DE102006057680B3 - Electrically movable component e.g. rear flap, opening and closing method for use in motor vehicle, involves triggering reversing movement of component after detection of obstacle and after stopping movement of component - Google Patents

Abstract

The invention relates to a method and a device for opening and closing an electrically movable component, in particular a tailgate (3) or door on a motor vehicle, wherein the component is opened or closed after an actuation signal, and if an obstacle is detected, the movement of the vehicle Component is stopped. In order to avoid component damage, a reversing movement of the component is triggered after the detection of the obstacle and after the stop of movement.

Description

The The invention relates to a method and a device according to the preamble of claim 1 or claim 11.

It is increasingly common in motor vehicles and also in smaller commercial vehicles, the movable Flaps, such as the tailgate or doors with to move an electromechanical drive. Modern controls are coupled to an obstacle detector device and stop the movement of the component. However, this has the disadvantage that the mechanical movement mechanism remains strained, leading to a damage lead the mechanical components can. In addition, you can scrape the flaps when the vehicle to avoid the obstacle, is moved in the tensioned state. It can also happen that one exclusively on the flap arranged operating point to close the Flap, such as the tailgate, can not be achieved. Under component is any movable door or flap, such as the tailgate Understood.

The DE 20 2004 019 734 U1 describes a flap assembly of a motor vehicle with a hinged to the body of the motor vehicle hinged flap and with a drive motor for actuating the flap in a closed position and an open position. In the open position, the flap is biased. There are two pivoting un un different, one in which outweighs the weight and one in which outweighs the bias. Due to the predominance of one of the two forces, an adjustment of the flap is achieved. An anti-pinch due to an obstacle can be dispensed with, since the weight minus the bias is less than a risk of damage or injury. A tension therefore does not occur. The problem of obstacle detection during the opening process is not considered.

The DE 10 2004 033 037 A1 describes a tailgate assembly with an automatically movable by means of a servomotor tailgate. When a resistance is detected, the movement is stopped and a reversing movement triggered by a few degrees. A turn angle sensor on the tailgate detects the position of the tailgate.

The DE 44 44 762 A1 describes a circuit arrangement and a method for operating an adjustment drive for an adjustable part in a vehicle. When an overload signal is detected, the actuator is switched off in addition to optical and acoustic signals. According to another measure, depending on the position of the part to be adjusted can be provided to perform a reversal of the adjustment. The DE 100 34 014 A1 describes a method for operating an electric drive unit for realizing anti-jamming protection, in which the excess force is compared as a difference between the driving force and the frictional force with a tripping threshold for anti-jamming protection.

The DE 197 23 974 A1 describes a method for preventing foreign body trapping in an opening to be closed by a motor-driven device, such as a door window with various realization principles for obstacle detection.

The DE 92 17 563 U1 describes a control unit for controlling a motor-driven shutter, for example, a motor vehicle window by means of one or more sensors that detect the movement of the shutter. Depending on the registered position of the shutter, upon detection of jamming, the motion or motor drive is reversed to immediately release the jammed object or stopped.

The DE 196 49 698 A1 describes a control device for a powered tailgate with a position storage unit and with sensors for position measurement.

It Object of the invention is a method and an apparatus of to create the aforementioned type, the damage to components on the vehicle prevent.

According to the invention Problem solved by the subject matter of claims 1 and 11. advantageous Further developments emerge from the dependent claims.

To detecting the obstacle and stopping movement Reversing movement of the component is triggered. This has the advantage that the entire movement mechanics between drive and movable Component, as well as the drive and the movable component itself immediately relaxed after an obstacle has been detected. Possible damage at the movement mechanics are thus reduced to a minimum or Completely eliminated. damage on the movable component can be avoided. The vehicle can without a damage be moved to a different position on the movable component, in the the movable component no longer has an obstacle in the movement path. The stressed components are subject to due to the significantly shorter clamping time a lower risk of wear, so that the life increases.

An idea of the invention is that the movement bare component only a fraction of the possible Reversierwegs is moved back. This has the advantage that during the reversing movement objects or limbs of persons can not be clamped when they have been introduced into the movement path during the opening or closing operation. In addition, a short reversing path is sufficient to actively relax the components involved in the movement. The obstacle can be cleared at rest from the movement path, so that the movement operation of the driving member can be successfully carried out due to a new operation command.

According to the invention Fraction of the reversing dependent from the opening or degree of closure of the component shortened or extended, i.e. parameterized. This has the advantage that maybe not more the entire door needs to be closed, for example if the obstacle is detected shortly before the end of the opening stroke. On the other side, the movable member completely closed again should the obstacle be detected at the beginning of the opening stroke. Will be an obstacle very early recognized in the path of movement, e.g. at least the tailgate a control panel on the tailgate can not be closed, because the control panel on the tailgate is not or poorly achieved will or can Goods not transported in or out of the vehicle can be.

at a preferred embodiment Therefore, the opening angle α of the movable Component, in particular at the time of the stop movement, detected. Thus, from the opening angle α, the opening degree or the degree of closure be read and shortened the Reversierweg accordingly or extended become.

In addition, can a flap according to a preferred embodiment only open be, even if a arranged on the flap control station for Shut down This flap can be achieved

The Obstacle can be detected by sensors without contact or with a touch become. Preferably, the obstacle is due to a touch of the Component with the obstacle detected by means of a measuring device as an obstacle detection device. The touch has the advantage that the measuring device works more accurately by: only actual Obstacles and non-temporary obstacles be recorded. Furthermore to disturb easily yielding obstacles such as plants, in particular Trees and branches, not, due to which possibly in a non-contact sensor, the movable Component would be stopped and reversed if necessary.

advantageously, detected the measuring equipment changed a electrical current consumption of the drive at a resistance at the bewebaren Component due to an obstacle. From the changed power consumption is deduced the presence of an obstacle. Preferably, the measuring device detects an increased Current consumption of the electric drive in the event of an obstacle. A Memory and evaluation unit in the controller compares the power consumption with an opening or closing without hindrance, as soon as increased Current consumption, i. a resistance is detected is on Obstacle when closing or open closed the movable member, so that a movement stop and a reversing movement is triggered.

A see further preferred embodiment alternatively or additionally a measuring device in which detects the obstacle by means of a distance / time measuring device becomes. This has the advantage that the detector device optionally works even more accurately, a given and in the memory unit Laid-down path / time course becomes during the opening or closing process constantly compared, If this deviates from a certain tolerance range, then it becomes closed by the evaluation unit in the controller to an obstacle.

Basically the tolerance range is chosen that influences the ambient temperature on a path-time history play no role.

at a further preferred embodiment will be added the ambient temperature detected by a sensor. This increases the accuracy the measuring device, since the movement behavior of the drive of the temperature depends. At low temperatures, the drive can be used with a movement mechanics slower than higher ones Temperatures, as mechanical components at low temperatures contract and expand at warm temperatures. Thus, values can of the tolerance range formed or corrected by the ambient or operating temperature become. The obstacle detection device thus detects obstacles faster and more accurate.

at a particularly preferred embodiment if the measuring device is an optical or magnetic position sensor, in particular a so-called encoder, with a Hall sensor on the drive, that detects the obstacle. This has the advantage of being a very simple and inexpensive measuring device can be used which is often already provided by the manufacturer on the drive, because the drive is based on the position encoder as a servo drive is controlled.

According to the invention Task with the device for opening and closing a movable component solved by the fact that the controller Switching device, after receiving an obstacle signal switches the drive to reversing mode.

by virtue of the switching device, a reversing movement of the movable Causes the electromechanical drive, the movement mechanics and the movable component neither strained nor damaged. A longer Lifetime of all components adjusts itself.

advantageously, a Wegmesseinrich device connected to the control is provided, around the movable component by a defined fraction of the possible Reversing path, in particular Reversierwinkels β back. The path measuring device On the one hand, it can be used to determine at which point in the path of movement the obstacle has occurred, and secondly, the path measuring device for defined activation of a specific shorter or longer reversing path serve. By means of the path measuring device, the controller can check whether the given Reversierweg has been achieved and the electromechanical Drive must be stopped.

The Path measuring device can be connected to a movement mechanism, in particular in connection with the movable component, in particular in a hinge area, be arranged. This has the advantage that the exact location of the movable component is detected. Measurement errors are thus largely avoided.

at a further preferred embodiment may alternatively or additionally a path measuring device may be arranged on the drive. The path measuring device serves to operate the drive as a servo drive. this has the advantage that the displacement measuring device inexpensive and easy and In many cases a standardized component is already on the drive can be supplied by the manufacturer.

preferably, the displacement measuring device comprises a position sensor on which in particular rotary drive. The position encoder is for an accurate one Control and, if necessary, control of a drive.

at a preferred embodiment the position encoder comprises an optical encoder, which preferably works on the basis of a photocell. Such an encoder is cheap. In an alternative embodiment, the position encoder a magnetic encoder, in particular with a Hall sensor, which under certain circumstances can work more accurately.

Around defining the maximum path of movement are two off-switches arranged with the movable member and / or movement mechanics coupled and the two states, a closed and an open, detect. The controller is preferably with these at least two off-switches to define the maximum Motion path connected.

at a preferred embodiment the obstacle detector device comprises a distance / time measuring device, to recognize obstacles. The travel / time measuring device works in conjunction with the controller, in which the ordinary path-time course is recorded is. With too big Deviation from a tolerance range is determined by the evaluation unit closed in the control of an obstacle.

alternative or additionally For example, the obstacle detection device may include a current measuring device on Drive include. The current measuring device may change due to a change Electricity consumption of the electric drive determine if an obstacle the movement of the moving component stops or moves.

at In an alternative preferred embodiment, a non-contact Obstacle detector means may be provided, in particular at least an ultrasonic sensor or an infrared light. The non-contact Obstacle detector means may have the advantage that if they arranged on the movable member, such as a flap is able to take on a dual function. It can both as conventional Parking assistance in combination with an acoustic beeper, as well as after the parking of the vehicle as an obstacle detection device When opening the flap in connection with the device described above. In an advantageous embodiment are the signal value limits in a combination application for a non-contact Obstacle detecting device different, i. as an obstacle detection device can the resolution be more accurate than a parking aid in which the tolerance range is lowered is.

According to the invention Controller formed with a memory and evaluation, the the opening degree or degree of closure and detects the direction of movement, wherein the opening degree to at least two sectors, in particular depending on the direction of movement, is divisible and the sector division is set in the storage unit, so that depending on the direction of movement and / or the sector associated with a particular degree of opening an individual reversing path can be determined by the evaluation unit is, which is executable by the drive by means of control.

Consequently the movable component can be dependent on the degree of opening and the direction of movement react individually to an obstacle. For example, the Reversierweg when opening the component can be very large, which can reach to a closed state while at a very high degree of opening the reversing path can be very short. Conversely, when closing the opening degree initially turn very short, and if the degree of closure is very high, can the reversing path has to be increased to remove any obstacles in the opening in the vehicle can be.

at a preferred embodiment is an individual, infinitely parameterizable reversing path by means of the controller with the memory and evaluation depending on Direction of movement and opening degree The component can be fixed and executed by the drive. Thus the input and output signals the controller are unique, the controller has a bit processing.

Prefers the movable member is pivotally mounted and in particular designed as a tailgate. The control can be in the tailgate area be arranged.

at an alternative embodiment can the movable component, in particular designed as a sliding door, be arranged slidably.

Further preferred variants can be that the controller is connected to a motor control, so that the control upon detection of an obstacle in one first opening area the movable component closes again and an opening only possible is after the vehicle has been moved, what about one Coupling with the engine control is queried.

It It is understood that the above and below to be explained features not only in the specified combination, but also in other combinations are usable.

The Invention will be described below with reference to an embodiment with reference closer to two drawings explained. Show it:

1 a schematic structure of a device according to the invention for opening and closing a movable component,

2 a flow diagram of the method according to the invention.

The 1 shows a vehicle with a controller 1 for controlling an electric drive 2 , the movable part as a tailgate 3 open and close. The control 1 is with at least three keypads 4 . 5 . 6 connected to the electric drive 2 head for. A wallstation 4 is located, for example, in the rear of a vehicle, another keypad 5 is in the tailgate 3 integrated and a third keypad 6 is arranged for example in the remote control of the vehicle. A path measuring device is the position value transmitter 7 , which is a position sensor in the form of an encoder on the electric drive 2 is. The encoder has a magnetic sensor, a so-called Hall sensor.

Between the controller 1 and the electric drive 2 is a load sensor as obstacle detector device 8th arranged. The load sensor 8th is a measuring device that measures the current consumption of the electric drive 2 measures and readings to the controller 1 transmitted. The measuring device can be in the control 1 be integrated. If the electrical current consumption changes unnaturally, for example because of a high power requirement, for example because a force has to be applied over a tolerance range, then the controller will 1 closed on an obstacle. To determine an obstacle is in the controller 1 a storage and evaluation unit 12 intended. In the storage unit 12 Setpoints are stored, which are compared with measured actual values. The evaluation unit 12 checks whether the actual value is within a tolerance range of the target values. Here is the controller 1 a digital controller with a bit processing. Input and output signals, such as the measurement signals, are thus assigned to either "0" or "1". The measurement statements and control commands are thus more accurate and clear. A change from 0 to 1 or vice versa takes place as soon as the tolerance range is exceeded by the evaluation unit 12 is detected.

Additionally or alternatively, the controller 1 from position encoder 7 Measure the distance traveled per time and thus possibly from the measured values of the position sensor 7 and the load sensor 8th close faster and more error-free to an obstacle.

To perform the reversing operation is a switching device 11 in the controller 1 intended. The switching device 11 is activated as soon as the evaluation unit 12 a signal comes.

There are an off switch 9 arranged on the edge of the flap or in the locking lock of the flap to determine a defined closed state of the tailgate and another off switch 10 at the movement mechanics 15 arranged to a defined open state of the tailgate 3 to detect. The off-switch 9 . 10 are represented by solid triangles. Thus, possibly occurring measuring errors in the position sensor 7 that arise in the long-term use of the controller 1 be corrected or checked. In addition, the off switch 9 in vehicles for a long time, for example, to turn on and off a rear lighting. Also, the off switch 9 already be provided because of a locking lock with central locking.

The control 1 can assign the associated opening degree with the angle α a defined reversing angle β, depending on the opening degree α and the direction of movement. In the preferred embodiment, as described in the 1 is shown, is the path of movement of the tailgate 3 with a pivotable angle α divided into three sectors I, II, III, a first sector I, in which the reversing path with the angle β is very large, for example, so large that the tailgate 3 closed again. In a second sector II, the reversing angle β is somewhat smaller, for example 15 °, so that possibly opposing obstacles can optionally be cleared aside manually.

In a third sector III, a nearly open tailgate 3 corresponds, the reversing angle β is kept correspondingly small. In this area, it is sufficient if the obstacle is avoided by the tailgate 3 is not completely swung out. However, access to the opening of the vehicle is sufficient and may be somewhat unfavorable only for very tall people. Of course, the obstacle can be cleared away and then the tailgate 3 to be fully opened, or the vehicle to be rescheduled to the tailgate 3 completely open.

The Reversierweg can also be dependent on the direction of movement, ie when the tailgate 3 When closing it encounters an obstacle, it may be fully reopened in the third sector III. In the second sector II could be the tailgate 3 a medium Reversierweg with the reversing angle β travel and in the first sector I, the tailgate 3 a very large Reversierweg, for example, cover of 30 °. The division of the sectors I, II, and III can also be designed differently depending on the direction of movement of the tailgate.

The signal directions of the actuators and sensors are indicated by arrows in the 1 shown.

In a preferred embodiment, the controller is 1 with an acoustic display device 14 connected to a Reversierweg the tailgate 3 the persons at or in the vehicle indicates. The acoustic display device 14 can have a double or multiple function, and for example, already be installed as a parking aid in the form of a signal generator in the vehicle. The control 1 is also with an optical display device 13 connected and thus can additionally visually draw attention, for example by means of the blinker on the Reversierbetrieb.

In a preferred embodiment, the controller 1 additional measured values, for example of at least one temperature sensor 16 absorb the movement behavior or detection behavior of the load sensor 8th or adapt the Wegmesseinrichtung accordingly, while the tolerance ranges can be moved. On the other hand, if the tolerance ranges are so large that the temperature differences are within the tolerance range, then the measured values are from the temperature sensor 16 irrelevant.

A diagnostic device can determine whether position value signals of the position sensor 7 with actuation signals of the off-switch 9 and 10 correlate, or if the position value signals, if necessary, automatically in the controller 1 need to be corrected.

The 2 shows a flow chart, as the controller 1 preferably performs. At the time of start is a control point 4 in the rear, a helper 5 at the flap or a remote control station 6 for opening or closing the tailgate 3 actuated. The signal from the control panel 4 . 5 . 6 receives the control 1 and outputs a corresponding control signal to the electric drive 2 for opening or closing the tailgate 3 from. The electromechanical drive 2 is thus activated in step M2 in one of two operating directions. The position value transmitter 7 In the following step P7 takes position value signals and gives them to the controller 1 , according to the 1 , continue to control the 1 in the storage and evaluation unit 12 in terms of timing compares. At the same time the load sensor is picking up 8th In step S8, current measurement signals are compared with those in the memory unit 12 stored values, wherein the evaluation unit 12 makes a comparison with the desired storage values and the measured actual values. The evaluation unit 12 therefore, performs the query A1 by comparing whether there is a normal path / time history or not.

Lies this before, so leads she also checks out the second query A2, in which she checks for a normal current consumption is within a tolerance range or not. It is understood that the order of the query A1 and A2 is arbitrary and could be the other way around.

Is the current consumption within the tole range, it is checked in a next step whether an off switch 9 or 10 is pressed, which indicates the maximum end of the movement path. As long as no operation of the off-switch 9 or 10 is done, the tailgate 3 further pivoted.

The electric drive M2 is turned off at the latest when an off switch 9 or 10 is pressed, so the controller 1 comes to the end of the procedure.

Represents the evaluation unit 12 in the queries of the travel / time courses A1 or in the current consumption A2 due to an excessive force values values outside the tolerance range, so is the drive 2 stopped in step M2. Thereafter, in step α, it is determined in which sector I, II or III the tailgate 3 is currently located and a reversing movement with an angle β is defined. Accordingly, the drive 2 controlled with the defined reversing angle β, so that the tailgate 3 only by the angle β, which is smaller than the angle α, moved back. After that, the drive becomes 2 stopped, the controller 1 is at the end of the procedure and waits for a new operation at one of the keypads 4 . 5 . 6 ,

In an alternative preferred embodiment, the sequence control in the execution of the reversing angle β again enter the step M2, so that further position value signals and the power consumption are now measured in the opposite direction, again measuring whether a normal course without an obstacle is present or not , Should this occur during the reversing, then the drive 2 stopped and the flow control comes to an end.

All Figures only show schematic representations not to scale. Incidentally, will in particular to the drawings for the invention referred to as essential.

1

control

2

drive

3

tailgate

4

keypad in the rear

5

keypad at the flap

6

keypad in the remote control

7

Position encoder

8th

load Monitor

9

Off Switch

10

Off Switch

11

switching device

12

Storage- and evaluation unit

13

optical display device

14

acoustic display device

15

movement mechanism

16

temperature sensor

Claims (25)

Method for opening and closing an electrically movable component, in particular a tailgate ( 3 ) or door on a motor vehicle, wherein the component is opened or closed after an actuation signal, and if an obstacle is detected, the movement of the component is stopped, wherein after detection of the obstacle and after the movement stop a reversing movement of the component is triggered, thereby in that a reversing path is shortened or lengthened depending on the direction of movement and depending on the degree of opening or closing (α) of the component. Method according to claim 1, characterized in that that the component moves back a fraction of the possible reversing path becomes. Method according to claim 1 or 2, characterized that the opening or degree of closure (α) of the Component is detected, especially at the time of the stop movement. Method according to one or more of the preceding Claims, characterized in that by means of a measuring device as an obstacle detection device a touch of the component with the obstacle is detected. Method according to one or more of the preceding claims, characterized in that by means of the measuring device a modified, in particular higher, current consumption of the drive ( 2 ) is measured at a resistance on the movable member due to an obstacle. Method according to one or more of the preceding Claims, characterized in that the obstacle by means of a distance / time measuring device is detected. Method according to one or more of the preceding Claims, characterized in that the one ambient temperature means a temperature sensor is detected. Method according to one or more of the preceding claims, characterized in that the obstacle by means of an optical or magnetic position sensor ( 7 ) on the drive ( 2 ) is detected. Method according to one or more of the preceding Claims, characterized in that the obstacle is detected without contact. Method according to one or more of the preceding claims, characterized in that the detected obstacle by means of an acoustic or visual display device ( 13 . 14 ) is shown. Device for opening and closing by means of a drive ( 2 ) movable component, in particular a door or tailgate ( 3 ), on a motor vehicle with a controller ( 1 ) and with an obstacle detection device ( 8th ) when opening or closing the component ( 3 ) an obstacle in the movement path of the component ( 3 ) and sends a signal to the controller ( 1 ), whereby the controller ( 1 ) is adapted to the drive ( 2 ) of the component upon receipt of the signal, in particular for carrying out the method according to claims 1 to 10, wherein the controller ( 1 ) a switching device ( 11 ), which after receipt of an obstacle signal the drive ( 2 ) switches to reversing operation, characterized in that the controller ( 1 ) with a storage and evaluation unit ( 12 ) is formed, which detects the opening or closing degree (α) and the direction of movement, wherein the opening or closing degree (α) on at least two sectors (I, II, III), in particular depending on the direction of movement, is divisible and the sector division in the storage unit ( 12 ), such that, depending on the direction of movement and / or on the sector (I, II, III) associated with a specific degree of opening or closure (α), an individual reversing path from the evaluation unit (FIG. 12 ) determined by the drive ( 2 ) by means of the controller ( 1 ) is performed. Device according to the preceding claim, characterized in that an individual, infinitely parameterizable reversing path by the controller ( 1 ) with the memory and evaluation unit ( 12 ) depending on the direction of movement and opening or closing degree (α) of the component can be fixed and the drive ( 2 ) is executable Device according to the preceding claim, characterized in that one with the control ( 1 Connected path measuring device is provided in order to move back the component by a defined fraction of the possible Reversierwegs, in particular a Reversierwinkel (β). Device according to one or more of the preceding claims, characterized in that the displacement measuring device on the drive ( 2 ) is arranged. Device according to one or more of the preceding claims, characterized in that the displacement measuring device comprises a position sensor ( 7 ) on the, in particular rotational, drive ( 2 ). Device according to one or more of the preceding claims, characterized in that the position sensor ( 7 ) comprises an encoder, preferably based on a photocell working includes. Device according to one or more of the preceding claims, characterized in that the position sensor ( 7 ) comprises a Hall sensor. Device according to one or more of the preceding Claims, characterized in that the displacement measuring device on the movable component is arranged in the hinge area. Device according to one or more of the preceding claims, characterized in that the controller ( 1 ) with at least two off-switches ( 9 . 10 ) is connected to the definition of the maximum movement path. Device according to one or more of the preceding Claims, characterized in that the obstacle detecting means comprises a distance / time measuring means includes. Device according to one or more of the preceding claims, characterized in that the obstacle detection device is a current measuring device on the drive ( 2 ). Device according to one or more of the preceding Claims, characterized in that a non-contact obstacle detection device is provided, in particular at least one ultrasonic sensor or Infrared light. Device according to one or more of the preceding claims, characterized in that the controller ( 1 ) has a bit processing. Device according to one or more of the preceding claims, characterized in that the component, in particular as a tailgate ( 3 ) is formed, is pivotally mounted. Device according to one or more of the preceding Claims, characterized in that the component, in particular designed as a sliding door, slidably arranged.