# US 2012/0084020 A1 · Collision Detection Method for a Drive Unit

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- Number: US 2012/0084020 A1
- Document ID: US20120084020A1
- Status: Published application
- Kind: A1
- Application number: 13/226,441
- Filed: 2011-09-06
- Published: 2012-04-05
- Earliest claimed: 2010-09-07
- Assignees: Robert Bosch GmbH
- Inventors: Michael Maier; Matthias Wahler
- Web page: https://patentgrep.com/patent/US20120084020A1

## CPC

- G05B 19/4062: Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference
- G05B 19/406: characterised by monitoring or safety (G05B19/19 takes precedence)
- G05B 2219/37624: Detect collision, blocking by measuring change of velocity or torque
- G05B 2219/40317: For collision avoidance and detection
- Y02P 90/02: Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS

## Abstract

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

## Claims

### Claim 1

A collision detection method for a drive unit including an electric drive motor and a movable component which is driven thereby, comprising:
sensing an actual torque and an actual acceleration of the electric drive motor; and
detecting a collision of the movable component on the basis of an evaluation of a predefinable mathematical combination of the actual torque and the actual acceleration.

### Claim 2 (depends on 1)

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

### Claim 3 (depends on 2)

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

### Claim 4 (depends on 1)

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

### Claim 5 (depends on 4)

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

### Claim 6 (depends on 5)

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

### Claim 7 (depends on 6)

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

### Claim 8 (depends on 1)

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

### Claim 9 (depends on 1)

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