KR102192141B1 - Apparatus for orientation mapping of multi-axis vibration sensor measurment and Driving mathod thereof - Google Patents

Abstract

The present invention relates to an apparatus and method for mapping the direction of vibration detected by a multi-axis vibration sensor, the step of applying vibration in parallel with two or more reference axes of an object reference axes perpendicular to each other on an object reference coordinate to which a multi-axis vibration sensor is attached, Recognizing the vibration applied in parallel to the two or more object reference axes with a multi-axis vibration sensor attached to the object and recognizing it in a three-dimensional coordinate format, the multi-axis vibration based on the recognized vibration coordinate values for each of the two or more object reference axes Calculating a transformation matrix for converting a vibration coordinate value recognized on a sensor reference coordinate to a vibration coordinate value on the object reference coordinate, and when vibration is detected by the multi-axis vibration sensor, the vibration coordinate value on the sensor reference coordinate Applying the calculated transformation matrix to facilitate measurement of the direction of the object and the sensor by a method of mapping the direction of vibration detected by a multi-axis vibration sensor, comprising the step of converting into a vibration coordinate value on the object reference coordinate, , Regardless of the direction in which the sensor is attached to the object, the measurement and calculation of the vibration direction can be accurately grasped.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention TECHNICAL FIELD [0002] A device for mapping the direction of vibration detected by a multi-axis vibration sensor, and a method thereof.

The present invention relates to an apparatus and method for mapping the direction of vibrations sensed by a multi-axis vibration sensor, and more particularly, to an apparatus and method for mapping the direction of vibrations detected by a multi-axis vibration sensor that corrects the direction of vibration using a transformation matrix.

Vibration sensors that are installed on a specific object or a specific location to measure vibration have been applied and used in various fields. For example, a vibration sensor is installed on a bridge to measure the vibration of the bridge. At this time, the measured vibration amount of the bridge is used as an important measure for the safety evaluation of the bridge. In addition, the vibration sensor has been applied and used in various fields.

However, when measuring the vibration of an object with a vibration sensor, it is better to measure based on measured values in the axial direction, radial direction, vertical direction, and horizontal direction of the object to which the sensor is attached, rather than the measurement based on the attitude of the sensor itself. It's a more easy-to-use solution than increasing the accuracy.

For example, in the case of using a 3-axis sensor, when the installation state and shape of the object are clearly separated horizontally and vertically, it is easy to attach the sensor according to the direction of the sensor, so that the measurement value in the desired direction can be found.

However, if it is difficult to check the clear horizontal and vertical directions according to the installation condition or shape of the object, it is necessary to measure the values of the attitude and direction of the object and sensor to obtain the desired measurement value and calculate it according to the conditions of the object. .

That is, separate equipment, time, and effort are required to measure the direction of the sensor according to the object type.

(Public Patent Publication 1) 10-2013-0030156 (Public Patent Publication 2) 10-2018-0067543 (Registered Patent Publication 3) 10-1167446

The present invention has been derived to solve the above problems, and is to accurately grasp the measurement and calculation of the vibration direction based on the object even when it is difficult to attach a vibration sensor in a consistent direction, such as when the object has a curved shape.

In addition, the hassle of attaching the vibration sensor to the vibration direction can be eliminated.

The present invention for achieving the above object includes the following configuration.

That is, the method for mapping the direction of vibration detected by a multi-axis vibration sensor according to an embodiment of the present invention includes applying vibration in parallel to two or more reference axes of an object reference axes perpendicular to each other to an object to which the multi-axis vibration sensor is attached, the object Recognizing the vibration applied in parallel with the two or more object reference axes with a multi-axis vibration sensor attached to and recognizing the vibration in the form of three-dimensional coordinates, based on the recognized vibration coordinate values for each of the two or more object reference axes, based on the multi-axis vibration sensor Calculating a transformation matrix for converting a vibration coordinate value recognized as an axis center into a vibration coordinate value at the center of the target reference axis, and when vibration is detected by the multi-axis vibration sensor, the calculation is made in the vibration coordinate value on the sensor reference axis. And converting into a vibration coordinate value on the reference axis of the object by applying the transformed matrix.

According to an aspect of the present invention, the calculating of the transformation matrix includes: normalizing vibration coordinate values for each of the two or more object reference axes perpendicular to each other to calculate a unit vector, based on the calculated two unit vectors, Calculating a unit vector for another axis that makes each row of a 3×3 matrix a unit matrix, calculating a 3×3 matrix including a unit vector for the calculated another axis And calculating an inverse matrix of the calculated 3×3 matrix to obtain a transformation matrix.

Meanwhile, the device for mapping the direction of vibration detected by the multi-axis vibration sensor includes an excitation unit that applies vibration in parallel to two or more of the reference axes of the object perpendicular to the object to which the multi-axis vibration sensor is attached, and the multi-axis vibration attached to the object. A vibration detection unit that senses vibrations applied in parallel with the two or more object reference axes by a sensor and recognizes them in a three-dimensional coordinate form, the multi-axis vibration sensor based on vibration coordinate values for each reference axis of two or more objects recognized by the vibration detection unit When vibration is detected by the multi-axis vibration sensor and a transformation matrix calculator that calculates a transformation matrix for converting the vibration coordinate value recognized as the center of the reference axis into the vibration coordinate value of the object reference axis, the vibration coordinate on the sensor reference axis And a vibration coordinate value conversion unit that applies the calculated transformation matrix to a value and converts it into a vibration coordinate value on the reference axis of the object.

According to the present invention, it is possible to easily measure the direction of an object and a sensor, and to accurately grasp the measurement and calculation of the vibration direction regardless of the direction in which the sensor is attached to the object.

In addition, it is possible to eliminate the hassle of attaching the vibration sensor to the vibration direction of the object.

1 is a block diagram showing the configuration of a vibration direction mapping apparatus sensed by a multi-axis vibration sensor according to an embodiment of the present invention;
2 is an exemplary view for explaining an object reference coordinate and a sensor reference coordinate according to an embodiment of the present invention;
3 is a flowchart of a method for mapping a direction of vibration sensed by a multi-axis vibration sensor according to an embodiment of the present invention;
4 is a flowchart of a method for mapping a direction of vibration detected by a multi-axis vibration sensor according to another embodiment of the present invention.

It should be noted that the technical terms used in the present invention are only used to describe specific embodiments, and are not intended to limit the present invention. In addition, the technical terms used in the present invention should be interpreted as generally understood by those of ordinary skill in the technical field to which the present invention belongs, unless otherwise defined in the present invention, and is excessively comprehensive. It should not be construed as a human meaning or an excessively reduced meaning.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram showing the configuration of a vibration direction mapping apparatus sensed by a multi-axis vibration sensor according to an embodiment of the present invention.

In an embodiment, the vibration direction mapping device may be formed integrally with a multi-axis vibration sensor or may be implemented as a separate device provided to be used by being connected to the multi-axis vibration sensor.

The direction mapping apparatus according to an embodiment includes an excitation unit 10, a vibration detection unit 20, a transformation matrix calculation unit 30, and a vibration coordinate value conversion unit 40.

The excitation unit 10 vibrates in parallel with two or more of the reference axes of the objects perpendicular to the object to which the multi-axis vibration sensor is attached.

2 is an exemplary diagram for explaining an object reference coordinate and a sensor reference coordinate according to an embodiment of the present invention.

As shown in FIG. 2, in one embodiment, a reference coordinate G of an object such as a speed reducer and a reference coordinate S of a multi-axis vibration sensor exist separately.

The excitation part 10 vibrates in parallel with the X-axis and the Z-axis of the object reference coordinate G, for example. The excitation unit 10 applies vibration in a direction parallel to the X-axis and the Z-axis in a state in which the target reducer does not operate and there is no stimulation such as vibration from the outside.

At this time, the excitation part 10 applies vibration at a position close to the center of the reducer, for example, the end of the output shaft, the center of the body, etc. Preferably, it is implemented to apply vibration parallel to the set coordinate axis as much as possible.

In addition, the magnitude of the vibration applied by the excitation unit 10 is preferably within the measurement range of the multi-axis vibration sensor, and is implemented to apply the vibration to the limit of not damaging the reducer.

The vibration detection unit 20 is implemented as a multi-axis vibration sensor attached to the object, and the magnitude of the vibration after vibration is applied in the X-axis and Z-axis directions of the G coordinate as an example of two or more object reference axes in the excitation unit 10 Sense the direction

In an embodiment, the vibration detection unit 20 recognizes the magnitude and direction of the detected vibration in the form of three-dimensional coordinates.

라 하면,

와 같은 3차원 좌표 형태로 인식할 수 있다.For example, measure the vibration applied parallel to the x-axis on the object reference coordinate.

If you say,

It can be recognized in the form of three-dimensional coordinates such as.

, z 축에 대해서 가해진 진동에 대해서는

형태로 각각 인식할 수 있다. Similarly, for the vibration applied to the y-axis

, for the vibration applied about the z-axis

Each can be recognized as a form.

를 산출한다.The transformation matrix calculation unit 30 calculates a vibration coordinate value recognized as the multi-axis vibration sensor reference axis center S based on the vibration coordinate values for each of two or more object reference axes recognized by the vibration detection unit 20 to the object reference axis center ( Transformation matrix for converting to vibration coordinate values of G)

Yields

When vibration is detected by the multi-axis vibration sensor attached to the object, the vibration coordinate value conversion unit 40 applies the transformation matrix calculated by the transformation matrix calculation unit 30 to the vibration coordinate value on the sensor reference axis S It converts into vibration coordinates on the reference axis (G).

를 적용하여 센서 기준축 상(S)의 진동 좌표값을 대상물 기준축 상(G)의 진동 좌표값으로 변환한다. The vibration coordinate value conversion unit 40 is calculated by the conversion matrix calculation unit 30

By applying, the vibration coordinate value on the sensor reference axis (S) is converted into the vibration coordinate value on the object reference axis (G).

According to an aspect of the present invention, the transformation matrix calculator 30 normalizes vibration coordinate values for each of two or more object reference axes perpendicular to each other to calculate a unit vector, and based on the calculated two unit vectors, a 3×3 matrix Calculates a unit vector for another axis that makes each row of s a unit matrix, calculates a 3×3 matrix including the calculated unit vector for another axis, and calculates a 3×3 form Calculate the inverse matrix of the matrix of to obtain the transformation matrix.

,

라 하고 이를 이용하여 변환행렬을 구한다. To explain the process of obtaining the transformation matrix in more detail, first, the transformation matrix calculating unit 30 calculates the vibration coordinate values for each of two or more object reference axes recognized by the vibration detection unit 20.

,

And use this to find the transformation matrix.

,

의 단위 벡터

,

를 구하여 회전 변환(3×3) 행렬

의 첫번째, 세번째 열로 삼는다. 두번째 열은 각각의 행이 단위 행렬이 되도록 하는 값을 구해서 회전 변환

를 완성할 수 있다.

,

Unit vector of

,

Find the rotation transformation (3×3) matrix

The first and third columns of The second column is a rotation transformation by finding the value that makes each row an identity matrix.

Can be completed.

는 다축 진동 센서의 좌표계를 기준으로하는 대상물(감속기)의 좌표계 자세를 나타내는 것이며, 다축 진동 센서 기준 좌표(S)상 기준으로 인식되는 진동 좌표값을 대상물 기준 좌표(G)상의 진동 좌표값으로 변환하기 위한 변환 행렬

는

의 역행렬이다. 즉,

로 구할 수 있다. Here, rotation transformation

Denotes the attitude of the object (reducer) based on the coordinate system of the multi-axis vibration sensor, and converts the vibration coordinate value recognized as the reference on the multi-axis vibration sensor reference coordinate (S) into the vibration coordinate value on the object reference coordinate (G). Transformation matrix for

Is

Is the inverse matrix of In other words,

It can be obtained by

According to another aspect of the present invention, the transformation matrix calculation unit 30 calculates a unit vector by normalizing the vibration coordinate values of vibrations applied in parallel with each of the three object reference axes perpendicular to each other, and includes the calculated unit vectors. The transformation matrix can also be obtained by calculating a 3×3 matrix and calculating the inverse matrix of the 3×3 matrix.

를 구할 수 있다. Transformation matrix by applying parallel vibrations to each axis of x, y, and z on the target reference coordinate and using the measured values

Can be obtained.

라 하면,

와 같은 3차원 좌표 형태로 인식할 수 있다.Measure the vibration applied parallel to the x-axis on the object reference coordinate

If you say,

It can be recognized in the form of three-dimensional coordinates such as.

, z 축에 대해서 가해진 진동에 대해서는

형태로 각각 인식할 수 있다. Similarly, for the vibration applied to the y-axis

, for the vibration applied about the z-axis

Each can be recognized as a form.

,

,

를 찾아 이들을 열로 갖는 행렬을 구성하면 대상물 기준 좌표(G)상의 진동 좌표값을 다축 진동 센서 기준좌표(S)상의 진동 좌표값으로 변환하는

를 구할 수 있다. And the unit vector of the three-dimensional coordinate form vector

,

,

If you find and construct a matrix having them as columns, the vibration coordinate value on the object reference coordinate (G) is converted to the vibration coordinate value on the multi-axis vibration sensor reference coordinate (S).

Can be obtained.

Expressing this in this way,

와 같다.

Same as

를 구하는 것도 가능하다.In this way, it is possible to obtain transformation by applying vibration and measuring in all three directions (x, y, z) of the coordinate reference axis of the object coordinate system. However, the vibration value is measured by applying vibration only to the two reference axes of interest, and using the property of the transformation matrix that each column and row constituting the matrix are unit vectors, the inverse matrix of the transformation matrix

It is also possible to obtain.

는 대상물 기준좌표(G) 상의 진동 좌표값을 다축 진동 센서 기준좌표(S) 상의 진동 좌표값으로 변환하는 것이어서 수식으로 표현하면 다음과 같다. Obtained here

Is converting the vibration coordinate value on the object reference coordinate (G) into the vibration coordinate value on the multi-axis vibration sensor reference coordinate (S), and is expressed as an equation as follows.

는

의 역행렬을 사용하여 구할 수 있다. Therefore, a transformation matrix for converting the vibration coordinate value recognized on the multi-axis vibration sensor reference coordinate (S) into the vibration coordinate value on the object reference axis reference coordinate (G)

Is

It can be found using the inverse matrix of

This can be expressed in terms of the following.

3 is a flowchart of a method for mapping a direction of vibration detected by a multi-axis vibration sensor according to an embodiment of the present invention.

First, vibrations are applied in parallel with two or more of the reference axes on the object reference coordinates that are perpendicular to each other on the object reference coordinates to which the multi-axis vibration sensor is attached (S300).

In Fig. 2, vibration is applied parallel to the X-axis and Z-axis of the object reference coordinate (G). At this time, vibration is applied in a direction parallel to the X-axis and Z-axis in the state that the target reducer does not operate and there is no stimulation such as vibration from the outside.

In addition, the multi-axis vibration sensor attached to the object detects the vibration applied parallel to the reference axis of two or more objects, and recognizes it in the form of a three-dimensional coordinate (S310).

라 하면,

와 같은 3차원 좌표 형태로 인식할 수 있다.Measure the vibration applied parallel to the x-axis on the object reference coordinate

If you say,

It can be recognized in the form of three-dimensional coordinates such as.

, z 축에 대해서 가해진 진동에 대해서는

형태로 각각 인식할 수 있다. Similarly, for the vibration applied to the y-axis

, for the vibration applied about the z-axis

Each can be recognized as a form.

Thereafter, based on the recognized vibration coordinate values for each of the two or more object reference axes, a transformation matrix for converting the vibration coordinate values recognized on the multi-axis vibration sensor reference coordinates to the vibration coordinate values on the object reference coordinates is calculated.

According to an aspect, first, a unit vector is calculated by normalizing vibration coordinate values of two or more object reference axes that are perpendicular to each other among the reference axes (S320).

,

라 하고 이를 이용하여 변환행렬을 구한다. 먼저

,

의 단위 벡터

,

를 구한다.For example, the vibration coordinate values for each reference axis of two or more objects

,

And use this to find the transformation matrix. first

,

Unit vector of

,

Find

,

에 근거하여, 3×3 행렬의 각각의 행이 단위행렬이 되게 하는 또 하나의 축에 대한 단위 벡터를 산출한다(S330). And the calculated two unit vectors

,

Based on, a unit vector for another axis that makes each row of the 3×3 matrix a unit matrix is calculated (S330).

A 3×3 matrix including a unit vector for another axis calculated thereafter is calculated (S340).

,

를 회전 변환(3×3) 행렬

의 첫번째, 세번째 열로 삼는다. 두번째 열은 각각의 행이 단위 행렬이 되도록 하는 값을 구해서 회전 변환

를 완성할 수 있다. Unit vector

,

Rotation transform (3×3) matrix

The first and third columns of The second column is a rotation transformation by finding the value that makes each row an identity matrix.

Can be completed.

를 구하는 것도 가능하다.In this way, it is possible to obtain transformation by applying vibration and measuring in all three directions (x, y, z) of the coordinate reference axis of the object coordinate system. However, the vibration value is measured by applying vibration only to the two reference axes of interest, and using the property of the transformation matrix that each column and row constituting the matrix are unit vectors, the inverse matrix of the transformation matrix

It is also possible to obtain.

,

,

를 찾아 이들을 열로 갖는 행렬을 구성하면 대상물 기준축 중심(G)의 진동 좌표값을 다축 진동 센서 기준축 중심(S)으로 인식되는 진동 좌표값으로 변환하는

를 구할 수 있다. Specifically, the unit vector of the three-dimensional coordinate form vector

,

,

If you find and construct a matrix having them as columns, the vibration coordinate value of the object reference axis center (G) is converted into a vibration coordinate value recognized as the reference axis center (S) of the multi-axis vibration sensor.

Can be obtained.

Expressing this in this way,

와 같다.

Same as

는 대상물 기준축 중심(G)의 진동 좌표값을 다축 진동 센서 기준축 중심(S)으로 인식되는 진동 좌표값으로 변환하는 것이어서 수식으로 표현하면 다음과 같다. Obtained here

Is converting the vibration coordinate value of the object reference axis center (G) into a vibration coordinate value recognized as the multi-axis vibration sensor reference axis center (S).

의 역행렬을 산출하여 변환 행렬을 구한다(S350).The resulting 3×3 matrix

A transformation matrix is obtained by calculating the inverse matrix of (S350).

therefore

는

의 역행렬을 사용하여 구할 수 있다. Conversion matrix for converting the vibration coordinate value recognized on the multi-axis vibration sensor reference coordinate (S) into the vibration coordinate value on the object reference axis reference coordinate (G)

Is

It can be found using the inverse matrix of

Thereafter, when vibration is detected by the multi-axis vibration sensor, the calculated transformation matrix is applied to the vibration coordinate value on the sensor reference coordinate to convert it into a vibration coordinate value on the object reference coordinate (S360).

This can be expressed in terms of the following.

4 is a flowchart of a method for mapping a direction of vibration detected by a multi-axis vibration sensor according to another embodiment of the present invention.

First, vibration is applied in parallel with two or more of the reference axes on the object reference coordinates perpendicular to each other on the object reference coordinate to which the multi-axis vibration sensor is attached (S400).

In Fig. 2, vibration is applied parallel to the X-axis and Z-axis of the object reference coordinate (G). At this time, vibration is applied in a direction parallel to the X-axis, Y-axis, and Z-axis in a state where the target reducer does not operate and there is no stimulation such as vibration from the outside.

In addition, the multi-axis vibration sensor attached to the object detects the vibration applied parallel to the reference axis of two or more objects, and recognizes it in the form of three-dimensional coordinates (S410).

라 하면,

와 같은 3차원 좌표 형태로 인식할 수 있다.Measure the vibration applied parallel to the x-axis on the object reference coordinate

If you say,

It can be recognized in the form of three-dimensional coordinates such as.

, z 축에 대해서 가해진 진동에 대해서는

형태로 각각 인식할 수 있다. Similarly, for the vibration applied to the y-axis

, for the vibration applied about the z-axis

Each can be recognized as a form.

Thereafter, a transformation matrix for converting the vibration coordinate value recognized on the multi-axis vibration sensor reference coordinate to the vibration coordinate value on the object reference coordinate is calculated based on the recognized vibration coordinate value for each object reference axis.

According to another aspect of the present invention, a unit vector is calculated by first normalizing vibration coordinate values for each of three object reference axes that are perpendicular to each other among reference axes (S420).

,

,

를 찾아 이들을 열로 갖는 3×3 형태의 행렬을 구성하면(S430), In this way, it is possible to obtain transformation by applying vibration and measuring in all three directions (x, y, z) of the coordinate reference axis of the object coordinate system. Specifically, the unit vector of the three-dimensional coordinate form vector

,

,

Finding and constructing a 3×3 matrix having them as columns (S430),

를 구할 수 있다. Converts the vibration coordinate value recognized on the object reference axis reference coordinate (G) into the vibration coordinate value recognized on the multi-axis vibration sensor reference coordinate (S)

Can be obtained.

Expressing this in this way,

와 같다.

Same as

는 대상물 기준 좌표(G) 상의 진동 좌표값을 다축 진동 센서 기준 좌표(S)상의 진동 좌표값으로 변환하는 것이어서 수식으로 표현하면 다음과 같다. Obtained here

Is converting the vibration coordinate value on the object reference coordinate (G) into the vibration coordinate value on the multi-axis vibration sensor reference coordinate (S), and is expressed by an equation as follows.

의 역행렬을 산출하여 변환 행렬을 구한다(S440).The resulting 3×3 matrix

A transformation matrix is obtained by calculating the inverse matrix of (S440).

는

의 역행렬을 사용하여 구할 수 있다. Therefore, a transformation matrix for converting the vibration coordinate value recognized on the multi-axis vibration sensor reference coordinate (S) into the vibration coordinate value on the object reference coordinate (G)

Is

It can be found using the inverse matrix of

Thereafter, when the multi-axis vibration vibration is detected, the calculated transformation matrix is applied to the vibration coordinate value on the sensor reference coordinate to convert it into a vibration coordinate value on the object reference coordinate (S450).

This can be expressed in terms of the following.

10: excitation unit 20: vibration detection unit
30: transformation matrix calculation unit 40: vibration coordinate value converter

Claims (6)

Applying vibration in parallel with two or more of the reference axes of the objects perpendicular to each other on the reference coordinate of the object to which the multi-axis vibration sensor is attached;
Detecting vibrations applied in parallel with the reference axes of the two or more objects with a multi-axis vibration sensor attached to the object and recognizing it as a three-dimensional coordinate form;
Calculating a first transformation matrix for converting a vibration coordinate value recognized on the multi-axis vibration sensor reference coordinate into a vibration coordinate value on the object reference coordinate based on the recognized vibration coordinate values for each of the two or more object reference axes ; And
When vibration is detected by the multi-axis vibration sensor, applying the calculated first transformation matrix to a vibration coordinate value on the sensor reference coordinate and converting it into a vibration coordinate value on the object reference coordinate,
When the vibration is applied in parallel with the X-axis and Z-axis of the object reference coordinate (G), the multi-axis vibration sensor includes only the X-axis and Z-axis in a state in which the reducer, which is the object, is not operating and no external stimulus is present. In addition, it is characterized in that the vibration is applied also in a direction parallel to the Y axis,
The calculating of the first transformation matrix includes: calculating unit vectors by normalizing vibration coordinate values for each of the reference axes of two or more objects perpendicular to each other, based on the calculated unit vectors, each of a 3×3 matrix Calculating a unit vector for another axis that makes the row of s a unit matrix, calculating a 3×3 matrix including the calculated unit vector for another axis, and the calculated 3 A method for mapping a direction of vibration detected by a multi-axis vibration sensor, further comprising the step of calculating an inverse matrix of a ×3 type matrix to obtain the first transformation matrix.
delete Applying vibration in parallel with two or more of the reference axes of the objects perpendicular to each other on the reference coordinate of the object to which the multi-axis vibration sensor is attached;
Detecting vibrations applied in parallel with the reference axes of the two or more objects with a multi-axis vibration sensor attached to the object and recognizing it as a three-dimensional coordinate form;
Calculating a second transformation matrix for converting a vibration coordinate value recognized on the multi-axis vibration sensor reference coordinate into a vibration coordinate value on the object reference coordinate based on the recognized vibration coordinate values for each of the two or more object reference axes ; And
When vibration is detected by the multi-axis vibration sensor, applying the calculated second transformation matrix to a vibration coordinate value on the sensor reference coordinate and converting it into a vibration coordinate value on the object reference coordinate,
When the vibration is applied in parallel with the X-axis and Z-axis of the object reference coordinate (G), the multi-axis vibration sensor includes only the X-axis and Z-axis in a state in which the reducer, which is the object, is not operating and no external stimulus is present. In addition, it is characterized in that the vibration is applied also in a direction parallel to the Y axis,
The calculating of the second transformation matrix includes: calculating a unit vector by normalizing the vibration coordinate values of the vibrations applied in parallel with each of the three object reference axes perpendicular to each other, 3×3 including the calculated unit vectors A method for mapping the direction of vibration detected by a multi-axis vibration sensor, further comprising the step of calculating a shape matrix, and calculating an inverse matrix of the calculated 3×3 shape matrix to obtain the second transformation matrix .
An excitation unit for applying vibration in parallel to two or more reference axes of the object reference axes perpendicular to the object to which the multi-axis vibration sensor is attached;
A vibration detection unit configured to detect vibrations applied in parallel with the reference axes of the two or more objects by a multi-axis vibration sensor attached to the object and recognize it in a three-dimensional coordinate form;
A first transformation matrix for converting a vibration coordinate value recognized on the multi-axis vibration sensor reference coordinate to a vibration coordinate value on the object reference coordinate based on the vibration coordinate value for each of two or more object reference axes recognized by the vibration detection unit A transformation matrix calculator that calculates each; And
When vibration is detected by the multi-axis vibration sensor, a vibration coordinate value converting unit that applies the calculated first transformation matrix to a vibration coordinate value on the sensor reference coordinate and converts it into a vibration coordinate value on the object reference coordinate,
When the vibration is applied in parallel with the X-axis and Z-axis of the object reference coordinate (G), the multi-axis vibration sensor includes only the X-axis and Z-axis in a state in which the reducer, which is the object, is not operating and no external stimulus In addition, it is characterized in that the vibration is applied also in a direction parallel to the Y axis, and the transformation matrix calculator,
A unit vector is calculated by normalizing the vibration coordinate values for each of the two or more object reference axes perpendicular to each other, and based on the calculated two unit vectors, each row of a 3×3 matrix becomes a unit matrix. The first transformation is performed by calculating a unit vector for an axis, calculating a 3×3 matrix including the calculated unit vector for another axis, and calculating an inverse matrix of the calculated 3×3 matrix A vibration direction mapping device detected by a multi-axis vibration sensor, characterized in that obtaining a matrix.
delete An excitation unit for applying vibration in parallel to two or more reference axes of the object reference axes perpendicular to the object to which the multi-axis vibration sensor is attached;
A vibration detection unit configured to detect vibrations applied in parallel with the reference axes of the two or more objects by a multi-axis vibration sensor attached to the object and recognize it in a three-dimensional coordinate form;
A second transformation matrix for converting a vibration coordinate value recognized on the multi-axis vibration sensor reference coordinate into a vibration coordinate value on the object reference coordinate based on the vibration coordinate value for each of two or more object reference axes recognized by the vibration detection unit A transformation matrix calculator that calculates each; And
When vibration is detected by the multi-axis vibration sensor, a vibration coordinate value converting unit for converting the vibration coordinate value of the object reference coordinate by applying the calculated second transformation matrix to the vibration coordinate value on the sensor reference coordinate,
When the vibration is applied in parallel with the X-axis and Z-axis of the object reference coordinate (G), the multi-axis vibration sensor includes only the X-axis and Z-axis in a state in which the reducer, which is the object, is not operating and no external stimulus is present. In addition, it is characterized in that the vibration is applied also in a direction parallel to the Y axis, and the transformation matrix calculator,
A unit vector is calculated by normalizing the vibration coordinate values of the vibrations applied in parallel with each of the three object reference axes perpendicular to each other, and a 3×3 matrix including the calculated unit vectors is calculated, and the calculated 3× A vibration direction mapping device sensed by a multi-axis vibration sensor, characterized in that the second transformation matrix is calculated by calculating an inverse matrix of a three-shaped matrix.

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