EP2179121B1 - Obstacle detection device, in particular a frame for a motorised opening panel of a motor vehicle, and obstacle detection method - Google Patents

Description

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.

Nevertheless, these devices have certain disadvantages.

The effort exerted on the obstacle (a finger) is relatively important and can hurt the person concerned. In addition, 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. In addition, the stress can be very large in the shear zones and in the corners, with a significant risk of seriously injuring the person.

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.

In addition, the capacitive type safety devices for motorized opening elements are expensive and sensitive to the electromagnetic field of the environment.

We also know by US 5,629,681 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.

We know more about GB 2 288 014 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. Here too, only the deformation of the tube on the obstacle is detected and not the prior contact of the obstacle on the tube.

• des moyens tubulaires déformables ou tube souple de propagation d'ondes de pression dynamique de basse fréquence, inférieure à 500 Hz, ces moyens tubulaires déformables ou tube souple étant aptes en outre à créer et propager une onde impulsionnelle de pression dynamique de très basse fréquence, inférieure à 100 Hz, émise au choc d'accostage de l'élément en mouvement sur l'obstacle,
• des moyens émetteur et récepteur desdites ondes de pression dynamique de basse fréquence, et récepteur de ladite onde impulsionnelle de pression dynamique de très basse fréquence, ces moyens émetteur et récepteur étant adaptés notamment en impédance de pression dynamique auxdits moyens tubulaires déformables ou tube souple ,
• des moyens de traitement desdites ondes de pression dynamique et onde impulsionnelle de pression dynamique, adaptés pour :
• vérifier en premier lieu le bon fonctionnement de la détection d'un obstacle et de la commande de mouvement par le dispositif, déterminer la détection de l'obstacle par l'élément en mouvement, choc d'accostage ou déformation desdits moyens tubulaires déformables ou tube souple, et permettre suivant cette détection une commande adaptée du mouvement de l'élément relativement à l'obstacle, arrêt, retrait ou réouverture de l'élément,
• ces moyens de traitement étant aptes à détecter selon une procédure sécurisée d'abord le choc d'accostage de l'élément sur l'obstacle, évitant et anticipant ainsi la déformation desdits moyens tubulaires déformables ou tube souple, puis la déformation des moyens tubulaires déformables ou tube souple, au moins de façon partielle, si le choc d'accostage n'est pas détecté.

The invention aims to remedy these drawbacks and proposes 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, characterized in that it comprises :

• deformable tubular means or flexible tube for propagating dynamic pressure waves of low frequency, less than 500 Hz, these tubular means deformable or flexible tube being further able to create and propagate a dynamic pressure pulse wave of very low frequency, less than 100 Hz, emitted to the impact shock of the moving element on the obstacle,
• transmitter and receiver means of said low frequency dynamic pressure waves, and receiver of said pulse wave of very low frequency dynamic pressure, these transmitter and receiver means being adapted in particular in dynamic pressure impedance to said deformable tubular means or flexible tube,
• means for processing said dynamic pressure waves and dynamic pressure impulse waves, suitable for:
• first of all check the correct operation of the detection of an obstacle and the movement control by the device, determine the detection of the obstacle by the moving element, collision of docking or deformation of said deformable tubular means or tube flexible, and allow according to this detection a control adapted to the movement of the element relative to the obstacle, stop, withdrawal or reopening of the element,
• these processing means being able to detect according to a secure procedure first the shock of docking of the element on the obstacle, thus avoiding and anticipating the deformation of said deformable tubular means or flexible tube, then the deformation of the deformable tubular means or flexible tube, at least partially, if the docking shock is not detected.

Naturally, 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.

As a result of this arrangement, relative to the detection of the deformation of the deformable tubular means or of the tubular sensor alone, the obstacle detection device according to the invention 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.

In addition, 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. In addition, 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.

These 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.

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.

Naturally, 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. In addition, 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.

• des moyens tubulaires déformables à forme de tube souple disposé au moins le long divine zone à sécuriser relativement à un obstacle éventuel entre le cadre de châssis et l'élément mobile, par exemple le long d'au moins une partie du bord de périphérie de l'élément mobile ou du bord de périphérie du cadre dudit châssis, et formant saillie vers ladite zone à sécuriser,
• un moyen émetteur d'ondes de pression dynamique de basse fréquence, inférieure à 500 Hz, disposé à une extrémité dudit tube souple et apte à émettre un signal d'ondes de pression dynamique de très basse fréquence, inférieure à 100 Hz, cheminant le long dudit tube souple,
• un moyen récepteur d'ondes de pression dynamique et de ladite onde impulsionnelle de pression dynamique, relié audit tube souple à une autre extrémité de celui-ci et apte à détecter au moins une variation de pression dudit signal d'ondes et l'onde impulsionnelle, de pression dynamique transmis depuis le moyen émetteur et générée par un obstacle accostant ou déformant ledit tube souple respectivement, et,
• un dispositif de régulation et commande du moyen moteur relié auxdits moyens émetteur et récepteur et au moyen moteur, apte à commander la manoeuvre d'arrêt, de retrait ou d'ouverture de l'élément mobile relativement au cadre de châssis dès la détection successivement de ladite onde impulsionnelle de choc et/ou d'une dite variation de pression d'ondes de pression dynamique par l'élément récepteur et correspondant à un obstacle en contact et/ou déformant ledit tube souple respectivement.

The invention can be applied to a frame for motorized opening element comprising an obstacle detection device as defined above. In this case, the frame according to the invention may be a chassis for a motorized opening element, in particular a motor vehicle, comprising a chassis frame and a movable element driven relative to said chassis frame by a motor means, for example when closing or opening of the chassis frame, and comprising a closure safety device capable of stopping, retracting or opening the movable element as soon as an obstacle is detected between the chassis frame and the movable element at the driving operation of the the movable member, wherein the closure security device comprises:

• deformable tubular means of flexible tube shape disposed at least along the divine zone to be secured relative to a possible obstacle between the frame frame and the movable element, for example along at least a portion of the periphery edge of the mobile element or peripheral edge of the frame of said frame, and projecting towards said area to be secured,
• a low frequency dynamic pressure wave emitter means, lower than 500 Hz, disposed at one end of said flexible tube and capable of emitting a very low frequency dynamic pressure wave signal, less than 100 Hz, traveling along said flexible tube,
• a dynamic pressure wave receiving means and said dynamic pressure pulse wave, connected to said flexible tube at another end thereof and adapted to detect at least one pressure variation of said wave signal and the pulse wave dynamic pressure transmitted from the transmitter means and generated by an obstacle accosting or deforming said flexible tube respectively, and,
• a device for regulating and controlling the motor means connected to said transmitter and receiver means and the motor means, adapted to control the stopping, retraction or opening operation of the movable element relative to the chassis frame as soon as the detection of said shock impulse wave and / or a said dynamic pressure wave pressure variation by the receiving element and corresponding to an obstacle in contact and / or deforming said flexible tube respectively.

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).

It follows from this arrangement that the contact of an obstacle during the approach maneuver of the movable element creates a shock that generates a pulse wave dynamic pressure, and that the beginning of crushing of this obstacle between the frame frame and the movable element creates a deformation of the flexible tube in said area to be secured and changes the transmission of the signal in the flexible tube. The pressure pulse created by the shock, itself superimposed on the dynamic pressure variation created by the crash, is detected by the receiving element. The information is immediately transmitted to the control device and control of the motor means for controlling the stop, the withdrawal or the reopening of the movable element, thus releasing the obstacle interposed between the frame frame and the movable element.

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.

Furthermore, as mentioned above, 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.

In addition, 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.

• la figure 1 est une vue schématique partielle d'un châssis de porte à vitre coulissante de véhicule automobile selon l'invention,
• la figure 2 est une vue schématique des éléments émetteur et récepteur d'ondes de pression dynamique,
• la figure 3 montre selon une vue en coupe transversale partielle et selon la ligne III-III de la figure 1, le châssis en prise avec un obstacle interposé entre le cadre de châssis et la vitre de porte à une position proche de la fermeture,

• la figure 4 montre une variante de réalisation de l'invention relative à une porte coulissante de véhicule automobile entraînée électriquement,
• la figure 5 est une vue en coupe transversale partielle du châssis de la figure 4 en prise avec un obstacle interposé entre le cadre du châssis et la porte coulissante à une position proche de la fermeture,
• les figures 6a et 6b montrent des variantes de réalisation du tube souple, coextrudé dans un joint d'étanchéité d'élément d'ouvrant et inséré dans une lèvre du joint d'étanchéité, respectivement, et
• la figure 7 montre les diverses applications d'éléments d'ouvrant selon l'invention pour un véhicule automobile.

The invention is illustrated below by means of exemplary embodiments and with reference to the appended drawings in which:

• the figure 1 is a partial schematic view of a sliding window door frame of a motor vehicle according to the invention,
• the figure 2 is a schematic view of the transmitter and receiver elements of dynamic pressure waves,
• the figure 3 shows in a partial cross-sectional view along the line III-III of the figure 1 , the frame engaged with an obstacle interposed between the frame frame and the door window at a position close to the closure,

• the figure 4 shows an alternative embodiment of the invention relating to an electrically driven motor vehicle sliding door,
• the figure 5 is a partial cross-sectional view of the chassis of the figure 4 engaged with an obstacle interposed between the frame of the frame and the sliding door at a position close to the closure,
• the Figures 6a and 6b show alternative embodiments of the flexible tube, coextruded in an opening member seal and inserted into a lip of the seal, respectively, and
• the figure 7 shows the various applications of opening elements according to the invention for a motor vehicle.

With reference to the drawings and in particular Figures 1 to 3 , 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.

It further comprises projecting hook elements at the base of the U 27 and at the ends of the fold of the wings 29, cooperating respectively with receiving cavities complementary to the rabbet 15, and by means of which it can be mounted quickly by snapping into the rebate 15.

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. These 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.

It should be noted that the flexible and isolated mounting combinations of the transmitter and receiver elements are multiple, 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 (sound or infrasound) are phonically isolated from each other and the external environment, within the housing. In the example, 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.

In order to make this treatment robust with respect to possible vibratory and acoustic disturbances external to the device, 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.

• un seuil maximum autorisé sur la dérivée à court terme,
• une valeur minimale relative de la moyenne de pincement à court terme par rapport à la moyenne à long terme.

As for the shock, the result of these convolution calculations of the signal received with the frequency-modulated reference signal and the short and medium-term averages of the result are compared with thresholds established proportionally to the average amplitude of the signal. Received filtered in the long run are:

• a maximum threshold allowed on the derivative in the short term,
• a relative minimum value of the short-term pinch average compared to the long-term average.

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). Thus 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 operation of the door frame 1 for a vehicle is now described. It is deduced from the previous description.

Suppose 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. If no shock is produced by the contact of the finger 43 on 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.

It should be noted that the invention can also be applied as a variant embodiment ( figures 4 and 5 ) to an electrically driven vehicle sliding door.

In this case, 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 (not shown) 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.

It should be noted that 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.

Naturally, 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).

In addition, as shown in figure 6a , 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.

Finally, note that 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.

Claims (15)

1. A device for detecting an obstacle (43, 43') in relation to a movement-controlled element (3, 3') and/or for controlling the movement of the element (3, 3') in relation to the obstacle (43, 43'), characterized in that it comprises:

   - deformable tubular means or a flexible tube (31, 31', 31 ", 31 "', 31"") for the propagation of dynamic pressure waves of low frequency, less than 500 Hz, these deformable tubular means or flexible tube (31, 31', 31 ", 31 "', 31 "") also being able to create and propagate a dynamic pressure pulse wave of very low frequency, less than 100 Hz, emitted in response to the docking impact of the moving element (3, 3') on the obstacle (43, 43'),

   - means for emitting (40a) and receiving (40b) said low-frequency dynamic pressure waves, and receiving (40b) said very low frequency dynamic pressure pulse wave, these emitting (40a) and receiving (40b) means being adapted notably in dynamic pressure impedance to said deformable tubular means or flexible tube (31, 31', 31 ", 31 "', 31 ""),

   - means (9) of processing said dynamic pressure waves and dynamic pressure pulse wave adapted to:

   check firstly the correct operation of the detection of an obstacle (43, 43') and of the movement control by the device,

   determine the detection of the obstacle (43, 43') on the moving element (3, 3'), docking impact or deformation of said deformable tubular means or flexible tube (31, 31', 31", 31 "', 31""), and

   enable, according to this detection, a suitable control of the movement of the element (3, 3') in relation to the obstacle (43, 43'), the element (3, 3') being stopped, lowered or re-opened,

   these processing means (9) being able to detect, according to a secure procedure, firstly the docking impact of the element (3, 3') on the obstacle (43, 43'), thus avoiding and anticipating the deformation of said deformable tubular means or flexible tube (31, 31', 31 ", 31 "', 31""), then the deformation of the deformable tubular means or flexible tube (31, 31', 31 ", 31 "', 31""), at least partially, if the docking impact is not detected.
2. The device for detecting an obstacle as claimed in claim 1, such that the deformable tubular means or flexible tube (31, 31', 31", 31 "', 31 "") comprise a reserve of compressibility, for example, a deformable thickness of the tubular sensor (31, 31', 31 ", 31 "', 31 ""), able to be easily crushed, a crushing margin of the obstacle being obtained by said reserve of compressibility of the deformable tubular means or flexible tube (31, 31', 31", 31"', 31"").
3. The device for detecting an obstacle as claimed in claim 1 or 2, such that said flexible tube (31, 31', 31", 31 "', 31 "") is made of a synthetic elastomer material, which, on the external contact or docking impact with the flexible tube (31, 31', 31 ", 31 "', 31"") creates within itself a pulse wave with sonic or infrasonic spectrum, of very low frequency, less than 100 Hz.
4. The device for detecting an obstacle as claimed in claims 1-3, such that the dynamic pressure wave signal is within the sonic or infrasonic spectrum, being of a frequency less than 250 Hz.
5. The device for detecting an obstacle as claimed in claims 1-4, such that the pulse wave is within the sonic or infrasonic spectrum, being of a frequency of between 10 and 100 Hz.
6. The device for detecting an obstacle as claimed in claims 1-5, such that said emitting (40a) and receiving (40b) elements each comprise a transducer (41 a, 41 b) of small dimensions, a piezo-electric transducer for example, open to the atmosphere through at least one hole (44a, 44a'; 44b, 44b') through their chamber (42a, 42b) and/or rear part opposite to their link with the end of the flexible tube (31, 31', 31 ", 31 "', 31"").
7. The device for detecting an obstacle as claimed in claims 1-6, such that said dynamic pressure wave signal emitted by the emitting element (40a) comprises at least one regular alternative component of a single frequency, for example two components of close frequencies of a frequency-modulated signal, thus specifying the signal and its recognition by the receiving element (40b).
8. The device for detecting an obstacle as claimed in claims 1-7, such that the flexible tube (31, 31', 31", 31"', 31"") further comprises a more rigid internal wall surface, able to better conduct the dynamic pressure wave signal and the dynamic pressure pulse wave and amplify the deformation of the tube in length, and a flexible external wall insulating from the external noise.
9. A chassis (1, 1') for motorized opening element comprising a device as claimed in claims 1-8, notably a motor vehicle, comprising a chassis frame (13) and a mobile element (3, 3') driven in relation to said chassis frame (13) by a motor means (35), for example to close or open the chassis frame (13), and comprising a closure safety device able to stop, retract or open the mobile element (3, 3') immediately upon detection of an obstacle (43, 43') between the chassis frame and the mobile element (3, 3') in the driving of the mobile element (3, 3'), wherein the closure safety device comprises:

   - the deformable tubular means (31, 31', 31 ", 31 "', 31"") in flexible tube form arranged at least along an area to be secured in relation to a possible obstacle (43, 43') between the chassis frame (13) and the mobile element (3, 3'), for example along at least a portion of the peripheral edge of the mobile element or the peripheral edge of the frame (13) of said chassis, and forming a projection toward said area to be secured,

   - the means (40a) of emitting dynamic pressure waves of low frequency, less than 500 Hz, arranged at one end of said flexible tube (31, 31', 31", 31 "', 31"") and able to emit a dynamic pressure wave signal running along said flexible tube (31, 31', 31 ", 31 "', 31""),

   - the means (40b) of receiving dynamic pressure waves and said dynamic pressure pulse wave, linked to said flexible tube (31, 31', 31", 31"', 31"") at another end of the latter and able to detect at least a pressure variation of said wave signal and pulse wave, of dynamic pressure transmitted from the emitting means (40a) and generated by an obstacle (43, 43') docking on or deforming said flexible tube (31, 31', 31 ", 31 "', 31"") respectively, and,

   - a device (9) for regulating and controlling the motor means (35) linked to said emitting (40a) and receiving (40b) means and to the motor means (35), able to control the operation to stop, retract or open the mobile element (3, 3') in relation to the chassis frame (13) immediately upon the successive detection of said impact pulse wave and/or of a pressure variation of dynamic pressure waves by the receiving element (40b) and corresponding to an obstacle (43, 43') in contact with and/or deforming said flexible tube (31, 31', 31", 31"', 31"") respectively.
10. The chassis (1, 1') as claimed in claim 9, such that said flexible tube can be arranged to the right of the frame or along the peripheral edge, on the inside and/or outside of the vehicle, of the mobile element or of the chassis frame.
11. The chassis (1, 1') as claimed in claims 9-10, such that said obstacle detection device comprises means of analyzing the dynamic pressure variation of the dynamic pressure wave signal and of the dynamic pressure pulse wave transmitted, able to process this information and to determine the presence firstly of an impact on the flexible tube (31, 31', 31", 31"', 31"") and secondly a partial or total pinching of the latter, and of adapting a command to stop or retract the mobile element (3, 3') immediately it is detected.
12. The chassis (1, 1') as claimed in claims 9-11, such that said flexible tube (31, 31', 31", 31 "', 31"") comprises two adjacent channels, deriving from co-extrusion for example, and each able to route, one of them the forward signal and the other the return signal, the continuity of the signal from forward to return being achieved by an appropriate strap at the end of the tube.
13. A method for detecting an obstacle (43, 43') in relation to a movement-controlled element (3, 3') and/or for controlling the movement of the element (3, 3') in relation to the obstacle (43, 43'), using the obstacle detection device as recited in claims 1-8, the method comprising:

    further to the control of the mobile element (3, 3') or upon the starting up of the vehicle, self-checking for the absence of an obstacle (43, 43') on the deformable tubular means or flexible tube (31, 31', 31 ", 31 "', 31"") by checking that the transmission of the dynamic pressure wave signal of low frequency, less than 500 Hz, from an emitting element (40a) to a receiving element (40b) is carried out normally and without obstacle,

    detecting

    the docking impact of the obstacle against the deformable tubular means or flexible tube by measuring the sonic or infrasonic pulse under the form of a dynamic pressure wave of very low frequency, less than 100 Hz, emitted in the deformable tubular means or flexible tube on the docking impact of the obstacle against the deformable tubular means or flexible tube, and/or

    the pinching or the crushing of the obstacle on said deformable tubular means or flexible tube by measuring the variation of the pressure of the air generated by the pinching or crushing and/or of a sonic or infrasonic signal (reference signal) transmitted within the deformable tubular means or flexible tube by the emitting element,

    in case a pinching, crushing or a docking is detected, adaptively controlling the movement of the element relatively to the obstacle, stop, withdrawal or re-opening of said element,

    wherein a secure procedure is provided, so as to detect first the docking impact of the element (3, 3') on the obstacle (43, 43'), thus avoiding and anticipating the deformation of said deformable tubular means or flexible tube (31, 31', 31", 31"', 31""), then the deformation of the deformable tubular means or flexible tube (31, 31', 31 ", 31 "', 31 ""), at least partially, if the docking impact is not detected.
14. The method as recited in claim 13, further comprising analysing with compensations for the wear of the components and of the sensors by a loop for automatically regulating the gains and/or of the impact and pinching thresholds, so as to make the device almost or completely insensitive to the climatic variations such as temperature, humidity, pressure, and to any changes in attenuation of the channel of the flexible tube.
15. The method for detecting obstacles as claimed in claim 13 or 14, comprising,
    for the detection of dockings, low-pass analog filtering of the output of the transmitted sonic signal, amplifying the filtered signal, digitizing the amplified signal, averaging the digitized signal over a sliding period of time that is a multiple of the emission frequency (in order to cancel the average value of the reference signal) and comparing the results of this calculation to maximum threshold values allowed on the drift and the absolute value of this impact average, established proportionally to the average amplitude of the received reference signal, and
    for the detection of pinching, digital processing of the signal in order for this processing to be made robust with respect to the possible vibratory and acoustic disturbances external to the device, the frequency of this signal being frequency-modulated so that the results of the average convolution are stable even if the external disturbances are strong, this necessitating an integration of the calculations in relation to the frequency modulation that may be, for example, linear, triangular, sinusoidal or other, and said integration becoming less reactive in relation to a pinching but robust in relation to dreaded events that are failure to trigger in case of pinching in a disturbed environment and unwanted triggering in case of disturbances.

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