Abstract:
A system for preventing the pinching or trapping of a human body part or foreign object by a closing panel, which may be a window, door, sunroof, hood or trunk lid, or other closure part of a transport vehicle operates by capacitively sensing the human body part, either before contact with a sensing electrode or plate, or at the time of contact with the plate. The sensing electrode may be a metal strip or wire, which can be embedded in a plastic or rubber molding strip, placed behind a piece of fascia or other trim part, or may simply be a metal element on top of the trim parts. Sensing electrodes of this sort can be prepared from conductive ink, made of adhesive backed metal foil, formed from a metal mesh strip, or simply be a wire or serpentine-laid wire. The capacitive sensing technology that follows the “charge transfer” approach and provides immunity from environmental effects, such as moisture and humidity.

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     This application claims the priority of U.S. Provisional Application No. 60/152,605, filed Sep. 8, 1999. 
    
    
     STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR 
     DEVELOPMENT 
     Not Applicable 
     BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     This application pertains to safety means responsive to an obstruction to closure of a movable closure element, and is particularly applicable to anti-trap window sensing for use in automobiles. 
     2. Background Information 
     A safety problem associated with powered panel closures is that a person, animal, or inanimate object may get in the way of the moving panel. This can obstruct the motion of the panel, but more importantly, can cause severe injury. Of particular interest is the operation of electrically powered automobile windows and the provision of an effective means to limit and reverse window travel when a human body part is sensed near the top of the window frame upon closure. 
     BRIEF SUMMARY OF THE INVENTION 
     An objective of the invention is to prevent the pinching or trapping of a human body part or foreign object in a window, door, sunroof, hood or trunk lid, or other closure part of a transport vehicle such as a car, van, train, bus, truck, or other conveyance. In general, the invention attains this goal by capacitively sensing the human body part, either before contact with a sensing electrode or plate, or at the time of contact with the plate. The sensing electrode may be a metal strip or wire, which can be embedded in a plastic or rubber molding strip, placed behind a piece of fascia or other trim part, or may simply be a metal element on top of the trim parts. Sensing electrodes of this sort can be prepared from conductive ink, made of adhesive backed metal foil, formed from a metal mesh strip, or simply be a wire or serpentine-laid wire. 
     The preferred capacitive sensing technology employed in the present invention is the “charge transfer” approach developed by the inventor and taught in his U.S. Pat. No. 5,730,165, the disclosure of which is herein incorporated by reference. This form of capacitive proximity sensing uses switching elements to transfer electric charge to and from the sensing plate. Charge cancellation features of this approach allow for a very wide dynamic range and great stability. Although charge transfer is the preferred approach for the invention herein disclosed, this technology is not essential to make such a system operate, and other capacitive techniques known in the art may be used. 
     Another object of the invention is provide a panel closure sensor that is immune to the effects of moisture and humidity, which are known to seriously affect the performance of many capacitive sensors when water contacts or is capacitively coupled to their sensing electrodes. As described in the inventor&#39;s U.S. Pat. No. 5,730,165, one of the features of the charge transfer sensing approach is a ‘short pulse’ mode which is notable for its moisture suppression attributes. Thus, a sensor of the invention that comprises a sensing electrode built into or located behind an elastomeric automotive window frame channel is not affected by the presence of water condensed on the window or on the elastomeric channel. 
     Yet another object of the invention is to provide a capacitive sensor for a panel closure control system that is not affected by either rapidly or slowly changing environmental conditions. A preferred sensor of the invention comprises ‘smart algorithms’ that adapt dynamically to the environment. This feature allows the sensor to ignore changes in ambient temperature, changes in window mechanics and dynamics, and the build-up of dirt and underlying changes in material properties over long periods of time. In a preferred embodiment, this involves two mechanism of adaptation: A) A full recalibration of the signal reference point internal within the sensor, so that the baseline signal is known. B) A mechanism for compensation for slow change in signals over time, i.e., signal drift, whereby the baseline internal reference level is altered more slowly than in the case of full recalibration to accommodate slow changes in signal due to humidity or changing mechanical parameters. 
     Yet another object of the invention is to provide sensing and control apparatus in which the sensitivity to an obstruction (e.g., a person&#39;s hand) is not affected by whatever proximity signals are measured from the panel that is being closed. In a preferred embodiment of the invention the sensor records the amount of signal generated by the closure part during a normal and unobstructed closure, correlates that signal with the degree of closure; and creates a table of values of expected signal vs. closure part extension, which is later used to create a ‘subtraction signal’ to remove the effects of the normal closure part from a signal that may also comprise component due to an obstruction. That is, the system subsequently controls the motor to move the panel from the open to the closed state and compares, at each of the plurality of position values sensed by suitable position sensing means, the respective stored capacitance value with a currently measured capacitance value; and stops the motion of the panel if the stored and the currently measured capacitance values differ by more than a predetermined threshold amount. 
     Conversely, it is a related object of the invention to provide sensing and control apparatus in which small changes in the sensing plate&#39;s environment (e.g., change in dimension of a rubber window channel that enrobes a sensing wire) do not cause false alarms in which the travel of panel is stopped short of closure even though no obstruction is present This may be done by desensitizing the system as the panel nears its closed state (e.g., during the last one or two centimeters of the travel of a dosing window). In the case of a system using an expected signal table, as described in the preceding paragraph, one can use two threshold values. The larger of the two threshold values is used when the panel is within some predetermined distance of its closed state. The smaller of the two threshold values is applied during the rest of the travel distance between the open and the closed states. 
     Yet a further object of the invention is to provide a control system that does not respond to an obstruction when a controlled panel is in either of its opened or closed states. For example, an automotive window control system should not open a fully dosed window if a passenger accidentally or intentionally places his or her hand adjacent a top of the window frame. Nor should such a system attempt to open a window that was already in its fully opened state. Thus, a preferred system of the invention comprises at least one end-of -travel sensor or other means of sensing when a controlled panel is in its opened or closed positions. The sensing elements used for this function may be different from those employed for sensing obstruction during periods in which the panel is traveling between the two limiting positions. 
     A control system of the invention that is responsive to an obstruction to a panel closure may involve the use of other sensors in addition to a capacitive anti-trap sensor. Generally speaking, a system of this sort uses a motor to move a panel from an open state in which a leading edge of a panel is distal from a frame portion to a closed state in which the leading edge is adjacent the portion of the frame. The system comprises a controller that controls the motor responsive to various sensor and switch inputs, and has end-of-travel sensors for sensing when the panel is in the opened or the closed state. The control system of the invention comprises a capacitive obstruction sensing means comprising a sensing plate near or within the panel frame, a source of DC current for charging the plate; a voltage pulse source; and a discharging switch having an open state and a closed state, the discharging switch moving from its open to its dosed state responsive to the voltage pulse, the discharging switch connecting the plate to a charge measuring means when in the dosed state, the discharging switch otherwise not connecting the plate to the charge measuring means. In preferred embodiments the capacitive sensor further comprises both a charging and a discharging switch. 
     In the particular application of providing an anti-trap sensor for an automobile window, one must provide for satisfactory operation even when the window and frame are wet In these cases the capacitive sensing plate is electrically coupled to an electrical ground by a shunting conductor (i.e., the water) substantially conducting electrical current pulses having durations greater than a first predetermined value, but not conducting current pulses having durations less than a second predetermined value. The invention uses short duration voltage pulses for capacitive measurement in order to allow the anti-trap sensor to ignore the effects of water films or of high humidity. 
     Although it is believed that the foregoing recital of features and advantages may be of use to one who is skilled in the art and who wishes to learn how to practice the invention, it will be recognized that the foregoing recital is not intended to list all of the features and advantages. Moreover, it may be noted that various embodiments of the invention may provide various combinations of the hereinbefore recited features and advantages of the invention, and that less than all of the recited features and advantages may be provided by some embodiments. 
    
    
     BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING 
     FIG. 1 is a schematic depiction of a control system of the invention. 
     FIG. 2 is a circuit schematic of a portion of a control system of the invention. 
     FIG. 3 is a flow chart depicting operation of a preferred control system of the invention. 
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     A system of the invention  10  may be used for detecting the presence of an obstruction  12 , which may be a person&#39;s hand, to the motion of a panel  14  driven between an open end-of-travel position  16  and a closed end-of-travel position  18  by a motor  20  drivingly coupled to the panel  14  by any of a number of well-known mechanical drive arrangements  22 . Although the ensuing disclosure presented herein is principally concerned with the motion of a glass window panel within a frame that is a portion of an automobile body, it will be recognized by those skilled in the art that these sensing and control arrangements are applicable to any sort of panel closure. Moreover, although the word “frame” is most commonly used herein to describe a window frame, it will be clear to those skilled in the art that in the most general sense the only “frame” required by the invention is a mechanical element, movable or stationary, that a leading edge of the panel is adjacent when the panel is in the closed state. 
     In the embodiment depicted in FIG. 1, the panel is an automobile window moving within a conventional frame and having a closed end-of-travel  18  in which a leading edge  24  of the panel is captured within an elastomeric channel  26  located within a metallic frame portion  28  connected to the vehicle&#39;s electrical ground  30 , commonly called a chassis ground. A capacitive sensing plate  32 , which may be a wire enrobed in the elastomeric channel, is placed in a position near where the leading edge  24  of the panel will come to rest when it is fully closed. Those skilled in the arts of capacitive proximity sensing will understand that many other placements and configurations for the sensing electrode  32  are possible, and include, but are not limited to, locating the plate  32  behind a piece of fascia or other trim part, or adhering a metal element on an outer surface of the trim parts; moreover, the electrode  32  could be printed onto a surface with conductive ink, made-of adhesive backed metal foil, formed of a metal mesh, or be a serpentine-laid wire. Those skilled in the art will also realize that the use of an automobile window is merely illustrative, and that the proximity sensing method of the invention can be used with a wide variety of panels  14 . 
     With regard to the matter of the sensor of the invention being immune to the effects of ambient moisture, one may note that some of the various choices of sensing plate design described above may be subject to a direct galvanic contact with a water film (e.g., a metal plate glued to an exposed portion of a window or door frame), while others might be shielded from direct contact by an intervening insulating layer (e.g., a wire embedded in an elastomeric window channel). In either case the presence of the film changes the low frequency capacitance to ground of the plate and effects the performance of many prior art capacitive sensors. The inventor&#39;s charge transfer sensing approach, as taught in his U.S. Pat. No. 5,730,165, uses sufficiently short pulses that the presence of a water film does not significantly alter the performance of the obstruction sensing system  10 , regardless of whether the plate is directly electrically connected to the water film or is merely capacitively coupled thereto. 
     Returning to the exemplar automobile window control arrangement of FIG. 1, one finds an operator control panel  34  that is normally configured as a keypad having UP and DOWN keys  36  used by an operator to command the panel controller  38 , which is preferably a microcontroller or microprocessor of the sort commonly used in the control arts, to open or dose the panel  14 . It will be understood by those skilled in the art that other operator control keys are often used to allow for locking a window actuator, for providing either full motion or progressive raising and lowering, etc. Although the system of the invention can be designed to operate with prior art keypads, in a preferred system of the invention the keys  36  are capacitive proximity switches responsive to an object adjacent a key, where the sensed object is generally a portion of the body of an operator touching, otherwise bringing a portion of his body immediately adjacent a key that he or she has selected to operate. In this case a multiplexer  40  can be used to scan the keys  36  on the control panel  34  and each of the sensing plates  32  associated with a respective powered window of the vehicle. 
     In addition to receiving inputs from the sensing plate  32  and operator controls  34 , the preferred panel controller  38  receives other inputs indicative of the panel position. It is well known, for example, that an end of travel of a panel can be detected by measuring an increase in motor current when the drive mechanism stalls and essentially locks the motor&#39;s rotor. Thus, a measure of the current delivered by a preferred bidirectional motor controller  42  can provide a means of sensing both the open  16  and closed  18  ends of travel of the panel  14 . In some embodiments an encoder  44  can be used both for detecting end of travel and for providing a signal to the controller  38  indicative of the actual position of the panel at any time during a closure or opening operation. 
     A specific example of a portion of a control system of the invention is depicted in FIG.  2 . Unregulated electric power is supplied by the vehicle&#39;s charging system  46  to the motor controller  42  and to a power supply circuit  48 , which may be any of a number of such circuits known in the art. The motor controller  42 , in this example, is a H-bridge circuit comprising MOSFET power transistors of both P 50 and N 52 types. This sort of circuit, as is known in the art, can provide bi-directional control to the motor  20 . The operator inputs  34 , in this example, are provided by non-multiplexed, metallic contact switches connected to the controller  38  by respective transistors  54 . In this example there are three such inputs, one for an UP command, one for DOWN, and a third one used for continuity checks. An input from the sensing plate  32  is also supplied to the controller  38 . To provide robust sensing in the presence of moisture, a switch transfer circuit is controlled by the controller  38  (which has an input from a reference timing oscillator  58 ) to drive the sensing plate  32  with pulses having a pulse width of less than preferably eighty nanoseconds. The controller  38  also has several programming input connections used to provide adaptive control features such as those taught in the inventor&#39;s U.S. Pat. No. 5,730,165. 
     Turning now to FIG. 3, one finds a top level flow chart depicting steps in the operation of a controller  38  that is programmed to provide adaptive control of a panel closure subject to obstructions. An initial, set-up  62 , portion of the program, is run a single time after the system  10  has been installed with whatever panel  14  is to be controlled. During the set-up phase  62 , a sequence of measurements of capacitance are made at each of predetermined set of instantaneous positions of travel of the panel (e.g., as may be obtained from an output of an encoder  44 ). These measurements are saved in a non-volatile computer memory as a table  64  of pairs of position and associated capacitance measurements. There is no obstruction to panel motion during the set up phase, so the initially stored table  64  documents whatever normal background capacitance is observed due to the panel and to proximity of other structural members to the sensing plate. 
     After the system  10  has been initially configured, as described above, whenever the motor  20  is operated (Step  66 ) the system measures capacitance as a function of position (Step  68 ) and compares the currently measured value of capacitance at a given position with the corresponding value of capacitance that was stored in the table  64  (Step  70 ). If the two values differ by more than a predetermined threshold value, which could be indicative of an obstruction to panel motion, the motor may be stopped or reversed (Step  72 ). If the stored and current values of capacitance differ by less than the threshold amount, the system then looks for an end-of-travel indication (Step  74 ). If the end of travel has not been reached, panel motion continues and the control system loops back to measure another capacitance at the next selected position. 
     As previously noted in this disclosure, one of the objects of the invention is to provide sensing and control apparatus in which small changes in the sensing plate&#39;s environment (e.g., change in dimension of a rubber window channel  26  that enrobes a sensing wire  32 ) do not cause false alarms in which the travel of panel is stopped short of closure even though no obstruction is present This may be done by using two threshold values in the comparison step  70 , with the larger of the two threshold values being used when the panel is within some predetermined distance of its closed end of travel. The smaller of the two threshold values is applied during the rest of the travel distance between the open and the closed states. Hence, the system is desensitized as the panel nears its closed state in which the leading edge of the panel is adjacent the frame (e.g., during the last one or two centimeters of the travel of a closing window). 
     Some of the adaptive features of the inventor&#39;s charge transfer capacitance sensing approaches have already described in detail in his U.S. Pat. No. 5,730,165. It may be noted that the ability to allow the sensing methodology to adapt to changes in environment are of particular use in considering panel closures that are subject to effects of electronic component aging, mechanical wear, temperature changes, and other environmental effects. For example, an offset value may be introduced by measuring capacitance when the panel is in a known unobstructed position (e.g., when a car window is fully dosed) and then changing the threshold value by the difference between the current capacitance value and the value stored for that position. This has the effect of introducing an offset value into all the comparisons made between current and stored tabular values during the next closure motion. 
     It is also possible to change some or all of the stored tabular values in order to adapt the system to the environment. For example, one could store capacitance and position data during a panel operation and, if no obstruction was detected, could alter each of the values in the look-up table  64  by a small amount—e.g., by adding or subtracting a one in the least significant bit of the affected stored capacitance value, where the choice between addition or subtraction would be made so as to bring the altered value into closer accord with the currently measured value. 
     Although the present invention has been described with respect to several preferred embodiments, many modifications and alterations can be made without departing from the invention. Accordingly, it is intended that all such modifications and alterations be considered as within the spirit and scope of the invention as defined in the attached claims.