公开(公告)号：US11413892B2

公开(公告)日：2022-08-16

申请号：US17051821

申请日：2018-08-28

Applicant: HEWLETT-PACKARD DEVELOPMENT COMPANY, L.P.

Inventor： Raimon Castells De Monet ,  David Munoz Navarro ,  Josep Tarradas i Juan

IPC: B41J29/393 ,  H02P23/14

Abstract: Obstacle detection for a moving element activated by a motor is disclosed. The obstacle detection may comprise a controller to: move the element at a substantially constant speed; determine an actual torque value to move the element at the constant speed; determine a torque parameter based on the actual torque value; comparing the torque parameter with a threshold value; and determining the presence of an obstacle if the torque parameter is above the torque parameter threshold; wherein the torque parameter is determined based on a set of historical torque values and the actual torque value.