WO2013018942A1 - Method and apparatus for calculating degree of fatigue - Google Patents

Abstract

The present invention relates to a method for measuring a load and an apparatus for measuring a load from acceleration, speed, angular velocity, and an angle, which are measured from a moving object. The method for measuring a load, according to the present invention, comprises the steps of: measuring the acceleration, the angular velocity, a pitch angle, and a roll angle from a measurement portion, which is comprised in the moving object; calculating the speed from the acceleration; and calculating the load generated by the moving object from a component, the pitch angle, and the roll angle that are generated from the acceleration, the speed, and the angular velocity. The load obtained thereby allows measurement of the load, which is generated by the moving object, in numerical terms, and this numerical term becomes a scale for determining the degree of fatigue of the object, as well as for displaying riding comfort of a passenger who is riding the moving object.

Description

Fatigue calculation method and device

The present invention relates to a method and apparatus for measuring fatigue or load generated by a moving object. The present invention also relates to a device that numerically represents the riding comfort (load) of a passenger on board a moving object.

Conventional instruments used for moving objects include speedometers, engine speed gauges, engine thermometers, fuel level measurements, and mileage indicators. These devices are not directly acting on the occupants of the moving object, but information about the moving object. It is necessary to set the motion of the object to measure the force acting on the occupant during the exercise and make the occupant more comfortable based on the force acting on the occupant.

It is also necessary to measure the degree of fatigue of a moving object to predict the life of the moving object.

An object of the present invention is to enable a passenger to ride on a moving object as a numerical value. It also allows you to control moving objects to give your passengers a better ride.

The riding comfort acting on the passenger can be used in the same concept as the fatigue of the moving object. Therefore, it is another object of the present invention to provide a fatigue measurement method that can accumulate fatigue and predict the life of the fuselage.

Computer fatigue method according to the present invention comprises the steps of measuring the acceleration vector, angular velocity vector, pitch angle, and roll angle of the object in the measuring unit included in the moving object on the ground, Calculating a velocity vector from an acceleration vector, calculating a component of the disturbance vector that affects the component of the acceleration vector from the component of the velocity vector and the component of the angular velocity vector, and gravity affects the body coordinate system of the object. Calculating an impact body gravity system component, and calculating a fatigue vector applied to the object by summing components of the acceleration vector, components of the disturbance vector, and components of the body coordinate system gravity vector.

The fatigue calculation apparatus of the fuselage according to the present invention is a measuring unit for measuring the acceleration vector, the angular velocity vector, the pitch angle, and the roll angle of the object, calculates the velocity vector from the acceleration vector, the component of the velocity vector Compute a component of the disturbance vector affecting the component of the acceleration vector from the component, calculate a body coordinate system gravity vector component in which gravity affects the body coordinate system of the object, and the component of the acceleration vector, the component of the interference vector. And a control unit for calculating a fatigue vector on the object by summing components of the body coordinate system gravity vector, and a storage unit for storing the fatigue vector.

In the fatigue degree calculation method according to the present invention, it is possible to grasp numerically the degree of the load (ride comfort or fatigue) acting on the moving object or the occupant. In addition, the body's movement can be controlled based on the load value so that the passenger can feel a better ride. This load value also acts as a fatigue degree of the moving object to predict the life of the moving object.

1 is a coordinate system representing a coordinate axis in a moving object,

2 is a block diagram showing a load measuring apparatus according to an embodiment of the present invention, and

3 to 5 are detailed block diagrams illustrating the controller of FIG. 2.

When an object moves in a physical system in three-dimensional space, it consists of an acceleration component at the center of mass of the object and a component that rotates about this mass point. Since these acceleration components and angular velocity components act on the gravitational system, they can be expressed in relation to all the forces N acting on the moving object and the moving object weight, which is the load (fatigue or ride comfort). This is different from the number of gravity, which is the acceleration divided by the gravity value.

The load acting on the occupant by the object (body) moving in three-dimensional space can be measured through the acceleration of the body and the angle change of each axis. The load, all the force exerted on the occupant, is the measure of comfort for the occupant. The load also acts on the fuselage itself as well as the occupant. Accordingly, the load is a measure of the degree of fatigue in the fuselage.

In three-dimensional space, the fuselage has acceleration values of x-, y-, and z-axis components, and the coordinate axis changes during the movement due to the angle of attack and the path angle (oiler angle). It has an angular velocity that rotates around each axis. This acceleration, angular velocity, and angle values cause the fuselage itself to generate forces. In order to measure the acceleration value and the angle change, an acceleration and angle measuring device (a device for measuring acceleration and angle) may be installed to be parallel to each axis of the body.

The load is calculated based on the acceleration, the velocity and the components created according to the angular velocity, and the angle. The load according to an embodiment of the present invention may be calculated by Equation 1.

Equation 1

, V는

, 및 Ω는

인 행렬로 표현될 수 있다. Ω는 지상 좌표계상에서, 움직이는 물체의 동체 좌표계가 지상좌표계에 대한 회전을 나타내는 행렬로 널리 알려져 있는 식이다. C는 지상좌표계에서 나타내지는 중력성분(g)에 의한 움직이는 물체의 가속도에 대한 성분(gε_ij)이다. ε_ij은 오일러 각의 삼각함수 행렬로, Where A represents the acceleration (a) of the fuselage. B is a component (ΩV) generated according to the speed (V) of the moving object and the rotational angular velocity (Ω). Since B is a component that interferes with the acceleration component of the object, it takes a negative operation. A is

, V is

, And Ω

It can be represented by the matrix. Ω is a well-known equation in which the body coordinate system of a moving object in a ground coordinate system represents a rotation with respect to the ground coordinate system. C is the component (gε _ij ) for the acceleration of the moving object due to the gravitational component (g) expressed in the ground coordinate system. ε _ij is the trigonometric matrix of Euler angles,

로 표현될 수 있다. 중력계에서 중력은 지구 무게 중심이므로 지상좌표계에서 지구 무게 중심을 나타내는 수직축인 i=2인 ε_2j 행렬,

을 취한다. 이때 j={1, 2, 3} 이고, j=1 일 때 움직이는 물체의 x축, j=2 일 때 움직이는 물체의 y축, 및 j=3 일 때 움직이는 물체의 z성분이다. 이와 같이 A,B,C의 연산에 중력가속도 g로 나눈값으로 하중(승차감)값

을 산출할 수 있다.

It can be expressed as. Since gravity is the center of gravity in the gravitational system, the ε _2j matrix with i = 2, the vertical axis representing the earth's center of gravity in the ground coordinate system,

Take At this time j = {1, 2, 3}, the j-axis of the moving object when j = 1, the y-axis of the moving object when j = 2, and the z component of the moving object when j = 3. In this way, the calculation of A, B, and C divided by the gravitational acceleration g is the load (ride comfort) value.

Can be calculated.

1 is a coordinate system showing a coordinate axis in a body. The x-axis represents the movement direction 20 of the body 10, the y-axis represents the vertical movement direction perpendicular to the x-axis, and the z-axis represents the left and right direction perpendicular to the x-axis.

2 is a block diagram showing a load measuring apparatus according to an embodiment of the present invention. Referring to FIG. 1, the load measuring apparatus according to the present exemplary embodiment includes a measuring unit 100, a control unit 200, a storage unit 300, an output unit 400, and a communication unit 500.

The measuring unit 100 measures the acceleration (a) and the angular velocity (ω) of the fuselage, which are the basis of the load measurement, and the angle (θ, γ) between the fuselage coordinate system on the basis of the moving object and the ground coordinate system on the ground. Measure To this end, the measurement unit 100 may include an acceleration measurement module 110, an angular velocity measurement module 120, and an angle measurement module 130. Acceleration and angular velocity are measured values based on the body coordinate system of a moving object. The angle measuring module 230 measures a pitch angle θ and a roll angle γ based on the ground coordinate system.

The control unit 200 calculates a load based on the value measured by the measuring unit. The controller 200 calculates a speed based on the acceleration measured by the acceleration measurement module 110. The controller 200 calculates the load n based on the components generated according to the acceleration, the speed and the angular velocity, the pitch angle, and the roll angle.

In this embodiment, gravity is a value that does not change significantly, so a predetermined gravity value is used. However, in another embodiment, the measuring unit of the load measuring apparatus according to the present invention may further include a gravity measuring module (not shown) for measuring the magnitude of gravity. The gravity value measured in the gravity measurement module may be used when calculating the load.

The control unit 200 according to another embodiment of the present invention is the acceleration (a) of the body, the angular velocity (ω), the pitch angle (θ), and the roll angle (γ) of the body so that the calculated load (n) approaches 0 At least one can be adjusted. Acceleration (a) can be adjusted by controlling the driving force, the angular velocity (ω), pitch angle (θ), and roll angle (γ) can be adjusted by controlling the steering device of the body. In another embodiment, when the body is an automobile, the control unit 200 controls each suspension device (suspension) to adjust at least one of the pitch angle θ or the roll angle γ, so that the vehicle body and the ground and You can also adjust the angle.

The storage unit 300 may include a volatile memory or a nonvolatile memory such as a volatile random access memory (RAM) having a cache area for temporarily storing data. Non-volatile memory may be embedded in the load measurement device and may be removable. The storage unit may store the calculated load.

The load may be calculated using measured values measured at regular intervals. In this case, the controller 200 may store the calculated load every cycle, and may add up the magnitudes of the calculated load every cycle.

The output unit 400 may include a display module that displays the magnitude of the calculated load or the magnitude of the accumulated load, and the communication unit 500 may transmit the calculated load to an external device.

3 to 5 are detailed block diagrams illustrating the controller of FIG. 2 according to an exemplary embodiment of the present invention.

3 is a detailed block diagram of a control unit for calculating the load on the x-axis. To calculate the y- and z-axis components of velocity, the y-axis acceleration values and the z-axis acceleration values pass through integrators 610 and 620. Equation 1 may be embodied as Equation 2 below.

Equation 2

Equation 3 is derived from Equation 2, which is an x-axis load value calculated by the control unit of FIG.

Equation 3

4 is a detailed block diagram of a control unit for obtaining a load value on the y-axis. The load value of the y-axis has the same value as in Equation 5 derived from Equation 4.

Equation 4

Equation 5

5 is a detailed block diagram of a control unit for obtaining a load value on the z-axis. The load value of the z-axis has the same value as in Equation 7 derived from Equation 6.

Equation 6

Equation 7

The present invention can also be embodied as computer readable code on a computer readable recording medium. The computer-readable recording medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disks, optical data storage devices, and the like, which are also implemented in the form of carrier waves (for example, transmission over the Internet). Include. The computer readable recording medium can also be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion. And functional programs, codes and code segments for implementing the present invention can be easily inferred by programmers in the art to which the present invention belongs.

In addition, although the preferred embodiment of the present invention has been shown and described above, the present invention is not limited to the specific embodiments described above, but the technical field to which the invention belongs without departing from the spirit of the invention claimed in the claims. Of course, various modifications can be made by those skilled in the art, and these modifications should not be individually understood from the technical spirit or the prospect of the present invention.

Claims (8)

Measuring an acceleration vector, an angular velocity vector, a pitch angle, and a roll angle of the object by a measurement unit included in an object moving on the ground; Calculating a velocity vector from the acceleration vector; Calculating a component of the disturbance vector affecting the component of the acceleration vector from the component of the velocity vector and the component of the angular velocity vector; Calculating a gravitational vector component in which gravitational force affects the fuselage coordinate system of the object; And And calculating a fatigue vector applied to the object by summing components of the acceleration vector, components of the interference vector, and components of the body coordinate system gravity vector. The method of claim 1, The fuselage coordinate system is a Cartesian coordinate system represented by the x-axis, y-axis and z-axis, The acceleration vector is

Matrix The disturbance vector is

Is a determinant, The body coordinate gravity vector is

A fatigue degree calculation method of a fuselage characterized by being a matrix. Where a _x , a _y , and a _z are the acceleration components of each axis in the fuselage coordinate system, ω _x , ω _y , and ω _z are the angular velocity components of each axis in the fuselage coordinate system, and V _x , V _y , and V _z are The velocity component of each axis in the fuselage coordinate system, g is the magnitude of gravitational acceleration, θ is the pitch angle, and γ is the roll angle.) The method of claim 1, Measuring the magnitude of gravity acceleration where the object is located in the measurement unit; And said gravity is the magnitude of said measured acceleration of gravity. The method according to claim 1 or 3, The measuring unit measures at regular intervals, The calculating of the fatigue vector is a fatigue calculation method of the body, characterized in that for calculating every cycle. The method of claim 4, wherein Storing the fatigue vector calculated every cycle; And And displaying the fatigue vector calculated every cycle. The method of claim 4, wherein Summing the magnitude of each fatigue vector calculated for each stock price; And And displaying the sum value of the fatigue vectors. The method of claim 4, wherein And adjusting at least one of the acceleration vector, the angular velocity vector, the pitch angle, and the roll angle such that the magnitude of the fatigue vector to be calculated in the next period is smaller than the magnitude of the fatigue vector calculated in the specific period. Fatigue calculation method. In the fatigue calculation device provided in the object moving on the ground, A measuring unit measuring an acceleration vector, an angular velocity vector, a pitch angle, and a roll angle of the object; Calculating a velocity vector from the acceleration vector, calculating a component of the disturbance vector affecting the component of the acceleration vector from the component of the velocity vector and the component of the angular velocity vector, and the effect of gravity on the body coordinate system of the object. A control unit for calculating a fuselage system gravity vector component and adding a component of the acceleration vector, a component of the interference vector, and a component of the body coordinate system gravity vector to calculate a fatigue vector applied to the object; And A fatigue calculation apparatus comprising a storage unit for storing the fatigue degree vector.

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