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WO2013018942A1 - Procédé et équipement pour mesurer le degré de fatigue - Google Patents

Procédé et équipement pour mesurer le degré de fatigue Download PDF

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Publication number
WO2013018942A1
WO2013018942A1 PCT/KR2011/005669 KR2011005669W WO2013018942A1 WO 2013018942 A1 WO2013018942 A1 WO 2013018942A1 KR 2011005669 W KR2011005669 W KR 2011005669W WO 2013018942 A1 WO2013018942 A1 WO 2013018942A1
Authority
WO
WIPO (PCT)
Prior art keywords
vector
acceleration
fatigue
component
calculating
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2011/005669
Other languages
English (en)
Korean (ko)
Inventor
왕현민
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Narymco ltd
Original Assignee
Narymco ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Narymco ltd filed Critical Narymco ltd
Priority to PCT/KR2011/005669 priority Critical patent/WO2013018942A1/fr
Publication of WO2013018942A1 publication Critical patent/WO2013018942A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W40/09—Driving style or behaviour
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W2040/0818—Inactivity or incapacity of driver
    • B60W2040/0827—Inactivity or incapacity of driver due to sleepiness
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/16—Pitch
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/18—Roll

Definitions

  • 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.
  • 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 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 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.
  • the fatigue degree calculation method it is possible to grasp numerically the degree of the load (ride comfort or fatigue) acting on the moving object or the occupant.
  • 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
  • FIG. 2 is a block diagram showing a load measuring apparatus according to an embodiment of the present invention.
  • 3 to 5 are detailed block diagrams illustrating the controller of FIG. 2.
  • acceleration component 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.
  • 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.
  • 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.
  • A represents the acceleration (a) of the fuselage.
  • B is a component ( ⁇ V) generated according to the speed (V) of the moving object and the rotational angular velocity ( ⁇ ). Since B is a component that interferes with the acceleration component of the object, it takes a negative operation.
  • A is , V is , And ⁇ It can be represented by the matrix.
  • ⁇ 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 (g ⁇ ij ) for the acceleration of the moving object due to the gravitational component (g) expressed in the ground coordinate system.
  • ⁇ ij is the trigonometric matrix of Euler angles
  • 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
  • the z-axis represents the left and right direction perpendicular to the x-axis.
  • the load measuring apparatus 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 ( ⁇ ) of the fuselage, which are the basis of the load measurement, and the angle ( ⁇ , ⁇ ) 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 ⁇ and a roll angle ⁇ 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.
  • the measuring unit of the load measuring apparatus 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 is the acceleration (a) of the body, the angular velocity ( ⁇ ), the pitch angle ( ⁇ ), and the roll angle ( ⁇ ) 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 ( ⁇ ), pitch angle ( ⁇ ), and roll angle ( ⁇ ) 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 ⁇ or the roll angle ⁇ , 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.
  • 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.
  • Equation 3 is a detailed block diagram of a control unit for calculating the load on the x-axis.
  • 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 3 is derived from Equation 2, which is an x-axis load value calculated by the control unit of FIG.
  • Equation 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 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

La présente invention concerne un procédé de mesure d'une charge et un équipement pour mesurer une charge à partir de l'accélération, de la vitesse, de la vitesse angulaire et d'un angle, qui sont mesurés à partir d'un objet en mouvement. Le procédé de mesure d'une charge, selon la présente invention, comprend les étapes consistant à : mesurer l'accélération, la vitesse angulaire, un angle de tangage et un angle de roulis depuis une partie de mesure qui est comprise dans l'objet en mouvement ; calculer la vitesse à partir de l'accélération ; et calculer la charge produite par l'objet en mouvement à partir d'un composant, de l'angle de tangage et de l'angle de roulis qui résultent de l'accélération, de la vitesse et de la vitesse angulaire. La charge obtenue permet de ce fait de mesurer la charge qui est produite par l'objet en mouvement, en termes numériques, et ce terme numérique devient une échelle pour déterminer le degré de fatigue de l'objet, ainsi que pour afficher le confort d'un passager qui se déplace grâce à l'objet en mouvement.
PCT/KR2011/005669 2011-08-02 2011-08-02 Procédé et équipement pour mesurer le degré de fatigue Ceased WO2013018942A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/KR2011/005669 WO2013018942A1 (fr) 2011-08-02 2011-08-02 Procédé et équipement pour mesurer le degré de fatigue

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/KR2011/005669 WO2013018942A1 (fr) 2011-08-02 2011-08-02 Procédé et équipement pour mesurer le degré de fatigue

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WO2013018942A1 true WO2013018942A1 (fr) 2013-02-07

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030182028A1 (en) * 2002-03-22 2003-09-25 Nissan Motor Co., Ltd. Information presentation controlling apparatus and method
JP2005067276A (ja) * 2003-08-20 2005-03-17 Hitachi Ltd 鉄道車両の異常検知装置
JP2008546109A (ja) * 2005-06-09 2008-12-18 ダイムラー・アクチェンゲゼルシャフト 疲労を検出する方法及び装置
KR20090069471A (ko) * 2007-12-26 2009-07-01 한국철도기술연구원 철도차량용 대차의 피로도 감시장치 및 이를 이용한철도차량 보호방법

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030182028A1 (en) * 2002-03-22 2003-09-25 Nissan Motor Co., Ltd. Information presentation controlling apparatus and method
JP2005067276A (ja) * 2003-08-20 2005-03-17 Hitachi Ltd 鉄道車両の異常検知装置
JP2008546109A (ja) * 2005-06-09 2008-12-18 ダイムラー・アクチェンゲゼルシャフト 疲労を検出する方法及び装置
KR20090069471A (ko) * 2007-12-26 2009-07-01 한국철도기술연구원 철도차량용 대차의 피로도 감시장치 및 이를 이용한철도차량 보호방법

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