JP2003518570A - Integrated obstacle detection system - Google Patents

Abstract

(57) Abstract: A hybrid obstacle detection system for a power driven closure (12) including a non-contact obstacle detection system (14) and a contact based obstacle detection system (100). Hybrid systems combine the beneficial aspects of contact and non-contact systems while avoiding the fault characteristics of component systems when used alone. In non-contact systems, physical contact by the obstacle is required before the obstacle is detected, and appropriate measures are taken. Inputs from both contact-based and non-contact systems are used throughout the entire closed body travel path or are only invoked within certain portions of the entire closed body travel path. Either or both of the configuration systems are used to locate the closure. A central controller (202) is used to coordinate input from the two systems, or a controller associated with one of these systems is adapted for this purpose. If a central controller is used, it may be a controller dedicated to this function or a controller already used around the opening for another purpose.

Description

Detailed Description of the Invention

[0001]     Cross-reference of related applications None

[0002]     Declaration regarding government support for research or development None

BACKGROUND OF THE INVENTION With the development of small and powerful motors in the last decade, and the desire for further convenience, there is an increasing number of situations in which closures are automatically driven through openings rather than manually. . For example, power windows for automobiles are not uncommon today. Similarly, closures such as hatches or doors are known to be driven by such motors.

As a result of further advances, these power-operated closures have recently been equipped with control circuits that recognize specific commands or sets of commands with which the closure operates automatically without the need for further driver input. It became possible to be. In vehicles, fast-closing or one-touch closing power windows are known as examples. By actuating the window control for a short time, the operator can move the power window from the open position to any position between the fully closed positions.

When such a power-driven closing body is used, there is a risk of particularly trapping children and animals. Automotive windows or sunroof devices have several different ways to detect the presence of obstacles, such as children, animals, or inanimate objects, and subsequently disable the fast closure mand to prevent the obstruction by the closure. Has been adopted.

As one of such methods, there is a method of monitoring the current supplied to the closing body operating motor. Generally, a motor rotates a drive shaft or an armature to open and close a closing body in an opening. The elements that actually move the closure are in mechanical communication with the drive shaft via one or more gears. As the motor operates, the motor current of the motor fluctuates, both as a result of varying forces opposing motion and as a result of periodic fluctuations as a result of the rotation of magnetic elements within the motor. It will be possible to know the operation amount of the motor and the moving distance of the closed body by monitoring the fluctuation of the motor current as the motor rotates. That is, the known number of pulses that can be derived from the periodic component in the motor drive current will be equal to the closed body travel distance from the fully open position to the fully closed position. This is commonly referred to as motor current ripple measurement.

The current associated with closure control will be provided with a preset threshold value for normal travel time from the fully open state of the closure associated with the timer to the fully closed state. By combining this threshold time with the position information obtained by monitoring the drive current of the motor, it is possible to confirm whether or not the electric closing body has reached a completely closed state within the allowable time range. Further monitoring of the ripple frequency could be used to estimate the velocity of movement. If the closure does not fully close within the allowed time, or if the speed is unexpectedly slow, some actions are taken, including the automatic reversal of the closure, presumed to have caught an obstacle. . The obvious drawback of this form of obstacle detection and avoidance is that the obstacle must be actually captured and compressed before corrective action such as reversing the direction of movement of the closure. It means that it must be. Such a system is called a "contact" fault detection system.

[0008] Another method of detecting obstacles involves the use of a projected field or beam of electromagnetic energy across or near the aperture. Under normal conditions, a certain level of radiant energy will be detected by the associated receiver. If there is an obstacle near or in the aperture, the radiation field will change; the receiver circuit will detect the change in the amount of energy detected and, depending on the magnitude of the change, corrective measures such as reversing the aperture. Call. Such a system is called a "contactless" fault detection system.

This system also suffers from certain difficulties, which depend in part on the geometry of the aperture, the energy emitting device and the environment and placement of the detector with respect to the aperture. When the closure moves towards the closed position, for example, the structure of the closure or the opening may influence and there may be one or more "blind spots". Power-driven closure is "closed" in opening
When approaching a position, it enters an area called a "pinch zone", where small obstacles, such as children's hands, are detected by a monitor of the power level of reflected energy due to their size. It can be difficult to do.

In summary, existing methods for detecting obstacles in openings with power driven closures have the above limitations when used alone, which is why It may damage obstacles on the road.

SUMMARY OF THE INVENTION The present invention resides in an obstacle detection system suitable for power driven closures, wherein the systems combine the advantages of the contact and non-contact systems described above, while using these systems alone. It relates to a system that avoids the difficulties when there is.

As stated above, the non-contact system appears to work properly for most of its range of motion for each power driven closure. However, when the closure reaches the final part of its path of motion within its opening, the closure itself may impede or degrade the performance of the system, and small obstacles may not be detected. In that case, it will be captured.

To reliably detect obstacles in this area, the invention disclosed herein combines a contact-based system with a non-contact system. This combination can be used for the entire range of movement of the closure or only within a defined pinch zone. If the input from the contact-based system is used only in the pinch zone, multiple elements are utilized to determine the actual position of the closure. For example, a ripple measurement technique may be used, or the non-contact system itself will provide a characteristic output when the closure is in a specific location. A timer or clock source could also be used as an input to determine the velocity of movement of the closure.

Alternatively, one or more switches may be utilized, including a mechanical switch arranged in connection with the closure. An optical switch would also be available that includes a mechanism associated with the closure, such as a tab for blocking the beam of light energy between the emitter and detector.

A central controller can be used to integrate the inputs from these two systems, or a controller coupled to one of these systems can be adapted for this purpose. If a central control unit is used, the device may be a control unit dedicated to this function or may already be used in the environment of the opening for another purpose.

The system disclosed herein is also adapted to react to a wide range of inputs from the two systems and to supply the appropriate reaction thereto. Non-contact systems have not been reported for out-of-specification movements while the closure is moving through its final part, but contact-based systems may report this if the closure is driven slower than expected. Indicates various disturbances. This would indicate the presence of obstacles. Alternatively, it may determine if there is a general impairment in the closed body motor, a temperature related reaction of the closed body motor, or a contaminant or ice formation within the closed body motor. The presence of obstacles will be determined by a combination of various inputs depending on the environment in which the closure is assumed to be present.

Conversely, a non-contact system has detected a level of return energy that is outside of the norm, which usually indicates the presence of an obstacle, but the contact-based system does not record abnormal closure behavior. If so, these combined systems will signal that there are no obstacles. The controller then uses the non-contact system measurements to adjust the non-contact system parameters. This adjustment can be done in a variety of ways, including averaging the returns over the entire number of cycles and adjusting the threshold based on the average return, such as a percentage of the average return energy in the absence of obstructions. it can.
Moreover, the average return energy in such a situation could be used as a new midpoint for the range of acceptable energy values.

Another advantage of combining these systems with new hybrid systems is the fail-safe mode of operation. If the contactless system does not work due to inoperability or obstruction of the emitter or receiver, the co-controller will only rely on the contact system. Conversely, if a contact-based system loses track of closed doors or positions, the joint controller will only rely on contactless systems. In connection with these modes of operation, the hybrid system alerts the operator to this fault condition and / or this event is recorded in a memory linked to the co-control unit for future reference by maintenance personnel.

Yet another proverb with the hybrid system disclosed herein is that it can reliably indicate the end of a rapid closing movement. Similar display is possible when using a non-contact system, but the reliability is low.

That is, by combining and adapting the contact-type and non-contact-type systems, a more accurate and flexible system for detecting an obstacle becomes possible.

DETAILED DESCRIPTION OF THE INVENTION A non-contact system for sensing one or more obstacles in an opening includes an emitter for forming an energy field in and / or near the opening. A receiver is provided to detect the part of the field that is reflected back. Alternatively, the receiver may be arranged to directly receive the radiated energy. When an obstacle enters the energy field, it changes the amount of energy that is sensed by the receiver, either by changing the amount of energy that is reflected or by reducing the amount of energy that is transmitted to the receiver. An index for obstacle detection is created according to the amount of change so that corrective measures can be executed.

From an industrial point of view, the use of a system to monitor the door for obstruction when closed is beneficial for automatic doors. Similarly, in a motor vehicle application, a suitably adapted monitoring system would be useful for preventing entrapment in powered windows, sunroofs, doors, or other opening closures. Such a monitoring system would include a non-contact type consisting of an emitter to create a suitably patterned radiation field near or within the aperture. Surfaces near the aperture and in the field of the radiation pattern reflect the radiation. The receiver is arranged to receive the radiation reflected from these surfaces. Normally, if no foreign matter penetrates the radiation field, the energy level of the reflected radiation does not exceed the warning threshold stored in the memory element connected to the receiver.

However, the presence of a foreign object, such as a human or animal limb, near or inside the opening will change the reflected radiation to the extent that the reflected radiation exceeds a warning threshold. In one embodiment, the level of reflected radiation is such that the foreign matter absorbs some of the radiation that would otherwise be reflected to the receiver, or blocks some of the reflected radiation that reaches the receiver, or Both of them are reduced as a result. In another embodiment, the level of reflected radiation is increased rather than absorbed at the aperture environmental surface as a result of the radiation being reflected by the foreign object to the receiver.

In FIGS. 1-6B, one embodiment of a contactless system is depicted and described. As shown in FIG. 1, the detection device includes a receiver and a control device, and the detection device is an optical detection device,
Infrared detectors, ultrasonic detectors or similar devices are included. The receiver is integral with or in communication with a controller, sometimes called a processor. The receiver output indicates the intensity of the reflected radiation received. For example, the receiver will produce multiple pulses with a duration that reflects the energy intensity received at the detector. In this case, the detector outputs a detection signal when the length of a certain pulse exceeds a predetermined value which is a threshold value. Alternatively, the detector may detect when a predetermined number of consecutive pulses exceed each threshold,
Issue a detection signal.

The threshold is the length of the pulse in the absence of obstacles, or the average length of the pulses emitted when an obstruction such as a window or door moves from an open position to a closed position in the absence of obstacles. Will be involved. The threshold includes a correction factor to account for some variation in pulse length that is issued in the absence of an obstacle or that varies depending on the position of the closure. The threshold value or other value indicating an unobstructed release is stored during the initialization operation. This threshold may be a single value, in which case a warning condition is recognized if the pulse duration exceeds or falls below the threshold. Alternatively, the threshold is defined as a range of acceptable values, but in this case only if the pulse duration value exceeds, falls below, or exceeds or falls below this range. , A warning condition is recognized.

Alternatively, the detector would provide another output signal representative of the intensity of the received radiation, such as an analog signal whose voltage varies with the level of the received radiation.

The detector and emitter may be housed in an integrated unit, in which case this unit will be a small unit in which the detector and emitter share a lens. The emitter may be a light emitting diode or a laser device.

The automatic closing or opening of the closure in the opening may be triggered by a rain sensor, a temperature sensor, a motion sensor, a light sensor or by manually actuating a switch. In this way, the system according to the present disclosure is provided with a signal instructing the opening or closing of the opening, which signal may come from one of many possible sources.
The exemplary non-contact monitoring system is activated after receipt of the command signal and prior to power closure, but may be used to determine environmental conditions at any other time.

2A, 2B and 2C, a non-contact aperture monitor system in the form of a vehicle window monitor system is illustrated. The system includes a front emitter / receiver unit 14 located within the front door 10 and is arranged to produce an energy curtain 16 in the area traversed by the front window. Further rear door 1
A rear emitter / receiver unit 14A is also located in 0A and is arranged to produce a second energy 16A. A similar monitoring system is typically provided on each window on the other side of the vehicle.

The emitter / receiver unit 14, 14A is an emitter / receiver unit 14, 1 from the emitter and window frame 20, 20A which produces the energy curtain 16, 16A.
A receiver is included to detect the portion of each energy curtain reflected back to 4A. As noted elsewhere, depending on the monitoring system implementation, obstacles that penetrate the radiation field will either increase or decrease the reflective portion of the radiation curtain. The emitter / receiver unit may be equipped to detect both of these.

The front emitter / receiver unit 14 is located at the lower front corner of the window opening. In this way, the energy curtain 16 can cover a significant portion of the window opening, where the obstacles between the window and the perimeter of the window frame can be trapped. The rear emitter / receiver unit 14A is also located in the lower front corner of the window,
Depending on its size, shape and the running path of the window, the emitter / receiver unit 14
A is the lower center as shown in FIGS. 2B and 2C to increase the probability of detecting an obstacle,
Alternatively, it is arranged at the upper front window position.

In FIG. 3, the two emitter / receiver units 14, 14 A of FIG. 2A have the same horizontal angles β ₁ , β ₂ of the energy curtain 16, 16 A as the window frames 20, ₂ of the door 10, 10 A.
It is arranged so that it is almost centered within 0A. This ensures that the energy curtains 16 and 16A will detect obstacles in the plane defined by each window even if the emitter / receiver units 14 and 14A are displaced due to repeated vibrations, repeated door closures, or other reasons. You could do it. Even if the emitter and receiver are packaged in the same physical package, the same care should be taken as if the emitter and receiver units were mounted separately. The common package also reduces the chance of misalignment between the emitter and receiver due to environmental vibration or shock.

The arrangements illustrated for the vehicle window embodiments of FIGS. 2A, 2B, 2C and 3 are:
It is also useful for mounting near sunroofs, power doors, or other powered openings or near automatic closures. What is required of the emitter / receiver unit placed against the aperture is that the radiation field can radiate near or in each aperture, or both; expected radiation returns are near or in the aperture. Made when there are no foreign obstacles.

A controller associated with the emitter / receiver unit drives the aperture monitoring system. Typically, the controller will not activate the monitoring system until the controller receives a close request signal. The auto-close request can be made by the controller itself in response to input from various environmental sensors such as rain sensors or temperature sensors. The auto-close request can also be made by the vehicle driver or passenger and is specified by the controller, typically in the form of a window control switch actuation for a specified time, eg 3/10 seconds or more.

If the close request is an automatic close request, the controller activates the appropriate emitter and subsequently the characteristics of the receiver output pulse are analyzed. In embodiments where the output pulse width characteristic varies with the received radiation intensity, the presence of obstacles near and within the aperture is reflected as a variation of the receiver output pulse width from a given reference. That is, the control device detects an obstacle by comparing the output pulse width t with an initial value, T ′, relating to the length of the detection pulse produced by the receiver when there is no obstacle in the opening. T
'Is created during initialization work during system installation. The emitter is activated and the sensing signal is monitored while the opening is closed undisturbed. The average value T of the output pulse width during the closing of the window is determined from the detection signal. That is, T'is:

T ′ = T + 2√T The square root term in the equation is the expected variation in the allowed t value, which accounts for variations that might be due to variations in the system power source.

The controller receives inputs from various sensor systems, such as rain sensors, temperature sensors, light sensors, and aperture monitoring systems, and may be a window motor, sunroof motor, or automatic door motor, depending on the particular application. Send a control signal. The controller may also connect the aperture monitoring system with a warning unit that produces an audible or visual warning to prevent operation of the vehicle. The warning unit can also convey an alarm or beacon signal such as a FR signal of a particular frequency.

FIG. 4 illustrates a block diagram of a non-contact aperture monitor system. This embodiment includes one or more emitting planar light emitting diodes (LEDs) 30, here designated as emitters, a photodiode 34 for detecting reflected radiation, and a controller 38. Emitting plane LEDs 30 are also emitting LEDs, emitting plane LEDs
s, IR LEDs, drive LEDs, measurement LEDs, or collectively also measurement emitters. Radiation Planar LEDs, although other operating frequencies are possible
Radiating 38 KHz with a duty cycle of 90% preferably avoids interference from other sources of radiation, including remote door controls and solar radiation. 38 KHz
The switch 40 enables the emission of this frequency. The higher the energy level of the radiation received by the photodiode 34 and the receiver 36, the longer the pulse width of each of the plurality of successive pulses in the output stream of receiver output signals. It has been experimentally found that a receiver output width of 30 ms to 40 ms is optimal for the disclosed system, although other time widths are available in the absence of obstacles. The pulse length threshold is determined and stored in a memory linked to the controller. 30ms to 4
For a receiver pulse width of 0 ms, the preferred threshold is +/- 3 ms, although other thresholds may be utilized depending on the needs of the particular monitoring system implementation. The controller compares the detected receiver output pulse width with a stored threshold. Depending on the embodiment, an obstacle will be detected if the output signal pulse width is above a threshold or simply above it.

Other elements that make up the aperture monitor system include a read-only memory element (such as the exemplary EEPROM 44), a voltage regulator 46, a temperature sensing element 50, a filter and a second digital electrometer 52A, 52B, an analog. A switch 54 and a calibration signal generator 56 are included. The EEPROM 44 is provided as a storage device for the data of the control device 38 including the threshold value for comparison with the output of the receiver 38. The voltage regulator 46 supplies various powers to the calibration signal generator 56 and the emission plane LEDs 30. The temperature sensor 50 provides the controller 38 with an indication of the operating temperature of the monitoring system. Digital electrometer 52A, 52B
Gain and chelation and emission plane LEDs based in part on room temperature
It is used to adjust the output level of s56 and 30. Analog switch 54 represents the gain control element of receiver 36.

A calibration signal generator 56 is illustrated in FIG. 4, which may be a light emitting diode (LED). The LED 56 is preferably arranged on a single circuit board 60 along with other system elements as shown in FIGS. 6A and 6B. In order to keep the monitor system as unobtrusive as possible in vehicle applications, it is preferable to pack the elements on the circuit board as densely as possible and the circuit board should have multiple conductive and insulating layers. There is. This allows circuit board 60 to have circuits on both sides as shown in FIG. 6B. In one embodiment, the receiver and photodiode 3
4 is located on the side of the circuit board 60 opposite the collection of remaining circuit elements including the calibration LED 56. This allows the receiver to be easily electromagnetically isolated, improving system performance.

The reference LED 56 is controlled separately from the IR LEDs 30. A small aperture, such as a plate via 62 through the printed circuit board, allows a calibration LED 56 (also referred to as a reference LED) and a photodiode 3 in the receiver section of the monitor system.
It is prepared between 4 and. The calibration LEDs 56 are IR LEDs30.
Those having temperature response characteristics similar to those of the above are preferably selected; IR
The temperature response of the LEDs 30 can be known by performing normal calibration each time before using the monitor system.

Another advantage of using the calibration LED 56 and the IR LEDs 30 with the same temperature response curve, which is the opposite of that of the receiver, is that at least some of the temperature-dependent variations in receiver performance are temperature dependent. It is automatically offset by the decrease in LED efficiency with increase. As a result, the total loop gain required to maintain the monitor system in a stable operating condition is reduced.

Experimental results show that output pulses of 30 ms to 40 ms are optimal as output pulse widths from the receiver, although longer or shorter times may be used in other embodiments. It was Therefore, in the opening to be monitored,
Alternatively, it is desirable that the output of the receiver is within this range when there is no obstacle in the vicinity. This is because the calibration LED 56 activates the IR 56, causing the turret to impinge on the photodiode 34 of the photo IC 32 in the receiver portion of the system, and then the controller 38 adjusts the receiver gain to achieve the desired output pulse width. It is achieved by gaining. IR LE using calibration LED56 drive current
A suitable drive current is determined for Ds30, which must yield the same receiver output in the clear. This is because the calibration step previously performed includes the drive current for the calibration LEDs 56, the drive current for the IR LEDs, both the output from the monitor system receiver 36, and the circuit board 60.
Output from the calibration LEDs 56 for radiation transmitted through the vias 62, and from IR LEDs 30 when both radiation near or in each aperture and some radiation is reflected back to the photodiode 34. This is because they are associated so that the outputs are the same. In one embodiment, the calibration LED 56 is activated for this purpose for about 10 mS.

Contact-based systems, as opposed to the above non-contact systems, detect changes during the closing operation of a closure, such as a window. Such systems include time-based systems and motor characteristic-based systems.

Referring to FIG. 7, the time-based fault detection system 100 is based on a predetermined tolerance time required for the closure to reach a fully closed position within the opening or to reach some intermediate position of the opening. A controller 102, such as a programmable microprocessor, is in communication with a timing data source, such as a local oscillator 104. One oscillator can be replaced with an external timing signal from another system. The controller is also a memory that holds data that holds the length of time it takes for the closure 108 to move a predetermined distance or move from one position in the opening to another in the absence of obstacles. Are connected. Alternatively, the allowable time range is provided in the memory. The same memory element may also be used to store the closed position relative to the opening in a specific example; this information is used to reconfirm the window position when power is restored after power is stopped. . The controller simply writes the drive position information in the memory periodically. This feature is particularly useful when the closure is partially open during a power interruption.

The controller 102 is also in communication with the motor 112. The motor 112 is in mechanical communication with the closure 108 via one of a variety of mechanical devices known to those skilled in the art. Generally, there is a linear relationship between the rotational speed of the drive shaft of the motor and the linear displacement of the associated closure. Similarly, there is generally a linear relationship between the rotation speed of the motor and the movement speed of the closing body. Given these relationships, if the starting position (fully retracted position) is known, the controller 102 may use various methods to close the closure 10 within the opening 110.
Eight positions can be inferred. The controller 102 can also determine if the closure is in place within the opening 110 at the appropriate time, or if the closure 108 is moving with the correct velocity range. Yet another embodiment of such a system could determine that the closure motor speed has an appropriate rate of change during closure movement.

In order to determine if the closure 108 is at a certain critical position within the opening 110 at a given time, some means 114 for establishing a relative position must be associated with the closure. . Such means 112 may be associated with tabs for activating associated with some form of coded symbol placed on the closure 108, or for blocking light rays emitted and detected by the optical sensor. Working optical sensor;
A sensor responsive to a plurality of elements disposed in association with a closure, the elements having the property of inferring the closure position by determining the position of the series of elements relative to the sensor; Included are a plurality of sensors located near the opening and closure closure runway for detecting one or more elements located in relation to the closure; or other similar device. The sensor may be optical, magnetic or mechanical, as long as it is of the appropriate type for the cooperating element associated with the opening. Alternatively, one or more mechanical sensors that can detect the closure 108 may be used in the opening 110 without the need for additional signal generating elements on the closure 108 itself. Furthermore, the sensor element can be arranged in close proximity to the travel path of the closure 108 with the joint element to be detected arranged in connection with the opening 110. In the latter case, the co-element may be active, such as a magnetic sensor, or passive, such as a display scanned by an optical scanner.

The closing body position information is the position of the closing body 108 at the correct position, the plate of the position by the control device,
Used to determine the exact time or range of times. These ranges can be established by empirically analyzing the closure function over the operating environment where the closure system is located.

Another contact system is a motor 112 that drives a closure 108 in the opening 110.
By avoiding the need for distributed sensors and sensing elements. In this embodiment, some characteristics of the motor 112 are monitored to measure the operation of the closure 108. The motor 112 current generally exhibits periodic fluctuations associated with the rotation of the motor drive shaft. In one embodiment, the motor drive current is monitored by inserting a resistor 120 in series with the motor power supply and passing the sensed potential through an AC amplifier 122 having a predetermined frequency response. Amplifier 122
Is converted to a square wave by converter circuit 124, as known to those skilled in the art.
Next, the counter 126 is used to measure the number of pulses in the motor power supply current. This numerical value, which is also called a ripple count, is used as the amount of distance traveled by the closing body 108. The frequency of occurrence of these pulses is used as a value representing the motor speed.

One of the potential drawbacks of the ripple count circuit is that when the motor 112 is replaced, the control device 112 may need to be adjusted for each motor because the periodic fluctuation characteristics are different for each motor. is there. That is, although some motors 112 have periodic signals that can extract a square wave or ripple, the replaced motors 112 may exhibit more complex periodic waveforms. In another embodiment of the contact-based system to address such situations, a metric more commonly obtained from the periodic characteristic of the motor current without the need to convert the motor signal to a square wave. To use. For example, a spectral density function related to motor current can be derived, and the average frequency subsequently monitored as a closed body velocity value. Similarly, an automatic correction function related to the motor current is induced. Alternatively, in a simple way, the frequency content is examined by monitoring the passing energy with one or more selective filters.

Since the magnitude of the urging force applied to the closed body is reflected in the decrease of the ratio in the necessary components,
It can be detected as an extraordinary decrease in closed body velocity. For example, if a velocity that is slightly off the expected velocity is measured, it is interpreted as an accumulation of ice or debris in the closure, but a larger deviation is interpreted as an obstacle is detected. right. The rules governing tolerances and interpretation of measured data should be established based on the empirical response of the closure system to various test conditions, including the environment in which the openings and closures are likely to be placed and the insertion of test obstructions. You can

Through the use of the current sensing circuit 130, measurements of motor drive current are provided to augment the ability of contact-based systems to detect obstacles, or perhaps provide an indication that an obstacle is present. Used. Specific methods of the circuit 130 are known to those skilled in the art. That is, the pulse counter 126 indicates that the closure 108 has reached a specific position within the opening at a time outside the allowable range, but if the monitored motor current is within the normal range during closure travel, the motor itself will It is judged to have failed and the closure could not be lifted within the intended time range. In another embodiment of the disclosed contact-based system, the allowed time range is shifted to compensate for motor function delay trends. Further, in the system for updating the allowable range, the control device 10
The number of past measurements stored in memory 106 associated with 6 is also considered. That is, if a similar shift in performance occurs when the number of past measurements reaches a certain number,
It will be the basis for resetting the tolerance of the counter value or closed body running speed.

The more factors that characterize the behavior of the closure body considered, the better and more accurately it is possible to distinguish between the abnormal behavior of the closure body system without obstacles and the presence of obstacles.
Therefore, using the DC motor current detected in combination with the measured value of the traveling speed of the closed body or the traveling speed of the closed body for a certain period, the function of the closed body in the case where only the contact-based system is used is more improved. Can be reliably interpreted.

However, in the case of contact-based systems, the triggering of corrective measures nevertheless relies on the actual pinching of obstacles. As mentioned above, it is desirable to provide a system that can detect obstacles without the need for this pinching. Furthermore, in non-contact systems, desensitization is observed for the final part of the intra-aperture closure track, probably due to the position of the sensor system relative to the aperture and the closure and the physical placement of the aperture and the closure itself. . Further, in the non-contact type system, the judgment of reaching the final position in the opening of the closing body is not reliable.

Thus, a more accurate obstacle detection system is achieved through the use of contact and non-contact obstacle detection systems. Such a hybrid system is illustrated in the block diagram of FIG. 5, in which a non-contact system includes the emitter / detector module 14 of FIGS. 1-16B and a contact-based system is illustrated. One of the detector devices described with the seven system 100 may be included. In other embodiments, contactless systems include an ultrasonic sound or ultrasonic emitter / detector, as is known in the art. The ultrasonic emitter / detector module is located proximate to each opening that is the same as or similar to the opening of the infrared emitter / detector module. The contactless system avoids clogging by obstacles during the sensing process, while the contact-based system provides an accurate indication of the relative position of the closure, while at the same time the non-contact system sensitivity is optimal. Provides complementary obstacle detection in a poorly closed position.

The controller used in the hybrid system of FIG. 9 is the controller 102 used with the contact-based system of FIG. 7, the controller 38 of the contactless system of FIG.
, A dedicated controller 202 working with the first two controllers 38, 102, or a processing element already found around the opening and adapted for use in controlling such a hybrid system. Good. For example, in the vehicle opening embodiment, an electronic module that communicates across the vehicle communication bus is suitable for this purpose. Communication of the elements of the currently disclosed hybrid system, including one or more controllers, is preferably via a standard communication path or bus. Such paths may be electrically conductive or optical.

The extent to which the sensitivity of non-contact systems varies is most likely to depend on the position of the obstruction and / or the obstruction within the opening.

These factors are used to define where factors from the contact-based system are considered or emphasized in making a determination of the presence of an obstacle.

For example, testing various obstacles has shown that such non-contact systems using infrared emitters and associated detectors are extremely sensitive above 75% below the aperture. Therefore, above this portion of the aperture, controller 102 relies solely on the output from the sensing portion of the contactless system as shown in FIGS. 1-6B. An indication of closure position may be provided as an input from the contact-based system 100. In addition, the closure position is presumed to be the result of sensing by the non-contact system 14. For example, if the closure arrives at a certain position within the opening, the characteristic change can be observed at the non-contact system output.

When the closure 12 is driven up to the last 25% of its path of travel within the opening 20 of this embodiment, the input from the contact-based system determines if an obstacle is present. Can be used with non-contact system information to perform. In this example, the last 25% of the path of travel is defined as a "fingertip danger zone." Therefore, as shown in FIG. 9, a common controller or processing element 200 receives inputs from both systems and depends on one or both depending on the closure position for obstacle detection.

It is assumed that the opening has almost reached the upper part of the movement route. The contactless system receive output is within normal range. However, contact-based systems will indicate that they are rotating at a speed below a previously set minimum threshold. The controller is programmed to interpret this data in various ways. If the motor speed deviations are small, conventional empirical analysis suggests that the closing motor shows a temperature-related effect, or that the closure itself is soiled by ice or debris. A temperature indicator is used as another input to confirm or exclude such options. If the motor speed deviation is significant, it is set that an obstacle is present and not detected by the non-contact system. In the latter case, appropriate action to remove the sensed obstacle is invoked, including reversal of closure movement direction and / or activation of an alarm.

Alternatively, following the initial preliminary indication from the contactless system that an obstacle may be present, the motor driving the closure is slowed down. In this embodiment, different tolerances of the sensor thresholds (contact and / or non-contact) may be applied to make a more accurate determination of whether an obstacle is actually present. In that case, the appropriate action referenced above is invoked.

Another advantage of employing a dual system of obstacle detection is that the non-contact system receives return energy less than a threshold level (up or down depending on the particular embodiment of the non-contact system). It will be clear when. Determining whether the result of a non-contact system is an actual indication of an obstacle, or an indication of a change in non-contact system performance that must be considered, by referring to a contact-based system. Is possible.

If the absence of obstacles is verified by a contact-based system,
The combination system may be provided with the ability to dynamically adapt to variations in background reflected radiation. This is achieved in many ways. The sensed energy levels are averaged with the difference between each of a selected number of previously sensed energy levels and a threshold when stored in a memory associated with the system. The result of this average is used in defining the offset for non-contact systems in future cycles. For example, offset is defined for emitter, or receiver gain. This offset results in an adjustment in the difference between the threshold and the receiver output by a percentage of the averaged variation. The background reflected radiation changes as a result of the expected surface degradation, or based on an empirical analysis by the system of the rate of change of the background reflected radiation, which depends on the expected rate, from previous measurements to be averaged. The number of samples can be changed. Alternatively, the difference between the current receiver output and the threshold is used without previous measurements in defining the appropriate offset. In addition, the desired number of discontinuous previous measurements are used in the averaging process.

In another embodiment of this hybrid system, the controller 202 stores thresholds for both contactless and contact-based systems, and stores the appropriate action taken depending on which threshold is obtained. And associated with a memory 204 that stores empirical data that reflects previous measurements from contactless and contact-based systems. Therefore, if a non-contact system erroneously records an object, and the contact-based system records a motor rotation speed slightly below a preset threshold, the controller will cause the closure to close to its recent storage. It is possible to determine whether or not the tendency to make the motor rotation speed slower can be set by referring to the executed data. If so, the corresponding threshold value of motor rotation speed can be adapted accordingly for future reference.

In another embodiment, the memory element is used to store an acceptable velocity pattern as a function of closure position, but this should not be a constant value. This may be necessary, for example, if extra force is required to bring the closure to the fully closed position where a gasket seal is required.

If the non-contact system again fails to register the obstacle, but the contact-based system shows a significantly slower motor rotation speed, or a closed body position that does not reach the fully closed position within the opening, the obstacle Object detection is recognized and the threshold of the non-contact system is incrementally adjusted to increase the sensitivity of the non-contact system.

Alternatively, it may be envisaged to use a contact-based system with a non-contact system over the entire range of closure movement.

The controller can then employ a number of factors in setting the presence of obstacles. These factors may include the reflected energy level or the time the energy was received relative to the time it was emitted. Both factors come from non-contact systems. In addition, the controller may employ one or multiple motor rotation speeds (and thus closure movement speeds), closure absolute positions, and changes in closure movement speeds. All come from a contact-based system.

Thus, the control device 202 according to the present invention operates with various contact and non-contact system inputs for the purpose of recognizing obstruction of the closure within the opening, and such recognition is adequate. The action is triggered. Among the possible inputs from the contact-based system are the motor shaft speed or speed, motor current, closure position, and closure movement duration. Closure position in this context means the relative position of the closure within the opening as well as whether the closure has reached the "fully closed" position. Among the possible inputs from a contactless system is the degree to which the amount of energy received differs from what is expected (ie, according to an embodiment,
Both exceed or do not reach the expected amount) and there is a lag in the time it takes for the radiant energy to return to the receiver for a percentage of the total received energy.

It is preferred that the controller 202 be able to provide an output through suitable interface circuitry and that the controller 202 shut off the closure for each opening if it determines that an obstacle is present. The closure is commanded to reverse its movement and move to the fully open position. In addition, the controller 202 provides a threshold reached display output for the purpose of activating some form of audio or visual alert.

These and other embodiments of the invention described above are intended to be illustrative by way of example, and the actual scope of the invention should be limited only by the following claims and spirit. .

[Brief description of drawings]

FIG. 1 is a block diagram of a non-contact aperture monitor system according to the present disclosure.

2A, 2B and 2C are illustrations of placement in a vehicle of an aperture monitoring system, such as that of FIG. 1, suitable for use in a vehicle window.

FIG. 3 is a top view of the system of FIG. 2A.

FIG. 4 is another block diagram of the monitor system of FIG.

5 is a perspective view of the interior of a vehicle door depicting a surface that reflects radiation emitted by the aperture monitoring system of FIG.

6A is a plan view of a circuit board for mounting the elements of the monitoring system of FIG.

6B is an elevational view of the circuit board of FIG. 6A.

FIG. 7 is a block diagram of a contact-based obstacle detection system according to the present disclosure.

FIG. 8 is a block diagram of various components of the contact-based obstacle detection system of FIG.

FIG. 9 is a block diagram of a hybrid obstacle detection system according to the present disclosure.

─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Chapdeline, Eugenie, Earl.             United States 03110 New Hampsi             Bedford Sandstone               Drive 27 F-term (reference) 2E052 AA09 BA01 BA06 CA06 DA02                       DB02 EA11 GA02 GA06 GA08                       GB06 GC06 KA01                 3D127 AA02 BB01 CB05 CC05 DF04                       DF33 FF05 FF06 FF12

Claims (38)

[Claims] 1. An emitter for generating an energy field in the vicinity of an opening, a receiver for receiving at least a part of the energy field and forming an output characteristic of the received energy field, the motor drive closure being arranged together with the motor drive closure. At least one sensor forming an output characterizing the operation of the motor-driven closure, and a system control for receiving the receiver output and the at least one sensor output and generating a closure control output in response thereto. An obstacle detection system for a motor-driven closure in the opening, comprising: a device. 2. The system of claim 1, wherein the energy field is selected from the group consisting of an infrared energy field and an ultrasonic energy field. 3. The system of claim 1, further comprising a non-volatile memory device associated with the system controller. 4. The system of claim 1, wherein the system controller is further used to compare the receiver output with a threshold in setting the first obstacle indicator. 5. The system controller of claim 4 further used to set the second obstacle indicator to compare the at least one sensor output with a respective threshold value. System. 6. The system controller of claim 5 further used to generate the closure control output in response to both the first and second obstruction indicators. System. 7. The system controller of claim 5 further used to generate the closure control output in response to one of the first and second obstacle indicators. System. 8. The controller is adapted to adjust the receiver output threshold based on the receiver output when the second obstacle indicator has a first value. 7. The system according to 7. 9. The controller is adapted to adjust the at least one respective sensor threshold based on the at least one sensor output when the first obstruction indicator has a first value. The system of claim 7 characterized. 10. The controller generates the closed body control output when the receiver output is within a first value range and the at least one sensor output is within a second value range. The system of claim 1, adapted to adjust the criteria based on whether to do so. 11. The at least one sensor is a sensor for determining an absolute position of the closure within the opening, the sensor including a sensor selected from the group consisting of a mechanical sensor and an optical sensor. The system of claim 1, wherein: 12. The at least one sensor comprises a sensor for determining the relative position of the closure within the opening, the relative position being a reflection of an offset from the initial position of the closure within the opening, The system of claim 1, wherein the sensor is selected from the group consisting of a mechanical sensor and an optical sensor. 13. The system of claim 1, wherein the at least one sensor comprises a ripple counting circuit associated with a motor driving the motor drive closure in the opening. 14. The system of claim 1, wherein the at least one sensor further comprises a current sensor for sensing current drawn by a motor driving the motor-driven closure in the opening. 15. The system of claim 1, further comprising a sensor that provides a timing signal to the system controller. 16. The system of claim 1, wherein the closure is selected from the group consisting of vehicle windows, vehicle sunroofs, vehicle hatches, and vehicle sliding doors. 17. The system of claim 1, wherein the closure control output is a command to open the closure within the opening. 18. The system controller for verifying only the receiver output in producing the closure body control output when the leading end of the closure body is within the first region of the opening. And the system controller is configured to generate the closure body control output when the leading end of the closure body is in the second region of the opening. The system of claim 1, adapted to match both sensor outputs of the. 19. The at least one sensor output is a motor shaft rotation speed,
Motor drive current, rate of change of motor shaft rotational speed, speed of movement of the closure within the opening, absolute position of the leading end of the closure within the opening, and leading end of the closure within the opening. The system of claim 1, wherein the system is a reflection of a variable selected from the group consisting of relative positions of. 20. Commanding the closure to move toward a closed position within the opening; monitoring closure characteristics associated with the closure having a first sensor system; and a second sensor. Monitoring an empty space characteristic associated with an empty space adjacent the opening having a system, and selectively recognizing the presence of an obstacle by a controller based on one or both of the closure body and the empty space characteristic. A step in which the controller is associated with each of the first and second sensor systems; and a method of monitoring a motor driven closure in an opening for the presence of an obstacle. 21. The step of monitoring the closing characteristic includes a closing body moving speed, a rate of change of the closing body moving speed, an absolute position of the closing body in the opening, a relative position of the closing body in the opening, a closing motor drive current, and a closing motor. 21. The method of claim 20, further comprising the step of monitoring the closure characteristic selected from the group consisting of a ripple count value and a closure motor drive shaft rotational speed. 22. The energy level reflected by the emitter, and then reflected by the emitter from the surroundings of the aperture to the receiver, rather than being transmitted by the emitter and then reflected to the receiver. Monitoring the closure characteristic selected from the group consisting of the energy level absorbed by the surroundings of the opening, the energy level transmitted by the emitter and received by the receiver without attenuation around the opening. 21. The method of claim 20, further comprising: 23. The method of claim 20, further comprising the step of setting an absolute position of the closure with respect to the opening. 24. In the selective recognition step, the set absolute position is firstly determined.
The closing characteristic is compared only when the value is within a value range, and the closing and empty product characteristics are compared only when the set absolute position is within a second value range. Item 23. The method according to Item 23. 25. The step of selectively recognizing the presence of the obstacle comprises the step of comparing one or both of the closure and empty space characteristics with respective reference values associated with the controller. 21. The method of claim 20 characterized. 26. The method further comprising the step of selectively adjusting the first sensor system by the controller in response to at least comparing the empty product with the respective reference values. The method according to 25. 27. The method further comprising the step of selectively adjusting the second sensor system by the controller in response to at least comparing the closure characteristic with the respective reference value. The method according to 25. 28. The step of monitoring the closure characteristic comprises the step of monitoring the blanking characteristic with a second sensor system selected from the group consisting of an infrared radiation and sensing system and an ultrasonic radiation and sensing system. 21. The method according to claim 20, characterized in that 29. A non-contact obstacle detection system arranged to monitor the proximity perimeter of the panel and a contact arranged to monitor the movement of the panel as it moves towards the closed position. And a non-contact obstacle for selectively using inputs from the non-contact and contact-based obstacle detection system in recognizing the presence of an obstacle in a panel movement path. An obstacle detection system for use with a power-driven panel of an automobile, comprising: a detection system and a controller that communicates with the contact-based obstacle detection system. 30. The non-contact system comprises an infrared emitter and a receiver system adapted to detect a reduction in reflected infrared energy when an obstacle is present in the panel travel path. Item 29. The system according to item 29. 31. The non-contact system comprises an infrared emitter and a receiver system adapted to detect an increase in reflected infrared energy when an obstacle is present in the path of panel travel. Item 29. The system according to item 29. 32. A receiver system, wherein said contactless system is adapted to detect an infrared emitter and a reduction in received infrared energy as a result of an obstruction blocking a portion of the infrared energy emitted by said emitter. 30. The system of claim 29, comprising: 33. The controller recognizes the location of the panel based on input from at least one of the non-contact and contact-based systems,
Use said input from said non-contact obstacle detection system when said panel is in a first range of locations and said non-contact and said contact based if said panel is in a second range of locations 30. The system of claim 29, wherein the system is adapted to use the input from an obstacle detection system. 34. A contact based system wherein a panel motor ripple counting circuit, a panel motor drive shaft rotational speed sensor, at least one sensor disposed adjacent to the panel for sensing panel motion, and a panel motor drive current. 30. The system of claim 29, wherein the system is selected from the group consisting of sensors. 35. The system of claim 29, wherein the panel is selected from the group consisting of vehicle windows, vehicle sunroofs, vehicle hatches, and vehicle sliding doors. 36. The system of claim 29, wherein the controller is adapted to adjust characteristics of the contactless system based on the input from the contact-based system. 37. The system of claim 29, wherein the controller is adapted to adjust characteristics of the contact-based system based on the input from the contactless system. 38. The non-contact system comprises an ultrasonic emitter and receiver system adapted to detect a difference between a predetermined range of times and the time of ultrasonic energy transmission and reception. 30. The system according to claim 29.