WO2003014503A1

WO2003014503A1 - Device and method for controolling the course of movement of a limitedly movable element

Info

Publication number: WO2003014503A1
Application number: PCT/EP2002/008685
Authority: WO
Inventors: Gerd Reime
Original assignee: Gerd Reime
Priority date: 2001-08-04
Filing date: 2002-08-03
Publication date: 2003-02-20
Also published as: DE10137705A1

Abstract

The invention relates to a device and to method for controlling the course of movement of at least one element (10) which is limitedly movable in relation to another element (12). A limiter device (11) is provided in order to limit the sphere of movement of said movable element (10). At least one sensor device (13) is also provided for recognition of obstacles within the sphere of movement of the movable element (10), supplying the control device (14) with an output signal. The control device controls the limiter device (11) according to said output signal in order to modify the possible sphere of movement (B) for the movable element, thereby avoiding as effectively as possible damage which can be caused by uncontrolled movements of the movable element.

Description

Device and method for controlling a sequence of movements of a limitedly movable element

description

Relation to related applications

The present application claims the priority of the German patent application 101 37 705.3, filed on 4.08.2001, the disclosure content of which is hereby expressly made the subject of the present application.

Field of the Invention

The invention relates to a device and a method for controlling a sequence of movements of at least one element that is movable to a limited extent with respect to another element.

State of the art

Devices of this type are used in many fields of technology, for example to avert damage that can arise from the fact that there are obstacles in the movement space of a movable element. For example, in the vehicle area there is also a stop on many doors which, as a limiting device, limits the maximum range of movement of the vehicle door or of a door. Nevertheless, it can happen that a door is opened and bumps into an unexpected object. In the vehicle area, for example, another vehicle, a tree or a stone can be in the way, so that the vehicle door can be damaged. Likewise, a tailgate in a garage may not be able to swing up to the same extent as on the street. So far, user awareness has been required to avoid damage. In order to reduce the resulting damage to vehicles, for some years now all vehicles have been equipped with ram protection strips that are led around the vehicle. This will at least reduce the damage to the paintwork, but damage can also occur to these strips. EP 706 648 A1 discloses an optical system for detecting a change in the reflection on an object, in which changes in extraneous light have no influence on the measured value. The system there is essentially used as a windscreen wiper sensor for detecting the raindrops hitting a windshield, but can also be used as a proximity sensor.

From the German patent application 100 01 955.2 an arrangement is known in which two light sources - one that radiates outwards and one that shines exclusively on the receiver - are arranged in such a way that an actuating element, eg. B. a finger and the movement pattern when tapping a user interface is recognized. The movement pattern is recorded in such a way that deliberate and unintentional operations can be distinguished.

Summary of the invention

Starting from this prior art, the present invention is based on the object of further developing a device and a method of the type mentioned at the outset in such a way that damage due to uncontrolled movements of a movable element is avoided as sustainably as possible.

This object is achieved by a device with the features of claim 1 and by a method with the features of claim 19.

Basically, a sensor device is provided, which serves for the detection of obstacles in the movement space of the movable element. Depending on the output signals of the sensor device, a limiting device for the movement space of the movable element is then activated, so that the movable element can only move as far as is possible without problems. Preferably, the movable element stops e.g. about 1 cm in front of the respective obstacle, whatever it is. This allows ease of use e.g. in the movement of vehicle parts such as doors or tailgates and the convenience for the user can be increased. At the same time, the movable element itself is protected from damage.

Further advantages result from the subclaims. Brief description of the figures

The invention is explained below using an exemplary embodiment. Show it:

1: A representation of a side view of a front part of a vehicle with a vehicle door as a movable element. FIG. 2: A view of an open vehicle door along the longitudinal axis of the vehicle. FIG. 3: A schematic plan view of the movement space of a movable element.

4 shows a sensor device for optoelectronic detection of obstacles, FIG. 5 shows a schematic illustration of a light guide, FIG. 6 shows the determined decrements

Detailed description of preferred embodiments

The invention will now be explained in more detail by way of example with reference to the accompanying drawings. However, the exemplary embodiments are only examples which are not intended to restrict the inventive concept to a specific arrangement.

The figures show a device for controlling a sequence of movements of at least one element 10, here a body, limitedly movable element 10, here a car door. However, other parts such as e.g. the tailgate of a vehicle or any doors, swivel mechanisms, mirrors and the like into consideration, provided that only the corresponding sequence of movements of a movable element relative to another element is present. An example would also be a pinch protection in the area of windows such as electrically operated vehicle windows. However, the exemplary embodiment is explained below using a vehicle door as a movable element 10.

In order to limit the movement of such movable elements 10 in the movement space B, stops have so far been provided which ensure that the movable element is only moved in an approved area. This limiting device is usually provided in the area of the articulation of the movable element, for example in the case of a vehicle door in the hinge area, and is secured there by means of appropriate linkages and bolts. According to FIG. 1, the movable element 10 or the other element 12 is assigned a sensor device 13 which is to detect obstacles O in the movement space B of the movable element according to FIG. 3. Depending on the detected obstacles, the sensor device 13 outputs an output signal to a control device 14, which then controls the limiting device 11 to change the possible movement space for the movable element 10 as a function of this output signal. In other words, if, for example, a vehicle door is opened and the sensor device recognizes that the maximum opening path is not possible because there is, for example, a bollard, a stone or another obstacle O, a maximum opening path to limit the movement space is established via the limiting device B set, which helps to reliably avoid damage. It can no longer happen that the user of the vehicle believes that he can open the door freely, but there is an obstacle below his viewing height, so that the vehicle is damaged.

The sensor device 13 can be constructed in various ways. 1, the sensor 15 can be arranged along the outer edge 10a of the vehicle door. Likewise, it is not only possible, but in particular with optoelectronic sensors 15, these e.g. to be arranged on a circuit board outside the movable element 10 and to bring the light beams via light guides 40 to the point at which the light is to be emitted and the reflection of the obstacle to be detected. The shock protection strips 19, which are already present on the outer sides 10b of the doors, are suitable in the vehicle area, especially since there are also suitable plastics which can be used as light guides. A corresponding illustration is shown in Fig. 2. These light guides should preferably be able not only to transmit and receive light at their end, but also at least in selected areas, e.g. along the outside 10b of the door. For this purpose, the light guide can be e.g. have a cut or a prism that allows light to enter and exit.

The sensor device preferably comprises an extraneous light-independent, optoelectronic sensor. Alternatively, however, an ultrasonic sensor can also be provided in the sensor device, as is also currently used in the parking monitoring system. In general, optical sensors work satisfactorily if the transmission path and the reception path are constructed optically separate from one another. This means that if there is no reflection, the emitted light will not hit the receiver. This can be easily achieved if, for example, a separate channel is set up for the reception area, in which no light arrives from the transmission area, as long as there is no object in front of or in front of these two channels. Then, in the absence of a reflecting object, no light is reflected back, so that the received signal is basically zero. A received signal that is not available, i.e. zero, cannot be influenced by extraneous light. As a rule, however, efforts are made to attach a plastic cap over a sensor for a common transmitting and receiving element. When using such a cover, part of the emitted light output is likely to be reflected on this plastic cap and hit the receiver. The light reflected by a vehicle door that is outside at an obstacle O then has only a small value compared to the internally reflected value. There is therefore a risk that a value is measured for the internally reflected light, which is then changed in amplitude by an external light influence such as wave light. The reason is the so-called straylight effect and is due to a change in the photosensitivity of the photodiode when extraneous light occurs. So with a sensor that experiences an internal reflection on a plastic surface, it will not be possible to distinguish whether an object is approaching from a distance from the outside or whether the sensor is spontaneously exposed to external light.

In order to eliminate this maladministration, a device according to EP 706 648 A1 can be used as an optoelectronic sensor device, the disclosure content of which is therefore also made the subject of the present application.

An optoelectronic sensor also has the advantage that it can be arranged anywhere on the movable element 10 or the other element 12, provided that it is ensured that e.g. Light can be emitted and received again via light guides. Preferably these locations are on the outer edges of the movable element, e.g. with a vehicle door in the area of the outer rebate or the impact protection rail.

Another advantage of such a device is that the sensor can be arranged on a circuit board which is attached to the movable element 10 or the other element. Ren element 12 is attached, and then the light is brought to the outside, for example via a light guide. The advantage of this arrangement is that reflections occurring in the light guide, which arrive again in the receiver, do not lead to sensitivity to external light and thus to an unwanted release of the blocking means. With this arrangement, light reflected internally in, for example, diffuse locations in the light guide is again compensated for, so that sensitivity to extraneous light is fundamentally excluded. Furthermore, there is the advantage that, according to FIG. 5, a single sensor device 13, that is to say receiver 22, transmitter 21 and compensation element 23, can be used not only with a light guide, but also with a whole series of light guides which emit light next to one another radiate and once operate the outer edge 10a, such as the door edge, and also the outer side 10b, such as the rail 19, and in the lower door area provide protection against stones. Such a light guide 40 is shown schematically in FIG. 5. The sensor device 13 is arranged in the region of the curve 40d. The arm 40a provided with gradations can be assigned, for example, to the rail 19, the arm 40b to the outer edge and the arm 40c to the lower door area.

An exemplary optoelectronic sensor device operates according to FIG. 4 as follows:

Under a glass plate 31, at least two light-emitting diodes are arranged as transmitters 21 and compensation elements 23 as transmission elements, the light of which can be reflected at least partly on the glass plate 31 as a transmission element, also penetrates it and, after reflection or scattering, partly on the receiver 22, here a photodiode incident. In the present example, the light of the first light-emitting diode (transmitter 21) is reflected on a finger or another object or obstacle O. A correspondingly connected light-emitting diode can also serve as the photodiode. The glass plate or another surface should be transparent to light at least in a certain wavelength range. The light emitted by the other light-emitting diode (compensation element 23) does not serve as a measuring section, but is only required for external light compensation. It is therefore conceivable and in some cases expedient to block the light path of this light-emitting diode in such a way that it cannot step outside. It is also conceivable to design the first light-emitting diode as a light-emitting diode with bundled light emission to the front, for example as a wide-beam laser diode, and the second light-emitting diode as a light-emitting diode which only emits in the near field. The light from the transmitter 21 is only partially reflected on the glass plate 31 and thus emerges into the outside space, whereby it is again reflected by an object, here a finger, and is thus partially scattered back into the receiver 22.

The two light-emitting diodes are supplied with voltage by means of a clock generator 33, the signal of one of the two light-emitting diodes being inverted by means of the inverter 34. With a uniform luminous power of the light-emitting diodes and with a precisely symmetrical reflection, or with suitable regulation of the luminous intensity of at least one of the two light-emitting diodes (see below), a DC voltage signal is present at the output of the receiver 22, which is supplied to a high-pass filter 32 to eliminate DC voltage and low-frequency AC components becomes. The high pass 32, whose cut-off frequency lies below the frequency of the clock generator 33, only allows alternating components to pass through, so that the signal supplied to it becomes "0" with a corresponding output power of the light-emitting diodes. With this arrangement, influences from extraneous light sources are excluded.

This signal filtered in this way is fed to an amplifier 4 and then to a synchronous demodulator 5. The synchronous demodulator 5 receives its clock signal from the clock generator 33, this clock signal being delayed accordingly by the delay element 35 for adaptation to the signal delay times in the high pass 32 and in the amplifier 4. The synchronous demodulator 5 divides the signal of the light sources (transmitter 21 and compensation element 23) common in the signal path of the receiver 22, the high-pass filter 32 and the amplifier 4 again into two separate paths. The signal sections cut out by the synchronous demodulator 5 are cleaned of disturbing spectral ranges in the low-pass filters 6 and 7 and fed to the comparator 9. In the case shown, the comparator 9 consists of a simple operational amplifier. The difference values corresponding to the light transmitters are present at the outputs of the respective low-pass filters 6 and 7. In the correspondingly coordinated state, therefore, twice the value zero. These two signals are fed to the comparator 9. The voltage value U (t), the useful signal, is present at the output of this comparator. This signal is also fed to the signal centering stage 37 via a low-pass filter 30.

The output of the signal centering stage 37 is connected to a regulator 36 which regulates at least the signal voltage for the compensation element 23. The result of this arrangement is that the useful signal changes when the reflection of the light beam emitted by the transmitter 21 changes, but always again to the zero value is returned. The time constant for this feedback is determined in the exemplary embodiment by the low-pass filter 30.

The arrangement described so far is also known from EP 706 648 A1. It was proposed there in particular for the detection of water drops on the glass pane. In the present case, the useful signal U (t) is now used for distance detection.

To determine the distance, a certain signal size can be determined, for example, which leads to the release of the blocking means 16. Since the sensor device 13 shown in FIG. 4 always regulates the resulting signals to zero, the signal size increases with increasing proximity to the object. This is shown schematically by the family of curves in FIG. 6. For example, curve Ci could correspond to a more reflective, light object, curve c _{2 to} a less reflective black object and curve c _{3 to} a transparent object. With increasing proximity to the object, that is, when the distance d approaches zero, the signals become larger, since the signal increases in an approximately quadratic function with the decrease in the distance d. Therefore, the movable element still has to travel a large distance S _! cover before a decrement Δ occurs despite the regulation of the signals, this path becomes shorter and shorter (cf. path s ₂ ) the closer the object comes to the moving element in order to obtain this decrement Δ. This happens later with curve c ₃ , but still in time due to the quadratic function of these curves.

Another advantage of such a sensor device 13 is that the sensor can be arranged on a circuit board which is attached to the movable element 10 or the other element 12, and then the light is brought to the outside, for example via a light guide. The advantage of this arrangement is that reflections occurring in the light guide, which arrive again in the receiver, do not lead to sensitivity to external light and thus to an unwanted release of the blocking means. With this arrangement, light reflected internally in, for example, diffuse locations in the light guide is again compensated for, so that sensitivity to extraneous light is fundamentally excluded. Furthermore, there is the advantage that it is possible to work with a single sensor device 13, i.e. receiver 22, transmitter 21 and compensation element 23, not only with a light guide, but with a whole series of light guides which emit light next to one another and once the outer edge 10a , how eg operate the door edge and also the outside 10b such as the rail 19 and in the lower door area an impact protection against stones. Such a light guide is shown schematically in FIG. 5.

The device can also e.g. as a clamping protection device for adjustable panes such as Vehicle windows 20 or sunroofs, may also be used outside of vehicles. In the case of vehicle windows in particular, the window itself can be used as a light guide in its longitudinal direction in order to emit and receive light.

The limiting device 11 has a blocking means 16 that blocks the movement mechanism 17 of the movable element 10. The device can be used both with manually operable movable elements and with motor-operated ones. For example, in the case of a manually operable movable element, there is a linkage designed as a movement mechanism 17 for the movable element 10, in which the blocking means 16 according to FIG. 1 engages to limit the movement space B. For this purpose, a bolt is provided in FIG. 1 as a blocking means. The bolt could also engage a gearwheel or gearwheel linkage in order to block the further movement.

However, the matter can be solved more elegantly with a motor drive according to FIG. 2. On the one hand, this means that the motor can be accessed directly to brake and / or block the further movement; on the other hand, of course, the associated movement mechanism 17 can also be blocked. The advantage of the motor-operated device is that a movement mechanism is already provided anyway, which only has to be influenced at the right time. The motor 18 is an electrically operated motor such as a servomotor, but a linear motor can preferably also be used. Magnetically driven linear motors of this type have the advantage that movements can be controlled with high dynamics. In other words, from one moment to the next, the movable element can easily apply a corresponding counterforce against the further opening of the door or force reversal, so that the maximum possible movement space can be reliably determined. This makes it possible to switch from one switching state, eg opening the door to another switching state, eg braking or stopping the door, in the next instant without any problems. In particular, cylindrical lines have proven to be suitable. arm motors proven in which the stator and rotor are arranged concentrically to each other.

The movement mechanism 17 or the motor 18 is articulated on at least one of the elements, these elements comprising the movable element 10 (here the car door) or the other element 12 (here the body). According to FIG. 2, the movable element 10 can be pivoted relative to the other element 12 about a pivot axis s-s. However, it goes without saying that other movement mechanisms, e.g. Rotational / sliding movements or sliding movements can be limited accordingly. However, the preferred area of application of the device is in connection with pivoting and folding doors.

The sensor 15 can be on the outer edge of the movable element 10 according to Fig. 1, e.g. can also be arranged in the rebate of the door. However, a preferred area of application is on the outside 10b of the door e.g. in a rail 19 arranged there, e.g. the bumper rail.

Especially in the vehicle sector, however, it must also be ensured that the door can be easily opened from the outside if necessary. In this respect, the vehicle part closes access to the vehicle in the closed state, but if necessary, switching means 20 are provided which can put the limiting device 11 out of operation from outside. Logic can ensure that this is at least in an emergency, e.g. after an accident is guaranteed.

According to the method, the device works in such a way that the sensor device 13 detects obstacles O in the movement space B according to FIG. 3 and, as a result of the detected obstacle, delivers an output signal to the control device 14, which then, depending on this output signal, the limiting device 11 for changing the possible movement space B for controls the movable element 10. The control device thus actuates, for example, the blocking means 16 or influences the motor 18. For example, it must also be ensured that a door is not unnecessarily blocked. It is conceivable that the sensor device 13 receives a signal from an alleged obstacle, such as a cat or dog walking past it. The door can then only be opened up to a certain point which corresponds to the distance of the obstacle O from the vehicle, although there is no longer an obstacle. In order to release the blockage, logic is used to ensure that the user moves the door a certain can move back or back in the area and then open the door again until the maximum opening distance is reached or another limit is reached. In particular, this is to ensure that the door is opened in a user-friendly manner as far as possible.

In summary, there is a convenient way to avoid damage when opening doors or moving other moving elements. In connection with the already existing actuation mechanisms or motorized movement means, this can be achieved in a favorable manner by attaching a sensor, provided that it is ensured that the sensor can receive clear signals that can be assigned to the obstacles.

It goes without saying that this description can be subjected to various modifications, changes and adaptations which range from equivalents to the appended claims.

LIST OF REFERENCE NUMBERS

4 amplifiers

5 synchronous modulator

6.7 low pass filter

9 comparators

10 movable element

10a outer edge

10b outside

11 limiting device

12 other item

13 sensor device

14 control device

15 sensor

16 blocking agents

17 movement mechanism

18 engine

19 rail

20 disc

21 recipients

22 transmitters

23 compensation element

30 low pass filters

31 glass plate

32 high pass

33 clock generator

34 inverters

35 term element

36 controllers

37 signal centering stage

40 light guides

B movement space

O obstacle

R1.R2 variable resistors

UR _{, I} , U _RI2 control voltage ss swivel axis

Claims

claims

1. Device for controlling a sequence of movements of at least one element (10) that is movable to a limited extent with respect to another element (12) with a limiting device (11) for limiting the movement space (B) of the movable

Element (10), characterized in that at least one sensor device (13) for detecting obstacles (O) in the movement space (B) of the movable element (10) is provided, which delivers an output signal to a control device (14) which is dependent of the output signal controls the limiting device (11) for changing the possible movement space (B) for the movable element (10).

2. Device according to claim 1, characterized in that the sensor device (13) has an extraneous light-independent, optoelectronic sensor (15).

3. Device according to claim 1, characterized in that the sensor device (13) has an ultrasonic sensor (15).

4. Device according to one of claims 1 to 3, characterized in that the limiting device (11) has a blocking means (16) that blocks the movement mechanism (17) of the movable element (10).

5. Device according to one of claims 1 to 4, characterized in that the manually operable, movable element (10) has a linkage designed as a movement mechanism (17), in which the blocking means (16) for limiting the

Movement space (B) engages.

6. Device according to one of claims 1 to 4, characterized in that the movable element (10) is motor-operated and that the blocking means (16) of the limiting device (11), the motor (18) and / or the associated movement mechanism (17) brake and / or block.

7. The device according to claim 6, characterized in that the motor (18) is an electrically operated motor.

8. The device according to claim 6 and 7, characterized in that the motor (18) is a linear motor.

9. Device according to one of claims 6 to 8, characterized in that the motor (18) is articulated on at least one of the elements (movable element (10) and / or other element (12)).

10. Device according to one of the preceding claims, characterized in that the movable element (10) can be pivoted shameably about a pivot axis (s-s) relative to the other element (12).

11. Device according to one of the preceding claims, characterized in that the sensor (15) is arranged on the outer edge of the movable element (10).

12. Device according to one of the preceding claims, characterized in that the movable element (10) is a vehicle part, preferably a vehicle door.

13. Device according to one of the preceding claims, characterized in that the movable element is an adjustable vehicle window (20).

14. The apparatus according to claim 13, characterized in that the vehicle window is simultaneously designed as a light guide.

15. The apparatus according to claim 12, characterized in that the sensor-active area (S) of the sensor device (13) is arranged on the door edge (10a).

16. Device according to one of the preceding claims, characterized in that the sensor-active region (S) of the sensor device (13) is integrated in a rail (19), preferably a bumper rail, arranged on the outside (10b) of the door.

17. Device according to one of the preceding claims, characterized in that the sensor device (13) having the sensor device (13) emits light into a light guide. ter (40) radiates and receives back-reflected light from the obstacle (O) to generate the output signal via the light guide.

18. Device according to one of the preceding claims, characterized in that the vehicle part closes an access to the vehicle in the closed state and that switching means (20), if necessary, put the limiting device (11) out of operation when actuated from the outside.

19. A method for controlling a movement sequence of at least one element (10) that is movable to a limited extent with respect to another element (12), wherein a limiting device (11) limits the movement space (B) of the movable element (10), characterized in that at least one sensor device ( 13) Obstacles (O) in the movement space of the movable element (10) detects that the sensor device is a function of the detected obstacle (O)

Output signal to a control device (14) which, depending on the output signal, controls the limiting device (11) to change the possible movement space (B) for the movable element (10).

20. The method according to claim 17, characterized in that the sensor device (13) works with an extraneous light-independent, optoelectronic sensor (15).

21. The method according to claim 17 or 18, characterized in that a blocking means (16) in the limiting device (11) blocks the movement mechanism (17) of the movable element (10).

22. The method according to any one of claims 17 to 19, characterized in that the movable element (10) is actuated by a motor and that the blocking means (16) for limiting the movement space (B), the motor (18) and / or the associated movement mechanism ( 17) brake and / or block.

23. The method according to any one of claims 17 to 20, characterized in that the movable element (10) is a vehicle part, preferably a vehicle door.

24. The method according to any one of claims 17 to 21, characterized in that the movable element (10) is pivotable about a pivot axis (s-s) relative to the other element (12).

25. The method according to any one of claims 17 to 22, characterized in that the sensor device (13) having sensor device (13) radiates light into a light guide (40) and receives light reflected back from the obstacle (O) to generate the output signals in the light guide.

26. The method according to any one of claims 17 to 23, characterized in that the vehicle part closes an access to the vehicle in the closed state and that switching means (20), if necessary, put the limiting device (11) out of operation when actuated from the outside.

27. The method according to any one of claims 17 to 24, characterized in that the limiting device releases a further movement after blocking if the sensor (15) does not detect any further obstacle (O) in the movement space (R).

28. The method according to claim 27, characterized in that the limiting device releases a further movement after the blocking, if the movable

After blocking, element (10) is first moved back a predetermined amount against the blocked direction of movement and then moved back into the movement space.