Patent Application
20140081513
The present disclosure relates generally to hybrid drive assemblies including an active material and a power source, such as an electric motor, and, more particularly, to sensor multiplexing in systems such as automobile sunroof systems.
Many systems such as vehicle sunroof systems have multiple moving parts visible to the user. In some cases, the parts have multiple states and positions. Sunroof systems can include a primary glass, a shade, and a vent. States include locked, or latched, and unlatched. Positions include opened, closed, and intermediate positions.
Traditional sunroof systems include multiple motors to control the multiple parts. The motors take up a relatively large amount of space with respect to the tight space requirements in the passenger compartment for which packaging space and headroom are so important. The motors also add an undesirable amount of mass to the sunroof system, and so to the vehicle. Multi-motor arrangements are also relatively costly.
It is also desirable to know positions of features in a system, such as positions of a glass and a shade of the sunroof system, after a system operation, such as a glass opening operation. This could be accomplished using multiple sensors, one in connection with each feature. That approach, though, is relatively costly, and adds weight to the vehicle undesirably.
These and other shortcomings of traditional sunroof systems are addressed by the technology described herein.
The present disclosure relates in one aspect to a system, comprising a single work-source sensor for detecting a distance moved by a work source and a direction of movement, a processor, and a computer-readable medium comprising computer-executable instructions that, when executed by the processor, cause the processor to perform operations, for determining period-ending positions of multiple parts movable by select actuation of corresponding active materials. The operations include receiving, from the work-source sensor, work-source input indicating the distance moved by the work source and the direction of the movement, and determining, based on the work-source input and a first status history, corresponding to a first part of the multiple parts, a first distance travelled by the first part.
The operations also include determining, based on the work-source input and a second status history, corresponding to a second part of the multiple parts, a second distance travelled by the second part. The operations further include calculating, based on the first distance determined and a first period-starting position, a first period-ending position, wherein the first period-starting position represents a position of the first part of the multiple parts at a start of a corresponding period, and the first period-ending position represents a position of the first part at an end of the period, and calculating, based on the second distance determined and a second period-starting position, a second period-ending position, wherein the second period-starting position represents a position of the second part at the start of the period, and the second period-ending position represents a position of the second part at the end of the period.
The system in some embodiments further includes an input system including or connected to the work source, a first output system including or connected to the first part, and a first actuator sub-system including a first active material, of said active materials, and a first actuating component, wherein the first actuator sub-system is configured so that the first active material, when activated selectively, causes the first actuating component to move between first actuating states to engage/disengage the single input system to/from the first output system for selectively moving the first part.
The system can further include a second output system including or connected to the second part, and a second actuator sub-system including a second active material, of said active materials, and a second actuating component, wherein the second actuator sub-system is configured so that the second active material, when activated selectively, causes the second actuating component to move between second actuating states to engage/disengage the single input system to/from the second output system for selectively moving the first part.
In some embodiments, the first part corresponds to a first feature of a vehicle sunroof assembly and the second part corresponds to a second feature of the assembly.
In one embodiment, the work source includes a direct current motor and the work includes rotations or partial rotations of the motor.
In one embodiment, the first status history includes a first time history of engaged/disengaged states for the first part, and the second status history includes a second time history of engaged/disengaged states for the second part.
Calculating the first period-ending position in some embodiments includes calculating the first period-ending position according to:
p
1(tb)=p1(ta)+f(δp1(ta-b),ta,tb,h1,h2);
ta represents a start-of-period time;
tb represents an end-of-period time;
p1(ta) represents the first period-starting position;
p1(tb) represents the first period-ending position;
f(_) represents a general function of the arguments within the parentheses and identified below;
δp1 (ta-b) represents a first calculated distance travelled for the first part during the period;
hw, h1 represent time histories of states for the work source and the first part, respectively;
wherein calculating the second period-ending position includes calculating the second period-ending position according to:
p
2(tb)=p2(ta)+f(δp2(ta-b),ta,tb,h1,h2);
p2(ta) represents the second period-starting position;
p2(tb) represents the second period-ending position;
δp2 (ta-b) represents a second calculated distance travelled for the second part during the period; and
h2 represents a time history of states for the second part.
In some cases, at least one of the time histories indicates a direction of travel and/or whether the connection to the part is on/off or engaged/disengaged. At least one of the histories can also indicate, e.g., on/off, disengaged/engaged, on-and-moving-clockwise (on/cw), on/ccw, off/cw, off/ccw, etc.
The first calculated distance can be determined according to:
δp1(ta-b)=wd*ri*g1;
wd is +1 or −1, representing a direction of work-source operation during the period;
r1 represents a first rotation total, being a total number of rotations made by the work source during times of the period at which the first part was being moved;
g1 represents a first velocity ratio;
wherein the second calculated distance is determined according to:
δp2(ta-b)=wd*r2*g2;
In some embodiment, the operations further comprise determining the first velocity ratio as:
g
1
=sgn*v
1
/n
W;
sgn is a sign, being positive or negative, depending on the direction of work-source operation;
v1 represents a first part speed, being a first speed of motion of the first feature when the first feature is moving during the period;
nW represents a speed or rotation of the work source;
wherein the operations further comprise determining the second velocity ratio as:
g
2
=sgn*v
2
/n
W; and
The instructions in some cases further define an initialization procedure comprising at least one function selected from a group of functions consisting of determining an effective extreme position for the first part beyond which the first part will not be moved, determining an effective extreme position for the second part beyond which the second part will not be moved, establishing a previously-determined end position for the first part as said first period-starting position, establishing a previously-determined end position for the second part as said second period-starting position, establishing the first period-ending position as a next start position for subsequent iterations of position calculation regarding the first part, and establishing the second period-ending position as a next start position for subsequent iterations of position calculation regarding the second part.
In one embedment, one or both of the first period-starting position and the second period-starting position is pre-set as zero.
In one embodiment: (a) the first period-starting position is a first present-period-starting position, (b) the first period-ending position is a first present-period-ending position, (c) a previous first position calculating performed regarding the first part resulted in a first previous-period-ending position, (d) the first previous-period-ending position is used as the first present-period starting position in calculating the first present-period-ending position, (e) the second period-starting position is a second present-period-starting position, (f) the second period-ending position is a second present-period-ending position, (g) a previous second position calculating performed regarding the second part resulted in a second previous-period-ending position, and (h) the second previous-period-ending position is used as the second present-period starting position in calculating the second present-period-ending position.
In another aspect, the present technology relates to a computer-readable storage device, comprising computer-executable instructions that, when executed by a processor, cause the processor to perform operations, for determining period-ending positions of multiple parts movable by select actuation of corresponding active materials, the operations comprise receiving, from a work-source sensor, work-source input indicating a distance moved by the work source and a direction of movement, and determining, based on the work-source input and a first status history, corresponding to a first part of the multiple parts, a first distance travelled by the first part.
The operations further comprise determining, based on the work-source input and a second status history, corresponding to a second part of the multiple parts, a second distance travelled by the second part, and calculating, based on the first distance determined and a first period-starting position, a first period-ending position, wherein the first period-starting position represents a position of the first part of the multiple parts at a start of a corresponding period, and the first period-ending position represents a position of the first part at an end of the period.
The operations can further include calculating, based on the second distance determined and a second period-starting position, a second period-ending position, wherein the second period-starting position represents a position of the second part at the start of the period, and the second period-ending position represents a position of the second part at the end of the period.
In one embodiment, the first status history includes a first time history of engaged/disengaged states for the first part, and the second status history includes a second time history of engaged/disengaged states for the second part.
In still a further aspect, the disclosure relates to a method, for determining period-ending positions of multiple parts movable by select actuation of corresponding active materials, comprising functions like the operations described above.
While the present technology may be implemented in a wide variety of contexts, the technology is described herein primarily in connection with a sunroof system of an automobile. Another exemplary use is in connection with adjustable seats of an automobile.
Other aspects of the present technology will be in part apparent and in part pointed out hereinafter.
As required, detailed embodiments of the present disclosure are disclosed herein. The disclosed embodiments are merely examples that may be embodied in various and alternative forms, and combinations thereof. As used herein, for example, “exemplary,” and similar terms, refer expansively to embodiments that serve as an illustration, specimen, model or pattern. The figures are not necessarily to scale and some features may be exaggerated or minimized, such as to show details of particular components. In some instances, well-known components, systems, materials or methods have not been described in detail in order to avoid obscuring the present disclosure. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to employ the present disclosure.
Introduction to the Detailed Description
In various embodiments, the present disclosure describes assemblies for selectively transferring work from an input component, such as a worm gear, to an output component, such as a drive gear or shaft, by selectively activating an active material. The active material may include, for instance, a shape memory alloy (SMA), such as FLEXINOL® (FLEXINOL is a registered trademark of Dynalloy, Inc., of Tustin, Calif.). The actuating assemblies can be used to translate work from a single work source, or power source, e.g., motor, to any number of multiple activities, each corresponding with one of the actuating assemblies, in place of traditional systems including a separate motor for each activity. As a result, for example, N motors+N gearboxes, for driving N power features, can be replaced with one work source (e.g., motor) and N actuator/gearboxes for driving the same N power features.
While the source of work is described primarily herein as a DC motor, the work source can have other forms. For example, it is contemplated that the work source can include a hydraulic pump, a pneumatic pump, or another type of motor. Accordingly, the work translation or transferring features described primarily herein (e.g., gearing, clutch) can instead include corresponding hydraulic components, pneumatic components, or components corresponding to whatever type of work is being received at the actuator assembly. For example, the translation features can include, instead of and/or in addition to gears, other types of couplings, such as belt or chain drives, linkages, hydraulic or pneumatic couplings, clutches, etc.
References herein to a certain exemplary embodiment, such as an implementation of a motor and gearing, is considered to also disclose broadly analogous implementations having the other configurations, such as those having the hydraulic components.
The actuator assembly is configured in some embodiments so that the input drive elements, connected to the motor, are normally, or by default, engaged. In some embodiment, the actuator assembly is configured so that the input drive elements are normally disengaged from output components (e.g., an output gear). These alternative embodiments can be referred to as normally-engaged and normally-disengaged embodiments. The actuator assembly is in its normal, default, state when the active material is not activated, or not actuated.
In one embodiment, in the normally-engaged design, moving system elements (e.g., a sunroof glass) are always mechanically connected to a drive motor through a non-reversing screw and worm drive or similar static or locking mechanism. The non-reversing nature of the drive ensures that only the motor can drive the moving elements; the moving elements cannot back drive the motor. Thus, the moving elements cannot be forced open mechanically, thereby guarding against unauthorized entry into the vehicle through the sunroof system.
As an example of operation in the normally-engaged embodiments, in response to a user pressing a sunroof glass open button, along with the source (e.g., motor 18 in
As another example in which the actuator assemblies 12 are each default engaged, if a user presses an all open button, relating to the sunroof glass, shade, and vent, then none of the assemblies actuate—i.e., they all remain in their default, engaged, state. The source, e.g., motor, turns on in response to the user pressing the buttons and, because all of the actuator assemblies are engaged, the work, e.g., drive, from the motor is translated through the actuator assembly to respective output components connected to the glass, shade, and vent for operating them as desired. Conversely, the user can press an all close button, resulting in generally the same scenario, except that the motor drive is in the opposite direction.
In some embodiments, a time delay is introduced between actuating the actuator assemblies and turning on the motor. For example, the system may be configured so that the motor turns on one or more of the actuator assemblies supposed to turn on are turned on (actuated) first.
In one embodiment, when the operator releases the button, all of the actuators turn on and the motor reverses for a short period of time (e.g., 100 ms) to release any pressure built up on clutch pins, making it easier for them to release.
Benefits of the normally-engaged embodiments include avoiding wear or other damage to the active material by having it normally (e.g., usually) non-activated. Another benefit is a reduction in parts count and complexity.
SMA actuator systems and other such actuator systems sometimes include a sub-system for protecting the actuator element from mechanical overload. A mechanical overload occurs when a force required of or exerted on the SMA exceeds a design limit of the SMA. Again, while SMA actuator systems are described herein, they are described by way of example and other types of actuator systems may be design and used according to the technologies herein.
In some embodiments, the actuator assemblies are designed to protect the active material from mechanical overload. In some particular embodiments, this is accomplished using springs and/or levers, and in other particular embodiments this is accomplished without using additional springs and levers.
The most common occurrence of mechanical overloads is associated with a load being moved by the SMA actuator getting jammed or the load otherwise having its motion impeded. The overload spring provides a parallel path for safely expending the force developed by the SMA actuator. This spring and the sub-system supporting it have a minor effect on system performance under normal operation, but can plays a key role in protecting the SMA actuator during mechanical overloads.
As an example of overload addressed in one embodiment of the resent technology, reference is made to
During normal operation, the bias spring (reference numeral 621 in
Another contemplated overload scenario is the load being forced when it is supposed to be still, or forced in an opposite direction than it is supposed to be moving.
More general benefits of the present technology include, and are not limited to, savings in cost, space, and energy use. Exemplary cost savings include those occasioned by obviating cost of a lot of wiring, drive components, and electronics of the redundant motor of the previous systems.
Space savings are occasioned because the size of the actuator assemblies of the present technology can be much less than that of the previous multiple-motor systems. For instance, in some case a single actuator assembly can have a height that is up to or greater than 30% shorter. Energy savings result at least from the reduction in number of motors used to drive the system as compared to the conventional system described above.
Other benefits include meeting and in many cases exceeding current goals for mass, noise levels, performance levels (e.g., power or torque needed), and response time, between user request for the activity and performing the activity. For instance, in some embodiments, the assembly includes a high-torque clutch. Operation of the high-torque clutch has been found to be sufficiently quiet or better, and in many embodiments substantially silent. Although a clutch of the actuator assembly can be configured to handle and require other levels of torque, in some embodiments, the clutch has been found to handle torques of at least 5 Nm while requiring less than 0.11 Nm to actuate.
Benefits also include an ability to package multiple actuator assemblies and one motor where multiple motors where previously needed. Similarly, the present technology allows positioning of a single motor and a plurality of actuator assemblies, corresponding to a plurality of respective functions, in a space in which a corresponding plurality of motors, which would be required according to traditional systems for a corresponding plurality of activities, would not fit. Thus, more functions can be performed in the same component footprint taken up by prior systems and certain functions can be performed in a footprint smaller than prior systems required to perform the same certain functions.
A motor can be custom designed to match characteristics (e.g., speed-torque) of the system in which it is being used according to the present technology. This will permit, for instance, avoidance or reduction of the extra gear stage and mechanical transmission losses (e.g., friction) associated with the extra stage, thereby increasing the mechanical efficiency of the entire drive.
Other benefits of the present technology include a flexibility to perform consistently in a wide temperature range. For example, embodiments of the technology employ one or more of (i) a high-temperature, or ultra-high-temperature, active material, for use in high-ambient-temperature operating environments, (ii) hardware (e.g., circuitry) and/or software (logic) configured to control an input trigger signal (e.g., electrical current) provided to the active material based on an ambient temperature in the environment of the active material, and (iii) a hot cutoff to limit energy provided to the active material, making it more reliable in a broad range of temperatures.
The hot cut-off system in some embodiments comprises a photo-interrupter connected to a bell crank lever (e.g., ref. numeral 46 in
The stimulus for activating the SMA can come from any of a variety of courses. For example, the stimulus can be an electrical current directed to the SMA from the primary vehicle battery, alternator, or the like.
In one embodiment, the control circuit attempts to maintain a constant heating current (or other input) for the SMA element regardless of variations in the supply voltage. The constant heating current ensures a nearly consistent response from the system independent of supply voltage fluctuations if the ambient temperature remains constant. When the ambient temperature changes, the heating current needed to activate the SMA also changes—the required current goes down when the ambient temperature goes up and vice versa. The hot cut-off based power cycling described above ensures that the SMA element does not overheat by reducing the duty cycle of the heating current even though its DC value is largely independent of the ambient temperature.
Further regarding efficiency, the present technology has been found to meet and in many cases reduce or greatly reduce response, or lag, times between functions, such as between a user pressing an open-sunroof button, and the sunroof actually beginning to open.
Further regarding sound, careful choice of materials and design of the system can mitigate the noise levels. Noise levels can be decreased, for instance, by using certain select (e.g., production) materials for parts such as the gearbox and the motor, as compared to using other materials (e.g., rapid materials). Examples of modifications include using one polymer and one metal (e.g., brass) gear in a mating pair to produce a mismatch in the stiffnesses thereby increasing the acoustic impedance for propagation of noise.
Benefits of the present technology described herein are not exhaustive and are examples providing a better understanding of the configuration, function, and usefulness of the technology.
FIG. 1—Exemplary Sunroof Context
Now turning to the figures, and to the first figure more particularly,
The sunroof apparatus is provided as only one example of a system 2 in which the technology of the present disclosure can be implemented. The technology can be used in any of a wide variety of environments involving selective actuation and, more particularly, actuation of a clutch for selective engagement to a power source. In some embodiments, the technology is used in contexts involving a drive mechanism, such as a motor or other power source, and multiple places, or activities, at which the power is needed for performing work selectively.
Another example implementation is with adjustable car seats. Each of the actuator/gearbox assemblies described below could be, for instance, associated with one or more respective adjustable portions of a seat, such as a fore-aft positioning assembly, an incline/decline positioning assembly, a height assembly, and a lumbar assembly.
FIG. 2—Detail of Exemplary Sunroof Context
FIGS. 3 and 4—Introduction of Actuator/Gearbox Assemblies
The motor 18 provides a driving power for use in moving parts of the system 10, such as the sunroof 4 shown in
In the illustrated example, a first two of the actuator/gearbox assemblies 121, 122 are spaced apart from and connected to the motor 18, while a third of the actuator/gearbox assemblies 123 is more closely adjacent the motor 18. The third actuator/gearbox assembly 123 may be connected directly to the motor 18.
Any control or processing operation described herein (e.g., initiating provision of stimulus to the SMA to initiate activation thereof, starting, stopping, or reversing motor operation, etc.) can be performed by any one or more of various control devices including the controller 19 of
The controller 19 selectively causes actuation of the actuator/gearbox assemblies 121, 122, 123. The controller 19 may also be used to monitor operation of the parts, such as a work source (e.g., motor) and features (e.g., actuator/gearbox assemblies), as described further below.
Although the controller 19 is shown schematically, and disconnected from the actuator/gearbox assemblies 12, the controller 19 is in communication with each of the actuator/gearbox assemblies 12. The controller 19 is in some embodiments also in communication with the motor 18 for monitoring and/or controlling operation of the motor 18.
The system 10 also includes conduits 20 connecting the actuator/gearbox assemblies 12 to the motor 18, the controller 19, and each other 121, 122, 123. Each of the conduits 20 can have a housing, such as a tubular casing containing communication media. The communication media can include, for example, gears or flexible output cord or shaft (or power shaft) for communicating work in the form of drive (e.g., physical movement). In one embodiment, it is preferred that one of the conduits includes an input drive, or driving component, connected to the motor 18 for communicating that drive from the motor 18 to at least each of the actuator assemblies 121, 122 not connected directly to the motor 18.
Although the third actuator assembly 123, in
Other conduits 20 include lines connecting the actuator assemblies 12 to components of the system that the assemblies are controlling, such as those for providing to the controller (e.g., controller 19) the feedback referenced above and described further below. The conduits 20 can lead to features of the sunroof assembly 2, such as the sunroof glass, shade, wind deflector, and vent, as shown partially in
It is contemplated that at least one of the conduits 20 includes electric or optical wires or cable for communicating signals or messages. In a contemplated embodiment, the controller communicates wirelessly with one or more of the actuator/gearbox assemblies 12. Wireless communication may be affected via short-range wireless technologies such as BLUETOOTH® (BLUETOOTH is a registered trademark of Bluetooth Sig, Inc., of Kirkland, Wash.).
The conduits 20 can include sunroof system components, such as screws that drive nuts on the moving parts, such as the sunroof glass or shade. The screws and drive nuts are a part of a drive, e.g., baseline sunroof drive.
The controller 19 includes a tangible, non-transitory, computer-readable storage medium 191. The storage medium 191, or memory, is communicatively connected to a tangible computer processing unit 191, or processor. The memory 191 and the processor 192 communicate by way of a communication media 193, such as a computing bus.
The memory 191 stores computer-readable instructions 194. The instructions 194, which may be stored in one or more modules, are configured to be processed by the processor to perform various monitoring and control functions of the present technology. The modules can be identified based on, for example, the one or more functions performed by the module. For instance, a module causing the processor 192 to effect actuation of an aspect of the system 10 can be referred to as an actuation, or actuating, module. And a module causing the processor 192 to effect latching or unlatching of a component of the system 10 can be referred to as a latching, unlatching, or latching/unlatching module. These and other functions are described in more detail above and further below. As provided, any steps or operations described herein can be codified in at least one algorithm and stored in, e.g., the computer-readable storage medium described herein.
While components of the controller 19 are shown together, any of the components may be positioned adjacent to any one or more of the components or remote to the other component(s). For instance, while the memory 191 is illustrated schematically as being adjacent the processor 192 in
For communication between components of the controller 19 and/or for communications between the controller 19 and devices external to the controller, the controller includes a communication interface 196. The interface can be wired-based and/or wireless-based, such as by including a wireless transceiver.
As provided above, the controller 19 is in some embodiments configured to monitor operation of components of the system 10. As an example, in one embodiment, the system 10 includes one or more motor encoders (not shown in detail) to relay, to the controller 19, an indication, such as an electrical (e.g., signal) or mechanical input, of a position of the system 10, such as a position of a sunroof glass component, a shade component, etc. In this embodiment, the algorithm, stored, e.g., in the computer-executable instructions 194, can be configured to use such position indication(s) to affect system 10 operation. This enhanced control can result in, e.g., better position control and pinch protection to avoid pinching an item between, e.g., the sunroof glass and frame. The controller computing the absolute position of any feature based on the data feedback from the encoder can be accomplished by the processor using sensor multiplexing. Sensor multiplexing is described in further detail below.
Further regarding how the controller uses information about the position of different features, the following is provided. The controller compares a present or current position of one or more features to the electronic/software-based limit positions (e.g., position data stored in the computer-readable storage medium) to enforce a soft stop. The electronic limit positions are placed some distance away from the corresponding mechanical stop positions (e.g., positions enforced by mechanical interference between one or more moving and fixed members) such that the total travel between the soft stops is less than that between the mechanical stops. Electronic stops eliminate noise and harshness associated with hitting mechanical stops at each end of the travel and thus improve component life as well as user experience.
Further regarding how the controller uses information about the position of different features, the controller can infer a direction and a speed of motion of various features using a time history of absolute positions for the features. Direction of motion is used to decide which of the multiple motions requested by a user can be driven simultaneously and which need to be performed sequentially. The speed of a feature is used within a control rule (e.g., a proportional-integral-derivative (PID) related rule or other control loop feedback mechanism) for controlling input to the motor in order to achieve a desired speed-time profile.
In some embodiments, features may need to move relative to each other in a certain manner. In one embodiment, relative motion of the glass and shade must occur in the following manner: the glass always needs to cover the shade. For example, when both glass and shade are opening, the shade is ahead of the glass. Conversely, when both glass and shade are closing, the glass is ahead of the shade. The controller has the relative-position information regarding these two features, or any other group of the features, as well as the direction of their motion at any given time for enforcing the control rule.
FIG. 5—Actuator/Gearbox Assemblies in More Detail
The components of the actuator/gearbox assembly 12, though, can be grouped as desired for explanatory purposes. The gearbox sub-assembly, or aspects thereof, can also be referred to, for instance, as an input sub-assembly. Aspects of the actuator sub-assembly, such as the clutch can be part of what is referred to as an output sub-assembly.
Work and power from the motor 18 is introduced to the actuator/gearbox assembly 12 by way of the gearbox sub-assembly 22. The actuator sub-assembly 24 is configured and operates to selectively introduce the work and power from the gearbox sub-assembly to an output apparatus, such as a glass 4, vent, wind deflector, or shade of the sunroof system 10, to unlatch or latch the vent, wind deflector, or shade, or move the vent, wind deflector, shade, or glass 4 toward an open or closed position.
The gearbox sub-assembly 22 includes a gearbox mold or case 26 and a gearbox lid 28 adjacent multiple driving gearbox components 30. The illustrated components are provided by way of example and the gearbox is not limited to the number, types, size, etc., of gears shown. As provided elsewhere herein, the gearbox 22 is not limited to including gears and may include other components for transferring or translating work and power, along with or instead of gears, such as belt or chain drives, linkages, hydraulic or pneumatic couplings, clutches, etc. For naming purposes, while gearbox and related terms are used generally herein, it will be appreciated that corresponding terms could be used depending on the makeup of the transferring or translating components (e.g., pneumatic box, etc.). Further, the term box is used generically in places herein to refer to a unit, device, sub-device, combinations of the same, and the like, and the term is thus not necessarily limited in terms of size, shape, number, etc.
The exemplary gearing 30 shown in
When the motor 18 operates, its motion causes, by the connection, motion (e.g., turning) of the source component 34, which in turn causes motion (e.g., turning) of the worm 32 or other translation component. The translation of work of the source component 34 to work of a translation component such as the worm gear 36 occurs in all of the assemblies 121, 122, 123 simultaneously.
The actuator sub-assembly 24 operates to selectively engage the work of the translation component 36 (e.g., worm gear), as described further below.
The gearing 30 also includes an output component 38, such as an output gear or shaft connected rigidly to the clutch component 54. When the actuator sub-assembly 24 is in the actuated position, the clutch component 54 is caused to link to the worm gear 36. When the two are linked, the input work and power, in the form of motion, of the worm gear 36 translates to corresponding motion of the clutch component 54 and so the output shaft 38. This operation is described in still further detail below.
With continued reference to
The other actuator sub-assembly components 44 include an actuating element 46, such as a lever. While a lever is shown by way of example, the actuating element 46 may have any of a wide variety of configurations, in the form of a lever or otherwise. The actuating element 46 may also have any of a wide variety of shapes and sizes without departing from the scope of the present technology.
The actuator sub-assembly 24 also includes a base or reference structure 48 that the actuating element moves respective to. In the illustrated embodiment, in which the actuating element 46 is in the form of a lever, the reference structure 48 includes a pivot for the lever 46.
The actuator sub-assembly 24 further includes an active material 50. The exemplary active material 40 shown in
When the actuator sub-assembly is in an un-actuated position, each of the moving parts of the sub-assembly and the assembly as a whole can be said to be in their respective un-actuated positions, and the converse regarding actuation.
Active Material in More Detail
In some embodiments, the active material 50 is a phase-change material, such as a shape memory alloy (SMA). Other exemplary active materials include electroactive polymers (EAPs), piezoelectric materials, magnetostrictive materials, and electrorestrictive materials.
Shape-memory alloy is the generic name given to alloys that exhibit the relatively unusual property of having a strain memory, which can be induced by an input, e.g., a mechanical or thermal input. This unusual property is characterized primarily by two thermo-mechanical responses known as the Shape-Memory Effect (SME) and Superleasticity.
Exemplary alloys include copper alloys (CuAIZn), nickel-titanium-based alloys, such as near-equiatomic NiTi, known as Nitinol, and ternary alloys such as NiTiCu and NiTiNb. A particular exemplary allow includes NiTi-based SMAs. NiTi-based SMAs one or the best, if not the best memory properties—i.e., readily returnable to a default shape, of all the known polycrystalline SMAs. The NiTi family of alloys can withstand large stresses and can recover strains near 8% for low cycle use or up to about 2.5% for high cycle use. The strain recovery capability can enable the design of SMA-actuation devices in apparatuses requiring the selective transfer of torque from a torque generating device to each of a plurality of output shafts.
In an Austenite, or parent phase of an SMA, the SMA is stable at temperatures above a characteristic temperature referred to as the Austenite finish (Af) temperature. At temperatures below a Martensite finish (Mf) temperature, the SMA exists in a lower-modulus phase known as Martensite. The unusual thermo-mechanical response of SMAs is attributed to reversible, solid-state, thermo-elastic transformations between the Austenite and Martensite phases.
Additional Actuator Sub-Assembly Components
With continued reference to
As also referenced above, because the output component 38 of the gearbox sub-assembly 22 is rigidly connected to the locker 54 of the actuator sub-assembly 24, motion of the worm gear 36, caused by input motion of the worm 32, translates by way of the locker 54 to motion of the output component 38.
As shown in more detail in
The linking, or pin components 561 are sized, shaped, and positioned to engage corresponding features of the worm gear 36 (or analogous component in its place). In the illustrated embodiment, the worm gear includes one or more grooves 58 for engagement with the pins 561 of the locker 54.
The actuator/gearbox 12 is configured so that the locker 54 can engage the worm gear 34 whether the worm gear 34 is turning in one direction or the other. This allows moving of the output component 38 in a first direction or a second direction when the locker 54 is engaged, depending on whether the motor 18 is controlling the input components (e.g., worm and worm gear 32, 36) to turn their first or second directions.
As also shown in
This arrangement has benefits including saving energy by providing only enough as is needed to move the lever 46 to the second position and then providing only enough to maintain that position for the lever 46. The arrangement also, by providing a safety against overheating, allows a high initial input (e.g., electrical or thermal) to the active material 50, thereby causing a quick-response actuation. Thereafter, the input can be lowered appropriately to maintain the desired position. Without the shutoff, a high initial input would likely cause over-actuation. Still another benefit of the hot cutoff arrangement is avoiding overheating of the active material 50, limiting activity, and so wear, of the active material.
The hot cutoff logic function, like all control aspects disclosed herein, can be performed partially or fully at the actuator assembly 12, in hardware (e.g., at the circuit board 66) and/or software (e.g., software stored at the computer-readable storage medium), and partially or fully at a computing device (e.g., vehicle central processing unit) relatively remote to the actuator assembly.
Benefits of having some of the logic and/or decision making structure at or closer to the actuating assembly 12 (e.g., at the circuit board 66) include quicker response time. Benefits of having some of the logic and/or decision making structure separated from the actuating assembly 12 (e.g., at a central processing unit of the vehicle) include cost savings, from using existing resources and avoiding the addition of such resources to the assembly 12.
Another function associated with the actuator assembly 12, performed partially or fully at the actuator assembly and/or remote to the assembly, and partially or fully in hardware or software, is a constant current function. This function is configured to regulate an input voltage to keep it at about a desired voltage. As an example, the constant current function regulates effective voltage to be at a desired about 13V even as an actual input voltage varies between 9V and 16V, such as due to various or varying voltage source qualities and/or voltage requirements of the automobile in which the actuator assembly 12 is positioned.
Another beneficial optional function of the actuator assembly 12, is a temperature-compensation function. This function affects an amount of input (e.g., electricity or thermal) to the active material based on a temperature at or adjacent the actuator assembly 12. The function may receive the temperature from one or more of a variety of sources, including (i) a low-cost thermistor in the actuator (e.g., connected to the circuit board 66), (ii) a vehicle temperature gage, such as a gage positioned and configured to measure temperature of the vehicle adjacent a roof, and (iii) the active material 50, itself. For the latter, in one embodiment the actuator assembly 12 would include features for measuring aspects of the active material 50 indicative of ambient temperature adjacent the active material. The aspects of the active material 50 indicative could be, for example, resistivity, or a measure of elongation.
Benefits of the temperature-compensation function include maintaining a consistent user experience, including response time, irrespective of the temperature at or adjacent the active material 50, and in some cases saving power. Thus, for instance, if the ambient temperature is 20 degrees below average, the temperature-compensation function would determine that a correspondingly higher input (e.g., electric or thermal) should be provided to the active material 50, at least initially, to cause and maintain the desired response time, and limit lag. Similarly, if the ambient temperature is 20 degrees higher than average, the temperature-compensation function would determine that a correspondingly lower input (e.g., electric or thermal) can be provided to the active material 50 to cause and maintain the desired response time, and limit lag. In the latter scenario (higher-than-average temperature), power is conserved as less than is usually provided is actually provided, while the desired result is still provided consistently.
FIG. 6—Details of the Actuator Sub-Assembly
As also shown in
In the illustrated example, the biasing component 621 is a spring. Various types and sizes of springs may be used for biasing the lever 46 toward the first position. The spring 621 connects to two anchoring points 64, a first of which 641-1 is shown in
With continued reference to
The active material 50, e.g., SMA element, extends from the static anchoring points 501, 502, to around a third, moving anchor 463 on the lever 46. In one embodiment, the active material 50 wraps around the lever 46 at generally a mid-portion 502 of the active material 50. Similarly, the second anchoring point 502 can be located in the actuator assembly 12 at a position analogous to and opposite (e.g., a mirroring location of) a position of the first anchoring point 501.
The lever groove 463 is configured to receive and hold the portion 502 of the active material 50 wrapping around the lever 46. As shown in more detail in
The actuator sub-assembly 24 further includes, at or adjacent at least one of the first and second anchoring points 501, 502, an electrical or thermal source (not shown in detail). The electrical or thermal source may be for example, connected to a battery for selectively providing an input current to the active material 50, thereby causing the active material to heat and, in response, change phase. The active material 50 changing shapes thereby changes size there effecting work in the form of movement of the lever 46, by pulling the lever about the pivot 48.
FIG. 7—Details of the Actuator Sub-Assembly
As also shown in
Although the actuator sub-assembly may have other heights 672 as measured between a bottom of the actuator base 40 and a top of the second type of biasing spring 622, without departing from the scope of the present technology, in one embodiment the height 672 is between about 60 mm and about 70 mm. In a particular embodiment, the height 672 is about 21 mm.
Although the spring 622 may have other diameters 673 without departing from the scope of the present technology, in one embodiment the diameter 673 of the spring 622 is between about 4 mm and about 5 mm. In a particular embodiment, the diameter 671 is about 4.57 mm.
FIGS. 8 and 9—Additional Views of Actuator Sub-Assembly Operation
When the active material 50 is not activated, there is no countering force keeping the biasing component 62 from pulling the lever 46 to the first position. In the first position, a working end 461 of the lever 46 is downward, and thus pressing downward the locker hat 52, which in turn presses against the locker 54, which in turn engages the worm gear 36 (the hat, locker, and worm gear are not shown in
References herein to directional indicators, such as down or up, are provided for descriptive purposes, in relation to the respective figures. The references are not meant to control an orientation that the system or components thereof have after installation (e.g., in an automobile) and during operation of the present technology. For instance, the actuator assembly may be arranged in a greater system (e.g., sunroof system or, more generally, an automobile) so that the working end 461 of the lever 46 does not actually move vertically downward when it moves to the referenced downward position in connection with
FIGS. 10 and 11—Actuator Sub-Assembly Motion with Hat and Locker
As described above, and shown in
In
Reversing Features
In some embodiments, additional active elements or other elements (e.g., single elements) with multiple positions may be used such that the motor has additional gears for reversing direction of the motor output, and so the direction of respective input gears (e.g., worm) at each actuator assembly. This will allow the user to move multiple features driven by a single, main, drive motor in either opposite or the same direction simultaneously at the same time.
FIG. 12—Locker-Worm Gear Detail
FIG. 13—Worm Gear-Output Gear Detail
FIG. 14—First Actuator/Gearbox Assembly Footprint
Although the actuator/gearbox assembly 12 may have other dimensions, in one embodiment the assembly has a length of about 108.2 mm and a height of about 71.3 mm. For comparison, some traditional motors assemblies have a length of 149.6 mm and a height of about 91.1 mm.
FIG. 15—Second Actuator/Gearbox Assembly Footprint
Although the assembly/motor 123/18 combination can together have other total widths 122-2 without departing from the scope of the present technology, in one embodiment this total width 122-2 is between about 140 mm and about 145 mm. In a particular embodiment, the width 122-2 is about 143.8 mm.
FIG. 16—Second Actuator/Gearbox Assembly Footprint
Although the assembly/motor 123/18 can have other thicknesses 122-3 without departing from the scope of the present technology, in one embodiment the thickness 122-3 is between about 87 mm and about 92 mm. In a particular embodiment, the thickness 122.3 is about 89.9 mm.
Although the assembly/motor 123/18 combination can together have other thicknesses 122-4, as shown in
FIG. 17—First Alternative Actuator/Gearbox Assembly
The different size and shape of the assembly of this embodiment is configured to more conducive for a certain application than the size and shape of the embodiment of the assembly 121, 121 in
The differing configuration, and resulting external shape, of the embodiment of FIGS. 17 and 19-24 is exemplary of the flexibility with which the present technology can be implemented. It will be appreciated that the general concepts disclosed herein can be implemented in configurations (e.g., shapes and sizes) to fit needs or desires of a particular application.
FIG. 18—Second Alternative Actuator/Gearbox Assembly
The different size and shape of the assembly of this embodiment is configured to more conducive for a certain application than the size and shape of the embodiment of the assembly 123 in
The differing configuration, and resulting external shape, of the embodiment of FIGS. 18 and 20-24 is another example of the flexibility with which the present technology can be implemented. Again, the general concepts disclosed herein can be implemented in configurations (e.g., shapes and sizes) to fit needs or desires of the designer.
FIG. 19—Interior of First Alternative Actuator/Gearbox
As further shown in
The assembly 721, 722 also includes a locker hat 84. The locker hat 84 of this embodiment may be substantially the same as the locker hat 52 shown in embodiments shown in earlier figures. The assembly also includes an output gear 86 (shown in
In operation, as described further below, the assemblies 721, 722, 723 are arranged so that contraction of the active material 80 causes engagement between the output gear 86 and the worm gear (not shown in detail). This is opposite of the assemblies 121, 122, 123, which are arranged so that contraction of the active material 50 results in disengagement of the output gear 38 and worm gear 46. Some aspects of the operation of the components of the assembly 721, 722 of this alternative embodiment are more easily seen in the perspective view of
Line 1 indicates a drive axis of the motor. As described, the motor causes turning of an input part (e.g., worm), which in causes turning of the worm gear or wheel 88. In some embodiments, the worm gear 88 is integral with an output component (item 86 in
FIG. 20—Interior of Second Alternative Actuator/Gearbox
For example, the figures shows a lever 74, which pivots about a lever pivot 76, which is in turn connected to an actuator base 77. The assembly 723 also includes a contact component 78 and active materials 801, 802. The assembly 723 also includes a locker hat 84 and output gear 86.
In some embodiments, the components of the actuator/gearbox assembly 723 of
In some embodiments, a strain relief that protects the SMA element from mechanical overload conditions is added. The strain relief/mechanical overload protection is useful for normally-disengaged—as opposed to a normally engaged—clutch design/embodiments. In these ways, the system can control strain and stress experienced by the SMA in operation. This can be done mechanically, with control electronics, or a combination of the two. Basically, in conditions in which the gears are not aligned or the system is loaded in such a way that the active element would be unable to move into position, the electronic and/or mechanical relief mechanism would prevent the active material from being damaged.
FIGS. 21 and 22—Detail of Alternative Actuator/Gearbox Assembly
The working end of the lever 74, shown in
FIGS. 23 and 24—Side View of Alternative Actuator/Gearbox Assembly
Additional Concepts
First Additional Concept
In a particular embodiment, a sensor (e.g., electrical, mechanical or both) is added to each gearbox to separate load signals from motion-feedback signals going to the master control unit. If the feedback signals associated with each output can be kept separate then better pinch protection control can be achieved when driving multiple features. Specifically, different pinch protection threshold levels can be specified for the different features and the computational cost associated with pinch protection, and the microprocessor resources needed for this system, reduced.
A sensor (e.g., a rotary encoder) can be added to each of the output shafts of the active-material-actuated transmission that drive the various output features. Alternatively, a position sensor (e.g., a linear position sensor) may be attached directly to the moving element of the features (e.g., sunroof glass, vent, etc.), instead of having a single encoder attached to the motor, which allows tracking of positions of all features, e.g., via a book-keeping function related to sensor multiplexing. For this, a dedicated encoder can be used for feeding back position-indicating data (e.g., position-indicating signals) of each output feature. Control aspects of the present technology can be simplified in this way. Sensor multiplexing is described in further detail below.
Second Additional Concept
A second concept is useful in situations in which torque transmitted through the clutch would otherwise be higher than desired for individual active-material elements to provide the engagement for the clutch, and/or for the relevant spring mechanism to force disengagement for the clutch. The concept uses the motor itself to not only provide the torque that drives the output load but to also provide the force/torque for engaging the clutch. The active-material actuator element would provide only a small force/torque that would divert the necessary force/torque from the motor to perform the disengagement/engagement.
When an output feature, such as a sunroof glass or shade, is disengaged or engaged (depending on whether the system is configured to be default engaged or default disengaged), the motor provides a force/torque not only to drive the output but also to sustain disengagement/engagement. For embodiments in which the motor shaft rotates continuously to drive the output, but only through a finite angle to perform the disengagement/engagement, a type of slipping clutch (e.g., a friction clutch) can be used to allow a finite torque/force to be channeled from the motor to perform the disengagement/engagement corresponding to a finite rotation of the motor shaft while still allowing the motor shaft to rotate continuously to drive the output.
Because the motor can provide much higher force/torque than a compact active-material (e.g., SMA) element, this concept allows the technology to be applied even when the disengagement/engagement load can vary over a wide range, making the system more robust in this way.
If the disengagement/engagement is effected by the motor being tapped, as described, the resulting design can in some cases be smaller, more compact, at least because less actuator component are needed. For instance, in some cases, the lever 46 is removed.
Target applications for this concept include those requiring transmission of a large torque through the clutch, such as is usually the case in connection with output applications requiring a large amount of work and/or power (e.g., including a seat while the occupant is in it).
Third Additional Concept
The downward force 108 performs the work performed by the working end of the levers shown in other embodiments described above—i.e., push down a hat 52 (not shown in
It is also contemplated that the mechanism can be arranged so the clutch is normally activated (e.g., down). Two exemplary arrangements are described. In a first, the mechanism is generally like that in
Fourth Additional Concept—Sensor Multiplexing
Overview—Introduction of
More particularly,
The y-axis 114 of the first sub-graph 110 represents an increment of operation of a system work source. An example operation increment is a number of revolutions (r) of a system motor (e.g., motor 18 in
The y-axis 214 of the second sub-graph 210 represents a direction of motor rotation 218, which can be initialized as md.
The y-axis 314 of the third sub-second graph 310 represents an on/off status of a first feature of the system. An example first feature is a movable glass of a sunroof assembly. While referred to primarily herein as features, the features can be referred to also by other names, such as components, parts, etc.
The y-axis 414 of the fourth sub-graph 410 represents an on/off status of a second system feature, differing from the first system feature and operating off of the same input—e.g., input force from the motor 18. An example second feature is a movable shade of the same sunroof assembly comprising the first feature.
In one contemplated embodiment, the first and second features are parts of different assemblies, such as by one being a part of a sunroof assembly of a vehicle and one being part of a seat assembly of the vehicle, each still being operated by the same input—e.g., motor 18.
While two features are described in connection with the third and fourth sub-graphs 310, 410 of
First Sub-Graph in Additional Detail
With further reference to the first sub-graph 110 of
The system can include any of a variety of sensors to measure motor operation—e.g., number of motor revolutions. An example sensor is a hall-effect revolution counter. In one embodiment, the sensor includes an encoder. Some sensors, such as some hall-effect revolution counters, are configured to measure full operating increments of the motor, e.g., full rotations, only, while others are configured to measure partial rotations, such as a quarter revolution, a half revolution, etc.
The sensor can also be associated with the work source (e.g., motor 18) in any of a variety of ways. In one embodiment, the sensor is connected to the work source. In a contemplated embodiment, the sensor is a part of the work source. References herein, including in the claims, to a sensor being associated with a work source for providing work-source output data or signals, may be read to include the sensor being separate from and connected to the work source or being a part thereof.
The resulting curve 116 represents, more particularly, a cumulative number of revolutions (r) of the motor, as a function of time, since the last qualifying event. Example qualifying events include the motor being turned on, and a change in motor-operating direction.
Select events are indicated on the curve 116 by circles 1161, 1162, 1163, 1164. The first of these events 1161 represents the motor being turned on. With reference to the time basis of
A work-source operation counter (e.g., software and/or hardware for implementing a counter, or counting, routine) starts at the first time 5001 (or ta) in response to the work source starting, being the first event 1161 and tracks or measures work-source operation, e.g., motor-operation counter measuring motor rotations.
The counter, or timer, can be a component of a sensor used in the present multiplexing process, such as the hall-effect revolution counter mentioned above. In another embodiment, the counter or timer is a part of a controller of the system, such as the controller 19 of
The counter runs until the work source (e.g., motor) is switched off, which is a second event 1162 occurring at a second highlighted time 5002, or tb. At this point, in some embodiments, the counter resets and starts over at a third time 5003, or te, at which the motor is switched on again, the motor re-starting being the third event 1163. The new counting period can be seen in line 116, between the ninth and tenth marked points in time 5009, 50010.
The counter reset can occur in response to any one of multiple triggers. In one embodiment, the reset occurs in response to the motor being turned off. In another, the trigger is the motor being switched on again. The reset can occur generally immediately after the turn off, or after some processing between the second and ninth times 5002, 5009.
With further reference to the curve 116, or line of the first sub-graph 110, the slope of the curve 116 changes in response to a change of state of one or both features—e.g., a state change of the first feature or the second feature, being associated with the third and fourth sub-graphs 310, 410, respectively. The change in slope of the curve 116 results from the work source changing its speed or rate of operation to adjust to the change in load caused by the feature(s) state change. The curve 116 changes, for instance, in response to either or both of the first feature and the second feature being turned on or off, representing the work source adjusting to the different load.
Second Sub-Graph in Additional Detail
With further reference to the second sub-graph 210, an arbitrary convention indicating whether the motor is turned on or off can be used. In the example of the second sub-graph, the representative line 216 assumes a positive, or +1, pose or work-source direction (wd) when the motor is operating in a first manner, e.g., direction.
Similarly, the representative line 216 assumes a negative, −1, pose or work-source direction (wd) when the motor is operating in a second manner, e.g., a second direction. In most embodiments, work-source direction (wd) has a fixed value for each cycle of operation. Work-source direction (wd) can be determined based on rotation direction of a shaft, or output component. In one embodiment, the first, positive (+1), direction is counter-clockwise and the second, negative (−1) direction is clockwise. In another, it is opposite.
According to the example convention, the second sub-graph 210 shows that the motor runs in the counter-clockwise direction for a first cycle of operation spanning the first and second above-referenced times, 5001 to 5002 (or, ta-tb). Further according to the sub-graph, the work source, (e.g., motor) runs in the clockwise direction for a second cycle of operation spanning 5009 to 50010 (or, ti-tj). And, as mentioned, the counter, e.g., of revolutions (r), can be reset at the end of each cycle.
Third Sub-Graph in Additional Detail
With further reference to the third sub-graph 310, a representative line 316 assumes an off pose, along the third x-axis 312, when the first feature (e.g., sunroof glass or shade) is off, or not being moved. It will be appreciated that, according to the present technology, the first feature would be in its off state when its corresponding actuator system (e.g., a first of the systems 12 of
On the other hand, the representative line 316 of the third sub-graph 310 assumes an on pose, above the x-axis 312, when the first feature is on, or being moved. Again, the first feature will be in its on state when the corresponding, first, actuator system (e.g., a first of the systems 12 of
Viewing the third sub-graph 310, it can be seen that the first feature is off, initially, at the first time 5001. The first feature remains off until a third time, 5003 (or, tc), whereat the first feature turns on. The first feature then remains on through to a fourth time, 5004 (td), whereat the feature is turned off. The feature then remains off until a seventh time 5007 (tg), whereat the feature turns on. The feature remains on from the seventh time 5007 (tg) through to a eighth time 5008 (th). Finally, the feature turns off at the eighth time 5008 (th), and remains off through to at least the second time 5002 (tb).
The first feature is thus off for more time during the first cycle of operation, in three off periods, then it is on, in two on periods, during the cycle.
Fourth Sub-Graph in Additional Detail
With further reference to the fourth sub-graph 410 of
As with the first feature, the second feature would be in its off state when its corresponding, second, actuator system (e.g., a second of the systems 12 of
And so the fourth representative line 416 assumes an on pose, above the fourth x-axis 412 when the second feature is on, or being moved. Again, the second feature will be in its on state when the corresponding, second, actuator system (e.g., a second of the systems 12 of
And, again, whether the actuator system connects or disconnects the input to the second feature when the actuator system is actuated depends on the arrangement of the actuator system. If the actuator system has a normally-disengaged arrangement, for example, then the actuator system will be moved to an engaged state in response to being activated (e.g., SMA heating), and the second feature would thereby arrive at the on state. If the actuator system has a normally-engaged arrangement, then the actuator system will be moved to an engaged state in response to being deactivated (e.g., cessation of SMA heating), and the second feature would thereby arrive at its on state.
Viewing the fourth sub-group 410, it can be seen that the second feature is on, initially, at the first time 5001. The second feature remains on until a fifth time, 5005 (or, te), whereat the second feature is turned off. The second feature then remains off, briefly, to a sixth time, 5006 (tf), whereat the feature is turned on, again. The feature then remains on through the balance of the cycle (ta-tb)—i.e., until at least the second time 5002 (tb).
The second feature thus remains on for most of the first cycle of operation except for a brief interval, between the fifth and sixth times (or, te-tf) during the cycle.
Feature Position Determination
A scheme or algorithm for determining, or calculating, positions of features (e.g., sunroof glass and shade) using a single sensor is now provided.
For the description, position can be represented as, (p), and time as (x), and so the position at any given time as p(x). The initial position of the first feature, corresponding to the first time 5001 (or, ta), can thus be represented as p(ta).
As described above, a first cycle of the motor spans the first time 5001 (or, ta) to the second time 5002 (or, tb). A total number of work-source operation increments—e.g., motor revolutions (r)—during the first cycle of operation can be easily determined as the number of cumulative increments—e.g., revolutions (r)—at the second, end-of-cycle, time 5002 (or, tb).
Other sums, such as sub-totals of the total cumulative revolutions during any cycle, can also be determined. For instance, a total number of revolutions made by the motor both (i) during the first cycle and (ii) while the first feature is turned on can be calculated. Likewise, a total number of revolutions made by the motor both (i) during the first cycle and (ii) while the second feature is turned on can be calculated.
The total number of revolutions made by the motor both (i) during the first cycle and (ii) while the first feature is turned on can be represented as r1(ta-b), and calculated as the sum of revolutions during the two on periods, i.e., the sum of revolutions that the motor makes between the third and fourth times (5003 (ta) and 5004 (td)) and the seventh and eighth times (5007 (tg) and 5008 (th)). This can be represented functionally as:
r
1(ta-b)=[r(td)−r(tc)]+[r(th)−r(tg)].
For the scheme, or algorithm, for determining position of a feature, a velocity ratio, used to represent a speed of motion of the feature, is determined. From one perspective, the velocity ratio can be seen as normalizing, or relating, an amount of motor motion (e.g., revolutions) to a corresponding amount of distance travel for the feature. The distance can encompass linear movement of the feature, non-linear movement, or a combination—e.g., a feature that moves linear for a part of its movement and non-linearly in part. The velocity-ratio determination is configured to accommodate related factors, such as the change in effective motor operation (e.g., work, or speed) over time, such as in response to changing conditions of parts interposed between the motor and the subject feature(s)—e.g., between the motor and a principle moving element of the feature. Example interposed parts include gears, pulley drives, worm and worm-wheel pairs, and screw-and-nut pairs.
The velocity ratio can be represented by variable, g. Related variables include a speed of motion of the feature, or v, and a speed of rotation of the work source (e.g., motor), or (nW). The ratio (g) is positive (+1) or negative (−1), which can be represented by (sgn). The velocity ratio (g1) for the first feature can thus be represented by:
g
1
=sgn
1
*v
1
/n
W.
In this way, the velocity ratio, g1, for the first feature is related to the speed of motion, v1, of first feature and the speed of rotation of the motor, nWE, and has a positive or negative sign, sgn1.
The sign (sgn1) is assigned by the system based on direction of the work source. The assignment is made by, e.g., the controller or sensor. In an exemplary implementation, the sign, sgn in connection with the cycle, and so the resulting first velocity ratio, g1, is assigned a positive sign (+1) when the work source operating in the counter-clockwise rotation causes the first feature to open—i.e., to move from its closed position towards an open position. According to this implementation, the velocity ratio, g1, is assigned a negative sign in connection with operations by which the first feature is moved toward its closed position.
The total distance travelled by a feature can be determined as a function of at least three factors: a direction that the work source, e.g., motor, was operating during the cycle (or, work-source direction, wd), a number of rotations made by the motor during the cycle (or, r), and the velocity ratio (g).
The total distance traveled by the feature (e.g., sunroof glass) can be represented by a distance difference, or delta (δ). And the distance traveled during the cycle, between first and second times, ta to tb, can be represented as, δp(ta-b).
The distance traveled by the first feature during the cycle, between first and second times, ta to tb, is thus:
δp(ta-b)=wd*r*g,
Regarding the first feature, then, the total distance traveled by the first feature, during the first cycle, between first and second times, to to tb, can likewise represented by:
δp1(ta-b)=wd*r1*g1.
The position of the feature at the end of the cycle, i.e., at the second time 5002 (or, tb), can be represented as a sum of the position of the feature at the beginning of the cycle, i.e., at the first time 5001 (or, ta), and the distance travelled during the cycle δp(ta-b). In equation form, this relationship is:
p(tb)=p(ta)+δp(ta-b).
The position after each cycle, or between any two points of a cycle, can be thus determined, by repeating this process, using a previous position—e.g., beginning of cycle position, and the distance travelled during the cycle.
In one embodiment, for establishing a reference or base, a reference location of zero (0) is set when the feature (e.g., sunroof glass or shade) is at a pre-determined initialization position—e.g., fully closed. The setting can be made by, e.g., the controller or sensor. The operation can be referred to as initialization of the drive, and represented as, p(ta)=0, or p(t0)=0.
While a fully-closed initialization position is mentioned, the system can be programmed with other initialization positions instead, depending on needs identified by a designer of the system according to the present disclosure.
Moreover, according to this scheme, or algorithm, a position of the feature at any intra-cycle, intermediate, time tx, between ta and tb, is computed in a similar way. More specifically, the system (e.g., processor of the controller executing computer-executable instructions) calculates any intermediate feature position, corresponding to an intermediate time tx, by treating tx as the end of the period in the computation (as if it was the end of a cycle; or, regarding the time t as the end of the subject intermediate cycle), instead of using the conventional cycle end at the second time 5002 (tb). The position of the feature can be computed in this manner sporadically and/or at regular intervals, at any time(s), and stored, such as in a memory of the controller.
In one embodiment, a position of the feature at the end of a period, whether at the end of a full cycle or at an intra-cycle time, is calculated by using a previously-determined position, and not the pre-set initialization position. It will be appreciated that a position for a feature or features can be performed repeatedly during a cycle, using the most-recent position determination as an initial position in a subsequent determination of position.
In a contemplated embodiment, the present scheme can also be expanded for determining the position of the feature after a period during which the motor stopped and/or changed direction. The period, in this case, can include more than one of what is generally viewed as a cycle
Regarding the second feature (e.g., sunroof screen), as noted and can be seen in
As referenced, the present teaching can be applied to more than two features. Namely, the above-described scheme can be extended to three or more features.
The position determination made according to this scheme can be used in a variety of ways, including in the pinch-protection processes described herein.
Other Control Logic Aspects
Introduction to the Additional Aspects of the Control Logic
As described above, controls of the present technology can be embodied in software of the controller 19, or another computing device, such as a vehicle computing unit, and/or in hardware, such as of the circuit board 66. By processing user inputs at a switch panel, and monitoring inputs and controlling the outputs, the electronic controller achieves the desired functionality for the respective features.
In connection with the example implementation, for the present technology, of a sunroof system, the technology can demonstrate one or more operations of the following: opening and closing sunroof glass, latching and unlatching a sunroof shade, opening and closing the shad, latching and unlatching a wind deflector, opening and closing the deflect, and opening and closing the glass in a manner forming and closing a vent. These functions are performed using a single drive motor (e.g., motor 18). In some embodiments, the transmission logic is said to be active-low, wherein the transmission is normally engaged when the actuators are off.
In one embodiment, there are the following five basic modes of operation for an electronic control device, whether the acting control device (which, as provided may at times herein be referred to generally simply as the controller, electronic controller, computer or computerized controller, and the like) is the controller 19, the vehicle control unit (e.g., body control module), the circuit board 66, and/or other (e.g., integrated circuit(s)). In any event, control features can be activated by a user switch inputs—e.g., a driver or passenger pressing a glass open button or switch, a glass close switch, a vent switch, a shade open or close switch, etc. The control features can include the following: 1. Initialize mode—wherein, upon power up, sets all three features to the full close position; 2. supervised open mode—features move in open direction while switch pressed; 3. supervised close—features move in close direction while switch pressed; 4. express open mode—features move to full open based on momentary input; and 5. express close mode—features move to full close based on momentary input. These modes, or logic operations, are described in further detail below.
The controller includes the following inputs and outputs to the sunroof. The motor (e.g., DC motor) can include an directional control circuit output, such as an H-bridge direction control circuit output, along with a current sense analog input. Each of the transmission modules (e.g., modules 121, 122, 123) can contain a transistor/relay-driven (e.g., FET-driven) power output to the active element actuator and an optical encoder input, although various types of motors and motor controllers and associated components can be implemented according to the present technology. An exemplary hot cutoff in the form of an optical-based cutoff switch is described above (the reference numeral 641). An exemplary constant current circuit for, e.g., over-heat protection, is also described above.
Idle State of Control Logic
For this embodiment, the electronic controller remains in an idle state while waiting idly, or alternatively while polling, for a user command from a switch input signal.
In one embodiment, during this time, a park/drive indicator, associate with a vehicle gear position, can be monitored. When the vehicle is in drive, system current and pinch protection limits are increased over nominal park values.
Upon receiving an input that any of the control switches has been pressed, the controller interprets whether the input is either the Initialize or supervised open/close or express open/close. The controller ignores any conflicting switch inputs. For example, if glass express open and shade express close switches are both depressed, the signal is ignored since the motor cannot run in two directions at once. Similarly, if both an express mode and a supervised mode are selected, a conflict exists and the command is ignored.
Interrupt Driven Position Encoding of Control Logic
The controller monitors the three feature's position by either incrementing or decrementing a position count value by polling the encoder's status every five milliseconds.
Upon interrupt, the controller first determines whether the motor is in the off, open, or close state. If the motor is in the off state, the encoders are ignored and the stall-counters are cleared.
When the motor is in the open state, the controller determines which actuators are disengaged and the transmission hence engaged. The engaged encoders respective stall-counters are incremented and if their state has changed from the previous polling: 1. The position count is decremented; 2. The state flag is set to the opposite logic; and 3. The stall-count is cleared.
When the motor is in the close state, the controller determines which actuators are disengaged and the transmission hence engaged. The engaged encoders respective stall-counters are incremented and if their state has changed from the previous polling: 1. the position count is incremented; 2. the state flag is set to the opposite logic; and 3. the stall-count is cleared.
Motor Bump Aspect of Control Logic
Each time an individual transmission is disengaged, a Motor Bump routine takes place. The motor bump determines the current direction of the motor and runs it in opposite direction for a small (typically around 100 ms) and predetermined amount of time. This reversal of direction removes the load from the transmission and allows the actuator to return with little force necessary. The amount of travel of the motor bump is in some embodiments pre-determined, such as by the system, automatically and/or according to operator setting.
Pinch Protection Feature of Control Logic
The feature monitors an operating characteristic, e.g., electrical current, of the work source, e.g., motor, and maintained a running average of the characteristic. Pinch protection is in some embodiments enabled when the system or assembly is operating in either the supervised close mode or express close mode.
The operating characteristic, referenced in the preceding paragraph, is monitored, and the running average calculated, in continuous segment between two successive events or conditions, e.g., in distinct time windows or time segments. The average is reset (e.g., to zero or another pre-established base value) at a time between each window, such as upon ending of a time window or upon commencing a new time window. Each time window corresponds to an initiating condition, or trigger, and ends upon a stopping condition.
In one embodiment, the initiating condition is any of a turning on or off of the work source (e.g., motor). For embodiments in which the work source is reversible, such as for some motors, the initiating condition could also include the work source reversing its direction. The trigger could also include a change in operation of any one of the respective features (e.g., sunroof glass movement, sunroof shade movement, sunroof vent movement), such as the feature being turned on or off (e.g., sunroof glass open operation commenced or ended).
An offset value is preset and when the current value exceeds the running average plus the offset, a pinch is detected. in one embodiment, when this occurs, the motor stops immediately and reverses direction for a small amount of time to relieve the obstruction. The instructions can be configured to cause, in response to determining the pinch condition, the processor to initiate communicating of an alert or notification for notifying a user of the vehicle that the pinch protection error mode is present. The alert can be of any type—e.g., visual (e.g., light) and/or audible (e.g., beep).
In a traditional drive, which has one motor driving one power feature, the anti-pinch feature is typically implemented by setting an absolute limit on the current drawn by the motor. This limit acts as a threshold, which when crossed, triggers the anti-pinch functionality on that particular feature. This approach is generally viewed as inapplicable to the present technology in which a single motor is used for driving multiple features, possibly simultaneously.
For example, assume that hypothetical features 1, 2 and 3 have respective normal (e.g., allowable) current draws of I1, I2 and I3 amperes, respectively, when they are being driven independently. Further, let I1′, I2′, and I3′ be the corresponding anti-pinch thresholds and I1+I2>I1′. Then, when features 1 and 2 are being driven simultaneously, the normal motor current draw exceeds the anti-pinch threshold for feature 1 being driven independently. Thus, the absolute motor current draw limits used to implement anti-pinch functionality in traditional sunroof drives cannot be used with our technology without the use of additional sensors beyond a current draw sensor for the single motor. Additional sensors (e.g., force or motion sensors on each mechanical moving element), for instance, can help in this situation and be a beneficial design choice.
The challenge of implementing the anti-pinch functionality in the framework of the present technology while still using only a motor current draw sensor can be addressed in the following manner. The controller monitors current drawn by the motor and computes a moving average of the last n samples. This can be referred to as a baseline Ib(t) used for the anti-pinch functionality—the time dependence of the baseline is shown explicitly to emphasize that the baseline itself is changing with time as different features are added or dropped from the set of currently active outputs.
An anti-pinch threshold (Iap(t)) is specified as some function of an absolute or fractional increase over the baseline Ib(t). The Iap is, therefore, also a function of time. Basing the anti-pinch threshold on a time dependent baseline compensates for changes induced in the normal current draws for the various features due to various factors, such as changes in ambient temperatures, age and wear of the system components, etc. The approach is also scalable—little/no modification is needed as more features are driven by a single motor.
The pinch protection feature is described further as follows, including further reference to traditional practice.
As provided, traditional practice uses one motor per power driven output/feature (e.g., sunroof glass). Each motor also has a current draw sensor that monitors the current (i) drawn by the motor. In permanent magnet DC motors, which are commonly used for such applications, the torque (T) produced by the motor is linearly related to the current drawn by the motor. The torque produced by a motor is converted into a force (F) that overcomes resistance (FR) offered by friction, external loads, etc to produce motion of the corresponding feature in the desired direction. The torque T is related to F, and hence to FR, by the mechanical advantage (MA) of the interposed transmission as T=F/MA. Thus, we can relate the current drawn by the motor (i) to the force (F) exerted at the output to produce the desired motion at the output.
Pinch protection is a feature that limits the maximum force exerted during closure of a power-operated feature to a value (Fmax) that mitigates injury to users in the event that an item is pinched between the moving elements of a power operated and the vehicle body. In addition to a maximum value of force, there is also a requirement that in the event of a pinch event, as characterized by the drive force F exceeding Fmax, the drive output should be stopped and/or reversed.
For stopping the output, the drive source itself could be stopped, or the output otherwise blocked from being transferred to the input component of at least the actuator at which the pinch condition is present. The stoppage should be initiated within a specified time interval (tmax). The reverse condition should be initiated to cause reverse work output (e.g., the work source operating in reverse) for a pre-specified value, such as a pre-determined time, amount, or measure of distance—e.g., a time, amount, or movement, such as a specified distance (dr) travel of components of the work source (e.g., rotations of a motor). The specified value, thus, corresponds to a certain movement of the feature (e.g., distance travel for a sunroof glass) at which the pinch condition occurred.
The power operated feature is designed such that the force F exerted by the moving elements to overcome the resistance FR to motion is always less than Fmax. Typically, the force exerted by the moving elements of a feature i is limited to FiL<Fmax during normal operation of the feature. The limiting force FiL varies with the feature and the operating conditions. As an example, when the vehicle is in motion interaction of the vehicle with the road and the surrounding air leads to a change in the resistance to motion experienced by the various articulating features. This results in an increase in FiL over its value when the vehicle is stationary. Another example is when a vehicle is parked on an incline. The change in the relative orientation of the vehicle with respect to the earth's gravitational field also leads to a change in FiL
In PMDC motors, the relationship between the current (i) drawn by the motor and the force (F) exerted at the moving element is used to convert the force constraint (Fi<FiL) required by the pinch protection feature into a corresponding constraint (ii<iiL) on the current drawn by the motor. A sensor connected to each motor monitors the current drawn by that motor. If this constraint is violated, the controller stops the motor and reverses its motion to cause the moving elements of the feature to move through a distance dr in a direction that relieves the pinch condition. Since a motor drives only one feature in the current practice, there is a fixed value of the limiting motor current iiL for a given operating condition. This value may be hardwired into the control circuit or be specified as a constant in the control software.
Considering that a Feature 2 experiences a pinch condition when Feature 1 and 2 are on simultaneously, as the force required to drive Feature 2 rises above its nominal value, the torque required of the motor also increases beyond its nominal value and so does the current drawn by the motor.
Linearity of the current—torque relationship in a PMDC motor ensures that a given change in the motor torque δT corresponds to the same change in the motor current δi over its entire useful operating range. Therefore, when F2>F2L, the current drawn by the motor also exceeds its limit: i(1+2)>i(1+2)L and thereby, triggers the controller to stop the motor and reverse the drive. The same explanation holds if Feature 1 experiences the pinch event. The case when both features experience a pinch event simultaneously is straightforward.
The pinch protection control logic determines a limiting motor current value under any operating condition, over time, and for any combination of simultaneously active output features (e.g., glass and shade moving, or glass and vent moving, or other combination). The current limit according to one embodiment is computed at time tj as follows:
where the first term represents a moving average of the current draw recorded over the time interval Δt immediately preceding the current time tj.
As provided, the current limit is updated every time one of the following events occur, e.g., the motor is switched on/off, the motor reverses direction, any feature is turned on/off. The time included in the computation of the moving average is limited to a continuous segment between two successive events. Thus, the above expression for iL(t) cannot be computed for the first time interval Δt following an event. A fixed value iLF is assigned to iL(tj) during this period. A possible value for iLF in this example is i1+i2+δi. The interval Δt is chosen in a manner that balances the need to minimize the time for which the pinch protection limit is maintained at a value higher than is desirable and the need to compute a reliable moving average in the presence of noisy measurements of the current. Also, Δt<tmax i.e. the averaging time interval is chosen to be smaller than the maximum time permitted by the pinch protection requirements.
An alternative approach would involve updating the motor current limit based on the current state of the system, e.g.:
where the summation is carried out over all output features (k) driven by the motor, ik is the nominal operating current for Feature k and the indicator variable xk(tj) is based on the sensed state (ON/OFF) of Feature k at time tj. Note the fixed limiting motor current (iLF) used in the previous approach may be computed in this manner.
The schemes described above are easily scalable to three or more features.
Initialize Modes of Control Logic
The initialize mode sets, in order, the vent, glass, wind deflector, and shade to their respective closed positions and defines the encoder count for the closed and open positions for the rest of the operating modes.
Initialize Mode for Vent
For this mode, all actuators (e.g., three actuators 121, 122, 123 of
The motor is turned off for a small time period (e.g., 5 milliseconds), then driven in the close direction for a predetermined number of encoder back-steps to set the travel limit back from the hard stop. A vent position counter is set to the opened position and the closed position is calculated. The motor is driven in the close direction until the vent position counter is equal to the closed value while polling the following error modes: current limit exceeded, stall-count exceeded, timeout reached.
Ending the mode, the motor is turned off and the actuators (e.g., three actuators) are turned off.
Initialize Mode for Glass
For this mode, all of the actuators (e.g., three actuators) are turned on and the motor bump is performed. The glass actuator is turned off, causing it to be connected to the motor. And the motor is driven in the close direction until either: a preset glass close stall current limit is reached, a stall-count reaches a preset limit, or a timeout error is reached, and system is shutdown in alarm mode.
The motor is turned off for a small time period (e.g., 5 milliseconds), then driven in the open direction for a predetermined number of encoder back-steps to set the travel limit back from the hard stop. The glass position counter is set to the closed position and the opened position is calculated.
Ending the mode, the motor is turned off and all of the actuators are turned off.
Initialize Mode for Shade
For this mode, all of the actuators (e.g., three actuators) are turned on and the motor bump is performed. The Shade actuator is turned off, causing it to be connected to the motor. The motor is driven in the close direction until either: a preset shade close stall current limit is reached, a stall-count reaches a preset limit, or a timeout error is reached, and system is shutdown in alarm mode.
The motor is turned off for a small time period (e.g., 5 milliseconds), then driven in the open direction for a predetermined number of encoder back-steps to set the travel limit back from the hard stop. A shade position counter is set to the closed position and the opened position is calculated.
Ending the mode, the motor is turned off and all of the actuators are turned off.
Supervised Open Function of Control Logic
The supervise open mode moves the features selected from the user input switches while either the switches remained depressed, or the encoder position has reached the fully opened condition, or an error occurs.
For this mode, the controller exits from the idle state upon sensing either the glass, shade, or vent supervised open switches have been depressed. The process includes a small de-bounce time delay, which is in one embodiment, about 50 microsecond.
The actuators are turned on to disengage the features not selected by the user, and the motor is driven in the open direction while status of the switches, current, stall-count, timer, and position are continuously polled. If either the current, stall-count, or timer limits are exceeded, the motor is turned off and the user is alerted which error mode occurred.
When any of the selected features either reaches their end of travel, or their switch is released, then the motor is turned off, the actuator for the feature is turned on, and a motor bump is performed.
The motor continues in the open direction until either all switches are released or all features have reached the end of travel.
Ending the mode, the motor is turned off, all actuators are turned on and the motor bump performed, and then all of the actuators are turned off and a ready indicator is lit indicating that the system is ready for a next command.
Supervised Close Function of Control Logic
The supervised close mode moves the features selected from the user input switches while either the switches remained depressed, or the encoder position has reached the fully closed condition, or an error occurs. Pinch protection is also engaged and interrupts the travel.
For this mode, the controller exits from the Idle state upon sensing either the glass, shade, or vent supervised close switches have been depressed. The small de-bounce time delay is allowed and then the actuators are turned on to disengage the features not selected by the user.
The motor is driven in the close direction while status of the switches, current, stall-count, timer, and position are continuously polled. If either the current, stall-count, or timer limits are exceeded, the motor is turned off and the user is alerted which error mode occurred.
As provided above, pinch protection can be monitored during this mode. When any of the selected features either reaches their end of travel, or their switch is released: the motor is turned off, the actuator for the feature is turned on, and a motor bump is performed. The motor continues in the close direction until either all switches are released or all features have reached the end of travel.
Ending the mode, the motor is turned off, all actuators are turned on, a motor bump is performed, and then all of the actuators are turned off and a ready indicator is lit indicating that the system is ready for a next command.
Express Open Function of Control Logic
The express open mode moves the features selected from the momentary user input switches until the encoder position has reached the fully opened condition, the user hits interrupts by depressing a switch, or an error occurs.
For this mode, the controller exits from the idle state upon sensing either the glass, shade, or vent supervised open switches have been depressed. A small de-bounce time delay is allowed, and then the actuators are turned on to disengage the features not selected by the user.
The motor is driven in the open direction while status of the switches, current, stall-count, timer, and position are continuously polled. If either the current, stall-count, or timer limits are exceeded, the motor is turned off and the user is alerted which error mode occurred. If an input switch is depressed, the routine is exited. When any of the selected features either reaches their end of travel, the motor is turned off, the actuator corresponding to the feature is turned on, and a motor bump is performed. The motor continues in the open direction until all features have reached the end of travel.
Ending the mode, the motor is turned off, all of the actuators are turned on, and a motor bump is performed. Then all of the actuators are turned off and a ready indicator is lit indicating that the system is ready for a next command.
Express Close Function of Control Logic
The express close mode moves the features selected from the momentary user input switches until the encoder position has reached the fully closed condition, the user hits interrupts by depressing a switch, or an error occurs. Pinch protection, if engaged, can interrupt the travel.
For this mode, the controller exits from the Idle state upon sensing either the glass, shade, or vent supervised close switches have been depressed, and a small de-bounce time delay is allowed. Then, the actuators are turned on to disengage the features not selected by the user, and the motor is driven in the close direction while status of the switches, current, stall-count, timer, and position are continuously polled.
If any of the current, the stall-count, or a timer limit is exceeded, the motor is turned off and the user is alerted which error mode occurred. If an input switch is depressed, the routine is exited. As provided above, pinch protection can be monitored during this mode.
When any of the selected features reaches their end of travel, the motor is turned off, the actuator corresponding to the feature is turned on, and a motor bump is performed. The motor continues in the close direction until all features have reached the end of travel.
To end the mode, the motor is turned off, all actuators are turned on and a motor bump is performed. Then, all actuators are turned off and a ready indicator is lit indicating that the system is ready for a next command.
Various embodiments of the present disclosure are disclosed herein. The disclosed embodiments are merely examples that may be embodied in various and alternative forms, and combinations thereof.
The law does not require and it is economically prohibitive to illustrate and teach every possible embodiment of the present claims. Hence, the above-described embodiments are merely exemplary illustrations of implementations set forth for a clear understanding of the principles of the disclosure. Variations, modifications, and combinations may be made to the above-described embodiments without departing from the scope of the claims. All such variations, modifications, and combinations are included herein by the scope of this disclosure and the following claims.
| Number | Date | Country | |
|---|---|---|---|
| Parent | 13618340 | Sep 2012 | US |
| Child | 13917780 | US |
