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EP2179121B1 - Hinderniserkennungsvorrichtung, insbesondere ein rahmen für eine motorisiertes öffnungselementes eines kraftfahrzeugs, sowie hinderniserkennungsverfahren - Google Patents

Hinderniserkennungsvorrichtung, insbesondere ein rahmen für eine motorisiertes öffnungselementes eines kraftfahrzeugs, sowie hinderniserkennungsverfahren Download PDF

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Publication number
EP2179121B1
EP2179121B1 EP08826624A EP08826624A EP2179121B1 EP 2179121 B1 EP2179121 B1 EP 2179121B1 EP 08826624 A EP08826624 A EP 08826624A EP 08826624 A EP08826624 A EP 08826624A EP 2179121 B1 EP2179121 B1 EP 2179121B1
Authority
EP
European Patent Office
Prior art keywords
obstacle
flexible tube
dynamic pressure
signal
deformable tubular
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP08826624A
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English (en)
French (fr)
Other versions
EP2179121A2 (de
Inventor
Thierry Perrin
Michel Malnoë
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sealynx Automotive Transieres SAS
Original Assignee
Sealynx Automotive Transieres SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication of EP2179121A2 publication Critical patent/EP2179121A2/de
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Publication of EP2179121B1 publication Critical patent/EP2179121B1/de
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E05F15/42—Detection using safety edges
    • E05F15/43—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound
    • E05F15/431—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound specially adapted for vehicle windows or roofs
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E05F15/42—Detection using safety edges
    • E05F15/43—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E05F15/42—Detection using safety edges
    • E05F15/43—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound
    • E05F2015/432—Detection using safety edges responsive to disruption of energy beams, e.g. light or sound with acoustical sensors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2800/00—Details, accessories and auxiliary operations not otherwise provided for
    • E05Y2800/10—Additional functions
    • E05Y2800/12—Sealing
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/53—Type of wing
    • E05Y2900/55—Windows

Definitions

  • the invention relates to a device for detecting an obstacle relative to a controlled element in motion and / or for controlling the movement of the element relative to the obstacle, and in particular a chassis for a motorized opening element, in particular for a vehicle. automobile, provided with an obstacle safety device on closing, and the opening element obtained.
  • the invention also relates to an obstacle detection method.
  • the invention is aimed in particular at an anti-pinch device for window or motor vehicle chassis with electric drive, but it also relates to an anti-pinch device for an opening element in various fields such as housing with gates or motorized shutters for example but also the general area of transport with motorized opening elements of public transport vehicles for example.
  • Knock-pinching devices are known, in particular for electrically-driven motor vehicle windows, which comprise means for detecting an excess of torque or of intensity of the driving current of the electric motor when the window is closed, or a means of detection (by Hall effect) of a variation of speed of the electric motor in front of an obstacle to the closing, and which control the reopening of the window, thus avoiding to trap the window on the obstacle, for example a finger with one hand and hurt her.
  • the effort exerted on the obstacle (a finger) is relatively important and can hurt the person concerned.
  • the device is dependent on external conditions: ambient temperature, wear, sliding friction of the window, etc. which can help to increase the closing force before reopening.
  • the stress can be very large in the shear zones and in the corners, with a significant risk of seriously injuring the person.
  • sheath there is also an elastomeric sheath system housing electrical contact elements which can be short-circuited during the collapse of the sheath and which thus provide the signal of reopening of the window. Nevertheless, the sheath is relatively rigid and difficult to deform and the system is therefore insensitive. In addition, the cost of manufacturing the system remains high, and limited in length and in shape.
  • An object of the invention is to provide a motorized opening element safety system that can be preferably associated with a seal of this opening element, which is simple, reliable and economical and not limited to length relative to known devices.
  • the capacitive type safety devices for motorized opening elements are expensive and sensitive to the electromagnetic field of the environment.
  • a sonic tubular displacement sensor which essentially involves a flexible tube for propagating an ultra sonic signal (from 20 to 500 KHz), disposed at least over part of its length over an area likely to be in contact with a obstacle, two sound transducers attached to the ends of the flexible tube, and processing means adapted to determine the change in the propagation of the ultrasonic signal and thus the pinching of the flexible tube by the obstacle.
  • Such a sensor detects the deformation of the tube on the obstacle, even small, but does not detect the contact shock of the tube on the obstacle before the deformation of the flexible tube.
  • a deformable sensor for motorized vehicle glass comprising an elongated element in the form, for example, of a flexible tube and able to propagate light-wave radiation, and to signal the presence of an obstacle to the deformation of the modifying tube the propagation of radiation.
  • a deformable sensor for motorized vehicle glass comprising an elongated element in the form, for example, of a flexible tube and able to propagate light-wave radiation, and to signal the presence of an obstacle to the deformation of the modifying tube the propagation of radiation.
  • only the deformation of the tube on the obstacle is detected and not the prior contact of the obstacle on the tube.
  • the docking shock is created by the contact of the obstacle against the deformable tubular means or flexible tube according to a differential speed of movement of these elements.
  • the obstacle detection device allows doubly secure obstacle detection, contact shock and deformation of the deformable tubular means, the detection of the shock prior to the deformation allowing the device to react faster than the only deformation of the sensor and to avoid the deformation thereof, which involves more risk of crushing the obstacle.
  • a third level of securing can be achieved by deformable tubular means having a reserve of compressibility, for example a deformable thickness of the tubular sensor, capable of easily crushing, so that in case of non-detection of shock ( slow approach speed) and the detection of complete crushing deformation of the tubular means deformable by the obstacle, which corresponds to a lack of dynamic transmitted pressure wave signal, the device is able to allow a control with a reserve of safety compression guaranteeing the response time until the movement of the element stops and possibly the reversal of the movement for the removal of the obstacle. An additional safety time is thus attributed to the response time of the control chain of the kinematics by said reserve of compressibility of the deformable tubular means.
  • the dynamic pressure wave signal may be in the sound or infrasonic spectrum, but it is advantageously less than 250Hz.
  • the impulse wave may be in the sound or infrasonic spectrum and is advantageously of frequency between 10 and 100 Hz.
  • Such signals run well, indeed, within the deformable tubular means or flexible tube and up to significant lengths thereof (several tens of meters).
  • Said emitter and receiver elements each advantageously comprise a transducer of small dimensions, piezoelectric transducer for example, vented by at least one hole through their chamber (front part) and / or rear part opposite to their connection with the end of the flexible tube.
  • transmitter and receiver elements are advantageously mounted in a flexible and sealed connection, each in a closed housing or together in the same closed housing so as to be isolated from noise and parasitic vibrations, moisture and dust from the environment.
  • the transducers are advantageously each integrated in a chamber adapted to dynamic pressure impedance (ratio of the pressure of the medium of the signal to the volumetric flow rate of the medium of the flexible tube) to the signal to be transmitted or received and to the flexible tube, and connected to the end of the latter, which chamber amplifies the transmission and transmission of the transmitted or received signal respectively, and decreases the influence of external noise.
  • dynamic pressure impedance ratio of the pressure of the medium of the signal to the volumetric flow rate of the medium of the flexible tube
  • the flexible tube may be of variable geometric section. It is advantageously of cylindrical or near section, of small outside diameter, of 4-6 mm for an inner section diameter of 2-3 mm and is of great length, several meters.
  • the small section and the long length of the flexible tube require a high dynamic pressure of the signal at low volume flow rate and therefore large diameter transducer chambers with respect to the diameter of the duct of the flexible tube with a shallow depth of the front chamber (towards the tube ) thus creating the conditions for a pressure amplification adapted to the tube, the chamber preferably being substantially flat.
  • Said at least one venting hole is also of small diameter (relative to the duct of the flexible tube) and long to allow reception at minimal loss of the impulse wave generated by the collision of approaching the obstacle, while forming low-pass filter parasitic components and equalization of atmospheric static pressure.
  • the emitter element may be connected to a plurality of flexible tubes connected in series or in parallel with one or more receiving elements forming an anti-pinch probe of moving parts to be secured of the same vehicle.
  • said transmitter and receiver elements can be grouped together in a single assembly or package to which said ends of the flexible tube are connected.
  • Said dynamic pressure wave signal emitted by the emitter element may comprise at least one regular alternating component of a single frequency, but preferably it comprises at least two near frequency components (frequency modulated signal) thus specifying the signal and its recognition by the receiving element.
  • Said flexible tube may be derived from extrusion or possibly molding in synthetic material, elastomer (rubber-based) for example, with the chassis frame seal.
  • This synthetic material, elastomer for example, allows the creation of a pulse wave of very low frequency essentially in the sound spectrum of about 10 to 100 Hz and short duration (Pulse of 10 to 100 ms) in the tube, shock berthing of the latter with the obstacle.
  • the elastomeric material furthermore makes it possible to isolate the interior of the flexible tube from the outside environment and the degree of sound insulation of the inside of the flexible tube can be adjusted with the thickness of the wall of the tube and the nature of the tube material.
  • the flexible tube may further comprise a more rigid internal wall surface, capable of better conducting the dynamic pressure wave signal and the dynamic pressure pulse wave and of amplifying the deformation of the tube (in length), and an insulating flexible outer wall of the external noise.
  • Said flexible tube may be disposed at right angles to the frame or along the periphery edge, on the inside and / or outside of the vehicle, of the movable element or of the frame. It is made in particular of elastomer synthetic material (rubber), which in contact with or external docking shock with the tube creates within it a pulse wave sound spectrum or infrasound, very low frequency (less than 100 Hz).
  • rubber elastomer synthetic material
  • Said movable element may be a motor vehicle door sliding window or a vehicle sunroof or a movable curtain, operated by a motor drive device (electric, hydraulic or pneumatic).
  • Said movable element may be a sliding door of a motor vehicle or public transport, operated by an electric motor drive device or the like, or a vehicle trunk lid operated by an electric or hydraulic or pneumatic drive device. It can also be a motorized gate, a shutter etc.
  • the flexible tube may be resiliently or resiliently connected to the chassis frame or movable member, thereby reducing the transmission of vehicle vibrations that may disturb the dynamic pressure wave signal. It can be mounted clipped on the rabbet of the frame or embedded in a flexible lip of the seal.
  • Said flexible tube may also be glued for example by an insulating flexible adhesive strip on the movable element or the frame frame.
  • Said flexible tube can be further coextruded with the profile or seal between the movable member and the frame.
  • the safety device of the closure can be provided, as means for verifying the proper functioning of the detection and the movement control of the means for processing the device (mentioned above), with a self-checking device for the non-presence an obstacle on the flexible tube, put into operation from the control of the movable element or from the start of operation of the vehicle and verifying that the transmission of the dynamic pressure wave signal from the transmitter element to the the receiving element is normally carried out without any obstacle before activating the device for regulating and controlling the motor means.
  • the contact or the collision shock of the obstacle on the flexible tube is able to create therein a dynamic low frequency pulse pressure wave signal of large amplitude according to a two pulsations sound or infrasound, which signal is detected by the receiving element and is immediately transmitted to the control device and control of the motor means to control the removal or reopening of the movable member.
  • the flexible tube is advantageously sealed and at least one of the transmitter or receiver elements or their assembly further comprises at least a small hole opening to the atmosphere, which allows to put the flexible tube in atmospheric balance whatever the variations in atmospheric pressure and not to influence the transmission of the dynamic pressure signal along the flexible tube.
  • Said device detection device advantageously comprises means for analyzing the pressure variation of the dynamic pressure wave signal and the dynamic pressure pulse wave transmitted from the transmitter element to the receiver element, capable of to process this information and to determine the presence first of a shock on the flexible tube or secondly of a partial or total pinch thereof and to adapt a stop command or withdrawal of the mobile element as soon as it is detected.
  • these analysis means include in their treatment component and sensor wear compensations by an automatic gain control loop and / or shock and pinch thresholds, making the system little or not sensitive to variations. climatic conditions (temperature, humidity, pressure) and possible attenuation changes of the channel of the flexible tube.
  • An advantage of these automatic corrections is to allow the adaptation of the device to various use cases of the device, this simplifying maintenance by decreasing the references in stock.
  • the door frame 1 with sliding window 3 of a motor vehicle represented essentially comprises an upper window 5, a lower solid part 6 corresponding to the bottom of the door and disposed under the window 5, a glazing element or window 3 slidably mounted in the window 5 of the door and adapted to open or close said window 5, a device 7 for sliding drive of the glazing element 3, a device for regulating and controlling the drive 9 of the glazing element 3 , and a safety device 11 for closing the glazing element 3.
  • the window 5 is delimited by an upper peripheral frame portion 13 of the door provided with an internal rebate 15, which receives in its inner U-shaped portion 17 ( figure 3 ) a profiled flexible joint 19 with outer cross lips 21 receiving the glazing element 3 on closing.
  • This seal 19 is arranged all around the inner edge of the frame 13 of the opening of the window, in said rebate 15. It has a substantially U-shaped section corresponding to that U of the rabbet 15 with two outer side wings 23 folded, in the fold of which it can receive pinch each of the branches of U 25 of the rabbet 15, and two opposite outer cross lips 21 at the top of the U flexively receiving and sealing the glazing element 3, substantially in the median plane of the U.
  • This seal 19 is derived from extrusion made of elastomeric synthetic material and comprises a flexible tube 31, preferably of cellular rubber, projecting on the lateral flange 23, on the inside of the vehicle, this tube being oriented toward the opening of the window 5 Door.
  • the flexible tube 31 is part of the safety device 11 of the closure of the aforementioned glazing element 3 and is adjacent to the lip 21 adjoining the corresponding support wing 23.
  • It comprises a substantially semicircular or circular regular section, extending on the inner periphery of the window opening 5, with the exception of the lower horizontal side of the window 5 where it returns in a loop in the lower part 6 of the door.
  • the dimensions of its external section vary from 4 to 8 mm and that of its internal section from 2 to 4 mm. Its length can be several meters. Its wall is waterproof or not and easily deformable. It has a small hole (not shown) for venting.
  • the glazing element 3 is a conventional glass plate geometrically shaped to the opening of the frame 13 of the window. This glass plate 3 slides vertically downwards or upwards, by the action of its driving device 7 to open or close the window 5 of the door.
  • the driving device 7 in sliding of the glazing element 3 is of the vertical rail type 33 and cable (not shown) connected to the glazing element 3 and the support of the glazing element.
  • This cable is towed in a loop on a pulley driven by an integrated electric motor 35. It is mounted in the lower part of the door.
  • the device for regulating and controlling the drive 9 comprises an electronic box 37 housed in the lower part 6 Door. It is connected to the motor 35 of the driving device and to said safety device 11 of the closing of the glazing element 3.
  • This housing is conventional and makes it possible to control the opening or closing of the door window by the glazing element in connection with an authorization of said closure security device 11 described hereinafter. If this authorization is deactivated during closing, it commands the instantaneous reopening of the glazing element 3.
  • the safety device 11 of the closure of the glazing element comprises the aforementioned flexible tube 31 and a housing 39 housing the transmitter elements 40a and 40b receiver of dynamic pressure waves of low frequency, less than 500 Hz, (sound or infrasonores for example) each connected to one end of the flexible tube 31.
  • transmitter and receiver elements each comprise ( figure 2 ) an acoustic transducer (piezoelectric for example), transmitter 41a of a dynamic pressure wave signal (reference signal) and receiver 41b of the dynamic pressure wave signal transmitted by the flexible tube, respectively, integrated in a suitable transmitting chamber 42a and receiver 42b, open to the atmosphere through a small hole in its chamber, 44'a, 44'b and its lower part, 44a, 44b, respectively and connected by its upper part to one end of flexible tube 31.
  • acoustic transducer piezoelectric for example
  • transmitter 41a of a dynamic pressure wave signal reference signal
  • receiver 41b of the dynamic pressure wave signal transmitted by the flexible tube respectively, integrated in a suitable transmitting chamber 42a and receiver 42b, open to the atmosphere through a small hole in its chamber, 44'a, 44'b and its lower part, 44a, 44b, respectively and connected by its upper part to one end of flexible tube 31.
  • the transducers may for example be each connected in a closed or common housing to the flexible tube by a flexible sleeve, sealed, and the integrated circuit board the signal processor closes the housing at its rear part, this plate can also be mounted flexibly on the housing and non-rigid electrical connection so as to be isolated from external vibrations.
  • the transmit rooms 42a or 42b reception are phonically isolated from each other and the external environment, within the housing.
  • they are identical to each other, relatively flat configuration and low volume. They are mounted in a flexible connection on the housing to the flexible tube by a seal 45 at the end of the flexible tube. They are connected to the atmosphere each by a lateral end hole 44a ', 44b' and a second lower end hole 44a and 44b at their rear part.
  • These chambers are thus adapted in dynamic pressure impedance for receiving and emitting a high dynamic pressure signal, because of the small section of the flexible tube.
  • the transmitter element 40a may emit a frequency modulated signal at two frequencies close to each other (for example at about 200 Hz and included in the sound spectrum).
  • the receiving element 40b receives the signal transmitted to the other end of the flexible tube 31 whose amplitude is slightly attenuated when the flexible tube is not clogged (pinched).
  • the received signal is transmitted to the control and control device of the drive 9, which processes it and analyzes it to determine whether the variation of the acoustic pressure of the sound signal transmitted from the emitter element corresponds to an obstacle in contact with the flexible tube (with collision shock and / or crushing) in order to deactivate the authorization to close the window 5 and to initiate reopening of the glazing element 3.
  • the verification of the non-presence of a obstacle is carried out as soon as the system is put into operation, therefore before each closing movement of the glazing unit or the chassis.
  • the signal processing for the detection of shocks within the analysis and processing means of the regulation and control device 9 may consist, for example, of filtering the output of the transmitted sound signal by analog low-pass filtering, to amplify it, to digitize it, to average it over a sliding period of time that is multiple of the transmission frequency (in order to cancel the average value of the reference signal) and to compare the results of this calculation with maximum threshold values authorized on the derivative and the absolute value of this shock average, set proportionally to the average amplitude of the received reference signal.
  • the signal processing for pinch detection consists of performing a Fourrier transform digital processing of the values of this signal.
  • the reference frequency (of the reference signal) is frequency-modulated so that the results of the average convolution are stable even if the external disturbances are strong.
  • This requires an integration of the calculations relative to the frequency modulation which can be for example linear, triangular, sinusoidal or other. Because of said integration, the pinch detection becomes less reactive with respect to a pinch but robust vis-à-vis the dreaded events that are, the non triggering in case of pinching in a disturbed environment and nuisance tripping in case of disturbances.
  • the said long-term filtered reception signal must itself be greater than a minimum threshold set according to the construction of the detection device in order to ensure a minimum dynamic and precision to the detection device.
  • Said modulation is essential for the robustness of the device. It justifies the need for shock detection to maintain excellent responsiveness, supported by pinch detection for flawless security.
  • the contact of an obstacle with the flexible tube generates a shock which is translated inside it by a low frequency sound pulse wave of about 10 to 100Hz (with one or two pulsations rapidly damped) for this type of flexible elastomeric rubber tube and this wave can be detected by the acoustic receiving element 40b upon detection of the contact shock to enable the closure to be deactivated very shortly after contact with the obstacle (a few ms corresponding to the time propagation and processing of the signal).
  • the deactivation of the closure is activated either when approaching the obstacle with the flexible tube (at the impact of contact with the obstacle without crushing the flexible tube) or at a partial crushing of the flexible tube if there has no shock such as if the pinch was performed before the system was put into operation
  • the attenuation of the dynamic pressure of the transmitted signal varies directly with the collapse of the flexible tube by the obstacle and it is possible to deactivate the closing of the movable element at a determined crushing level of the flexible tube, by example at 20-40% crushing it avoiding the crash of a finger of a person.
  • the glazing element 3 is controlled in closing and a finger 43 of a person ( Fig. 3 ) is accidentally applied to the window edge 5 of the door frame 1, for example to the upper level thereof.
  • the glazing element 3 under the control of the device for regulating and controlling the drive 9 and under the action of its drive device 7 will rise until it comes into contact with the finger 43, which will touch the tube 31.
  • the docking contact of the finger with the tube generates a shock wave that is detected by the acoustic receiver element 40b.
  • the signal is processed and is recognized after analysis as corresponding to a shock.
  • the control and control device 9 then deactivates the closure instantaneously and produces an immediate reopening control of the glazing element 3.
  • the finger will then flatten the flexible tube to its contact (broken line on the Fig. 3 ).
  • the deformation of the flexible tube 31 will generate a restriction inside thereof, which will reduce the transmission of the sound signal at its level and this variation of the dynamic pressure will be detected by the receiving element 40b and the latter will generate as aforesaid a dynamic pressure variation signal to the control device and control of the drive 9. This will then produce an immediate reopening control of the glazing element 3, thus without hurting the touched finger 43.
  • the flexible tube 31 ' is fixed either on the edge of the frame 1' receiving the movable member 3 ', but on the edge of the movable member 3', being turned towards the opposite edge of the frame frame facing (middle foot of the body).
  • the flexible tube 31 ' is thus bonded (by a double-sided adhesive for example) to the edge of the sliding door 3' facing the center pillar 1 'of the bodywork of the motor vehicle.
  • This flexible tube 31 ' is configured in a substantially rectilinear line (thick line on the figure 4 ) over the entire height of the outer vertical edge of the door 3 ', where an obstacle can be applied (for example a hand or fingers 43' of a person).
  • the dynamic pressure wave emitting element of the flexible tube may be disposed at one end of the flexible tube 31 ', for example at the lower end, while its upper end is connected to the acoustic receiving element. corresponding (not shown), thus covering a safety zone substantially corresponding to the length of the flexible tube.
  • the flexible tube 31 ' can also be looped (in phantom) returning to the inner side of the door to protect it also.
  • the flexible tube 31 "could also be arranged along the outer edge of the middle foot 1 '(in dashed line on the figure 5 ) and possibly looped.
  • the invention is not limited to the aforementioned embodiments but can be applied to any mobile element ( figure 7 ) equipped with a safety device according to the invention (in broken lines) relative to a chassis frame in an area where an obstacle can be interposed between the frame and the movable element, and for example to a hood or tailgate of vehicle trunk or vehicle sun roof etc., operated by a driving device, electric pneumatic or hydraulic (not shown).
  • the flexible tube 31 "' can be coextruded with a seal 46 between the movable member and the frame, being for example housed inside the seal (protected), in a space remote from the deformation the latter is closed (in broken lines) Only an obstacle deforms the flexible tube 31 "'.
  • the flexible tube 31 "" ( figure 6b ) can still be mounted on the seal 47 inserted into a flexible lip 49 thereof, which facilitates its mounting.
  • the flexible tube may comprise two adjacent channels, coextrusion for example, and each able to route one go of the signal and the other the return of the signal, the continuity of the signal from the go to return being performed by a suitable rider at the end of the tube.
  • the invention thus provides an obstacle safety device for a moving element frame, which ensures a soft closing contact without risk of injuring a person, independent of the wear and the driving forces of the movable element and the elements. shear zones or corners of the frame, and which is adaptable in the closure area to secure many mobile element chassis.

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  • Power-Operated Mechanisms For Wings (AREA)
  • Window Of Vehicle (AREA)

Claims (15)

  1. Vorrichtung zum Erfassen eines Hindernisses (43, 43') relativ zu einem Element (3, 3'), das in Bewegung gesteuert ist, und/oder zum Steuern der Bewegung des Elements (3, 3') relativ zu dem Hindernis (43, 43'),
    dadurch gekennzeichnet, dass es enthält:
    ein verformbares schlauchförmiges Mittel oder einen nachgiebigen Schlauch (31, 31', 31", 31"', 31"") für die Ausbreitung dynamischer Druckwellen mit niedriger Frequenz unter 500 Hz, wobei das verformbare schlauchförmige Mittel oder der nachgiebige Schlauch (31, 31', 31", 31''', 31"") weiter daran angepasst ist, eine dynamische Pulsdruckwelle mit einer sehr niedrigen Frequenz unter 100 Hz zu erzeugen und weiterzuleiten, die bei dem Stoß des Anliegens des bewegten Elements (3, 3') an dem Hindernis (43, 43') gesendet wird,
    ein Sendemittel (40a) und ein Empfangsmittel (40b) für diese dynamischen Druckwellen mit niedriger Frequenz und ein Empfangsmittel (40b) für die dynamische Pulsdruckwelle mit einer sehr niedrigen Frequenz, wobei das Sendemittel (40a) und das Empfangsmittel (40b) insbesondere in der Impedanz des dynamischen Drucks an das verformbare schlauchförmige Mittel oder den nachgiebige Schlauch (31, 31', 31", 31''', 31"") angepasst sind,
    ein Mittel zum Verarbeiten (9) dieser dynamischen Druckwellen und der dynamischen Pulsdruckwelle, das daran angepasst ist:
    an erster Stelle das gute Funktionieren der Erfassung eines Hindernisses (43, 43') und der Steuerung der Bewegung für die Vorrichtung zu verifizieren,
    die Erfassung des Hindernisses (43, 43') an dem bewegten Element (3, 3'), Stoß des Anliegens oder Verformen des verformbaren schlauchförmigen Mittels oder des nachgiebigen Schlauchs (31, 31' , 31" , 31"' , 31"") festzustellen, und
    anschließend an diese Erfassung eine geeignete Steuerung der Bewegung des Elements (3, 3') relativ zu dem Hindernis (43, 43'), Anhalten, Zurückziehen oder Wiederöffnen des Elements (3, 3') zu ermöglichen,
    wobei das Mittel zum Verarbeiten (9) daran angepasst ist, gemäß einem gesicherten Verfahren zunächst den Stoß des Anliegens des Elements (3, 3') an dem Hindernis (43, 43') zu erfassen und so die Verformung des verformbaren schlauchförmigen Mittels oder des nachgiebigen Schlauchs (31, 31', 31", 31"', 31"") vorauszusehen und zu vermeiden, und dann die zumindest teilweise Verformung des verformbaren schlauchförmigen Mittels oder des nachgiebigen Schlauchs (31, 31', 31", 31"', 31""), wenn der Stoß des Anliegens nicht erfasst wurde.
  2. Vorrichtung zum Erfassen eines Hindernisses gemäß Anspruch 1, bei der das verformbare schlauchförmige Mittel oder den nachgiebige Schlauch (31, 31', 31", 31"', 31"") eine Komprimierbarkeitsreserve aufweist, beispielsweise eine verformbare Dicke des schlauchförmigen Sensors (31, 31', 31", 31"', 31''''), die in der Lage ist, sich leicht zusammendrücken zu lassen, wobei durch diese Komprimierbarkeitsreserve des verformbaren schlauchförmigen Mittels oder des nachgiebigen Schlauchs (31, 31', 31", 31''', 31"") ein Spielraum für das Quetschen des Hindernisses gewonnen wird.
  3. Vorrichtung zum Erfassen eines Hindernisses gemäß Anspruch 1 oder 2, bei dem der nachgiebige Schlauch (31, 31', 31", 31"', 31"") aus einem synthetischen Elastomermaterial gebildet ist, das beim Kontakt oder Stoß des äußeren Anliegens an dem nachgiebigen Schlauch (31, 31', 31", 31"', 31"") in seinem Inneren eine Pulswelle mit Schall- oder Infraschallspektrum mit sehr niedriger Frequenz unter 100 Hz erzeugt.
  4. Vorrichtung zum Erfassen eines Hindernisses gemäß einem der Ansprüche 1 bis 3, bei dem das Signal der dynamischen Druckwellen in dem Schall- oder Infraschallspektrum liegt und eine Frequenz von weniger als 250 Hz hat.
  5. Vorrichtung zum Erfassen eines Hindernisses gemäß einem der Ansprüche 1 bis 4, bei dem die Pulswelle in dem Schall-oder Infraschallspektrum liegt und eine Frequenz hat, die zwischen 10 und 100 Hz liegt.
  6. Vorrichtung zum Erfassen eines Hindernisses gemäß einem der Ansprüche 1 bis 5, bei dem das Sendeelement (40a) und das Empfangselement (40b) beide einen Transduktor (41a, 41b) mit geringen Abmessungen enthalten, beispielsweise einen piezoelektrische Transduktor, der über zumindest eine Öffnung (44a, 44a'; 44b, 44b') ihrer Kammer (42a, 42b) und/oder ihren hinteren Abschnitt, der ihrer Verbindung mit dem nachgiebigen Schlauch (31, 31', 31", 31"', 31"") gegenüberliegt, der Atmosphäre ausgesetzt sind.
  7. Vorrichtung zum Erfassen eines Hindernisses gemäß einem der Ansprüche 1 bis 6, bei dem das Signal der dynamischen Druckwellen, das durch das Sendeelement (40a) ausgesendet wird, zumindest eine reguläre Wechselkomponente einer einzigen Frequenz enthält, zum Beispiel zwei Komponenten naher Frequenzen eines Signals mit Frequenzmodulation, wodurch das Signal und seine Erkennung durch das Empfangselement (40b) spezifiziert ist.
  8. Vorrichtung zum Erfassen eines Hindernisses gemäß einem der Ansprüche 1 bis 7, bei der der nachgiebige Schlauch (31, 31', 31", 31"', 31"") außerdem eine steifere Oberfläche der Innenwand enthält, die in der Lage ist, das Signal der dynamischer Druckwellen und die dynamische Pulsdruckwelle besser zu leiten und die Verformung des Schlauchs in der Länge zu verstärken, und eine nachgiebige Außenwand, die gegen äußere Geräusche isoliert.
  9. Gestell (1, 1') für ein motorisiertes öffnendes Element mit einer Vorrichtung gemäß einem der Ansprüche 1 bis 8, insbesondere eines Automobils,
    das einen Gestellrahmen (13) und ein bewegliches Element (3, 3') enthält, das relativ zu dem Gestellrahmen (13) durch ein Motormittel (35) angetrieben wird, beispielsweise zum Schließen oder Öffnen des Gestellrahmens (13),
    das eine Sicherungsvorrichtung für das Schließen enthält, die geeignet ist, das bewegliche Element (3, 3') anzuhalten, zurückzuziehen oder zu öffnen, sobald bei dem Manöver des Antreibens des beweglichen Elements (3, 3') ein Hindernis (43, 43') zwischen dem Gestellrahmen und dem beweglichen Element (3, 3') erfasst wird,
    wobei die Sicherungsvorrichtung für das Schließen enthält:
    das verformbare schlauchförmiges Mittel (31, 31', 31", 31"', 31"") in Form eines nachgiebigen Schlauchs, der zumindest entlang einer gegenüber einem möglichen Hindernis (43, 43') zu sichernden Zone zwischen dem Gestellrahmen (13) und dem beweglichen Element (3, 3') angeordnet ist, beispielsweise entlang zumindest einem Abschnitt des Außenrands des beweglichen Elements oder des Außenrands des Gestellrahmens (13), und zu der zu sichernden Zone hin vorspringt,
    das Sendemittel (40a) für dynamische Druckwellen mit niedriger Frequenz unter 500 Hz, das an einem Ende des nachgiebigen Schlauchs (31, 31', 31", 31'" 31"") angeordnet ist und in der Lage ist, ein Signal dynamischer Druckwellen auszusenden, das sich entlang des nachgiebigen Schlauchs (31, 31', 31", 31"', 31"") ausbreitet,
    das Empfangsmittel (40b) für dynamische Druckwellen und die dynamische Pulsdruckwelle, das mit dem nachgiebigen Schlauch (31, 31', 31", 31"', 31"") an dessen anderem Ende verbunden ist und in der Lage ist, zumindest eine Änderung des Drucks des Wellensignals und der Pulswelle des dynamischen Drucks zu erfassen, die von dem Sendemittel (40a) gesendet und von einem Hindernis (43, 43') erzeugt werden, das jeweils an dem nachgiebigen Schlauch (31, 31', 31", 31"', 31"") anliegt oder ihn verformt, und
    eine Regel- und Steuervorrichtung (9) für das Motormittel (35), die mit dem Sendemittel (40a), dem Empfangsmittel (40b) und dem Motormittel (35) verbunden ist und in der Lage ist, das Manöver des Anhaltens, Zurückziehens oder Öffnens des beweglichen Elements (3, 3') relativ zum Chassisrahmen (13) zu steuern, sobald aufeinanderfolgend die Stoßpulswelle und/oder die Druckänderung der dynamischen Druckwellen durch das Empfangselement (40b) erfasst werden und dementsprechend ein Hindernis (43, 43'), das jeweils in Kontakt mit dem nachgiebigen Schlauch (31, 31', 31", 31"', 31"") ist oder ihn verformt.
  10. Gestell (1, 1') gemäß Anspruch 9, bei dem der nachgiebige Schlauch direkt an dem Rahmen oder entlang dem Außenrand, der Innenseite und/oder der Außenseite des Fahrzeugs, des beweglichen Elements oder des Gestellrahmens angeordnet sein kann.
  11. Gestell (1, 1') gemäß Anspruch 9 oder 10, bei dem die Vorrichtung zum Erfassen des Hindernisses ein Mittel zur Analyse der Änderung des dynamischen Drucks des übertragenen Signals dynamischer Druckwellen und der übertragenen Pulsdruckwelle enthält, das in der Lage ist, diese Informationen zu verarbeiten und an erster Stelle das Vorhandensein eines Stoßes gegen den nachgiebigen Schlauchs (31, 31', 31 ", 31"', 31'''') festzustellen und an zweiter Stelle ein teilweises oder vollständiges Klemmen desselben und bei deren Entdeckung einen Befehl zum Anhalten oder Zurückziehen des beweglichen Elements (3, 3') anzupassen.
  12. Gestell (1, 1') gemäß einem der Ansprüche 9 bis 11, bei dem der nachgiebige Schlauch (31, 31', 31", 31''', 31"") zwei benachbarte Kanäle enthält, die beispielsweise aus einer Coextrusion hervorgehen und in der Lage sind, dass jeweils der eine den Hinweg des Signals und der andere den Rückweg führt, wobei die Kontinuität des hinlaufenden und rücklaufenden Signals durch eine geeignete Brücke aus einem Stück Schlauch verwirklicht wird.
  13. Verfahren zum Erfassen eines Hindernisses relativ zu einem Element (3, 3'), das in Bewegung gesteuert ist, und /oder zum Steuern der Bewegung des Elements (3, 3') relativ zu dem Hindernis (43, 43'), insbesondere für ein Fahrzeug, unter Verwendung einer Vorrichtung zum Erfassen eines Hindernisses gemäß einem der Ansprüche 1 bis 8, enthaltend:
    nach dem Steuern des beweglichen Elements oder ab dem Versetzen des Fahrzeugs in Betrieb, einen Schritt der Selbstkontrolle, um das Nichtvorhandensein eines Hindernisses an dem verformbaren schlauchförmigen Mittel oder dem nachgiebigen Schlauchs sicherzustellen durch Verifizieren, ob die Übertragung eines Signals dynamischer Druckwellen mit niedriger Frequenz unter 500 Hz von einem Sendeelement bis zu einem Empfangselement normal und ohne Hindernis erfolgt,
    einen Schritt des Erfassens
    eines Stoßes des Anliegens des Hindernisses gegen das verformbare schlauchförmige Mittel oder den nachgiebigen Schlauch durch Messen eines Schall- oder Infraschallpulses in Form einer dynamischen Druckwelle mit einer sehr niedrigen Frequenz unter 100 Hz, die in dem verformbaren schlauchförmigen Mittel oder dem nachgiebigen Schlauch bei dem Stoß des Anliegens des Hindernisses gegen das verformbare schlauchförmige Mittel oder den nachgiebigen Schlauch ausgesendet wird, und/oder
    eines Klemmens oder Quetschens des Hindernisses an dem verformbaren schlauchförmigen Mittel oder dem nachgiebigen Schlauch durch Messen der Änderung des Luftdrucks, der durch das Klemmen oder Quetschen erzeugt wird, und/oder eines Schall- oder Infraschallsignals (Referenzsignals), das im Inneren des verformbaren schlauchförmigen Mittels oder des nachgiebigen Schlauchs von dem Sendeelement ausgesendet wird,
    im Fall des Erfassens eines Stoßes oder eines Klemmens oder Quetschens einen Schritt der Steuerung, der an die Bewegung des Elements relativ zu dem Hindernis angepasst ist, Anhalten, Zurückziehen oder Wiederöffnen dieses Elements,
    wobei ein gesichertes Verfahren vorgesehen ist, um zunächst den Stoß des Anliegens des Elements an dem Hindernis zu erfassen, um so die Verformung des verformbaren schlauchförmigen Mittels oder des nachgiebigen Schlauchs vorauszusehen und zu vermeiden, und dann die zumindest teilweise Verformung des verformbaren schlauchförmigen Mittels oder des nachgiebigen Schlauchs, wenn der Stoß des Anliegens nicht erfasst wurde.
  14. Verfahren gemäß Anspruch 13, das außerdem einen Analyseschritt enthält unter Durchführung einer Kompensation der Abnutzung der Komponenten und der Sensoren mittels einer automatischen Regelschleife für die Verstärkungen und/oder Schwellen für den Stoß und das Klemmen, um die Vorrichtung wenig oder gar nicht anfällig gegenüber Klimaschwankungen wie z.B. Temperatur, Luftfeuchte, Druck und möglichen Entwicklungen der Dämpfung des Kanals des nachgiebigen Schlauches zu machen.
  15. Verfahren gemäß Anspruch 13 oder 14, bei dem
    zum Erfassen der Stöße vorgesehen ist: eine analoge Tiefpassfilterung des Ausgangs des übertragenen Schallsignals, eine Verstärkung des gefilterten Signals, eine Digitalisierung des verstärkten Signals, eine gleitende Mittelwertbildung des digitalisierten Signals über eine Zeitspanne, die ein Mehrfaches der Sendefrequenz ist (um den Mittelwert des Referenzsignals zu annullieren) und ein Vergleich der Ergebnisse dieser Berechnung mit maximal zulässigen Schwellwerten für die Ableitung und den Absolutwert dieses Stoßmittelwerts, die proportional zu der mittleren Amplitude des empfangenen Referenzsignals festgelegt sind, und
    zum Erfassen der Klemmungen vorgesehen ist: eine digitale Verarbeitung des Signals, damit diese Verarbeitung robust gegenüber möglichen akustischen und vibratorischen Störungen von außerhalb der Vorrichtung ist, wobei die Frequenz dieses Signal frequenzmoduliert ist, so dass die Ergebnisse der mittleren Faltung auch dann stabil sind, wenn die Störungen von außen stark sind, was eine Integration der Berechnungen relativ zu der Frequenzmodulation erfordert, die beispielsweise linear, dreiecksförmig, sinusförmig oder anders sein kann, wobei die Integration weniger reaktiv relativ zu einem Klemmen wird, aber robust gegenüber befürchteten Ereignissen, die das Nicht-Auslösen im Fall des Klemmens in einer gestörten Umgebung und die Fehlauslösung im Fall von Störungen sind.
EP08826624A 2007-06-22 2008-06-19 Hinderniserkennungsvorrichtung, insbesondere ein rahmen für eine motorisiertes öffnungselementes eines kraftfahrzeugs, sowie hinderniserkennungsverfahren Active EP2179121B1 (de)

Applications Claiming Priority (2)

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FR0704496A FR2917770B1 (fr) 2007-06-22 2007-06-22 Chassis pour element d'ouvrant motorise, notamment pour vehicule automobile, pourvu d'un dispositif de securite d'obstacle a la fermeture, et element d'ouvrant obtenu
PCT/FR2008/000854 WO2009013402A2 (fr) 2007-06-22 2008-06-19 Dispositif de detection d'obstacle, notamment chassis pour element d'ouvrant motorise pour vehicule automobile, et element d'ouvrant obtenu

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US20100174447A1 (en) 2010-07-08
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CA2692080C (fr) 2015-11-17
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JP2010531398A (ja) 2010-09-24
JP5560187B2 (ja) 2014-07-23
FR2917770B1 (fr) 2011-07-29
BRPI0813256A2 (pt) 2014-12-30
EP2179121A2 (de) 2010-04-28
CA2692080A1 (fr) 2009-01-29
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KR20100040732A (ko) 2010-04-20
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