Collision monitoring system

• US 20020121872A1
• Filed: 02/07/2002
• Published: 09/05/2002
• Est. Priority Date: 04/22/1992
• Status: Active Grant

• Current Assignee: Uusi LLC (Nartron Corporation)
• Original Assignee: Nartron Corporation
• Inventors: Perrin, Randall, Boisvert, Mario
• Granted Patent: US 6,548,979 B2
• Time in Patent Office: Days
• US Class Current: 318/469
• CPC Class Codes: B60J 7/0573 power driven arrangements, e.g. electrical
• CPC Class Codes: H02H 3/006 Calibration or setting of parameters
• CPC Class Codes: H02H 3/44 responsive to the rate of change of electrical quantities
• CPC Class Codes: H02H 7/0851 for motors actuating a movable member between two end positions, e.g. detecting an end position or obstruction by overload signal
• CPC Class Codes: H02H 7/0854 responsive to rate of change of current, couple or speed, e.g. anti-kickback protection H02H7/0851 takes precedence

Abstract

Disclosed is an improved system and method for sensing both hard and soft obstructions for a movable panel such as a sunroof. A dual detection scheme is employing that includes an optical sensing as the primary means and electronic sensing of motor current as a secondary means. The secondary means utilizes system empirical precharacterization, fast processing algorithms, motor parameter monitoring including both current sensing and sensorless electronic motor current commutation pulse sensing, and controller memory, to adaptively modify electronic obstacle detection thresholds in real time without the use of templates and cycle averaging techniques.

Claims

1. Apparatus for controlling activation of a motor for moving a window or panel along a travel path and de-activating the motor if an obstacle is encountered by the window or panel comprising:

a) a current sensor for sensing the motor current as the motor moves the window or panel along a travel path;

b) an optical sensor for monitoring a region through which the window or panel moves and sensing an obstacle in the region;

c) a switch means for controlling energization of the motor with an energization signal; and

d) a controller coupled to the switch means for controllably energizing the motor and having interfaces coupling the controller to both the current sensor and the optical sensor;

said controller comprising;

i) means for monitoring motor current from the current sensor;

ii) means for calculating an obstacle detect threshold based on motor current detected during at least one prior period of motor operation;

iii) a comparator for comparing a value based on currently sensed motor current with the obstacle detect threshold; and

iv) output means coupled to said switch means for stopping the motor if the comparison based on currently sensed motor current indicates the panel has contacted an obstacle or if the optical sensor senses an obstacle in the region through which the window or panel moves.

2. The apparatus of claim 1 wherein the controller is a programmable controller and the controller includes an input for reprogramming an obstacle detection aspect of controller operation based on the physical characteristics of the window or panel whose movements are controlled.

3. The apparatus of claim 1 wherein the controller is a programmable controller and the controller includes a stored program that adjusts the threshold based on sensed parameters from the current sensor.

4. The apparatus of claim 3 wherein signals from the current sensor is used to sense both a position of the panel and speed of movement of the panel along a travel path.

5. The apparatus of claim 1 wherein the threshold is calculated by the controller during one traversal of the window or panel in one direction and wherein the obstacle detection threshold based on the calculation of the obstacle detect threshold is used only during said one traversal.

6. The apparatus of claim 1 wherein the controller includes a buffer memory for storing successive values of motor current for use in determining the obstacle detect threshold.

7. The apparatus of claim 6 wherein the buffer memory is used to store a value derived from motor current corresponding to motor speed as the window or panel moves along its travel path.

8. The apparatus of claim 6 wherein the current sensor provides an analog current signal and the controller comprises means for converting the analog signal to a digital current value and stores successive values of the digital current value within the buffer memory.

9. The apparatus of claim 8 wherein the controller adapts a resolution of the digital current signal based upon a real time sensed current values.

10. The apparatus of claim 1 wherein the controller includes a clock and the current signal from the current sensor is in a form of a sequence of pulses and further wherein the controller counts clock signals occurences between receipt of current pulses to provide an indication of motor speed.

11. The apparatus of claim 10 wherein the controller extrapolates between pulses in the event pulses are not generated during certain periods of motor operation.

12. The apparatus of claim 1 wherein the controller includes an interface for monitoring user actuation of control inputs for controlling movement of the window or panel and wherein the controller maintains a motor energization sequence a specified minimum time period in response to a short period user actuation of said control inputs to maintain position accuracy in monitoring window or panel movement.

13. The apparatus of claim 1 wherein the controller includes an interface for monitoring user actuation of control inputs for controlling movement of the window or panel and wherein in response to a specified input the controller conducts a calibration motor energization sequence to determine parameters of window or panel movement.

14. The apparatus of claim 1 wherein the controller includes an interface for monitoring user actuation of control inputs for controlling movement of the window or panel and wherein and wherein the controller maintains a position indication which is updated in response movement of the window or panel and further wherein the controller stops motor actuation prior to reaching specified end points in a window or panel path of travel to avoid mechanical windup of the motor and a transmission coupled to the window or panel.

15. The apparatus of claim 1 wherein the current sensor comprises a filter circuit for filtering out DC components from a motor current signal to produce a signal related to motor speed.

16. The apparatus of claim 1 wherein the controller includes means for adjusting the obstacle threshold based on dynamic motor current as sensed from the current sensor to take into account varying loads experienced by the motor.

17. The apparatus of claim 16 wherein the changes in load are periodic and the threshold is synchronized with the periodic load changes.

18. The apparatus of claim 16 wherein the experienced changes in load are transient and wherein the controller adjusts the threshold based on said transient change in load.

19. The apparatus of claim 1 wherein the controller monitors current and speed based on measured current during a startup sequence and determines an obstruction during the startup sequence based upon fixed thresholds for the current and speed.

20. A method for controlling activation of a motor for moving a window or panel along a travel path and deactivating the motor if an obstacle is encountered by the window or panel comprising:

a) initiating movement of the window or panel along a traversal of a travel path by activating the motor;

b) sensing an initial motor current as the motor moves the window or panel along said travel path and storing a value related to the motor current;

c) positioning an optical sensor to optically monitor a region through which the window or panel moves to sense an obstacle in said region;

d) controlling energization of the motor with an energization signal thereby causing the window or panel to traverse the travel path;

e) again monitoring motor current sensed at a later time during movement of the window or panel and storing a value related to the later motor currents

f) determining a threshold factor based on an initial and a later sensed motor current; and

g) stopping the motor if the threshold factor when compared with sensed—

motor current indicates an obstacle has been detected or if an output from the optical sensor indicates an obstacle is in the region through which the window or panel moves.

21. The method of claim 20 wherein the sensed motor current provides an indication of motor current and speed of movement of the window or panel along the travel path for use in determining the threshold.

22. The method of claim 20 wherein the threshold is adjusted based upon a plurality of prior motor current readings within a range of a present current reading all within a single traversal of the window or panel in one direction along its travel path.

23. The method of claim 20 wherein the current sensing, motor energization and obstacle detection are all performed by a programmable controller and additionally comprising the step of reprogramming the programmable controller based upon a physical characteristic of the window or panel whose movement is being monitored.

25. The apparatus of claim 24 wherein the stored program responds to a user input to recalibrate movement control over the window or panel and further comprising one or more limit switches for use by the controller to determine window or panel position for use in said recalibration.

26. The apparatus of claim 24 wherein the stored program adjusts the threshold in real time based on immediate past measures of motor current to adapt the threshold to varying conditions encountered during operation of the window or panel.

27. The apparatus of claim 24 wherein the optical sensor is mounted to the window or panel and moves with the window or panel.

29. The apparatus of claim 28 wherein the controller includes a buffer memory for storing successive values of motor current for use in determining the obstacle detect threshold.

30. The apparatus of claim 29 wherein the buffer memory is used to store a value derived from motor current corresponding to motor speed as the window or panel moves along its travel path.

31. The apparatus of claim 29 wherein the current sensor provides an analog current signal and the controller comprises means for converting the analog signal to a digital current value and stores successive values of the digital current value within the buffer memory.

32. The apparatus of claim 31 wherein the controller adapts a resolution of the digital current signal based upon a real time sensed current value.

33. The apparatus of claim 28 wherein the controller includes a clock and the current signal from the current sensor is in a form of a sequence of pulses and further wherein the controller counts clock signals occurences between receipt of current pulses to provide an indication of motor speed.

34. The apparatus of claim 33 wherein the controller extrapolates between pulses in the event pulses are not generated during certain periods of motor operation.

35. The apparatus of claim 28 wherein the controller includes an interface for monitoring user actuation of control inputs for controlling movement of the object and wherein the controller maintains a motor energization sequence a specified minimum time period in response to a short period user actuation of said control-inputs to maintain position accuracy in monitoring object movement.

36. The apparatus of claim 28 wherein the controller includes an interface for monitoring user actuation of control inputs for controlling movement of the object and wherein in response to a specified input the controller conducts a calibration motor energization sequence to determine parameters of object.

37. The apparatus of claim 28 wherein the controller includes an interface for monitoring user actuation of control inputs for controlling movement of the object and wherein and wherein the controller maintains a position indication which is updated in response movement of the window or panel and further wherein the controller stops motor actuation prior to reaching specified end points in an object path of travel to avoid mechanical windup of the motor and a transmission coupled to the object.

38. The apparatus of claim 28 wherein the current sensor comprises a filter circuit for filtering out DC components from a motor current signal to produce a signal related to motor speed.

39. The apparatus of claim 28 wherein the controller includes means for adjusting the obstacle threshold based on dynamic motor current as sensed from the current sensor to take into account varying loads experienced by the motor.

40. The apparatus of claim 39 wherein the changes in load are periodic and the threshold is synchronized with the periodic load changes.

41. The apparatus of claim 40 wherein the experienced changes in load are transient and wherein the controller adjusts the threshold based on said transient change in load.

24. Apparatus for controlling activation of a motor for moving a motor vehicle window or panel along a travel path and de-activating the motor if an obstacle is encountered by the window or panel comprising:

a) a current sensor for sensing the motor current as the motor moves the window or panel along a travel path;

b) an optical sensor for monitoring a region through which the window or panel moves and sensing an obstacle in the region;

c) a switch means for controlling energization of the motor with an energization signal; and

d) a programmable controller having an interface coupled to the current sensor, the optical sensor and the switch means for controllably energizing the motor;

said programmable controller including a stored program which executes when power is applied to the programmable controller by a motor vehicle battery for detecting either an imminent or actual collision with an obstruction as the motor moves the window or panel, said stored program when executing defining;

i) means for monitoring motor current from the current sensor;

ii) means for calculating an obstacle detect threshold based on motor current detected during at least one prior period of motor operation;

iii) a comparator for comparing a value based on currently sensed motor current with the obstacle detect threshold and stopping the motor if the comparison based on currently sensed motor current indicates the panel has contacted an obstacle or if the optical sensor senses an obstacle in the region through which the window or panel moves.

28. Apparatus for controlling activation of a motor for moving an object along a travel path and de-activating the motor if an obstacle is encountered by the object comprising:

a) a movement sensor for monitoring movement of the object as the motor moves said object along a travel path;

b) a switch means for controlling energization of the motor with an energization signal; and

c) a controller coupled to the switch means for controllably energizing the motor and having an interface coupling the controller to the movement sensor;

said controller comprising;

i) means for determining motor speed from an output signal from the movement sensor;

ii) means for calculating an obstacle detect threshold based on motor speed of movement detected during at least one prior period of motor operation;

iii) a comparator for comparing a value based on currently sensed motor movement with the obstacle detect threshold; and

iv) output means coupled to said switch means for stopping the motor if the comparison based on currently sensed motor movement indicates the object has contacted an obstacle.

42. Apparatus for controlling activation of a motor for moving a window or panel along a travel path and de-activating the motor if an obstacle is encountered by the window or panel comprising:

a) a current sensor for sensing the motor current as the motor moves the window or panel along a travel path;

b) a switch means for controlling energization of the motor with an energization signal; and

c) a controller coupled to the switch means for controllably energizing the motor and having an interface coupling the controller to both the current sensor;

said controller comprising;

i) means for monitoring motor current from the current sensor;

ii) means for calculating an obstacle detect threshold based on motor current detected during at least one prior period of motor operation;

iii) a comparator for comparing a value based on currently sensed motor current with the obstacle detect threshold; and

iv) output means coupled to said switch means for stopping the motor if the comparison based on currently sensed motor current indicates the window or panel has contacted an obstacle.