Collision detection method for a drive unit

Patent metadata

Field	Value
Publication number	US-9274516-B2
Application number	US-201113226441-A
Country	US
Kind code	B2
Filing date	Sep 6, 2011
Priority date	Sep 7, 2010
Publication date	Mar 1, 2016
Grant date	Mar 1, 2016

Abstract

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

First claim

What is claimed is:

1. A collision detection method for a drive unit including an electric drive motor and a movable component which is driven thereby, comprising:
using a drive control unit to actuate the electric drive motor to drive the movable component;
sensing drive parameters of the electric drive motor during actuation of the electric drive motor, the drive parameters including at least a torque and an acceleration for the electric drive motor;
determining a product of the torque and the acceleration using the drive control unit;
using the drive control unit to compare the product of the torque and the acceleration with a predefined threshold value and to determine whether a collision of the movable component has occurred based on the comparison,
wherein, if a collision is detected, measures which protect the drive unit are taken and/or operating state variables are stored in a storage device.

2. The method according to claim 1 , wherein the threshold value is determined during the sensing of the torque and the acceleration using a maximum torque value, sensed within a first time period, and a maximum acceleration value, sensed within a second time period, of the electric drive motor.

3. The method according to claim 2 , wherein the threshold value comprises a product of a weighting factor of the maximum torque value, sensed within the first time period, and the maximum acceleration value, sensed within the second time period, of the electric drive motor.

4. The method according to claim 3 , wherein the weighting factor is negative.

5. An apparatus comprising a computing unit configured to carry out a method according to claim 1 .

Assignees

• Maier Michael
• Wahler Matthias
• Bosch Gmbh Robert

Inventors

• Maier Michael
• Wahler Matthias

Classifications

• G05B19/4062 Primary

  Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference · CPC title

• G05B2219/37624

  Detect collision, blocking by measuring change of velocity or torque · CPC title

• G05B2219/40317

  For collision avoidance and detection · CPC title

• G05B19/406

  characterised by monitoring or safety (G05B19/19 takes precedence) · CPC title

• Y02P90/02

  Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS] · CPC title