Collision Detection Method for a Drive Unit

• US 20120084020A1
• Filed: 09/06/2011
• Published: 04/05/2012
• Est. Priority Date: 09/07/2010
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Wahler, Matthias, Maier, Michael
• Granted Patent: US 9,274,516 B2
• Time in Patent Office: Days
• US Class Current: 702/41
• CPC Class Codes: G05B 19/406 characterised by monitoring or safety G05B19/19 takes precedence
• CPC Class Codes: G05B 19/4062 Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference
• CPC Class Codes: G05B 2219/37624 Detect collision, blocking by measuring change of velocity or torque
• CPC Class Codes: G05B 2219/40317 For collision avoidance and detection
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

A collision detection method for a drive unit including an electric drive motor and a movable component which is driven thereby, wherein an actual torque and an actual acceleration of the electric drive motor are sensed and a collision of the movable component is detected on the basis of an evaluation of a predefinable mathematical combination of the actual torque and the actual acceleration.

Claims

1. A collision detection method for a drive unit including an electric drive motor and a movable component which is driven thereby, comprising:

sensing an actual torque and an actual acceleration of the electric drive motor; and

detecting a collision of the movable component on the basis of an evaluation of a predefinable mathematical combination of the actual torque and the actual acceleration.

2. The method according to claim 1, wherein the mathematical combination includes a product of the actual torque and the actual acceleration.

3. The method according to claim 2, wherein the mathematical combination is a product of the actual torque and the actual acceleration.

4. The method according to claim 1, wherein the result of the mathematical combination of the actual torque and the actual acceleration is compared with a predefinable threshold value and the collision is detected on the basis of the comparison result.

5. The method according to claim 4, wherein the threshold value is determined during the sensing of the actual torque and the actual acceleration using a maximum actual torque, sensed within a first time period, and a maximum actual acceleration, sensed within a second time period, of the electric drive motor.

6. The method according to claim 5, wherein the threshold value comprises a product of a weighting factor of the maximum actual torque, sensed within the first time period, and the maximum actual acceleration, sensed within the second time period, of the electric drive motor.

7. The method according to claim 6, wherein the weighting factor is negative.

8. The method according to claim 1, wherein, if a collision is detected, measures which protect the drive unit are taken and/or operating state variables are stored in a storage device.

9. A computing unit configured to carry out a method according to claim 1.