermined threshold Fth1 (an example of a predetermined number of times), the sequence control unit 2001 will not perform pinch-response control again, even if the pinch detection unit 2009 subsequently detects an object being pinched. The speed control unit 2003 and the thrust control unit 2004, respectively, will continue speed control and thrust control to ensure that the door 60 reaches the fully open position, regardless of whether the pinch detection unit 2009 detects an object being pinched or not, once the pinch-response control has been performed a number of times corresponding to the predetermined threshold Fth1. As a result, the door control device 20 can limit the number of times pinch-response control is performed, thus preventing a situation where the door opening operation of the door 60 is not completed due to the continuous detection of object pinching.

[0077] Next, Figure 5 (Figures 5A and 5B) illustrates a third example of door opening control by the door control device 20. Specifically, Figure 5A is a flowchart that schematically shows the third example of door opening control by the door control device 20. Figure 5B is a state transition diagram relating to the movement state of the door 60 corresponding to the third example of door opening control by the door control device 20.

[0078] As shown in Figure 5A, the processing in steps S302 to S310 is the same as the processing in steps S102 to S110 in Figure 3A, so the explanation is omitted. Also, the states ST30 to ST34 in Figure 5B, which correspond to steps S302 to S310, are the same as the states ST10 to ST14 in Figure 3B, so the explanation is omitted.

[0079] After step S310, in step S312, the sequence control unit 2001 outputs a small thrust (hereinafter referred to as "small closing thrust") from the motor 40 to the extent that the door 60 does not move in the closing direction, that is, to the extent that the door 60 remains stationary due to the action of the assumed steady-state drag force including static friction. As a result, as shown in Figure 5B, the door 60 transitions to state ST34 with the small closing thrust applied. Specifically, the sequence control unit 2001 outputs a door control command b to the speed pattern generation unit 2002 to move the door 60 in the closing direction, and sets the thrust limit value flimit to a predetermined value f2 which corresponds to the small closing thrust (flimit=f2), and outputs it to the speed adjustment unit 2003. As a result, the thrust command value fcom output from the speed control unit 2003 is maintained at a predetermined value f2 corresponding to a small closing thrust, and consequently, a small closing thrust is continuously output from the motor 40 and applied to the door 60.

[0080] In this case, the predetermined value f2 corresponding to the minute closing thrust is, for example, a relatively high value within the range of minute closing thrusts in which the door 60 is assumed to be kept in a stopped state by the action of the steady-state drag described above, and more preferably, it may be the upper limit.

[0081] The process in step S314 is the same as step S114 in Figure 3A, so the explanation is omitted.

[0082] As described above, in this example, when the pinch detection unit 2009 detects that an object is pinched, the sequence control unit 2001 stops the door opening operation and then, for a predetermined time Tth (an example of a fourth predetermined time), outputs a small closing thrust from the motor 40 to maintain the door 60 in a stationary state due to the action of steady-state resistance, including static friction. As a result, when a passenger or the like pulls out an object pinched between the door panel and the door pocket, they would normally need to overcome steady-state resistance, such as static friction, of the door 60 to pull out the object. However, the small closing thrust acting on the door 60 cancels out at least a portion of this steady-state resistance. Therefore, the pulling force required by the passenger or the like to remove the object pinched between the door panel and the door pocket is further reduced, and the passenger or the like can remove the pinched object more easily.

[0083] Furthermore, as in the first example described above, the door 60 does not move in the closing direction, so the door control device 20 can ensure the safety of passengers and others.

[0084] In other words, the door control device 20 in this example, as in the first example, can help passengers more easily remove objects caught between the door panel and the door pocket while ensuring the safety of passengers.

[0085] Furthermore, in this example, a small closing thrust is applied from the motor 40 to the door 60 that corresponds to the upper limit of the range of small closing thrusts that are assumed to maintain the door 60's stopped state due to the action of steady-state drag forces, including static friction. As a result, the assumed steady-state drag forces, such as static friction, on the door 60 are almost completely canceled out, minimizing the pulling force required by passengers to remove an object caught between the door panel and the door pocket, allowing passengers to remove the object more easily.

[0086] Next, Figure 6 (Figures 6A and 6B) illustrates a fourth example of door opening control by the door control device 20. Specifically, Figure 6A is a flowchart that schematically shows the fourth example of door opening control by the door control device 20. Figure 6B is a state transition diagram relating to the movement state of the door 60 corresponding to the fourth example of door opening control by the door control device 20.

[0087] As shown in Figure 6A, the processes in steps S401-S410 and S414-S420 are the same as steps S201-S210 and S214-S220 in Figure 4A. Also, the states ST40-ST43 and ST45 in Figure 6B, corresponding to steps S401-S410 and S414-S420, are the same as states ST20-ST23 and ST25 in Figure 4B. Furthermore, the process in step S412 is the same as step S312 in Figure 5A. Also, the state ST44 in Figure 6B, corresponding to step S412, is the same as state ST34 in Figure 5B.

[0088] In other words, in this example, the sequence control unit 2001, as in the third example described above (Figures 5A and 5B), stops the door opening operation when the pinch detection unit 2009 detects that an object is trapped, and then, for a predetermined time Tth, outputs a small closing thrust from the motor 40 to maintain the door 60 in a stationary state due to the action of a steady resistance force including static friction. This allows the door control device 20 to ensure the safety of passengers and others while assisting passengers in more easily removing objects trapped between the door panel and the door pocket.

[0089] On the other hand, in this example, the sequence control unit 2001, as in the second example described above (Figures 4A and 4B), performs pinch-response control each time the pinch detection unit 2009 detects an object being pinched. After performing pinch-response control a number of times corresponding to a predetermined threshold Fth1, it stops performing pinch-response control even if the pinch detection unit 2009 subsequently detects an object being pinched. The speed control unit 2003 and the thrust control unit 2004, respectively, continue speed control and thrust control to ensure that the door 60 reaches the fully open position, regardless of whether the pinch detection unit 2009 detects an object being pinched or not, once pinch-response control has been performed a number of times corresponding to the predetermined threshold Fth1. As a result, the door control device 20, as in the second example described above, can avoid a situation where the door opening operation of the door 60 is not completed due to the continuous detection of object pinching, which would cause pinch-response control to be repeatedly executed.

[0090] <Second Embodiment> Next, a second embodiment will be described.

[0091] The door control device 20 according to the second embodiment differs from the first embodiment mainly in its method of detecting object entrapment. The following description will focus on the differences from the door control device 20 (door control system 1) according to the first embodiment.

[0092] Furthermore, since the door control device 20 according to this embodiment can perform the same pinch prevention control as in the first embodiment, that is, the pinch prevention control shown in Figures 3 to 6, a description of the pinch prevention control of the door control device 20 according to this embodiment will be omitted.

[0093] [Door control system configuration] First, with reference to Figure 7, the configuration of the door control system 1, including the door control device 20 according to this embodiment, will be described.

[0094] The door control device 20 according to this embodiment includes, similar to the first embodiment, a sequence control unit 2001, a speed pattern generation unit 2002, a speed adjustment unit 2003, a thrust adjustment unit 2004, an inverter control unit 2005, a current-thrust conversion unit 2006, a speed detection unit 2007, a position detection unit 2008, and a pinch detection unit 2009. In addition, the door control device 20 includes a drag force estimation unit 2010.

[0095] The drag force estimation unit 2010 estimates the drag force that is causing the speed fluctuation of the door 60, that is, it calculates the estimated value of the drag force (hereinafter referred to as the "estimated drag force") fdest.

[0096] For example, the drag estimation unit 2010 may be defined as a state observer that estimates the drag causing the speed fluctuation from the thrust command value fcom and the speed detection value vdet. Alternatively, the drag estimation unit 2010 may be defined as a state observer that estimates the drag causing the speed fluctuation by using the thrust detection value fdet of the motor 40 detected by the current-thrust conversion unit 2006 instead of the thrust command value fcom. This is because, when a thrust corresponding to the thrust command value fcom (i.e., a thrust corresponding to the thrust detection value fdet) is input to the door 60, the difference between the speed estimated (expected) by the thrust command value fcom (hereinafter, "estimated speed") vest and the speed detection value vdet, which corresponds to the actual speed of the door 60, is influenced by the drag acting on the door 60. Specifically, the state observer corresponding to the drag force estimation unit 2010 may be defined as shown in the following equations (1) and (2) using state observation theory based on a dynamic model of door 60, etc. In the equation below, s is the Laplacian (Laplace operator), k1 and k2 are adjustment gains, respectively, and T1 and T2 are time constants, respectively.

[0097]

number

[0098]

number

[0099] In this example, the drag estimate fdest is expressed as a first-order lag differential element relating to the difference between the velocity detection value vdet and the velocity estimate vest based on the thrust command value fcom, using the adjustment gain k2 and the time constant T2.

[0100] Furthermore, the state observers shown in equations (1) and (2) are merely examples; for example, considering the convergence of the drag estimate value fdest, a Luenberger state observer or the like may be applied to the drag estimation unit 2010. Also, as mentioned above, in equations (1) and (2), the thrust command value fcom may be replaced with the thrust detection value fdet.

[0101] The drag force estimation unit 2010 can estimate a drag force estimate fdest, which includes a steady-state drag force that is constantly generated on the door 60, including kinetic friction force, and a disturbance drag force corresponding to the pinching of an object, based on the above-described equations (1) and (2).

[0102] Furthermore, the drag estimation unit 2010 may directly estimate the drag force fdest from, for example, the dynamic model (equations of motion, etc.) of the door 60. For example, the drag estimation unit 2010 may estimate the drag force fdest, including steady-state drag and disturbance drag, by applying the thrust detection value fdet of the motor 40 detected by the current / thrust conversion unit 2006, the most recent velocity fluctuation value of the velocity detection value vdet detected by the velocity detection unit 2007, and the mass of the operating part of the door 60 to the dynamic model (equations of motion) of the door 60. Alternatively, the drag estimation unit 2010 may estimate the drag force fdest corresponding to disturbance drag. For example, the drag estimation unit 2010 may estimate the drag force fdest corresponding to disturbance drag by subtracting the amount corresponding to the assumed value of steady-state drag, such as the kinetic friction force assumed for the drive system of the door 60, which is obtained through experiments or simulations.

[0103] [Method for detecting objects being caught in doors during opening] Next, with reference to Figure 8, a method for detecting object entrapment during the door opening operation of the door 60 by the door control device 20 (pinch detection unit 2009) will be described.

[0104] Figure 8 illustrates the method for detecting object entrapment by the door control device 20 (entrapment detection unit 2009). Specifically, the upper part of Figure 8 is a graph showing the time variation of the velocity detection value vdet, velocity command value vcom, drag force estimate value fdest, and thrust command value fcom when an object is entrapped, and the lower part of Figure 8 is a graph showing the time variation of the output state (presence or absence of output) of the entrapment signal d.

[0105] As shown in Figure 8, object pinching occurs at time t21.

[0106] When an object is caught in the door, a disturbance force corresponding to the object being caught continues to act on the door 60. As a result, the drag force estimate fdest by the drag force estimation unit 2010 increases rapidly and then continues to show a very large value that remains almost constant.

[0107] Therefore, the pinch detection unit 2009 can detect that an object has been pinched in the door 60 because the estimated drag force value fdest exceeds the drag force threshold fobst (>0) (time t22).

[0108] In this embodiment, instead of focusing on the decrease in the speed of the door 60, which is a result of the phenomenon of an object being trapped, we focus on the increase in the drag force, which is the cause of the phenomenon. Therefore, the door control device 20 can detect the trapping of an object at an earlier timing, specifically, even when the speed reduction of the door 60 has been compensated to some extent in the speed control system of the door 60.

[0109] The drag threshold fobst (an example of a second predetermined value) for detecting object pinching may be defined based on, for example, a steady-state drag force including the dynamic friction force acting on the door 60. Specifically, the drag threshold fobst is defined to a value at a level assumed to be the steady-state drag force including the dynamic friction force acting on the door 60. This is because, as described above, the drag force estimate fdest is calculated in a manner that includes the steady-state drag force.

[0110] Furthermore, as shown in Figure 8, the pinch detection unit 2009 may determine that the estimated drag force value fdest has exceeded the drag force threshold fobst at time element τd2 (>0) and detect an object being pinched in the door 60. In other words, the pinch detection unit 2009 may detect an object being pinched in the door 60 if the estimated drag force value fdest has exceeded the drag force threshold fobst and that condition continues for a period of time element τd2 or longer (time t23). This eliminates temporary object pinching (for example, when an object is pulled between the door panel and the door pocket and the passenger is able to pull it out immediately), so the pinch detection unit 2009 can detect only object pinching in situations that require the aforementioned pinch-response control.

[0111] The time element τd2 for detecting object entrapment (an example of a second predetermined time) may be determined, for example, from the relationship between the probability of successfully removing the object and the elapsed time since the object became trapped, which can be obtained based on empirical rules or simulations. This is because the longer the elapsed time since the object became trapped, the deeper the object is pulled into the door pocket, and therefore the lower the probability that a passenger or the like will succeed in removing the object while thrust is applied to the door 60.

[0112] Although embodiments for carrying out the present invention have been described in detail above, the present invention is not limited to these specific embodiments, and various modifications and changes are possible within the scope of the gist of the present invention as described in the claims.

[0113] For example, in the embodiment described above, the door control device 20 controls doors mounted on a vehicle, but it may also control doors other than those mounted on a vehicle. Specifically, the door control device 20 may control doors such as elevator doors, and may detect object entrapment during door opening operation or perform entrapment-response control in response to object entrapment detection, in the same manner as described above. This will produce the same functions and effects as in the embodiment described above. [Explanation of symbols]

[0114] 10. Vehicle control system 20 Door Control System 30 Inverters 40 motors 50 Door opening and closing mechanism 60 doors 2000 storage section 2001 Sequence Control Unit (Sandwich-Compatible Control Unit) 2002 Speed ​​Pattern Generation Unit 2003 Speed ​​adjustment section (speed control section) 2004 Thrust adjustment section (thrust control section) 2005 Inverter Control Unit 2006 Current / Thrust Conversion Unit 2007 Speed ​​detection unit 2008 Position detection unit 2009 Pinching detection unit 2010 Drag estimation section

Claims

1. A door control method performed by a door control device that controls the drive of a door, The first step is to detect when an object is caught between the door and the door pocket during the door opening operation, If the pinching is detected in the first step, the second step is to stop the door in the opening operation without moving the door in the closing direction, The procedure includes a third step of restarting the door opening operation after a predetermined time has elapsed since the door was stopped in the second step, Door control method.

2. If the second step is performed a predetermined number of times, the first step and the second step are not performed. The door control method according to claim 1.

3. If the second step has been performed the predetermined number of times, a fourth step is included in which the door opening operation is restarted without performing the first and second steps. The door control method according to claim 2.

4. A door control method performed by a door control device that drives and controls a door, The first step is to detect when an object is caught between the door and the door pocket during the door opening operation, If the pinching is detected in the first step, the second step is to stop the door in the opening operation without moving the door in the closing direction, The process includes, after the door has been stopped in the second step, a fifth step corresponding to the pinching, by controlling the motor that drives the door, In the fifth step described above, the thrust of the motor is reduced to zero. Door control method.

5. A door control method performed by a door control device that drives and controls a door, The first step is to detect when an object is caught between the door and the door pocket during the door opening operation, If the pinching is detected in the first step, the second step is to stop the door in the opening operation without moving the door in the closing direction, The process includes, after the door has been stopped in the second step, a fifth step corresponding to the pinching, by controlling the motor that drives the door, In the fifth step, the motor is output with a thrust force in the direction of closing the door, such that the door does not move. Door control method.

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